Independent buckle and minimally invasive robot arm cleaning device composed of same

Abstract

The utility model discloses an independent buckle and a minimally invasive robot arm cleaning device composed of the independent buckle, and belongs to the field of minimally invasive robot arm cleaning equipment. The minimally invasive robot arm cleaning device comprises an independent buckle and a cleaning frame rack, and a minimally invasive robot arm bearing layer and a robot arm middle supporting piece are arranged in the cleaning frame rack. Independent buckles are fixed to the minimally invasive robot arm bearing layer, an interlayer main water inlet pipe is correspondingly arranged on the minimally invasive robot arm bearing layer, and the interlayer main water inlet pipe located in the cleaning frame rack is connected with a minimally invasive robot arm butt joint opening in a penetrating mode. The minimally invasive robot arm butt joint port is connected with a front nozzle, a rear nozzle and an accessory cleaning pipe in a penetrating mode through a pipeline, the front nozzle corresponds to the independent buckle, and the rear nozzle and the accessory cleaning pipe correspond to the bottom of the minimally invasive robot arm. The minimally invasive robot arm can be fixed by rotating the buckle moving part, the fixing mode is simpler and more reliable, and the use efficiency is improved.

Description

Technical Field

[0001] This application belongs to the field of minimally invasive robotic arm cleaning equipment, specifically relating to an independent buckle and a minimally invasive robotic arm cleaning device composed thereof. Background Technology

[0002] Minimally invasive robots can be applied to various complex minimally invasive surgical procedures covering the thoracic cavity, abdominal cavity, and pelvic cavity, and have the ability to assist doctors in completing complex surgeries in narrow anatomical spaces.

[0003] Minimally invasive robotic arms must undergo further processing before use, including cleaning, disinfection, and sterilization. A cleaning and disinfection device can automatically clean the robotic arm, but it requires a dedicated cleaning rack.

[0004] To address the issue of cleaning the arms of minimally invasive robotic arms, Chinese Patent Announcement No. CN205814451U discloses a Da Vinci arm cleaning frame. This patent includes a frame with multiple layers of arm fixing frames for securing the Da Vinci arm from top to bottom. Each end of the arm fixing frame is equipped with a pin-shaft rinsing mechanism and an instrument rinsing mechanism, and a rotating rinsing mechanism is provided between each pair of adjacent arm fixing frames.

[0005] This patent describes a method for securing the da Vinci arm using an arm fixation frame. The frame includes a fixing plate and a support rod. Fixing blocks are detachably connected to the fixing part of the fixing plate via bolts. The two fixing blocks work together to secure the da Vinci arm. However, using this arm fixation frame requires unscrewing the bolts, removing the fixing blocks, clamping the da Vinci arm, and then tightening the bolts again, making the process cumbersome. Utility Model Content

[0006] The technical problem to be solved by this application is to overcome the shortcomings of the prior art and provide an independent buckle and a minimally invasive robotic arm cleaning device composed of the buckle. This application can fix the minimally invasive robotic arm by rotating the buckle movable part, which is simpler and more reliable and improves the efficiency of use.

[0007] The technical solution adopted by this application to solve its existing problems is:

[0008] An independent buckle includes a buckle base, buckle fixing parts, and buckle movable parts. Several sets of buckle fixing parts are fixed to the buckle base at intervals, and a buckle movable part is rotatably connected to each set of buckle fixing parts.

[0009] One end of the movable buckle is hinged to the buckle fixing part, and the other end is snapped into the buckle fixing part.

[0010] Preferably, the buckle fastener includes a first L-shaped rod, the horizontal part of the first L-shaped rod is fixedly connected to the buckle base, a straight rod is provided on the inner side of the end of the horizontal part of the first L-shaped rod, and a U-shaped rod is provided on the end of the vertical part of the first L-shaped rod.

[0011] The aforementioned snap-fit ​​movable part is hinged to the straight rod and snapped into the U-shaped rod.

[0012] Preferably, the snap-fit ​​movable component includes two second L-shaped rods, which are fixedly connected by a connecting rod. The vertical end of the second L-shaped rod is provided with a collar, which is sleeved on the straight rod. The horizontal end of the second L-shaped rod is engaged inside the U-shaped rod.

[0013] Preferably, the horizontal end of the second L-shaped rod is fixed with an anti-disengagement buckle, which is engaged on the side of the U-shaped rod away from the straight rod.

[0014] Preferably, the buckle base includes a middle connecting plate and end plates on both sides of the connecting plate, and the width of the middle plate is less than the length of the horizontal part of the first L-shaped rod.

[0015] A minimally invasive robotic arm cleaning device includes the aforementioned independent buckle and a cleaning frame. The cleaning frame has several vertically arranged minimally invasive robotic arm loading layers and a robotic arm mid-section support corresponding to the minimally invasive robotic arm loading layers.

[0016] The minimally invasive robotic arm loading layer is fixed with an independent buckle. Each layer of the minimally invasive robotic arm loading layer is provided with a corresponding interlayer main water inlet pipe. The interlayer main water inlet pipe located inside the cleaning frame is connected to the minimally invasive robotic arm interface. The minimally invasive robotic arm interface is connected to a front nozzle, a rear nozzle, and an accessory cleaning pipe through a pipeline. The front nozzle is arranged corresponding to the independent buckle, and the rear nozzle and accessory cleaning pipe are arranged corresponding to the bottom of the minimally invasive robotic arm.

[0017] Preferably, the cleaning frame is equipped with a spray pipe inside.

[0018] Preferably, the loading layer of the minimally invasive robotic arm is arranged at an angle.

[0019] Preferably, the bottom of the minimally invasive robotic arm loading layer is fixedly connected to the cleaning frame via a reinforcing structure.

[0020] Preferably, the cleaning rack is equipped with a supply system on its exterior. The supply system includes a three-way valve, the outlet of which is connected to the main water inlet pipe between floors. The two inlets of the three-way valve are respectively connected to a water pump and an air pump through pipelines. A heater is connected in series between the air pump and the three-way valve.

[0021] Compared with the prior art, the beneficial effects of this application are as follows:

[0022] (1) It can reduce the labor intensity of operators and increase the convenience of using the cleaning and disinfection device while ensuring the cleaning and disinfection effect of the robot arm.

[0023] (2) It has an independent movable buckle that can secure each minimally invasive robotic arm and prevent the minimally invasive robotic arm from shaking during the cleaning process. Attached Figure Description

[0024] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a diagram of an independent snap-fit ​​structure according to this application.

[0026] Figure 2 This is a partial enlarged view of an independent snap fastener according to this application.

[0027] Figure 3 This is a side view of the minimally invasive robotic arm cleaning device of this application.

[0028] Figure 4 This is a top view of the minimally invasive robotic arm cleaning device of this application.

[0029] Figure 5 This is a system diagram of the supply system for the minimally invasive robotic arm cleaning device of this application.

[0030] In the diagram: 1-Cleaning frame, 2-Minimally invasive robotic arm loading layer, 3-Reinforcing structure, 4-Interlayer main water inlet pipe, 5-Minimally invasive robotic arm docking interface, 6-Front nozzle, 7-Rear nozzle, 8-Accessory cleaning pipe, 9-Central support of robotic arm, 10-Spray arm, 11-Independent buckle, 111-Buck base, 112-Buck fixing component, 1121-First L-shaped rod, 1122-Straight rod, 1123-U-shaped rod, 113-Buck movable component, 1131-Second L-shaped rod, 1132-Loop ring, 1133-Anti-disengagement buckle, 1134-Connecting rod, 12-Minimally invasive robotic arm, 13-Three-way valve, 14-Water pump, 15-Air pump, 16-Heater. Detailed Implementation

[0031] The attached figure shows a preferred embodiment of the independent snap fastener and the minimally invasive robotic arm cleaning device composed thereof. The present application will be further described in detail below with reference to the attached figure.

[0032] An independent buckle, made of Figure 1 as well as Figure 2As shown, the device includes a snap-fit ​​base 111, snap-fit ​​fasteners 112, and snap-fit ​​movable parts 113. Several sets of snap-fit ​​fasteners 112 are fixed to the snap-fit ​​base 111 at intervals, and each set of snap-fit ​​fasteners 112 is rotatably connected to a snap-fit ​​movable part 113. One end of the snap-fit ​​movable part 113 is hinged to the snap-fit ​​fastener 112, and the other end is snapped into the snap-fit ​​fastener 112.

[0033] In this embodiment, each set of buckle fasteners 112 includes two opposingly arranged first L-shaped rods 1121. The horizontal portion of the first L-shaped rod 1121 is fixedly connected to the buckle base 111. A straight rod 1122 is provided on the inner side of the end of the horizontal portion of the first L-shaped rod 1121, and a U-shaped rod 1123 is provided at the end of the vertical portion of the first L-shaped rod 1121. The horizontal portion of the first L-shaped rod 1121 is located below the vertical portion.

[0034] The latching movable component 113 includes two second L-shaped rods 1131, which are fixedly connected by a connecting rod 1134. The connecting rod 1134 is fixedly connected to the vertical portion of the second L-shaped rods 1131. A collar 1132 is provided at the end of the vertical portion of each second L-shaped rod 1131, and the collar 1132 is sleeved on a straight rod 1122. The horizontal end of the second L-shaped rod 1131 is engaged inside a U-shaped rod 1123. This allows the latching movable component 113 to be hinged to the straight rod 1122 and engaged with the U-shaped rod 1123.

[0035] The horizontal end of the second L-shaped rod 1131 is fixed with an anti-disengagement buckle 1133, which is engaged with the side of the U-shaped rod 1123 opposite to the straight rod 1122. The horizontal part of the second L-shaped rod 1131 is located above the vertical part.

[0036] The buckle base 111 includes a middle connecting plate and end plates on both sides of the connecting plate. The width of the middle plate is less than the length of the horizontal part of the first L-shaped rod.

[0037] In use, press the horizontal part of the second L-shaped rod 1131 inward to make the end of the horizontal part slide out from inside the U-shaped rod 1123, and then rotate the second L-shaped rod 1131 around the straight rod 1122 to open it. Then, put the end of the minimally invasive robotic arm 12 into the buckle fixing part 112, and then fasten the buckle movable part 113 to lock the end of the minimally invasive robotic arm 12.

[0038] A minimally invasive robotic arm cleaning device includes the aforementioned independent buckles and a cleaning frame 1, which is composed of... Figure 3 as well as Figure 4As shown, the cleaning rack 1 has several vertically arranged minimally invasive robotic arm loading layers 2 and corresponding robotic arm mid-section support members 9. Each minimally invasive robotic arm loading layer 2 is fixed with an independent buckle 11. The robotic arm mid-section support member 9 can be integrally formed or a separate component. When a separate component is used, the number of movable buckle parts 113 on the robotic arm mid-section support member 9 and the independent buckle 11 are equal and correspond one-to-one. The end of the minimally invasive robotic arm 12 is fixed by the independent buckle 11, and the robotic arm mid-section support member 9 supports the middle part of the minimally invasive robotic arm 12. The independent buckle 11 and the robotic arm mid-section support member 9 together fix the minimally invasive robotic arm 12.

[0039] Each layer of the minimally invasive robotic arm loading layer 2 is equipped with a corresponding interlayer main water inlet pipe 4. The interlayer main water inlet pipe 4 located inside the cleaning frame 1 is connected to the minimally invasive robotic arm interface 5. The minimally invasive robotic arm interface 5 is connected to the front nozzle 6, the rear nozzle 7 and the accessory cleaning pipe 8 through the pipe. The front nozzle 6 is arranged correspondingly to the independent buckle 11, and the rear nozzle 7 and the accessory cleaning pipe 8 are arranged correspondingly to the bottom of the minimally invasive robotic arm 12.

[0040] The front nozzle 6 cleans the part of the minimally invasive robotic arm 12 that is fixed by the independent clip 11, the rear nozzle 7 is used to clean the bottom of the minimally invasive robotic arm 12, and the accessory cleaning tube 8 is used to clean various accessories of the minimally invasive robotic arm.

[0041] The cleaning frame 1 is equipped with a spray pipe 10 inside, and a linear module is installed inside the cleaning frame 1. The nozzle of the spray pipe 10 is connected to the sliding part of the linear module. The linear module drives the nozzle of the spray pipe 10 to slide, thereby cleaning the minimally invasive robotic arm 12 from all directions.

[0042] The loading layer 2 of the minimally invasive robotic arm is arranged at an angle to ensure that water on the minimally invasive robotic arm 12 can flow down quickly and facilitate drying.

[0043] The bottom of the minimally invasive robotic arm loading layer 2 is fixedly connected to the cleaning frame 1 through a reinforcing structure 3, which improves the support strength and stability of the minimally invasive robotic arm loading layer 2.

[0044] If the free flow of cleaning water alone is insufficient to quickly dry the minimally invasive robotic arm 12, and if water remains on the arm for too long, bacteria can easily grow, causing secondary contamination. To address this technical problem and ensure rapid drying of the cleaned minimally invasive robotic arm 12, this embodiment includes a supply system located outside the cleaning frame 1. Figure 5As shown, the supply system includes a three-way valve 13. The outlet of the three-way valve 13 is connected to the inter-floor main water inlet pipe 4. The two inlets of the three-way valve 13 are respectively connected to a water pump 14 and an air pump 15 through pipelines. A heater 16 is connected in series between the air pump 15 and the three-way valve 13.

[0045] The three-way valve 13 is an electrically controlled three-way valve. During cleaning, high-pressure water or disinfectant is injected into the main water inlet pipe 4 between the floors of the water pump 14 to rinse and disinfect the minimally invasive robotic arm 12. After rinsing, the internal connection path of the three-way valve 13 is adjusted, and the air pump 15 injects high-pressure air heated by the heater 16 into the main water inlet pipe 4 between the floors. The hot air dries the minimally invasive robotic arm 12, allowing it to dry quickly and preventing bacterial growth.

[0046] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. An independent snap fastener, characterized in that: It includes a buckle base (111), a buckle fastener (112) and a buckle movable part (113). Several sets of buckle fasteners (112) are fixed at intervals on the buckle base (111), and a buckle movable part (113) is rotatably connected to each set of buckle fasteners (112). One end of the latching movable part (113) is hinged to the latching fixing part (112), and the other end is latched to the latching fixing part (112).

2. The independent snap fastener according to claim 1, characterized in that: The buckle fastener (112) includes a first L-shaped rod (1121), the horizontal part of the first L-shaped rod (1121) is fixedly connected to the buckle base (111), a straight rod (1122) is provided on the inner side of the end of the horizontal part of the first L-shaped rod (1121), and a U-shaped rod (1123) is provided at the end of the vertical part of the first L-shaped rod (1121). The aforementioned snap-fit ​​movable part (113) is hinged to the straight rod (1122) and snapped to the U-shaped rod (1123).

3. The independent buckle according to claim 2, characterized in that: The snap-fit ​​movable part (113) includes two second L-shaped rods (1131), which are fixedly connected by a connecting rod (1134). The vertical end of the second L-shaped rod (1131) is provided with a collar (1132), which is sleeved on the straight rod (1122). The horizontal end of the second L-shaped rod (1131) is locked inside the U-shaped rod (1123).

4. The independent snap fastener according to claim 3, characterized in that: The second L-shaped rod (1131) has an anti-disengagement buckle (1133) fixed at the horizontal end. The anti-disengagement buckle (1133) is engaged on the side of the U-shaped rod (1123) away from the straight rod (1122).

5. An independent snap fastener according to claim 2, 3, or 4, characterized in that: The buckle base (111) includes a middle connecting plate and end plates on both sides of the connecting plate. The width of the middle plate is less than the length of the horizontal part of the first L-shaped rod.

6. A minimally invasive robotic arm cleaning device, comprising the independent buckle as described in any one of claims 1 to 4 and a cleaning frame (1), characterized in that: The cleaning frame (1) is provided with several vertically arranged minimally invasive robotic arm loading layers (2) and a robotic arm middle support (9) arranged corresponding to the minimally invasive robotic arm loading layers (2). The minimally invasive robotic arm loading layer (2) is fixed with an independent buckle (11). Each layer of the minimally invasive robotic arm loading layer (2) is provided with a corresponding interlayer main water inlet pipe (4). The interlayer main water inlet pipe (4) located inside the cleaning frame (1) is connected to the minimally invasive robotic arm interface (5). The minimally invasive robotic arm interface (5) is connected to the front nozzle (6), the rear nozzle (7) and the accessory cleaning pipe (8) through the pipeline. The front nozzle (6) is arranged correspondingly to the independent buckle (11), and the rear nozzle (7) and the accessory cleaning pipe (8) are arranged correspondingly to the bottom of the minimally invasive robotic arm (12).

7. The minimally invasive robotic arm cleaning device according to claim 6, characterized in that: The cleaning frame (1) is equipped with a spray pipe (10) inside.

8. The minimally invasive robotic arm cleaning device according to claim 6, characterized in that: The loading layer (2) of the minimally invasive robotic arm is arranged at an angle.

9. A minimally invasive robotic arm cleaning device according to claim 8, characterized in that: The bottom of the minimally invasive robotic arm loading layer (2) is fixedly connected to the cleaning frame (1) through a reinforcing structure (3).

10. A minimally invasive robotic arm cleaning device according to claim 7, 8, or 9, characterized in that: The cleaning rack (1) is equipped with a supply system on the outside. The supply system includes a three-way valve (13). The outlet of the three-way valve (13) is connected to the interlayer main water inlet pipe (4). The two inlets of the three-way valve (13) are respectively connected to a water pump (14) and an air pump (15) through pipelines. A heater (16) is connected in series between the air pump (15) and the three-way valve (13).

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