Puncturing card mounting mechanism and surgical robot

Abstract

The utility model relates to the technical field of surgical robots, and discloses a trocar mounting mechanism and a surgical robot. The trocar installation mechanism comprises an installation assembly, an adapter shell and an operation assembly. The mounting assembly is provided with a mounting end; a detection piece is arranged in the adapter shell, and clamping pieces capable of clamping the mounting end are arranged on the two sides of the mounting end respectively; the operation assembly comprises a handle, a connecting piece and pushing pieces, the handle and the pushing pieces are connected to the connecting piece, the pushing pieces are arranged on the two sides of the detection piece respectively, the two pushing pieces and the connecting piece define an avoiding space for containing the detection piece, and the connecting piece is movably connected with the adapter shell; and the two pushing pieces can be far away from the corresponding clamping pieces or push the corresponding clamping pieces to be far away from the mounting end. The structural arrangement of the pushing piece and the connecting piece can avoid the detection piece, the structure of the trocar mounting mechanism is simplified, production and processing are facilitated, the number of fingers occupied by an operator in the trocar dismounting and mounting process is reduced, and the operation process is simplified.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical robot technical field especially, a kind of poking card installation mechanism and surgical robot. BACKGROUND

[0002] Surgical robot is widely used in medical field. Surgical robot includes physician control end and patient surgery end. Patient surgery end includes holding arm, and holding arm is used to install surgical instrument. When performing surgical operation, physician controls surgical instrument to perform surgical operation by the input handle of physician control end. One end of holding arm is connected with trolley, and the other end is installed with poking card by installation mechanism. Poking card passes through the abdomen of patient, and surgical instrument is inserted into the abdominal cavity of patient by the surgical channel established by poking card.

[0003] In some prior art, detection assembly is arranged in the adapter of the installation mechanism, and the adapter is connected between holding arm and adapter, and the mounting seat for installing poking card is connected to adapter shell through adapter. Detection assembly is located on the side of adapter away from mounting seat, and detection assembly can be triggered to detect the installation state of poking card when poking card is installed in place. The adapter shell is also rotatably provided with a clamping jaw for clamping the adapter and / or mounting seat, and the clamping jaw is located on both sides of the detection assembly. Two buttons for pushing two clamping jaws to release the adapter and / or mounting seat are movably arranged on the side wall of the adapter shell. The above-mentioned poking card installation mechanism needs to occupy two fingers of operator to press the button at the same time when disassembling the adapter and / or mounting seat, which is not conducive to the operator to perform other operations at the same time, and affects the efficiency of preoperative preparation or postoperative storage. In some other prior art, for example, the content disclosed in Chinese patent CN117653293A, the side of the adapter away from the sleeve is provided with a movable block, and the movable block is located between the two clamping arms. By rotating the handle, the movable block can be moved forward and backward to simultaneously release the adapter and the sleeve from the two clamping arms. This structure is relatively complex, and it is not convenient to install detection components in the adapter shell.

[0004] Therefore, there is an urgent need for a poking card installation mechanism and surgical robot to solve the above-mentioned problems. INVENTION CONTENTS

[0005] The utility model aims at providing a kind of poking card installation mechanism and surgical robot, and the structure of the pushing piece and the connecting piece can avoid detection piece, simplify the structure of poking card installation mechanism, facilitate production and processing, and reduce the number of fingers occupied by operator during disassembly and assembly of poking card, simplify the operation process.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The poking card installation mechanism comprises:

[0008] The installation assembly is used for installing a card, and is provided with an installation end;

[0009] The adapter shell is provided with a detection member on the inner side of one end, the installation end is arranged in the opening and can be inserted into or separated from the adapter shell through the opening, and the installation end is provided with clamping members on both sides.

[0010] The operation assembly comprises a handle, a connecting member and two pushing members, one end of the handle is located outside the adapter shell, the other end is connected with the connecting member, the pushing members are located in the adapter shell and connected with the connecting member, the detection member is provided with the pushing members on both sides, the pushing members are arranged opposite to the clamping members, the connecting member and the pushing members form an avoiding space, the detection member is located in the avoiding space, and the connecting member is movably connected with the adapter shell, so that the pushing members can move away from the clamping members or push the clamping members away from the installation end.

[0011] As an optional technical solution of the card installation mechanism, the clamping end of the clamping member is used for abutting against the installation end, one end of the clamping member away from the clamping end extends towards the side away from the opening and is connected with a ring part, the ring part is rotatably arranged on a clamping shaft fixed in the adapter shell, an extension part is protrusively arranged on the outer side wall of the ring part, the clamping member is arranged at an angle with the extension part, and the pushing member pushes the clamping member through the extension part.

[0012] As an optional technical solution of the card installation mechanism, the extension part is located on the side of the clamping member away from the detection member, and the pushing member is located on the side of the extension part away from the opening.

[0013] As an optional technical solution of the card installation mechanism, the extension part extends towards the detection member, so that the pushing member can push the extension part to the end surface of the installation end away from the opening.

[0014] As an optional technical solution of the card installation mechanism, the adapter shell is provided with a mounting frame for mounting the detection member, and an avoiding groove is arranged on the end of the extension part away from the installation end, the avoiding groove is located on the side of the extension part away from the installation end, and the avoiding groove can avoid the mounting frame.

[0015] As an optional technical solution of the card installation mechanism, the connecting member is a rotating shaft, the rotating shaft is rotatably connected with the adapter shell, and the handle and the pushing member are connected with the rotating shaft on opposite sides.

[0016] As an optional technical scheme of the punch card mounting mechanism, the holding arm comprises a sliding arm, the sliding arm comprises a main connecting rod and a holding part, one end of the holding part is connected to an end of the main connecting rod, the adapter shell is provided with the opening at one end in a first direction, the other end of the holding part is bent towards the punch card mounting mechanism and connected to an end of the adapter shell opposite to the opening, the rotating shaft extends in a second direction, the two pushing pieces are arranged in the axial direction of the rotating shaft, the main connecting rod extends in a third direction, and the first direction, the second direction and the third direction are arranged perpendicular to each other in pairs.

[0017] The handle comprises a first connecting segment and a second connecting segment, the first connecting segment is connected between the second connecting segment and the rotating shaft, the first connecting segment and the second connecting segment are arranged at an angle, and one end of the second connecting segment away from the first connecting segment is inclined towards the direction close to the holding part.

[0018] As an optional technical scheme of the punch card mounting mechanism, the handle further comprises an operation segment, the operation segment is connected to one end of the second connecting segment away from the first connecting segment, the second connecting segment and the operation segment are arranged at an angle, and one end of the operation segment away from the second connecting segment is inclined away from the holding part.

[0019] As an optional technical scheme of the punch card mounting mechanism, the pushing piece is located on the side of the rotating shaft away from the opening.

[0020] As an optional technical scheme of the punch card mounting mechanism, the punch card mounting mechanism further comprises a reset assembly, the reset assembly is located in the adapter shell, and the reset assembly can enable the clamping piece to clamp the mounting end.

[0021] The clamping piece is rotationally connected with a clamping shaft fixed in the adapter shell, the clamping piece is provided with a protruding part on at least one side in the axial direction of the clamping shaft, the protruding part is coaxially arranged with the clamping shaft, the reset assembly comprises a first reset piece, the first reset piece is sleeved on the protruding part, one end of the first reset piece is connected to the clamping piece, and the other end of the first reset piece is connected to the adapter shell.

[0022] And / or, the clamping end of the clamping piece is used for abutting against the mounting end, the reset assembly comprises a second reset piece, and the second reset piece is located between the clamping end and the inner side wall of the adapter shell.

[0023] The surgical robot comprises the punch card mounting mechanism.

[0024] The surgical robot comprises the punch card mounting mechanism.

[0025] This utility model provides a puncture card installation mechanism, which includes an installation component, an adapter shell, and an operating component. The handle allows two pushing members to simultaneously push the clamping members away from the installation end, releasing the clamping force on the installation end and thus releasing the puncture card from the installation component and the adapter shell. The structure of the pushing members and connecting members in this puncture card installation mechanism avoids the detection component, facilitating its placement within the adapter shell. This simplifies the structure of the puncture card installation mechanism, making manufacturing easier and reducing production costs. Furthermore, it allows the operator to move the handle relative to the adapter shell with a single finger, simultaneously pushing the two clamping members to release the installation end. This reduces the number of fingers required, simplifies the operation, and allows the operator to use other fingers to operate other buttons, thereby improving the efficiency of preoperative preparation and postoperative care, reducing operator fatigue, and enhancing surgical safety.

[0026] The surgical robot provided by this utility model includes the aforementioned trocar installation mechanism. The trocar installation mechanism has a simple structure, facilitating the placement of detection components within it. Furthermore, the operator can use only one finger to push the two clamping components to release the installation end, reducing the number of fingers required and thus improving the efficiency of preoperative preparation and postoperative cleanup, reducing operator fatigue, and enhancing surgical safety. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the sliding arm and the card mounting mechanism provided in this embodiment of the utility model;

[0028] Figure 2 This is a schematic diagram of the stamp card installation mechanism provided in this embodiment of the utility model;

[0029] Figure 3 This is a schematic diagram of the structure of the stamp card and installation components provided in this embodiment of the utility model;

[0030] Figure 4 This is a schematic diagram of the installation component provided in an embodiment of the present utility model;

[0031] Figure 5 This is a schematic diagram of the structure of a portion of the stamp card installation mechanism provided in this embodiment of the utility model;

[0032] Figure 6 This is a first-view sectional view of the stamp card installation mechanism provided in this embodiment of the utility model;

[0033] Figure 7 yes Figure 6 A magnified view of a section at point A in the middle;

[0034] Figure 8is a sectional view of the second perspective view of the punch card mounting mechanism provided by the embodiment of the utility model,

[0035] Figure 9 is Figure 8 is a local enlarged view of B in the middle,

[0036] Figure 10 is a sectional view of the third perspective view of the punch card mounting mechanism provided by the embodiment of the utility model,

[0037] Figure 11 is a structural schematic view of the operation assembly provided by the embodiment of the utility model.

[0038] in the figure,

[0039] 10, punch card, 20, sliding arm, 201, main connecting rod, 202, holding part,

[0040] 1, switching shell, 11, detection piece, 111, mounting frame, 12, clamping piece, 121, clamping end, 122, ring part, 123, extension part, 124, avoiding slot, 125, convex part, 126, fixing hole, 13, clamping shaft, 14, through hole, 15, rotating slot,

[0041] 2, operation assembly, 21, handle, 211, first connecting section, 212, second connecting section, 213, operation section, 22, connecting piece, 23, pushing piece, 231, pushing part, 24, avoiding space,

[0042] 32, second reset piece,

[0043] 4, adapter, 41, containing piece, 411, detection hole, 42, containing slot, 43, movable piece,

[0044] 5, mounting seat, 51, mounting part, 500, mounting end. DETAILED DESCRIPTION

[0045] In order to make the technical problems solved by the utility model, the technical scheme adopted and the technical effects reached more clear, the technical scheme of the embodiment of the utility model will be further described in detail below in conjunction with the drawings, obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the range of protection of the utility model.

[0046] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0047] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0048] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0049] This embodiment provides a surgical robot. The surgical robot includes a doctor's console and a patient surgical end. The doctor's console is equipped with a control handle, and the patient surgical end includes a surgical arm, which includes an intermediate connecting arm and other components. Figure 1 The sliding arm 20 is shown. The sliding arm 20 is connected to one end of an intermediate connecting arm, the other end of which is used to connect to the operating table. Surgical instruments are mounted on the sliding arm 20. During surgery, the surgeon can control the surgical instruments using a control handle.

[0050] The patient's surgical end also includes a card installation mechanism and such as Figure 3 The stamp card 10 is shown. The stamp card mounting mechanism is used to mount the stamp card 10. The end of the sliding arm 20 is connected to the stamp card 10 via the stamp card mounting mechanism.

[0051] Specifically, such as Figures 1-11As shown, the punch card mounting mechanism comprises a mounting assembly, an adapter shell 1 and an operating assembly 2. The punch card 10 can be mounted on the mounting assembly. One side of the mounting assembly is provided with a mounting end 500. The adapter shell 1 is open at one end, and the inner side of the other end of the adapter shell 1 is provided with a detection piece 11. The mounting end 500 is placed in the opening of the adapter shell 1 and can enter or escape from the adapter shell 1 through the opening. Two clamping pieces 12 are arranged on both sides of the mounting end 500, and the two clamping pieces 12 can clamp the mounting end 500. The clamping pieces 12 are movably arranged in the adapter shell 1. The operating assembly 2 comprises a handle 21, a connecting piece 22 and two pushing pieces 23. One end of the handle 21 is located outside the adapter shell 1, and the other end of the handle 21 is connected with the connecting piece 22. The pushing pieces 23 are located in the adapter shell 1 and connected with the connecting piece 22. The detection piece 11 is provided with the pushing pieces 23 on both sides, and the two pushing pieces 23 are arranged opposite to the two clamping pieces 12 respectively. The two pushing pieces 23 and the connecting piece 22 form an avoiding space 24, and the detection piece 11 is located in the avoiding space 24. The connecting piece 22 is movably connected with the adapter shell 1, so that the two pushing pieces 23 can move away from the corresponding clamping pieces 12 or push the corresponding clamping pieces 12 away from the mounting end 500.

[0052] The punch card mounting mechanism provided by the embodiment comprises a mounting assembly, an adapter shell 1 and an operating assembly 2. The two pushing pieces 23 can push the clamping pieces 12 away from the mounting end 500 through the handle 21 at the same time, so as to release the clamping force of the mounting end 500 and release the mounting end 500, thereby realizing that the punch card 10 is separated from the adapter shell 1 of the mounting assembly. The structure of the pushing piece 23 and the connecting piece 22 of the punch card mounting mechanism provided by the embodiment can avoid the detection piece 11, which is convenient for arranging the detection piece 11 in the adapter shell 1, simplifies the structure of the punch card mounting mechanism, is convenient for production and processing, and is beneficial to reducing production cost. Moreover, one finger of an operator can move the handle 21 relative to the adapter shell 1 and push the two clamping pieces 12 to release the mounting end 500 at the same time, which reduces the number of fingers occupied by the operator, simplifies the operation process, is convenient for the operator to operate other keys with other fingers, improves the efficiency of preoperative preparation and postoperative arrangement, reduces the fatigue degree of the operator, and improves the safety of the operation.

[0053] The surgical robot provided by the embodiment comprises the above punch card mounting mechanism. The structure of the punch card mounting mechanism is simple, and it is convenient to arrange the detection piece 11 in the punch card mounting mechanism. Moreover, one finger of an operator can push the two clamping pieces 12 to release the mounting end 500, which reduces the number of fingers occupied by the operator, improves the efficiency of preoperative preparation and postoperative arrangement, reduces the fatigue degree of the operator, and improves the safety of the operation.

[0054] In the embodiment, as shown in Figures 2-4As shown, the mounting assembly comprises the adapter 4 and the mounting base 5. The poke card 10 is detachably connected to the mounting base 5. The connection between the poke card 10 and the mounting base 5 can refer to the prior art, which is not the focus of the protection of the present embodiment, and will not be described here. The mounting portion 51 is protrudingly arranged on the side wall of the mounting base 5.

[0055] The adapter 4 comprises a containing member 41 which is arranged in the adapter shell 1 and can be entered or separated from the adapter shell 1 through the opening of the adapter shell 1. The containing member 41 is hollow inside and an end thereof which is open to the outside of the adapter shell 1 is provided with a containing groove 42 in which the mounting portion 51 is arranged, and the mounting portion 51 is connected to the adapter 4. In the present embodiment, the mounting end 500 is an integral structure formed by the containing member 41 and the mounting portion 51. The clamping member 12 is arranged in the adapter shell 1 and located outside the containing member 41. The "two clamping members 12 can clamp the mounting end 500" described in the foregoing is that the two clamping members 12 can clamp the containing member 41, so as to avoid the mounting assembly from being separated from the adapter shell 1; the operating assembly 2 can push the corresponding clamping member 12 away from the mounting end 500 through the pushing member 23, so as to release the containing member 41, and thus the mounting assembly can be separated from the adapter shell 1.

[0056] In the present embodiment, the mounting portion 51 is detachably connected to the adapter 4. Specifically, the mounting portion 51 can be entered or separated from the containing groove 42 through the slotted end of the containing groove 42, and the side wall of the containing member 41 is movably provided with a movable member 43. It can be understood that when the clamping member 12 clamps the mounting end 500, the clamping member 12 abuts against the movable member 43 and abuts against the mounting portion 51 through the movable member 43, so as to clamp the mounting portion 51 and the containing member 41 at the same time, thereby avoiding the mounting base 5 from being separated from the adapter 4. When the mounting portion 51 is in the inner cavity of the containing member 41, if the clamping member 12 is away from the movable member 43 and releases the mounting portion 51, not only the containing member 41 can be released and the mounting assembly can be separated from the adapter shell, but also the mounting portion 51 on the mounting base 5 can be released and the mounting base 5 can be separated from the adapter 4.

[0057] Further, the end face of the containing member 41 which is away from the opening end of the adapter shell 1 is provided with a detection hole 411. When the mounting end 500 is mounted to the adapter shell 1, the end portion of the detection member 11 can extend into the detection hole 411 and abut against the mounting base 5, at this time the detection member 11 can trigger the contact switch in the adapter shell 1, so as to detect the mounting condition of the poke card 10.

[0058] In other embodiments, the mounting assembly can also be an integrated structure, one side of the mounting assembly protrudingly arranged with the mounting end 500, and the mounting base 5 and the poke card 10 can also be fixedly connected, which are not limited here.

[0059] For the convenience of description, a first direction, a second direction and a third direction are set to be perpendicular to each other. In the embodiment, the adapter shell 1 is provided with an opening at one end along the first direction, and the other end is used to be connected with the holding arm. The clamping member 12 is arranged on both sides of the mounting end 500 along the second direction. The two pushing members 23 are arranged on both sides of the detection member 11 along the second direction. In the embodiment, the clamping shaft 13 is fixedly arranged in the adapter shell 1, and the clamping member 12 is rotatably arranged on the clamping shaft 13. The clamping shaft 13 extends along the third direction.

[0060] The clamping member 12 is provided with a clamping position and a avoiding position. When the clamping member 12 is in the clamping position, the clamping member 12 abuts against the mounting end 500 to clamp the mounting end 500. When the clamping member 12 is in the avoiding position, the clamping member 12 is away from the mounting end 500 to release the mounting end 500. The operating assembly 2 can switch the clamping member 12 from the clamping position to the avoiding position.

[0061] Specifically, as shown in Figures 4-9 the clamping end 121 of the clamping member 12 is used to abut against the mounting end 500, and the end of the clamping member 12 away from the clamping end 121 extends towards the side away from the opening. That is, the clamping end 121 is used to contact the movable member 43. The end of the clamping member 12 away from the clamping end 121 is connected with a ring portion 122, and the ring portion 122 is coaxially and rotatably sleeved on the clamping shaft 13. The outer side wall of the ring portion 122 is protrudingly provided with an extension portion 123, and the clamping member 12 is arranged at an angle with the extension portion 123. The pushing member 23 pushes the clamping member 12 through the extension portion 123. The above arrangement can push the clamping member 12 to move to the avoiding position through the extension portion 123, which is beneficial to simplify the structure of the card mounting mechanism, facilitate production and processing, and the clamping member 12 arranged at an angle with the extension portion 123 can also shorten the size of the card mounting mechanism along the first direction, which is beneficial to improve the compactness of the card mounting mechanism.

[0062] In the embodiment, the extension portion 123 is perpendicular to the clamping member 12. The extension portion 123, the ring portion 122 and the clamping member 12 are integrally formed. Compared with arranging the extension portion 123 and the clamping member 12 on the same side of the ring portion 122, the above arrangement avoids that the length of the clamping member 12 is too long, so that the rotation range of the clamping member 12 is smaller, and the volume of the adapter shell 1 is reduced. In other embodiments, the angle between the extension portion 123 and the clamping member 12 can also be adjusted according to the structural adaptability of the inner side of the adapter shell 1, which is not limited here.

[0063] As a preferred solution, the extension 123 is located on the side of the clamping member 12 facing the detection member 11, and the pushing member 23 is located on the side of the extension 123 away from the opening of the adapter shell 1. Compared with the arrangement of the extension 123 on the side of the clamping member 12 away from the detection member 12, the above arrangement reduces the size of the adapter shell 1 and the punch card mounting mechanism in the second direction, improves the structural compactness of the punch card mounting mechanism, reduces the volume of the punch card mounting mechanism, reduces the occupied space of the punch card mounting mechanism, and improves the flexibility of the surgical robot.

[0064] In other embodiments, the extension 123 can also be located on the side of the clamping member 12 away from the detection member 11, and the pushing member 23 is located on the side of the extension 123 facing the opening of the adapter shell 1, which is not limited here.

[0065] Preferably, the extension 123 extends towards the detection member 11, so that the pushing member 23 can push the extension 123 to the end of the extension 123 to abut against the end face of the mounting end 500 away from the opening of the adapter shell 1. When the clamping member 12 is in the avoiding position, the pushing member 23 can push the extension 123 to abut against the end face of the mounting end 500. The above arrangement limits the position of the clamping member 12 by the end face of the mounting end 500, avoids the collision between the clamping end 121 and the inner side wall of the adapter shell 1, reduces the risk of damage to the clamping end 121, ensures that the clamping member 12 can reliably clamp the mounting end 500, and ensures the safety of the operation; At the same time, it also avoids setting other structures in the adapter shell 1 to limit the position of the clamping member 12, which is conducive to simplifying the structure of the punch card mounting mechanism and reducing the volume of the punch card mounting mechanism.

[0066] In the present embodiment, when the clamping member 12 is in the clamping position and the avoiding position, the extension 123 is always located on the side of the mounting end 500 away from the opening of the adapter shell 1, and the pushing member 23 is always located on the side of the extension 123 away from the opening of the adapter shell 1.

[0067] Further, the adapter shell 1 is provided with a mounting frame 111 for mounting the detection member 11. An avoiding groove 124 is formed on the end of the extension 123 facing the detection member 11, and the avoiding groove 124 is located on the side of the extension 123 away from the mounting end 500. The avoiding groove 124 can avoid the mounting frame 111. The above arrangement improves the structural compactness of the punch card mounting mechanism, is conducive to reducing the occupied space of the punch card mounting mechanism, and further improves the flexibility of the surgical robot. When the clamping member 12 is in the clamping position, part of the mounting frame 111 is placed in the avoiding groove 124, and the mounting frame 111 is spaced apart from the extension 123.

[0068] According to the foregoing description, the clamping end 121 of the clamping piece 12 is used to push the movable piece 43. Preferably, the size of the clamping piece 12 along the third direction is greater than or equal to the size of the movable piece 43 along the third direction, which ensures that the clamping piece 12 can reliably push the movable piece 43 to clamp the mounting portion 51 and the adapter 4.

[0069] Preferably, the size of the extension portion 123 along the third direction is less than or equal to the size of the clamping piece 12 along the third direction, which can avoid structures on the mounting frame 111 or other structures inside the adapter shell 1, reduce the possibility of damage caused by interference or collision between the extension portion 123 and other structures, ensure that the clamping piece 12 can timely release the mounting end 500, and also simplify the internal structure of the adapter shell 1, and reduce the weight of the clamping piece 12, thereby reducing the overall weight of the card mounting mechanism and the load of the holding arm, facilitating the reduction of the size of the driving motor on the holding arm, thereby reducing the space occupied by the surgical robot and improving the flexibility of the surgical robot.

[0070] In the embodiment, the connecting piece 22 is a rotating shaft, and the rotating shaft is rotationally connected with the adapter shell 1. The mounting frame 111 is located in the avoiding space 24, and the rotating shaft is located on one side of the mounting frame 111 along the third direction, and the two pushing pieces 23 are located on both sides of the mounting frame 111 along the second direction. The rotating shaft extends along the second direction, and the two pushing pieces 23 are arranged in the axial direction of the rotating shaft.

[0071] Further, the connecting piece 22 is arranged in the adapter shell 1. In other embodiments, the connecting piece 22 can also be arranged outside the adapter shell 1, which is not limited here. Specifically, as shown in Figure 8 and Figure 9 , a rotating groove 15 is formed on the inner side wall of the adapter shell 1. The rotating groove 15 is provided with two, and the two rotating grooves 15 are respectively formed on the opposite two inner side walls of the adapter shell 1 along the second direction. The two ends of the rotating shaft are respectively arranged in the rotating grooves 15, so as to realize the rotational connection between the handle 21 and the adapter shell 1.

[0072] Specifically, one end of the pushing piece 23 is connected to the rotating shaft, and the other end is used to push the clamping piece 12. The projection of the connection position of the handle 21 and the rotating shaft on the rotating shaft axis is located between the projections of the connection positions of the two pushing pieces 23 and the rotating shaft on the rotating shaft axis.

[0073] As a preferred solution, as shown in Figure 5 , Figures 8-11As shown, the handle 21 and the pushing piece 23 are connected to the opposite sides of the rotating shaft, that is, the avoiding space 24 and the detection piece 11 are located on the side of the rotating shaft away from the handle 21. Compared with arranging the handle 21 and the pushing piece 23 on the same side of the rotating shaft, the embodiment arranges the rotating shaft between the handle 21 and the pushing piece 23, so that the handle 21 and the avoiding space 24 are located on the two sides of the rotating shaft, which reduces the possibility of interference between the handle 21 and the detection piece 11 during rotation, simplifies the cooperation structure between the handle 21 and the detection piece 11, ensures the accuracy of the detection result of the detection piece 11, and improves the safety of the operation. At the same time, under the condition of ensuring the unchanged length of the handle 21 extending out of the adapter shell 1, the depth of the handle 21 extending into the adapter shell 1 is shortened, and thus the length of the handle 21 is shortened, thereby reducing the weight of the handle 21, reducing the overall weight of the punch card mounting mechanism, reducing the load of the holding arm, and facilitating the reduction of the size of the driving motor on the holding arm, thereby reducing the space occupied by the surgical robot and improving the flexibility of the surgical robot.

[0074] In the embodiment, a through hole 14 is formed in the side wall of the adapter shell 1 along the third direction, and the end of the handle 21 extends into the adapter shell 1 through the through hole 14 and is connected to the rotating shaft. The rotating shaft is located on the side of the clamping piece 12 facing the through hole 14.

[0075] Further, the pushing piece 23 is provided with a pushing portion 231 at the end away from the rotating shaft, and the pushing portion 231 is protrudingly arranged on the side wall of the pushing piece 23 facing the extension portion 123.

[0076] It can be understood that, during the rotation of the handle 21, the pushing portion 231 and the extension portion 123 will slide relative to each other, and the contact position between the pushing portion 231 and the extension portion 123 changes constantly. Preferably, the surface of the pushing portion 231 for contacting the extension portion 123 is arc-shaped, so that the pushing portion 231 and the extension portion 123 are in line contact or point contact, the contact area between the pushing portion 231 and the extension portion 123 is reduced, the friction between the pushing portion 231 and the extension portion 123 is reduced, the relative sliding between the pushing portion 231 and the extension portion 123 is facilitated, and it is ensured that the clamping piece 12 can be switched between the clamping position and the avoiding position smoothly. Specifically, the pushing portion 231 is located on the side of the pushing piece 23 facing the extension portion 123.

[0077] In the embodiment, the holding arm includes a sliding arm 20, and the sliding arm 20 includes a main connecting rod 201 and a holding portion 202. The main connecting rod 201 extends along the third direction. The holding portion 202 is used for being held by an operator, one end of the holding portion 202 extends along the third direction and is connected to the end of the main connecting rod 201, and the other end is bent toward the punch card mounting mechanism and extends along the first direction to be connected to the end of the adapter shell 1 opposite to the opening. The through hole 14 and the main connecting rod 201 are located on the same side of the adapter shell 1.

[0078] Preferably, the handle 21 comprises a first connecting section 211 and a second connecting section 212. One end of the first connecting section 211 is connected to the side wall of the rotating shaft, and the other end of the first connecting section 211 is connected to the second connecting section 212, i.e. the first connecting section 211 is connected between the second connecting section 212 and the rotating shaft. The first connecting section 211 and the second connecting section 212 are arranged at an angle, and one end of the second connecting section 212 away from the first connecting section 211 is inclined towards the direction close to the holding portion 202. When the operator needs to release the mounting end 500, the operator first holds the holding portion 202, the fingers of the operator are attached to the side of the handle 21 away from the holding portion 202, and the handle 21 is turned towards the holding portion 202. The above arrangement makes one end of the second connecting section 212 away from the first connecting section 211 extend obliquely towards the direction close to the holding portion 202, shortens the distance between the end of the second connecting section 212 and the holding portion 202, reduces the difficulty of operation, facilitates the operator to perform one-handed holding operation, avoids occupying the other hand of the operator, facilitates the operator to perform other operations at the same time, and improves the efficiency of preoperative preparation and postoperative storage.

[0079] Further, the handle 21 further comprises an operating section 213 for the operator to contact and turn the handle 21. The operating section 213 is connected to one end of the second connecting section 212 away from the first connecting section 211, the second connecting section 212 and the operating section 213 are arranged at an angle, and one end of the operating section 213 away from the second connecting section 212 is inclined away from the holding portion 202. If the operating section 213 has the same extension direction as the second connecting section 212, when the handle 21 is turned to push the clamping member 12 to the avoiding position, one end of the operating section 213 away from the second connecting section 212 can be in contact with the outer side wall of the holding portion 202. The above arrangement avoids the possibility that one end of the operating section 213 away from the second connecting section 212 is in contact with the holding portion 202, thereby avoiding the collision between the operating section 213 and the holding portion 202, ensuring the durability of the handle 21, and at the same time, the inclination of the operating section 213 away from the holding portion 202 also ensures that the handle 21 has a large turning angle, thereby ensuring that the handle 21 can reliably push the clamping member 12 to the avoiding position, thereby smoothly releasing the mounting end 500.

[0080] In the embodiment, the first connecting section 211, the second connecting section 212, the operating section 213, the rotating shaft, the pushing member 23 and the pushing portion 231 are integrally formed.

[0081] As a preferred solution, the pushing member 23 is located on the side of the rotating shaft away from the opening of the adapter shell 1. The above arrangement of the position of the pushing member 23 makes the distance between the pushing member 23 and the opening far enough to ensure that there is enough space between the pushing member 23 and the opening end of the adapter shell 1 for installing the clamping member 12, thereby facilitating the installation of the clamping member 12.

[0082] It can be understood that, since two clamping members 12 are arranged on both sides of the mounting end 500 along the second direction, when it is required to release the mounting end 500 or the mounting portion 51, the clamping member 12 needs to move away from the movable member 43 by a certain distance along the second direction. In the embodiment, the pushing member 23 is arranged on the side of the rotating shaft away from the opening of the adapter shell 1, so that the length dimension of the clamping member 12 is relatively large. When the distance that the clamping end 121 needs to move along the second direction is unchanged, the longer the length of the clamping member 12 is, the smaller the angle that the clamping member 12 needs to rotate is, and the smaller the angle that the handle 21 and the operating assembly 2 need to rotate is, which is beneficial to simplify the operation process, shorten the rotation time, and improve the operation efficiency. In addition, the required movement space of the operating assembly 2 in the adapter shell 1 is also reduced, the possibility of collision between the operating assembly 2 and the internal structure of the adapter shell 1 is avoided, the durability of the card mounting mechanism is ensured, the maintenance cost is reduced, and the reliability of the card mounting mechanism is improved.

[0083] As a preferred solution, the card mounting mechanism further comprises a reset assembly, the reset assembly is located in the adapter shell 1, and the reset assembly can enable the clamping member 12 to clamp the mounting end. This avoids manually pushing the clamping member 12, improves the convenience of operation, and ensures that the clamping member 12 can reliably clamp the mounting assembly, thereby ensuring the safety of the operation.

[0084] Specifically, the clamping member 12 is provided with a protruding portion 125 protruding on at least one side of the clamping shaft 13, the protruding portion 125 is coaxially arranged with the clamping shaft 13, and the reset assembly comprises a first reset member (not shown in the figure), the first reset member is sleeved on the protruding portion 125, one end of the first reset member is connected to the clamping member 12, and the other end is connected to the adapter shell 1.

[0085] The first reset member is a torsion spring, a fixing hole 126 is formed on the end face of the clamping member 12 on one side of the clamping shaft 13, one end of the torsion spring is fixedly connected to the inner side wall of the adapter shell 1, and the other end is inserted into the fixing hole 126, so as to realize the fixed connection between the torsion spring and the clamping member 12. Preferably, the clamping member 12 is provided with the protruding portion 125 on the side walls on both sides of the clamping shaft 13, and the first reset member is sleeved on both protruding portions 125, so as to ensure that the clamping member 12 can be uniformly stressed, thereby ensuring that the clamping member 12 can reliably clamp the mounting end 500.

[0086] In the embodiment, the protruding portion 125 is annular, and the protruding portion 125 is integrally formed with the clamping member 12. Both ends of the clamping shaft 13 pass through the two protruding portions 125 and are fixedly connected to the adapter shell 1.

[0087] Further, as shown in FIG. 6, the protruding portion 125 is annular, and the protruding portion 125 is integrally formed with the clamping member 12. Both ends of the clamping shaft 13 pass through the two protruding portions 125 and are fixedly connected to the adapter shell 1. Figure 4 and Figure 6As shown, the reset assembly includes a second reset piece 32, which is located between the clamping end 121 and the inner side wall of the adapter shell 1. Specifically, the second reset piece 32 is arranged on the side of the clamping end 121 away from the mounting end 500 and abuts against the clamping end 121. The end of the second reset piece 32 away from the clamping piece 12 is fixedly connected or abuts against the inner side wall of the adapter shell 1.

[0088] In the embodiment, the second reset piece 32 can be an elastic structure such as a metal spring piece, a spring or a rubber column, which is not limited herein.

[0089] In the embodiment, the reset assembly includes the first reset piece and the second reset piece 32, and the first reset piece and the second reset piece 32 simultaneously apply the clamping force to the mounting end 500 through the clamping piece 12, further ensuring that the clamping piece 12 can reliably clamp the mounting end 500. In other embodiments, the reset assembly can only include one of the first reset piece and the second reset piece 32.

[0090] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled in the art, on the basis of the above description, other different forms of changes or variations can be made. Here, it is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. A card-mounting mechanism, characterized in that, include: The installation component is used to install the stamp card and has an installation terminal. The adapter shell has an opening at one end and a detection element on the inner side of the other end. The mounting end is placed in the opening and can enter or leave the adapter shell through the opening. Clamping elements are provided on both sides of the mounting end. The two clamping elements are movably disposed in the adapter shell and can clamp the mounting end. The operating component includes a handle, a connector, and two pushers. One end of the handle is located outside the adapter housing, and the other end is connected to the connector. The pushers are located inside the adapter housing and connected to the connector. The two sides of the detection component are respectively provided with the pushers, and the two pushers are respectively arranged opposite to the two clamping components. The two pushers and the connector form a clearance space. The detection component is located within the clearance space. The connector is movably connected to the adapter housing so that the two pushers can move away from the corresponding clamping component or push the corresponding clamping component away from the mounting end.

2. The stamp card installation mechanism according to claim 1, characterized in that, The clamping end of the clamping member is used to abut against the mounting end. The end of the clamping member away from the clamping end extends toward the side away from the opening and is connected to a ring. The ring is rotatably sleeved on the clamping shaft fixed in the adapter shell. An extension is provided on the outer side wall of the ring. The clamping member and the extension are set at an angle. The pushing member pushes against the clamping member through the extension.

3. The stamp card installation mechanism according to claim 2, characterized in that, The extension is located on the side of the clamping member facing the detection member, and the pusher is located on the side of the extension opposite to the opening.

4. The stamp card installation mechanism according to claim 3, characterized in that, The extension extends toward the detection element so that the pusher can push the extension until its end abuts against the end face of the mounting end opposite to the opening.

5. The stamp card installation mechanism according to claim 4, characterized in that, The adapter housing is provided with a mounting bracket for mounting the detection component. The end of the extension facing the detection component is provided with a clearance groove, which is located on the side of the extension opposite to the mounting end and can avoid the mounting bracket.

6. The stamp card mounting mechanism according to any one of claims 1-5, characterized in that, The connector is a rotating shaft, which is rotatably connected to the adapter shell. The handle and the pusher are respectively connected to opposite sides of the rotating shaft.

7. The stamp card installation mechanism according to claim 6, characterized in that, The mechanical arm includes a sliding arm, which includes a main connecting rod and a gripping part. One end of the gripping part is connected to the end of the main connecting rod. The adapter shell has an opening at one end along a first direction. The other end of the gripping part is bent toward the card mounting mechanism and connected to the end of the adapter shell opposite to the opening. The rotating shaft extends along a second direction. Two abutting members are spaced apart along the axial direction of the rotating shaft. The main connecting rod extends along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other. The handle includes a first connecting segment and a second connecting segment. The first connecting segment is connected between the second connecting segment and the pivot. The first connecting segment and the second connecting segment are set at an angle, and the end of the second connecting segment away from the first connecting segment is tilted towards the grip.

8. The stamp card installation mechanism according to claim 7, characterized in that, The handle also includes an operating section connected to the end of the second connecting section away from the first connecting section. The second connecting section and the operating section are set at an angle, and the end of the operating section away from the second connecting section is tilted in a direction away from the grip.

9. The stamp card installation mechanism according to claim 6, characterized in that, The pusher is located on the side of the pivot away from the opening.

10. The stamp card mounting mechanism according to any one of claims 1-5, characterized in that, The card mounting mechanism further includes a reset component, which is located inside the adapter housing and enables the clamping member to clamp the mounting end. The clamping member is rotatably connected to the clamping shaft fixed in the adapter shell. The clamping member has a protruding part protruding from at least one side along the axial direction of the clamping shaft. The protruding part is coaxially arranged with the clamping shaft. The reset assembly includes a first reset member, which is sleeved on the protruding part. One end of the first reset member is connected to the clamping member, and the other end is connected to the adapter shell. And / or, the clamping end of the clamping member is used to abut against the mounting end, and the reset assembly includes a second reset member located between the clamping end and the inner wall of the adapter housing.

11. A surgical robot, characterized in that, Includes the card mounting mechanism as described in any one of claims 1-10.

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