Storage locking structure, passive operation adjusting arm and robot system

Abstract

The utility model provides a storage locking structure, a passive operation adjusting arm and a robot system, and relates to the technical field of operation adjusting arms, and the storage locking structure comprises a clamping hook part and a locking main body; the locking main body comprises a seat body, a handle assembly and a spring bolt assembly, the handle assembly is rotatably connected to the top surface of the seat body, and the spring bolt assembly is slidably connected with the seat body; when the handle assembly is rotated forwards to the first position, the handle assembly drives a spring bolt of the spring bolt assembly to move in the direction of retracting into the base body so as to remove connection between the spring bolt assembly and the clamping hook part, and when the handle assembly is rotated reversely to the second position, the handle assembly abuts against the spring bolt assembly so that the spring bolt can be kept in the state of stretching out of the base body. According to the storage locking structure, unlocking can be achieved by rotating the handle assembly in the forward direction, the handle assembly can abut against the spring bolt assembly by rotating the handle assembly in the reverse direction so that the spring bolt can be kept in the state of stretching out of the base, then the connecting strength of the spring bolt and the clamping hook part can be improved, and the clamping hook part is prevented from being disengaged from the spring bolt.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of surgical adjustment arms, and particularly relates to a storage locking structure, a passive surgical adjustment arm and a robot system. BACKGROUND

[0002] The surgical adjustment arm comprises a passive arm and a power tool, and the power tool is detachably mounted on the passive arm. During a surgery, the passive arm needs to be switched between an unfolded state and a storage state. If the passive arm cannot stably be in the storage state, the surgery will be affected. CONTENT OF THE UTILITY MODEL

[0003] The application aims to provide a storage locking structure, a passive surgical adjustment arm and a robot system to solve the technical problem that the passive arm cannot stably be in the storage state and affects the surgery.

[0004] To achieve the above-mentioned purpose, the application adopts the technical scheme of:

[0005] The application provides a storage locking structure in the first aspect, which comprises:

[0006] A hook part;

[0007] A locking body comprising a seat body, a handle assembly and a lock tongue assembly, the handle assembly being rotationally connected to the top surface of the seat body, and the lock tongue assembly being slidingly connected to the seat body;

[0008] When the handle assembly is rotated forward to the first position, the handle assembly drives the lock tongue of the lock tongue assembly to move in the direction of being retracted into the seat body to release the connection between the lock tongue assembly and the hook part. When the handle assembly is rotated reversely to the second position, the handle assembly abuts against the lock tongue assembly to keep the lock tongue in the state of being extended out of the seat body.

[0009] In an implementation manner, the storage locking structure further comprises an elastic device, the elastic device being connected to the seat body and cooperating with the handle assembly. When the handle assembly is rotated forward from the intermediate position to the first position, the elastic device is in a compressed state, wherein the intermediate position is between the first position and the second position.

[0010] In an implementation manner, the seat body is provided with an elastic clamping piece, and the side of the handle assembly facing the seat body is formed with a clamping groove. When the handle assembly is in the intermediate position, the elastic clamping piece extends into the clamping groove.

[0011] In an implementation, the handle assembly comprises a pressing disc, the pressing disc comprises a middle part, a hook part and an abutting part; the lock tongue assembly comprises a matching column connected with the lock tongue; one end of the hook part is connected with the middle part, the distance from the free end of the hook part to the one end of the hook part connected with the middle part gradually decreases to the center of the middle part, and when the handle assembly rotates in the positive direction, the side of the hook part facing the middle part presses the matching column to drive the matching column to move towards the center of the middle part; the abutting part is arranged on the middle part, and an abutting surface is formed on the outer circumferential side surface of the abutting part, and when the handle assembly is in the second position, the abutting surface abuts against the matching column.

[0012] In an implementation, the lock tongue assembly further comprises a connecting part, the matching column and the lock tongue are connected through the connecting part to form one lock tongue part, the lock tongue assembly comprises two lock tongue parts which are symmetrically distributed on the seat body, and a resilient part is arranged between the two lock tongue parts, and when the handle assembly releases the limitation on the matching column, the lock tongues of the two lock tongue parts respectively extend out of the corresponding side surfaces of the seat body under the action of the resilient part; the hook part is two, the two hook parts are centrally symmetrically distributed with the center of the middle part, and each hook part is matched with a corresponding matching column; the abutting part is two, the two abutting parts are centrally symmetrically distributed on the middle part with the center of the middle part, and each abutting part is matched with a corresponding matching column; along the circumferential direction of the middle part, the abutting part is located between the two hook parts.

[0013] In an implementation, the hook part comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are respectively arranged on the two sides of the seat body, the side of the first clamping arm facing the seat body is provided with a clamping hook matched with the lock tongue, and the side of the second clamping arm facing the seat body is provided with a clamping hook matched with another lock tongue.

[0014] In an implementation, the hook part is integrally formed with the middle part; and / or, the abutting part is detachably connected on the middle part.

[0015] In an implementation, the handle assembly comprises a connecting shaft, one end of the connecting shaft is fixedly connected with the seat body, the other end is rotationally connected with the pressing disc, a torsional spring is sleeved on the connecting shaft, two ends of the torsional spring are respectively a first end of the torsional spring and a second end of the torsional spring, the first end of the torsional spring is fixed on the seat body, the side of the pressing disc facing the seat body is provided with a matching groove, the second end of the torsional spring is located in the matching groove, and the matching groove comprises opposite first and second side walls.

[0016] In an implementation, the handle assembly comprises a knob, the knob is arranged on the side of the pressing disc away from the seat body.

[0017] The second aspect of the present application provides a passive surgical adjustment arm, comprising a passive arm and the storage locking structure provided in any of the above solutions, wherein: the passive arm comprises a passive arm front end and a passive arm end, one of the hook part and the locking body of the storage locking structure is arranged at the passive arm front end, and the other is arranged at the passive arm end, so as to realize the locking of the passive arm in the storage state;

[0018] Alternatively, the passive arm end is provided with a connecting structure, one of the hook part and the locking body of the storage locking structure is arranged at the passive arm front end, and the other is arranged at the connecting structure, so as to realize the locking of the passive arm in the storage state.

[0019] In an implementation manner, the passive arm comprises a mechanical arm connecting assembly, a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm, the first connecting arm and the second connecting arm are rotationally connected with the mechanical arm connecting assembly, the third connecting arm is rotationally connected with the first connecting arm, the fourth connecting arm is rotationally connected with the second connecting arm, and the third connecting arm and the fourth connecting arm are rotationally connected with the connecting structure; one of the mechanical arm connecting assembly and the connecting structure is provided with the hook part of the storage locking structure, and the other is provided with the locking body of the storage locking structure.

[0020] In an implementation manner, the end of the passive arm is provided with a connecting structure, and the connecting structure is a flange device; or, the connecting structure comprises a linear mechanism and a flange device, and the end of the passive arm is connected with the flange device through the linear mechanism; the linear mechanism comprises a sliding rail assembly, a sliding block and a connecting assembly, the sliding rail assembly is arranged at the end of the passive arm, the sliding block is connected to the sliding rail assembly, the sliding block is connected with the flange device, the connecting assembly is used for fixing the sliding block on the sliding rail assembly, and the position of the connecting assembly on the sliding rail assembly is adjustable.

[0021] In an implementation manner, the passive surgical adjustment arm further comprises a power tool and a navigation array, and quick release structures are arranged between the navigation array and the power tool and between the power tool and the connecting structure of the passive arm end; the quick release structure comprises a connecting plate and a quick release body, the quick release body comprises a first seat body, a second seat body, a quick release connecting shaft and a handle, the quick release connecting shaft is arranged on the first seat body, the quick release connecting shaft is rotationally connected with the handle through the second seat body, the second seat body is slidingly connected with the quick release connecting shaft, a clamping space is formed between the first seat body and the second seat body, and when the handle is rotated, the handle can push the second seat body to move towards the first seat body to clamp the connecting plate located in the clamping space.

[0022] In one implementation, the power tool has two connecting plates respectively arranged on opposite sides of the power tool, the connecting structure and the navigation array are respectively provided with quick release structures, the quick release main bodies of the quick release structures are arranged on the connecting structure and the navigation array, the connecting structure, the power tool and the navigation array are sequentially arranged along a first direction, the two connecting plates on the power tool are both universal with the quick release main bodies on the connecting structure and the navigation array, so as to support the handle-down installation of the power tool and support the handle-up installation of the power tool and the saw blade or drill bit of the power tool located on the same side of the first direction, or support the left installation of the saw blade or drill bit of the power tool relative to the first direction and support the right installation of the saw blade or drill bit of the power tool relative to the first direction.

[0023] The third aspect of the present application provides a robot system comprising the passive surgical adjustment arm provided in any of the above solutions.

[0024] The application has the advantages that: compared with the prior art, the storage locking structure provided in the embodiment can be unlocked when the handle assembly is rotated to the first position in the forward direction, and can make the handle assembly abut against the lock tongue assembly to keep the lock tongue in the state of extending out of the seat body when the handle assembly is rotated to the second position in the reverse direction, thereby improving the connection strength of the lock tongue and the hook part and preventing the hook part from separating from the lock tongue; the storage locking structure provided in the embodiment is simple to operate and has good reliability. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0026] Figure 1 The structural schematic diagram of the passive surgical adjustment arm provided in the embodiment of the present application (the storage locking structure is in the locked state);

[0027] Figure 2 The structural schematic diagram of the passive surgical adjustment arm provided in the embodiment of the present application (the storage locking structure is in the unlocked state);

[0028] Figure 3 The exploded schematic diagram of the storage locking structure provided in the embodiment of the present application;

[0029] Figure 4 Another exploded schematic diagram of the storage locking structure provided in the embodiment of the present application;

[0030] Figure 5 The top view schematic diagram of the storage locking structure provided in the embodiment of the present application (the handle assembly is in the middle position);

[0031] Figure 6 A top view schematic diagram of the handle assembly cooperating with the lock tongue assembly of the embodiment of the present application (the handle assembly is in the middle position);

[0032] Figure 7 A top view schematic diagram of the handle assembly cooperating with the lock tongue assembly of the embodiment of the present application (the handle assembly is in the first position);

[0033] Figure 8 A top view schematic diagram of the handle assembly cooperating with the lock tongue assembly of the embodiment of the present application (the handle assembly is in the second position);

[0034] Figure 9 A structural schematic diagram of the handle assembly of the embodiment of the present application;

[0035] Figure 10 An exploded schematic diagram of the passive surgical adjustment arm provided by the embodiment of the present application;

[0036] Figure 11 Another structural schematic diagram of the passive surgical adjustment arm provided by the embodiment of the present application;

[0037] Figure 12 A structural schematic diagram of the power tool in different directions of the passive surgical adjustment arm provided by the embodiment of the present application;

[0038] Figure 13 A structural schematic diagram of the power tool of the embodiment of the present application;

[0039] Figure 14 A Figure 13 A local enlarged view at A;

[0040] Figure 15 A structural schematic diagram of the quick release main body of the embodiment of the present application;

[0041] Figure 16 Another structural schematic diagram of the quick release main body of the embodiment of the present application;

[0042] Figure 17 A structural schematic diagram of the passive arm and the connecting structure of the embodiment of the present application;

[0043] Figure 18 Another structural schematic diagram of the passive arm and the connecting structure of the embodiment of the present application;

[0044] Figure 19 Another structural schematic diagram of the passive arm and the connecting structure of the embodiment of the present application;

[0045] Figure 20 Another structural schematic diagram of the power tool in different directions of the passive surgical adjustment arm provided by the embodiment of the present application;

[0046] Figure 21 Another structural schematic view of the power tool provided by the embodiment of the present application;

[0047] Figure 22 For Figure 21 The local enlarged view at B in the middle.

[0048] In the figure, various reference signs:

[0049] 1 - accommodation locking structure; 2 - passive arm; 3 - connecting structure; 4 - power tool; 5 - navigation array; 6 - quick release structure;

[0050] 11 - hook part; 12 - seat body; 13 - handle assembly; 14 - lock tongue assembly; 15 - torsional spring; 16 - elastic clamping piece;

[0051] 111 - first clamping arm; 112 - second clamping arm; 113 - hook;

[0052] 1111 - first accommodating opening; 1112 - second accommodating opening;

[0053] 131 - extrusion disc; 132 - connecting shaft; 133 - knob; 134 - clamping column;

[0054] 1311 - intermediate part; 1312 - hook part; 1313 - abutting part; 1314 - matching groove; 1315 - shaft matching hole;

[0055] 13141 - first side wall; 13142 - second side wall;

[0056] 1341 - clamping groove;

[0057] 141 - lock tongue; 142 - matching column; 143 - connecting part;

[0058] 151 - torsional spring first end; 152 - torsional spring second end;

[0059] 21 - mechanical arm connecting assembly; 22 - first connecting arm; 23 - second connecting arm; 24 - third connecting arm; 25 - third connecting arm;

[0060] 31 - linear mechanism; 32 - flange device;

[0061] 311 - slide rail assembly; 312 - sliding block; 313 - connecting assembly;

[0062] 3111 - limiting groove; 3112 - accommodating hole;

[0063] 3131 - lever type spring pin; 3132 - limiting column;

[0064] 41 - saw blade; 42 - handle;

[0065] 61 - connecting plate; 62 - quick release body;

[0066] 611 - clamping protrusion; 612 - guide protrusion;

[0067] 621 - first seat body; 622 - second seat body; 623 - quick release connecting shaft; 624 - handle; 625 - clamping plate space; 626 - wear-resistant pad; 627 - hinged shaft;

[0068] 6221 - clamping matching groove; 6222 - guide matching groove;

[0069] 6241 - rotating end;

[0070] 62411 - first abutting curved surface; 62412 - second abutting curved surface. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical scheme and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the drawings. The embodiments described by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0072] In the description of the present application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inner", "outer", "upper", "lower", "left", "right" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0073] In order to facilitate the clear description of the technical scheme of the present application, the terms "first", "second" and the like are used to distinguish the same items or similar items with basically the same function and effect. Those skilled in the art can understand that the terms "first", "second" and the like do not limit the number and execution order, and the terms "first", "second" and the like do not necessarily mean different.

[0074] In the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0075] In the present application, "and / or" is only a kind of description of the association relationship of associated object, it indicates that there can be three kinds of relations; For example, A and / or B, it can indicate: there are three kinds of cases of A, A and B exist simultaneously, B exists alone.In addition, the character " / " in this paper generally indicates that the front and rear associated objects are a kind of "or" relationship.

[0076] It should be noted that in the present application, "in an embodiment", "exemplarily", "for example" and the like are used to indicate as an example, illustration or description. Any embodiment or design scheme described as "in an embodiment", "exemplarily", "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the use of "in an embodiment", "exemplarily", "for example" and the like is intended to present the relevant concept in a specific way.

[0077] Please see Figures 1-9 , now the storage locking structure 1 provided by the embodiment of the present application will be described.

[0078] The storage locking structure 1 provided by the embodiment includes a hook part 11 and a locking body. Please see Figure 1 , the storage locking structure 1 is shown, please see Figure 2 , the hook part 11 is shown.

[0079] Please see Figure 3 , the locking body includes a seat body 12, a handle assembly 13 and a lock tongue assembly 14, the handle assembly 13 is rotationally connected on the top surface of the seat body 12, and the lock tongue assembly 14 is slidingly connected with the seat body 12;

[0080] When the handle assembly 13 is rotated forward to the first position, the handle assembly 13 drives the lock tongue 141 of the lock tongue assembly 14 to move in the direction of retracting into the seat body 12 to release the connection between the lock tongue assembly 14 and the hook part 11, and when the handle assembly 13 is rotated reversely to the second position, the handle assembly 13 abuts against the lock tongue assembly 14 to keep the lock tongue 141 in the state of extending out of the seat body 12.

[0081] Please see Figure 1 and 3 , the lock tongue 141 of the lock tongue assembly 14 is shown. Please see Figure 1 , the lock tongue 141 and the hook part 11 are shown in the clamped connection state. When the handle assembly 13 is rotated forward, it can drive the lock tongue 141 to move in the direction of extending into the seat body 12, until the handle assembly 13 is rotated to the first position, the connection with the hook part 11 shown in Figure 1 can be released, at this time, the hook part 11 can be driven to move in the direction away from the seat body 12, please see Figure 2This illustrates that the handle assembly 13 and the hook portion 11 are in a separated state.

[0082] When the handle assembly 13 is rotated in the reverse direction to the second position, the handle assembly 13 presses against the latch assembly 14 to keep the latch 141 extended from the seat 12, thereby increasing the connection strength between the latch 141 and the hook portion 11 and preventing the hook portion 11 from disengaging from the latch 141.

[0083] Regarding the rotation of the handle assembly 13, if rotating the handle assembly 13 in the forward direction results in a counterclockwise rotation, then rotating the handle assembly 13 in the reverse direction results in a clockwise rotation; if rotating the handle assembly 13 in the forward direction results in a clockwise rotation, then rotating the handle assembly 13 in the reverse direction results in a counterclockwise rotation.

[0084] The storage locking structure 1 provided in this embodiment can be applied to a surgical adjustment arm. Please refer to [link / reference]. Figure 1 and Figure 2 This illustrates the passive arm 2 of the surgical adjustment arm. Figure 1 This indicates that the passive arm 2 is in the retracted state. Figure 2 The diagram illustrates the passive arm 2 in its extended state. The storage locking structure 1 provided in this embodiment is installed on the passive arm 2. When the passive arm 2 is in the retracted state, it connects the locking tongue assembly 14 and the hook portion 11, ensuring the passive arm 2 remains stably in the retracted state. When the passive arm 2 needs to be in a retracted state... Figure 2 When in the unfolded state as shown, the latch assembly 14 is not connected to the hook portion 11.

[0085] Furthermore, the storage and locking structure 1 provided in this embodiment is not limited to being applied only to the surgical adjustment arm 100, but can also be applied to other mechanisms that require locking.

[0086] The storage locking structure 1 provided in this embodiment can be unlocked when the handle assembly 13 is rotated forward to the first position, and when the handle assembly 13 is rotated in the reverse direction to the second position, the handle assembly 13 can press against the locking tongue assembly 14 to keep the locking tongue 141 extended out of the seat body 12, thereby improving the connection strength between the locking tongue 141 and the hook part 11 and preventing the hook part 11 from disengaging from the locking tongue 141. The storage locking structure 1 provided in this embodiment is simple to operate and has good reliability.

[0087] In one embodiment, the storage locking structure 1 further includes an elastic device connected to the seat 12 and cooperating with the handle assembly 13. When the handle assembly 13 is rotated forward from the middle position to the first position, the elastic device is in a compressed state, wherein the middle position is located between the first position and the second position.

[0088] Since the elastic device is further provided in the embodiment, when the force applied to the handle assembly 13 is cancelled after the handle assembly 13 is rotated to the first position, the handle assembly 13 is reset to the intermediate position under the action of the elastic device. When the handle assembly 13 is in the first position, the locking tongue 141 of the locking tongue assembly 14 is retracted into the seat body 12; when the handle assembly 13 is in the intermediate position, the locking tongue 141 of the locking tongue assembly 14 is extended out of the seat body 12.

[0089] Preferably, when the handle assembly 13 is reversely rotated from the intermediate position to the second position, the elastic device is not deformed. When the handle assembly 13 is in the second position, the handle assembly 13 abuts against the locking tongue assembly 14 to keep the locking tongue 141 in the state of extending out of the seat body 12. Since the handle assembly 13 abuts against the locking tongue assembly 14, there is a pressing force between the two, so that the handle assembly 13 can be kept in the second position.

[0090] Preferably, the angle range of the forward rotation from the intermediate position to the first position is 10°-40°, for example, the angle of the forward rotation from the intermediate position to the first position is 10° or 20° or 30° or 40°; the angle range of the reverse rotation from the intermediate position to the second position is 10°-50°, for example, the angle of the reverse rotation from the intermediate position to the second position is 10° or 20° or 30° or 40° or 50°.

[0091] In the embodiment, since the elastic device is provided, when the force applied to the handle assembly 13 is cancelled after the handle assembly 13 is rotated to the first position, the handle assembly 13 is reset to the intermediate position under the action of the elastic device.

[0092] In the example based on the accommodation locking structure 1 further comprising the elastic device, in one embodiment, the elastic clamping piece 16 is provided on the seat body 12, and the side of the handle assembly 13 facing the seat body 12 is formed with a clamping groove 1341, when the handle assembly 13 is in the intermediate position, the elastic clamping piece 16 extends into the clamping groove 1341.

[0093] Please refer to Figure 3 , which shows the elastic clamping piece 16 provided on the seat body 12. Preferably, the elastic clamping piece 16 is a ball plunger; please refer to Figure 4 , which shows the clamping groove 1341. Regarding the clamping groove 1341, in one example, the side of the handle assembly 13 (i.e. the pressing disc 131 on the handle assembly 13) facing the seat body 12 is provided with a clamping column 134, and the end face of the end of the clamping column 134 away from the handle assembly 13 is provided with the clamping groove 1341. The position of the clamping column 134 on the pressing disc 131 is shown in Figure 4 . Preferably, the clamping column 134 is integrally formed on the pressing disc 131.

[0094] When the handle assembly 13 is rotated to the first position and the force applied to the handle assembly 13 is cancelled, the handle assembly 13 is reset to the intermediate position under the action of the elastic device. When the handle assembly 13 is rotated to the vicinity of the intermediate position, the clamping cylinder 134 compresses the elastic clamping piece 16 so that the elastic clamping piece 16 is compressed in the direction of extending into the seat body 12. When the handle assembly 13 is in the intermediate position, the elastic clamping piece 16 moves in the reset direction so that the elastic clamping piece 16 extends into the clamping groove 1341.

[0095] When the handle assembly 13 is reversely rotated to the second position from the intermediate position under the action of an external force, when the handle assembly 13 is just rotated, the clamping cylinder 134 compresses the elastic clamping piece 16 so that the elastic clamping piece 16 extends into the seat body 12. When the handle assembly 13 is reversely rotated to a certain angle until it is in the second position, the clamping cylinder 134 is away from the elastic clamping piece 16, and the elastic clamping piece 16 is reset to extend out of the seat body 12. When the handle assembly 13 is reversely rotated from the second position and rotated to the elastic clamping piece 16 extending into the clamping groove 1341, it can be determined that the handle assembly 13 is rotated to the intermediate position.

[0096] In an example, as shown in Figure 4 , the clamping groove 1341 is a V-shaped groove, and the length extension direction of the clamping groove 1341 is along the radial direction of the pressing disc 131.

[0097] In this embodiment, by arranging the elastic clamping piece 16 and the clamping groove 1341, the handle assembly 13 is conveniently positioned in the intermediate position.

[0098] Regarding the handle assembly 13, in an embodiment, as shown in Figure 4 , the handle assembly 13 comprises a pressing disc 131, and the pressing disc 131 comprises an intermediate part 1311, a hook part 1312 and an abutting part 1313; as shown in Figure 3 and Figure 4 , the lock tongue assembly 14 comprises a matching column 142 connected with the lock tongue 141;

[0099] As shown in Figure 4 , one end of the hook part 1312 is connected with the intermediate part 1311. From the free end of the hook part 1312 to the end of the hook part 1312 connected with the intermediate part 1311, the distance from the side of the hook part 1312 facing the intermediate part 1311 to the center of the intermediate part 1311 gradually decreases, so that when the handle assembly 13 is rotated in the positive direction, the side of the hook part 1312 facing the intermediate part 1311 presses the matching column 142 to drive the matching column 142 to move in the direction close to the center of the intermediate part 1311. In addition, in the example that the handle assembly 13 is provided with the clamping cylinder 134, as shown in Figure 4 , the side of the intermediate part 1311 facing the seat body 12 is provided with the clamping cylinder 134.

[0100] The abutting part 1313 is arranged on the middle part 1311, and the outer circumferential side of the abutting part 1313 forms an abutting surface which abuts against the cooperating column 142 when the handle assembly 13 is in the second position.

[0101] Please refer to Figure 6 , the cooperating column 142 is located at the free end of the hook part 1312, and the side of the cooperating column 142 close to the middle part 1311 is in contact with the hook part 1312; please refer to Figure 6 and Figure 7 , when the pressing disc 131 is rotated counterclockwise (forward direction) from the position shown in Figure 6 to the position shown in Figure 7 , since the distance between the side of the hook part 1312 close to the middle part 1311 and the center of the middle part 1311 gradually decreases, during the rotation, the hook part 1312 presses the cooperating column 142, so that the cooperating column 142 moves towards the center of the middle part 1311, and further drives the locking tongue 141 connected with the cooperating column 142 to move towards the direction of extending into the seat body 12; please refer to Figure 7 , which shows that the locking tongue 141 completely extends into the seat body 12, and the clamping connection between the locking tongue 141 and the clamping hook part 11 is released.

[0102] Please refer to Figure 6 and Figure 8 , when the pressing disc 131 is rotated clockwise (reverse direction) from the position shown in Figure 6 to the position shown in Figure 8 , the handle assembly 13 abuts against the cooperating column 142 of the locking tongue assembly 14, so that the locking tongue 141 remains in the state of extending out of the seat body 12.

[0103] The structure of the pressing disc 131 provided in the embodiment is simple, and can realize the unlocking of the connection between the locking tongue 141 and the clamping hook part 11 when the pressing disc 131 is rotated forward to the first position, and abutting against the cooperating column 142 of the locking tongue assembly 14 when the pressing disc 131 is rotated reversely to the second position, so as to prevent the clamping hook part 11 from being separated from the locking tongue 141.

[0104] In one embodiment, please refer to Figure 3 , the locking tongue assembly 14 further comprises a connecting part 143, the connecting part 143 connects the cooperating column 142 and the locking tongue 141 to form one locking tongue part, the locking tongue assembly 14 comprises two locking tongue parts which are symmetrically distributed on the seat body 12, and an elastic part is arranged between the two locking tongue parts, the elastic part is used to extend the locking tongues 141 of the two locking tongue parts out of the corresponding side of the seat body 12 under the action of the elastic part when the handle assembly 13 releases the limitation of the cooperating column 142.

[0105] Please refer to Figure 3The diagram illustrates two mating posts 142 and two connecting parts 143 symmetrically arranged on the base 12. The mating posts 142 are connected to the corresponding connecting parts 143, and the mating posts 142 are disposed on the top surface of the corresponding connecting parts 143; please refer to... Figure 3 The locking tongue 141 extends from the side of the seat 12 and connects to the connecting part 143 on the corresponding side. An elastic member is provided between the two connecting parts 143, such as... Figure 6 As shown, when the hook portion 1312 does not press against the mating post 142, the two connecting portions 143 cause the two locking tongues 141 to extend out of the seat body 12 under the elastic force of the elastic component.

[0106] Please see Figure 3 The base 12 is provided with a strip hole that mates with the connecting part 143, and the strip hole can guide the movement of the connecting part 143.

[0107] Preferably, the latch 141, mating post 142 and connecting part 143 on the same latch component are integrally formed.

[0108] Please see Figure 6 There are two hook portions 1312, which are centrally symmetrically distributed about the center of the middle portion 1311. Each hook portion 1312 mates with a corresponding mating post 142. There are also two abutment portions 1313, which are centrally symmetrically distributed about the center of the middle portion 1311. Each abutment portion 1313 mates with a corresponding mating post 142. The abutment portions 1313 are located between the two hook portions 1312 along the circumferential direction of the middle portion 1311. Please refer to [link / reference]. Figure 6 The diagram illustrates two hook portions 1312 and two abutment portions 1313 that are centrally symmetrically distributed.

[0109] Please see Figure 6 and Figure 7 , Figure 6 The position of the middle extrusion plate 131 is the position when the handle assembly 13 is in the middle position. Figure 7 The position of the extrusion disc 131 is the position when the handle assembly 13 is in the first position. When the extrusion disc 131 moves from... Figure 6 Rotate the position in the middle counterclockwise (forward) until it is as follows Figure 7 When the position shown is reached, the two hook portions 1312 respectively press the corresponding mating posts 142, causing the two mating posts 142 to move towards the center of the middle portion 1311. At this time, an elastic member is provided between the two connecting portions 143 for further compression; when the pressing disc 131 moves from... Figure 7 Rotate the position in the middle clockwise until it is as shown Figure 6At the position shown in the figure, the two latches 141 are reset under the elastic force of the elastic member, and the two latches 141 respectively extend from the two opposite sides of the seat body 12.

[0110] Please refer to Figure 6 and Figure 8 , Figure 8 The position of the pressing disc 131 in the figure is the position when the handle assembly 13 is in the second position. When the pressing disc 131 is rotated clockwise (in the opposite direction) from the position in the figure to the position shown in the figure Figure 6 , the abutting portions 1313 respectively abut against the corresponding matching columns 142, so that the latches 141 remain in the state of extending out of the seat body 12. Figure 8

[0111] The latch assembly 14 provided in the embodiment includes two latches 141, so as to better achieve the clamping connection with the clamping hook portion 11.

[0112] In an embodiment, please refer to Figure 4 , the hook portion 1312 is integrally formed with the intermediate portion 1311, so as to reduce the number of parts.

[0113] In an embodiment, please refer to Figure 4 and Figure 6 , the abutting portion 1313 is detachably connected to the intermediate portion 1311.

[0114] Preferably, the abutting portion 1313 is detachably connected to the intermediate portion 1311 by screws or bolts. Please refer to Figure 6 , which shows that two screw members are used to fix the abutting portion 1313 to the intermediate portion 1311.

[0115] When the pressing disc 131 is in the second position, the abutting portion 1313 is required to abut against the matching column 142 to make the latch 141 remain in the state of extending out of the seat body 12, so it is better that the hardness and strength of the abutting portion 1313 are sufficient. Therefore, in the embodiment, the abutting portion 1313 is detachably connected to the intermediate portion 1311, the abutting portion 1313 and the intermediate portion 1311 can be made of different materials, and the hardness and strength of the abutting portion 1313 can be greater than those of the intermediate portion 1311.

[0116] In the embodiment, assembly grooves can be provided on the top surface of the intermediate portion 1311 away from the seat body 12, and the two abutting portions 1313 are respectively arranged in the corresponding assembly grooves.

[0117] Regarding the clamping hook portion 11, in an embodiment, please refer to Figure 2 ​The hook part 11 comprises a first clamping arm 111 and a second clamping arm 112, which are respectively arranged on the two sides of the seat body 12. The first clamping arm 111 is provided with a hook 113 on the side facing the seat body 12, which is matched with the lock tongue 141. The second clamping arm 112 is provided with a hook 113 on the side facing the seat body 12, which is matched with the other lock tongue 141.

[0118] Please refer to Figure 2 , the first clamping arm 111 and the second clamping arm 112 are shown, and the hooks 113 are respectively arranged on the free end sides of the first clamping arm 111 and the second clamping arm 112. The two hooks 113 are respectively matched with the corresponding lock tongue 141.

[0119] Specifically, please refer to Figure 6 , the two hooks 113 are oppositely arranged, that is, the hook 113 on the first clamping arm 111 is arranged towards the hook 113 on the second clamping arm 112, and the hook 113 on the second clamping arm 112 is arranged towards the hook 113 on the first clamping arm 111. The side of the first clamping arm 111 facing the lock tongue 141 is formed with a first accommodating opening 1111, and the side of the second clamping arm 112 facing the lock tongue 141 is formed with a second accommodating opening 1112. Please refer to Figure 6 , the left lock tongue 141 extends into the first accommodating opening 1111 and is in contact with the hook 113 on the first clamping arm 111, and the right lock tongue 141 extends into the second accommodating opening 1112 and is in contact with the hook 113 on the second clamping arm 112. Preferably, the surface of the hook 113 in contact with the lock tongue 141 is an inclined surface.

[0120] The structure of the hook part 11 provided in the embodiment is simple, and the lock tongue assembly 14 is matched to realize that the storage locking structure 1 is in the unlocked or locked state.

[0121] In an embodiment, please refer to Figure 3 , the handle assembly 13 comprises a connecting shaft 132, one end of the connecting shaft 132 is fixedly connected with the seat body 12, and the other end is rotationally connected with the extrusion disc 131. A torsional spring 15 is sleeved on the connecting shaft 132. Please refer to Figure 3 , the torsional spring 15 is shown, one end of the torsional spring 15 is fixed on the seat body 12. Please refer to Figure 3 , the first end 151 of the torsional spring is inserted into the seat body 12, and Figure 3 , the second end 152 of the torsional spring is shown. The torsional spring 15 in the embodiment is the elastic device connected with the seat body 12 and matched with the handle assembly 13.

[0122] Please refer to Figure 4 and Figure 9The side of the extrusion disc 131 facing the seat body 12 is provided with a matching groove 1314, and one end of the torsion spring 15 is located in the matching groove 1314, that is, the second end 152 of the torsion spring 15 is inserted into the matching groove 1314.

[0123] Please refer to Figure 9 The matching groove 1314 includes opposite first and second side walls 13141 and 13142. Please refer to Figure 9 The shaft matching hole 1315 is shown, and one end of the connecting shaft 132 is inserted into the shaft matching hole 1315. The matching groove 1314 is provided on the hole wall of the shaft matching hole 1315, and the first and second side walls 13141 and 13142 of the matching groove 1314 are arranged along the circumferential direction of the shaft matching hole 1315. The second end 152 of the torsion spring 15 is inserted into the matching groove 1314, but is not connected to the extrusion disc 131.

[0124] When the handle assembly 13 is rotated to the first position, the second end 152 of the torsion spring abuts against the first side wall 13141 and the torsion spring 15 is in a compressed deformed state; when the force acting on the handle assembly 13 is cancelled, the handle assembly 13 is reset under the action of the torsion spring 15.

[0125] Preferably, when the handle assembly 13 is reversely rotated from the intermediate position to the second position, the second end 152 of the torsion spring abuts against or is close to the second side wall 13142, so that when the handle assembly 13 is reversely rotated from the intermediate position to the second position, the torsion spring 15 is not compressed.

[0126] Regarding the second end 152 of the torsion spring abutting against the second side wall 13142, the second end 152 of the torsion spring and the second side wall 13142 have no interaction force; regarding the second end 152 of the torsion spring abutting against the first side wall 13141, the second end 152 of the torsion spring and the first side wall 13141 have interaction force.

[0127] In the example based on the seat body 12 being provided with the elastic clamping piece 16 and the side of the handle assembly 13 facing the seat body 12 being formed with the clamping groove 1341, in one scenario, under the condition that no force is applied to the handle assembly 13, the handle assembly 13 is in the intermediate position as shown in Figure 6 , at this time, the second end 152 of the torsion spring 15 abuts against the first side wall 13141 of the matching groove 1314 (or the second end 152 of the torsion spring abuts against the first side wall 13141 and the torsion spring 15 has a relatively small compression amount); please refer to Figure 6 and Figure 7 When the handle assembly 13 is counterclockwise (forward) rotated from the position in Figure 6 to the position as shown in Figure 7 , in the process of rotation, the first side wall 13141 extrudes Figure 3When the second end 152 of the torsion spring 15 is pressed, the torsion spring 15 is continuously compressed; when the force applied to the handle assembly 13 is removed, the handle assembly 13 is reset to the position as shown in Figure 6 , under the action of the torsion spring 15; please refer to Figure 6 and Figure 8 , when the pressing disc 131 is rotated clockwise (reverse) from the position as shown in Figure 6 to the position as shown in Figure 8 , the abutting portions 1313 abut against the corresponding matching columns 142 respectively, and the second end 152 of the torsion spring moves from the first side wall 13141 to the second side wall 13142 of the matching groove 1314, when the pressing disc 131 is located at the second position as shown in Figure 8 , the second end 152 of the torsion spring 15 is in contact with or close to the second side wall 13142 (or the second end 152 of the torsion spring 151 abuts against the second side wall 13142 and the torsion spring 15 has a relatively small compression amount). That is, when the pressing disc 131 is rotated clockwise (reverse) from the position as shown in Figure 6 to the position as shown in Figure 8 , the torsion spring 15 does not generate force to the handle assembly 13.

[0128] In the embodiment, when the force applied to the handle assembly 13 is removed after the handle assembly 13 is rotated to the first position, the handle assembly 13 can be automatically reset to the intermediate position under the action of the torsion spring 15; in addition, the handle assembly 13 can realize that the locking tongue 141 extends out of the seat body 12 when the handle assembly 13 is at the intermediate position and the second position, so that the handle assembly 13 can be kept at the intermediate position when it is required to connect the locking tongue assembly 14 and the hook portion 11; when it is required to connect the locking tongue assembly 14 and the hook portion 11 and further prevent them from being separated, the handle assembly 13 can be reversely rotated to the second position.

[0129] In an embodiment, please refer to Figure 5 , the handle assembly 13 comprises a knob 133, which is arranged on the side of the pressing disc 131 away from the seat body 12. Please refer to Figure 5 , a convex strip protruding upward is arranged in the middle of the knob 133.

[0130] In the embodiment, the knob 133 is arranged to facilitate the rotation of the handle assembly 13 by applying force to the knob 133.

[0131] Preferably, the knob 133 and the pressing disc 131 are detachably connected through a connecting piece, which can be a screw or a bolt.

[0132] Preferably, please refer to Figure 5 , an identification is arranged on the knob 133, Figure 5 , in which the counterclockwise arrow indicates the unlocking identification, and the clockwise arrow indicates the locking identification. That is, the handle assembly 13 is kept at the intermediate position as shown in Figure 5When the handle assembly 13 is rotated counterclockwise from the intermediate position in FIG. 8 to the first position in FIG. 9, the locking tongue 141 can be moved to the direction of extending into the seat body 12; and when the handle assembly 13 is rotated clockwise from the intermediate position in FIG. 8 to the second position in FIG. 10, the handle assembly 13 can abut against the locking tongue assembly 14 to keep the locking tongue 141 in the state of extending out of the seat body 12. Figure 5 When the handle assembly 13 is rotated clockwise from the intermediate position in FIG. 8 to the second position in FIG. 10, the handle assembly 13 can abut against the locking tongue assembly 14 to keep the locking tongue 141 in the state of extending out of the seat body 12.

[0133] Preferably, please refer to Figure 5 , Figure 5 In the embodiment, the degree of rotation is also marked, i.e., when the handle assembly 13 is rotated counterclockwise from the intermediate position in FIG. 8 by 30°, the handle assembly 13 can be rotated to the first position in FIG. 9; and when the handle assembly 13 is rotated clockwise from the intermediate position in FIG. 8 by 50°, the handle assembly 13 can be rotated to the second position in FIG. 10. Figure 5 When the handle assembly 13 is rotated clockwise from the intermediate position in FIG. 8 to the second position in FIG. 10, the handle assembly 13 can abut against the locking tongue assembly 14 to keep the locking tongue 141 in the state of extending out of the seat body 12. Figure 5 When the handle assembly 13 is rotated clockwise from the intermediate position in FIG. 8 to the second position in FIG. 10, the handle assembly 13 can abut against the locking tongue assembly 14 to keep the locking tongue 141 in the state of extending out of the seat body 12.

[0134] Please refer to Figure 2 and Figure 11 , the embodiment provides a passive surgical adjustment arm, which comprises a passive arm 2 and the storage locking structure provided in any of the above embodiments. Please refer to Figure 2 , which shows that the passive arm 2 is in the unfolded state, and please refer to Figure 11 , which shows that the passive arm 2 is in the storage state.

[0135] The passive arm 2 comprises a passive arm front end and a passive arm terminal end. The end of the passive arm 2 for connecting with the mechanical arm of a robot system is the passive arm front end, and the end of the passive arm 2 away from the mechanical arm of the robot system in the unfolded state is the passive arm terminal end.

[0136] In the embodiment, the storage locking structure 1 can be arranged at the passive arm front end and the passive arm terminal end. Specifically, one of the hook part 11 and the locking body of the storage locking structure 1 is arranged at the passive arm front end, and the other is arranged at the passive arm terminal end, so as to realize the locking of the passive arm 2 in the storage state.

[0137] When the connection structure 3 is arranged at the passive arm terminal end, at this time, the storage locking structure 1 can still be arranged at the passive arm front end and the passive arm terminal end, or the storage locking structure 1 can also be arranged between the passive arm front end and the connection structure 3. Specifically, one of the hook part 11 and the locking body of the storage locking structure 1 is arranged at the passive arm front end, and the other is arranged at the connection structure 3, so as to realize the locking of the passive arm 2 in the storage state.

[0138] When the power tool 4 is a saw blade device with a saw blade 41, the surgeon needs to release the locking of the passive arm 2 in the storage state when cutting the bone by operating the power tool 4; when a bone plane is cut, the passive arm 2 needs to be stored, that is, the locking of the passive arm 2 in the storage state is realized by the storage locking structure 1; the posture of the surgical adjustment arm 100 is adjusted to the next cutting bone plane under the driving of the robot, and after the adjustment is completed, the storage locking structure 1 needs to release the locking of the passive arm 2 in the storage state, and the surgeon cuts the bone by operating the power tool 4, and the above operation is repeated multiple times to realize multiple cutting of the bone.

[0139] In the scenario of cutting the bone by the power tool 4, the handle assembly 13 can be reversely rotated to the second position so that the handle assembly 13 abuts against the locking tongue 141 of the locking tongue assembly 14; or the handle assembly 13 can be in the intermediate position under the action of the torsional spring 15.

[0140] When the power tool 4 is a drilling device with a drill bit, the locking of the passive arm 2 in the storage state is realized by the storage locking structure 1, and the power tool 4 can be moved by the robot to the direction of drilling the bone.

[0141] In the scenario of drilling by the power tool 4, when the handle assembly 13 is reversely rotated to the second position, the handle assembly 13 abuts against the locking tongue 141 of the locking tongue assembly 14, so that the hook part 11 is difficult to disengage from the locking tongue 141.

[0142] The passive surgical adjustment arm provided in the embodiment can improve the accuracy of the surgery, because the locking of the passive arm 2 in the storage state is realized by the storage locking structure 1.

[0143] Regarding the structure of the passive arm 2, in one embodiment, please refer to Figure 1 and Figure 2 The passive arm 2 includes a mechanical arm connecting assembly 21, a first connecting arm 22, a second connecting arm 23, a third connecting arm 24, and a fourth connecting arm 25, the first connecting arm 22 and the second connecting arm 23 are both rotationally connected with the mechanical arm connecting assembly 21, the third connecting arm 24 is rotationally connected with the first connecting arm 22, the fourth connecting arm 25 is rotationally connected with the second connecting arm 23, and the third connecting arm 24 and the fourth connecting arm 25 are both rotationally connected with the connecting structure 3; one of the mechanical arm connecting assembly 21 and the connecting structure 3 is provided with the hook part 11 of the storage locking structure 1, and the other is provided with the locking body of the storage locking structure 1.

[0144] In the embodiment, the mechanical arm connecting assembly 21 is referred to as the front end of the passive arm; and the positions where the third connecting arm 24 and the fourth connecting arm 25 are rotationally connected with the connecting structure 3 are referred to as the end of the passive arm.

[0145] The passive arm 2 provided in the embodiment has the structure that the first connecting arm 22 and the third connecting arm 24 form one side edge arm, the second connecting arm 23 and the fourth connecting arm 25 form the other side edge arm, and the double side edge arms can improve the carrying capacity of the passive arm 2 and facilitate the flatness during bone planar cutting, as compared with the single side edge arm. In addition, the passive arm 2 provided in the embodiment has a closed ring shape, which can prevent the sterile cover from entering the inside of the passive arm 2 and further prevent the damage to the sterile cover caused by the movement of the passive arm 2.

[0146] In the embodiment, the first connecting arm 22 and the second connecting arm 23 are respectively provided with different hinge shafts, or please refer to Figure 19 , the first connecting arm 22 and the second connecting arm 23 are rotatably connected with the mechanical arm connecting assembly 21 through one hinge shaft; the third connecting arm 24 and the fourth connecting arm 25 are respectively provided with different hinge shafts, or please refer to Figure 19 , the third connecting arm 24 and the fourth connecting arm 25 are rotatably connected with the connecting structure 3 through one hinge shaft.

[0147] Please refer to Figure 2 , the mechanical arm connecting assembly 21 is provided with a locking main body for accommodating the locking structure 1, and the connecting structure 3 is provided with a hook part 11 for accommodating the locking structure 1; or the mechanical arm connecting assembly 21 is provided with a hook part 11 for accommodating the locking structure 1, and the connecting structure 3 is provided with a locking main body for accommodating the locking structure 1.

[0148] Regarding the structure of the passive arm 2, in another embodiment, please refer to Figure 17 , the passive arm 2 includes the mechanical arm connecting assembly 21, the first connecting arm 22 and the second connecting arm 23, the mechanical arm connecting assembly 21 is rotatably connected with the first connecting arm 22, the first connecting arm 22 and the second connecting arm 23 are rotatably connected, and the second connecting arm 23 is rotatably connected with the connecting structure 3; one of the mechanical arm connecting assembly 21 and the connecting structure 3 is provided with a hook part 11 for accommodating the locking structure 1, and the other is provided with a locking main body for accommodating the locking structure 1.

[0149] Regarding the connecting structure 3, in one embodiment, please refer to Figure 18 , the connecting structure 3 is a flange device 32; that is, the connecting structure 3 is a sterile flange, when the passive surgical adjusting arm provided in the embodiment is connected with the robot, the robot is covered with a sterile cover, and at the same time, the passive arm 2 and the connecting structure 3 are also covered in the sterile cover.

[0150] When the power tool 4 is a drilling device with a drill bit, the passive arm front end and the passive arm end need to be connected through the accommodating locking structure 1, and then the robot drives the power tool 4 to move in the direction of drilling the bone, so as to complete the bone drilling operation.

[0151] In another embodiment, please refer to Figure 10 The passive arm tip is provided with a connecting structure 3, which comprises a linear mechanism 31 and a flange device 32. The passive arm tip is connected to the flange device 32 through the linear mechanism 31.

[0152] Please refer to Figure 11 , the linear mechanism 31 and the flange device 32 are shown. The flange device 32 is a sterile flange. When the passive surgical adjustment arm provided in the embodiment is connected to a robot, the robot is provided with a sterile cover, and at the same time, the passive arm 2, the linear mechanism 31 and the flange device 32 are also covered in the sterile cover.

[0153] In the embodiment, please refer to Figure 10 , which is an exploded view of the linear mechanism 31 and the flange device 32. The linear mechanism 31 comprises a sliding rail assembly 311, a sliding block 312 and a connecting assembly 313. The sliding rail assembly 311 is arranged at the tip of the passive arm. The sliding block 312 is connected to the sliding rail assembly 311, and the sliding block 312 is connected to the flange device 32. The connecting assembly 313 is used to fix the sliding block 312 to the sliding rail assembly 311.

[0154] When the connecting assembly 313 releases the sliding block 312 from being fixed to the sliding rail assembly 311, the sliding block 312 and the flange device 32 can move along the sliding rail assembly 311. When the connecting assembly 313 fixes the sliding block 312 to the sliding rail assembly 311, the sliding block 312 and the flange device 32 cannot move along the sliding rail assembly 311.

[0155] When the power tool 4 is a drilling device with a drill bit, the front end of the passive arm and the tip of the passive arm need to be connected through the storage locking structure 1, and then the connecting assembly 313 releases the sliding block 312 from being fixed to the sliding rail assembly 311. The doctor can hold the power tool 4, move the flange device 32 and the sliding block 312 relative to the sliding rail assembly 311, and complete the drilling operation on the bone.

[0156] In the embodiment, the linear mechanism 31 is arranged to facilitate the completion of the single condyle drilling operation of the knee joint. In addition, the moving direction of the sliding block 312 along the sliding rail assembly 311 is parallel to the length extension direction of the drill bit of the power tool 4.

[0157] In the embodiment, the position of the connecting assembly 313 on the sliding rail assembly 311 is adjustable. When the power tool 4 is a saw blade device with a saw blade 41, fixing the sliding block 312 to different positions on the sliding rail assembly 311 will affect the operation range of the surgeon when operating the power tool 4 to cut the bone. Therefore, the position of the sliding block 312 on the sliding rail assembly 311 can be adjusted according to the needs.

[0158] Based on the embodiment that the connecting structure 3 comprises the linear mechanism 31 and the flange device 32, please refer to Figure 1 The third connecting arm 24 and the fourth connecting arm 25 are both rotationally connected with the linear mechanism 31, and the linear mechanism 31 is provided with the hook part 11 for receiving the locking structure 1.

[0159] Regarding the connecting assembly 313, please refer to Figure 10 The connecting assembly 313 comprises the lever spring pin 3131, and the slide rail assembly 311 is provided with the receiving hole 3112, which is two or more and is arranged along the length direction of the slide rail assembly 311. The slide block 312 is fixed on the slide rail assembly 311 by inserting the lever spring pin 3131 into the receiving hole 3112 and abutting against the slide block 312.

[0160] Preferably, please refer to Figure 10 The connecting assembly 313 comprises the limiting column 3132, and the slide rail assembly 311 is provided with the limiting groove 3111, which extends along the length direction of the slide rail assembly 311. The limiting column 3132 is inserted into the slide rail assembly 311 and can slide in the limiting groove 3111.

[0161] In an embodiment, please refer to Figure 11 The passive surgical adjustment arm further comprises the power tool 4 and the navigation array 5, and the quick release structure 6 is arranged between the navigation array 5 and the power tool 4 and between the power tool 4 and the connecting structure 3 at the end of the passive arm 2. Regarding the navigation array 5, the navigation array 5 is a component of a navigation system, which can realize precise positioning and anti-interference.

[0162] The quick release structure 6 is arranged between the navigation array 5 and the power tool 4 and between the power tool 4 and the connecting structure 3, so as to facilitate quick disassembly and assembly of the power tool 4.

[0163] In this embodiment, the quick release structure 6 comprises the connecting plate 61 and the quick release main body 62, please refer to Figure 13 The connecting plate 61 is shown; please refer to Figure 15 and Figure 16 The quick release main body 62 comprises the first seat body 621, the second seat body 622, the quick release connecting shaft 623 and the handle 624. The quick release connecting shaft 623 is arranged on the first seat body 621, and the quick release connecting shaft 623 is rotationally connected with the handle 624 through the second seat body 622. The quick release connecting shaft 623 is slidingly connected with the second seat body 622. The first seat body 621 and the second seat body 622 form the clamping space 625, and rotating the handle 624 can push the second seat body 622 to move towards the first seat body 621 to clamp the connecting plate 61 in the clamping space 625.

[0164] Please refer to Figure 15, it is shown that the quick release main body 62 is in the clamping state, please refer to Figure 16 , it is shown that the quick release main body 62 is in the open state. When the quick release main body 62 is in the open state as shown in Figure 16 , the connecting plate 61 is placed in the clamping plate space 625 between the first seat body 621 and the second seat body 622; then the handle 624 is rotated, so that the quick release main body 62 is in the clamping state as shown in Figure 15 , at this time, the connecting plate 61 is clamped between the second seat body 622 and the first seat body 621.

[0165] For the quick release structure 6 between the navigation array 5 and the power tool 4, the connecting plate 61 is arranged on one of the navigation array 5 and the power tool 4, and the quick release main body 62 is arranged on the other; for the quick release structure 6 between the power tool 4 and the connecting structure 3, the connecting plate 61 is arranged on one of the power tool 4 and the connecting structure 3, and the quick release main body 62 is arranged on the other.

[0166] The quick release structure 6 provided by the embodiment has the advantages of simple structure, convenient operation, and can realize quick installation and disassembly of the power tool 4.

[0167] In one embodiment, the power tool 4 is provided with two connecting plates 61 of the quick release structure 6 on opposite sides, the quick release structure 6, the power tool 4 and the navigation array 5 are sequentially arranged along the first direction, the connecting structure 3 and the navigation array 5 are respectively provided with the quick release main body 62 of the quick release structure 6, and the two connecting plates 61 on the power tool 4 are both universal with the quick release main body 62 on the connecting structure 3 and the navigation array 5, so as to support the saw blade 41 or drill bit of the power tool 4 to be installed to the left relative to the first direction and support the saw blade 41 or drill bit of the power tool 4 to be installed to the right relative to the first direction.

[0168] Please refer to Figure 13 , it is shown that the power tool 4 is provided with two connecting plates 61 of the quick release structure 6 on opposite sides; please refer back to Figure 1 , it is shown that the saw blade 41 of the power tool 4 is installed to the right relative to the first direction; please refer to Figure 11 , it is shown that the saw blade 41 of the power tool 4 is installed to the left relative to the first direction; please refer to Figure 12 , the solid line shows that the saw blade 41 of the power tool 4 is installed to the right, and the dashed line shows that after the power tool 4 is horizontally rotated by 180°, the saw blade 41 of the power tool 4 is installed to the left.

[0169] The quick release structure 6 between the navigation array 5 and the power tool 4 and between the power tool 4 and the connecting structure 3 can not only realize quick installation and disassembly of the power tool 4, but also realize installation of the saw blade 41 or the drill bit of the power tool 4 to the left and installation of the saw blade 41 or the drill bit of the power tool 4 to the right, so as to facilitate the surgeon to select the appropriate orientation of the power tool 4 for installation according to the left leg or the right leg of the patient needing treatment.

[0170] In an embodiment, the connecting plate 61 is provided with a positioning protrusion 611 and a guide protrusion 612, and the guide protrusion 612 and the positioning protrusion 611 are located on the same side of the connecting plate 61, please refer to Figure 14 , the distance from the end of the guide protrusion 612 away from the connecting plate 61 to the connecting plate 61 is greater than the distance from the end of the positioning protrusion 611 away from the connecting plate 61 to the connecting plate 61; the side surface of the second seat body 622 facing the first seat body 621 is provided with a guide slot 6222 and a positioning key slot 6221, please refer to Figure 15 and Figure 16 , the depth of the guide slot 6222 is greater than the depth of the positioning key slot 6221, and one end of the guide slot 6222 is open to the circumferential side surface of the second seat body 622.

[0171] When the quick release main body 62 is in the open state as shown in Figure 16 , the connecting plate 61 is inserted between the first seat body 621 and the second seat body 622, the guide protrusion 612 is first inserted into the guide slot 6222 from one end of the guide slot 6222 open to the circumferential side surface of the second seat body 622, and then the connecting plate 61 is pushed to make the guide protrusion 612 move along the guide slot 6222, at this time, the connecting plate 61 is gradually inserted between the first seat body 621 and the second seat body 622, when the guide protrusion 612 abuts against the other end of the guide slot 6222, at this time, the positioning protrusion 611 is just opposite to the positioning key slot 6221, then the handle 624 is rotated to make the handle 624 push the second seat body 622 to move towards the first seat body 621, with the movement of the second seat body 622 towards the first seat body 621, the positioning protrusion 611 gradually extends into the positioning key slot 6221.

[0172] Regarding the quick release main body 62, in an embodiment, the handle 624 includes two rotating ends 6241, and the quick release connecting shaft 623 is rotationally connected with the corresponding rotating end 6241. Specifically, please refer to Figure 15 , the end of the quick release connecting shaft 623 away from the first seat body 621 is provided with a rotating shaft 627, and the axis of the rotating shaft 627 is perpendicular to the axis of the quick release connecting shaft 623. Please refer to Figure 15 , the two rotating shafts 627 are respectively inserted into the two rotating ends 6241, and the rotating shaft 627 is rotationally connected with the rotating end 6241, thereby realizing rotational connection of the handle 624 with the quick release connecting shaft 623.

[0173] Preferably, a wear-resistant pad 626 is arranged on the rotating shaft 627, please refer to Figure 15 and Figure 16 , the wear-resistant pad 626 is arranged between the rotating end 6241 of the handle 624 and the second seat body 622, that is, the rotating end 6241 of the handle 624 abuts on the wear-resistant pad 626. The wear-resistant pad 626 is made of wear-resistant material, and by arranging the wear-resistant pad 626, the service life of the quick release main body 62 can be improved.

[0174] Regarding the rotating handle 624, the quick release main body 62 can be switched between the clamping state and the open state, and the specific implementation structure is: please refer to Figure 16 , the outer side surface of the rotating end 6241 includes a first abutting curved surface 62411 and a second abutting curved surface 62412, the first abutting curved surface 62411 and the second abutting curved surface 62412 are arranged in sequence along the rotating direction of the handle 624, and the distance from any point on the first abutting curved surface 62411 to the axis of the rotating shaft 627 is less than the minimum distance from the second abutting curved surface 62412 to the axis of the rotating shaft 627.

[0175] Please refer to Figure 15 , the quick release main body 62 is in the clamping state, and at this time the second abutting curved surface 62412 abuts on the wear-resistant pad 626; please refer to Figure 16 , the quick release main body 62 is in the open state, and at this time the first abutting curved surface 62411 abuts on the wear-resistant pad 626. Since the distance from any point on the first abutting curved surface 62411 to the axis of the rotating shaft 627 is less than the minimum distance from the second abutting curved surface 62412 to the axis of the rotating shaft 627, when the handle 624 is rotated counterclockwise to the second abutting curved surface 62412 abuts on the wear-resistant pad 626 as shown in Figure 16 , the rotating end 6241 pushes the wear-resistant pad 626 and the second seat body 622 to move towards the first seat body 621, thereby clamping the connecting plate 61 between the first seat body 621 and the second seat body 622.

[0176] Figure 13 In order to realize the installation of the saw blade 41 or drill bit of the power tool 4 relative to the first direction to the left and the installation of the saw blade 41 or drill bit of the power tool 4 relative to the first direction to the right, the structural diagram of the power tool 4 is shown in Figure 13, it is shown that two connecting plates 61 are symmetrically arranged on the power tool 4, and the two connecting plates 61 are horizontally arranged relative to the length direction of the saw blade 41 on the power tool 4, and the clamping protrusions 611 and the guide protrusions 612 on the two connecting plates 61 are respectively directed away from the side of the power tool 4 away from the handle 42. Of course, in other examples, the clamping protrusions 611 and the guide protrusions 612 on the two connecting plates 61 can also be respectively directed toward the side of the power tool 4 toward the handle 42.

[0177] The above describes that the quick release structure 6 between the power tool 4 and the navigation array 5 supports the installation of the saw blade 41 or the drill bit of the power tool 4 to the left relative to the first direction and supports the installation of the saw blade 41 or the drill bit of the power tool 4 to the right relative to the first direction, in another embodiment, the quick release structure 6 between the power tool 4 and the navigation array 5 can support the installation of the handle 42 of the power tool 4 downward and support the installation of the handle 42 of the power tool 4 upward, and the saw blade 41 or the drill bit of the power tool 4 is located on the same side of the first direction.

[0178] Please refer to Figure 20 , Figure 20 , the solid line shows the installation of the handle 42 of the power tool 4 downward, and the dashed line shows the installation of the handle 42 of the power tool 4 upward after the handle 42 of the power tool 4 is flipped 180° upward, and no matter the handle 42 is installed upward or downward, the saw blade 41 or the drill bit of the power tool 4 is located on the same side of the first direction.

[0179] Please refer to Figure 21 , it is shown that two connecting plates 61 are symmetrically arranged on the power tool 4, and the two connecting plates 61 are vertically arranged relative to the length direction of the saw blade 41 on the power tool 4, and the clamping protrusions 611 and the guide protrusions 612 on the two connecting plates 61 are respectively directed away from the side of the power tool 4 away from the saw blade 41. Of course, in other examples, the clamping protrusions 611 and the guide protrusions 612 on the two connecting plates 61 can also be respectively directed toward the side of the power tool 4 toward the saw blade 41.

[0180] In this embodiment, the quick release structure 6 can not only realize the quick installation and disassembly of the power tool 4, but also realize the installation of the handle 42 of the power tool 4 downward and the installation of the handle 42 of the power tool 4 upward, so as to facilitate the surgeon to select the direction of the handle 42 of the power tool 4 according to the operation habit.

[0181] Figure 13 In order to realize the installation of the saw blade 41 or the drill bit of the power tool 4 to the left relative to the first direction and the installation of the saw blade 41 or the drill bit of the power tool 4 to the right relative to the first direction, a structural diagram of the power tool 4 is shown, Figure 21This is a schematic diagram of the structure of the power tool 4, showing both when the handle 42 of the power tool 4 is installed facing downwards and when the handle 42 of the power tool 4 is installed facing upwards with the saw blade 41 or drill bit of the power tool 4 located on the same side in the first direction. Specifically, to achieve installation where the saw blade 41 or drill bit of the power tool 4 faces left and right, or where the handle 42 of the power tool 4 is installed facing downwards and upwards, the position of the connecting plate 61 on the power tool 4 can be changed. Of course, at the same time, the quick-release body 62 on the connecting structure 3 and the navigation array 5 also needs to be adjusted.

[0182] This embodiment provides a robotic system, including the passive surgical adjustment arm provided in any of the above embodiments.

[0183] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A stowage lock structure for use on a surgical adjustment arm, comprising: The utility model relates to a storage locking structure (1) which comprises a hook part (11) and a locking body. The locking body comprises a seat body (12), a handle assembly (13) and a lock bolt assembly (14), the handle assembly (13) is rotationally connected to the top surface of the seat body (12), and the lock bolt assembly (14) is slidingly connected to the seat body (12). When the handle assembly (13) is rotated forwardly to a first position, the handle assembly (13) drives the lock bolt (141) of the lock bolt assembly (14) to move in the direction of retracting into the seat body (12) to release the connection between the lock bolt assembly (14) and the hook part (11), and when the handle assembly (13) is rotated reversely to a second position, the handle assembly (13) abuts against the lock bolt assembly (14) to keep the lock bolt (141) in the state of extending out of the seat body (12). The storage locking structure (1) further comprises elastic devices which are connected to the seat body (12) and cooperate with the handle assembly (13), when the handle assembly (13) is rotated forwardly from a middle position to the first position, the elastic devices are in a compressed state, wherein the middle position is between the first position and the second position.

2. The storage locking structure according to claim 1, wherein The seat body (12) is provided with elastic clamping pieces (16), and the side of the handle assembly (13) facing the seat body (12) is formed with clamping grooves (1341), when the handle assembly (13) is in the middle position, the elastic clamping pieces (16) extend into the clamping grooves (1341).

3. The storage lock structure according to claim 2, wherein The handle assembly (13) comprises a pressing disc (131) which comprises a middle part (1311), a hook part (1312) and an abutting part (1313), and the lock bolt assembly (14) comprises a cooperating column (142) connected to the lock bolt (141).

4. The storage lock structure according to claim 1, wherein One end of the hook part (1312) is connected to the middle part (1311), the distance from the free end of the hook part (1312) to the side of the hook part (1312) facing the middle part (1311) to the center of the middle part (1311) gradually decreases, and when the handle assembly (13) is rotated forwardly, the side of the hook part (1312) facing the middle part (1311) presses the cooperating column (142) to drive the cooperating column (142) to move in the direction of approaching the center of the middle part (1311). The abutting part (1313) is arranged on the middle part (1311), and the outer circumferential side surface of the abutting part (1313) is formed with an abutting surface, when the handle assembly (13) is in the second position, the abutting surface abuts against the cooperating column (142). ​ 5. The storage lock structure according to claim 4, wherein The lock tongue assembly (14) further comprises a connecting portion (143) connecting the fitting column (142) and the lock tongue (141) to form a lock tongue component, the lock tongue assembly (14) comprises two lock tongue components which are symmetrically distributed on the seat body (12), and a resilient component is arranged between the two lock tongue components, and the lock tongue (141) of each lock tongue component extends out of the corresponding side of the seat body (12) under the action of the resilient component when the handle assembly (13) is released from limiting the fitting column (142); The hook portion (1312) is two, and the two hook portions (1312) are centrally symmetrically distributed with the center of the middle portion (1311) as the center, each hook portion (1312) is matched with a corresponding fitting column (142); the abutting portion (1313) is two, and the two abutting portions (1313) are centrally symmetrically distributed on the middle portion (1311) with the center of the middle portion (1311) as the center, and each abutting portion (1313) is matched with a corresponding fitting column (142); along the circumferential direction of the middle portion (1311), the abutting portion (1313) is located between the two hook portions (1312).

6. The storage lock structure according to claim 5, wherein The hook portion (11) comprises a first clamping arm (111) and a second clamping arm (112), the first clamping arm (111) and the second clamping arm (112) are connected to the surgical adjusting arm, the first clamping arm (111) and the second clamping arm (112) are arranged on the two sides of the seat body (12) respectively, and the first clamping arm (111) is provided with a hook (113) matched with the lock tongue (141) on the side facing the seat body (12), and the second clamping arm (112) is provided with a hook (113) matched with another lock tongue (141) on the side facing the seat body (12).

7. The storage lock structure according to claim 4, wherein The handle assembly (13) comprises a connecting shaft (132), one end of the connecting shaft (132) is fixedly connected with the seat body (12), the other end is rotationally connected with the extrusion disc (131), a torsional spring (15) is sleeved on the connecting shaft (132), two ends of the torsional spring (15) are a torsional spring first end (151) and a torsional spring second end (152) respectively, the torsional spring first end (151) is fixed on the seat body (12), and the extrusion disc (131) is provided with a matching groove (1314) on the side facing the seat body (12), and the torsional spring second end (152) is located in the matching groove (1314).

8. The storage lock structure according to claim 4, wherein The handle assembly (13) comprises a knob (133), and the knob (133) is arranged on the side of the extrusion disc (131) away from the seat body (12).

9. A passive surgical adjustment arm, characterized by, The receiving and locking structure (1) according to any one of claims 1-8 and a passive arm (2). The passive arm (2) comprises a passive arm front end and a passive arm end, one of the hook part (11) and the locking body of the storage locking structure (1) is arranged at the passive arm front end, and the other is arranged at the passive arm end, so as to realize the locking of the passive arm (2) in the storage state. Alternatively, the passive arm end is provided with a connecting structure (3), one of the hook part (11) and the locking body of the storage locking structure (1) is arranged at the passive arm front end, and the other is arranged at the connecting structure (3), so as to realize the locking of the passive arm (2) in the storage state.

10. The passive surgical adjustment arm of claim 9, wherein, The passive arm (2) comprises a mechanical arm connecting assembly (21), a first connecting arm (22), a second connecting arm (23), a third connecting arm (24) and a fourth connecting arm (25), the first connecting arm (22) and the second connecting arm (23) are both rotationally connected with the mechanical arm connecting assembly (21), the third connecting arm (24) is rotationally connected with the first connecting arm (22), the fourth connecting arm (25) is rotationally connected with the second connecting arm (23), and the third connecting arm (24) and the fourth connecting arm (25) are both rotationally connected with the connecting structure (3) at the end of the passive arm; one of the mechanical arm connecting assembly (21) and the connecting structure (3) is provided with the hook part (11) of the storage locking structure (1), and the other is provided with the locking body of the storage locking structure (1).

11. The passive surgical adjustment arm of claim 9, wherein, The end of the passive arm (2) is provided with a connecting structure (3), and the connecting structure (3) is a flange device (32); or, The connecting structure (3) comprises a linear mechanism (31) and a flange device (32), and the end of the passive arm (2) is connected with the flange device (32) through the linear mechanism (31); The linear mechanism (31) comprises a slide rail assembly (311), a sliding block (312) and a connecting assembly (313), the slide rail assembly (311) is arranged at the end of the passive arm (2), the sliding block (312) is connected on the slide rail assembly (311), the sliding block (312) is connected with the flange device (32), the connecting assembly (313) is used for fixing the sliding block (312) on the slide rail assembly (311), and the position of the connecting assembly (313) on the slide rail assembly (311) is adjustable.

12. The passive surgical adjustment arm of claim 9, wherein, The passive surgical adjusting arm further comprises a power tool (4) and a navigation array (5), and quick release structures (6) are arranged between the power tool (4) and the navigation array (5) and between the power tool (4) and the connecting structure (3) at the end of the passive arm. The quick release structure (6) comprises a connecting plate (61) and a quick release body (62), the quick release body (62) comprises a first seat body (621), a second seat body (622), a quick release connecting shaft (623) and a handle (624), the quick release connecting shaft (623) is arranged on the first seat body (621), the quick release connecting shaft (623) is rotationally connected with the handle (624) through the second seat body (622), the second seat body (622) is slidingly connected with the quick release connecting shaft (623), a clamping plate space (625) is formed between the first seat body (621) and the second seat body (622), when the handle (624) is rotated, the handle (624) can push the second seat body (622) to move towards the first seat body (621) to clamp the connecting plate (61) located in the clamping plate space (625).

13. The passive surgical adjustment arm of claim 12, wherein, The power tool (4) is provided with two connecting plates (61) of the quick release structure (6) on opposite sides, the quick release body (62) of the quick release structure (6) is arranged on the connecting structure (3) and the navigation array (5), the connecting structure (3), the power tool (4) and the navigation array (5) are sequentially arranged along a first direction, the two connecting plates (61) on the power tool (4) are universal with the quick release body (62) on the connecting structure (3) and the navigation array (5), so as to support the downward installation of the handle (42) of the power tool (4) and support the upward installation of the handle (42) of the power tool (4) and the saw blade (41) or drill bit of the power tool (4) located on the same side of the first direction; or, to support the left installation of the saw blade (41) or drill bit of the power tool (4) relative to the first direction and support the right installation of the saw blade (41) or drill bit of the power tool (4) relative to the first direction.

14. A robotic system, characterized by A passive surgical adjustment arm according to any one of claims 9-13.

Images