Universal surgical robot tail end cutter clamping device

Abstract

The utility model relates to a universal surgical robot tail end cutter clamping device which comprises a fixed base connected to the tail end of a mechanical arm through a bolt, an elastic collet chuck and a clamping nut, the front side of the fixed base is in threaded connection with the rear end of the clamping nut, so that the front side of the fixed base is sleeved with the clamping nut in a position-adjustable mode, and the elastic collet chuck is connected with the clamping nut in a threaded mode. The rear end of the elastic collet chuck is inserted into the front end of the fixed base and is fixedly connected with the fixed base in a clamping mode, the elastic collet chuck is located on the inner side of the clamping nut, and an opening is formed in the front end of the elastic collet chuck, so that the tail end of the surgical knife can penetrate through the clamping nut to be inserted into the elastic collet chuck. When the device is used, the tail end of a surgical tool can penetrate through the clamping nut and be placed in the elastic collet, a tool power line penetrates through the notch of the fixed base and is connected with the surgical tool, the surgical tool is clamped by utilizing elastic deformation of the elastic collet when the clamping nut is rotated, and therefore medical staff can conveniently and rapidly install or replace the surgical tool.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and in particular to a universal surgical robot end effector clamping device. Background Technology

[0002] Currently, most surgical robots use disposable blades at the end effector. After a surgery is completed with one blade, it needs to be replaced for hygiene reasons. Different surgical blades are required for different surgical needs.

[0003] In the current technology, the blades and robotic arms used by different brands and models of surgical robots may be incompatible, which means that changing blades requires replacing the entire robotic arm or making complex adjustments. This makes blade changing during surgery time-consuming, potentially prolonging the operation and increasing surgical risks. To make blade changing easier and faster for surgeons, this application proposes a universal surgical robot end-effector blade clamping device. Utility Model Content

[0004] To address the problems mentioned in the background art, this application provides a universal surgical robot end effector clamping device.

[0005] The present application provides a universal surgical robot end effector clamping device with the following technical solution:

[0006] A universal surgical robot end effector clamping device includes a fixed base, a flexible collet, and a clamping nut bolted to the end of a robotic arm. The front side of the fixed base is threadedly connected to the rear end of the clamping nut, allowing the clamping nut to be adjusted and fitted onto the front side of the fixed base. The rear end of the flexible collet is inserted into and secured to the front end of the fixed base, and is located inside the clamping nut. The front end of the flexible collet has an opening, allowing the end of the surgical tool to pass through the clamping nut and be inserted into the flexible collet. The front end of the flexible collet is shaped as a frustoconical cone to match the front end shape of the inner cavity of the clamping nut, allowing adjustment of the position of the clamping nut to regulate the deformation state of the flexible collet. The flexible collet clamps the surgical tool by adjusting its deformation state.

[0007] Furthermore, the rear end of the fixed base has a positioning protrusion that engages with the end of the robotic arm, the front end of the fixed base has a recessed groove, the rear end of the elastic collet has a protruding tube that engages with the groove, the front outer wall of the fixed base has an external thread, the rear inner wall of the clamping nut has an internal thread that engages with the fixed base, and the middle section of the fixed base has a notch that communicates with the inner cavity of the fixed base.

[0008] Furthermore, a cutting tool power cable is threaded through the notch, and the front end of the cutting tool power cable passes through the slot, the elastic collet, and the clamping nut and is electrically connected to the surgical tool.

[0009] Furthermore, the outer wall of the elastic collet is uniformly formed with several notches penetrating the elastic collet along its radial direction.

[0010] Furthermore, a cylindrical inner cavity is formed on the front side of the frustoconical portion of the clamping nut's inner cavity, and the diameter of the cylindrical inner cavity is smaller than the diameter of the front end face of the elastic collet.

[0011] The beneficial technical effects of this application are as follows: When the device is in use, the end of the surgical blade can be passed through the clamping nut and placed into the elastic collet. The power cord of the blade is passed through the notch of the fixed base and connected to the surgical blade. The elastic deformation of the elastic collet when the clamping nut is rotated clamps the surgical blade, thereby facilitating medical personnel to quickly install or replace the surgical blade. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of a general surgical robot end-effector clamping device according to an embodiment of this application;

[0013] Figure 2 yes Figure 1 An exploded view of the end effector clamping device of the surgical robot from Zhongtong.

[0014] Figure 3 This is a cross-sectional view of the fixed base in an embodiment of this application;

[0015] Figure 4 This is a cross-sectional view of the clamping nut in an embodiment of this application.

[0016] Reference numerals: 1. Robotic arm end effector; 2. Fixed base; 3. Tool power cord; 4. Flexible collet; 5. Clamping nut; 6. Surgical instrument. Detailed Implementation

[0017] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] This application discloses a universal surgical robot end effector clamping device. (Refer to...) Figures 1 to 4The surgical robot end effector clamping device includes a mounting base 2, a flexible collet 4, and a clamping nut 5. The mounting base 2 is mounted on the end effector 1 of the robotic arm and is used to adjust the shape of the flexible collet 4 in conjunction with the clamping nut 5, so that the end of the surgical tool 6 can be clamped and fixed by the flexible collet 4 after passing through the clamping nut 5 and inserting into the flexible collet 4.

[0019] In this embodiment, the rear end of the fixed base 2 has a positioning protrusion that mates with the end effector 1 of the robotic arm. The positioning protrusion can be configured as a cylindrical or rectangular shape, etc., according to the adaptation requirements of the end effector 1 of the robotic arm. After the rear end of the fixed base 2 and the end effector 1 of the robotic arm are mated and connected, they can be locked together using bolts.

[0020] In this embodiment, an external thread is formed on the outer wall of the front side of the fixed base 2, and an internal thread that mates with the fixed base 2 is provided on the inner wall of the rear section of the clamping nut 5, so that the front side of the fixed base 2 can be threadedly connected to the rear end of the clamping nut 5, and the clamping nut 5 can be adjusted and fitted onto the front side of the fixed base 2.

[0021] In this embodiment, a groove is formed in the front end of the fixed base 2, and a protrusion is formed at the rear end of the elastic collet 4 to be securely connected with the groove. Thus, after the rear end of the elastic collet 4 is inserted into the front end of the fixed base 2 and securely connected with it, the elastic collet 4 can be accommodated inside the clamping nut 5.

[0022] In this embodiment, the front end of the elastic collet 4 has an opening, allowing the end of the surgical instrument 6 to pass through the clamping nut 5 and be inserted into the elastic collet 4. Several notches are uniformly formed radially along the outer wall of the elastic collet 4, preventing interference when the elastic collet 4 deforms under force. The front end of the elastic collet 4 is shaped as a frustoconical cone to match the front end shape of the inner cavity of the clamping nut 5, allowing adjustment of the position of the clamping nut 5 to regulate the deformation state of the elastic collet 4. Furthermore, the elastic collet 4 can clamp the surgical instrument 6 by adjusting its deformation state.

[0023] In this embodiment, a cylindrical inner cavity is also formed on the front side of the frustoconical portion of the inner cavity of the clamping nut 5. The diameter of the cylindrical inner cavity is smaller than the diameter of the front end face of the elastic collet 4, so that the clamping nut 5 can also use the stepped area at the conical hole and the cylindrical hole to limit the front end face of the elastic collet 4, thereby preventing the axial movement of the elastic collet 4.

[0024] In this embodiment, a notch is formed in the middle section of the fixed base 2, and the notch communicates with the inner cavity of the fixed base 2 so that the tool power cable 3 can pass through the notch. The front end of the tool power cable 3 can pass through the slot, the elastic collet 4 and the clamping nut 5 and be electrically connected to the surgical tool 6, thereby providing power for the driving of the cutting head of the surgical tool 6.

[0025] The usage method of the general surgical robot end effector clamping device provided in this embodiment is as follows:

[0026] The non-treatment end (i.e., its tip) of the surgical instrument 6 can pass through the clamping nut 5 and be inserted into the elastic collet 4. The instrument's power cable 3 can pass through the notch in the fixed base 2, connecting to and powering the surgical instrument 6. When the clamping nut 5 is screwed back, the unthreaded portion inside the clamping nut 5 is a tapered hole. The tapered surface inside the clamping nut 5 has an interference fit with the tapered surface at the front end of the elastic collet 4, thus applying circumferential pressure to the elastic collet 4. Under this circumferential pressure, the opening at the front end of the elastic collet 4 contracts, thereby clamping the surgical instrument 6 through the friction generated between the elastic collet 4 and the tip of the surgical instrument 6. The clamping nut 5 can also use the stepped areas at the tapered and cylindrical holes to limit the movement of the elastic collet 4 by engaging with the front end face of the elastic collet 4, thereby preventing axial movement of the elastic collet 4.

[0027] Removal of discarded surgical instrument 6:

[0028] Unscrew the clamping nut 5 in the opposite direction, so that the clamping nut 5 is away from the fixed base 2. The clamping nut 5 releases the pressure on the elastic collet 4, allowing it to return to its original position. The opening at the front end of the elastic collet 4 returns to its original size, and the clamping force on the surgical instrument 6 disappears. The doctor can then unplug the power cord 3 of the instrument and remove the surgical instrument 6 that needs to be discarded.

[0029] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A universal surgical robot end tool chucking device comprising a fixed base (2) bolted to the end of a robot arm (1) and a surgical tool (6), characterised in that, Also include elastic collet (4) and clamping nut (5), The front side of the fixed base (2) is threadedly connected with the rear end of the clamping nut (5), so that the clamping nut (5) is adjustably sleeved on the front side of the fixed base (2); The rear end of the elastic collet (4) is inserted into the front end of the fixed base (2) and is clamped and fixedly connected, and the elastic collet (4) is located on the inner side of the clamping nut (5); The front end of the elastic collet (4) is formed with an opening, so that the tip of the surgical knife (6) can be inserted into the elastic collet (4) through the clamping nut (5); The front end of the elastic collet (4) is shaped as a frustum of a cone which is matched with the shape of the front end of the inner cavity of the clamping nut (5), so that the position adjustment of the clamping nut (5) can adjust the deformation state of the elastic collet (4), and the elastic collet (4) is clamped by adjusting the deformation state of the elastic collet (4); The middle segment of the fixed base (2) is formed with an opening, and the opening communicates with the inner cavity of the fixed base (2), and the knife power line (3) is arranged at the opening, and the front end of the knife power line (3) penetrates the clamping groove, the elastic collet (4) and the clamping nut (5) and is electrically connected with the surgical knife (6).

2. The universal surgical robot end effector tool chucking device of claim 1, wherein, The rear end of the fixed base (2) is formed with a positioning protrusion matched with the mechanical arm tip (1).

3. The universal surgical robotic end effector tool chucking device of claim 2, wherein, The front end of the fixed base (2) is concave and formed with a clamping groove, and the rear end of the elastic collet (4) is formed with a convex tube clamped and fixedly connected with the clamping groove.

4. The universal surgical robotic end effector tool chucking device of claim 3, wherein, The outer wall of the front side of the fixed base (2) is formed with an external thread, and the inner wall of the rear segment of the clamping nut (5) is provided with an internal thread matched with the fixed base (2).

5. The universal surgical robot end effector tool chuck apparatus of any one of claims 1-4, wherein, The outer wall of the elastic collet (4) is uniformly formed with a plurality of through holes in the radial direction.

6. A universal surgical robot end effector tool chucking device as claimed in claim 5, wherein, The front side of the tapered portion of the inner cavity of the clamping nut (5) is also formed with a cylindrical inner cavity, and the diameter of the cylindrical inner cavity is smaller than the diameter of the front end face of the elastic collet (4).

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