Surgical tool connector and surgical robot

Abstract

The utility model discloses a surgical tool connector and a surgical robot, and relates to the technical field of medical instruments, the surgical tool connector comprises a first connecting piece, a tensioning knob and a second connecting piece; the first connecting piece comprises a first flange and a first protruding block, one side of the first flange is connected with the tail end of the mechanical arm, and the other side of the first flange is fixedly connected with the first protruding block. One side of the second connecting piece is connected with the surgical tool, and the other side of the second connecting piece is detachably connected with the tensioning knob; a first through hole is formed in the center of the tensioning rotary knob, the first protruding block penetrates through the first through hole, and the first through hole is in threaded connection with the first protruding block. A first inserting groove is formed in the first protruding block, a positioning pin is installed in the first inserting groove, and one end of the positioning pin extends out of the first inserting groove; a second slot is formed in the surface, facing the first connecting piece, of the second connecting piece and used for insertion of the extending end of the positioning pin, and the positioning pin is used for limiting rotation of the first connecting piece relative to the second connecting piece. In this way, the device meets the rapid disassembly and assembly form, and meanwhile has the high-precision repeated installation capacity.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a surgical tool connector and a surgical robot. Background Technology

[0002] Surgical robots have a wide range of applications in clinical surgery. Surgeons can operate the machine remotely from the operating table to perform surgery. The robot controls the surgical incision, which can increase the accuracy of the surgery and reduce the probability of risks caused by human error.

[0003] When a surgical robot performs surgery, surgical instruments need to be installed on the robotic arm. The movement of the robotic arm is used to control the surgical instruments. Different surgical instruments are required for different surgical situations, and the surgical instruments need to be changed during the operation. Connectors are needed to facilitate faster and more convenient assembly and disassembly of surgical instruments from the robotic arm.

[0004] Currently, quick-connect connectors for surgical instruments are typically dovetail clips or centering clips. These two quick-connect clip types have poor reinstallation accuracy, while high-precision connection methods usually require multiple uses of wrenches or other tools to tighten and loosen screws. The overall disassembly and assembly process is quite cumbersome, increasing the difficulty for doctors during surgery and affecting the progress of the operation. Utility Model Content

[0005] The purpose of this invention is to solve at least one of the problems in the background art described above, and to provide a surgical tool connector and a surgical robot.

[0006] To achieve the above objectives, the present invention provides a surgical tool connector, comprising:

[0007] First connector, tension knob, and second connector;

[0008] The first connector includes a first flange and a first protrusion. One side of the first flange is connected to the end of the robotic arm, and the other side is fixedly connected to the first protrusion.

[0009] The second connector is connected to the surgical tool on one side and detachably connected to the tension knob on the other side;

[0010] A first through hole is provided in the center of the tensioning knob, through which the first protrusion passes and is threadedly connected to the first protrusion.

[0011] A first slot is provided on the surface of the first protrusion facing the second connector, and a positioning pin is installed in the first slot, with one end of the positioning pin extending out of the first slot.

[0012] A second slot is provided on the surface of the second connector facing the first connector. The second slot is for inserting the protruding end of the positioning pin. The positioning pin is used to restrict the rotation of the first connector relative to the second connector.

[0013] Preferably, the second connecting member includes a slide rail body, a tensioning baffle, and a second flange;

[0014] The second flange is disposed between the tension baffle and the slide rail body, and the second flange is detachably connected to the tension knob;

[0015] A second through hole is provided at the center of the second flange, the diameter of the second through hole is smaller than the diameter of the tensioning baffle, and the second through hole is used for the tensioning baffle to be detachably connected to the slide rail body;

[0016] The second slot is disposed on the surface of the tensioning baffle facing the first connector.

[0017] Preferably, a first groove is provided on the circumferential sidewall of the first protrusion, the first groove extends circumferentially along the sidewall of the first protrusion, and the diameter of the first groove is smaller than the diameter of the first protrusion.

[0018] The first groove is used to secure the sterile mask.

[0019] Preferably, a second groove is provided on the surface of the tension knob facing the first connector, and the diameter of the second groove is larger than the diameter of the first through hole;

[0020] The axial length of the first protrusion is greater than the axial length of the first through hole. When the tension knob is installed with the first protrusion, there is a gap between the tension knob and the first flange. The second groove communicates with the gap and the first groove. The gap is used for the sterile hood to pass through.

[0021] Preferably, a radially penetrating third through hole is provided on the slide rail body, and a fourth through hole is provided on the side wall of the third through hole facing the tensioning baffle. The fourth through hole is used for the passage of a first screw, which is used to connect the tensioning baffle and the slide rail body.

[0022] Preferably, a second protrusion is provided on the surface of the tensioning baffle facing the slide rail body. The second protrusion is used for detachable connection with the slide rail body. The diameter of the second protrusion is equal to the diameter of the second through hole and smaller than the diameter of the tensioning baffle.

[0023] A third groove is provided on the surface of the second flange facing the tension knob, and the diameter of the third groove is equal to the diameter of the tension baffle.

[0024] Preferably, the sum of the axial lengths of the tensioning baffle and the second protrusion is equal to the axial length of the second flange.

[0025] Preferably, the diameter of the first through hole is greater than or equal to the diameter of the tensioning baffle.

[0026] Preferably, the second flange is connected to the tension knob by a second screw.

[0027] To achieve the above objectives, this utility model also provides a surgical robot, including a surgical tool connector as described above, and further including a robotic arm and surgical tools;

[0028] The surgical tool connector is used to connect the surgical tool to the end of the robotic arm.

[0029] Based on this, the beneficial effects of this utility model are as follows:

[0030] 1. In the solution of this utility model, one side of the first connector is connected to the end of the robotic arm, and the other side is threaded to the tension knob. The second connector is detachably connected to the tension knob on one side and to the surgical tool on the other side. The threaded design makes it faster and more convenient to connect the surgical tool to the end of the robotic arm, saving the time of tightening and loosening screws with a wrench and improving surgical efficiency.

[0031] 2. The present invention provides a first through hole axially penetrating the center of the tension knob, which is used for the first protrusion of the first connector to pass through, so that the first protrusion can abut against the surface of the second connector. A first slot and a second slot are provided on the opposite surfaces of the first protrusion and the second connector, and a positioning pin is installed in the first slot and the second slot. The positioning pin can limit the rotation of the surgical tool relative to the end of the robotic arm, and avoid positioning errors during the operation that affect the surgical accuracy.

[0032] 3. In the solution of this utility model, a first groove is provided on the circumferential sidewall of the first protrusion, and the axial length of the first protrusion is greater than the axial length of the first through hole, so that there is a gap between the tightening knob and the first connector after installation. The first groove and the gap enable the sterile cover strap to enter and be fixed, so that the doctor can change surgical instruments while wearing the sterile cover, reducing the possibility of bacterial contamination when changing surgical instruments and improving surgical safety. Attached Figure Description

[0033] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0034] Figure 1This diagram schematically illustrates an anatomical representation of a surgical tool connector according to one embodiment of the present invention.

[0035] Figure 2 A schematic cross-sectional view of a surgical tool connector according to one embodiment of the present invention;

[0036] Figure 3 This schematic diagram illustrates the structure of a tensioning baffle according to one embodiment of the present invention.

[0037] Figure 4 This schematic diagram illustrates the structure of the second flange according to one embodiment of the present invention.

[0038] Explanation of reference numerals in the attached drawings: First connector 10, first flange 101, first protrusion 102, first slot 1021, first groove 1022, positioning pin 103, gap 104, tension knob 20, first through hole 201, second groove 202, second connector 30, second slot 301, slide rail body 302, third through hole 3021, fourth through hole 3022, tension baffle 303, second protrusion 3031, second flange 304, second through hole 3041, third groove 3042. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. 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.

[0040] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0041] It should be noted that the directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should also be understood that when it is mentioned that an element is formed "upper" or "lower" of another element, it can not only be formed directly "upper" or "lower" of the other element, but also indirectly "upper" or "lower" of the other element through an intermediate element.

[0042] Figure 1This schematic diagram shows an anatomical representation of a surgical tool connector according to one embodiment of the present invention, as shown below. Figure 1 As shown, a surgical tool connector of this utility model includes:

[0043] First connector 10, tension knob 20, and second connector 30;

[0044] The first connector 10 includes a first flange 101 and a first protrusion 102. One side of the first flange 101 is connected to the end of the robotic arm, and the other side is fixedly connected to the first protrusion 102.

[0045] The second connector 30 is connected to the surgical tool on one side and detachably connected to the tension knob 20 on the other side.

[0046] A first through hole 201 is provided in the center of the tension knob 20, which is used for the first protrusion 102 to pass through, and the first through hole 201 is threadedly connected to the first protrusion 102.

[0047] A first slot 1021 is provided on the surface of the first protrusion 102 facing the second connector 30, and a positioning pin 103 is installed in the first slot 1021, with one end of the positioning pin 103 extending out of the first slot 1021.

[0048] A second slot 301 is provided on the surface of the second connector 30 facing the first connector 10. The second slot 301 is used for inserting the protruding end of the positioning pin 103. The positioning pin 103 is used to restrict the rotation of the first connector 10 relative to the second connector 30.

[0049] Specifically, the first connector 10 includes a first protrusion 102 and a first through hole 201 in the center of the tension knob 20. The first protrusion 102 can be inserted into and pass through the first through hole 201 to connect the first connector 10 with the tension knob 20. At the same time, an external thread is provided on the outer wall of the first protrusion 102 and an internal thread is provided on the inner wall of the first through hole 201. Through the threaded connection between the first protrusion 102 and the first through hole 201, the two can be quickly disassembled and assembled, reducing the tedious wrench tightening time when connecting screws and saving surgical time. Then, the tension knob 20 is connected to the second connector 30 to realize the quick connection between the surgical tool and the end of the robotic arm.

[0050] When the first protrusion 102 passes through the first through hole 201, the first protrusion 102 can abut against the second connector 30. A first slot 1021 is provided on the surface of the first protrusion 102 facing the second connector 30, and a second slot 301 is provided on the surface of the second connector 30 facing the first protrusion 102. A positioning pin 103 is installed in the first slot 1021. When the first slot 1021 corresponds to the second slot 301, the protruding end of the positioning pin 103 can be inserted into the second slot 301. Thus, through the combined action of the first slot 1021, the positioning pin 103 and the second slot 301, the rotation of the first connector 10 relative to the second connector 30 is limited, avoiding the surgical robot positioning error caused by misalignment when using surgical tools, which affects the safety of the operation.

[0051] Furthermore, such as Figure 1 As shown, the second connecting member 30 includes a slide rail body 302, a tensioning baffle 303, and a second flange 304;

[0052] The second flange 304 is located between the tension baffle 303 and the slide rail body 302, and the second flange 304 is detachably connected to the tension knob 20.

[0053] A second through hole 3041 is provided in the center of the second flange 304. The diameter of the second through hole 3041 is smaller than the diameter of the tensioning baffle 303. The second through hole 3041 is used for the tensioning baffle 303 to be detachably connected to the slide rail body 302.

[0054] The second slot 301 is disposed on the surface of the tensioning baffle 303 facing the first connector 10.

[0055] Specifically, the second flange 304 is connected to the tension knob 20 by screws, and the tension baffle 303 is connected to the slide rail body 302 by screws;

[0056] The second flange 304 is disposed between the tension baffle 303 and the slide rail body 302, and a second through hole 3041 is provided in the center of the second flange 304. By passing a screw through the second through hole 3041, the tension baffle 303 and the slide rail body 302 can be connected to clamp the second flange 304, thereby fixing the second flange 304. Then, the second flange 304 is connected to the tension knob 20, thereby connecting the first connector 10 and the second connector 30. By using the clamping method, the screws are used less frequently, which can reduce the time that doctors spend using wrenches to tighten or loosen screws.

[0057] Furthermore, Figure 2 This schematic diagram shows a cross-sectional view of a surgical tool connector according to one embodiment of the present invention, as shown below. Figure 2 As shown:

[0058] A first groove 1022 is provided on the circumferential sidewall of the first protrusion 102. The first groove 1022 extends circumferentially along the sidewall of the first protrusion 102, and the diameter of the first groove 1022 is smaller than the diameter of the first protrusion 102.

[0059] The first groove 1022 is used for fixing the sterile cover.

[0060] A second groove 202 is provided on the surface of the tension knob 20 facing the first connector 10, and the diameter of the second groove 202 is larger than the diameter of the first through hole 201;

[0061] The axial length of the first protrusion 102 is greater than the axial length of the first through hole 201. When the tension knob 20 is installed with the first protrusion 102, there is a gap 104 between the tension knob 20 and the first flange 101. The second groove 202 is connected to the gap 104 and the first groove 1022. The gap 104 is used for the sterile mask to pass through.

[0062] Specifically, surgical procedures need to be performed in a sterile environment. Therefore, during surgery, doctors will use a sterile cover to cover the robotic arm and other equipment. In traditional techniques, since there is no structure to help cover the surgical instrument connector with a sterile cover, the entire surgical instrument connector is often covered together. When it is necessary to change the surgical instrument, the sterile cover needs to be removed before replacement. After the sterile cover is removed, the robotic arm and other equipment are exposed to the sterile environment, which can easily cause bacterial contamination and affect the safety of the surgery.

[0063] Therefore, this application provides a first groove 1022 on the circumferential sidewall of the first protrusion 102. When the sterile sleeve is put on, its strap is wrapped around the first groove 1022 to fix the sterile sleeve.

[0064] Furthermore, a second groove 202 is provided on the tension knob 20, the diameter of which is larger than the diameter of the first through hole 201. When the tension knob 20 is installed with the first protrusion 102, the first groove 1022 corresponds to the second groove 202, and the axial length of the first protrusion 102 is greater than the axial length of the first through hole 201, so that there is a gap 104 between the tension knob 20 and the first flange 101. When the sterile sleeve is tied into the first groove 1022, the second groove 202 can prevent the first through hole 201 and the first protrusion 102 from being too close together and squeezing and damaging the sterile sleeve, which would cause bacteria to be exposed. At the same time, the space of the first groove 1022, the second groove 202 and the gap 104 can make the installation and removal of the sterile sleeve convenient and the operation simpler.

[0065] Furthermore, such as Figure 1As shown, a radially penetrating third through hole 3021 is provided on the slide rail body 302, and a fourth through hole 3022 is provided on the side wall of the third through hole 3021 facing the tensioning baffle 303. The fourth through hole 3022 is used for the passage of the first screw, which is used to connect the tensioning baffle 303 and the slide rail body 302.

[0066] With this configuration, by placing the second flange 304 between the tension baffle 303 and the slide rail body 302, and connecting the tension baffle 303 and the slide rail body 302 through the second flange 304 using the first screw, the second flange 304 can be clamped, thus achieving a fixed connection between the tension baffle 303, the second flange 304, and the slide rail body 302. This reduces the frequency of screw use, thereby reducing the time required for doctors to tighten or loosen screws with a wrench.

[0067] Furthermore, Figure 3 This schematic diagram illustrates the structure of a tensioning baffle according to one embodiment of the present invention. Figure 4 This schematic diagram illustrates the structure of the second flange according to one embodiment of the present invention, as shown below. Figure 3 , 4 As shown:

[0068] A second protrusion 3031 is provided on the surface of the tensioning baffle 303 facing the slide rail body 302. The second protrusion 3031 is used to be detachably connected to the slide rail body 302. The diameter of the second protrusion 3031 is equal to the diameter of the second through hole 3041, and the diameter of the second protrusion 3031 is smaller than the diameter of the tensioning baffle 303.

[0069] A third groove 3042 is provided on the surface of the second flange 304 facing the tension knob 20, and the diameter of the third groove 3042 is equal to the diameter of the tension baffle 303.

[0070] With this configuration, when the second flange 304 is located between the tension baffle 303 and the slide rail body 302, the second protrusion 3031 of the tension baffle 303 passes through the second through hole 3041, so that the second protrusion 3031 abuts against the slide rail body 302. At this time, the first screw can be used to fix the tension baffle 303 and the slide rail body 302.

[0071] Meanwhile, the tensioning baffle 303 and the third groove 3042 have the same diameter, so that the surface of the tensioning baffle 303 facing the slide rail body 302 fits against the third groove 3042. When the first screw tightens the second protrusion 3031 and the slide rail body 302, the surface of the tensioning baffle 303 can further abut against the third groove 3042, thereby achieving the effect of clamping the second flange 304.

[0072] Furthermore, the sum of the axial lengths of the tension baffle 303 and the second protrusion 3031 is equal to the axial length of the second flange 304. With this configuration, when the tension baffle 303 clamps the second flange 304, the tension baffle 303 can be completely embedded in the second flange 304, making the overall structure more compact and occupying less space.

[0073] Furthermore, the diameter of the first through hole 201 is greater than or equal to the diameter of the tensioning baffle 303. With this configuration, the tensioning baffle 303 can pass through the first through hole 201 during installation and disassembly, and the installation will not be affected by the limitation of the positioning pin 103.

[0074] Furthermore, the second flange 304 is connected to the tension knob 20 by a second screw.

[0075] To achieve the above objectives, this utility model also provides a surgical robot, which includes one of the surgical tool connectors mentioned above, as well as a robotic arm and surgical tools. The surgical tool connector enables the surgical tools to be mounted on the end of the robotic arm, achieving quick assembly and disassembly and saving the surgeon's time.

[0076] In summary, the first connector 10 and the tension knob 20 are connected by threads, which can reduce the frequency of screw use, reduce the complicated operation of doctors using wrenches to tighten and loosen screws, and save surgical time. At the same time, the design of the first slot 1021, the second slot 301 and the positioning pin 103 can prevent the first connector 10 and the second connector 30 from rotating relative to each other, avoid positioning errors of the surgical robot, and improve surgical accuracy and safety.

[0077] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the technology involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the described technical concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A surgical tool connector, characterized by, The utility model relates to a surgical tool tensioning device, including: First connecting piece, tensioning knob and second connecting piece; The first connecting piece includes first flange and first lug, one side of first flange is connected with mechanical arm end, and the other side is fixedly connected with first lug; One side of second connecting piece is connected with surgical tool, and the other side is detachably connected with tensioning knob; First through hole is arranged in the center of tensioning knob and is axially penetrated, first through hole is used for first lug to pass through, and first through hole is threadedly connected with first lug; First lug is provided with first slot on the surface facing second connecting piece, positioning pin is installed in first slot, and one end of positioning pin extends out of first slot; Second connecting piece is provided with second slot on the surface facing first connecting piece, the extending end of positioning pin is inserted into second slot, and positioning pin is used for limiting the rotation of first connecting piece relative to second connecting piece.

2. A surgical tool connector according to claim 1, wherein Second connecting piece includes slide rail main body, tensioning baffle and second flange; Second flange is arranged between tensioning baffle and slide rail main body, and second flange is detachably connected with tensioning knob; Second through hole is arranged in the center of second flange and is axially penetrated, the diameter of second through hole is less than the diameter of tensioning baffle, and second through hole is used for detachably connecting tensioning baffle with slide rail main body; Second slot is arranged on the surface of tensioning baffle facing first connecting piece.

3. The surgical tool connector of claim 1, wherein First recess is arranged on the circumferential side wall of first lug, first recess extends along the circumferential side wall of first lug, and the diameter of first recess is less than the diameter of first lug; First recess is used for fixing sterile cover.

4. A surgical tool coupler according to claim 3, wherein, Second recess is arranged on the surface of tensioning knob facing first connecting piece, and the diameter of second recess is greater than the diameter of first through hole; The axial length of first lug is greater than the axial length of first through hole, when tensioning knob is installed with first lug, there is gap between tensioning knob and first flange, second recess is communicated with gap and first recess, and gap is used for the penetration of sterile cover.

5. The surgical tool connector of claim 2, wherein, Third through hole is arranged on slide rail main body and is radially penetrated, fourth through hole is arranged on the side wall of third through hole facing tensioning baffle, first screw is used for passing through fourth through hole, and first screw is used for connecting tensioning baffle with slide rail main body.

6. A surgical tool connector according to claim 2, wherein Second lug is arranged on the surface of tensioning baffle facing slide rail main body, second lug is used for detachably connecting with slide rail main body, the diameter of second lug is equal to the diameter of second through hole, and the diameter of second lug is less than the diameter of tensioning baffle; Third recess is arranged on the surface of second flange facing tensioning knob, and the diameter of third recess is equal to the diameter of tensioning baffle.

7. A surgical tool coupler according to claim 6, wherein, The sum of the axial lengths of tensioning baffle and second lug is equal to the axial length of second flange.

8. The surgical tool connector of claim 2, wherein, The diameter of first through hole is greater than or equal to the diameter of tensioning baffle.

9. The surgical tool connector of claim 2, wherein, Second flange is connected with tensioning knob through second screw.

10. A surgical robot, characterised in that, The surgical tool connector according to any one of claims 1 to 9, further comprising a robot arm and a surgical tool. The surgical tool connector is used to connect the surgical tool with a distal end of the robot arm.

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