Guiding device and medical robot

Abstract

The utility model discloses a guiding device and a medical robot. The guiding device comprises a guider and a quick release part. A connecting piece is arranged at one end of the guider; the quick release part comprises a first clamping piece, a second clamping piece and a bearing piece; one end of the first clamping piece is fixed to the connecting piece, and a first protrusion is arranged at the end, away from the connecting piece, of the first clamping piece. The bearing part is provided with an accommodating space; the second clamping piece is arranged in the accommodating space, and the second clamping piece is provided with a second bulge; the first clamping piece can stretch into the containing space, the first clamping piece and the second clamping piece can rotate relatively, so that the second protrusion moves to the position between the first protrusion and the connecting piece, the second protrusion abuts against the first protrusion, and the connecting piece abuts against the bearing piece. The first clamping piece and the second clamping piece rotate relatively, so that the guide device can be mounted and dismounted, and the operation difficulty is low.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical treatment, in particular to a guide device and a medical robot. BACKGROUND

[0002] The percutaneous puncture surgery means that a patient's affected part is scanned by computed tomography (CT), then a puncture path is found according to the scanning result, then a puncture needle is used to puncture along the puncture path to a lesion site, and the puncture needle is used to take pathological tissues from the lesion site, and the pathological tissues can be checked in detail to confirm the patient's illness. Or the puncture needle is used to inject drugs into the lesion site to achieve the purpose of treating the affected part.

[0003] At present, when puncturing, a medical robot is usually used to move a puncture needle so that the puncture needle can accurately puncture along a puncture path. Generally, the puncture needle is installed on a guide, the guide is installed on the medical robot, and then the puncture needle is controlled to puncture by operating the medical robot.

[0004] The guide mainly guides the path during the puncture of the puncture needle to ensure the puncture accuracy, so the guide plays a very important role in the puncture surgery. Since the guide directly or indirectly contacts the patient's skin, it needs to be repeatedly sterilized during use. When the guide is sterilized, the medical staff needs to disassemble the guide from the medical robot, and after sterilization is completed, the guide is installed on the medical robot. However, since the guide is fixed on the medical robot by a screw combined with a positioning pin, and the operation space is very small, it is very difficult for the medical staff to disassemble and install the guide. UTILITY MODEL CONTENT

[0005] The purpose of the present application is to provide a guide device and a medical robot, which can quickly install and disassemble the guide from the medical robot, thereby increasing the convenience of installing and disassembling the guide.

[0006] The first aspect of the present application provides a guide device, comprising a guide and a quick release component; one end of the guide is provided with a connecting piece; the quick release component comprises a first clamping piece, a second clamping piece and a bearing piece; one end of the first clamping piece is fixed to the connecting piece, and the end of the first clamping piece away from the connecting piece is provided with a first protrusion; the bearing piece is provided with an accommodation space; the second clamping piece is arranged in the accommodation space and is provided with a second protrusion; the first clamping piece can extend into the accommodation space, and the first clamping piece and the second clamping piece can rotate relative to each other to move the second protrusion between the first protrusion and the connecting piece, the second protrusion and the first protrusion abut, and the connecting piece and the bearing piece abut.

[0007] In some embodiments, the first protrusions are a plurality of first protrusions, the plurality of first protrusions are arranged along a circumference of the first clamping member; the second clamping member is annular, the second protrusions are a plurality of second protrusions, the plurality of second protrusions are arranged along a circumference of the second clamping member; and the plurality of first protrusions and the plurality of second protrusions are in one-to-one correspondence.

[0008] In some embodiments, the first protrusion is provided with a first inclined surface on a side facing the second protrusion, the second protrusion is provided with a second inclined surface on a side facing the first protrusion; the first inclined surface and the second inclined surface are in abutment, and along the circumference of the second clamping member, the interference amount of the first inclined surface and the second inclined surface gradually increases.

[0009] In some embodiments, the carrier is further provided with an operation hole, the operation hole is in communication with the accommodation space; the quick release component further comprises an operation rod; the operation rod extends into the accommodation space from the operation hole and is fixedly connected with the second clamping member; a part of the operation rod is located outside the operation hole.

[0010] In some embodiments, the carrier is annular, the carrier comprises a first carrier surface, a second carrier surface and a carrier circumferential surface, along the thickness direction of the carrier, the second carrier surface and the first carrier surface are opposite, and the carrier circumferential surface is connected between the first carrier surface and the second carrier surface; the accommodation space penetrates through the first carrier surface to form a first opening on the first carrier surface, and the first clamping member can extend into the accommodation space from the first opening; the operation hole is arranged on the carrier circumferential surface, the operation hole extends along the circumference of the carrier, and the length of the operation hole corresponds to a central angle of 90 degrees.

[0011] In some embodiments, the accommodation space further penetrates through the second carrier surface to form a second opening on the second carrier surface.

[0012] In some embodiments, the operation rod is provided with external threads, the second clamping member is provided with a threaded hole, and the operation rod is connected with the threaded hole through the external threads.

[0013] In some embodiments, the accommodation space comprises a first accommodation cavity and a second accommodation cavity, the first accommodation cavity and the second accommodation cavity are in communication along the axial direction of the carrier, the inner diameter of the first accommodation cavity is greater than the inner diameter of the second accommodation cavity; a stepped surface is formed between the first accommodation cavity and the second accommodation cavity; an annular groove is concavely arranged on the inner wall surface of the first accommodation cavity, the quick release component further comprises a clamping ring, and the clamping ring is arranged in the annular groove; the second clamping member is arranged in the first accommodation cavity, one end of the second clamping member contacts the stepped surface, and the other end of the second clamping member contacts the clamping ring; and the first clamping member can extend into the first accommodation cavity through the second accommodation cavity.

[0014] In some embodiments, the introducer further comprises a clamping member, the clamping member is located at an end of the introducer away from the connecting member; and the clamping member is used for connecting the puncture needle.

[0015] The second aspect of the application provides a medical robot, comprising a navigation robot, a mechanical arm and the guide device of any one of the first aspect of the application; one end of the mechanical arm is connected to the navigation robot, and the bearing member of the guide device is connected to the other end of the mechanical arm.

[0016] Compared with the fixing mode of the positioning pin combined with the screw in the prior art, in the embodiment, only relative rotation of the first clamping member and the second clamping member is needed to realize the installation and disassembly of the guide device. Specifically, when the guide device needs to be installed on the medical robot, the first clamping member is inserted into the accommodating space, and then the second clamping member is rotated relative to the first clamping member, so that the second protrusion moves to the position between the first protrusion and the connecting member. At this time, the first protrusion and the second protrusion abut, and the connecting member and the bearing member abut. The connection of the guide device and the medical robot is realized. When the guide device needs to be disassembled from the medical robot, the second clamping member is rotated in the opposite direction, so that the second protrusion and the first protrusion are staggered. At this time, the first clamping member can be withdrawn from the accommodating space, so that the guide device and the medical robot are separated. Compared with the prior art, the operation difficulty is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the application, the drawings needed in the embodiments will be briefly introduced as follows.

[0018] Figure 1 is a structural schematic diagram of a medical robot provided by the embodiment of the application.

[0019] Figure 2 is a structural schematic diagram of a guide device provided by the embodiment of the application.

[0020] Figure 3 is a structural schematic diagram of another view of the guide device provided by the embodiment of the application.

[0021] Figure 4 is a structural schematic diagram of a split structure of the guide device provided by the embodiment of the application.

[0022] Figure 5 is a structural schematic diagram of a part of the guide device provided by the embodiment of the application.

[0023] Figure 6 is a structural schematic diagram of a cross-sectional structure of the guide device provided by the embodiment of the application.

[0024] Figure 7 is Figure 6 is an enlarged structural schematic diagram of position A in FIG. 8.

[0025] Figure 8 is a structural schematic diagram of the guide device in a disassembled state and an assembled state provided by the embodiment of the application.

[0026] Figure 9 is another perspective view of the guide device in the disassembled state and the assembled state.

[0027] Figure 10 is a structural schematic view of the guide of the guide device.

[0028] Figure 11 is Figure 10 is an enlarged structural schematic view at B in FIG. 6.

[0029] Legend: 1000 - medical robot, 200 - navigation robot, 210 - roller, 220 - body, 300 - mechanical arm, 100 - guide device, 10 - guide, 11 - mounting bracket, 12 - support frame, 121 - support column, 13 - clamping piece, 131 - clamping hole, 14 - connecting piece, 141 - first connecting surface, 142 - second connecting surface, 143 - first positioning hole, 20 - quick release component, 30 - first clamping piece, 31 - first protrusion, 32 - first inclined surface, 33 - arc-shaped matching surface, 34 - convex arc surface, 35 - avoiding surface, 40 - second clamping piece, 41 - second protrusion, 42 - second inclined surface, 43 - threaded hole, 44 - concave arc surface, 50 - bearing piece, 51 - containing space, 511 - first containing cavity, 512 - second containing cavity, 513 - step surface, 514 - annular groove, 52 - operation hole, 53 - first bearing surface, 54 - second bearing surface, 55 - bearing peripheral surface, 56 - first opening, 57 - second opening, 58 - second positioning hole, 60 - operation rod, 70 - clasp. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

[0031] Reference Figure 1 , the present application provides a medical robot 1000, the medical robot 1000 includes a navigation robot 200, a mechanical arm 300 and a guide device 100. Wherein, the navigation robot 200 includes a roller 210 and a body 220, the roller 210 is arranged at the bottom of the body 220, the roller 210 can roll on the ground to make the navigation robot 200 quickly move to the required position. The mechanical arm 300 can be a six-axis mechanical arm 300. One end of the mechanical arm 300 is connected to the navigation robot 200, and the other end of the mechanical arm 300 is used for mounting the guide device 100. The puncture needle is mounted at one end of the guide device 100 away from the mechanical arm 300.

[0032] When it is necessary to perform a puncture on the lesion site of the patient, the navigation robot 200 can control the movement of the robotic arm 300, which in turn causes the robotic arm 300 to move the guide device 100, and the guide device 100 to move the puncture needle, so that the puncture needle can puncture the lesion site along the puncture path.

[0033] refer to Figure 2 and Figure 3 The guiding device 100 includes a guide 10 and a quick-release component 20. The guide 10 includes a mounting bracket 11, a support frame 12, a clamping member 13, and a connecting member 14. The mounting bracket 11 is rod-shaped. The clamping member 13 and the connecting member 14 are respectively fixed to opposite ends of the mounting bracket 11. Specifically, one end of the mounting bracket 11 connected to the clamping member 13 is provided with a mounting hole, in which the clamping member 13 can be fixed. The clamping member 13 is provided with a clamping hole 131 for mounting a puncture needle. The support frame 12 is fixed to one side of the mounting bracket 11, and is located between the connecting member 14 and the clamping member 13. A support column 121 is provided on the side of the support frame 12 facing away from the mounting bracket 11. The support column 121 is used to mount a marker ball, and an optical camera can position the light reflected by the marker ball to confirm the position of the puncture needle.

[0034] The connector 14 is disc-shaped. In other embodiments, the connector 14 may also be elliptical, square, rectangular, or triangular, or have other regular shapes. Alternatively, the connector 14 may be irregularly shaped. The connector 14 includes a first connecting surface 141 and a second connecting surface 142, which are opposite to each other along the thickness direction of the connector 14. The second connecting surface 142 is fixedly connected to one end of the mounting bracket 11. The first connecting surface 141 is used to connect the quick-release component 20.

[0035] refer to Figure 4 and Figure 5 In this embodiment, the quick-release component 20 includes a first latching member 30, a second latching member 40, and a carrier member 50. One end of the first latching member 30 is fixed to the connector 14, and the end of the first latching member 30 away from the connector 14 is provided with a first protrusion 31. Specifically, the first latching member 30 is columnar, such as a cylinder, square column, triangular prism, or square prism, etc. One end of the first latching member 30 is fixed to the first connecting surface 141 of the connector 14. The first protrusion 31 protrudes from the outer peripheral surface of the first latching member 30, and there is a gap between the first protrusion 31 and the first connecting surface 141 along the direction from the first connecting surface 141 to the first latching member 30.

[0036] The carrier 50 is provided with a receiving space 51. The second clamping member 40 is arranged in the receiving space 51, and the second clamping member 40 is provided with a second protrusion 41. Specifically, the carrier 50 can be in the shape of a round cake, and the receiving space 51 penetrates the carrier 50 along the thickness direction of the carrier 50, or the receiving space 51 is recessed in one surface of the carrier 50 along the thickness direction. The inner wall surface of the receiving space 51 is in the shape of a circular ring, and the second clamping member 40 is in the shape of a circular ring. The second clamping member 40 is arranged in the receiving space 51, and the outer peripheral surface of the second clamping member 40 is in contact with the inner wall surface of the receiving space 51.

[0037] With reference to Figure 6 and Figure 7 , the first clamping member 30 can be inserted into the receiving space 51, and the first clamping member 30 and the second clamping member 40 can rotate relative to each other, so that the second protrusion 41 moves into the space between the first protrusion 31 and the connecting member 14, the second protrusion 41 and the first protrusion 31 abut, and the connecting member 14 and the carrier 50 abut, specifically, the first connecting surface 141 of the connecting member 14 and the carrier 50 abut. In this embodiment, the second clamping member 40 can rotate along the inner wall surface of the receiving space 51, that is, the second clamping member 40 rotates relative to the first clamping member 30, so that the first protrusion 31 and the second protrusion 41 abut. The rotation direction of the second clamping member 40 can be clockwise or counterclockwise. In other embodiments, the second clamping member 40 can also be fixed in the receiving space 51, at this time, the introducer 10 can be rotated, so that the introducer 10 drives the first clamping member 30 to rotate relative to the second clamping member 40.

[0038] Compared with the method of using screws to fix the positioning pins in the prior art, in this embodiment, with reference to Figure 7 , Figure 8 and Figure 9 , Figure 8 , (a) and Figure 9 , (a) is a structural schematic view of the guide device in a disassembled state. Figure 8 , (b) and Figure 9Fig. 3 is a structural schematic diagram of the guiding device in an assembled state. The carrier 50 is connected to the side of the guide 10 away from the mechanical arm 300 of the medical robot 1000. When the guiding device 100 needs to be installed or dismounted, only the relative rotation of the first clamping member 30 and the second clamping member 40 is needed. Specifically, when the guiding device 100 needs to be installed on the medical robot 1000, the first clamping member 30 is inserted into the accommodating space 51, and then the second clamping member 40 is rotated relative to the first clamping member 30 in the first direction, so that the second protrusion 41 moves to the position between the first protrusion 31 and the connecting member 14. At this time, the first protrusion 31 and the second protrusion 41 abut, and the connecting member 14 and the carrier 50 abut, realizing the connection of the guiding device 100 and the medical robot 1000. When the guiding device 100 needs to be dismounted from the medical robot 1000, the second clamping member 40 is rotated in the second direction, so that the second protrusion 41 and the first protrusion 31 are staggered. At this time, the first clamping member 30 can be withdrawn from the accommodating space 51, so that the guiding device 100 and the medical robot 1000 are separated. Compared with the traditional technology, the operation difficulty is greatly reduced. It can be understood that one of the first direction and the second direction is clockwise, and the other is counterclockwise.

[0039] In this embodiment, referring to Figure 5 and Figure 9 , the first protrusion 31 is a plurality of first protrusions 31 arranged at intervals along the circumference of the first clamping member 30. The second clamping member 40 is annular, and the second protrusion 41 is fixed to the inner circumferential surface of the second clamping member 40. The second protrusion 41 is a plurality of second protrusions 41 arranged at intervals along the circumference of the second clamping member 40. The circumferential distance between any two adjacent second protrusions 41 is greater than the length of the first protrusion 31 along the circumference. The plurality of first protrusions 31 and the plurality of second protrusions 41 abut one by one.

[0040] The first protrusion 31 and the second protrusion 41 can each be four. The distance between any two adjacent first protrusions 31 is 90 degrees, and the distance between any two adjacent second protrusions 41 is 90 degrees. Of course, in other embodiments, the first protrusion 31 and the second protrusion 41 can also be one, two, three, or five, etc. Those skilled in the art can design according to actual needs, and the present application is not limited.

[0041] By arranging a plurality of first protrusions 31 and a plurality of second protrusions 41 to abut, the abutting force between the first clamping member 30 and the second clamping member 40 can be increased, and the force between the first clamping member 30 and the second clamping member 40 is more balanced, which is beneficial to prolong the service life of the first clamping member 30 and the second clamping member 40, and can increase the reliability of the guiding device 100 connected to the medical robot 1000.

[0042] In this embodiment, referring to Figure 5And Figure 7 The first protrusion 31 is provided with a first inclined surface 32 on the side facing the second protrusion 41, and the second protrusion 41 is provided with a second inclined surface 42 on the side facing the first protrusion 31. Referring to Figure 7 The first inclined surface 32 and the second inclined surface 42 abut, and along the circumference of the second clamping piece 40, the interference amount of the first inclined surface 32 and the second inclined surface 42 gradually increases. Specifically, referring to Figure 10 And Figure 11 The thickness dimension of the first protrusion 31 along the circumference of the first clamping piece 30 gradually increases to form the first inclined surface 32 on the side of the first protrusion 31 facing the first connecting surface 141 of the connecting piece 14. Similarly, the thickness dimension of the second protrusion 41 along the circumference of the second clamping piece 40 gradually increases to form the second inclined surface 42 on the side of the second protrusion 41 facing the first protrusion 31.

[0043] The first inclined surface 32 is located on the side of the first protrusion 31 facing the first connecting surface 141 of the connecting piece 14. That is, the first inclined surface 32 and the first connecting surface 141 are spaced apart. Since the first inclined surface 32 is in an inclined state, along the circumference of the first clamping piece 30, the width of the spacing between the first inclined surface 32 and the first connecting surface 141 gradually decreases. When the second clamping piece 40 is rotated to move the second protrusion 41 into the spacing between the first inclined surface 32 and the first connecting surface 141, the second protrusion 41 enters the spacing from the wider part of the spacing, which can make the second protrusion 41 smoothly enter the spacing. As the second clamping piece 40 continues to rotate, the width of the spacing between the first inclined surface 32 and the first connecting surface 141 gradually decreases, and the interference amount of the first inclined surface 32 and the second inclined surface 42 gradually increases. It can make the abutting force between the first protrusion 31 and the second protrusion 41 gradually increase, so that the first clamping piece 30 and the second clamping piece 40 realize self-locking. It ensures the reliable connection of the first clamping piece 30 and the second clamping piece 40, and further increases the reliability of the connection of the guide device 100 and the medical robot 1000.

[0044] In this embodiment, referring to Figure 5 And Figure 7 The carrier 50 is also provided with an operation hole 52, and the operation hole 52 and the accommodation space 51 are in communication. The quick release component 20 further includes an operating rod 60. The operating rod 60 extends into the accommodation space 51 from the operation hole 52 and is connected with the second clamping piece 40. Part of the operating rod 60 is located outside the operation hole 52. When it is necessary to install or disassemble the guide device 100, medical staff can hold the operating rod 60 to make the operating rod 60 drive the second clamping piece 40 to rotate, thereby increasing the operation convenience.

[0045] In this embodiment, referring to Figure 5The carrier 50 is annular, and the carrier 50 comprises a first carrier surface 53, a second carrier surface 54, and a carrier circumferential surface 55. The second carrier surface 54 is opposite to the first carrier surface 53 along the thickness direction of the carrier 50, and the carrier circumferential surface 55 is connected between the first carrier surface 53 and the second carrier surface 54. The accommodating space 51 penetrates through the first carrier surface 53 to form a first opening 56 on the first carrier surface 53, and the first clamping piece 30 can extend into the accommodating space 51 from the first opening 56. By arranging the first opening 56, the first clamping piece 30 can be conveniently extended into the accommodating space 51. The first carrier surface 53 is a plane, and when the first protrusion 31 and the second protrusion 41 abut, the first carrier surface 53 and the first connecting surface 141 abut. In this way, the reliable connection between the guide device 100 and the medical robot 1000 can be realized, and the structure of the guide device 100 is relatively compact.

[0046] The operation hole 52 is arranged on the carrier circumferential surface 55, and the operation hole 52 extends along the circumferential direction of the carrier 50. The length of the operation hole 52 corresponds to a central angle of 90 degrees. By arranging the operation hole 52 with a length corresponding to a central angle of 90 degrees, the rotation angle of the operation rod 60 can be controlled, so as to avoid that the rotation angle of the operation rod 60 is too large or too small. It can be understood that when the operation rod 60 moves counterclockwise to contact one side of the operation hole 52, the second protrusion 41 moves into the space between the first inclined surface 32 and the first connecting surface 141, and the first protrusion 31 and the second protrusion 41 abut, and the first connecting surface 141 and the first carrier surface 53 abut, so that the guide device 100 can be reliably connected to the medical robot 1000. When the operation rod 60 moves clockwise to contact the other side of the operation hole 52, the first protrusion 31 and the second protrusion 41 are completely staggered, and the first clamping piece 30 can be withdrawn from the accommodating space 51, so that the guide device 100 can be separated from the medical robot 1000.

[0047] In the embodiment, the accommodating space 51 also penetrates through the second carrier surface 54 to form a second opening 57 on the second carrier surface 54. By arranging the second opening 57, the weight of the quick-release component 20 can be reduced, and the connection between the carrier 50 and the mechanical arm 300 can be facilitated, and the second clamping piece 40 can be conveniently installed into the accommodating space 51 from the second opening 57.

[0048] In the embodiment, the operation rod 60 is provided with external threads, the second clamping piece 40 is provided with a threaded hole 43, and the operation rod 60 is connected to the threaded hole 43 through the external threads. That is, the operation rod 60 and the second clamping piece 40 are connected through threads. After the second clamping piece 40 is installed in the accommodating space 51, the operation rod 60 can pass through the operation hole 52 and be connected to the threaded hole 43 of the second clamping piece 40, so that the assembly convenience can be improved.

[0049] In the embodiment, reference is made to Figure 5 and Figure 7The accommodating space 51 comprises a first accommodating cavity 511 and a second accommodating cavity 512, which are communicated along the axial direction of the bearing 50, and the inner diameter of the first accommodating cavity 511 is larger than that of the second accommodating cavity 512. A stepped surface 513 is formed between the first accommodating cavity 511 and the second accommodating cavity 512.

[0050] The inner wall surface of the first accommodating cavity 511 is concavely provided with an annular groove 514, and the quick release component 20 further comprises a collar 70, which is arranged in the annular groove 514.

[0051] The second clamping piece 40 is arranged in the first accommodating cavity 511, one end of the second clamping piece 40 abuts against the stepped surface 513, and the other end of the second clamping piece 40 abuts against the collar 70. The first clamping piece 30 can pass through the second accommodating cavity 512 and extend into the first accommodating cavity 511.

[0052] The second clamping piece 40 is limited by the stepped surface 513 and the collar 70, so that the second clamping piece 40 can rotate in the first accommodating cavity 511 while avoiding disengagement from the first accommodating cavity 511.

[0053] In the embodiment, referring to Figure 5 and Figure 9 The first protrusion 31 further comprises an arc-shaped matching surface 33, and the arc-shaped matching surfaces 33 of the plurality of first protrusions 31 are located on the same circumference. When the first clamping piece 30 extends into the accommodating space 51, the first protrusion 31 extends into the annular space of the second clamping piece 40, and the arc-shaped matching surface 33 of the first protrusion 31 is gap-fitted with the inner circumferential surface of the second clamping piece 40 to radially position the first clamping piece 30.

[0054] In addition, the outer diameter of the first clamping piece 30 is smaller than the inner diameter of the space surrounded by the plurality of second protrusions 41, so that a part of the first clamping piece 30 extends into the annular space of the second clamping piece 40, and then the first protrusion 31 can smoothly pass through the second protrusion 41, so that the second protrusion 41 is located between the first protrusion 31 and the connecting piece 14.

[0055] Referring to Figure 5The outer peripheral surface of the first latching member 30 includes a convex arc surface 34 and a clearance surface 35. Along the circumference of the first latching member 30, the convex arc surface 34 and the clearance surface 35 are arranged alternately. Along the axial direction of the first latching member 30, the convex arc surface 34 corresponds to the first protrusion 31, and the clearance surface 35 is offset from the first protrusion 31. The second protrusion 41 has a concave arc surface 44 on the side facing the first latching member 30. When the first protrusion 31 and the second protrusion 41 abut, that is, when the first inclined surface 32 and the second inclined surface 42 abut, the convex arc surface 34 of the first latching member 30 and the concave arc surface 44 of the second protrusion 41 contact each other, thereby increasing the fitting accuracy and the stability of the guide device 100 installation. When the first protrusion 31 and the second protrusion 41 are misaligned, that is, when the first inclined surface 32 and the second inclined surface 42 are misaligned, there is a gap between the clearance surface 35 of the first snap-fit ​​30 and the concave arc surface 44 of the second protrusion 41, so that the first snap-fit ​​30 can be removed from the receiving space 51, and the guide device 100 can be disassembled.

[0056] In this embodiment, reference Figure 7 The connector 14 may be provided with a first positioning hole 143, which penetrates the connector 14 along its thickness direction, that is, the first positioning hole 143 penetrates the first connecting surface 141 and the second connecting surface 142. The carrier 50 may be provided with a second positioning hole 58, which penetrates the carrier 50 along its thickness direction, that is, the second positioning hole 58 penetrates the first bearing surface 53 and the second bearing surface 54. When the first connecting surface 141 and the first bearing surface 53 abut, the first positioning hole 143 and the second positioning hole 58 are coaxial and connected. At this time, a positioning pin can be inserted into the first positioning hole 143 and the second positioning hole 58 to increase the reliability of the connection between the guide device 100 and the medical robot 1000.

[0057] When it is necessary to disassemble the guide device 100, pull the positioning pin out of the first positioning hole 143 and the second positioning hole 58, and then rotate the operating lever 60.

[0058] It is understood that the number of first positioning holes 143 and second positioning holes 58 can both be two. The two first positioning holes 143 are arranged at 180-degree intervals along the circumference of the connector 14, and the two second positioning holes 58 are arranged at 180-degree intervals along the circumference of the connector 14. In other embodiments, the number of first positioning holes 143 and second positioning holes 58 can be one, three, four, etc.

[0059] The embodiments of this application have been described in detail above. Specific examples have been used in this article to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and central idea of ​​this application.

Claims

1. A guiding device, characterized in that, include: A guide and a quick-release component; one end of the guide is provided with a connector; the quick-release component includes a first snap-fit ​​component, a second snap-fit ​​component, and a carrier component; one end of the first snap-fit ​​component is fixed to the connector, and the end of the first snap-fit ​​component away from the connector is provided with a first protrusion; The carrier is provided with a receiving space; the second snap-fit ​​member is disposed in the receiving space, and the second snap-fit ​​member is provided with a second protrusion; The first snap-fit ​​member can extend into the receiving space, and the first snap-fit ​​member and the second snap-fit ​​member can rotate relative to each other so that the second protrusion moves to a position between the first protrusion and the connector, the second protrusion abuts against the first protrusion, and the connector abuts against the carrier.

2. The guiding device according to claim 1, characterized in that, There are multiple first protrusions, and the multiple first protrusions are arranged at intervals along the circumference of the first snap-fit ​​member; The second snap-fit ​​component is annular, and the second protrusion is fixed to the inner circumferential surface of the second snap-fit ​​component. There are multiple second protrusions, and the multiple second protrusions are arranged at intervals along the circumferential direction of the second snap-fit ​​component. The first protrusions and the second protrusions abut against each other in a one-to-one correspondence.

3. The guiding device according to claim 1, characterized in that, The first protrusion has a first inclined surface on the side facing the second protrusion, and the second protrusion has a second inclined surface on the side facing the first protrusion; the first inclined surface and the second inclined surface abut against each other, and the amount of interference between the first inclined surface and the second inclined surface gradually increases along the circumference of the second snap-fit ​​member.

4. The guiding device according to claim 1, characterized in that, The carrier is also provided with an operating hole, which communicates with the receiving space; the quick-release component also includes an operating rod; the operating rod extends from the operating hole into the receiving space and is fixedly connected to the second snap-fit ​​component; a portion of the operating rod is located outside the operating hole.

5. The guiding device according to claim 4, characterized in that, The support member is annular and includes a first support surface, a second support surface, and a support peripheral surface. Along the thickness direction of the support member, the second support surface and the first support surface are opposite to each other, and the support peripheral surface is connected between the first support surface and the second support surface. The receiving space penetrates through the first support surface to form a first opening in the first support surface, and the first snap-fit ​​member can extend into the receiving space from the first opening. The operating hole is disposed on the bearing circumferential surface, the operating hole extends along the circumference of the bearing member, and the central angle corresponding to the length of the operating hole is 90 degrees.

6. The guiding device according to claim 4, characterized in that, The accommodating space also extends through the second bearing surface to form a second opening in the second bearing surface.

7. The guiding device according to claim 4, characterized in that, The operating lever is provided with an external thread, and the second snap-fit ​​component is provided with a threaded hole. The operating lever is connected to the threaded hole through the external thread.

8. The guiding device according to any one of claims 1 to 7, characterized in that, The accommodating space includes a first accommodating cavity and a second accommodating cavity. The first accommodating cavity and the second accommodating cavity are connected along the axial direction of the bearing member. The inner diameter of the first accommodating cavity is larger than the inner diameter of the second accommodating cavity. A stepped surface is formed between the first accommodating cavity and the second accommodating cavity. The inner wall of the first receiving cavity is recessed with an annular groove, and the quick-release component also includes a retaining ring, which is disposed in the annular groove; The second snap-fit ​​member is disposed in the first receiving cavity, one end of the second snap-fit ​​member contacts the stepped surface, and the other end of the second snap-fit ​​member contacts the retaining ring; the first snap-fit ​​member can extend into the first receiving cavity through the second receiving cavity.

9. The guiding device according to any one of claims 1 to 7, characterized in that, The guide also includes a clamping member located at the end of the guide away from the connector; the clamping member is used to connect the puncture needle.

10. A medical robot, characterized in that, Includes a navigation robot, a robotic arm, and a guidance device as described in any one of claims 1 to 9; One end of the robotic arm is connected to the navigation robot, and the carrier of the guidance device is connected to the other end of the robotic arm.

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