High-precision self-locking quick-change interface device based on laparoscopic surgical instrument

Abstract

This utility model discloses a high-precision self-locking quick-change interface device based on laparoscopic surgical instruments, including a first docking plate, a support arm fixedly connected to the first docking plate, a docking support plate fixedly connected to the bottom of the support arm, a conical guide groove provided on the docking support plate, a wedge-shaped locking tongue slidably connected in the conical guide groove, and a second docking plate fixedly connected to the wedge-shaped locking tongue. The beneficial effects of this utility model are: adaptive calibration of angle deviation, reducing manual intervention, mechanical locking and emergency unlocking, no power dependence; high coaxiality transmission, improving force feedback accuracy.

Description

Technical Field

[0001] This utility model relates to the field of medical robot technology, specifically to a high-precision self-locking quick-change interface device based on laparoscopic surgical instruments. Background Technology

[0002] In the process of changing and initializing surgical instruments in medical robots, the mechanical coupling accuracy and adaptive capability of the instrument interface directly affect the overall system performance. Traditional solutions have the following problems:

[0003] Angle alignment calibration defects: Insufficient matching accuracy of the rotating shaft system and lack of dynamic compensation mechanism lead to the accumulation of deviations during instrument assembly and disassembly, requiring repeated manual calibration and reducing surgical efficiency.

[0004] Bottleneck of power-dependent locking: Electric locking mechanisms are prone to jamming when power is cut off or vibrates, and lack mechanical emergency separation design, making it impossible to quickly decouple in emergency situations.

[0005] Challenges in transmission coaxiality control: The single-stage positioning interface becomes inaccurate in coaxiality when the load changes abruptly, resulting in end-point trajectory oscillation and force feedback phase delay, which poses a problem. Utility Model Content

[0006] To address the shortcomings of existing technologies, this invention provides a high-precision self-locking quick-change interface device based on laparoscopic surgical instruments to solve the existing problems.

[0007] This utility model is achieved through the following technical solution: a high-precision self-locking quick-change interface device based on laparoscopic surgical instruments, including a first docking plate, a support arm fixedly connected to the first docking plate, a docking support plate fixedly connected to the bottom of the support arm, a conical guide groove provided on the docking support plate, a wedge-shaped locking tongue slidably connected in the conical guide groove, and a second docking plate fixedly connected to the wedge-shaped locking tongue.

[0008] Preferably, the first docking plate has a motor docking hole and a motor expansion hole, a positioning threaded hole, a limiting slide groove is fixedly connected to the bottom of the first docking plate, two locking blocks are slidably connected in the limiting slide groove, a buckle is fixedly connected to each end of the two locking blocks, and an elastic metal wire is fixedly connected between the two buckles.

[0009] Preferably, the docking support plate is provided with a positioning threaded hole, a motor expansion hole and an auxiliary positioning hole, and a number of shaft end coupling disks are rotatably connected to the docking support plate, with two circular grooves on each shaft end coupling disk.

[0010] Preferably, a plurality of phase calibration disks are rotatably connected to the second docking plate, two positioning pins are fixedly connected to each phase calibration disk, positioning threaded holes are provided on the second docking plate, two tapered guide columns are fixedly connected to the second docking plate, and a motor is fixedly connected to the bottom of the second docking plate.

[0011] Preferably, the two positioning pins are symmetrically distributed at 180° on both sides of the center of the phase calibration disk.

[0012] The beneficial effects of this utility model are reflected in: adaptive calibration of angle deviation, reducing manual intervention, mechanical locking and emergency unlocking, and no dependence on electricity; high coaxiality transmission, improving force feedback accuracy. Attached Figure Description

[0013] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0014] Figure 1 This is a schematic diagram of the first docking plate structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the second docking plate structure of this utility model;

[0016] Figure 3 This is a schematic diagram of the docking support plate structure of this utility model;

[0017] Figure 4 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 5 This is a schematic diagram of the locking structure of this utility model;

[0019] Figure 6 This is a schematic diagram of the card block structure of this utility model.

[0020] In the attached diagram, 1 is the motor docking hole, 2 is the first docking plate, 3 is the support arm, 4 is the buckle, 5 is the limiting slide groove, 6 is the elastic metal wire, 7 is the motor expansion hole, 8 is the positioning threaded hole, 9 is the phase calibration disc, 10 is the tapered guide post, 11 is the wedge-shaped locking tongue, 12 is the docking support plate, 13 is the motor, 14 is the positioning pin, 15 is the tapered guide groove, 16 is the second docking plate, 17 is the limiting stop, 18 is the shaft end coupling disc, 19 is the auxiliary positioning hole, and 20 is the locking block. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0022] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0023] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” may be used herein to describe the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific implementation of this utility model will be described in detail below with reference to specific embodiments: such as Figures 1-6The present invention is achieved through the following technical solution: a high-precision self-locking quick-change interface device based on laparoscopic surgical instruments, comprising a first docking plate 2, a support arm 3 fixedly connected to the first docking plate 2, a docking support plate 12 fixedly connected to the bottom of the support arm 3, a conical guide groove 15 provided on the docking support plate 12, a wedge-shaped locking tongue 11 slidably connected in the conical guide groove 15, and a second docking plate 16 fixedly connected to the wedge-shaped locking tongue 11; the docking support plate 12 and the second docking plate 16 are coaxially fixed by bolts through positioning threaded holes 8, and the second docking plate 16 is connected by... The radially constrained tapered guide post 10 is inserted into the radial auxiliary positioning hole 19, and the wedge-shaped locking tongue 11 is inserted into the tapered guide groove 15. The shaft end coupling disk 18 is embedded in the phase calibration disk 9 to achieve coupling. The shaft end coupling disk 18 is provided with four sets of matching circular grooves and positioning pins 14 on the shaft end coupling disk 18. The wedge-shaped locking tongue 11 is allowed to slide into the tapered guide groove 15 only when the phase angle deviation is ≤±1°. After the wedge-shaped locking tongue is inserted, the wedge-shaped locking tongue 11 and the tapered guide groove 15 form an interference fit with an interference amount of 0.1-0.2mm. After being pressed down until the interference fit boss undergoes plastic deformation, the final locking is achieved.

[0026] The first docking plate 2 has a motor docking hole 1 and a motor expansion hole 7. The first docking plate 2 also has a positioning threaded hole 8. The bottom of the first docking plate 2 is fixedly connected to a limiting slide groove 5. Two locking blocks 20 are slidably connected in the limiting slide groove 5. Each end of the two locking blocks 20 is fixedly connected to a buckle 4. An elastic metal wire 6 is fixedly connected between the two buckles 4. When the left and right physical buckles 4 are pressed, a contraction of 3-5mm is generated to provide unlocking elasticity. When the buckles 4 are pressed inward, the two locking blocks 20 move outward. The locking blocks 20 push against the wedge-shaped locking tongue 11 and move, and the wedge-shaped locking tongue 11 releases the interference fit. The radial constraint tapered guide post 10 is inserted into the radial auxiliary positioning hole 19 to limit the radial offset. The coaxiality error is < ±0.05mm.

[0027] The docking support plate 12 is provided with a positioning threaded hole 8, a motor expansion hole 7 and an auxiliary positioning hole 19. Several shaft end coupling disks 18 are rotatably connected to the docking support plate 12, and each shaft end coupling disk 18 has two circular grooves.

[0028] Several phase calibration disks 9 are rotatably connected to the second docking plate 16. Two positioning pins 14 are fixedly connected to each phase calibration disk 9. Positioning threaded holes 8 are opened on the second docking plate 16. Two tapered guide pillars 10 are fixedly connected to the second docking plate 16. A motor 13 is fixedly connected to the bottom of the second docking plate 16.

[0029] The two positioning pins 14 are symmetrically distributed at 180° on both sides of the center of the phase calibration disk 9.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A high-precision self-locking quick-change interface device based on laparoscopic surgical instruments, comprising a first docking plate (2), characterized in that: A support arm (3) is fixedly connected to the first docking plate (2), and a docking support plate (12) is fixedly connected to the bottom of the support arm (3). A tapered guide groove (15) is provided on the docking support plate (12), and a wedge-shaped locking tongue (11) is slidably connected in the tapered guide groove (15). The wedge-shaped locking tongue (11) is fixedly connected to the second docking plate (16).

2. The high-precision self-locking quick-change interface device based on laparoscopic surgical instruments according to claim 1, characterized in that: The first docking plate (2) is provided with a motor docking hole (1) and a motor expansion hole (7). The first docking plate (2) is provided with a positioning threaded hole (8). The bottom of the first docking plate (2) is fixedly connected to a limiting slide groove (5). Two locking blocks (20) are slidably connected in the limiting slide groove (5). A buckle (4) is fixedly connected to each end of the two locking blocks (20). An elastic metal wire (6) is fixedly connected between the two buckles (4).

3. The high-precision self-locking quick-change interface device based on laparoscopic surgical instruments according to claim 1, characterized in that: The docking support plate (12) is provided with a positioning threaded hole (8), a motor expansion hole (7) and an auxiliary positioning hole (19). Several shaft end coupling disks (18) are rotatably connected to the docking support plate (12), and each shaft end coupling disk (18) has two circular grooves.

4. The high-precision self-locking quick-change interface device based on laparoscopic surgical instruments according to claim 1, characterized in that: Several phase calibration disks (9) are rotatably connected to the second docking plate (16). Two positioning pins (14) are fixedly connected to each phase calibration disk (9). Positioning threaded holes (8) are opened on the second docking plate (16). Two tapered guide columns (10) are fixedly connected to the second docking plate (16). A motor (13) is fixedly connected to the bottom of the second docking plate (16).

5. A high-precision self-locking quick-change interface device based on laparoscopic surgical instruments according to claim 4, characterized in that: The two positioning pins (14) are symmetrically distributed at 180° on both sides of the center of the phase calibration disk (9).

Images