Mounting device, clamping apparatus and surgical robot system

Abstract

The application relates to a mounting device, a clamping device and a surgical robot system, comprising a resisting component arranged on a first connecting piece; a first adjusting assembly; a second adjusting assembly comprising a pushing component; the second adjusting assembly is configured to make the pushing component and the resisting component abut under the action of an external force, until at least one of the pushing component and the resisting component exceeds a deformation critical point of the other, so that the pushing component and the resisting component are switched from the abutting state to a released state; wherein at least one of the pushing component and the resisting component generates a prompt signal in a deformation reset process. According to the application, the pushing component and the resisting component abut, and under the continuous action of the external force, the two are switched from the abutting state to the released state, and a prompt signal is generated in the deformation reset process. The prompt signal can be transmitted to the operator to prompt the operator to stop operation. The setting enables the operator to intuitively judge whether installation is in place without relying on experience.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an installation device, a clamping device, and a surgical robot system. Background Technology

[0002] In the field of percutaneous interventional surgical robots, the clamping of the puncture needle is usually achieved through the transfer of disposable sterile instruments to avoid the risk of repeated cleaning and disinfection. Currently, most solutions use threaded locking structures, torsion springs, and gears to fix the puncture needle.

[0003] However, the current method of fixing the puncture needle has at least the following problems: the operator cannot intuitively judge the degree of tightening, insufficient tightening may lead to insufficient clamping force, the needle may loosen during puncture, and excessive tightening may crush the needle tube, causing instrument damage or surgical risks. Utility Model Content

[0004] Therefore, it is necessary to provide an installation device, clamping device, and surgical robot system to address the problem that operators cannot intuitively judge the tightness of traditional fixed puncture needle solutions.

[0005] In a first aspect, some embodiments of this application provide an installation device for assembling a needle holder adapter, the needle holder adapter including a first mating member and a second mating member; the installation device includes:

[0006] A blocking component is provided on the first docking member;

[0007] The first adjustment assembly has a first hollow cavity for accommodating the second docking member;

[0008] The second adjustment component engages with the first adjustment component. The second adjustment component has a second hollow cavity for accommodating the first docking member. The second adjustment component includes a pushing component. The second adjustment component is configured to, under the action of an external force, cause the pushing component to abut against the blocking component until at least one of the pushing component and the blocking component crosses the deformation critical point of the other, thereby switching the pushing component and the blocking component from the abutting state to the released state. At least one of the pushing component and the blocking component generates a prompt signal during the deformation reset process.

[0009] In one embodiment, the first adjustment component includes a first ring body;

[0010] The second adjustment component further includes a second ring body, which is coaxially arranged with the first ring body and rotates relative to it; the pushing component is disposed on the inner wall surface of the second ring body, and the blocking component is disposed on the outer wall surface of the first docking member;

[0011] And / or, during the process of the pushing component and the blocking component switching from the contact state to the release state, the pushing component drives the blocking component to rotate forward, so that the first docking member and the second docking member rotate forward synchronously until the first docking member and the second docking member are locked.

[0012] In one embodiment, the blocking member includes an elastic element, one end of which is connected to the first mating member, and the other end is configured to deform under the continuous abutment of the pushing member until the pushing member passes the deformation critical point of the elastic element.

[0013] And / or, the pushing component includes an elastic element, one end of which is connected to the second ring body, and the other end is configured to deform under the continuous abutment of the blocking component until the blocking component passes the deformation critical point of the elastic element;

[0014] The elastic element generates the prompt signal during the deformation and reset process, and the prompt signal is used to indicate that the first docking member and the second docking member are locked in place.

[0015] In one embodiment, the elastic element is an arc-shaped spring sheet, one end of which is fixed to the outer wall surface of the first docking member, and the other end is positioned as a free end and protrudes from the outer wall surface of the first docking member;

[0016] The pushing component includes a plurality of protrusions, which are arranged circumferentially around the inner wall of the second ring body. The distance between the protrusions and the outer wall of the first docking member is less than the distance at which the other end of the arc-shaped spring protrudes from the outer wall.

[0017] In one embodiment, the arc-shaped spring extends circumferentially around the axis of the first mating member;

[0018] During the process of locking the first docking member and the second docking member, the protrusion abuts against the arc surface of the arc-shaped spring piece away from the first docking member;

[0019] During the process of releasing the first and second docking parts, the protrusion abuts against the end face of the free end of the arc-shaped spring piece.

[0020] In one embodiment, the two arc-shaped spring pieces are circumferentially spaced on the outer wall surface of the first mating member;

[0021] The arc-shaped spring includes a body and a protrusion. One end of the body is connected to the first docking member and extends circumferentially along the outer wall surface of the first docking member. The other end is provided with the protrusion, which protrudes from the outer wall surface of the first docking member. The protrusion is configured to abut against any of the protrusions.

[0022] In one embodiment, the first ring body is provided with a first limiting portion along the circumferential direction, and the second ring body is provided with a second limiting portion along the circumferential direction;

[0023] During the process of releasing the first docking member and the second docking member, the second ring body is configured such that, under the action of external force, the pushing member drives the blocking member to reverse until the second limiting part abuts against the first limiting part, so as to indicate that the first docking member and the second docking member are released in place;

[0024] And / or, during the process of the pushing component and the blocking component moving from the contact state to the release state, the first limiting part and the second limiting part do not contact each other.

[0025] In one embodiment, the first ring body includes a first inner plate and a first outer plate that are nested together, and the first inner plate and the first outer plate are connected at the end portion away from the second ring body.

[0026] The inner wall surface of the first inner plate has a first protrusion. The first protrusion is configured such that, during the process of releasing the first docking member and the second docking member, after the second docking member moves a preset distance away from the first docking member, it blocks the second docking member from continuing to move.

[0027] And / or, the first inner plate is configured with a third limiting portion, which is configured to restrict the second docking member from rotating circumferentially relative to the first ring body.

[0028] In one embodiment, the second ring body includes a second inner plate and a second outer plate that are nested together, the second inner plate and the second outer plate being connected at an end away from the first ring body; at least a portion of the second outer plate is located between the first inner plate and the first outer plate, and at least a portion of the first inner plate is located between the second inner plate and the second outer plate;

[0029] The outer wall of the first inner plate has a second protrusion, and the inner wall of the second outer plate has a third protrusion, the third protrusion abutting against the second protrusion along the axial direction;

[0030] And / or, the inner wall surface of the second inner plate is provided with an abutment portion, the abutment portion being configured to contact the end face of the first docking member away from the second docking member, so as to force the second docking member to move away from the first docking member during the process of releasing the first docking member and the second docking member.

[0031] In one embodiment, the outer wall surface of the first ring body and / or the second ring body is provided with a prompting mark, which is used to indicate the relative rotation direction of the first ring body and the second ring body;

[0032] And / or, the outer wall surfaces of the first ring body and the second ring body are provided with gripping portions;

[0033] And / or, the outer wall surfaces of the first ring body and the second ring body are provided with anti-slip pads;

[0034] And / or, the outer wall surfaces of the first ring body and the second ring body are constructed with anti-slip textures.

[0035] Secondly, some embodiments of this application provide a clamping device, including:

[0036] A needle holder adapter includes a first docking member and a second docking member, and an elastic clamping member disposed between the first docking member and the second docking member, wherein the first docking member, the elastic clamping member, and the second docking member have clamping cavities for a puncture instrument to pass through; and,

[0037] The mounting device described in the second aspect is located outside the needle holder adapter. The mounting device is used to drive the first docking member and the second docking member to rotate relative to each other, so as to reduce the clamping cavity, and to generate a prompt signal when the first docking member and the second docking member are locked in place.

[0038] In one embodiment, the first docking member and the second docking member are coaxially arranged and rotate relative to each other about the axis, so as to radially compress the elastic clamping member to reduce the size of the clamping cavity.

[0039] In one embodiment, the first mating member and the second mating member are threadedly connected, and both are sleeved on the outside of the elastic clamping member;

[0040] At least one of the first and second docking members has a first abutting slope on its inner wall surface, and the elastic clamping member has a second abutting slope on its outer wall surface, so that during the tightening of the first and second docking members, the first abutting slope continuously abuts against the second abutting slope to radially compress the elastic clamping member;

[0041] And / or, the elastic clamping member is a metal or plastic part, and the elastic clamping member has multiple grooves.

[0042] In one embodiment, the first docking member and the second docking member are locked to each other to suppress the deformation recovery of the clamping member;

[0043] The clamping member includes a torsion spring having the clamping cavity, and one end of the torsion spring is limited to the first mating member, and the other end is limited to the second mating member;

[0044] One of the first mating parts and the second mating part is provided with an external gear ring, and the other is provided with an internal gear ring, wherein the internal gear ring and the external gear ring mesh with each other.

[0045] Thirdly, some embodiments of this application provide a surgical robot system, the surgical robot system including an end effector for gripping a needle holder adapter in the gripping device described in the second aspect.

[0046] The aforementioned installation device, clamping equipment, and surgical robot system, by setting a pushing component on the second adjustment component and a blocking component on the first docking component, achieve the locking process of the first and second docking components when an external force drives the second adjustment component to move relative to the first adjustment component. During this process, the pushing component and the blocking component come into contact. Under the continuous action of the external force, at least one of them deforms and crosses the deformation critical point of the other until the pushing component and the blocking component switch from the contact state to the release state. In the release state, at least one of the pushing component and the blocking component generates a prompt signal during the deformation reset process. This prompt signal can be transmitted to the operator to prompt the operator to stop the operation when the lock is in place. This setting allows the operator to intuitively judge that the lock is in place without relying on experience. The objectivity of the prompt signal eliminates the problem of lack of locking indication in traditional solutions, realizes the operation and feedback closed loop, and reduces the risk of subjective misjudgment. In addition, this example uses structural design to adjust the deformation threshold of the pushing and blocking components to match the locking threshold of the first and second docking parts, thereby solving the risks of insufficient and excessive tightening in traditional solutions. This design helps reduce instrument damage and improve surgical safety. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the assembly structure of a first docking member, a second docking member, and a puncture instrument according to some embodiments of this application.

[0048] Figure 2 This is a schematic diagram of the assembly structure of the first and second docking parts according to some embodiments of this application.

[0049] Figure 3 This is a schematic diagram of the assembly structure of the installation device and the first docking member and the second docking member provided according to some embodiments of this application.

[0050] Figure 4 This is a schematic diagram of the assembly structure of the installation device, the first docking member, the second docking member, and the puncture instrument provided according to some embodiments of this application.

[0051] Figure 5 This is a cross-sectional view of the mounting device and the first docking member from one perspective, according to some embodiments of this application.

[0052] Figure 6 This is a cross-sectional structural schematic diagram of the installation device, the first docking member, the second docking member, and the puncture instrument from another perspective according to some embodiments of this application.

[0053] Figure 7 This is a cross-sectional view of the second adjustment component from another perspective, according to some embodiments of this application.

[0054] Figure 8 This is a three-dimensional structural schematic diagram of a second adjustment component provided according to some embodiments of this application.

[0055] Figure 9 This is a three-dimensional structural schematic diagram of a first adjustment component provided according to some embodiments of this application.

[0056] Figure 10 This is a cross-sectional structural schematic diagram of the mounting device from another perspective, according to some embodiments of this application.

[0057] Figure 11 for Figure 10 Enlarged structural diagram with puncture instruments removed.

[0058] Figure 12 This is a cross-sectional structural schematic diagram of the mounting device from another perspective, according to some embodiments of this application.

[0059] Figure 13 for Figure 12 Enlarged structural diagram with puncture instruments removed.

[0060] Figure 14 This is a schematic diagram of the assembly structure of the first docking member, the second docking member, and the puncture instrument from another perspective according to some embodiments of this application.

[0061] Figure 15 This is a cross-sectional structural diagram of a first docking member, a second docking member, and a puncture instrument provided according to some embodiments of this application.

[0062] Figure 16 This is a cross-sectional structural schematic diagram of a first docking member, a second docking member, and an elastic clamping member provided according to some embodiments of this application.

[0063] Figure 17 This is a schematic diagram of another first docking member and a second docking member provided according to some embodiments of this application.

[0064] Figure 18This is an exploded structural diagram of another first docking member, a second docking member, and an elastic clamping member provided according to some embodiments of this application.

[0065] Figure 19 This is a schematic diagram of the structure of another first docking member and a second docking member according to some embodiments of this application.

[0066] Figure 20 This is an exploded structural diagram of another first docking member, second docking member, and elastic clamping member provided according to some embodiments of this application.

[0067] Figure 21 This is a cross-sectional structural schematic diagram of another first docking member, second docking member, and elastic clamping member provided according to some embodiments of this application.

[0068] Figure 22 This is a schematic diagram of the structure of a surgical robot system provided according to some embodiments of this application.

[0069] Icon labels:

[0070] 10. First mating part; 11. Blocking part; 111. Elastic element; 1111. Body; 1112. Protrusion; 12. Elastic arm;

[0071] 20. Second mating part;

[0072] 30. Puncture instruments; 31. Needle handle; 32. Needle tube;

[0073] 40. Elastic clamping element; 41. Clamping cavity; 42. Groove;

[0074] 50. First adjusting component; 51. First ring body; 530. First limiting part; 510. First inner plate; 511. First protrusion; 512. Second protrusion; 520. First outer plate;

[0075] 60. Second adjustment component; 62. Pushing component; 61. Second ring body; 613. Second limiting part; 611. Second inner plate; 6111. Abutting part; 612. Second outer plate; 6121. Third protrusion;

[0076] 70. End effector. Detailed Implementation

[0077] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application 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 application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0078] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0079] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0081] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0082] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0083] As mentioned in the background section, current methods for securing puncture needles include using threaded locking mechanisms. These mechanisms work by rotating a threaded component to compress an expansion sleeve, causing radial deformation of the sleeve to clamp the needle. However, current fixation methods not only lack clear installation (locking) indicators (the operator cannot visually judge the tightness), but also rely heavily on subjective experience, meaning they depend excessively on the operator's tactile judgment, which can easily lead to misoperation in emergency surgical scenarios. Furthermore, they lack anti-dislodgement mechanisms during reversal disassembly (loosening), potentially causing instruments to scatter and contaminate the sterile area.

[0084] Based on at least some of the aforementioned problems, embodiments of this application provide an installation device, clamping device, and surgical robot system. By providing a pushing component on the second adjustment assembly and a blocking component on the first docking member, during the locking process of the first and second docking members by external force driving the second adjustment assembly to move relative to the first adjustment assembly, the pushing component and the blocking component abut against each other. Under the continuous action of the external force, at least one of them deforms, causing one to cross the deformation critical point of the other, until the pushing component and the blocking component switch from the abutting state to the released state. In the released state, at least one of the pushing component and the blocking component generates a prompt signal during the deformation reset process. This prompt signal can be transmitted to the operator to indicate that the locking is in place and to stop the operation. This configuration allows the operator to intuitively judge whether the locking is in place without relying on experience. The objectivity of the prompt signal eliminates the problem of lack of locking indication in traditional solutions, realizing a closed loop of operation and feedback, and reducing the risk of subjective misjudgment. In addition, this example uses structural design to adjust the deformation threshold of the pushing and blocking components to match the locking threshold of the first and second docking parts, thereby solving the risks of insufficient and excessive tightening in traditional solutions. This design helps reduce instrument damage and improve surgical safety.

[0085] See Figure 1 , Figure 3 and Figure 5 , Figure 1 This is a schematic diagram of the assembly structure of a first docking member, a second docking member, and a puncture instrument according to some embodiments of this application. Figure 3 This is a schematic diagram of the assembly structure of the installation device and the first docking member and the second docking member provided according to some embodiments of this application. Figure 5 This is a cross-sectional view of the mounting device and the first docking member from one perspective, according to some embodiments of this application. One embodiment of this application first provides a mounting device for assembling a needle holder adapter. Specifically, this mounting device assembles the needle holder adapter with a puncture needle, thereby locking or releasing the puncture needle. The needle holder adapter includes a first docking member 10 and a second docking member 20. In this example, the first docking member 10 and the second docking member 20 can refer to components in an adapter used to clamp the puncture needle; of course, they can also be applied to components in other medical devices that require clamping, without specific limitations here. The mounting device may include a blocking component 11, a first adjusting component 50, and a second adjusting component 60.

[0086] A blocking component 11 is disposed on the first docking member 10; a first adjusting component 50 has a first hollow cavity for accommodating the second docking member 20; a second adjusting component 60 is engaged with the first adjusting component 50, and the second adjusting component 60 has a second hollow cavity for accommodating the first docking member 10, the second adjusting component 60 including a pushing component 62; the second adjusting component 60 is configured to, under the action of an external force, cause the pushing component 62 to abut against the blocking component 11 until at least one of the pushing component 62 and the blocking component 11 crosses the deformation critical point of the other, thereby switching the pushing component 62 and the blocking component 11 from the abutting state to the released state; wherein, at least one of the pushing component 62 and the blocking component 11 generates a prompt signal during the deformation reset process.

[0087] Understandably, to achieve effective installation of the first mating component 10 and the second mating component 20, the first adjusting component 50 and the second adjusting component 60 need to be fitted over the first mating component 10 and the second mating component 20, and the first adjusting component 50 and the second adjusting component 60 need to be fastened together by a snap-fit ​​structure to prevent them from loosening during use. Of course, they can also be replaced by magnetic adsorption or other methods, which are not limited here. It should be emphasized that the snap-fit ​​between the second adjusting component 60 and the first adjusting component 50 is only to prevent them from separating, and does not restrict their relative rotational movement.

[0088] To better understand the structure and working principle of the installation device provided in this embodiment, the application scenarios of the first docking member 10 and the second docking member 20 are first described. Taking the first docking member 10 and the second docking member 20 as some components of the needle holding adapter as an example, the needle holding adapter also includes an elastic clamping member 40 between the first docking member 10 and the second docking member 20. The elastic clamping member 40 has a clamping cavity 41 through which the puncture instrument 30 passes. The elastic clamping member 40 can be an expansion sleeve. The structure of the expansion sleeve can be roughly described as an overall stepped cylindrical structure with a conical head. Similarly, the first docking member 10 and / or the second docking member 20 are also provided with a conical structure (e.g., a conical hole) so that when the first docking member 10 and the second docking member 20 move relative to each other (e.g., rotate, and move closer to each other), the elastic clamping member 40 can be squeezed, causing the elastic clamping member 40 to deform, thereby reducing the size of the clamping cavity 41, so that the elastic clamping member 40 can hold the puncture instrument 30 tightly, thereby achieving elastic clamping of the puncture instrument 30. In this example, the puncture instrument 30 can be a coaxial puncture needle, biopsy needle, ablation needle, particle implantation needle, etc., and there are no restrictions here.

[0089] The installation device provided in this embodiment not only enables the relative movement of the first docking member 10 and the second docking member 20 through the relative movement of the first adjusting component 50 and the second adjusting component 60, causing the elastic clamping member 40 to deform, but also provides a prompt after the elastic clamping member 40 has deformed into place, that is, after the first docking member 10 and the second docking member 20 are locked in place, to prompt the operator to stop the operation. Of course, this embodiment also has a clever structural design that, after the prompt, if the operator continues to operate the installation device, it will not cause the first docking member 10 and the second docking member 20 to move excessively and crush the needle tube 32.

[0090] More specifically, the first adjusting component 50 can be designed as a cylinder with a first hollow cavity for accommodating the second docking member 20. To achieve synchronous movement (e.g., rotation) with the second docking member 20, a limiting structure can be provided in the first adjusting component 50 to achieve synchronous rotation. For example, the cross-section of the first hollow cavity can be designed as non-circular, including I-shaped, rectangular, polygonal, triangular, etc. Alternatively, guide grooves and guide keys can be fitted between the first adjusting component 50 and the second docking member 20, achieving axial (X-direction) sliding connection through keyway cooperation. This configuration not only facilitates the fitting of the first adjusting component 50 around the second docking member 20, thus not restricting their axial (X-direction) movement, but also maintains synchronous rotation (preventing relative rotation), thereby enabling the locking of the first docking member 10 and the second docking member 20 in conjunction with the second adjusting component 60.

[0091] The second adjusting component 60 can also be designed as a cylinder, having a second hollow cavity that communicates with the first hollow cavity. Similarly, the second hollow cavity is used to accommodate the first docking member 10. Furthermore, to enable the second adjusting component 60 to provide a locking indication function or a subsequent loosening function, the second adjusting component 60 needs to be able to rotate relative to the first docking member 10 circumferentially. The second adjusting component 60 includes a pushing member 62. Correspondingly, the first docking member 10 is provided with a blocking member 11. Further, the pushing member 62 can be a protrusion extending into the second hollow cavity, while the blocking member 11 can be a protrusion protruding from the outer wall of the first docking member 10. The two protrusions can abut circumferentially.

[0092] When it is necessary to lock the first docking member 10 and the second docking member 20 onto the puncture instrument 30 (e.g., a puncture needle), the operator holds the first adjusting component 50 with one hand and the second adjusting component 60 with the other, applying force in the opposite direction. During the relative rotation of the second adjusting component 60 with respect to the first adjusting component 50, the pushing component 62 also abuts against the blocking component 11. Since the initial opposing force of the elastic clamping component 40 on the first docking member 10 and the second docking member 20 is small, the pushing component 62 will continuously abut against the blocking component 11. Through the continuous abutment of the two, the force of the second adjusting component 60 on the first docking member 10 is transmitted, that is, the second adjusting component 60 drives the first docking member 10 to rotate synchronously. During this process, the first docking member 10 and the second docking member 20 continuously compress the elastic clamping component 40. When the elastic clamping component 40 reaches the predetermined deformation degree, this deformation degree can better clamp the puncture instrument 30, avoiding the risk of insufficient clamping force or excessive clamping.

[0093] Of course, the critical deformation degree of the elastic clamping member 40 can also be further reflected in the torque of the first docking member 10 and the second docking member 20. When the first docking member 10 and the second docking member 20 reach the critical torque, the pushing member 62 will undergo relative deformation with the blocking member 11. For example, the pushing member 62 will cross the deformation critical point of the blocking member 11 in the circumferential direction, so that the two switch from the initial contact state to the release state. At the moment of switching, the blocking member 11 will release the deformation force and reset. During the deformation reset process, vibration or sound will be generated due to the vibration, that is, a prompt signal will be generated to remind the operator to lock in place. The prompt signal in this embodiment is a mechanical prompt signal, which can be the vibration of deformation reset, transmitted to the operator's hand through the second adjustment component 60 for tactile prompt; or it can be the sound generated by collision or friction with other parts during the reset process to provide an audible prompt to the operator. When the operator receives the prompt signal, he stops applying external force. At this time, the puncture instrument 30 is stably clamped, and the installation of the first docking member 10 and the second docking member 20 is completed.

[0094] It should be explained that when the first mating member 10 and the second mating member 20 reach the critical torque, for example, the deformation of the blocking member 11 will reach its maximum, that is, the deformation critical point will be reached, so that the two will switch from the mating state to the release state. Since the pushing member 62, the blocking member 11, or either the pushing member 62 or the blocking member 11 may deform, the protrusion corresponding to at least one of the pushing member 62 and the blocking member 11 needs to be designed to be elastic, so that one of them undergoes elastic deformation under the obstruction of the other. This elastic deformation can refer to radial contraction or axial (X-direction) bending. For example, the protrusion of the blocking member 11 is designed to be elastic. Under the action of external force, the pushing member 62 first abuts against the blocking member 11. During the synchronous rotation of the first docking member 10 with the second adjusting component 60, the blocking member 11 gradually deforms. Under the continuous application of external force, the blocking member 11 (elastic protrusion) continues to undergo elastic deformation due to the obstruction of the pushing member 62. When the deformation reaches the critical value (deformation critical point), the end of the pushing member 62 passes over the edge of the blocking member 11, and the two switch from the abutting state to the released state.

[0095] In this embodiment, when at least one of the pushing component 62 and the blocking component 11 has an elastic function, it can be designed as a silicone part, a spring steel sheet, a spring plunger, a shape memory alloy sheet, etc., while the other part adopts a rigid structure, and a prompt signal is generated by the deformation of the silicone part, the spring steel sheet, or the spring plunger. Of course, at least one of the pushing component 62 and the blocking component 11 can also adopt other deformable structures or materials, which will not be listed here.

[0096] When the blocking component uses an elastic spring, one end of the elastic spring is fixed to the first docking member 10, and the other end extends circumferentially as a free end, protruding from the outer surface of the first docking member 10. Based on the above principle, it can be understood that the pushing component 62 can cause the elastic spring to deform radially under continuous external force until it passes the free end of the elastic spring, at which point the elastic spring instantly recovers its deformation, thus generating a warning signal. Alternatively, the elastic spring can be designed as a ratchet-like structure with two, three, or more steps along the circumference. This design allows for selection of the adjustment level based on the diameter of the puncture instrument 30, thereby rotating the second adjusting component 60 to the starting position where the pushing component 62 aligns with the corresponding step. More specifically, during the first-level adjustment, the second adjustment component 60 is rotated, pushing component 62 into contact with the first-level step surface. The spring plate deforms towards the center of the first docking member 10 under radial pressure. When the clamping force of the elastic clamping member 40 reaches the first-level threshold, the pushing component 62 overcomes the resistance of the step surface and slides along the inclined plane past the top of the step. The elastic force instantly resets, generating a first-level prompt signal, and the operator stops the operation. During the second-level adjustment, the second adjustment component 60 is rotated again, pushing component 62 into contact with the second-level step. At this time, the spring plate is farther from the center of the first docking member 10, requiring a greater driving force. When sliding past the second-level step, the spring plate resets to a greater extent, generating a second-level prompt signal. In this example, by using multiple steps to correspond to puncture instruments 30 of different diameters, a single device can be compatible with multiple specifications without the need to change adapters, thus improving surgical efficiency.

[0097] It should be noted that the prompt signal can be the aforementioned tactile signal, sound signal, or flashing light signal. For example, an electronic sensor can be installed at the pushing component 62 or the blocking component 11 to detect deformation. When the deformation reaches a preset value, the sensor is triggered to control the flashing light to illuminate, prompting the operator to install the device in place.

[0098] In summary, the installation device provided in this application embodiment, by providing a pushing component 62 on the second adjustment component 60 and a blocking component 11 on the first docking component 10, during the locking process of the first docking component 10 and the second docking component 20 by external force driving the second adjustment component 60 to move relative to the first adjustment component 50, the pushing component 62 abuts against the blocking component 11. Under the continuous action of the external force, at least one of them deforms and causes one to cross the deformation critical point of the other until the pushing component and the blocking component switch from the abutting state to the release state. In the release state, at least one of the pushing component and the blocking component generates a prompt signal during the deformation reset process. This prompt signal can be transmitted to the operator to prompt the operator to stop the operation after locking. This setting allows the operator to intuitively judge that locking is in place without relying on experience. The objectivity of the prompt signal eliminates the problem of lack of locking indication in traditional solutions, realizes the operation and feedback closed loop, and reduces the risk of subjective misjudgment. In addition, in this example, the deformation threshold of the pushing component 62 and the blocking component 11 is matched with the locking threshold of the first docking component 10 and the second docking component 20 by the structural design, thereby solving the risks of insufficient tightening and excessive tightening in the traditional solution. This setting in this embodiment is beneficial to reduce instrument damage and improve surgical safety.

[0099] Below, we will combine the appendix Figure 1 -Appendix Figure 13 The specific structure of the installation device provided in the embodiments of this application will be described in detail.

[0100] like Figure 5 and Figure 6 As shown, in some embodiments, the first adjustment component 50 includes a first ring body 51; the second adjustment component 60 further includes a second ring body 61, which is coaxially arranged with the first ring body 51 and rotates relative to it; the pushing component 62 is disposed on the inner wall surface of the second ring body 61, and the blocking component 11 is disposed on the outer wall surface of the first docking member 10.

[0101] It is understandable that the first hollow cavity formed within the first annular body 51 is used to house the second mating member 20. To achieve circumferential positioning of the second mating member 20 (restricting relative rotation between the two), a guide groove or guide key can be provided on the inner wall of the first annular body 51, while a guide key or guide groove can be provided on the outer wall of the second mating member 20. Through the fitting and interlocking of the guide key and guide groove, axial (X-direction) movement and synchronous circumferential rotation of the two can be achieved. Of course, the inner wall of the first annular body 51 can also be designed to be I-shaped, rectangular, polygonal, etc., and the outer circumferential surface of the second mating member 20 can be designed to be a matching shape. Through the gap connection between the two, the design purpose of relative axial (X-direction) movement and synchronous circumferential rotation can also be achieved.

[0102] The second ring 61 can be coaxially nested with the first ring 51. Multiple pushing components 62 are evenly distributed circumferentially on its inner wall surface, and these pushing components 62 protrude from the inner wall surface of the second ring 61. A blocking component 11 is provided on the outer wall surface of the first docking member 10, and the blocking component 11 protrudes from the outer wall surface of the first docking member 10. When the second ring 61 is fitted onto the outer periphery of the first docking member 10, the blocking component 11 can abut against the pushing components 62 circumferentially.

[0103] In one example, during the process of the pushing component 62 and the blocking component 11 switching from the contact state to the release state, the pushing component 62 drives the blocking component 11 to rotate forward, so that the first docking member 10 and the second docking member 20 rotate forward synchronously until the first docking member 10 and the second docking member 20 are locked.

[0104] Specifically, during the locking of the first docking member 10 and the second docking member 20, the operator holds the first ring 51 with one hand and the second ring 61 with the other, applying force in a clockwise direction. The pushing component 62 of the second ring 61 circumferentially abuts against the blocking component 11 on the outer wall of the first docking member 10, causing the first docking member 10 to rotate synchronously and compress the elastic clamping component 40 (e.g., a tightening sleeve). When the clamping force reaches a threshold, the pushing component 62 causes the blocking component 11 to elastically deform and pass over it, and the blocking component 11 generates a sound and vibration indication when it resets.

[0105] Similarly, during the process of releasing the first docking member 10 and the second docking member 20, the operator applies counterclockwise force to push the component 62 to abut against the blocking component 11, causing the first docking member 10 to reverse and the elastic clamping member 40 to release. The prompts during the release of the first docking member 10 and the second docking member 20 could be indicated by the abutment of the retaining ring of the second ring 61 against the flange of the first ring 51, signifying that the release is complete. The specific structure can be understood by referring to the example below.

[0106] In this embodiment, the coaxial arrangement of the first ring 51 and the second ring 61 can ensure concentricity during relative rotation, avoid uneven force transmission caused by eccentricity, and reduce the risk of local excessive deformation of the elastic clamping member 40.

[0107] like Figure 2 and Figure 8 As shown, Figure 2 This is a schematic diagram of the assembly structure of the first and second docking parts according to some embodiments of this application. Figure 8This is a perspective structural schematic diagram of a second adjustment component provided according to some embodiments of this application. In some embodiments, the blocking member 11 includes an elastic member 111, one end of which is connected to the first mating member 10, and the other end is configured to deform under the continuous abutment of the pushing member 62 until the pushing member 62 passes the deformation critical point of the elastic member 111.

[0108] Specifically, the blocking component 11 can be an arc-shaped spring sheet made of spring steel, with one end fixed to the groove 42 on the outer wall of the first mating part 10 by laser welding, and the other end (free end) protruding radially, which can be designed as an arc. Correspondingly, the pushing component 62 can be set as a rigid structure to continuously apply force to the blocking component 11 during installation to deform it until the deformation critical point is reached, at which point the pushing component 62 passes over the blocking component 11 and switches to the release state.

[0109] More specifically, when locking the first docking member 10 and the second docking member 20, the pushing component 62 rotates clockwise against the arc surface of the arc-shaped spring piece, causing the spring piece to deform towards the center of the first docking member 10 under radial pressure. When the clamping force reaches a threshold, the pushing component 62 slides along the arc surface past the free end of the spring piece, and the spring piece instantly resets, generating sound and high-frequency vibration to form a prompt signal. When releasing the first docking member 10 and the second docking member 20, the pushing component 62 rotates counterclockwise against the circumferential end face of the spring piece (rigid contact), causing the first docking member 10 to reverse, and the elastic clamping member 40 to release.

[0110] In addition to designing the abutting component 11 as an elastic element 111, in one example, the pushing component 62 includes an elastic element 111, one end of which is connected to the second ring 61, and the other end is configured to deform under the continuous abutment of the abutting component 11 until the abutting component 11 crosses the deformation critical point of the elastic element 111; the elastic element 111 generates a prompt signal during the deformation reset process, the prompt signal being used to indicate that the first docking component 10 and the second docking component 20 are locked in place.

[0111] Specifically, the pushing component 62 can be an arc-shaped spring sheet made of the aforementioned spring steel sheet, or an elastic protrusion supported by silicone, which is fixed to the inner wall of the second ring body 61 by injection molding or other means, while the blocking component 11 can be designed as a rigid stop block, fixed to the outer wall of the first docking member 10.

[0112] During installation, the elastic protrusion abuts against the stop, compressing and deforming the silicone rubber, while the spring stores energy. When the clamping force reaches the threshold, the protrusion is squeezed by the stop until it is fully retracted into the through hole. After passing the stop, the spring pushes the silicone rubber back to its original position, generating a vibration indication.

[0113] In this embodiment, by designing the blocking component 11 or the pushing component 62 as an elastic element 111, the purpose of providing a prompt can be achieved when the component is installed in place. In addition, the deformation and reset process of the elastic element 111 is a purely mechanical action, with stable performance, making it suitable for the sterile environment of the operating room.

[0114] In some embodiments, the elastic element 111 is an arc-shaped spring sheet, one end of which is fixed to the outer wall surface of the first docking member 10, and the other end is defined as a free end and protrudes from the outer wall surface of the first docking member 10; the pushing member 62 includes a plurality of protrusions, which are arranged circumferentially around the inner wall surface of the second ring body 61 at intervals, and the distance between the protrusions and the outer wall surface of the first docking member 10 is less than the distance of the other end of the arc-shaped spring sheet protruding from the outer wall surface.

[0115] Understandably, the arc-shaped spring can be supported by spring steel and is in the shape of a quarter or half of a circle. One end is fixed to the shallow groove on the outer wall of the first mating part 10 by laser welding, and the other end (free end) protrudes radially. The end of the free end is processed into a circular arc surface.

[0116] The protrusions can be made of hard plastic or alloy. Multiple protrusions, such as 4, 6, or 8, are evenly distributed circumferentially on the inner wall of the second ring 61. Each protrusion is conical. The distance between the protrusions and the outer wall of the first mating member 10 is set to be less than the protrusion height of the spring piece to ensure reliable contact.

[0117] More specifically, the second ring 61 is fitted onto the outside of the first mating member 10, and the rotation trajectory of the protrusion coincides with the free end of the arc-shaped spring, forming a circumferential abutment fit. In the initial state, the free end of the arc-shaped spring naturally protrudes, the protrusion does not contact the spring, and the elastic clamping member 40 is in a relaxed state. During installation, the operator rotates the second ring 61 clockwise, and the protrusion approaches the arc-shaped spring circumferentially, first contacting the radial arc surface of the arc-shaped spring. As the rotation angle increases, the spring is deformed towards the center of the first mating member 10 under radial pressure, causing the first mating member 10 to rotate synchronously, making the conical surfaces of the first mating member 10 and the second mating member 20 approach each other, squeezing the elastic clamping member 40 to contract. When the clamping force reaches a preset threshold, the protrusion overcomes the elastic force of the spring and slides past the free end, the spring instantly elastically resets, and the resulting vibration sound or sensation is transmitted to the operator's hand through the second ring 61.

[0118] It should be noted that if the operator continues to rotate, the process repeats with the protrusion and the next arc-shaped spring (arranged at circumferential intervals). However, since the elastic clamping member 40 has reached its maximum safe deformation, the force required for the spring to deform increases sharply, further indicating that the safety limit has been reached through changes in operating resistance. In addition, the maximum deformation of the next arc-shaped spring is consistent with the maximum deformation of the previous arc-shaped spring. That is, corresponding to the maximum safe deformation of the elastic clamping member 40, even if the operator continues to rotate, the pushing member 62 cannot continue to abut against the blocking member 11, thereby causing the second adjusting component 60 and the first docking member 10 to rotate synchronously again (the direction of rotation during the locking process of the first docking member 10 and the second docking member 20).

[0119] In this embodiment, the elastic element 111 is designed as an arc-shaped spring, which not only saves installation space, but also makes the sound of the arc-shaped spring deforming more recognizable, thereby improving the success rate of prompts.

[0120] In some embodiments, the arc-shaped spring extends circumferentially around the axis of the first docking member 10; during the locking of the first docking member 10 and the second docking member 20, the protrusion abuts against the arc surface of the arc-shaped spring away from the first docking member; during the loosening of the first docking member 10 and the second docking member 20, the protrusion abuts against the end face of the free end of the arc-shaped spring.

[0121] Specifically, since the arc-shaped spring extends circumferentially and can deform radially under the contact of the protrusion, during the locking of the first mating member 10 and the second mating member 20, the protrusion and the arc-shaped spring abut against the outer surface of the second ring 61. Under the action of external force, the protrusion gradually moves towards the free end of the arc-shaped spring until it passes the free end, at which point the arc-shaped spring instantly resets. The protrusion will be located on one side of the free end of the arc-shaped spring. If, during the process of releasing the first mating member 10 and the second mating member 20, the protrusion will rotate in the opposite direction, and at this time it will contact the end face of the free end of the arc-shaped spring. This process makes it difficult for the arc-shaped spring to deform. Therefore, in this state, the protrusion and the free end of the arc-shaped spring are in hard contact, thereby achieving synchronous rotation of the first mating member 10 and the second ring 61 until they are released in place.

[0122] The configuration in this embodiment not only ensures the synchronous rotation of the first docking member 10 and the second ring 61 during installation and provides a prompt after rotation to the critical state, but also does not affect the synchronous rotation of the first docking member 10 and the second ring 61 during the process of releasing the first docking member 10 and the second docking member 20. The structure is simple and easy to operate.

[0123] like Figure 8As shown, in some embodiments, two arc-shaped springs are circumferentially spaced on the outer wall surface of the first docking member 10; the arc-shaped springs include a body 1111 and a protrusion 1112, one end of the body 1111 is connected to the first docking member 10 and extends circumferentially along the outer wall surface of the first docking member 10, and the other end is provided with a protrusion 1112, which protrudes from the outer wall surface of the first docking member 10; the protrusion 1112 is configured to abut against any of the protrusions.

[0124] Specifically, the body 1111 extends circumferentially along the first docking member 10. The protrusion 1112 at the free end is divided into two functional surfaces circumferentially: a radial arc surface and a circumferential end surface. The radial arc surface serves as the contact surface during the locking process of the first docking member 10 and the second docking member 20, while the circumferential end surface serves as the contact surface during the loosening process of the first docking member 10 and the second docking member 20. Two arc-shaped spring pieces are symmetrically arranged 180° circumferentially on the outer wall of the first docking member 10. The inner wall of the second ring body 61 can be provided with six protrusions, that is, each arc-shaped spring piece has three protrusions, and the distance between the protrusions and the outer wall of the first docking member 10 is less than the protrusion height of the protrusion 1112. In this example, the symmetrical arrangement of the double arc-shaped spring pieces makes the radial forces on the first docking member 10 cancel each other out, avoiding the eccentricity of the first docking member 10 due to unilateral force. It should be noted that the number of protrusions in this embodiment is not limited, but it needs to be kept to an even number and evenly distributed to each arc-shaped spring piece.

[0125] like Figure 8 As shown, in some embodiments, the first ring body 51 is provided with a first limiting part 530 along the circumference, and the second ring body 61 is provided with a second limiting part 613 along the circumference; during the process of releasing the first docking member 10 and the second docking member 20, the second ring body 61 is configured to cause the pushing member 62 to drive the blocking member 11 to reverse under the action of external force until the second limiting part 613 abuts against the first limiting part 530, so as to indicate that the first docking member 10 and the second docking member 20 are released in place.

[0126] It is understood that the first limiting part 530 is a stop that protrudes circumferentially from the outer wall of the first ring body 51 (or between the first inner plate 510 and the first outer plate 520 below), while the second limiting part 613 is a flange that extends circumferentially from the side wall of the second ring body 61 toward the first ring body 51 and can abut against the stop in the circumferential direction.

[0127] During the process of releasing the first docking member 10 and the second docking member 20, the second ring body 61 rotates counterclockwise until the flange abuts against the stop block, restricting further rotation. This setting also serves to indicate to the operator that the parts have been released completely. In addition, it can prevent the first docking member 10 and the second docking member 20 from rotating excessively and separating, thus preventing them from falling off.

[0128] In one example, during the locking process of the first docking member 10 and the second docking member 20, that is, during the process of the pushing member 62 and the blocking member 11 moving from the abutting state to the releasing state, the first limiting part 530 and the second limiting part 613 do not contact each other.

[0129] Specifically, during the locking process of the first mating member 10 and the second mating member 20, the first ring 51 and the second ring 61 rotate relative to each other. If the relative rotation angle exceeds 360°, the first limiting part 530 and the second limiting part 613 will inevitably abut, preventing the first ring 51 and the second ring 61 from rotating relative to each other, resulting in locking failure. Therefore, in scenarios where the first limiting part 530 and the second limiting part 613 are provided, it is necessary to design the relative rotation angle of the first ring 51 and the second ring 61. For example, designing the first ring 51 and the second ring 61 to rotate relative to each other by 90° can achieve locking in place. Similarly, to release by reversing, the rotation can be greater than 90° until the first limiting part 530 and the second limiting part 613 abut to indicate that the release is in place. Of course, it is also necessary to design the relative position of the first limiting part 530 and the second limiting part 613 during the initial assembly to avoid interference with the relative rotation of the first ring 51 and the second ring 61 during the locking process of the first mating member 10 and the second mating member 20.

[0130] In this embodiment, the design of the first limiting part 530 and the second limiting part 613 can limit the reversal angle and prevent the first docking member 10 and the second docking member 20 from becoming excessively loose and falling off. The first ring body 51 and the second ring body 61 are used to indicate when they are fully loosened, thus solving the problem of when to stop reversing.

[0131] like Figure 9 , Figure 10 and Figure 11 As shown, Figure 9 This is a three-dimensional structural schematic diagram of a first adjustment component provided according to some embodiments of this application. Figure 10 This is a cross-sectional structural schematic diagram of the mounting device from another perspective, according to some embodiments of this application. Figure 11 for Figure 10 An enlarged structural diagram of the puncture instrument is shown. In some embodiments, the first ring body 51 includes a first inner plate 510 and a first outer plate 520 nested together, the first inner plate 510 and the first outer plate 520 being connected at the end portion away from the second ring body 61; the inner wall surface of the first inner plate 510 is provided with a first protrusion 511, the first protrusion 511 being configured to prevent the second docking member 20 from moving further after it has moved a predetermined distance away from the first docking member 10 during the process of releasing the first docking member 10 and the second docking member 20.

[0132] It is understood that the first inner plate 510 can be made of a thin plate to enable it to deform, and the inner wall surface of the first inner plate 510 is constructed with a first protrusion 511. The first protrusion 511 can be a protrusion extending into the first hollow cavity and can be located at one end near the second ring body 61. During the process of releasing the first docking member 10 and the second docking member 20, the second docking member 20 moves away from the first docking member 10 in the axial direction (X direction). To prevent the second docking member 20 from separating from the first docking member 10, at the position where the second docking member 20 is about to separate from the first docking member 10, the stepped surface of the second docking member 20 abuts against the first protrusion 511 to limit its continued movement.

[0133] Of course, the existence of the aforementioned first protrusion 511 is based on the following configuration, such as Figure 11 As shown, in one example, the inner wall surface of the second inner plate 611 is configured with an abutment portion 6111, which is configured to contact the end face of the first docking member 10 away from the second docking member 20, so as to force the second docking member 20 to move away from the first docking member 10 during the process of releasing the first docking member 10 and the second docking member 20.

[0134] Specifically, in order to maintain the axial (X-direction) position of the blocking component 11 of the first docking member 10 and the pushing component 62 in the second ring body 61, and to prevent them from shifting during the release process, in other words, during the release process, the pushing component 62 needs to abut the blocking component 11 along the circumferential direction, so that the second ring body 61 drives the first docking member 10 to rotate synchronously. If the blocking component 11 and the pushing component 62 shift along the circumferential direction, it is easy to cause the second ring body 61 and the first docking member 10 to fail to rotate synchronously, which will lead to the failure of release. Based on this, in this embodiment, an abutment portion 6111 is constructed in the second inner plate 611, that is, the second hollow cavity. The abutment portion 6111 can also be understood as a boss arranged circumferentially on the inner wall surface of the second inner plate 611, which can contact the end face of the first docking member 10 away from the second docking member 20. In the process of releasing the first docking member 10 and the second docking member 20, the first docking member 10 and the second docking member 20 (specifically referring to threaded connection) move in opposite directions, which can keep the relative position of the first docking member 10 and the second ring body 61 stationary.

[0135] In one example, the first inner plate 510 is configured with a third limiting part, which is configured to restrict the second mating member 20 from rotating circumferentially relative to the first ring body 51.

[0136] Specifically, the third limiting part can be understood as the guide groove or guide key mentioned in the above embodiment. Of course, it can also be a protrusion that changes the shape of the first hollow cavity. For example, the cross-section of the first hollow cavity can be modified into an I-shape. Similarly, the outer periphery of the second docking member 20 is also designed to match the shape so as to ensure that the second docking member 20 and the first ring body 51 can move axially (X direction) while restricting their rotation in the circumferential direction.

[0137] like Figure 7 , Figure 12 and Figure 13 As shown, Figure 7 This is a cross-sectional view of the second adjustment component from another perspective, according to some embodiments of this application. Figure 12 This is a cross-sectional structural schematic diagram of the mounting device from another perspective, according to some embodiments of this application. Figure 13 for Figure 12 An enlarged structural diagram of the puncture instrument is shown. In some embodiments, the second ring body 61 includes a second inner plate 611 and a second outer plate 612 that are nested together, the second inner plate 611 and the second outer plate 612 being connected at the ends away from the first ring body 51; at least a portion of the second outer plate 612 is located between the first inner plate 510 and the first outer plate 520, and at least a portion of the first inner plate 510 is located between the second inner plate 611 and the second outer plate 612; the outer wall of the first inner plate 510 is provided with a second protrusion 512, and the inner wall of the second outer plate 612 is provided with a third protrusion 6121, the third protrusion 6121 abutting against the second protrusion 512 along the axial direction (X direction).

[0138] It is understandable that there is a gap between the second inner plate 611 and the second outer plate 612. By interleaving the second inner plate 611, the second outer plate 612 with the first inner plate 510 and the first outer plate 520, a limiting structure can be designed using the outer and inner plates, thereby achieving the integrity of the entire installation device structure.

[0139] Specifically, a third protrusion 6121, such as an annular protrusion, can be provided on the inner wall of the second outer plate 612, and a second protrusion 512, such as an annular protrusion, can be provided on the outer wall of the first inner plate 510. The second protrusion 512 and the third protrusion 6121 abut against each other along the axial direction (X direction), thereby achieving the purpose of restricting axial (X direction) separation and allowing circumferential rotation. It should be noted that the inner and outer plates of the nested parts in this example are designed as thin plates, which saves space and facilitates deformation. Exemplarily, when the first ring body 51 and the second ring body 61 are locked or released, the abutment or separation of the second protrusion 512 and the third protrusion 6121 can be achieved by the deformation of the second outer plate 612 and the first inner plate 510, improving the ease of use.

[0140] In some embodiments, the outer wall surface of the first ring body 51 and the second ring body 61 in one example is provided with a prompting mark, which is used to indicate the relative rotation direction of the first ring body 51 and the second ring body 61.

[0141] Specifically, two-color arrows can be printed on the outer wall of the second ring 61 (for example, red arrows for clockwise installation and blue arrows for counterclockwise removal), and text such as "installation" and "removal" can be labeled next to the arrows.

[0142] In one example, the outer walls of the first ring 51 and the second ring 61 are provided with gripping portions. Specifically, the gripping portions can be gripping surfaces, for example, the outer walls of the first ring 51 and the second ring 61 can be designed as prism structures to facilitate gripping by the operator.

[0143] In one example, the outer walls of the first ring 51 and the second ring 61 are provided with anti-slip pads.

[0144] In one example, the outer walls of the first ring 51 and the second ring 61 are constructed with anti-slip textures.

[0145] Specifically, the design of the aforementioned anti-slip pads and anti-slip textures can increase the friction when the operator holds the grip, thereby improving operational stability and reliability.

[0146] Based on the same concept, this application also provides a clamping device, such as... Figure 4 and Figure 14 As shown, Figure 4 This is a schematic diagram of the assembly structure of the installation device, the first docking member, the second docking member, and the puncture instrument provided according to some embodiments of this application. Figure 14 This is a schematic diagram of the assembly structure of the first docking member, the second docking member, and the puncture instrument from another perspective according to some embodiments of this application. The clamping device may include a needle holder adapter and the mounting device in the above embodiments.

[0147] The needle holder adapter includes a first docking member 10 and a second docking member 20, and an elastic clamping member 40 disposed between the first docking member 10 and the second docking member 20. The first docking member 10, the elastic clamping member 40 and the second docking member 20 have a clamping cavity 41 for the puncture instrument 30 to pass through. The adapter also includes an installation device as described in the above embodiment. The installation device is disposed outside the needle holder adapter and is used to drive the first docking member 10 and the second docking member 20 to rotate relative to each other to reduce the clamping cavity 41. The adapter also generates a prompt signal when the first docking member 10 and the second docking member 20 are locked in place.

[0148] It is understood that the clamping device includes a needle holder adapter and the mounting device in the above embodiments, and is suitable for puncture instruments 30 such as coaxial puncture needles and biopsy needles.

[0149] The structure of the needle holder adapter can be roughly divided into a first mating member 10, a second mating member 20, and an elastic clamping member 40 located between the two. The first mating member 10 can be designed as a quasi-cylindrical shape, with an annular abutment member 11 (i.e., the elastic member 111 in the above embodiment) on one end of its outer wall, and an internal or external thread on the other end to mate with the second mating member 20. The structure of the second mating member 20 is similar to that of the first mating member 10, with a thread at one end matching the first mating member 10, and its inner wall can be designed as a conical structure to compress the elastic clamping member 40. Alternatively, the inner wall of the first mating member 10 can also be designed as a conical structure to compress the elastic clamping member 40.

[0150] The elastic clamping member 40 is cylindrical in shape, with a through clamping cavity 41 in the center. The outer wall is provided with a tapered surface that matches the tapered inner wall of the first docking member 10 or the second docking member 20. Multiple axial (X-direction) grooves 42 are evenly distributed around the elastic clamping member 40 to provide radial deformation space and ensure uniform contraction during clamping.

[0151] The process and working principle of the first adjustment component 50 and the second adjustment component 60 being located outside the first docking member 10 and the second docking member 20 can be understood by referring to the above embodiments, and will not be repeated here.

[0152] Of course, the structure and assembly relationship of the first docking member 10, the second docking member 20 and the elastic clamping member 40 are not limited to the above description. For specific understanding, please refer to the following examples.

[0153] It should be noted that the puncture instrument 30 includes a connected needle tube 32 and a needle handle 31. In this embodiment, the needle holder adapter is clamped onto the needle tube 32. In different models of the puncture instrument 30, the shape of the needle handle 31 may vary, but the shape of the needle tube 32 is generally cylindrical. Compared to clamping the needle handle 31, which has various shapes, clamping the needle tube 32 increases the applicability of the needle holder adapter.

[0154] like Figure 15 and Figure 16 As shown, Figure 15 This is a cross-sectional structural diagram of a first docking member, a second docking member, and a puncture instrument provided according to some embodiments of this application. Figure 16 This is a cross-sectional structural schematic diagram of a first mating member, a second mating member, and an elastic clamping member according to some embodiments of this application. In some embodiments, the first mating member 10 and the second mating member 20 are coaxially arranged and rotate relative to each other about the axis, so as to radially compress the elastic clamping member 40 to reduce the size of the clamping cavity 41.

[0155] Specifically, the axial direction (X-direction) of the first docking member 10 and the second docking member 20 is the axial direction (X-direction) of the needle tube 32 in the puncture instrument 30. Since the elastic clamping member 40 is connected between the first docking member 10 and the second docking member 20, when the first docking member 10 and the second docking member 20 rotate relative to each other around the axial direction (X-direction), they will squeeze the elastic clamping member 40, causing it to undergo elastic deformation along the radial direction of the clamping cavity 41, thereby reducing the radial dimension of the clamping cavity 41, so that the cavity wall of the clamping cavity 41 elastically hugs the puncture instrument 30, thus achieving elastic clamping of the puncture instrument 30.

[0156] like Figure 15 , Figure 16 , Figure 17 and Figure 18 As shown, Figure 17 This is a schematic diagram of another first docking member and a second docking member provided according to some embodiments of this application. Figure 18 This is an exploded structural diagram of another first mating member, a second mating member, and an elastic clamping member according to some embodiments of this application. In some embodiments, the first mating member 10 and the second mating member 20 are threadedly connected and both are sleeved on the outside of the elastic clamping member 40; at least one of the first mating member 10 and the second mating member 20 has a first abutting slope on its inner wall surface, and the elastic clamping member 40 has a second abutting slope on its outer wall surface, so that during the tightening of the first mating member 10 and the second mating member 20, the first abutting slope continuously abuts against the second abutting slope to radially compress the elastic clamping member 40.

[0157] Specifically, in the first mating member 10 and the second mating member 20, one is sleeved on the outside of the other, and the two are threaded together. The interior of the elastic clamping member 40 is hollow to form a clamping cavity 41. One end of the elastic clamping member 40 extends into the first mating member 10 along the axial direction, and the other end extends into the second mating member 20. The inner sidewalls of both the first mating member 10 and the second mating member 20 are provided with first abutting slopes, and the outer sidewall of the elastic clamping member 40 is provided with two sets of second abutting slopes corresponding to the two sets of first abutting slopes. In other embodiments, the first abutting slope may be provided only on the inner sidewall of one of the first mating member 10 and the second mating member 20, and the outer sidewall of the elastic clamping member 40 may be provided with a corresponding set of second abutting slopes.

[0158] As the first mating member 10 and the second mating member 20 rotate relative to each other and gradually tighten, the two sets of first abutting inclined surfaces will gradually approach and fit against the corresponding second abutting inclined surfaces, compressing the corresponding second abutting inclined surfaces. This causes the elastic clamping member 40 to undergo radial elastic deformation, reducing its inner cavity size, that is, reducing the size of the clamping cavity 41, thereby gripping the puncture instrument 30. Since the first mating member 10 and the second mating member 20 are threadedly connected, they can naturally lock their relative positions. When no external force is applied, the two will neither rotate relative to each other in opposite directions nor move relative to each other in the axial direction. When it is necessary to release the puncture instrument 30, simply rotate the first mating member 10 and the second mating member 20 in opposite directions. As the two move away from each other, the compression on the elastic clamping member 40 can be released. The elastic clamping member 40 will deform and recover under its own rebound force, and the size of the clamping cavity 41 will increase.

[0159] like Figure 18 As shown, in one example, the elastic clamping member 40 is a metal or plastic part, and the elastic clamping member 40 has a plurality of grooves 42.

[0160] Specifically, the elastic clamping member 40 has a certain degree of elasticity. By providing deformation space through several grooves 42, the difficulty of elastic deformation when squeezed by the first mating member 10 and the second mating member 20 is reduced, thereby reducing the clamping difficulty. When a metal part is selected as the elastic clamping member 40, there is greater friction between the elastic clamping member 40 and the needle tube 32, resulting in higher clamping stability and firmness of the needle tube 32, and the needle tube 32 is less likely to fall off. In a specific embodiment, a stainless steel part can be selected as the elastic clamping member 40.

[0161] like Figure 19 , Figure 20 and Figure 21 As shown, Figure 19 This is a schematic diagram of the structure of another first docking member and a second docking member provided according to some embodiments of this application. Figure 20 This is an exploded structural diagram of another first docking member, second docking member, and elastic clamping member provided according to some embodiments of this application. Figure 21 This is a cross-sectional structural schematic diagram of another first docking member, a second docking member, and an elastic clamping member provided according to some embodiments of this application. In some embodiments, the first docking member 10 and the second docking member 20 are locked to each other to suppress the deformation recovery of the clamping member; the clamping member includes a torsion spring having a clamping cavity 41, and one end of the torsion spring is limited to the first docking member 10, and the other end is limited to the second docking member 20; one of the first docking member 10 and the second docking member 20 is provided with an external toothed ring, and the other is provided with an internal toothed ring, the internal toothed ring and the external toothed ring meshing with each other.

[0162] Specifically, the torsion spring includes a coil and a first pin and a second pin connected to both ends of the coil. The coil has a clamping cavity 41. The first pin is connected to the first mating member 10, and the second pin is connected to the second mating member 20. The coil is hollow to form the clamping cavity 41, and the coil is fitted over the needle tube 32 of the puncture instrument 30. Both the first pin and the second pin are bent relative to the coil. When the first mating member 10 and the second mating member 20 rotate relative to each other in a first direction, the first pin will rotate relative to the second pin, reducing the inner diameter of the coil, that is, reducing the radial dimension of the clamping cavity 41, so that the coil elastically grips the puncture instrument 30, thereby achieving elastic clamping of the puncture instrument 30.

[0163] The first docking member 10 includes an elastic arm 12, and the second docking member 20 includes a gear ring base. Of the elastic arm 12 and the gear ring base, one has an outer gear ring and the other has an inner gear ring. The outer gear ring and the inner gear ring can mesh with each other under the elastic force of the elastic arm 12 to lock the relative rotational position of the first docking member 10 and the second docking member 20.

[0164] One end (connecting end) of the elastic arm 12 is connected to the main body of the first mating member 10, while the other end (free end) is suspended. The gear ring base is connected to the main body of the second mating member 20. At least a portion of the inner wall of the elastic arm 12 is provided with teeth to form an inner gear ring; at least a portion of the outer wall of the gear ring base is provided with teeth to form an outer gear ring. The elastic arm 12 is sleeved on the outside of the gear ring base. The elastic force of the elastic arm 12 causes its free end to tend to rotate elastically toward the gear ring base, thereby achieving the meshing of the outer and inner gear rings. When the first mating member 10 and the second mating member 20 rotate relative to each other in a forward direction, the outer and inner gear rings also rotate relative to each other, and their meshing position changes. However, in different meshing positions, the relative rotational position of the first mating member 10 and the second mating member 20 can be locked, preventing the first mating member 10 and the second mating member 20 from rotating in opposite directions under the restoring force of the torsion spring, thus preventing clamping failure and improving clamping reliability.

[0165] If both the outer and inner gear rings can be made of spur gear type teeth, the relative rotational positions of the first mating member 10 and the second mating member 20 can be locked by the frictional force between the teeth of the outer and inner gear rings at different meshing positions. When it is necessary to release the puncture instrument 30, the frictional force between the teeth of the outer and inner gear rings is overcome, causing the first mating member 10 and the second mating member 20 to rotate in opposite directions, gradually reducing the compression on the torsion spring. Under its own rebound force, the torsion spring gradually rebounds, and the inner diameter of the spring coil will gradually increase to release the puncture instrument 30.

[0166] It should be noted that, Figures 17-21The blocking component 11 is not shown in the needle holder adapter shown, but it can be understood that the blocking component 11 in this embodiment can be set on the extension shaft of the first docking member 10. Although it is not shown in the figure, the specific implementation principle is the same as that in the above embodiment, and will not be repeated here.

[0167] Based on the same concept, embodiments of this application also provide a surgical robot system, such as... Figure 22 As shown, Figure 22 This is a schematic diagram of a surgical robot system provided according to some embodiments of this application. The surgical robot system includes an end effector 70 for gripping the needle holder adapter in the gripping device described above.

[0168] Understandably, the surgical robot system also includes a robotic arm, which is connected to an end effector 70 and to a needle holder adapter via the end effector 70. This drives the needle holder adapter to move, thereby adjusting the position of the puncture instrument 30 and performing operations such as needle insertion and withdrawal.

[0169] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0170] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An installation device, characterized in that, For assembling a needle holder adapter, the needle holder adapter includes a first mating part (10) and a second mating part (20); the mounting device includes: A blocking component (11) is provided on the first docking member (10); The first adjustment assembly (50) has a first hollow cavity for accommodating the second docking member (20); The second adjustment component (60) engages with the first adjustment component (50). The second adjustment component (60) has a second hollow cavity for accommodating the first docking member (10). The second adjustment component (60) includes a pushing component (62). The second adjustment component (60) is configured to, under the action of an external force, cause the pushing component (62) to abut against the blocking component (11) until at least one of the pushing component (62) and the blocking component (11) crosses the deformation critical point of the other, thereby switching the pushing component (62) and the blocking component (11) from the abutting state to the released state. At least one of the pushing component (62) and the blocking component (11) generates a prompt signal during the deformation reset process.

2. The installation device according to claim 1, characterized in that, The first adjustment component (50) includes a first ring body (51); The second adjustment component (60) further includes a second ring body (61), which is coaxially arranged with the first ring body (51) and rotates relative to it; the pushing component (62) is disposed on the inner wall surface of the second ring body (61), and the blocking component (11) is disposed on the outer wall surface of the first docking member (10); And / or, during the process of the pushing component (62) and the blocking component (11) switching from the abutting state to the releasing state, the pushing component (62) drives the blocking component (11) to rotate forward, so that the first docking member (10) and the second docking member (20) rotate forward synchronously until the first docking member (10) and the second docking member (20) are locked.

3. The installation device according to claim 2, characterized in that, The blocking component (11) includes an elastic element (111), one end of which is connected to the first docking component (10), and the other end is configured to deform under the continuous abutment of the pushing component (62) until the pushing component (62) passes the deformation critical point of the elastic element (111). And / or, the pushing member (62) includes an elastic element (111), one end of which is connected to the second ring (61), and the other end is configured to deform under the continuous abutment of the blocking member (11) until the blocking member (11) passes the deformation critical point of the elastic element (111). The elastic element (111) generates the prompt signal during the deformation and reset process. The prompt signal is used to indicate that the first docking member (10) and the second docking member (20) are locked in place.

4. The installation device according to claim 3, characterized in that, The elastic element (111) is an arc-shaped spring sheet. One end of the arc-shaped spring sheet is fixed to the outer wall surface of the first docking member (10), and the other end is positioned as a free end and protrudes from the outer wall surface of the first docking member (10). The pushing component (62) includes a plurality of protrusions arranged circumferentially around the inner wall of the second ring (61), and the distance between the protrusions and the outer wall of the first docking member (10) is less than the distance at which the other end of the arc-shaped spring protrudes from the outer wall.

5. The installation device according to claim 4, characterized in that, The arc-shaped spring extends circumferentially around the axis of the first docking member (10); During the process of locking the first docking member (10) and the second docking member (20), the protrusion abuts against the arc surface of the arc-shaped spring piece away from the first docking member (10); During the process of releasing the first docking member (10) and the second docking member (20), the protrusion abuts against the end face of the free end of the arc-shaped spring piece.

6. The installation device according to claim 4, characterized in that, The two arc-shaped spring pieces are circumferentially spaced on the outer wall surface of the first docking member (10); The arc-shaped spring includes a body (1111) and a protrusion (1112). One end of the body (1111) is connected to the first docking member (10) and extends circumferentially along the outer wall surface of the first docking member (10). The other end is provided with the protrusion (1112), which protrudes from the outer wall surface of the first docking member (10). The protrusion (1112) is configured to abut against any of the protrusions.

7. The mounting device according to any one of claims 2-6, characterized in that, The first ring body (51) is provided with a first limiting part (530) along the circumferential direction, and the second ring body (61) is provided with a second limiting part (613) along the circumferential direction; During the process of releasing the first docking member (10) and the second docking member (20), the second ring (61) is configured to cause the pushing member (62) to drive the blocking member (11) to reverse under the action of external force until the second limiting part (613) abuts against the first limiting part (530) to indicate that the first docking member (10) and the second docking member (20) are released in place; And / or, during the process of the pushing member (62) and the blocking member (11) moving from the contact state to the release state, the first limiting part (530) and the second limiting part (613) do not contact each other.

8. The installation device according to any one of claims 2-6, characterized in that, The first ring body (51) includes a first inner plate (510) and a first outer plate (520) nested together, wherein the first inner plate (510) and the first outer plate (520) are connected at the end portion away from the second ring body (61); The inner wall surface of the first inner plate (510) is provided with a first protrusion (511). The first protrusion (511) is configured such that, during the process of releasing the first docking member (10) and the second docking member (20), after the second docking member (20) moves a predetermined distance away from the first docking member (10), it blocks the second docking member (20) from continuing to move. And / or, the first inner plate (510) is configured with a third limiting part, which is configured to restrict the second docking member (20) from rotating circumferentially relative to the first ring body (51).

9. The installation device according to claim 8, characterized in that, The second ring body (61) includes a second inner plate (611) and a second outer plate (612) nested together, the second inner plate (611) and the second outer plate (612) being connected at the ends away from the first ring body (51); at least a portion of the second outer plate (612) is located between the first inner plate (510) and the first outer plate (520), and at least a portion of the first inner plate (510) is located between the second inner plate (611) and the second outer plate (612); The outer wall of the first inner plate (510) has a second protrusion (512), and the inner wall of the second outer plate (612) has a third protrusion (6121). The third protrusion (6121) and the second protrusion (512) abut against each other along the axial direction. And / or, the inner wall surface of the second inner plate (611) is provided with an abutment portion (6111), which is configured to contact the end face of the first docking member (10) away from the second docking member (20) so as to force the second docking member (20) to move away from the first docking member (10) during the process of releasing the first docking member (10) and the second docking member (20).

10. The mounting device according to any one of claims 2-6, characterized in that, The outer wall surface of the first ring body (51) and / or the second ring body (61) is provided with a prompting mark, which is used to indicate the relative rotation direction of the first ring body (51) and the second ring body (61); And / or, the outer wall surfaces of the first ring body (51) and the second ring body (61) are provided with gripping portions; And / or, the outer wall surfaces of the first ring body (51) and the second ring body (61) are provided with anti-slip pads; And / or, the outer wall surfaces of the first ring body (51) and the second ring body (61) are constructed with anti-slip textures.

11. A clamping device, characterized in that, include: The needle holder adapter includes a first docking member (10) and a second docking member (20), and an elastic clamping member (40) disposed between the first docking member (10) and the second docking member (20), wherein the first docking member (10), the elastic clamping member (40), and the second docking member (20) have clamping cavities (41) for a puncture instrument (30) to pass through; and, The mounting device according to any one of claims 1-10, wherein the mounting device is disposed outside the needle holder adapter, the mounting device is used to drive the first docking member (10) and the second docking member (20) to rotate relative to each other to reduce the clamping cavity (41), and to generate a prompt signal when the first docking member (10) and the second docking member (20) are locked in place.

12. The clamping device according to claim 11, characterized in that, The first docking member (10) and the second docking member (20) are coaxially arranged and rotate relative to each other about the axis, so as to radially compress the elastic clamping member (40) to reduce the size of the clamping cavity (41).

13. The clamping device according to claim 12, characterized in that, The first docking member (10) and the second docking member (20) are threaded together and are sleeved on the outside of the elastic clamping member (40); At least one of the first docking member (10) and the second docking member (20) has a first abutting slope on its inner wall surface, and the elastic clamping member (40) has a second abutting slope on its outer wall surface, so that during the tightening of the first docking member (10) and the second docking member (20), the first abutting slope continuously abuts against the second abutting slope to radially compress the elastic clamping member (40); And / or, the elastic clamping member (40) is a metal part or a plastic part, and the elastic clamping member (40) has a plurality of grooves (42).

14. The clamping device according to claim 12, characterized in that, The first docking member (10) and the second docking member (20) are locked together to suppress the deformation recovery of the clamping member; The clamping member includes a torsion spring having the clamping cavity (41), and one end of the torsion spring is limited to the first docking member (10), and the other end is limited to the second docking member (20); One of the first mating member (10) and the second mating member (20) is provided with an external gear ring, and the other is provided with an internal gear ring, wherein the internal gear ring and the external gear ring mesh with each other.

15. A surgical robot system, characterized in that, The surgical robot system includes an end effector for holding a needle holder adapter in the clamping device according to any one of claims 11-14.

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