Dual cam structure locking mechanism and surgical instrument and robot

Abstract

The utility model discloses a kind of double cam structure locking mechanism, including: locking mechanism, locking mechanism includes steering piece, unlocking piece, locking piece and steering fixed base, steering piece and steering fixed base rotationally connect;Shaft is provided on steering piece, unlocking piece and locking piece are sequentially set on the shaft, steering fixed base is movably provided with steering limit rod;Steering limit rod is pressed unlocking piece and locking piece to realize the unlocking and locking of locking mechanism;Unlocking piece includes at least two cam gears, cam gear can swing through first movement range, to make steering limit rod relative to locking piece unlock, cam gear can swing through second movement range, to make steering piece relative to steering fixed base deflection.The utility model discloses a kind of double cam structure locking mechanism and surgical instrument and robot;With excellent swing operation flexibility, and stable unlocking and locking function, improve the flexibility of end effector operation and service life.

Description

Technical Field

[0001] This utility model relates to the field of locking mechanism technology, and more particularly to locking mechanisms in the medical field, specifically to a double-cam structure locking mechanism, surgical instruments, and robots. Background Technology

[0002] Endoscopic surgical instruments are superior to traditional open surgical devices due to their smaller incisions, which reduce postoperative recovery time and complications. Therefore, endoscopic surgical instruments are suitable for placing distal end-effectors at the desired surgical site via a cannula. These distal end-effectors (e.g., internal cutters, grippers, scalpels, suture devices, clamps, entry devices, drug / gene therapy delivery devices, and energy delivery devices using ultrasound, RF, lasers, etc.) can engage tissue in various ways to achieve diagnostic or therapeutic effects.

[0003] Endoscopic surgical instruments may include an axis located between an end effector and a handle portion manipulated by the clinician. This axis allows for insertion to the desired depth and rotation about its longitudinal axis, thereby facilitating the positioning of the distal end effector within the patient. Positioning of the end effector can be further facilitated by adding one or more articulation joints or features that enable selective articulation or other deflection relative to the longitudinal axis. It should be understood that terms such as “proximal” and “distal” used herein refer to the gun grip of the instrument held by the clinician. In existing surgical instruments, the locking and unlocking mechanisms of articulation joints are complex and prone to error, causing the end effector to rotate unintended, affecting surgical accuracy and safety.

[0004] Existing endoscopic surgical instruments utilize a single cam-gear oscillation to drive the joint movement of an end effector. A locking lever is then engaged with the cam-gear's tooth groove by an elastic element to achieve limiting and locking. The oscillation of the single cam-gear causes the locking lever to extend and retract rhythmically across the gear teeth and grooves. However, frequent locking and unlocking operations easily lead to wear. This causes the cam profile curve to gradually distort, affecting the locking accuracy and reliability, and reducing the instrument's lifespan. Utility Model Content

[0005] This invention overcomes the shortcomings of the prior art and provides a double-cam structure locking mechanism, surgical instrument, and robot; it has excellent swing operation flexibility and stable unlocking and locking functions, improving the flexibility and service life of the end effector operation.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a double-cam structure locking mechanism, comprising: a locking mechanism, the locking mechanism including a steering component, an unlocking component, a locking plate, and a steering fixing seat, the steering component and the steering fixing seat being rotatably connected; a shaft is provided on the steering component, the unlocking component and the locking plate are sequentially sleeved on the shaft, and a steering limit rod is movably provided on the steering fixing seat; the steering limit rod presses against the unlocking component and the locking plate to achieve unlocking and locking of the locking mechanism; the unlocking component includes at least two cam gears, the cam gears can swing through a first range of motion to unlock the steering limit rod relative to the locking plate, and the cam gears can swing through a second range of motion to deflect the steering component relative to the steering fixing seat.

[0007] In a preferred embodiment of this utility model, the locking plate is provided with a locking tooth groove, and the unlocking member is provided with an unlocking tooth groove.

[0008] In a preferred embodiment of the present invention, at least two cam gears in the unlocking component are arranged crosswise and a deflection angle is reserved; in the initial position, the end of the steering limit rod that is biased to the far side is located within the deflection angle.

[0009] In a preferred embodiment of the present invention, a pull rod is also included. Each cam gear is provided with an unlocking groove, which is in contact with the steering limit rod that is biased to the far side. The cam gear is connected to the pull rod, which drives the cam gear to swing around the swing center point that is swinging and connected to the steering fixed seat. Under the drive of external force, the pull rod drives the cam gear to swing at a certain angle and then drives the steering component to swing around the steering fixed seat, which is used to intermittently push the steering limit rod out of the unlocking groove of the unlocking component.

[0010] In a preferred embodiment of the present invention, the pull rod includes a push-pull rod body, the distal end of which is provided with a hook that is connected to the cam gear, the rod body of the push-pull rod body is provided with a bent section for changing the lever arm angle, and the hook is provided at the distal end of the bent section.

[0011] In a preferred embodiment of this utility model, a reset component is further provided. The reset component is sleeved on the steering limit rod, and the proximal end of the reset component abuts against the proximal end of the steering fixing seat. The reset component is used to reset the steering limit rod so that it always abuts against the unlocking component and the locking plate. When the pull rod is not driven by external force, the steering limit rod is inserted into the locking groove of the locking plate, and the connection angle between the steering component and the steering fixing seat is locked.

[0012] In a preferred embodiment of the present invention, the steering limit rod includes a slider slidably disposed on the steering fixed seat. The distal end of the slider is provided with a locking end extending to the distal side, and the proximal end of the slider is provided with a guide rod. A reset member is sleeved on the guide rod. The reset member abuts against the proximal end of the steering fixed seat and pushes the slider to move to the distal end.

[0013] In a preferred embodiment of this utility model, the steering component is provided with two symmetrically arranged clearance grooves around the shaft, and the positions of the clearance grooves correspond to the connection positions of the tie rod and the cam gear. And / or, the distal end of the steering fixing seat is the steering connection end, which is sleeved on the shaft and rotatably connected to the steering component; the steering fixing seat is also provided with a slide groove, and the locking end is slidably disposed in the slide groove; the steering fixing seat is also provided with a limit block, an abutment boss and a receiving cavity, the limit block prevents the slider from moving to the distal end, the abutment boss is used to limit the reset component, and the receiving cavity located between the limit block and the abutment boss is used to accommodate the slider and the reset component; And / or, each cam gear is provided with a hook hole and a pivot hole. The cam gear is movably sleeved on the shaft through the pivot hole, and the pull rod is connected to the hook hole. The pull rod drives the cam gear to rotate around the steering fixed seat until the pull hook contacts the edge of the clearance groove, and the pull rod drives the steering component to rotate around the steering fixed seat. And / or, the reset element is a resilient reset element.

[0014] In a preferred embodiment of this utility model, a surgical instrument employing a double-cam locking mechanism is disclosed. The surgical instrument includes: an end effector, a joint motion joint including a locking mechanism, and an instrument body connected to the joint motion joint. The joint motion joint is connected to the end effector via a steering component in the locking mechanism and to the cannula assembly of the instrument body via a steering fixing seat in the locking mechanism. The locking mechanism is connected to a swing knob of the instrument body via a pull rod. Rotating the swing knob causes the pull rod to move in a parallelogram motion, thereby acting on the locking mechanism and driving the end effector to deflect and lock relative to the cannula assembly.

[0015] In a preferred embodiment of this utility model, a robot employing a double-cam locking mechanism and a surgical instrument employing a double-cam locking mechanism are disclosed. The robot body is connected to the surgical instrument control system, and the robot body controls the end effector of the surgical instrument to adjust its posture and / or drive the end effector to perform cutting and anastomosis actions.

[0016] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: This utility model discloses a double-cam structure locking mechanism, surgical instrument, and robot; it has excellent swing operation flexibility and stable unlocking and locking functions, improving the flexibility and service life of the end effector operation.

[0017] In this invention, the unlocking component uses a double cam instead of the single cam unlocking of the prior art. The unlocking component of this invention contains at least two cam gears, which divides the working tooth surface of the unlocking component into multiple independent tooth surfaces; the swing operation is divided into multiple parts, which further reduces the wear of the swing drive on the individual tooth groove and improves the service life of the product.

[0018] 2. Enhanced stability and reliability of the mechanism: The two cams work together, resulting in higher product stability and reliability under normal operating conditions compared to a single cam mechanism.

[0019] 3. Increased design freedom: The double cam mechanism provides designers with more design freedom, enabling motion combinations and functions that a single cam cannot achieve.

[0020] 4. Easy to maintain and replace: If one of the cams malfunctions, only the corresponding cam gear needs to be replaced, instead of replacing the entire cam mechanism, which reduces maintenance and time costs. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a top view of the initial locking position of a double-cam structure locking mechanism according to this utility model; Figure 2 yes Figure 1 Enlarged structural diagram of section A1; Figure 3 yes Figure 1 Enlarged structural diagram of section A2; Figure 4 This is a side view of the initial locking position of a double-cam structure locking mechanism according to this utility model; Figure 5 yes Figure 4 Enlarged structural diagram of section A3; Figure 6 This is a top view of the unlocking position of a double-cam structure locking mechanism according to this utility model; Figure 7 yes Figure 6 Enlarged structural diagram of section B1; Figure 8 This is a side view of the unlocking position of a double-cam structure locking mechanism according to this utility model; Figure 9 yes Figure 8 Enlarged structural diagram of section B2; Figure 10 This is a top view schematic diagram of the angle locking structure of a double cam structure locking mechanism according to this utility model; Figure 11 yes Figure 10 Enlarged structural diagram of section C1; Figure 12 This is an exploded view of the locking mechanism with a double cam structure according to this utility model. Figure 1 ; Figure 13 This is an exploded view of the locking mechanism with a double cam structure according to this utility model. Figure 2 ; Figure 14 This is a schematic diagram of a surgical instrument using a double-cam locking mechanism according to the present invention. Among them, 1. Surgical instruments; 2. End effectors; 20. Connecting pins; 21. Anvils; 22. Staple cartridge holders; 23. Staple cartridge assembly; 3. Joint motion joint; 31. Locking mechanism; 32. Steering component; 321. Assembly end; 322. Locking plate; 323. Clearance groove; 324. Shaft; α. Deflection angle; 33. Steering mounting base; 331. Steering connection end; 332. Slide groove; 333. Limiting block; 334. Receiving cavity; 335. Abutting boss; 336. Dividing baffle; 337. Clearance space; 34. Pull rod; 341. Pull hook; 342. Bend section; 35. Unlocking component; 350. Cam gear; 351. Hook hole; 352. Pivot hole; 353. Unlocking groove; 36. Reset component; 37. Steering limit rod; 371. Locking end; 372. Slider; 373. Guide rod; 4. Instrument body; 41. Sleeve assembly; 42. Rotating housing; 43. Swing knob; 44. Handle; 45. Trigger button; 46. Expansion interface. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features therein are detailed descriptions of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features therein can be combined with each other.

[0024] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Example 1

[0025] like Figures 1-13 As shown, a double-cam locking mechanism includes: a locking mechanism 31, which includes a steering component 32, an unlocking component 35, a locking piece 322, and a steering fixing seat 33. Figure 2 , Figure 3 , Figure 5 , Figures 11-13As shown, one end of the steering component 32 is rotatably connected to the steering mounting base 33, and the other end of the steering component 32 is provided with a protruding shaft 324. The unlocking component 35 and the locking plate 322 are sequentially sleeved on the shaft 324, and the locking plate 322 is rotatably connected to the unlocking component 35 via the shaft 324. A steering limit rod 37 is movably disposed on the steering mounting base 33; the steering limit rod 37 presses against the unlocking component 35 and the locking plate 322 to achieve unlocking and locking of the locking mechanism. The locking plate 322 is provided with a locking tooth groove, and the unlocking component 35 is provided with an unlocking tooth groove 353.

[0026] Specifically, such as Figures 11-13 As shown, the unlocking component 35 includes at least two cam gears 350, each cam gear 350 having a pivot hole 352, the pivot hole 352 being fitted and oscillatingly constrained on the shaft 324. The outer periphery of the cam gear 350 is provided with an unlocking groove, which serves as an unlocking tooth groove 353 in the unlocking component 35 and abuts against the steering limit rod 37 biased to the distal side.

[0027] Furthermore, at least two cam gears 350 in the unlocking member 35 are arranged crosswise, with a deflection angle α reserved. In this embodiment, two cam gears 350 are used as a double-cam structure. In the initial position, the end of the steering limit rod 37, which is biased distally, is located within the deflection angle α. The cam gears 350 can swing through a first range of motion to unlock the steering limit rod 37 relative to the locking piece 322, and the cam gears 350 can swing through a second range of motion to deflect the steering member 32 relative to the steering mounting base 33. Further still, the two cam gears 350 form multiple discontinuous tooth surfaces in the unlocking member 35 that independently act on the steering limit rod 37. The tooth surfaces of the cam gears 350 are in abutting contact with the steering limit rod 37, which is biased distally. In use, the tooth surfaces of the two cam gears 350 act independently on the end of the steering limit rod 37. When it is necessary to deflect to the left or right, the tooth surfaces of the cam gears 350 abut against the end of the steering limit rod 37, thereby unlocking and deflecting the locking piece 322. The arrangement of two cam gears 350 divides the working tooth surface of the unlocking component 35 into multiple independent tooth surfaces, which is more conducive to operation, maintenance, disassembly, and repair. On the one hand, it improves the flexibility of product use, and on the other hand, it reduces the deflection time of a single cam gear 350.

[0028] Specifically, such as Figures 11-13As shown, the steering limit rod 37 includes a slider 372 slidably mounted on the steering fixed seat 33. The distal end of the slider 372 has a locking end 371 extending distally, and the proximal end of the slider 372 has a guide rod 373. A reset member 36 is sleeved on the guide rod 373. The proximal end of the reset member 36 abuts against the proximal end of the steering fixed seat 33 and pushes the slider 372 to move distally, thereby resetting the steering limit rod 37 so that it always abuts against the unlocking member 35 and the locking piece 322. When the pull rod 34 is not driven by external force, the steering limit rod 37 is inserted into the locking groove of the locking piece 322, and the connection angle between the steering member 32 and the steering fixed seat 33 is locked. Furthermore, the reset member 36 is an elastic reset member. In this embodiment, the reset member 36 is a spring, but it is not limited to this. In other embodiments, other types of elastic reset members can be selected according to actual usage requirements, which will not be listed or described in detail here.

[0029] Specifically, such as Figures 11-13 As shown, the far end of the steering fixing seat 33 is the steering connection end 331, which is sleeved on the shaft 324 and rotatably connected to the steering component 32. The steering fixing seat 33 is also provided with a sliding groove 332, and the locking end 371 is slidably disposed in the sliding groove 332. The steering fixing seat 33 is also provided with a limiting block 333, an abutment boss 335 and a receiving cavity 334. The limiting block 333 prevents the slider 372 from moving to the far end, the abutment boss 335 is used to limit the reset component 36, and the receiving cavity 334 located between the limiting block 333 and the abutment boss 335 is used to accommodate the slider 372 and the reset component 36. Furthermore, one end of the reset member 36 abuts against one side of the fixed steering limit rod 37, and the other end of the reset member 36 abuts against one side of the receiving cavity 334. The other side of the fixed steering limit rod 37 extends through the groove of the slide groove 332. The reset member 36 provides a resisting force to the distal end of the fixed steering limit rod 37, causing the fixed steering limit rod 37 extending through the groove to abut against the locking piece 322 and / or the cam gear 350 of the steering component 32, thereby achieving deflection drive and locking operation of the steering component 32. Furthermore, the tail end of the slide groove 332 is provided with a clearance space 337 communicating with the receiving cavity 334. The steering mounting base 33 is also provided with partition baffles 336 spaced apart on both sides of the slide groove 332. The partition baffles 336 are used to separate the installation of the tie rod 34 and reduce mutual interference between components. Furthermore, the locking piece 322 is separately constructed and sleeved on the shaft 324 of the steering component 32, and is firmly connected to the steering component 32 (the firm connection adopts the fixed connection method in the prior art, as long as a fixed connection can be achieved), so that when the locking piece 322 rotates, the steering component 32 also rotates. However, it is not limited to this. In some other forms, the locking piece 322 and the shaft 324 are integral features of the steering component 32, so that when the locking piece 322 rotates, the steering component 32 also rotates.

[0030] Working principle: like Figures 1-5 As shown, in the initial position, the locking end 371 of the steering limit rod 37 extending to the distal side is inserted into the locking groove of the locking piece 322 of the steering component 32.

[0031] In the initial state, the unlocking grooves of the two cam gears 350, which are stacked and cross-arranged on opposite sides of the unlocking member 35, are located on both sides of the steering limit rod 37, which is biased towards the distal side. This ensures that the contact areas of each cam gear 350 on the unlocking steering limit rod 37 do not overlap. That is, the two cam gears 350 are located on both sides of the end of the steering limit rod 37.

[0032] When using, such as Figures 6-11 As shown, when left or right deflection is required for unlocking, an external force is applied to the unlocking component 35, causing the cam gear 350 in the unlocking component 35 to swing relative to the steering component 32. When left or right deflection is required, the tooth surface of the corresponding cam gear 350 abuts against the locking end 371. The tooth surface of the cam gear 350 is used to press against the steering limit rod 37. The cam gear 350 intermittently pushes the steering limit rod 37 out of the locking groove of the locking piece 322, thereby unlocking the locking piece 322. This continues until the steering limit rod 37 is at least partially inserted into the next locking groove of the locking piece 322, achieving deflection and locking. The configuration of non-single cam gears 350 divides the functional tooth surface of the unlocking component 35 into multiple independent tooth surfaces, which is more conducive to operation, maintenance, disassembly, and repair. Example 2

[0033] Based on Example 1, such as Figure 12 , Figure 13 As shown, the cam gear 350 is also provided with a hook hole 351, through which the cam gear 350 is connected to the pull rod 34. The pivot hole 352 is movably fitted and limited on the shaft 324. The steering component 32 is provided with two symmetrically arranged clearance grooves 323 around the shaft 324, and the position of the clearance grooves 323 corresponds to the connection position of the pull rod 34 and the cam gear 350. The pull rod 34 includes a push-pull rod body, and the distal end of the push-pull rod body is provided with a hook 341 that is hooked to the cam gear 350. The rod body of the push-pull rod body is provided with a bent section 342 for changing the lever arm angle, and the hook 341 is located at the distal end of the bent section 342.

[0034] Furthermore, the number of clearance slots 323 corresponds to the number of connections between the unlocking member 35 and the pull rod 34. On one hand, they are used to avoid the connection point structure between the unlocking member 35 and the pull rod 34; on the other hand, they accommodate the hook 341 of the pull rod 34, facilitating the deflection of the steering member 32. In this embodiment, the pull rod 34 is connected to other force-applying mechanisms via transmission, but this is not the only possibility. In other embodiments, other transmission structures can also be used to apply a deflection force to the unlocking member 35.

[0035] Working principle: The pull rod 34 drives the cam gear 350 to rotate around the shaft 324 of the steering fixed seat 33, causing the cam gear 350 to push the steering limit rod 37 out of the unlocking groove of the cam gear 350 of the unlocking member 35; until the pull hook 341 contacts the edge of the clearance groove 323, the pull rod 34 drives the steering member 32 to rotate around the steering fixed seat 33, realizing the deflection of the steering member 32. Example 3

[0036] Based on Embodiment 2, the left and right pull rods 34 are respectively connected to the left and right sides of the two cam gears 350 (i.e., the unlocking plates) via hooks 341 at their distal ends. Two circular hook holes 351 are provided on the two cam gears 350 to facilitate the placement of the hooks 341 into them to hook onto the two cam gears 350 respectively. A clearance groove 323 is provided on the steering component 32. Figure 11 As shown, there is space to accommodate the hook 341 after it passes through the two cam gears 350. A shaft 324 is also provided on the steering component 32. The pivot holes 352 of the two cam gears 350 and the pivot holes on the steering connection end 331 of the steering fixing seat 33 are sequentially fitted onto the locking piece 322. The cam gears 350 are pivotally connected to the shaft 324 on the steering component 32, and the locking piece 322 is located below the two cam gears 350.

[0037] By arranging the cam gears 350 in a cross configuration and positioning the steering limit rod 37 between the two cam gears 350 in the initial position, the swing operation is divided into left and right parts, further reducing the wear of the swing drive on individual tooth slots and improving the product's service life. Example 4

[0038] A surgical instrument employing a double-cam locking mechanism is disclosed, comprising the surgical instrument 1 including an end effector 2, a joint motion joint 3 including a locking mechanism 31, and an instrument body 4 connected to the joint motion joint 3. The joint motion joint 3 is connected to the end effector 2 via a steering component 32 in the locking mechanism 31 (i.e., the end effector 2 is assembled and connected to the assembly end 321 on the steering component 32 of the joint motion joint 3 via a connecting pin 20), and is connected to the sleeve assembly 41 of the instrument body 4 via a steering fixing seat 33 in the locking mechanism 31. The locking mechanism 31 is connected to the swing knob 43 of the instrument body 4 via a pull rod 34. By rotating the swing knob 43, the pull rod 34 is driven to make a parallelogram movement, thereby acting on the locking mechanism 31, and thus driving the end effector 2 to achieve angular deflection and locking relative to the sleeve assembly 41.

[0039] Furthermore, such as Figure 14As shown, the instrument body 4 is an electric surgical instrument, and its end effector 2 is in the open state by default. The instrument body 4 includes a cannula assembly 41, which is connected to the handle 44 via a rotating housing 42. The handle 44 has an expansion interface 46 at its tail end. The expansion interface 46 is used to connect a battery assembly to power the instrument body 4, including but not limited to the power supply for the motor, the power supply for the controller, and various sensors or other components that require power input. The battery assembly can be rechargeable and reusable or non-rechargeable and disposable. The disposable designation mentioned below refers to a single surgical procedure. The battery assembly is detachably installed on the housing of the handle 44, and the installation process does not need to distinguish between left and right directions.

[0040] Furthermore, a swing knob 43 is also provided on the rotating housing 42. The swing knob 43 is connected to the pull rod 34 of the locking mechanism 31 through a transmission structure such as a gear and rack combination structure. The knob is pivotally mounted on the rotating housing 42 and is not detachable. When the swing knob 43 rotates, the end actuator 2 will rotate around the joint motion joint 3 at the same time. When the swing knob 43 pivots to the left, the end actuator 2 swings to the left at the same time. When the swing knob 43 pivots to the right, the end actuator 2 swings to the right at the same time.

[0041] Furthermore, the end effector 2 is hinged to the sleeve assembly 41 via the articulated joint 3, and the end effector 2 can swing around the articulated joint 3. The swinging motion of the end effector 2 is controlled by the swing knob 43.

[0042] Furthermore, the sleeve assembly 41 is used to connect the handle 44 and the end effector 2. The trigger button 45 is mounted on the handle 44 and is not removable. The trigger button 45 is used to trigger a signal to the controller to close and open the anvil 21 of the end effector 2, and can also be used to control the forward and backward movement of the cutting blade in the end effector 2.

[0043] Furthermore, the rotating housing 42 adopts a structure in the prior art for adjusting the radial rotation of the end effector 2. The rotating housing 42 is provided with fins. When the fins are turned clockwise, the rotating housing 42, the sleeve assembly 41, the articulation joint 3 and the end effector 2 will also rotate clockwise around the central axis of the sleeve assembly 41. When the fins are turned counterclockwise, the rotating housing 42, the sleeve assembly 41, the articulation joint 3 and the end effector 2 will also rotate counterclockwise around the central axis of the sleeve assembly 41.

[0044] Furthermore, Figure 14In this device, the end effector 2 includes an anvil 21 and a staple cartridge seat 22 that can be opened and closed relative to each other; a staple cartridge assembly 23 is disposed within the staple cartridge seat 22. The end effector 2 is an internal cutter, gripper, cutter, suturer, applicator, entry device, drug / gene therapy delivery device, and energy delivery device using ultrasound, RF, laser, etc. in the prior art.

[0045] At work, such as Figures 1-11 The diagram shows the end effector 2 deflecting at a certain angle. Rotating the swing knob 43 pulls the lever 34 to perform a parallelogram motion. Figures 10-11 As shown, rotating the swing knob 43 clockwise pulls the right lever 34 backward and the left lever 34 forward, causing the right cam gear 350 to rotate to the left. The cam gear 350 pushes the steering limit rod 37 out of the locking groove at the original locking angle. At this time, the steering limit rod 37 compresses the spring, unlocking the current angle. Then, the hook 341 of the lever 34 pushes against the inner wall of the clearance groove 323 of the steering component 32, causing the steering component 32 to deflect, thereby deflecting the end actuator 2. Further rotating the swing knob 43 clockwise continues to move the right lever 34 backward, and the right cam gear 350 continues to rotate clockwise. After hearing a "click," the steering limit rod 37 is pushed back into the next locking groove due to the spring force, thus locking the end actuator 2 at another angle. If it is necessary to continue to change the deflection angle of the end actuator 2, simply rotate the swing knob 43 continuously, thus hearing a continuous "click-click-click" sound. To make the end effector 2 deflect in the opposite direction, the swing knob 43 needs to be turned counterclockwise, which locks the left cam gear 350. Example 5

[0046] A robot employing a double-cam locking mechanism, and a surgical instrument using the double-cam locking mechanism of Embodiment 4; includes a robot body controlled and connected to the surgical instrument 1, and controls the end effector 2 of the surgical instrument 1 to adjust its posture and / or drive the end effector 2 to perform cutting and anastomosis actions through the robot body.

[0047] Based on the preferred embodiments of this utility model, and through the above description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the claims.

Claims

1. A double-cam locking mechanism, comprising: The locking mechanism (31) includes a steering component (32), an unlocking component (35), a locking piece (322), and a steering fixing seat (33). The steering component (32) and the steering fixing seat (33) are rotatably connected. A shaft (324) is provided on the steering component (32). The locking piece (322) and the unlocking component (35) are sequentially sleeved on the shaft (324). A steering limit rod (37) is movably provided on the steering fixing seat (33). The steering limit rod (37) presses against the unlocking component (35) and the locking piece (322) to unlock and lock the locking mechanism. The feature is that the unlocking member (35) includes at least two cam gears (350), which are oscillating through a first range of motion to unlock the steering limit rod (37) relative to the locking piece (322), and the cam gears (350) are oscillating through a second range of motion to deflect the steering member (32) relative to the steering fixing seat (33).

2. The double-cam locking mechanism according to claim 1, characterized in that: The locking piece (322) is provided with a locking tooth groove, and the unlocking piece (35) is provided with an unlocking tooth groove (353).

3. The double-cam locking mechanism according to claim 1, characterized in that: At least two of the cam gears (350) in the unlocking member (35) are arranged crosswise and a deflection angle (α) is reserved; in the initial position, the end of the steering limit rod (37) biased to the far side is located within the deflection angle (α).

4. The double-cam locking mechanism according to claim 1, characterized in that: It also includes a pull rod (34), and each of the cam gears (350) is provided with an unlocking groove. The unlocking groove is in contact with the steering limit rod (37) which is biased to the far side. The cam gear (350) is connected to the pull rod (34). The pull rod (34) drives the cam gear (350) to swing around the swing center point connected to the steering fixed seat (33). Under the drive of external force, the pull rod (34) drives the cam gear (350) to swing at a certain angle and then drives the steering component (32) to swing around the steering fixed seat (33), which is used to intermittently push the steering limit rod (37) to disengage from the unlocking groove of the unlocking component (35).

5. The double-cam locking mechanism according to claim 4, characterized in that: The lever (34) includes a push-pull rod body, the far end of which is provided with a hook (341) that is connected to the cam gear (350). The rod body of the push-pull rod body is provided with a bent section (342) for changing the lever arm angle, and the hook (341) is located at the far end of the bent section (342).

6. The double-cam locking mechanism according to claim 5, characterized in that: A reset component (36) is also provided, which is sleeved on the steering limit rod (37). The proximal end of the reset component (36) abuts against the proximal end of the steering fixing seat (33). The reset component (36) is used to reset the steering limit rod (37) so that it always abuts against the unlocking component (35) and the locking piece (322). When the pull rod (34) is not driven by external force, the steering limit rod (37) is inserted into the locking groove of the locking piece (322), and the connection angle between the steering component (32) and the steering fixing seat (33) is locked.

7. The double-cam locking mechanism according to claim 6, characterized in that: The steering limit rod (37) includes a slider (372) slidably disposed on the steering fixed seat (33). The distal end of the slider (372) is provided with a locking end (371) extending to the distal side. The proximal end of the slider (372) is provided with a guide rod (373). The reset member (36) is sleeved on the guide rod (373). The reset member (36) abuts against the proximal end of the steering fixed seat (33) and pushes the slider (372) to move to the distal end.

8. The double-cam locking mechanism according to claim 7, characterized in that: The steering component (32) is provided with two symmetrically arranged clearance grooves (323) around the shaft (324), and the position of the clearance grooves (323) corresponds to the connection position of the tie rod (34) and the cam gear (350); And / or, the far end of the steering fixing seat (33) is a steering connection end (331), the steering connection end (331) is sleeved on the shaft (324) and rotatably connected to the steering component (32); the steering fixing seat (33) is also provided with a sliding groove (332), the locking end (371) is slidably disposed in the sliding groove (332); the steering fixing seat (33) is also provided with a limiting block (333), an abutment boss (335) and a receiving cavity (334), the limiting block (333) blocks the slider (372) from moving to the far end, the abutment boss (335) is used to limit the reset component (36), and the receiving cavity (334) located between the limiting block (333) and the abutment boss (335) is used to accommodate the slider (372) and the reset component (36). And / or, each of the cam gears (350) is provided with a hook hole (351) and a pivot hole (352). The cam gear (350) is movably sleeved on the shaft (324) through the pivot hole (352). The pull rod (34) is connected to the hook hole (351). The pull rod (34) drives the cam gear (350) to rotate around the steering fixed seat (33) until the hook (341) contacts the edge of the clearance groove (323). Then, the pull rod (34) drives the steering component (32) to rotate around the steering fixed seat (33). And / or, the reset element (36) is an elastic reset element.

9. A surgical instrument employing a double-cam locking mechanism, comprising the double-cam locking mechanism as described in any one of claims 1 to 8, characterized in that, Surgical instruments (1) include: The end effector (2) includes a joint motion joint (3) with the locking mechanism (31) and a device body (4) connected to the joint motion joint (3). The joint motion joint (3) is connected to the end effector (2) through the steering component (32) in the locking mechanism (31) and to the sleeve assembly (41) of the device body (4) through the steering fixing seat (33) in the locking mechanism (31). The locking mechanism (31) is connected to the swing knob (43) of the device body (4) through the pull rod (34). By rotating the swing knob (43), the pull rod (34) is driven to make a parallelogram movement, thereby acting on the locking mechanism (31) and driving the end effector (2) to achieve angle deflection and locking relative to the sleeve assembly (41).

10. A robot employing a double-cam locking mechanism, and a surgical instrument employing the double-cam locking mechanism of claim 9; characterized in that: The system includes a robot body that is controlled and connected to the surgical instrument (1). The robot body controls the end effector (2) of the surgical instrument (1) to perform posture adjustment and / or drives the end effector (2) to perform cutting and anastomosis actions.

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