A quick-release support positioning mechanism for a vascular intervention robot host

Abstract

The utility model discloses a kind of vascular intervention robot host quick detachable support positioning mechanism, belong to vascular intervention surgical robot field, including robot host, connecting column assembly and quick detachable positioning mechanism;Connecting column assembly contains connecting column and M6x1 connecting screw, screw locking makes connecting column insert host clamping groove;Quick detachable positioning mechanism contains 14 components such as rotating piece, lock needle, top spring, quick detachable main body is inserted into locking hole for connecting column.When using, lock needle handle compression spring, after inserting connecting column, loosen handle, spring pushes lock needle and connects connecting column to realize axial fixation;Rotating piece adjusts angle around A axis, and its 45 ° circular arc notch cooperates M10 outer hexagonal screw locking angle.The mechanism realizes host quick assembly and disassembly, locking is reliable, frequent disassembly structure is stable, satisfy vascular intervention surgery demand.

Description

Technical Field

[0001] This utility model relates to the field of surgical robot technology, and in particular to a quick-release support and positioning mechanism for the main unit of a vascular interventional robot. Background Technology

[0002] In vascular interventional surgery, the main unit of the vascular interventional robot needs to work with the vascular sheath to adjust different intervention angles to ensure the precision of the surgical operation. At the same time, the driven part of the main unit is a disposable consumable and needs to be frequently disassembled and replaced before and after the operation. This places core requirements on the connection structure between the main unit and the stent: "quick assembly and disassembly, automatic locking, and stable repeated use".

[0003] Currently, the mainstream host connection methods in the industry are threaded connection and snap-fit ​​connection, but both have obvious drawbacks and cannot meet the usage requirements of vascular interventional robots: Threaded connection: Locking or disassembling requires rotating the screw multiple times, which is inefficient and not suitable for frequent assembly and disassembly; and after repeated use, the clearance of the threaded pair will increase, resulting in inaccurate preload and reduced anti-loosening performance, which may cause the main unit to shift and affect the accuracy of the operation. Clip-on connection: It relies on the deformation of the elastic structure to achieve clamping. Each installation and removal will cause the elastic element to undergo a stress cycle. Long-term use is prone to material fatigue damage, resulting in clip breakage and limited service life. In addition, the force required to remove the clip is usually greater than the force required to install it, which is inconvenient to operate and increases the time cost of replacing consumables. Utility Model Content

[0004] The purpose of this invention is to provide a quick-release support and positioning mechanism for the main unit of a vascular interventional robot, which enables rapid assembly and disassembly, reliable locking, stability during frequent use, and adjustable angle.

[0005] To achieve the above objectives, this utility model provides a quick-release support and positioning mechanism for a vascular interventional robot main unit, including a robot main unit, a connecting column assembly, and a quick-release positioning mechanism; The connecting post assembly includes a connecting post and a connecting screw, wherein the connecting post is embedded in a slot on the surface of the vascular intervention robot main unit via the connecting screw; The quick-release positioning mechanism includes a quick-release body, a locking pin, a tightening spring, a locking pin handle, a rotating plate, an external hexagonal screw, and an L-shaped wrench. The quick-release body has a locking hole for the connecting post to be inserted. The locking pin passes through the quick-release body, with one end connected to the locking pin handle and the other end able to fit into the groove of the connecting post. The tightening spring is sleeved on the outside of the locking pin, with both ends abutting against the quick-release body and the locking pin respectively. When the tightening spring rebounds, it can push the locking pin towards the connecting post, causing the locking pin to engage with the groove of the connecting post, thereby fixing the position of the connecting post and the robot host along the A-axis. The rotating plate is fixedly connected to the connecting post, and the external hexagonal screw passes through the rotating plate and is connected to the quick-release body. The rotating plate can rotate around the A-axis to adjust the intervention angle of the robot host. When the external hexagonal screw is tightened, it can fix the angle of the robot host.

[0006] Preferably, the rotating plate has an arc-shaped groove, and the external hexagonal screw passes through the arc-shaped groove. The arc-shaped groove can serve as a sliding groove for the rotating plate and the external hexagonal screw to rotate relative to each other.

[0007] Preferably, the quick-release positioning mechanism further includes a locking block, a screw, and a wear-resistant washer. The locking block is fixed to the quick-release body by the screw. The external hexagonal screw passes through the arc groove of the rotating plate and the through hole of the locking block in sequence and is threaded to one end of the L-shaped wrench. The wear-resistant washer is disposed between the through hole of the locking block and the L-shaped wrench.

[0008] Preferably, the quick-release positioning mechanism further includes a ball bearing, which is sleeved on the outside of the connecting column and located between the connecting column and the quick-release body.

[0009] Preferably, the quick-release positioning mechanism further includes a knurled pin, which passes through the locking pin and the locking pin handle to fix the connection between the locking pin and the locking pin handle.

[0010] Preferably, the quick-release positioning mechanism further includes a locking bracket and a countersunk screw, the locking bracket being fixed to the quick-release body by the countersunk screw, and the locking pin passing through the locking bracket.

[0011] Therefore, the present invention employs the above-mentioned quick-release support and positioning mechanism for the main body of a vascular interventional robot, which has the following technical effects: (1) The axial fixation of this application relies on the continuous elastic force of the top spring to ensure that the locking pin is always locked in the groove of the connecting column, avoiding the problem of inaccurate pre-tightening force; the angle locking is achieved by the cooperation of the external hexagonal screw and the L-shaped wrench, and the locking force can be manually adjusted to meet the stability requirements of different surgical scenarios.

[0012] (2) This application uses the elastic clamping structure of spring and locking pin, which eliminates the need to rotate multiple screws or overcome the fatigue force of elastic elements. The main unit can be installed and disassembled simply by pulling the handle.

[0013] (3) The 45° arc groove in this application limits the angle adjustment range, avoiding surgical risks caused by excessive angle. At the same time, the locking method of the external hexagonal screw can achieve stepless fixation of the angle, ensuring the accuracy of the surgical operation.

[0014] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a quick-release support and positioning mechanism for a vascular interventional robot main unit according to this utility model. Figure 2 This is a split view of the connecting column assembly in the quick-release support and positioning mechanism of the main unit of a vascular interventional robot according to this utility model; Figure 3 This is a schematic diagram of the disassembly of the quick-release positioning mechanism in the quick-release support and positioning mechanism of the main unit of a vascular intervention robot according to this utility model.

[0016] Figure Labels 1. Robot main unit; 2. Connecting column assembly; 201. Connecting column; 202. Connecting screw; 3. Quick-release positioning mechanism; 301. Rotating plate; 302. Ball bearing; 303. Quick-release body; 304. Locking pin handle; 305. Tightening spring; 306. Knurled pin; 307. Locking pin; 308. Countersunk screw; 309. Locking bracket; 3010. Hex bolt; 3011. Locking block; 3012. Screw; 3013. Wear-resistant washer; 3014. L-shaped wrench. Detailed Implementation

[0017] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0018] Unless otherwise defined, the technical or scientific terms used in this utility model shall have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar terms used in this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0019] like Figures 1 to 3 As shown, a quick-release support and positioning mechanism for a vascular interventional robot includes a robot host 1, a connecting column assembly 2, and a quick-release positioning mechanism 3. The robot host 1 is the main operating body for vascular interventional surgery. The robot host 1 is connected to the quick-release positioning mechanism 3 through the connecting column assembly 2. The quick-release positioning mechanism 3 undertakes the functions of quick locking, angle adjustment, and support of the host. The three work together to achieve support, quick release, and angle positioning of the host.

[0020] The robot host 1 has a pre-set slot on its back for engaging with the connecting column 201 of the connecting column assembly 2. The connecting column 201 is embedded to fix the robot host to the connecting column assembly 2, and the connecting column assembly 2 is then associated with the quick-release positioning mechanism 3 to ensure the positional stability of the host during use.

[0021] The connecting column assembly 2 consists of a connecting column 201 and an M6×1 connecting screw 202, which are a matching connection structure. After the M6×1 connecting screw 202 passes through the preset hole of the connecting column 201, it is locked towards the slot on the back of the robot host 1. Under the action of the locking force, the connecting column 201 gradually embeds into the slot on the back of the robot host 1, and finally the connecting column 201 and the robot host 1 are rigidly fixed. Subsequently, the robot host 1 can be moved or rotated synchronously by the movement of the connecting column 201.

[0022] The quick-release positioning mechanism 3 consists of 14 parts: a rotating plate 301, a ball bearing 302, a quick-release body 303, a locking pin handle 304, a tightening spring 305, a knurled pin 306, a locking pin 307, an M4 countersunk screw 308, a locking bracket 309, an M10 hexagonal screw 3010, a locking block 3011, an M6 screw 3012, a wear-resistant washer 3013, and an L-shaped wrench 3014. The assembly and connection relationships of each part are as follows: The quick-release body 303 serves as the mounting base for the entire quick-release positioning mechanism 3. It has a pre-set locking hole for the connecting post 201 to be inserted, and also provides a mounting reference for other components. The ball bearing 302 is nested in the inner wall of the locking hole to reduce the frictional resistance when the connecting post 201 rotates. The locking bracket 309 is fixed to a pre-set position on the top of the quick-release body 303 by an M4 countersunk screw 308 to guide the movement direction of the locking pin 307. The locking block 3011 is fixed to the side of the quick-release body 303 by an M6 screw 3012 to cooperate with the M10 external hex screw 3010 to achieve angle locking.

[0023] Locking pins 307 are sequentially inserted into the preset holes of the quick-release body 303 and the guide holes of the locking bracket 309. One end of the pin is fixedly connected to the locking pin handle 304 by a knurled pin 306 to prevent the two from sliding relative to each other during operation. The tensioning spring 305 is sleeved on the outside of the locking pin 307, and its two ends abut against the inner wall of the quick-release body 303 and the stepped surface of the locking pin 307, respectively, forming a "pull-back" elastic drive structure to provide power for the locking action of the locking pin 307.

[0024] The rotating plate 301 is fixedly connected to the end of the connecting column 201 and rotates synchronously with the connecting column 201. A 45° arc groove is provided on it. This groove serves as both a sliding track for the M10 external hexagonal screw 3010 and a limitation on the rotation range of the rotating plate 301. The M10 external hexagonal screw 3010 passes through the 45° arc groove of the rotating plate 301 and the preset through hole of the locking block 3011 in sequence, and is threaded to one end of the L-shaped wrench 3014. A wear-resistant washer 3013 is placed between the through hole of the locking block 3011 and the L-shaped wrench 3014 to reduce contact wear between the two during the locking process and extend the service life of the components.

[0025] Working principle: Quick installation of the main unit: Hold the robot main unit 1 and align the connecting post 201 fixed to the main unit with the locking hole of the quick-release body 303; pull the locking pin handle 304 outward, causing the locking pin 307 to move outward along the guide hole of the locking bracket 309. At this time, the clamping spring 305 is compressed (storing elastic potential energy); insert the connecting post 201 completely into the locking hole of the quick-release body 303 until the groove of the connecting post 201 is aligned with the end of the locking pin 307; release the locking pin handle 304, the clamping spring 305 releases elastic potential energy, and pushes the locking pin 307 back towards the connecting post 201 until the end of the locking pin 307 is inserted into the groove of the connecting post 201. At this time, the connecting post 201 and the robot main unit 1 are completely fixed in the axial direction of the A-axis and cannot move along the axial direction, but can rotate around the A-axis with the connecting post.

[0026] Adjustment of the intervention angle of the host: After axial fixation, push the robot host 1 to drive the connecting column 201 and the rotating plate 301 to rotate synchronously around the A-axis; since the rotating plate 301 is provided with a 45° arc groove, the external hexagonal screw 3010 can slide along the arc trajectory in the groove, thereby limiting the angle adjustment range of the host to 0°-45°, until it is adjusted to the target intervention angle that matches the vascular sheath.

[0027] Main unit angle locking and quick disassembly: Angle locking: After the angle is adjusted to the correct position, turn the L-shaped wrench 3014 by hand to rotate the external hex screw 3010 and tighten it towards the locking block 3011 until the head of the external hex screw 3010 presses against the surface of the rotating plate 301, so that the rotating plate 301 and the quick disassembly body 303 are relatively fixed. At this time, the angle of the main unit is locked and cannot be rotated further. Quick disassembly: After the operation, turn the L-shaped wrench 3014 in the opposite direction to loosen the external hexagonal screw 3010; then pull the locking pin handle 304 outward to disengage the locking pin 307 from the groove of the connecting post 201; finally, pull the connecting post 201 out of the locking hole of the quick-release body 303 to complete the disassembly of the main unit. The whole process does not require tool assistance (except for angle locking) and the operation time is short.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solution of this utility model, and these modifications or equivalent substitutions cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of this utility model.

Claims

1. A quick-release support and positioning mechanism for the main unit of a vascular interventional robot, characterized in that: Includes the robot main unit, connecting column assembly, and quick-release positioning mechanism; The connecting post assembly includes a connecting post and a connecting screw, wherein the connecting post is embedded in a slot on the surface of the vascular intervention robot main unit via the connecting screw; The quick-release positioning mechanism includes a quick-release body, a locking pin, a tightening spring, a locking pin handle, a rotating plate, an external hexagonal screw, and an L-shaped wrench. The quick-release body has a locking hole for the connecting post to be inserted. The locking pin passes through the quick-release body, with one end connected to the locking pin handle and the other end able to fit into the groove of the connecting post. The tightening spring is sleeved on the outside of the locking pin, with both ends abutting against the quick-release body and the locking pin respectively. When the tightening spring rebounds, it can push the locking pin towards the connecting post, causing the locking pin to engage with the groove of the connecting post, thereby fixing the position of the connecting post and the robot host along the A-axis. The rotating plate is fixedly connected to the connecting post, and the external hexagonal screw passes through the rotating plate and is connected to the quick-release body. The rotating plate can rotate around the A-axis to adjust the intervention angle of the robot host. When the external hexagonal screw is tightened, it can fix the angle of the robot host.

2. The quick-release support and positioning mechanism for a vascular interventional robot main unit according to claim 1, characterized in that: The rotating plate has an arc-shaped groove, and the external hexagonal screw passes through the arc-shaped groove. The arc-shaped groove can serve as a sliding groove for the rotating plate and the external hexagonal screw to rotate relative to each other.

3. The quick-release support and positioning mechanism for a vascular interventional robot main unit according to claim 1, characterized in that: The quick-release positioning mechanism also includes a locking block, a screw, and a wear-resistant washer. The locking block is fixed to the quick-release body by the screw. The external hexagonal screw passes through the arc groove of the rotating plate and the preset through hole of the locking block in sequence and is threaded to one end of the L-shaped wrench. The wear-resistant washer is located between the through hole of the locking block and the L-shaped wrench.

4. The quick-release support and positioning mechanism for the main unit of a vascular interventional robot according to claim 1, characterized in that: The quick-release positioning mechanism also includes a ball bearing, which is sleeved on the outside of the connecting column and located between the connecting column and the quick-release body.

5. The quick-release support and positioning mechanism for a vascular interventional robot main unit according to claim 1, characterized in that: The quick-release positioning mechanism also includes a knurled pin, which passes through the locking pin and the locking pin handle to fix the connection between the locking pin and the locking pin handle.

6. The quick-release support and positioning mechanism for a vascular interventional robot main unit according to claim 1, characterized in that: The quick-release positioning mechanism also includes a locking bracket and a countersunk screw. The locking bracket is fixed to the quick-release body by the countersunk screw, and the locking pin passes through the locking bracket.

Images