Surgical instrument quick-change apparatus and quick-change method

Abstract

Disclosed in the present application are a surgical instrument quick-change apparatus and a quick-change method. The surgical instrument quick-change apparatus comprises a driving box and an isolation member capable of being in clamped connection with the driving box. A first adapter is elastically and telescopically arranged on the driving box. A second adapter capable of being in inserted connection with the first adapter is arranged on the isolation member. In the embodiments of the present application, the surgical instrument quick-change apparatus and the quick-change method as described above are used, the first adapter is elastically and telescopically arranged on the driving box, in the installation process of the isolation member and the driving box or an instrument box, the inserted connection fit state between the second adapter and the first adapter or a third adapter is reflected by means of the telescopic state change of the first adapter, and the first adapter is controlled to rotate based on the telescopic change state of the first adapter to adjust the circumferential fit position between the adapters, thereby achieving automatic alignment between the adapters. Therefore, the installation efficiency of the driving box and the isolation member can be greatly improved while the transmission fit precision of the surgical instrument is guaranteed.

Description

Surgical instrument quick change device and quick change method

[0001] This application claims priority to the Chinese patent application No. 202410536528.4 filed on April 29, 2024, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of medical instruments, in particular to a surgical instrument quick change device and quick change method. BACKGROUND

[0003] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using laparoscopes, thoracoscopes and other modern medical instruments and related equipment. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain and faster recovery. However, due to the size limitation of the incision, the operation difficulty of minimally invasive instruments is greatly increased, which becomes a key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the field of minimally invasive medical treatment that can overcome the shortcomings and inherit the advantages, minimally invasive surgery robot technology, has emerged as the times require.

[0004] A common minimally invasive surgery robot is composed of a doctor console, a patient side cart and a display device. A surgeon operates an input device at the doctor console and transmits the input to a patient surgery platform connected with a remotely operated surgical instrument. The top end of the surgical instrument is provided with an instrument box, which is generally detachably connected with a driving box through a partition plate. The surgical instrument is a consumable and needs to be replaced after a certain number of uses. A rotating shaft is arranged in the instrument box, and a rotating disc corresponding to the rotating shaft is arranged on the partition plate. The rotating shaft of the driving box and the rotating shaft of the instrument box are connected through the rotating disc. A motor is arranged in the driving box, which drives the rotating shaft in the driving box to rotate, drives the rotating disc of the partition plate to rotate, and drives the rotating shaft of the instrument box to rotate, so as to drive the steel wire rope on the rotating shaft of the instrument box to control the opening and closing rotation of the instrument forceps.

[0005] At present, the driving box, the partition plate and the instrument box of the surgical instrument are mostly detachably connected. The driving box rotating shaft, the partition plate rotating disc and the instrument box rotating shaft are generally connected by insertion. Since a plurality of rotating shafts are arranged on one instrument box, the driving box rotating shaft, the partition plate rotating disc and the instrument box rotating shaft need to be aligned and clamped at the same time during connection. In order to facilitate clamping, the initial positions of the driving box rotating shaft, the partition plate rotating disc and the instrument box rotating shaft are adjusted by workers to the same position at zero point. However, in the actual disassembly process, the driving box rotating shaft, the partition plate rotating disc and the instrument box rotating shaft are difficult to align due to the matching error, which requires the operator to further manually adjust the rotating shaft until alignment, affecting the installation efficiency. SUMMARY

[0006] In view of the deficiencies of the related art, the present application provides a surgical instrument quick-change device and a quick-change method, which are simple to operate and have high loading and unloading efficiency.

[0007] To achieve the above object, the present application is implemented by the following technical solutions.

[0008] The present application provides a surgical instrument quick-change device, which comprises a driving box and a separation piece, the separation piece being capable of being clamped with the driving box in a first direction;

[0009] The driving box is provided with a first adapter connected with the rotating driving assembly on the side end face close to the separation piece and capable of being inserted with the second adapter in the first direction;

[0010] The driving box is further provided with a sensing unit configured to monitor the extension state of the first adapter;

[0011] The first adapter and the second adapter are capable of transmitting torque to each other in the inserted state, and the first direction is specifically set as the axial direction of the first adapter.

[0012] In the unconnected state or the connected state of the driving box and the separation piece, the first adapter is in the extended state under the action of the elastic force.

[0013] Further limitation, the above-mentioned surgical instrument quick-change device further comprises an instrument box detachably connected with the separation piece;

[0014] The instrument box is provided with a third adapter coupled with the instrument rod on the side end face close to the separation piece and rotating about the corresponding position of the second adapter;

[0015] The third adapter is capable of being inserted with the second adapter away from the driving box in the first direction, and the second adapter and the third adapter are capable of transmitting torque to each other in the inserted state.

[0016] Further limitation, the above-mentioned surgical instrument quick-change device, wherein the first adapter is provided with a first adapter slot at one end close to the separation piece, and the second adapter is provided with a first adapter protrusion at one end close to the driving box, the first adapter protrusion being capable of being inserted with the first adapter slot on the corresponding position of the first adapter and transmitting torque;

[0017] And / or the second adapter is provided with a second adapter protrusion at one end away from the driving box, and the third adapter is provided with a second adapter slot at one end close to the separation piece, the second adapter slot being capable of being inserted with the second adapter protrusion on the corresponding position of the second adapter and transmitting torque.

[0018] Further, the isolation piece includes an isolation plate body and a floating plate arranged on the isolation plate body.

[0019] The floating plate is movable relative to the isolation plate body in a first direction, and the second adapter is arranged through the floating plate and is rotatable relative to the floating plate.

[0020] Further, the isolation plate body is provided with a movable cavity arranged to accommodate the floating plate, and the inner wall of the movable cavity is provided with a floating adjusting groove.

[0021] The floating plate is provided with a sliding ear fixed at a position corresponding to the floating adjusting groove, and the sliding ear is arranged in the floating adjusting groove in the first direction.

[0022] Further, the isolation piece is capable of being inserted into the instrument box in a second direction away from the driving box, and the displacement of the instrument box relative to the isolation piece in the first direction is limited in the inserted state of the isolation piece and the instrument box.

[0023] The instrument box is provided with a positioning convex piece fixed on the side surface close to the driving box, the isolation piece is provided with a guide groove capable of slidingly connecting with the positioning convex piece on the side surface away from the driving box, the guide groove extends in the second direction and is through the movable cavity at one end and the outer surface of the isolation piece at the other end.

[0024] The floating plate of the isolation piece is provided with an accommodation groove on the side surface away from the driving box.

[0025] The second direction is specifically arranged as any direction perpendicular to the axial direction of the first adapter, the positioning convex piece can abut against the floating plate to keep the second adapter and the third adapter apart in the first direction during the insertion of the isolation piece and the instrument box, and the positioning convex piece can be embedded in the accommodation groove after the insertion of the isolation piece and the instrument box is completed.

[0026] Further, the surgical instrument quick change device further comprises an unlocking assembly arranged to release the inserted state of the second adapter and the third adapter.

[0027] The unlocking assembly includes a control member and a top driving member arranged on the side surface of the instrument box close to the isolation piece and capable of extending and retracting in the first direction.

[0028] The control member is coupled with the top driving member and capable of controlling the top driving member to extend towards the side direction close to the driving box to push against the floating plate.

[0029] The application also provides a surgical instrument quick change method, wherein the application is applied to the surgical instrument quick change device described in any of the above, comprising:

[0030] Clamping the isolation piece to the drive box in the first direction;

[0031] Obtaining the extension state of the first adapter during or after the clamping of the isolation piece and the drive box;

[0032] Performing rotational driving on the first adapter in the retracted state, and monitoring the extension state of the first adapter during the rotation of the first adapter, and stopping the rotational driving when the first adapter is converted to the extended state;

[0033] Wherein, the first direction is specifically set as the axial direction of the first adapter, and when the clamping of the isolation piece and the drive box is completed and the first adapter is in the extended state, the first adapter and the second adapter are in the plug-in state and can transmit torque to each other.

[0034] Further limitation, the above-mentioned surgical instrument quick change method, wherein, further comprising:

[0035] Plugging the instrument box into the isolation piece in the second direction;

[0036] Obtaining the extension state of the first adapter after the plugging of the instrument box and the isolation piece is completed;

[0037] Performing rotational driving on the first adapter in the retracted state, and monitoring the extension state of the first adapter during the rotation of the first adapter, and stopping the rotational driving when the first adapter is converted to the extended state;

[0038] Wherein, the second direction is specifically set as any direction on the axial vertical plane of the first adapter, and when the plugging of the instrument box is completed and the first adapter is in the extended state, the second adapter and the third adapter are in the plug-in state and can transmit torque to each other;

[0039] Lifting the floating plate by the positioning convex piece during the plugging of the instrument box, and embedding the positioning convex piece into the containing groove to release the support of the floating plate after the plugging of the instrument box is completed.

[0040] Further limitation, the above-mentioned surgical instrument quick change method, wherein, further comprising:

[0041] Releasing the clamping between the isolation piece and the drive box in the first direction;

[0042] And / or controlling the driving piece to extend and lift the floating plate through the control handle, and releasing the plugging between the instrument box and the isolation piece in the second direction;

[0043] Wherein, in the floating plate lifting state, the positioning convex piece is separated from the containing groove, and the second adapter and the third adapter are released from the plugging. Attached Figure Description

[0044] Figure 1 is a structural schematic diagram of the quick-change surgical instrument device according to an embodiment of this application;

[0045] Figure 2 is a schematic diagram of the installation of the "drive box 100" and the "isolation piece 200" in the quick-change surgical instrument device of this application embodiment;

[0046] Figure 3 is an exploded view of the structure of the "drive box 100" in the quick-change surgical instrument device according to an embodiment of this application, with the "cover 110" hidden.

[0047] Figure 4 is a structural schematic diagram of the "base plate 130" part in the quick-change device for surgical instruments according to an embodiment of this application;

[0048] Figure 5 is a structural schematic diagram of the "mounting plate 120" part in the quick-change device for surgical instruments according to an embodiment of this application;

[0049] Figure 6 is a schematic diagram of the structure of the "drive box 100" with the "base plate 130" hidden in the quick-change device for surgical instruments in an embodiment of this application;

[0050] Figure 7 is an exploded view of the "elastic transition component" in the quick-change surgical instrument device according to an embodiment of this application;

[0051] Figure 8 is a structural cross-sectional view of the "elastic adapter assembly" in the quick-change surgical instrument device according to an embodiment of this application;

[0052] Figure 9 is a structural schematic diagram of the "first adapter 151" in the quick-change surgical instrument device of this application embodiment;

[0053] Figure 10 is a structural schematic diagram of the "first adapter 151" in the quick-change surgical instrument device of this application embodiment;

[0054] Figure 11 is an exploded view of the structure of the "isolation element 200" in the quick-change surgical instrument device according to an embodiment of this application;

[0055] Figure 12 is an exploded view of the structure of the "isolation element 200" in the quick-change surgical instrument device according to an embodiment of this application;

[0056] Figure 13 is a schematic diagram of the installation of the "second adapter 240" and "base plate 250" in the quick-change surgical instrument device of the present application embodiment;

[0057] Figure 14 is a structural schematic diagram of the "instrument box 300" in the quick-change surgical instrument device of this application embodiment;

[0058] Figure 15 is a schematic diagram of the structure of the "instrument box 300" in the quick-change surgical instrument device according to an embodiment of this application, after the "loading and unloading plate 310" is hidden.

[0059] Drive box-100, cover-110, mounting plate-120, bottom plate-130, limiting baffle-131, card hole-132, first adapter-151, adapter-1511, transmission tooth-1512, center through hole-1513, mounting groove-1514, screw hole-1515, first adapter slot-1516, limiting piece-152, fastening bolt-153, elastic piece-154, center shaft-155, bearing piece-156, collar-157, induction head-158, flat groove-159, motor-160, drive gear-161, displacement sensor-170, isolation-200, adapter plate-210, button-211, card plate-212, first floating groove-213, guide groove-214, cover plate-220, guide groove-221, second floating groove-222, limiting plate-230, accommodating groove-231, embedded hole-232, second adapter-240, adapter body-241, second adapter protrusion-242, first adapter protrusion-243, limiting protruding piece-244, base plate-250, mounting hole-251, sliding ear-252, positioning step-253, instrument box-300, dismounting plate-310, card protrusion-311, instrument rack-320, control-330, pressing part-331, top-up part-332, top-up piece-340, positioning protruding piece-350, third adapter-360, second adapter slot-361, instrument rod-400. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0061] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not intended to describe a particular order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually a category, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally represents a "or" relationship between the front and rear associated objects.

[0062] The surgical instrument quick change device and the quick change method provided by the embodiments of the present application will be described in detail below with reference to the drawings and specific embodiments and application scenarios.

[0063] As shown in FIGS. 1-15, the embodiment of the present application provides a surgical instrument quick-change device, which comprises a driving box 100, an isolation piece 200 connected with the driving box 100 in a first direction, and an instrument box 300 detachably connected with the isolation piece 200, wherein the instrument box 300 is provided with an instrument rod 400.

[0064] The driving box 100 is provided with a first adapter 151 connected with a rotating driving assembly on an elastic side end face close to the isolation piece 200, and the isolation piece 200 is provided with a second adapter 240 capable of being inserted with the first adapter 151 in the first direction on a corresponding position of the first adapter 151 on an elastic side end face close to the driving box 100, wherein the first adapter 151 and the second adapter 240 can transmit torque to each other in the inserted state.

[0065] Specifically, the first direction is the axial direction of the first adapter 151, and the first adapter 151 is in the extended state under the elastic force in the state that the driving box 100 and the isolation piece 200 are not connected, and the driving box 100 is further provided with a sensing unit for monitoring the extension state of the first adapter 151.

[0066] It can be understood that when the isolation piece 200 is connected with the driving box 100 in the first direction, the first adapter 151 is inserted with the second adapter 240 in the corresponding position, and in the process of connecting the driving box 100 and the isolation piece 200, if the first adapter 151 and the second adapter 240 in the corresponding position are not aligned in the insertion direction, the second adapter 240 will interfere with the first adapter 151, so as to drive the first adapter 151 to overcome the elastic force and retract, and after the sensing unit detects that the first adapter 151 is in the retracted state, the rotating driving assembly is turned on to drive the first adapter 151 to rotate, and when the first adapter 151 is rotated to be aligned with the second adapter 240 in the corresponding position in the insertion direction, the first adapter 151 can be extended under the elastic force and inserted with the second adapter 240, and the sensing unit is turned off after detecting that the first adapter 151 is in the extended state.

[0067] In the embodiment of the application, the above-mentioned surgical instrument quick-change device is adopted, the driving box 100 and the isolation piece 200 are installed in a clamping fit, and the first adapter 151 can be elastically extended and retracted on the driving box 100. During the installation of the driving box 100 and the isolation piece 200, the insertion fit state of the first adapter 151 and the second adapter 240 is reflected by the extension and retraction state of the first adapter 151, and the circumferential fit position of the first adapter 151 and the second adapter 240 is controlled based on the extension and retraction state of the first adapter 151, so as to realize the automatic alignment of the first adapter 151 and the second adapter 240, which can greatly improve the installation efficiency of the driving box 100 and the isolation piece 200 while ensuring the transmission fit precision between the first adapter 151 and the second adapter 240.

[0068] In a preferred embodiment, as shown in FIGS. 2-6 and 11-13, a plurality of first adapters 151 are elastically extended and retracted on the driving box 100, and a plurality of second adapters 240 are arranged on the isolation piece 200, and the plurality of second adapters 240 and the plurality of first adapters 151 are respectively positionally corresponding and can be inserted and fitted.

[0069] It can be understood that the sensing unit can monitor the extension and retraction state of the plurality of first adapters 151 respectively, and individually control the rotation of the corresponding position first adapter 151 by the rotation driving assembly based on the extension and retraction state of the first adapter 151.

[0070] In a preferred embodiment, as shown in FIGS. 3, 4, 6-13, the first adapter 151 is provided with a first adapter groove 1516 at one end close to the isolation piece 200, and the second adapter 240 is provided with a first adapter protruding portion 243 capable of being inserted and fitted with the first adapter groove 1516 of the corresponding position first adapter 151 and transmitting torque at one end close to the driving box 100.

[0071] It can be understood that, in order to ensure the torque transmission of the first adapter 151 and the second adapter 240, the first adapter groove 1516 cannot be provided as a rotary groove coaxial with the first adapter 151, and can be provided as a square groove, a pentagonal groove, a special-shaped groove or other groove type capable of abutting against the first adapter protruding portion 243 in the circumferential direction of the first adapter 151, as long as the torque transmission between the first adapter 151 and the second adapter 240 can be realized, which will not be described here.

[0072] It can be understood that the insertion and fit form of the first adapter 151 and the second adapter 240 is not limited to the above-mentioned one, for example, the first adapter protruding portion 243 can be arranged on the first adapter 151, and the first adapter groove 1516 can be arranged on the second adapter 240, as long as the insertion and fit of the first adapter 151 and the second adapter 240 can be realized, which will not be described here.

[0073] In a preferred embodiment, as shown in FIGS. 1-6, the driving box 100 comprises a mounting plate 120, a cover 110 fixedly arranged on the end face of the mounting plate 120 away from the isolation member 200, and a bottom plate 130 fixedly arranged on the end face of the mounting plate 120 close to the isolation member 200.

[0074] The first adapter 151 is arranged through the bottom plate 130 and can elastically extend and retract relative to the bottom plate 130.

[0075] In a preferred embodiment, as shown in FIGS. 2, 11 and 12, the isolation member 200 comprises an isolation plate body and a floating plate arranged on the isolation plate body, and the second adapter 240 is arranged through the floating plate and can rotate relative to the floating plate.

[0076] In a preferred embodiment, as shown in FIGS. 3, 4, 11 and 12, the end face of the bottom plate 130 close to the isolation member 200 is provided with a plurality of clamping holes 132, and the isolation plate body is fixedly provided with a plurality of clamping plates 212 at positions corresponding to the clamping holes 132, and the clamping plates 212 can be clamped with the corresponding clamping holes 132, respectively.

[0077] It can be understood that the clamping and fitting form between the driving box 100 and the isolation member 200 is not limited to the above-mentioned one, for example, the clamping holes 132 can be arranged on the isolation plate body, and the clamping plates 212 can be arranged on the bottom plate 130, as long as the clamping and fitting of the driving box 100 and the isolation member 200 in the first direction can be achieved, which will not be described herein.

[0078] In a preferred embodiment, the isolation plate body comprises a connection plate 210 and a sleeve plate 220 fixedly arranged on the end face of the connection plate 210 away from the driving box 100, and the floating plate can move relative to the connection plate 210 and the sleeve plate 220 in the first direction, and the end face of the instrument box 300 close to the isolation member 200 is rotatably provided with a third adapter 360 coupled with the instrument rod 400 at a position corresponding to the second adapter 240.

[0079] The third adapter 360 can be fitted and inserted with the second adapter 240 away from the driving box 100 in the first direction, and the second adapter 240 and the third adapter 360 can transmit torque to each other in the inserted state.

[0080] It can be understood that, in the state that the isolation piece 200 is clamped with the driving box 100, the first adapter 151 is inserted with the corresponding second adapter 240, and the instrument box 300 is installed on the isolation piece 200, if the third adapter 360 is not aligned with the corresponding second adapter 240 in the insertion direction, the third adapter 360 will resist the second adapter 240, thereby driving the floating plate to move relative to the connection plate 210 and the sleeve plate 220 to the side close to the driving box 100, and then driving the first adapter 151 to overcome the elastic force and retract through the second adapter 240. After the sensing unit detects that the first adapter 151 is in the retracted state, the first adapter 151 and the second adapter 240 are synchronously rotated by rotating the driving assembly. When the second adapter 240 is rotated to be aligned with the corresponding third adapter 360 in the insertion direction, the first adapter 151 can be extended under the action of the elastic force and move the floating plate relative to the connection plate 210 and the sleeve plate 220 to the side away from the driving box 100 to reset. After the sensing unit detects that the first adapter 151 is in the extended state, the rotating driving assembly is closed. At this time, the first adapter 151 can synchronously rotate the second adapter 240 and the third adapter 360 when rotating, thereby achieving driving control of the instrument rod 400.

[0081] In the embodiment of the present application, the above-mentioned surgical instrument quick-change device is adopted, the floating plate is movably arranged on the isolation piece 200, and in the installation process of the isolation piece 200 and the instrument box 300, the position change of the floating plate can drive the extension and retraction state of the first adapter 151 to change, thereby reflecting the insertion and cooperation state of the second adapter 240 and the third adapter 360. The synchronous rotation of the first adapter 151 and the second adapter 240 based on the extension and retraction change state of the first adapter 151 can realize the adjustment of the second adapter 240 and the third adapter 360 in the circumferential cooperation position, thereby realizing the automatic alignment of the second adapter 240 and the third adapter 360. In the installation process of the driving box 100, the isolation piece 200 and the instrument box 300, the automatic alignment between the first adapter 151, the second adapter 240 and the third adapter 360 can be realized through the extension and retraction state monitoring and rotation adjustment of the first adapter 151, without manual adjustment, thereby further improving the overall installation efficiency of the device.

[0082] In a preferred embodiment, as shown in FIGS. 2-6 and 11-15, a plurality of third adapters 360 are provided on the instrument box 300, and the plurality of third adapters 360 and the plurality of second adapters 240 are respectively positionally corresponding and can be inserted and cooperated.

[0083] It can be understood that when the instrument box 300 is installed on the isolation piece 200, as long as one of the third adapters 360 is not aligned with the corresponding second adapter 240, the floating plate will drive all the second adapters 240 to move synchronously towards the side close to the drive box 100, that is, all the first adapters 151 will be converted to the retracted state under the pushing of the second adapters 240. After the induction unit detects that the first adapter 151 is in the retracted state, it drives all the first adapters 151 and the second adapters 240 to rotate synchronously until all the second adapters 240 are aligned with the third adapters 360.

[0084] In a preferred embodiment, as shown in FIGS. 11-15, the second adapter 240 is provided with a second adapter protrusion 242 at the end away from the drive box 100, and the third adapter 360 is provided with a second adapter groove 361 capable of cooperating with the second adapter protrusion 242 on the corresponding second adapter 240 for plug-in and torque transmission at the end close to the isolation piece 200.

[0085] It can be understood that in order to ensure torque transmission between the second adapter 240 and the third adapter 360, the second adapter groove 361 cannot be provided as a rotary groove coaxial with the third adapter 360, but can be provided as a square groove, a pentagonal groove, a special-shaped groove or other groove types capable of abutting against the second adapter 240 in the circumferential direction of the third adapter 360, as long as torque transmission between the third adapter 360 and the second adapter 240 can be achieved, which will not be described here.

[0086] It can be understood that the plug-in and cooperation form of the second adapter 240 and the third adapter 360 is not limited to the above-mentioned one, for example, the second adapter groove 361 can be provided on the second adapter 240, and the second adapter protrusion 242 can be provided on the third adapter 360, as long as plug-in and cooperation between the third adapter 360 and the second adapter 240 can be achieved, which will not be described here.

[0087] In a preferred embodiment, as shown in FIGS. 1, 2, 11 and 12, the adapter plate 210 and the sleeve plate 220 are provided with an active cavity for accommodating the floating plate.

[0088] The adapter plate 210 is provided with a plurality of first floating grooves 213 on the end face close to the sleeve plate 220 along the edge of the active cavity, and the sleeve plate 220 is provided with a plurality of second floating grooves 222 on the end face close to the adapter plate 210 at the corresponding positions of the plurality of first floating grooves 213, and the first floating grooves 213 and the second floating grooves 222 are respectively communicated with the active cavity.

[0089] The plurality of sliding ears 252 are fixedly arranged on the floating plate at positions corresponding to the plurality of first floating grooves 213 and the plurality of second floating grooves 222. In the connected state of the connecting plate 210 and the sleeve plate 220, the first floating grooves 213 and the corresponding second floating grooves 222 are buckled to form a floating adjustment groove. The floating plate is located in the movable cavity, and the sliding ears 252 are slidingly arranged in the corresponding floating adjustment grooves in the first direction.

[0090] It can be understood that, in order to ensure the stability of the movement of the floating plate relative to the connecting plate 210 in the first direction, at least two of the plurality of first floating grooves 213 are located at the positions of the inner walls on the opposite sides of the movable cavity.

[0091] Of course, if the floating plate is slidingly connected with the movable cavity, the number of the first floating grooves 213 and the second floating grooves 222 can be at least one, and the arrangement position thereof can not be limited. At this time, the sliding connection of the floating adjustment groove and the sliding ear 252 is only for limiting the movement stroke of the floating plate relative to the connecting plate 210.

[0092] In a preferred embodiment, as shown in FIGS. 2, 11-13, the floating plate comprises a base plate 250 and a limiting plate 230 fixedly arranged on the side end face of the base plate 250 away from the drive box 100.

[0093] The second adapter 240 is penetratingly arranged on the base plate 250 and the limiting plate 230 and can rotate relative to the base plate 250 and the limiting plate 230 along the axial direction of the second adapter 240.

[0094] In a preferred embodiment, as shown in FIGS. 11-13, the base plate 250 has a mounting hole 251 penetratingly arranged at a position corresponding to the first adapter 151, and the inner wall of the mounting hole 251 is provided with a positioning step 253. The limiting plate 230 has an embedded hole 232 penetratingly arranged at a position corresponding to the mounting hole 251.

[0095] The second adapter 240 comprises an adapter main body 241, a second adapter protruding part 242, a first adapter protruding part 243, and a limiting protruding part 244. The adapter main body 241 is fixedly arranged on the side end face of the adapter main body 241 away from the drive box 100. The first adapter protruding part 243 is fixedly arranged on the side end face of the adapter main body 241 close to the drive box 100. The limiting protruding part 244 is fixedly arranged on the outer circumferential surface of the adapter main body 241.

[0096] The adapter main body 241 is penetratingly arranged in the mounting hole 251 and the embedded hole 232 and is in clearance fit with the mounting hole 251 and the embedded hole 232. The diameter of the embedded hole 232 is smaller than the outer diameter of the limiting protruding part 244. The side end face of the limiting protruding part 244 close to the drive box 100 can abut against the side end face of the positioning step 253 away from the drive box 100, and the side end face away from the drive box 100 can abut against the side end face of the limiting plate 230 close to the drive box 100.

[0097] It can be understood that through the interference fit of the limiting convex piece 244 and the positioning step 253 and the limiting plate 230, the installation and limiting of the second adapter 240 on the base plate 250 and the limiting plate 230 can be realized, and the requirement that the second adapter 240 rotates relative to the floating plate can be met.

[0098] It can be understood that the installation form of the second adapter 240 on the floating plate is not limited to the above-mentioned one. For example, the second adapter 240 can be rotatably connected with the floating plate through a bearing piece, but the component cost is increased. On the other hand, when the third adapter 360 drives the floating plate as a whole to move to the side close to the drive box 100 in the direction, and the rotating drive assembly drives the first adapter 151 and the second adapter 240 to synchronously rotate, since the limiting convex piece 244 can slightly float in the first direction in the mounting hole 251, the second adapter 240 can be directly inserted under the pushing of the first adapter 151 after the corresponding position of the second adapter 240 is aligned with the third adapter 360. When all the second adapters 240 and the third adapters 360 are completed with the pre-insertion, the floating plate will be reset under the pushing of the first adapter 151.

[0099] In a preferred embodiment, as shown in FIGS. 11-13, the sliding ear 252 is fixedly arranged on the base plate 250 and can slide in the floating adjustment groove in the first direction.

[0100] In a preferred embodiment, as shown in FIGS. 11 and 12, two buttons 211 are symmetrically and fixedly arranged on the end face of the connection plate 210 away from the drive box 100.

[0101] Among them, the sleeve plate 220 is provided with a slot corresponding to the position of the button 211, and the button 211 can pass through the corresponding position of the slot and be clamped with the sleeve plate 220.

[0102] In a preferred embodiment, as shown in FIGS. 11 and 12, the sleeve plate 220 is provided with an unlocking notch corresponding to the position of the button 211, and the operator can press the button 211 at the unlocking notch to release the clamping of the button 211 and the sleeve plate 220.

[0103] It can be understood that since the first floating groove 213 on the connection plate 210 and the second floating groove 222 on the sleeve plate 220 need to be buckled to form the floating adjustment groove, the clamping of the connection plate 210 and the sleeve plate 220 can improve the installation efficiency of the connection plate 210 and the sleeve plate 220. At the same time, the connection mode between the connection plate 210 and the sleeve plate 220 is not limited to the above-mentioned one. For example, the two can also be connected by bolts, buckling or other detachable installation structures. As long as the detachable connection of the connection plate 210 and the sleeve plate 220 can be realized, no further description is given here.

[0104] In a preferred embodiment, as shown in FIG. 1, FIG. 14 and FIG. 15, the instrument box 300 comprises a dismounting plate 310 and an instrument rack 320 fixedly arranged on the end face of the dismounting plate 310 away from the driving box 100.

[0105] The third adapter 360 penetrates the dismounting plate 310 and is capable of rotating along its own axis relative to the dismounting plate 310.

[0106] In a preferred embodiment, as shown in FIG. 2, FIG. 14 and FIG. 15, the instrument box 300 is capable of being inserted into the isolation member 200 in the second direction away from the end face of the driving box 100.

[0107] The instrument rack 320 is fixedly arranged with a positioning protrusion 350 on the end face of the dismounting plate 310 away from the driving box 100, and the isolation member 200 is arranged with a guide groove 221 capable of slidingly connecting with the positioning protrusion 350 on the end face of the isolation member 200 away from the driving box 100, the guide groove 221 extends in the second direction and one end thereof is in communication with the movable cavity and the other end thereof is in communication with the outer surface of the isolation member 200.

[0108] The floating plate is arranged with a receiving groove 231 on the end face thereof away from the driving box 100 and in the extension direction of the guide groove 221.

[0109] The second direction is specifically arranged as any direction in the axial direction perpendicular to the surface of the first adapter 151, and in the inserted state of the isolation member 200 and the instrument box 300, the positioning protrusion 350 is capable of being embedded into the receiving groove 231, and the displacement of the instrument box 300 relative to the isolation member 200 in the first direction is limited.

[0110] It can be understood that when the instrument box 300 is inserted with the isolation piece 200 in the second direction, the positioning protrusion 350 slides through the guide groove 221 to the corresponding position of the movable cavity, and as the positioning protrusion 350 continues to move, the positioning protrusion 350 will abut against the floating plate away from the side end face of the driving box 100, so that the second adapter 240 and the third adapter 360 are temporarily not inserted, and when the positioning protrusion 350 moves to the position of the containing groove 231, the floating plate loses the abutting force and moves away from the side of the driving box 100 under the action of the elastic force of the first adapter 151, at this time, the second adapter 240 and the third adapter 360 are inserted and matched, if the second adapter 240 and the corresponding third adapter 360 are misaligned in the circumferential direction, the abutment of the third adapter 360 to the second adapter 240 drives the corresponding first adapter 151 to overcome the elastic force and retract, after the sensing unit detects that the first adapter 151 is in the retracted state, the first adapter 151 and the second adapter 240 are synchronously rotated by rotating the driving assembly until the second adapter 240 and the corresponding third adapter 360 are aligned in the circumferential direction, and when all the second adapters 240 and the third adapters 360 are inserted, the floating plate is reset under the pushing of the first adapter 151, at this time, the positioning protrusion 350 is completely embedded in the containing groove 231.

[0111] In the embodiment of the application, the above-mentioned surgical instrument quick change device is adopted, the isolation piece 200 and the instrument box 300 are inserted and matched in the second direction, and the floating plate is supported by the positioning protrusion 350 during the insertion and matching process, so that the second adapter 240 and the third adapter 360 are kept apart in the first direction, thereby avoiding interference during the installation process of the isolation piece 200 and the instrument box 300.

[0112] It can be understood that when the positioning protrusion 350 lifts the floating plate, since all the first adapters 151 are in the retracted state at this time, and the second adapter 240 and the third adapter 360 are kept apart in the first direction, it is meaningless to synchronously rotate the first adapter 151 and the second adapter 240 by the rotating driving assembly at this time, so that the rotating driving assembly can be set to be not working at this stage, and the rotating adjustment of the first adapter 151 and the second adapter 240 by the rotating driving assembly is performed again based on the extension state of the first adapter 151 after the instrument box 300 is inserted.

[0113] In a preferred embodiment, as shown in FIGS. 2 and 12, the guide groove 221 is arranged on the cover plate 220, and the containing groove 231 is arranged on the limiting plate 230.

[0114] In a preferred embodiment, as shown in FIG. 2, FIG. 12, FIG. 14, and FIG. 15, the keys 211 are parallel to the guide slots 221, and two keys 211 are respectively provided with guide slots 214 parallel to the guide slots 221 on the end face near the symmetry axis.

[0115] The dismounting plate 310 is fixed with two clamping protrusions 311 corresponding to the two guide slots 214, and the two clamping protrusions 311 can be respectively inserted into the corresponding guide slots 214 in the second direction.

[0116] It can be understood that when the clamping protrusions 311 are inserted into the guide slots 214, the two side inner walls of the guide slots 214 in the first direction can abut against the corresponding side end face of the clamping protrusions 311, thereby achieving the movement limitation of the instrument box 300 relative to the isolation member 200 in the first direction.

[0117] In a preferred embodiment, as shown in FIG. 2 to FIG. 4, the bottom plate 130 is fixed with a limiting baffle 131, and in the instrument box 300 and the isolation member 200 insertion state, the limiting baffle 131 can abut against the instrument box 300 to achieve the limiting of the instrument box 300 in the second direction.

[0118] In a preferred embodiment, it further includes an unlocking assembly configured to release the insertion state of the second adapter 240 and the third adapter 360.

[0119] In a preferred embodiment, as shown in FIG. 14 and FIG. 15, the unlocking assembly includes a control handle 330 and a jacking member 340 arranged on the side end face of the instrument box 300 close to the isolation member 200 and capable of extending and retracting in the first direction.

[0120] The control handle 330 is coupled with the jacking member 340 and capable of controlling the jacking member 340 to extend in the direction close to the driving box 100, and in the connection state of the isolation member 200 and the instrument box 300, the extension of the jacking member 340 can push the floating plate to move away from the instrument box 300.

[0121] It can be understood that when the jacking member 340 extends and lifts the floating plate, the positioning protrusions 350 are disengaged from the accommodating slots 231, the second adapter 240 and the third adapter 360 are released from the insertion, and at this time the instrument box 300 can move in the second direction and release the insertion with the isolation member 200.

[0122] It can be understood that when the jacking member 340 lifts the floating plate, since all the first adapters 151 are in the retracted state at this time, and the second adapter 240 and the third adapter 360 are kept apart in the first direction, it is meaningless to rotate the driving assembly to drive the first adapters 151, the second adapter 240 and the third adapter 360 to rotate synchronously at this time, so that the driving assembly can also be set to be not working at this stage, thereby reducing the loss of energy.

[0123] In a preferable embodiment, as shown in FIG. 14 and FIG. 15, the operating handle 330 is fixedly connected with the instrument rack 320 and can swing relative to the instrument rack 320, and the operating handle 330 comprises a pressing portion 331 and a lifting portion 332 fixedly connected with the pressing portion 331.

[0124] The lifting portion 332 is capable of abutting against the ejector 340 away from the side end of the driving box 100, and pressing or pulling the pressing portion 331 can drive the lifting portion 332 to swing towards the side of the driving box 100 and lift the ejector 340, so as to realize the disengagement between the second adapter 240 and the third adapter 360 and the disengagement between the positioning convex 350 and the accommodating groove 231.

[0125] In a preferable embodiment, the unlocking assembly is not limited to the above-mentioned one, for example, a guide slope can be arranged on the inner wall of the accommodating groove 231 close to the guide groove 221, when the instrument box 300 is disengaged from the isolation piece 200, the positioning convex 350 can directly disengage from the accommodating groove 231 along the guide slope, and then lift the floating plate to disengage the second adapter 240 and the third adapter 360.

[0126] It can be understood that, due to the guide slope arranged on the inner wall of the accommodating groove 231, the stability of the positioning convex 350 embedded in the accommodating groove 231 will be reduced, that is, the isolation piece 200 and the instrument box 300 may be disengaged under the action of gravity or vibration. In order to avoid this situation, a controllable limiting structure can be further arranged between the isolation piece 200 and the instrument box 300, so as to ensure the connection reliability of the isolation piece 200 and the instrument box 300.

[0127] In a preferable embodiment, as shown in FIG. 3, FIG. 5, FIG. 7 and FIG. 8, the sensing unit comprises a displacement sensor 170 fixedly arranged on the mounting plate 120 and located at the corresponding position of the first adapter 151, and a sensing head 158 fixedly connected with the end of the first adapter 151 away from the isolation piece 200.

[0128] It can be understood that, when the first adapter 151 elastically stretches and contracts relative to the mounting plate 120, the distance between the sensing head 158 and the displacement sensor 170 in the first direction changes, and the displacement sensor 170 and the sensing head 158 cooperate to monitor the distance change between them, so as to judge the stretching and contracting state of the first adapter 151.

[0129] It can be understood that, the sensing unit is not limited to the above-mentioned one, for example, a travel switch can also be directly arranged at the end of the travel of the first adapter 151, as long as it can realize the monitoring of the stretching and contracting state of the first adapter 151, which is not described here.

[0130] In a preferable embodiment, as shown in FIG. 3, FIG. 5 to FIG. 10, the rotating driving assembly comprises a motor 160 fixedly arranged on the end face of the mounting plate 120 away from the bottom plate 130, and the motor 160 is located at the corresponding position of the first adapter 151 and a driving gear 161 is fixedly arranged on the power output end of the motor 160.

[0131] The first adapter 151 is fixedly provided with a transmission tooth portion 1512 engaged with the driving gear 161 at the corresponding position, and the engagement stroke of the transmission tooth portion 1512 and the driving gear 161 in the first direction is greater than the elastic expansion stroke of the first adapter 151.

[0132] It can be understood that when the motor 160 is started, the transmission tooth portion 1512 can be driven to rotate by the driving gear 161, so as to realize the rotating driving of the first adapter 151. Since the engagement stroke of the transmission tooth portion 1512 and the driving gear 161 in the first direction is greater than the elastic expansion stroke of the first adapter 151, the transmission tooth portion 1512 can always be engaged with the driving gear 161 when the first adapter 151 is elastically expanded relative to the mounting plate 120, so as to ensure the rotating driving reliability of the rotating driving assembly to the first adapter 151.

[0133] In a preferable embodiment, as shown in FIG. 3 to FIG. 6, the power output end of the motor 160 extends to the cavity position between the mounting plate 120 and the bottom plate 130, and the driving gear 161 is fixedly arranged on the power output end of the motor 160 and located in the cavity between the mounting plate 120 and the bottom plate 130.

[0134] The first adapter 151 penetrates the bottom plate 130, and the transmission tooth portion 1512 is located in the cavity between the mounting plate 120 and the bottom plate 130.

[0135] It can be understood that the driving gear 161 and the transmission tooth portion 1512 are arranged in the cavity between the mounting plate 120 and the bottom plate 130, so as to hide the transmission components, thereby improving the neatness of the device.

[0136] As shown in FIG. 3 to FIG. 10, the present application provides an elastic adapter structure applied to the surgical instrument quick-change device in the above-mentioned embodiments, which comprises a first adapter 151 penetratingly arranged on the bottom plate 130 and an elastic unit connected with the first adapter 151.

[0137] The elastic unit comprises a central shaft 155 rotationally connected with the cover 110 through a bearing 156, and the first adapter 151 is slidingly arranged on the central shaft 155.

[0138] The first adapter 151 and the central shaft 155 are provided with a circumferential limiting unit and an elastic unit.

[0139] It can be understood that, due to the circumferential limiting unit arranged between the first adapter 151 and the central shaft 155, the central shaft 155 can drive the first adapter 151 to rotate synchronously, or the first adapter 151 can drive the central shaft 155 to rotate synchronously, and meanwhile, when the first adapter 151 is subjected to a thrust force along the axial direction of the central shaft 155, the elastic unit can accumulate elastic potential energy, and when the external force acting on the first adapter 151 is removed, the first adapter 151 can be reset under the elastic force of the elastic unit.

[0140] In a preferred embodiment, as shown in FIGS. 7 and 8, an outer protrusion is fixedly arranged on the outer circumferential surface of the central shaft 155, and the elastic unit is specifically an elastic member 154 arranged on the central shaft 155.

[0141] One end of the elastic member 154 is in abutment with the end face of the outer protrusion close to the first adapter 151, and the other end is in abutment with the corresponding end of the first adapter 151.

[0142] It can be understood that, when the first adapter 151 slides on the central shaft 155, the elastic member 154 can accumulate elastic potential energy and provide elastic force for resetting the first adapter 151.

[0143] In a preferred embodiment, the elastic member 154 is specifically a spring.

[0144] It can be understood that the arrangement form of the elastic unit is not limited to the above-mentioned one, for example, an elastic rubber or a clasp spring can also be arranged between the outer protrusion and the first adapter 151, as long as the elastic sliding of the first adapter 151 on the central shaft 155 can be realized, which will not be described here.

[0145] In a preferred embodiment, as shown in FIGS. 7 and 8, a plurality of bearing members 156 are arranged on the central shaft 155 along the axial direction of the central shaft 155.

[0146] The bearing member 156 closest to the side of the first adapter 151 is in abutment with the corresponding side end face of the outer protrusion, and a collar 157 arranged to limit the bearing member 156 is further fixedly arranged on the central shaft 155.

[0147] It can be understood that the collar 157 can abut against the end of the bearing member 156, so as to fix the relative position between the bearing member 156 and the central shaft 155.

[0148] In a preferred embodiment, as shown in FIGS. 7 and 8, an inductive head 158 is embedded at the end of the central shaft 155 away from the first adapter 151.

[0149] In a preferred embodiment, as shown in FIGS. 7-10, the first adapter 151 comprises an adapter portion 1511 and a transmission tooth portion 1512 fixedly arranged at one end of the adapter portion 1511, and a center through hole 1513 is arranged through the adapter portion 1511 and the transmission tooth portion 1512 along the center axis and is in sliding connection with the center shaft 155.

[0150] The adapter portion 1511 is provided with a first adapter groove 1516 on the end face away from the transmission tooth portion 1512, and the first adapter groove 1516 is arranged along the radial direction of the adapter portion 1511 and penetrates the outer circumferential surface of the adapter portion 1511.

[0151] In a preferred embodiment, as shown in FIGS. 7-10, the circumferential limiting unit comprises a flat groove 159 arranged on the outer circumferential surface of the center shaft 155, a mounting groove 1514 arranged on the outer circumferential surface of the adapter portion 1511 and penetrating the center through hole 1513, and a limiting piece 152 fixedly arranged in the mounting groove 1514.

[0152] The limiting piece 152 extends to the center through hole 1513 at the end close to the center axis of the first adapter 151 and is in sliding connection with the flat groove 159, and the inner walls on both sides of the flat groove 159 in the axial direction of the center shaft 155 can respectively abut against the extension of the limiting piece 152.

[0153] When the first adapter 151 is not subjected to external thrust, the elastic piece 154 does not accumulate elastic potential energy or has elastic potential energy to push the first adapter 151 to move away from the side of the outer protrusion, and the extension of the limiting piece 152 abuts against the inner wall on the side of the flat groove 159 away from the outer protrusion; when the first adapter 151 is subjected to external thrust and the elastic piece 154 is compressed, the extension of the limiting piece 152 can abut against the inner wall on the side of the flat groove 159 close to the outer protrusion.

[0154] In the embodiments of the present application, the above-mentioned elastic adapter structure is adopted, and through the cooperation of the flat groove 159 and the limiting piece 152, on the one hand, the relative rotation between the first adapter 151 and the center shaft 155 is limited, and on the other hand, the sliding stroke of the first adapter 151 on the center shaft 155 is limited, so as to ensure the stability of the cooperation between the center shaft 155 and the first adapter 151.

[0155] It can be understood that the setting form of the circumferential limiting unit is not limited to the above-mentioned one, for example, the center shaft 155 can be arranged in spline connection with the first adapter 151, and a limiting portion is arranged at the end of the spline sliding cooperation stroke of the first adapter 151 and the center shaft 155, as long as the axial sliding cooperation and torque transmission between the first adapter 151 and the center shaft 155 can be realized, and details are not described herein.

[0156] In a preferred embodiment, as shown in FIGS. 7-10, the mounting groove 1514 is provided with a threaded hole 1515 on the inner wall of one side of the central through hole 1513, and the limiting member 152 is threadedly connected with the threaded hole 1515 through a fastening bolt 153.

[0157] It can be understood that the fixed mounting manner between the limiting member 152 and the first adapter 151 is not limited to the above-mentioned one, for example, a clamping or buckling structure can also be provided between the two, as long as the fixed mounting of the limiting member 152 on the first adapter 151 can be achieved, which will not be described here.

[0158] The embodiment of the present application also provides a surgical instrument quick change method, which is applied to the surgical instrument quick change device in the above-mentioned embodiment, and comprises the following steps:

[0159] Step S1, clamping the isolating member 200 to the drive box 100 in a first direction;

[0160] Step S2, obtaining the extension state of the first adapter 151 during the clamping process of the isolating member 200 and the drive box 100, or after the clamping of the isolating member 200 and the drive box 100 is completed;

[0161] Step S3, performing rotational driving on the first adapter 151 in the retracted state, and monitoring the extension state of the first adapter 151 during the rotation of the first adapter 151, and stopping the rotational driving when the first adapter 151 is converted to the extended state;

[0162] The first direction is specifically set as the axial direction of the first adapter 151, and when the clamping of the isolating member 200 and the drive box 100 is completed and the first adapter 151 is in the extended state, the first adapter 151 and the second adapter 240 are in the plug-in state and can transmit torque to each other.

[0163] In the embodiment of the present application, the above-mentioned surgical instrument quick change method is adopted, in the installation process of the drive box 100 and the isolating member 200, the plug-in cooperation state of the first adapter 151 and the second adapter 240 is reflected through the extension state change of the first adapter 151, and the rotational adjustment of the first adapter 151 and the circumferential cooperation position of the second adapter 240 are controlled based on the extension change state of the first adapter 151, so as to realize the automatic alignment of the first adapter 151 and the second adapter 240, avoid the low efficiency of manual adjustment, and solve the installation problem caused by the misalignment of the first adapter 151 and the second adapter 240.

[0164] In a preferred embodiment, after step S3, the following steps are further included:

[0165] Step S4, plugging the instrument box 300 to the isolating member 200 in a second direction;

[0166] Step S5, after the instrument box 300 is inserted, the extension state of the first adapter 151 is obtained;

[0167] Step S6, the first adapter 151 in the retracted state is driven to rotate, and the extension state of the first adapter 151 is monitored during the rotation, and the rotation is stopped when the first adapter 151 is converted to the extended state;

[0168] Wherein, the second direction is specifically set as any direction in the axial vertical plane of the first adapter 151, and when the instrument box 300 is inserted and the first adapter 151 is in the extended state, the second adapter 240 and the third adapter 360 are in the inserted state and can transmit torque to each other.

[0169] During the insertion of the instrument box 300, the floating plate is lifted by the positioning protrusion 350, and after the insertion of the instrument box 300 is completed, the positioning protrusion 350 is embedded in the accommodation groove 231 to release the support of the floating plate.

[0170] In the embodiment of the application, the above-mentioned surgical instrument quick change method is adopted, the extension state of the first adapter 151 is changed by the position change of the floating plate during the installation of the isolation piece 200 and the instrument box 300, so as to reflect the insertion and cooperation state of the second adapter 240 and the third adapter 360, and the synchronous rotation of the first adapter 151 and the second adapter 240 based on the extension change state of the first adapter 151 can realize the adjustment of the second adapter 240 and the third adapter 360 in the circumferential cooperation position, and further realize the automatic alignment of the second adapter 240 and the third adapter 360. Not only the alignment accuracy is high, but also manual adjustment is not required, which further improves the overall installation efficiency of the device, and at the same time, the floating plate is supported by the positioning protrusion 350 during the insertion and cooperation process, so that the second adapter 240 and the third adapter 360 maintain a distance in the first direction, avoiding interference during the installation of the isolation piece 200 and the instrument box 300, and ensuring the overall stability of the installation process.

[0171] In a preferred embodiment, step S6 further includes:

[0172] Step S7, the extension of the floating plate is lifted by the actuator 340 controlled by the control handle 330;

[0173] Step S8, the insertion between the instrument box 300 and the isolation piece 200 in the second direction is released;

[0174] Wherein, after the extension of the floating plate is lifted by the actuator 340, the positioning protrusion 350 is separated from the accommodation groove 231, and the second adapter 240 and the third adapter 360 are released from the insertion.

[0175] In a preferred embodiment, step S8 further includes:

[0176] Step S9, releasing the clamping between the isolation member 200 and the driving box 100 in the first direction.

[0177] It should be noted that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the method and apparatus of the present application can be implemented in a variety of ways, and that the application encompasses all technical equivalents. Also, it is to be understood that the features described with reference to certain examples can be combined with features of other examples.

[0178] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, rather than limiting, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims.

Claims

1. A surgical instrument quick change device, wherein, The drive box, the isolation piece can be connected with the drive box in the first direction; The drive box is provided with a first adapter connected with the rotating drive assembly on the side end face close to the isolation piece; The drive box is further provided with a sensing unit arranged to monitor the extension state of the first adapter; The first adapter and the second adapter can transmit torque to each other in the plugged state, and the first direction is specifically set as the axial direction of the first adapter; In the disconnected state or the connected state of the drive box and the isolation piece, the first adapter is in the extended state under the elastic force.

2. A surgical instrument quick change device according to claim 1, wherein, Further comprising an instrument box detachably connected with the isolation piece; The instrument box is provided with a third adapter coupled with the instrument rod on the side end face close to the isolation piece and rotating relative to the corresponding position of the second adapter; The third adapter can be plugged with the second adapter away from the drive box in the first direction, and the second adapter and the third adapter can transmit torque to each other in the plugged state.

3. A surgical instrument quick change device according to claim 2, wherein, The first adapter is provided with a first adapter groove on the end close to the isolation piece, the second adapter is provided with a first adapter protrusion on the end close to the drive box, and the first adapter protrusion can be plugged with the first adapter groove on the corresponding position of the first adapter and transmit torque; And / or the second adapter is provided with a second adapter protrusion on the end away from the drive box, and the third adapter is provided with a second adapter groove on the end close to the isolation piece, and the second adapter groove can be plugged with the second adapter protrusion on the corresponding position of the second adapter and transmit torque.

4. The surgical instrument quick change device of claim 1, wherein, The isolation piece comprises an isolation plate body and a floating plate arranged on the isolation plate body; The floating plate can move relative to the isolation plate body in the first direction, and the second adapter is arranged through the floating plate and can rotate relative to the floating plate.

5. A surgical instrument quick change device according to claim 4, wherein, The isolation plate body is provided with a movable cavity arranged to accommodate the floating plate, and the inner wall of the movable cavity is provided with a floating adjusting groove; The floating plate is fixedly provided with a sliding ear on the corresponding position of the floating adjusting groove, and the sliding ear is slidingly arranged in the floating adjusting groove in the first direction.

6. A surgical instrument quick change device according to any one of claims 2 to 5 wherein, The end of the isolation piece away from the drive box can be plugged with the instrument box in the second direction, and the displacement of the instrument box relative to the isolation piece in the first direction is limited in the plugged state of the isolation piece and the instrument box; The instrument box is fixedly provided with a positioning protrusion on the side end face close to the drive box, and the isolation piece is provided with a guide groove capable of slidingly connecting with the positioning protrusion on the side end face away from the drive box, the guide groove extends in the second direction and one end penetrates the movable cavity and the other end penetrates the outer surface of the isolation piece; The end of the floating plate of the isolation piece away from the drive box is provided with an accommodation groove in the extension direction of the guide groove; The second direction is specifically set as any direction perpendicular to the axial direction of the first adapter; during the plugging process of the isolation piece and the instrument box, the positioning protrusion can abut against the floating plate to keep the second adapter and the third adapter apart in the first direction; after the plugging of the isolation piece and the instrument box is completed, the positioning protrusion can be embedded with the accommodation groove.

7. A surgical instrument quick change device according to claim 6, wherein, The unlocking assembly is arranged to release the plugging state of the second adapter and the third adapter; The unlocking assembly comprises a control handle and a top member arranged on the end face of the instrument box close to the isolation member and capable of extending and retracting in the first direction; The control handle is coupled with the top member and capable of controlling the top member to extend to the side of the driving box to push the floating plate.

8. A surgical instrument quick change method wherein, The surgical instrument quick-change device is applied to any one of the above claims 1 to 7, comprising: The isolation member is clamped to the driving box in the first direction; The extension state of the first adapter is obtained during or after the clamping of the isolation member and the driving box; The first adapter in the retracted state is driven to rotate, and the extension state of the first adapter is monitored during the rotation of the first adapter, and the rotation driving is stopped when the first adapter changes to the extended state; The first direction is specifically arranged as the axial direction of the first adapter, and when the clamping of the isolation member and the driving box is completed and the first adapter is in the extended state, the first adapter and the second adapter are in the plugging state and can transmit torque to each other.

9. A surgical instrument quick change method as claimed in claim 8, wherein, Further comprising: The instrument box is plugged into the isolation member in the second direction; The extension state of the first adapter is obtained after the plugging of the instrument box and the isolation member is completed; The first adapter in the retracted state is driven to rotate, and the extension state of the first adapter is monitored during the rotation of the first adapter, and the rotation driving is stopped when the first adapter changes to the extended state; The second direction is specifically arranged as any direction on the axial vertical plane of the first adapter, and when the plugging of the instrument box is completed and the first adapter is in the extended state, the second adapter and the third adapter are in the plugging state and can transmit torque to each other; During the plugging of the instrument box, the positioning convex piece is used to lift the floating plate, and after the plugging of the instrument box is completed, the positioning convex piece is embedded in the containing groove to release the support of the floating plate.

10. A surgical instrument quick change method as recited in claim 9, wherein, Further comprising: The clamping between the isolation member and the driving box is released in the first direction; And / or the top member is controlled to extend and lift the floating plate through the control handle, and the plugging between the instrument box and the isolation member is released in the second direction; When the floating plate is lifted, the positioning convex piece is separated from the containing groove, and the second adapter and the third adapter are released from the plugging.

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