Mounting mechanism and surgical robot

Abstract

The present invention relates to the technical field of surgical robots. Disclosed are a mounting mechanism and a surgical robot. The mounting mechanism is used for mounting a trocar mechanism, and a mounting member is arranged on the trocar mechanism in a protruding manner. The mounting mechanism comprises a mechanism main body, an adapter, and a movable member. One end of the mechanism main body is used for connecting to an instrument holding arm, and the other end is provided with a mounting channel. The adapter comprises a receiving member. The receiving member is disposed in the mounting channel and can be detached from the mounting channel by means of an opening of the mounting channel. One end of the receiving member is an opening, and the mounting member can enter or be detached from an inner cavity of the receiving member by means of the opening of the receiving member. A clamping member movably passes through a side wall of the receiving member. The movable member is disposed in the mounting channel and is movably connected to the mechanism main body. When the mounting member is located in the inner cavity of the receiving member, the movable member can push the clamping member to move towards the inner cavity of the receiving member, so as to firmly abut against the mounting member. The present invention improves the structural reliability of the adapter, ensuring surgical safety, and reduces the processing and assembly requirements of the mounting mechanism, lowering production costs.

Description

Installation mechanism and surgical robot Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to an installation mechanism and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot consists of a surgeon's control unit and a patient's surgical end. The patient's surgical end includes a surgical arm used to mount surgical instruments. During surgery, the surgeon controls the surgical instruments via input handles on the surgeon's control unit. One end of the surgical arm is connected to a trolley, and the other end is fitted with a trocar mechanism. The trocar mechanism passes through the patient's abdomen, allowing the surgical instruments to be inserted into the abdominal cavity.

[0003] According to the content disclosed in Chinese Patent CN117179905A - Surgical Cannula Installation Structure and Surgical Robot System, a sterile isolation plate is provided between the surgical cannula and the main body. The sterile isolation plate includes a plastic plate and a positioning plate, which is used to directly position the surgical cannula. The protruding part on the surgical cannula is inserted into the plastic plate, and the plastic plate can deform inward with the locking buckle under the action of the locking buckle to clamp the surgical cannula. In other words, in order to clamp the surgical cannula, the plastic plate needs to undergo corresponding elastic deformation, which reduces the structural reliability and thus the reliability of the sterile isolation plate during use, increasing the risk of damage to the sterile isolation plate. This affects the sterile isolation plate's ability to isolate bacteria and consequently, the safety of the surgery. When the sterile isolation plate is damaged, it also needs to be replaced, affecting the efficiency of preoperative preparation and increasing the fatigue of medical staff. In addition, the protruding part is equipped with a latch, and the plastic plate has a matching protrusion with a groove structure formed on the back of the protrusion. The latch is placed in the groove structure. Since the plastic plate is made of elastic material, the locking contact surface must be in close contact with the locking bevel to clamp the surgical cannula. This limits the contact range between the latch and the plastic plate, increases the processing and assembly requirements of the surgical cannula installation structure, and increases production costs.

[0004] Therefore, there is an urgent need for an installation mechanism and surgical robot to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide an installation mechanism and a surgical robot that eliminates the need for elastic deformation of the housing, ensuring the structural reliability of the adapter, guaranteeing surgical safety, avoiding restrictions on the contact range between the moving parts and the clamping parts, reducing the processing and assembly requirements of the installation mechanism, and lowering production costs.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An installation mechanism for installing a card-stamping mechanism, wherein a mounting component protrudes from the card-stamping mechanism, including:

[0008] The main body of the mechanism has a connection at one end to the robotic arm and an installation channel at the other end.

[0009] An adapter includes a receiving member placed within a mounting channel and detachable from the mounting channel through an opening in the mounting channel. The receiving member is hollow inside and has an opening at one end facing the outside of the mounting channel. The mounting member can enter or exit the inner cavity of the receiving member through the opening in the receiving member. A clamping member is movably disposed on the inner cavity sidewall of the receiving member.

[0010] A movable component is placed within the mounting channel and located outside the receiving component. The movable component is movably connected to the main body of the mechanism. When the mounting component is configured to be in the inner cavity of the receiving component, the movable component can move away from the clamping component or push the clamping component into the inner cavity of the receiving component to loosen or tighten the mounting component.

[0011] As an optional technical solution for the installation mechanism, the clamping member is provided with an inclined sidewall, and the sidewall of the mounting member is provided with a mating inclined surface. When the clamping member is configured to abut against the mounting member, the inclined sidewall fits against the mating inclined surface. Both the inclined sidewall and the mating inclined surface are inclined towards the inner wall of the receiving member along the direction from the outside to the inside of the installation channel.

[0012] As an optional technical solution for the installation mechanism, a guide hole is provided through the inner cavity sidewall of the receiving member, and the clamping member is movably inserted through the guide hole. The guide hole can guide the clamping member to switch between a clamping position that abuts against the mounting member and a clearance position that is away from the mounting member.

[0013] As an optional technical solution for the installation mechanism, the installation mechanism further includes an elastic isolator attached to the outer wall of the receiving member and completely covering the clamping member to seal the gap formed between the clamping member and the side wall of the guide hole.

[0014] As an optional technical solution for the installation mechanism, the elastic isolation member includes a middle part and a connecting ring part. The edge of the middle part is circumferentially connected to the inner edge of the connecting ring part, and the end face of the connecting ring part is attached to the outer side wall of the receiving member. The middle part completely covers the clamping member, and the elasticity of the middle part is greater than that of the connecting ring part.

[0015] As an optional technical solution for the installation mechanism, the sidewall of the guide hole is circumferentially fitted with the sidewall of the clamping member. The installation mechanism also includes an elastic connector, one end of which is connected to the outer sidewall of the receiving member, and the other end is connected to the end face of the clamping member for abutting against the movable member.

[0016] As an optional technical solution for the installation mechanism, a first receiving groove is formed on the outer side wall of the receiving member, the first receiving groove penetrating the side wall of the guide hole, and the elastic connecting member is placed in the first receiving groove; and / or,

[0017] A second receiving groove is provided on the end face of the clamping member, and the elastic connecting member is placed in the second receiving groove.

[0018] As an optional technical solution for the installation mechanism, the movable part is provided with a contact end for contacting the clamping part, and an elastic element is provided in the installation channel. The elastic element can push the clamping part into the inner cavity of the receiving part through the contact end.

[0019] As an optional technical solution for the installation mechanism, a guide hole is provided through the inner cavity sidewall of the receiving member, the clamping member is movably inserted through the guide hole, a groove is provided on the sidewall of the guide hole, a stop surface is formed between the groove and the sidewall of the guide hole, a protrusion is provided on the sidewall of the clamping member, the protrusion is placed in the groove, and the stop surface is located on the side facing the protrusion towards the inner cavity of the receiving member, and the stop surface can stop the protrusion;

[0020] When the clamping member is configured to abut against the mounting member, the stop surface is either in contact with or spaced from the protrusion.

[0021] When the mounting member is configured to disengage from the inner cavity of the receiving member, the stop surface abuts against the protrusion.

[0022] As an optional technical solution for the installation mechanism, a groove is provided on the outer side wall of the receiving member. The extension direction of the groove is the same as the extension direction of the installation channel. The groove is located on the side of the guide hole opposite to the opening end of the installation channel and passes through the side wall of the guide hole. When the protrusion is configured to fit against the stop surface, the edge of the bottom surface of the groove and the end face of the protrusion opposite to the stop surface are in the same plane.

[0023] As an optional technical solution for the installation mechanism, the installation mechanism further includes a first connecting structure and a second connecting structure. The first connecting structure is disposed on the adapter, and the second connecting structure is disposed on the main body of the mechanism. The first connecting structure and the second connecting structure are detachably connected.

[0024] The surgical robot includes a card-applying mechanism and a mounting mechanism as described above, the mounting mechanism being capable of clamping or releasing the mounting element on the card-applying mechanism.

[0025] The beneficial effects of this invention are:

[0026] The present invention provides an installation mechanism comprising a main body, an adapter, and a movable component. A clamping member of the adapter is movably disposed on the side wall of a receiving component. When the mounting component is placed in the inner cavity of the receiving component, the movable component pushes the clamping member into the inner cavity of the receiving component, allowing the clamping member to press against the mounting component, thereby enabling the installation mechanism to clamp the card-punching mechanism. The movable component can also move away from the clamping member, releasing the clamping force on the mounting component, thereby enabling the installation mechanism to release the card-punching mechanism. The installation mechanism provided by this invention utilizes a clamping member that is movably inserted into the side wall of the receiving component. This eliminates the need for elastic deformation of the receiving component, ensuring the structural reliability of the adapter and consequently its reliability during use. This reduces the risk of adapter damage, thus guaranteeing the adapter's ability to isolate bacteria and ensuring surgical safety. It also avoids adapter replacement, improving the efficiency of preoperative preparation and alleviating the fatigue of medical staff. Furthermore, to achieve clamping of the installation component, contact between the movable component and the clamping member at any point on the end face opposite to the inner cavity of the receiving component allows the clamping member to be pushed into the inner cavity of the receiving component. This avoids limiting the contact range between the movable component and the clamping member, reducing the processing and assembly requirements of the installation mechanism and lowering production costs.

[0027] The surgical robot provided by this invention includes the aforementioned mounting mechanism and puncture mechanism. By utilizing a movable part to move away from or push against a clamping member that is movable and passes through the side wall of the receiving part, the mounting mechanism clamps or releases the puncture mechanism. This eliminates the need for elastic deformation of the receiving part, ensuring the reliability of the adapter during use, reducing the risk of adapter damage, and thus guaranteeing the adapter's function of isolating bacteria and ensuring surgical safety. It also avoids the need to replace the adapter, improving the efficiency of preoperative preparation, alleviating the fatigue of medical staff, and avoiding restrictions on the contact range between the movable part and the clamping member. Furthermore, it reduces the processing and assembly requirements of the mounting mechanism and lowers production costs. Attached Figure Description

[0028] Figure 1 is a schematic diagram of the structure of the mechanical arm provided in an embodiment of the present invention;

[0029] Figure 2 is a cross-sectional view in the first direction of the card stamping mechanism provided in the embodiment of the present invention when it is installed on the mounting mechanism;

[0030] Figure 3 is a magnified view of part A in Figure 2;

[0031] Figure 4 is a cross-sectional view in a second direction of the card stamping mechanism provided in the embodiment of the present invention when it is installed on the mounting mechanism;

[0032] Figure 5 is a cross-sectional view of the installation mechanism provided in an embodiment of the present invention;

[0033] Figure 6 is a magnified view of part B in Figure 5;

[0034] Figure 7 is a schematic diagram of the adapter provided in an embodiment of the present invention;

[0035] Figure 8 is a structural schematic diagram of the adapter and elastic isolator provided in an embodiment of the present invention;

[0036] Figure 9 is a cross-sectional view of the elastic isolation member provided in an embodiment of the present invention.

[0037] In the picture:

[0038] 10. Stamping mechanism; 101. Mounting base; 1011. Mounting component; 1012. Mating groove; 1013. Mating inclined surface; 102. Stamping card; 20. Holding arm;

[0039] 1. Main structure; 11. Installation access;

[0040] 2. Adapter; 21. Receiving component; 211. Guide hole; 212. First receiving groove; 213. Slide groove; 214. Stop surface; 22. Positioning component; 23. Clamping component; 231. Inclined side wall; 232. Protrusion; 233. Second receiving groove;

[0041] 3. Moving parts; 31. Contact end; 32. Operating parts;

[0042] 4. Elastic spacer; 41. Middle section; 42. Connecting ring section; 5. Elastic connector;

[0043] 61. First connection structure; 62. Second connection structure;

[0044] 7. Elastic component; 8. Inspection component; 9. Sealing component; 91. Curved part. Detailed Implementation

[0045] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0048] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0049] This embodiment provides a surgical robot. The surgical robot includes a doctor's console and a patient's surgical end. The doctor's console is equipped with a control handle, and the patient's surgical end includes a surgical arm 20 as shown in Figure 1, on which surgical instruments are mounted. During the surgery, the doctor can control the surgical instruments on the surgical arm 20 to perform surgical operations via the control handle.

[0050] The patient surgical end also includes a mounting mechanism and a card-mounting mechanism 10. The mounting mechanism is used to mount the card-mounting mechanism 10. The card-mounting mechanism 10 includes a card 102 and a mounting base 101, with the card 102 mounted on the mounting base 101. One end of the surgical arm 20 is connected to the trolley of the patient surgical end, and the other end of the surgical arm 20 is connected to the card-mounting mechanism 10 via the mounting mechanism.

[0051] The card stamping mechanism 10 has a protruding mounting part 1011 as shown in Figures 2-4. The mounting mechanism can clamp or release the mounting part 1011 on the card stamping mechanism 10.

[0052] As shown in Figures 1-9, the mounting mechanism includes a main body 1, an adapter 2, and a movable component 3. One end of the main body 1 is used to connect to the holding arm 20, and the other end has a mounting channel 11. The adapter 2 includes a receiving component 21, which is placed inside the mounting channel 11 and can be disengaged from the mounting channel 11 through its opening. The receiving component 21 is hollow inside and has an opening at one end facing the outside of the mounting channel 11. The mounting component 1011 can enter or exit the inner cavity of the receiving component 21 through its opening. A clamping component 23 is movably inserted through the inner wall of the receiving component 21. The movable component 3 is placed inside the mounting channel 11 and located outside the receiving component 21, with at least a portion of the movable component 3 facing the clamping component 23. The movable component 3 is movably connected to the main body 1. When the mounting member 1011 is in the inner cavity of the receiving member 21, the movable member 3 can move away from the clamping member 23 to relax the mounting member 1011, thereby enabling the mounting mechanism to release the mounting member 1011 on the stamping mechanism 10; the movable member 3 can also push the clamping member 23 to move into the inner cavity of the receiving member 21 to press against the mounting member 1011, thereby enabling the mounting mechanism to clamp the mounting member 1011 on the stamping mechanism 10.

[0053] This embodiment provides an installation mechanism, which includes a main body 1, an adapter 2, and a movable component 3. The clamping component 23 of the adapter 2 is movably disposed on the side wall of the receiving component 21. When the mounting component 1011 is placed in the inner cavity of the receiving component 21, the movable component 3 pushes the clamping component 23 to move into the inner cavity of the receiving component 21, and the clamping component 23 can press against the mounting component 1011, thereby realizing the installation mechanism clamping the stamping mechanism 10. The movable component 3 can also move away from the clamping component 23, releasing the clamping force of the clamping component 23 on the mounting component 1011, thereby realizing the installation mechanism releasing the stamping mechanism 10. The installation mechanism provided in this embodiment utilizes a clamping member 23 that is movably inserted into the side wall of the receiving member 21. This eliminates the need for elastic deformation of the receiving member 21, ensuring the structural reliability of the adapter 2 and consequently its reliability during use. This reduces the risk of adapter 2 damage, thus guaranteeing its function of isolating bacteria and ensuring surgical safety. It also avoids the need to replace the adapter 2, improving the efficiency of preoperative preparation and alleviating the fatigue of medical staff. Furthermore, to achieve the clamping of the mounting member 1011, the movable member 3 can contact the clamping member 23 at any position on the end face opposite to the inner cavity of the receiving member 21, allowing the clamping member 23 to move into the inner cavity of the receiving member 21. This avoids limiting the contact range between the movable member 3 and the clamping member 23, reducing the processing and assembly requirements of the installation mechanism and lowering production costs.

[0054] The surgical robot provided in this embodiment includes the aforementioned mounting mechanism and puncture mechanism 10. By utilizing the movable part 3 to move away from or push against the clamping part 23 that is movable and passes through the side wall of the receiving part 21, the mounting mechanism clamps or releases the puncture mechanism 10. This eliminates the need for elastic deformation of the receiving part 21, ensuring the reliability of the adapter 2 during use, reducing the risk of adapter 2 damage, thus guaranteeing the adapter 2's function of isolating bacteria and ensuring surgical safety. It also avoids the need to replace the adapter 2, improving the efficiency of preoperative preparation, alleviating the fatigue of medical staff, and avoiding restrictions on the contact range between the movable part 3 and the clamping part 23. This reduces the processing and assembly requirements of the mounting mechanism and lowers production costs.

[0055] In this embodiment, two clamping members 23 and two movable members 3 are provided. The two clamping members 23 are located on opposite sides of the receiving member 21 along the first direction. The receiving member 21 is located between the two movable members 3.

[0056] A guide hole 211 is provided through the inner cavity sidewall of the receiving member 21. The clamping member 23 is movably inserted through the guide hole 211. The guide hole 211 can guide the clamping member 23 to move along a first direction, so that the clamping member 23 can switch between a clamping position against the mounting member 1011 and a clearance position away from the mounting member 1011. In this embodiment, the first direction is perpendicular to the extension direction of the mounting channel 11. In Figure 2, the first direction is the left-right direction, and the extension direction of the mounting channel 11 is the up-down direction.

[0057] Preferably, the sidewall of the guide hole 211 is circumferentially fitted to the sidewall of the clamping member 23, thereby achieving the guiding function of the guide hole 211 for the clamping member 23. In other embodiments, the guide hole 211 utilizes a guide groove or other structure to achieve the guiding function of the clamping member 23.

[0058] As a preferred embodiment, mating grooves 1012 are respectively provided on the side walls of the opposite sides of the mounting component 1011. When the mounting component 1011 is in the inner cavity of the receiving component 21, the clamping component 23 can extend into the mating groove 1012, ensuring that the mounting component 1011 and the carding mechanism 10 can be reliably clamped by the clamping component 23.

[0059] The clamping member 23 is provided with an inclined sidewall 231, and the groove sidewall of the mating groove 1012 includes a mating inclined surface 1013. When the mounting member 1011 is located in the inner cavity of the receiving member 21, and the clamping member 23 abuts against the mounting member 1011, the inclined sidewall 231 and the mating inclined surface 1013 are in contact. Furthermore, when the clamping member 23 abuts against the mounting member 1011, both the inclined sidewall 231 and the mating inclined surface 1013 are inclined towards the inner wall of the receiving member 21 along the direction from the outside to the inside of the mounting channel 11. The arrangement of the inclined sidewall 231 and the mating inclined surface 1013 provides a large contact area between the clamping member 23 and the mounting member 1011, and the inclined direction of the inclined sidewall 231 and the mating inclined surface 1013 ensures that the clamping member 23 can clamp the mounting member 1011.

[0060] In this embodiment, the "outside-inward direction of the mounting channel 11" refers to the extension direction of the mounting channel 11. The receiving member 21 extends into the mounting channel 11 along the aforementioned extension direction, and the mounting member 1011 extends into the inner cavity of the receiving member 21 along the aforementioned extension direction. When the mounting member 1011 is in the inner cavity of the receiving member 21, and the clamping member 23 abuts against the mounting member 1011, the two mating inclined surfaces 1013 are arranged in a "V" shape, with the ends of the two mating inclined surfaces 1013 away from the opening of the mounting channel 11 inclined in a direction away from each other. The inclination direction of the two inclined sidewalls 231 is the same as the inclination direction of the mating inclined surfaces 1013, and will not be described again here.

[0061] Furthermore, the groove sidewall of the mating groove 1012 also includes a first inclined surface that is opposite to the mating inclined surface 1013 and has an inclination direction opposite to that of the mating inclined surface 1013. The clamping member 23 is provided with a second inclined surface that is opposite to the inclined sidewall 231 and has an inclination direction opposite to that of the inclined sidewall 231. When the clamping member 23 is in the clamping position, the first inclined surface and the second inclined surface are fitted together.

[0062] As a preferred embodiment, the movable component 3 is provided with a contact end 31 for contacting the clamping component 23, and an elastic component 7 is provided in the mounting channel 11. The elastic component 7 can push the clamping component 23 into the inner cavity of the receiving component 21 through the contact end 31. The elastic component 7 allows the clamping component 23 to automatically move into the inner cavity of the receiving component 21 to clamp the mounting component 1011, avoiding manual pushing of the movable component 3 and improving operational convenience. In this embodiment, when the clamping component 23 is in the clamping position, the force applied by the elastic component 7 to the clamping component 23 through the movable component 3 is greater than zero. This allows the elastic component 7 to not only push the clamping component 23 to the clamping position but also to apply a clamping force to the clamping component 23 to clamp the mounting component 1011. This eliminates the need for additional structures to apply clamping force to the clamping component 23, reducing the number of parts in the mounting mechanism, simplifying its structure, reducing the size of the mounting mechanism and the holding arm 20, and improving the flexibility of the surgical robot.

[0063] Furthermore, the movable part 3 is rotatably disposed within the mounting channel 11. One end of the movable part 3 facing the opening of the mounting channel 11 is provided with a contact end 31 for contacting the clamping part 23. The elastic part 7 is placed on the side opposite to the clamping part 23 of the contact end 31, and the elastic part 7 abuts against the contact end 31.

[0064] In this embodiment, the elastic element 7 is a metal spring sheet, and one end of the elastic element 7 is fixedly connected to the inner wall of the mounting channel 11.

[0065] Specifically, the rotation axis of the movable component 3 is perpendicular to both the first direction and the extension direction of the mounting channel 11. An operating component 32 is movably inserted through the side wall of the main body 1, and the operating component 32 can move relative to the main body 1 along the first direction. One end of the operating component 32 extends into the mounting channel 11 and contacts the end of the movable component 3 away from the clamping component 23. The operator can push the operating component 32 into the mounting channel 11 to rotate the movable component 3, so that the contact end 31 faces away from the clamping component 23, thereby enabling the clamping component 23 to move from the clamping position to the avoidance position.

[0066] Because the installation mechanism is small in size and the moving distance of the operating member 32 is short, in this embodiment, the operating member 32 and the clamping member 23 are respectively set on both sides of the rotation axis of the movable member 3, so that the rotation angle of the movable member 3 is small, thereby achieving a small moving distance of the contact end 31 and avoiding interference between the movable member 3 and other structures.

[0067] Furthermore, a torsion spring may also be provided on the movable component 3. One end of the torsion spring is fixedly connected to the main body 1 of the mechanism, and the other end is fixedly connected to the movable component 3. The torsion spring enables the movable component 3 to push the clamping component 23 into the inner cavity of the receiving component 21, ensuring that the clamping component 23 is maintained in the clamping position. In this embodiment, the torsion spring and the elastic component 7 work together to not only quickly push the clamping component 23 to the clamping position, but also to apply a large clamping force to the clamping component 23 for clamping the mounting component 1011, further ensuring that the clamping component 23 can reliably clamp the mounting component 1011.

[0068] In this embodiment, there are two operating components 32, and the two operating components 32 are respectively arranged in a one-to-one correspondence with the two movable components 3. The two operating components 32 are arranged on opposite sides of the main body 1 along the first direction.

[0069] As a preferred embodiment, a groove is formed on the side wall of the guide hole 211, and a stop surface 214 is formed between the groove and the side wall of the guide hole 211. A protrusion 232 is provided on the side wall of the clamping member 23, and the protrusion 232 is placed in the groove. The stop surface 214 is located on the side of the protrusion 232 that is close to the inner cavity of the receiving member 21, and the stop surface 214 can stop the protrusion 232. When the clamping member 23 abuts against the mounting member 1011, the stop surface 214 and the protrusion 232 are spaced apart. When the adapter 2 is installed to the main body 1 of the mechanism and the mounting member 1011 is removed from the inner cavity of the receiving member 21, the stop surface 214 and the protrusion 232 fit together and abut against each other, so that the stop surface 214 can stop the protrusion 232.

[0070] Due to the elastic element 7, when the adapter 2 is installed into the main body 1 and the mounting part 1011 is disengaged from the inner cavity of the receiving part 21, the elastic element 7 pushes the clamping part 23 to continue moving into the inner cavity of the receiving part 21 via the movable part 3. At this time, the depth of the clamping part 23 into the inner cavity of the receiving part 21 is greater than the depth of the clamping part 23 into the inner cavity of the receiving part 21 when it is in the clamping position. By setting the stop surface 214, it can be ensured that the clamping part 23 is always in the guide hole 211, avoiding disengagement from the guide hole 211, which facilitates the subsequent reinstallation of the stamping mechanism 10. Moreover, when the clamping part 23 abuts against the mounting part 1011, the stop surface 214 and the protrusion 232 are spaced apart, which also ensures that the elastic element 7 can apply clamping force to the mounting part 1011 through the clamping part 23, avoiding the stop surface 214 from hindering the clamping part 23 from clamping the mounting part 1011.

[0071] In this embodiment, the protrusion 232 is arranged circumferentially along the clamping member 23. The protrusion 232 may be annular or strip-shaped, and there is no limitation on it.

[0072] In some other embodiments, when the clamping member 23 abuts against the mounting member 1011, the stop surface 214 is fitted with the protrusion 232, which is not limited here.

[0073] In this embodiment, the groove extends through the outer wall of the receiving member 21. In other embodiments, the groove may also be spaced apart from the outer wall of the receiving member 21, such that another stop is formed between the groove and the side wall of the guide hole 211. The stop is located on the side of the protrusion 232 opposite to the inner cavity of the receiving member 21, and the stop can stop the protrusion 232, preventing the clamping member 23 from disengaging from the receiving member 21.

[0074] Preferably, a groove 213 is provided on the outer wall of the receiving member 21. The groove 213 extends along the extension direction of the mounting channel 11. The groove 213 is located on the side of the guide hole 211 opposite to the opening end of the mounting channel 11 and passes through the side wall of the guide hole 211. When the protrusion 232 is in contact with the stop surface 214, the edge of the bottom surface of the groove 213 and the end face of the protrusion 232 opposite to the stop surface 214 are in the same plane. That is, the edge formed between the bottom surface of the groove 213 and the side wall of the guide hole 211 is in the same plane as the end face of the protrusion 232 opposite to the stop surface 214. By setting the groove 213, the edge formed between the guide hole 211 and the outer wall of the receiving member 21 is avoided from hindering the relative movement between the adapter 2 and the movable member 3, making it easier to remove the adapter 2 from the main body 1 of the mechanism and improving the efficiency of postoperative care. In this embodiment, the axis of the guide hole 211 extends along the first direction.

[0075] In this embodiment, the receiving member 21 has a frustum structure, and the small end of the receiving member 21 faces the inner side of the mounting channel 11. That is, the outer wall of the receiving member 21 with the guide hole 211 is inclined to the extension direction of the mounting channel 11.

[0076] The receiving member 21 has grooves 213 on its outer side walls on both sides along the first direction, and the two grooves 213 are respectively provided corresponding to the two movable members 3. Preferably, the bottom surfaces of the two grooves 213 are provided along the extension direction of the mounting channel 11. In some embodiments, the bottom surfaces of the two grooves 213 are inclined towards each other in a direction away from the opening end of the mounting channel 11. The above arrangement avoids the bottom surfaces of the grooves 213 from obstructing the relative movement between the adapter 2 and the movable member 3, making it easier to remove the adapter 2 from the main body 1 of the mechanism and improving the efficiency of postoperative care.

[0077] In this embodiment, the width of the groove 213 along the second direction is smaller than the width of the guide hole 211 along the second direction. The second direction, the first direction, and the extension direction of the mounting channel 11 are all perpendicular to each other. That is, the rotation axis of the movable member 3 extends along the second direction.

[0078] As a preferred embodiment, the installation mechanism further includes an elastic connector 5. One end of the elastic connector 5 is connected to the outer wall of the receiving member 21, and the other end is connected to the end face of the clamping member 23 for abutting against the movable member 3. Due to the elastic connector 5, the clamping member 23 is always kept within the guide hole 211, preventing it from dislodging from the guide hole 211 and facilitating the subsequent reinstallation of the card-clamping mechanism 10. Furthermore, before the adapter 2 is installed to the main body 1, the connection between the clamping member 23 and the receiving member 21 is ensured, facilitating the subsequent installation of the adapter 2. In this embodiment, the elastic connector 5 is strip-shaped and made of materials such as spring sheets or rubber. The elastic connector 5 is bonded to both the clamping member 23 and the receiving member 21 using adhesive.

[0079] As a preferred embodiment, a first receiving groove 212 is provided on the outer side wall of the receiving member 21. The first receiving groove 212 passes through the side wall of the guide hole 211. The elastic connector 5 is placed in the first receiving groove 212, which improves the structural compactness of the adapter 2, reduces the volume of the adapter 2 and the mounting mechanism, and improves the compactness of the holding arm 20.

[0080] Furthermore, a second receiving groove 233 is provided on the end face of the clamping member 23, and the elastic connecting member 5 is placed in the second receiving groove 233, which further improves the structural compactness of the adapter 2 and reduces the volume of the adapter 2 and the mounting mechanism.

[0081] Specifically, a first receiving groove 212 is formed on the bottom surface of the slide groove 213, and the elastic connector 5 is exposed on the end face of the first receiving groove 212 and flush with the bottom surface of the slide groove 213. The above configuration further improves the structural compactness of the adapter 2 and reduces the volume of the adapter 2 and the mounting mechanism.

[0082] As a preferred embodiment, the installation mechanism also includes an elastic spacer 4. The elastic spacer 4 is attached to the outer wall of the receiving member 21 and completely covers the clamping member 23 to seal the gap formed between the clamping member 23 and the side wall of the guide hole 211. This arrangement prevents bacteria inside the installation channel 11 from entering the sterile environment through the gap, further ensuring the sterilization function of the adapter 2, reducing the risk of patient infection, and improving the safety of the surgery.

[0083] In this embodiment, the elastic separator 4 can be an elastic plastic film such as a silicone rubber film, PE film, or TPU film, which is bonded to the outer wall of the receiving member 21 by an adhesive.

[0084] Preferably, the elastic isolator 4 includes a middle portion 41 and a connecting ring portion 42. The edge of the middle portion 41 is circumferentially connected to the inner edge of the connecting ring portion 42, and the end face of the connecting ring portion 42 is attached to the outer side wall of the receiving member 21. The middle portion 41 completely covers the clamping member 23, and the elasticity of the middle portion 41 is greater than that of the connecting ring portion 42. This configuration ensures that the movable member 3 can smoothly push against the clamping member 23, and that when the adapter 2 is disengaged from the main body 1, the movable member 3 can smoothly slide along the slide groove 213, ensuring smooth disassembly of the adapter 2. Furthermore, the relatively low elasticity of the connecting ring portion 42 also ensures that the connecting ring portion 42 can reliably connect to the receiving member 21, guaranteeing the antibacterial function of the elastic isolator 4. Further, the middle portion 41 can completely cover the guide hole 211.

[0085] Furthermore, the middle part 41 completely covers the clamping member 23 and the slide groove 213. That is, the connection between the slide groove 213 and the outer wall of the receiving member 21 is covered by the middle part 41. The arrangement of the slide groove 213 and the first receiving groove 212 results in a relatively complex structure of the outer wall of the receiving member 21. The above arrangement covers the complex structure within the range of the middle part 41, avoiding the attachment of the connecting ring part 42 along the side wall of the slide groove 213 and the first receiving groove 212, thus ensuring the antibacterial effect of the adapter 2.

[0086] The statement that "the elasticity of the middle part 41 is greater than that of the connecting ring part 42" means that the middle part 41 is more easily deformed than the connecting ring part 42. The middle part 41 may be fixedly connected to the clamping member 23, or it may not be connected to the clamping member 23; this is not limited here.

[0087] Preferably, the middle portion 41 of the elastic spacer 4 and the connecting ring portion 42 are integrally formed, and the thickness of the middle portion 41 is less than the thickness of the connecting ring portion 42, so that the elasticity of the middle portion 41 is greater than that of the connecting ring portion 42. The middle portion 41 and the connecting ring portion 42 of the elastic spacer 4 can also be bonded together with an adhesive, and the middle portion 41 and the connecting ring portion 42 can be made of the same material or different materials.

[0088] In some embodiments, only the elastic spacer 4 or the elastic connector 5 may be provided, and there is no limitation herein.

[0089] The installation process of the card stamping mechanism 10 provided in this embodiment is roughly as follows: First, rotate the movable part 3 until the contact end 31 is away from the clamping part 23; second, install the adapter 2 onto the main body 1 of the mechanism, specifically placing the receiving part 21 in the installation channel 11; then, install the card stamping mechanism 10, specifically extending the mounting part 1011 into the inner cavity of the receiving part 21; finally, release the movable part 3, and the movable part 3 pushes the clamping part 23 under the action of the elastic part 7 to clamp the mounting part 1011.

[0090] Preferably, the adapter 2 is detachably connected to the main body 1. Further, the receiving member 21 is detachably connected to the main body 1. When the adapter 2 is installed but the puncture mechanism 10 is not installed, the above arrangement ensures a reliable connection between the adapter 2 and the support of the main body 1, preventing the adapter 2 from detaching from the main body 1 and avoiding the need to manually fix the adapter 2 before installing the puncture mechanism 10, simplifying the preoperative preparation process and improving its efficiency. Simultaneously, after the puncture mechanism 10 is installed, the movable part 3 and the detachable connection structure between the adapter 2 and the main body 1 can both fix the adapter 2, further ensuring that the puncture mechanism 10 can be reliably installed on the main body 1, reducing the possibility of the puncture mechanism 10 falling off, ensuring that the surgical instruments are maintained in the desired position, and also preventing the adapter 2 from falling off, thus maintaining a sterile environment during surgery and improving surgical safety.

[0091] Specifically, the installation mechanism also includes the aforementioned detachable connection structure, which includes a first connection structure 61 and a second connection structure 62. The first connection structure 61 is disposed on the adapter 2, and the second connection structure 62 is disposed on the main body 1 of the mechanism. The first connection structure 61 and the second connection structure 62 are detachably connected.

[0092] In this embodiment, the first connecting structure 61 is a slot, and the second connecting mechanism 62 is a hook. The second connecting mechanism 62 is rotatably connected to the main body 1 via a rotating shaft. The first connecting mechanism 61 is provided on the outer side wall of the receiving member 21, and one end of the second connecting structure 62 is provided with a protrusion located in the installation channel 11, while the other end of the second connecting structure 62 is located on the outside of the main body 1.

[0093] Specifically, there are two of each of the first connecting structure 61 and the second connecting structure 62. The two first connecting structures 61 are respectively located on opposite sides of the receiving member 21, and the receiving member 21 is placed between the two second connecting structures 62. A latching protrusion is provided on the same side of each of the two second connecting structures 62. In the step of "installing the adapter 2 onto the main body 1 of the mechanism", specifically, first, press the end of the second connecting structure 62 to move the two latching protrusions away from each other, causing the two second connecting structures 62 to open. Then, place the receiving member 21 between the two second connecting structures 62, and then release the two second connecting structures 62 so that the two latching protrusions respectively engage with the two first connecting structures 61, thereby installing the adapter 2.

[0094] In other embodiments, the first connecting structure 61 and the second connecting structure 62 may also be bolts, nuts or other structures, as long as they can achieve a detachable connection, and there is no limitation here.

[0095] In this embodiment, two operating components 32 are disposed on opposite sides of the receiving component 21 along the first direction, and two second connecting mechanisms 62 are disposed on opposite sides of the receiving component 21 along the second direction. That is, the second connecting structures 62 and the operating components 32 are respectively disposed on different sides of the main body 1. When the installation mechanism does not need to be disassembled, this avoids accidental activation of either the operating component 32 or the second connecting structure 62, ensuring a reliable connection between the adapter 2 and the support of the main body 1, preventing the adapter 2 from detaching from the main body 1, maintaining a sterile environment during surgery, and improving surgical safety.

[0096] In some embodiments, the second connecting structure 62 and the operating member 32 may also be disposed on the side wall of the same side of the mechanism body 1, which is not limited here.

[0097] Specifically, the adapter 2 also includes a positioning element 22. The open end of the receiving element 21 is located outside the mounting channel 11, and the positioning element 22 is provided on the outer side wall. The positioning element 22 abuts against the open end of the mounting channel 11 of the main body of the mechanism 1 to position the adapter 2.

[0098] The end of the holding arm 20 is also provided with a detection element 8. When the adapter 2 is installed on the main body 1, the end of the detection element 8 passes through the end face of the receiving member 21 away from the opening end and extends into the inner cavity of the receiving member 21. When the mounting member 1011 extends into the inner cavity of the receiving member 21, the mounting member 1011 can push the detection element 8 to move away from the mounting member 1011, thereby triggering the detection switch in the holding arm 20 to detect the installation status of the card stamping mechanism 10.

[0099] The structure and triggering principle of the detection switch can be referenced from existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0100] The end of the detection element 8 that contacts the mounting element 1011 is arc-shaped. To avoid the detection element 8, a through hole is provided on the end face of the receiving element 21 away from the opening end, allowing the end of the detection element 8 to pass through the through hole and enter the inner cavity of the receiving element 21. Preferably, a sealing element 9 is provided on the inner sidewall of the receiving element 21, and the sealing element 9 is provided with an arc-shaped portion 91, which arches towards the opening end of the mounting channel 11. When the adapter 2 is installed and the card-punching mechanism 10 is not installed, the end of the detection element 8 is placed inside the arc-shaped portion 91. By setting the sealing component 9, the aforementioned through hole can be sealed, preventing bacteria inside the installation channel 11 from entering the sterile environment through the through hole, further ensuring the sterilization function of the adapter 2, reducing the risk of patient infection, and improving the safety of the operation; in addition, by setting the arched arc part 91, the detection component 8 can be avoided. When the card-punching mechanism 10 is not installed at the end of the holding arm 20, the sealing component 9 is prevented from pushing the detection component 8 to the point that the detection switch is triggered, ensuring that the detection component 8 can accurately detect the installation status of the card-punching mechanism 10, and improving the safety of the operation.

[0101] Specifically, a spring is provided within the mounting channel 11, ensuring that the end of the detection element 8 is positioned within the arc-shaped portion 91 when the adapter 2 is installed but the stamping mechanism 10 is not. When the adapter 2 is installed but the stamping mechanism 10 is not, the interaction force between the arc-shaped portion 91 and the detection element 8 is zero.

[0102] In this embodiment, the sealing component 9 is made of rubber and is integrally molded. The sealing component 9 is bonded to the adapter 2 through an adhesive layer.

[0103] In this embodiment, the first end of the detection element 8 can extend out of the holding arm 20. Preferably, the thickness of the arc-shaped portion 91 decreases from the center to the periphery. When the detection element 8 contacts the card-punching mechanism 10, the center of the first end of the detection element 8 makes point contact with the card-punching mechanism 10. Therefore, the pressure applied to the arc-shaped portion 91 is the greatest at the center of the end of the detection element 8. Setting the thickness of the arc-shaped portion 91 to decrease from the center to the periphery reduces the possibility of damage to the arc-shaped portion 91, ensures the integrity of the arc-shaped portion 91, prevents bacteria from entering the sterile environment through the through holes on the receiving element 21, further ensures the antibacterial function of the adapter 2, reduces the risk of patient infection, and improves the safety of the surgery.

[0104] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A mounting mechanism for mounting a card-stamping mechanism, wherein a mounting component protrudes from the card-stamping mechanism, characterized in that, include: The main body of the mechanism has a connection at one end to the robotic arm and an installation channel at the other end. An adapter includes a receiving member placed within a mounting channel and detachable from the mounting channel through an opening in the mounting channel. The receiving member is hollow inside and has an opening at one end facing the outside of the mounting channel. The mounting member can enter or exit the inner cavity of the receiving member through the opening in the receiving member. A clamping member is movably disposed on the inner cavity sidewall of the receiving member. A movable component is placed within the mounting channel and located outside the receiving component. The movable component is movably connected to the main body of the mechanism. When the mounting component is configured to be in the inner cavity of the receiving component, the movable component can move away from the clamping component or push the clamping component into the inner cavity of the receiving component to loosen or tighten the mounting component.

2. The installation mechanism according to claim 1, characterized in that, The clamping member is provided with an inclined sidewall, and the sidewall of the mounting member is provided with a mating inclined surface. When the clamping member is configured to abut against the mounting member, the inclined sidewall and the mating inclined surface are in contact. Both the inclined sidewall and the mating inclined surface are inclined towards the inner wall of the receiving member along the mounting channel from the outside to the inside.

3. The installation mechanism according to claim 1, characterized in that, A guide hole is provided through the inner cavity sidewall of the receiving component, and the clamping component is movably inserted through the guide hole. The guide hole can guide the clamping component to switch between a clamping position against the mounting component and a position away from the mounting component.

4. The installation mechanism according to claim 3, characterized in that, The mounting mechanism further includes an elastic isolator attached to the outer wall of the receiving member and completely covering the clamping member to seal the gap formed between the clamping member and the side wall of the guide hole.

5. The installation mechanism according to claim 4, characterized in that, The elastic spacer includes a middle portion and a connecting ring portion. The edge of the middle portion is circumferentially connected to the inner edge of the connecting ring portion. The end face of the connecting ring portion is attached to the outer side wall of the receiving member. The middle portion completely covers the clamping member. The elasticity of the middle portion is greater than that of the connecting ring portion.

6. The installation mechanism according to claim 3, characterized in that, The sidewall of the guide hole is circumferentially fitted to the sidewall of the clamping member. The mounting mechanism also includes an elastic connector, one end of which is connected to the outer sidewall of the receiving member, and the other end of which is connected to the end face of the clamping member for abutting against the movable member.

7. The installation mechanism according to claim 6, characterized in that, A first receiving groove is formed on the outer side wall of the receiving member, the first receiving groove passing through the side wall of the guide hole, and the elastic connecting member is placed in the first receiving groove; and / or, The clamping member has a second receiving groove on its end face, and the elastic connecting member is placed in the second receiving groove.

8. The installation mechanism according to any one of claims 1-7, characterized in that, The movable component is provided with a contact end for contacting the clamping component, and an elastic component is provided in the mounting channel. The elastic component can push the clamping component into the inner cavity of the receiving component through the contact end.

9. The installation mechanism according to claim 8, characterized in that, A guide hole is provided through the inner cavity sidewall of the receiving member. The clamping member is movably inserted through the guide hole. A groove is provided on the sidewall of the guide hole. A stop surface is formed between the groove and the sidewall of the guide hole. A protrusion is provided on the sidewall of the clamping member. The protrusion is placed in the groove. The stop surface is located on the side facing the protrusion towards the inner cavity of the receiving member. The stop surface can stop the protrusion. When the clamping member is configured to abut against the mounting member, the stop surface is either in contact with or spaced from the protrusion. When the mounting member is configured to disengage from the inner cavity of the receiving member, the stop surface abuts against the protrusion.

10. The installation mechanism according to claim 9, characterized in that, The outer side wall of the receiving member is provided with a sliding groove, the extension direction of the sliding groove is the same as the extension direction of the mounting channel, the sliding groove is located on the side of the guide hole opposite to the opening end of the mounting channel and passes through the side wall of the guide hole, when the protrusion is configured to fit against the stop surface, the edge of the bottom surface of the sliding groove and the end face of the protrusion opposite to the stop surface are in the same plane.

11. The installation mechanism according to any one of claims 1-7, characterized in that, The installation mechanism further includes a first connecting structure and a second connecting structure. The first connecting structure is disposed on the adapter, and the second connecting structure is disposed on the main body of the mechanism. The first connecting structure and the second connecting structure are detachably connected.

12. A surgical robot, characterized in that, It includes a card-stamping mechanism and a mounting mechanism as described in any one of claims 1-11, wherein the mounting mechanism is capable of clamping or releasing the mounting element on the card-stamping mechanism.

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