CN107334533B - Bracket component, surgical instrument of surgical robot and surgical robot - Google Patents
Bracket component, surgical instrument of surgical robot and surgical robot Download PDFInfo
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- CN107334533B CN107334533B CN201710645782.8A CN201710645782A CN107334533B CN 107334533 B CN107334533 B CN 107334533B CN 201710645782 A CN201710645782 A CN 201710645782A CN 107334533 B CN107334533 B CN 107334533B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
The invention provides a bracket assembly, a surgical instrument of a surgical robot and the surgical robot, wherein the bracket assembly comprises: the first bracket comprises a mounting cavity; the elastic piece is arranged in the mounting cavity; the positioning pin is arranged in the mounting cavity and connected with the elastic piece; the second support is provided with a positioning hole, and the positioning hole is matched with the positioning pin; one of the first support and the second support is provided with a positioning bulge, the other support is provided with a positioning groove, and the positioning pin is inserted into the positioning hole through the matching of the positioning bulge and the positioning groove and the elasticity of the elastic piece so as to enable the first support to be connected with the second support. The bracket component provided by the invention realizes the quick-release function between the first bracket and the second bracket, so that a user can assemble or separate the first bracket and the second bracket at any time.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a bracket assembly, a surgical instrument of a surgical robot and the surgical robot.
Background
At present, robot-assisted minimally invasive surgery gradually becomes a development trend of minimally invasive surgery, in the related art, due to the characteristics of the minimally invasive surgery, the movement space of a robot is greatly limited, so that the robot cannot move freely, and due to the complex structure and large volume of a surgical instrument of the surgical robot, the movement space of the robot is further compressed. Therefore, how to design a surgical robot which can be flexibly assembled, disassembled and moved in a limited space becomes an urgent problem to be solved.
Disclosure of Invention
In order to solve at least one of the above technical problems, an embodiment of the first aspect of the present invention proposes a bracket assembly.
In a second aspect of the embodiment of the invention, a surgical instrument of a surgical robot is also provided.
In a third aspect of the embodiment of the invention, a surgical robot is also provided.
In view of the above, according to an embodiment of the first aspect of the present invention, the present invention provides a bracket assembly for a surgical instrument of a surgical robot, comprising: the first bracket comprises a mounting cavity; the elastic piece is arranged in the mounting cavity; the positioning pin is arranged in the mounting cavity and connected with the elastic piece; the second support is provided with a positioning hole, and the positioning hole is matched with the positioning pin; one of the first support and the second support is provided with a positioning bulge, the other support is provided with a positioning groove, and the positioning pin is inserted into the positioning hole through the matching of the positioning bulge and the positioning groove and the elasticity of the elastic piece so as to enable the first support to be connected with the second support.
According to the bracket assembly provided by the invention, the first bracket and the second bracket are connected in a fastening manner through the matching of the positioning protrusions and the positioning grooves and the matching of the positioning pins and the positioning holes, and the positioning pins can be pulled out of the positioning holes to separate the first bracket from the second bracket. Wherein, to the surgical instruments of the surgical robots in the surgical robots field that has adopted this bracket component, can set up different mechanisms respectively on first support and the second support, like drive assembly, driven subassembly, medical device, operation execution portion etc. make the user choose for use different first support and second support to connect or dismantle fast each other at any time through foretell quick detach structure, greatly made things convenient for user's use, promoted surgical instruments or surgical robots's of surgical robots commonality and assembly efficiency simultaneously.
In addition, the bracket assembly provided by the invention in the above embodiment may further have the following additional technical features:
in the above technical solution, preferably, the positioning protrusion is provided with a first guiding inclined plane; the positioning groove is provided with a second guide inclined surface, and the second guide inclined surface is matched with the first guide inclined surface.
In this technical scheme, through setting up the direction inclined plane respectively on protruding and the constant head tank in location for the location is protruding to pass in and out the constant head tank more smoothly, also makes the assembly between first support and the second support or dismantles convenient and easy more like this, has further promoted the efficiency that both assembled or dismantled.
In any of the above technical solutions, preferably, the bottom of the first bracket is provided with a guide groove; the second support is provided with a guide protrusion, and the guide protrusion is matched with the guide groove.
In this technical scheme, through guide way and the bellied structure of direction, to the guide effect of first support and second support when further having realized the assembly for both can connect and assemble more efficiently, also can play certain positioning action to first support and second support through guide way and the bellied cooperation of direction simultaneously, prevent that both from connecting the back and taking place relative motion.
In any of the above technical solutions, preferably, the guide protrusion is provided with a third guide inclined surface.
In this technical scheme, the third direction inclined plane that sets up on the guide protrusion can be used to first support and the direction of second support to first support and guide way when the assembly contacts, also can further promote the assembly efficiency like this.
In any of the above technical solutions, preferably, the second bracket is further provided with a fourth guiding inclined surface, and the positioning pin passes through the fourth guiding inclined surface and then is inserted into the positioning hole when the first bracket and the second bracket are assembled.
In the technical scheme, in the process of assembling and connecting the first support and the second support, the positioning pin firstly passes through the fourth guide inclined plane on the second support and then is inserted into the positioning hole, so that the first support and the second support can be guided to the positioning pin at the beginning of contact, and meanwhile, the elastic part starts to be compressed when the first support and the second support are in assembling and connecting through the fourth guide inclined plane, so that the operation of a user on the positioning pin is omitted, the assembling and connecting efficiency is improved, and the use of the user is facilitated.
In any of the above technical solutions, preferably, the positioning protrusion is disposed at the bottom of the first bracket, and the positioning groove is disposed on the second bracket.
In this technical scheme, the location is protruding to be set up in the bottom of first support, and the constant head tank setting makes first support and second support be connected with fastening through the cooperation of location arch and constant head tank on the second support.
In any of the above solutions, preferably, the elastic member is a spring.
In this technical scheme the elastic component is the spring, utilizes the elasticity of spring to insert the locating pin in the locating hole so that the position between the two is fixed relatively, can also stir locating pin compression spring simultaneously, and then withdraws from the locating hole with the locating pin to make and separate between first support and the second support.
In any of the above technical solutions, preferably, the method further includes: the handle penetrates through the wall surface of the mounting cavity and is connected with the positioning pin.
In this technical scheme, the user can remove the locating pin through stirring the handle that is connected with the locating pin, and then withdraws from the locating hole with the locating pin to separate first support and second support. Wherein, the handle can be designed with a lever structure, so that the user can use the handle more conveniently and more labor-saving.
Embodiments of the second aspect of the present invention also provide a surgical instrument of a surgical robot, comprising: the bracket assembly is described above.
According to the surgical instrument of the surgical robot, the bracket assembly is adopted, so that the first bracket and the second bracket are connected in a fastening mode, meanwhile, the positioning pin can be pulled out of the positioning hole to separate the first bracket from the second bracket, the quick-release function between the first bracket and the second bracket is achieved, and a user can assemble or separate the first bracket and the second bracket conveniently at any time.
In addition, the bracket assembly provided by the invention in the above embodiment may further have the following additional technical features:
in the above technical solution, preferably, the method further includes: the transmission assembly is arranged on the first bracket; the operation executing part is connected with the transmission component; and the driving assembly is detachably arranged on the second support and is connected with the transmission assembly when the first support is connected with the second support.
In this technical scheme, be provided with drive assembly and drive assembly on first support and the second support respectively, be connected with operation execution portion on the drive assembly simultaneously, can set up different operation execution portions on different first supports respectively like this, just can be equivalent to having changed different operation execution portions like this through changing different first supports, promoted the change efficiency to operation execution portion, and then promoted the efficiency and the flexibility of operation.
Embodiments of the third aspect of the invention also provide a surgical robot comprising: the surgical instrument of the surgical robot.
According to the surgical robot provided by the invention, different first brackets or second brackets can be freely replaced at any time by adopting the surgical instrument of the surgical robot, so that different surgical execution parts can be respectively arranged on the different first brackets, and the replacement of the different first brackets can be equivalent to the replacement of the different surgical execution parts, thereby improving the replacement efficiency of the surgical execution parts and further improving the efficiency and flexibility of surgical operation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is a cross-sectional view of the structure shown in FIG. 1;
FIG. 3 is a schematic view of a first bracket of the configuration of FIG. 1;
FIG. 4 is a schematic view of a second bracket of the structure of FIG. 1;
FIG. 5 is a schematic structural diagram of an embodiment of the present invention;
fig. 6 is a partially enlarged schematic view of a portion a in the structure shown in fig. 5.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:
the surgical robot comprises a first support 12, a mounting cavity 122, an elastic member 124, a positioning pin 126, a positioning protrusion 128, a first guide inclined surface 1282, a handle 130, a second support 14, a positioning hole 142, a positioning groove 144, a second guide inclined surface 1442, a guide protrusion 146, a third guide inclined surface 1462, a fourth guide inclined surface 148, a surgical instrument 2 of a surgical robot, a transmission assembly 22, a surgical execution part 24 and a driving assembly 26.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention, taken in conjunction with the accompanying drawings and detailed description, is set forth below. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A bracket assembly, a surgical instrument of a surgical robot, and a surgical robot according to some embodiments of the present invention will be described with reference to fig. 1 to 6.
As shown in fig. 1 to 4, the present invention provides a bracket assembly for a surgical instrument 2 of a surgical robot, including: a first bracket 12, the first bracket 12 including a mounting cavity 122; an elastic member 124 disposed in the mounting cavity 122; a positioning pin 126 disposed in the mounting cavity 122 and connected to the elastic member 124; the second bracket 14, the second bracket 14 is provided with a positioning hole 142, and the positioning hole 142 is matched with the positioning pin 126; wherein, one of the first bracket 12 and the second bracket 14 is provided with a positioning protrusion 128, and the other is provided with a positioning groove 144, and the positioning pin 126 is inserted into the positioning hole 142 through the cooperation of the positioning protrusion 128 and the positioning groove 144 and the elastic force of the elastic member 124 so as to connect the first bracket 12 and the second bracket 14.
According to the bracket assembly provided by the invention, the first bracket 12 and the second bracket 14 are connected firmly through the matching of the positioning protrusions 128 and the positioning grooves 144 and the matching of the positioning pins 126 and the positioning holes 142, and the positioning pins 126 can be pulled out of the positioning holes 142 to separate the first bracket 12 from the second bracket 14, so that the quick-release function between the first bracket 12 and the second bracket 14 is realized through the structure, and a user can assemble or separate the first bracket 12 and the second bracket 14 at any time. Wherein, to the surgical instruments 2 of the surgical robot in the surgical robot field that has adopted this bracket component, can set up different mechanisms respectively on first support 12 and the second support 14, like drive assembly 26, driven subassembly, medical device, operation execution portion 24 etc. make the user choose for use different first support 12 and second support 14 to connect or dismantle fast mutually at any time through foretell quick detach structure, the user's of having greatly made things convenient for use, surgical instruments 2 or surgical robot's of surgical robot commonality and assembly efficiency have been promoted simultaneously.
In one embodiment of the present invention, preferably, as shown in fig. 3 and 4, the positioning protrusion 128 is provided with a first guiding inclined surface 1282; the positioning groove 144 is provided with a second inclined guiding surface 1442, and the second inclined guiding surface 1442 is matched with the first inclined guiding surface 1282.
In this embodiment, the positioning protrusions 128 can move into and out of the positioning grooves 144 more smoothly by providing the guiding slopes on the positioning protrusions 128 and the positioning grooves 144, so that the assembly or disassembly between the first bracket 12 and the second bracket 14 is more convenient and easier, and the assembly or disassembly efficiency of the two is further improved.
In one embodiment of the present invention, preferably, as shown in fig. 4, the bottom of the first bracket 12 is provided with a guide groove; the second bracket 14 is provided with a guide protrusion 146, and the guide protrusion 146 is matched with the guide groove.
In this embodiment, the guiding function for the first bracket 12 and the second bracket 14 during assembly is further realized through the structure of the guiding groove and the guiding protrusion 146, so that the two brackets can be connected and assembled more efficiently, and meanwhile, the matching of the guiding groove and the guiding protrusion 146 can also play a certain positioning role for the first bracket 12 and the second bracket 14, so as to prevent the two brackets from moving relatively after being connected.
In one embodiment of the present invention, preferably, as shown in fig. 3, the guide protrusion 146 is provided with a third guide inclined surface 1462.
In this embodiment, the third guiding inclined surface 1462 provided on the guiding projection 146 can be used for guiding the first bracket 12 and the guiding groove when the first bracket 12 and the second bracket 14 are in the assembling contact, which can further improve the assembling efficiency.
In an embodiment of the present invention, as shown in fig. 4, preferably, the second frame 14 is further provided with a fourth guiding inclined surface 148, and the positioning pin 126 passes through the fourth guiding inclined surface 148 and then is inserted into the positioning hole 142 when the first frame 12 and the second frame are assembled.
In this embodiment, in the process of assembling and connecting the first bracket 12 and the second bracket 14, the positioning pin 126 passes through the fourth guiding inclined surface 148 on the second bracket 14 and then is inserted into the positioning hole 142, so that the positioning pin 126 can be guided at the beginning of the contact between the first bracket 12 and the second bracket 14, and the elastic member 124 starts to compress during assembling and connecting through the fourth guiding inclined surface 148, thereby eliminating the operation of the positioning pin 126 by a user, improving the assembling and connecting efficiency, and facilitating the use of the user.
In one embodiment of the present invention, it is preferable that the positioning projection 128 is provided on the bottom of the first frame 12 and the positioning groove 144 is provided on the second frame 14, as shown in fig. 1 to 4.
In this embodiment, the positioning protrusion 128 is disposed on the bottom of the first frame 12, the positioning groove 144 is disposed on the second frame 14, and the first frame 12 is securely connected to the second frame 14 by the engagement of the positioning protrusion 128 and the positioning groove 144.
In one embodiment of the present invention, preferably, as shown in fig. 2, the elastic member 124 is a spring.
In this embodiment, the elastic member 124 is a spring, and the positioning pin 126 is inserted into the positioning hole 142 by the elastic force of the spring to fix the position therebetween, and meanwhile, the positioning pin 126 can be pushed to compress the spring, so that the positioning pin 126 is withdrawn from the positioning hole 142, and the first bracket 12 is separated from the second bracket 14.
In one embodiment of the present invention, preferably, as shown in fig. 1 and 2, further comprising: and a handle 130, wherein the handle 130 penetrates through the wall surface of the mounting cavity 122 and is connected with the positioning pin 126.
In this embodiment, the user can separate the first frame 12 from the second frame 14 by moving the positioning pin 126 by pulling the handle 130 connected to the positioning pin 126 to move the positioning pin 126 out of the positioning hole 142. Wherein, the handle 130 itself can be designed with a lever structure, so that the user can use the handle more conveniently and more laborsaving.
The present invention also provides a surgical instrument 2 of a surgical robot, as shown in fig. 5 and 6, including: the bracket assembly is described above.
According to the surgical instrument 2 of the surgical robot provided by the invention, the bracket assembly is adopted, so that the first bracket 12 and the second bracket 14 are connected firmly, and meanwhile, the positioning pin 126 can be pulled out of the positioning hole 142 to separate the first bracket 12 from the second bracket 14, so that the quick-release function between the first bracket 12 and the second bracket 14 is realized, and a user can assemble or separate the first bracket 12 and the second bracket 14 at any time.
In one embodiment of the present invention, preferably, as shown in fig. 5 and 6, further comprising: a transmission assembly 22 disposed on the first bracket 12; the operation executing part 24, the operation executing part 24 is connected with the transmission component 22; a drive assembly 26 removably disposed on the second frame 14, the drive assembly 26 being coupled to the transmission assembly 22 when the first frame 12 is coupled to the second frame 14.
In this embodiment, the first support 12 and the second support 14 are respectively provided with the transmission assembly 22 and the driving assembly 26, and the transmission assembly 22 is connected with the operation performing part 24, so that different operation performing parts 24 can be respectively arranged on different first supports 12, and thus, by replacing different first supports 12, it is equivalent to replacing different operation performing parts 24, the replacement efficiency of the operation performing part 24 is improved, and further, the efficiency and flexibility of the operation are improved.
The present invention also provides a surgical robot comprising: the surgical instrument 2 of the surgical robot described above.
The surgical robot provided by the invention can freely replace different first brackets or second brackets 14 at any time by adopting the surgical instrument 2 of the surgical robot, so that different surgical execution parts 24 can be respectively arranged on different first brackets 12, and different surgical execution parts 24 can be equivalently replaced by replacing different first brackets 12, thereby improving the replacement efficiency of the surgical execution parts 24 and further improving the efficiency and the flexibility of surgical operation.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "connected" may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A bracket assembly for a surgical instrument of a surgical robot, comprising:
a first bracket including a mounting cavity;
the elastic piece is arranged in the mounting cavity;
the positioning pin is arranged in the mounting cavity and connected with the elastic piece;
the second support is provided with a positioning hole, and the positioning hole is matched with the positioning pin;
one of the first support and the second support is provided with a positioning bulge, the other support is provided with a positioning groove, and the positioning pin is inserted into the positioning hole through the matching of the positioning bulge and the positioning groove and the elasticity of the elastic piece so as to connect the first support and the second support;
a first guide inclined plane is arranged on the positioning bulge;
a second guide inclined plane is arranged on the positioning groove and is matched with the first guide inclined plane;
the handle penetrates through the wall surface of the mounting cavity and is connected with the positioning pin;
a guide groove is formed in the bottom of the first support;
the second bracket is provided with a guide bulge, and the guide bulge is matched with the guide groove;
the first bracket is provided with a transmission assembly, and the transmission assembly is used for connecting a surgical execution part;
the second support is detachably provided with a driving assembly, and when the first support is connected with the second support, the driving assembly is connected with the transmission assembly.
2. The bracket assembly of claim 1,
and a third guide inclined plane is arranged on the guide bulge.
3. The bracket assembly of claim 1,
the second support is further provided with a fourth guide inclined surface, and the positioning pin passes through the fourth guide inclined surface and then is inserted into the positioning hole when the first support and the second support are assembled.
4. The bracket assembly according to any one of claims 1 to 3,
the positioning bulge is arranged at the bottom of the first support, and the positioning groove is arranged on the second support.
5. The bracket assembly according to any one of claims 1 to 3,
the elastic piece is a spring.
6. A surgical instrument of a surgical robot, comprising:
the mount assembly according to any one of claims 1 to 5.
7. A surgical robot, comprising:
a surgical instrument of a surgical robot as recited in claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710645782.8A CN107334533B (en) | 2017-07-31 | 2017-07-31 | Bracket component, surgical instrument of surgical robot and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710645782.8A CN107334533B (en) | 2017-07-31 | 2017-07-31 | Bracket component, surgical instrument of surgical robot and surgical robot |
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| Publication Number | Publication Date |
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| CN107334533A CN107334533A (en) | 2017-11-10 |
| CN107334533B true CN107334533B (en) | 2023-02-28 |
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| CN201710645782.8A Active CN107334533B (en) | 2017-07-31 | 2017-07-31 | Bracket component, surgical instrument of surgical robot and surgical robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207578397U (en) * | 2017-12-13 | 2018-07-06 | 深圳光启合众科技有限公司 | Bindiny mechanism, fixed frame, clamp structure and exoskeleton robot |
| CN217652564U (en) * | 2022-06-08 | 2022-10-25 | 广东欧派克家居智能科技有限公司 | Hanging rack hanging pulley |
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| WO2011037394A2 (en) * | 2009-09-23 | 2011-03-31 | 주식회사 이턴 | Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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