CN209404834U - For connecting the instrument retainer of Minimally Invasive Surgery instrument and the quick-disassembly structure of isolation seat - Google Patents

Abstract

The utility model relates to for connecting the instrument retainer of Minimally Invasive Surgery instrument and the quick-disassembly structure of isolation seat, instrument retainer is set on isolation seat, wherein, quick-disassembly structure includes the first positioning region and the second positioning region: the first positioning region includes: the sliding rail that can be slided in sliding slot of the sliding slot being arranged on isolation seat and the two sides that instrument retainer is arranged in, second positioning region includes: the accommodating chamber opened up in the upper surface of isolation seat and the elastomer that can be moved up and down in accommodating chamber, the top end part of elastomer is convexly equipped with the pressing protrusion that can stop the instrument retainer, wherein, raised top is pressed when being pressed by the bottom end of the instrument retainer not higher than the top of the accommodating chamber, the top of pressing protrusion is higher than the top of the accommodating chamber in its natural state and is higher than the bottom end of the instrument retainer, the top of protrusion is pressed in quilt It is flushed when the bottom end pressing of instrument retainer with the top of accommodating chamber.

Description

For connecting the instrument retainer of Minimally Invasive Surgery instrument and the quick-disassembly structure of isolation seat

Technical field

The utility model relates to the field of medical instrument technology more particularly to a kind of for connecting the instrument of Minimally Invasive Surgery instrument The quick-disassembly structure of retainer and isolation seat.

Background technique

With the application and development of robot technology, the especially development of computing technique, medical operation robot is in clinic In effect be increasingly valued by people.Micro-wound operation robot can mitigate the physical strength labor of doctor in the course of surgery It is dynamic, while reaching precisely operation purpose, make that patient's Micro trauma, blood loss are few, postoperative infection is few, post-operative recovery is fast.Minimally Invasive Surgery machine Device people system is usually using master slave control mode: for operator when operating to main hand, hand exercise will drive main hand It moves therewith, sensor can measure motion information at main swivel of hand, then be mapped the movement of main hand by master & slave control algorithm Surgical instrument is driven to realize corresponding sports to from hand master arm from each joint passive movement of hand master arm.Micro-wound operation robot Master arm key components mainly include remote centre of motion mechanism and surgical instrument, and the design superiority and inferiority of mechanical structure is direct The performance of micro-wound operation robot is affected, the research and development and design of other component in system are also restrict.

During robot assisted micro-wound surgical operation, doctor implements surgical procedure by elongated Minimally Invasive Surgery instrument Task.One end of surgical instrument is placed in robot from the rapid replacing interface device of manipulator end, and the other end passes through human body table The miniature incision in face is insinuated into be operated in vivo, and therefore, surgical instrument is uniquely to be in contact with human lesion tissue Part, and directly execute surgical procedure robot part.In operation is implemented, to meet different surgical procedure tasks The movement demand of (clamping, suture, knotting etc.), the instrument that robot should replace at any time and requirement matches, therefore rapidly and efficiently And reliable instrument replacement function is also to embody the key factor of minimally-invasive surgery robot system overall performance level.

For adapt to modernization Minimally Invasive Surgery requirement, surgical instrument should meet delicate structure, flexible operation, it is various informative, Be suitble to medical environment etc. to require, this requires matched instrument fast replacing device should have size it is small, it is high-efficient, be easy to grasp Make, connect the features such as reliable.The more changing device of current domestic and international researched and developed minimally-invasive surgery robot system is also in function mostly Be able to achieve in level, be only capable of executing the replacement between different instruments, operability, intelligent level and in terms of There are also biggish gaps with actual surgery demand.Therefore, realize surgical instrument replacement rapidly and reliably to filling the domestic gaps, Related-art technology progress is promoted to be of great significance.

For this reason, it is necessary to propose the Quick Release knot of a kind of the instrument retainer for connecting Minimally Invasive Surgery instrument and isolation seat Structure, to realize the purpose that reliably connects and can rapidly split between instrument retainer and isolation seat.

Utility model content

To achieve the above object, the instrument retainer that the utility model proposes a kind of for connecting Minimally Invasive Surgery instrument and The quick-disassembly structure of isolation seat, the instrument retainer are set on the isolation seat, wherein

The quick-disassembly structure includes the first positioning region and the second positioning region:

Wherein, first positioning region includes: that the sliding slot being arranged on the isolation seat and setting are driven in the instrument The sliding rail that can be slided in the sliding slot of the two sides of seat,

Second positioning region includes: in accommodating chamber that the upper surface of the isolation seat opens up and can be in the accommodating chamber The elastomer moved up and down, the top end part of the elastomer are convexly equipped with the pressing protrusion that can stop the instrument retainer, In, the top of the pressing protrusion by the bottom end of the instrument retainer when being pressed not higher than the top of the accommodating chamber, institute The top for stating pressing protrusion is higher than the top of the accommodating chamber in its natural state and is higher than the bottom end of the instrument retainer, institute The top for stating pressing protrusion is flushed when being pressed by the bottom end of the instrument retainer with the top of the accommodating chamber.

Quick-disassembly structure as described above, wherein the end of the sliding rail is equipped with the guiding surface tilted down, to reduce State resistance when sliding rail slides into the sliding slot.

Quick-disassembly structure as described above, wherein one end of the pressing protrusion is equipped with the guide part tilted down, to reduce The instrument retainer is moved to the resistance when top of the pressing protrusion.

Quick-disassembly structure as described above, wherein the elastomer includes the fixture block that can be moved up and down in the accommodating chamber And the reset spring being located between the bottom of the fixture block and the bottom wall of the accommodating chamber, the pressing protrusion are convexly equipped with the card The top of block.

Quick-disassembly structure as described above, wherein the bottom end of the fixture block is equipped at least two claws, sets in the accommodating chamber There is the card hole being mutually clamped with the claw.

Quick-disassembly structure as described above, wherein the bottom of the claw is provided with barb, and the barb is connected to the card The bottom in hole is to limit the displacement that the elasticity pressing fixture block moves upwards.

Quick-disassembly structure as described above, wherein at least one side wall of the fixture block is equipped with arc guide barrel, the accommodating chamber Side wall be equipped with the conducting bar that matches with the arc guide barrel.

Quick-disassembly structure as described above, wherein the bottom end of the fixture block is equipped with four claws, and four claws distinguish position In four turnings of the fixture block.

Quick-disassembly structure as described above, wherein the claw and the fixture block are integrally formed.

Quick-disassembly structure as described above, wherein the top of the elastomer it is described under natural conditions with the accommodating chamber Top flush.

By the quick-disassembly structure of the utility model, instrument retainer and the isolation seat that Minimally Invasive Surgery instrument may be implemented are quick It steadily connects, while also may be implemented rapidly to split the two.

Detailed description of the invention

Hereinafter the utility model will be described in more detail based on the embodiments and with reference to the accompanying drawings.

Fig. 1 is the stereochemical structure signal of the fixed device of instrument of laparoscopic surgery robot in the embodiments of the present invention Figure；

Fig. 2 is the stereochemical structure signal of the fixed device of instrument of laparoscopic surgery robot in the embodiments of the present invention Scheme (instrument bindiny mechanism is not shown in the figure)；

Fig. 3 is the front view of the first quick-disassembly structure in the embodiments of the present invention；

Fig. 4 is the explosive view of the first quick-disassembly structure shown in Fig. 3；

Fig. 5 is the explosive view (bottom views) of the second quick-disassembly structure in the embodiments of the present invention；

Fig. 6 is the explosive view (top visual angle) of the second quick-disassembly structure in the embodiments of the present invention；

Fig. 7 is the explosive view of the fixed device of instrument of laparoscopic surgery robot in the embodiments of the present invention (in figure Instrument bindiny mechanism is not shown)

Fig. 8 is the schematic perspective view of retainer in the embodiments of the present invention；

Fig. 9 is the three-dimensional cutaway view of retainer shown in Fig. 8；

Figure 10 is the schematic perspective view of instrument bindiny mechanism in the embodiments of the present invention；

Figure 11 is that the schematic perspective view of instrument bindiny mechanism in the embodiments of the present invention (is not shown in the figure outer Pipe)；

Figure 12 is that (outer tube is not shown in the figure in the schematic perspective view of instrument bindiny mechanism in the embodiments of the present invention And inner tube).

Identical component is indicated by identical appended drawing reference in the figure.The attached drawing is not drawn according to the actual ratio.

Appended drawing reference:

1- drive seat；2- isolation seat；3- retainer；

4- instrument bindiny mechanism；5- driving mechanism；The first quick-disassembly structure of 6-；

The second quick-disassembly structure of 7-；11- pedestal；12- fixing seat；

21- second shaft coupling；The 5th shaft coupling of 22-；The 8th shaft coupling of 23-；

31- third shaft coupling；32- master gear；33- shaft；

34- is from gear；35- First；36- second；

The 6th shaft coupling of 37-；The 9th shaft coupling of 38-；41- instrument shaft；

42- instrument；43- threaded sleeve；The first card slot of 44-；

The second card slot of 45-；46- catch bar；47- draw bar；

48- third card slot；51- power source；52- driving plate；

53- first shaft coupling；The 4th shaft coupling of 54-；The 7th shaft coupling of 55-；

The first spring of 56-；57- second spring；58- third spring；

The first positioning region 61-；The first positioning region 62-；71- third positioning region；

The 4th positioning region 72-；The 5th positioning region 73-；The first hole 121-；

The second hole 122-；123- third hole；The second groove of 211-；

The first strip of 212-；The second strip of 311-；331- positioning protrusion；

The first card hole of 351-；The elastic snap-gauge of 352- first；The first press section 353-；

The first lead screw of 354-；355- first sliding groove；The first sliding rail of 356-；

Limit body after 357-；358- the first spring retainer body；

The second card hole of 361-；The elastic snap-gauge of 362- second；The second press section 363-；

The second lead screw of 364-；365- second sliding slot；The second sliding rail of 366-；

367- second spring limit body；368- circuit board；

411- outer tube；412- swivel head；413- position limiting clamp；

414- inner tube；415- groove body；416- stop collar；

417- open slot；421- inclined hole；461- adapter；

462- clamping pipe；463- oscillating rod；464- connection plane；

465- clamping head；The 4th spring of 471-；472- pin shaft；

511- first motor；The second motor of 512-；513- third motor；

The first groove of 531-；611- third sliding rail；612- third sliding slot；

613- guiding surface；The first accommodating chamber of 621-；The first fixture block of 622-；

623- claw；624- barb；625- card hole；

626- arc guide barrel；627- conducting bar；628- guide part；

The 4th sliding slot of 711-；712- sliding block；721- fixture block；

722- slot；723- long hole；731- pressing tablet；

The second elastomer of 732-；733- stepped hole；734- mounting hole；

735- fixed disk；736- ear；737- gap；

738- lid.

Specific embodiment

Below in conjunction with attached drawing, the utility model is described in further detail.

As illustrated in fig. 1 and 2, the utility model provides a kind of fixed device of instrument of laparoscopic surgery robot comprising Drive seat 1, the isolation seat 2 being arranged in drive seat 1 and the retainer 3 being arranged on isolation seat 2.Wherein, it is set on retainer 3 It is equipped with instrument bindiny mechanism 4, driving mechanism 5 is fixed in drive seat 1, in addition, drive seat 1 also acts as instrument bindiny mechanism 4 Supporting role.

The connection type between drive seat 1, isolation seat 2 and retainer 3 will be described in detail below.

It is quickly connected between retainer 3 and isolation seat 2 by the first quick-disassembly structure 6.

As shown in figure 3, the first quick-disassembly structure 6 includes the first positioning region 61, wherein the first positioning region 61 includes that setting is passing The third sliding rail 611 of dynamic 3 two sides of seat and the third sliding slot 612 being arranged on isolation seat 2, two third sliding rails 611 are set respectively It sets in corresponding third sliding slot 612, retainer 3 is enable to be slided along the length direction of isolation seat 2.

Third sliding rail 611 is successfully imported into third sliding slot 612 for convenience, is set in the end of third sliding rail 611 It is equipped with the guiding surface 613 tilted down, to reduce resistance when third sliding rail 611 enters third sliding slot 612, to improve dress The efficiency matched.

Make retainer 3 and the quilt in Y direction and Z-direction of isolation seat 2 by third sliding rail 611 and third sliding slot 612 Positioning completely.

Further, the first quick-disassembly structure 6 further includes the second positioning region 62, wherein the second positioning region 62 includes the first appearance Receive chamber 621 and the first elastomer for being arranged in the first accommodating chamber 621.Wherein, in one embodiment, the first elastomer packet It includes the first fixture block 622 that can be moved up and down in first accommodating chamber 621 and holds positioned at the bottom of the first fixture block 622 and first The reset spring (not shown) received between the bottom wall of chamber 621, raised 353 (the alternatively referred to as press sections 353) of the pressing are convex Top equipped with the first fixture block 622.The top of first fixture block 622 is provided with guide part 628, and wherein one end of guide part 628 is The inclined-plane tilted down, the other end are stopper section；After retainer 3 is mounted on isolation seat 2, the end of retainer 3 with lead It is in contact to the end (i.e. stopper section) in portion 628, so that retainer 3 be made to be positioned completely in the X-axis direction with isolation seat 2.

The bottom end of first fixture block 622 is provided at least two claws 623.For example, four claws 623 are shown in Fig. 4, point Not Wei Yu spring support 622 four corners, and with the first fixture block 622 be integrally formed.Card hole is provided in first accommodating chamber 621 625, claw 623 is separately positioned in corresponding card hole 625.The bottom of claw 623 is provided with barb 624, and barb 624 is fastened on The bottom of card hole 625, so that the first fixture block 622 of limitation is moved away from the direction of the first accommodating chamber 621 (i.e. along Z-direction Move upwards) when maximum displacement.

It is provided with arc guide barrel 626 at least one side wall of first fixture block 622, for example, showing four arcs in Fig. 4 Guide groove 626 is located on four side walls of the first fixture block 622；Semi-cylindrical is provided on the inner wall of first accommodating chamber 621 Conducting bar 627, conducting bar 627 are arranged in arc guide barrel 626, for making the first fixture block 622 keep straight line fortune along the movement of Z-direction It is dynamic.

The original state of first fixture block 622 is that the end of the first fixture block 622 is flushed with the end of the first accommodating chamber 621, the The guide part 628 on one fixture block, 622 top is higher than the end of the first accommodating chamber 621；The claw 623 of first fixture block 622 is arranged in card In hole 625, and the barb 624 of 623 bottom of claw is fastened on the bottom of card hole 625.I.e. the first fixture block 622 is in original state When, it can only be moved downward along Z-direction.

Spring is provided between first fixture block 622 and the first accommodating chamber 621, spring is for restoring the first fixture block 622 just Beginning state.

Retainer 3 and the mounting means of isolation seat 2 are as follows:

The bottom surface of retainer 3 and the upper surface of isolation seat 2 is set to be in contact, along the length direction (i.e. X-direction) of isolation seat 2 Retainer 3 is pushed, in 3 moving process of retainer, the first end of retainer 3 touches the first fixture block 622 first, works as retainer 3 can apply downward pressure when continuing to move to the first fixture block 622, and the first fixture block 622 is forced to move downward along Z-direction.? During this, retainer 3 can be readily moved to the first fixture block 622 by the guide part 628 on 622 top of the first fixture block Top, to make the movement of retainer 3 not will receive resistance.

During retainer 3 continues to move to, the third sliding rail 611 of 3 two sides of retainer is smooth by guiding surface 613 Ground enters third sliding slot 612, and continues to move to along third sliding slot 612, until being moved to bottom end and the first fixture block of retainer 3 622 completely disengage and come, and the first fixture block 622 is made no longer to be pressurized, the first fixture block 622 then under the action of the spring along Z-direction to Upper movement, and restore to original state.At this point, the stopper section of the first fixture block 622 is in contact with the second end of retainer 3, thus Move backward retainer 3 can not again.

So far the installation of retainer 3 and isolation seat 2 is completed.

When dismantling retainer 3, only need to push spring support 622, make the stopper section of the first fixture block 622 not with retainer 3 End is in contact, and retainer 3 can be made to move along with above-mentioned contrary direction, so that retainer 3 and isolation seat 2 be carried out Separation.

Due to being provided with instrument bindiny mechanism 4 on retainer 3, pass through the Quick Release knot between retainer 3 and isolation seat 2 Structure can be such that retainer 3 quickly and easily disassembles from isolation seat 2 with instrument bindiny mechanism 4, therefore replace during surgery Instrument is with regard to more convenient.

It is quickly connected between isolation seat 2 and drive seat 1 by the second quick-disassembly structure 7.

As it can be seen in figures 5 and 6, the second quick-disassembly structure 7 includes third positioning region 71, wherein third positioning region 71 includes setting The 4th sliding slot 711 in 2 bottom of isolation seat and the sliding block 712 that is arranged in drive seat 1, sliding block 712 are located at the 4th sliding slot 711 In, so that isolation seat 2 is slided along the length direction of drive seat 1.Make retainer 3 by sliding block 712 and the 4th sliding slot 711 It is positioned completely in the Y-axis direction with isolation seat 2.

Further, the second quick-disassembly structure 7 include the 4th positioning region 72, wherein the 4th positioning region 72 include setting every The fixture block 721 for 2 first ends that disseat and the slot 722 that 2 second end of isolation seat is arranged in, slot 722 is along the length side of isolation seat 2 To extension, long hole 723 is provided in drive seat 1, after isolation seat 2 is mounted in drive seat 1, fixture block 721 is inserted into long hole In 723, while the rear end of drive seat 1 fastens with slot 722, to keep retainer 3 complete in the X-axis direction with isolation seat 2 Full positioning.

In addition, the front end of fixture block 721 is provided with the inclined-plane tilted down, convenient for fixture block 721 to be inserted into long hole 723.

Further, the second quick-disassembly structure 7 includes the 5th positioning region 73, and the 5th positioning region 73 includes being arranged in isolation seat 2 On pressing tablet 731 and the second elastomer 732 for being arranged in drive seat 1, the second elastomer 732 be arranged on isolation seat 2 Stepped hole 733 in.Specifically, pressing tablet 731 is arranged in the hole being relatively large in diameter in stepped hole 733, the second elastomer 732 from The bottom connection of the lesser Kong Zhonghou of diameter and pressing tablet 731 touches in the bottom insertion stepped hole 733 of stepped hole 733, to make The upper surface of the top of pressing tablet 731 and isolation seat 2 keeps flushing, thus make drive seat 1 and isolation seat 2 in the Z-axis direction by Positioning completely.

Wherein, pressing tablet 731 is gel silica membrane, has certain elastic deformation ability.

When pressing pressing tablet 731, the second elastomer 732 can be made to move downward along Z-direction, to make the second elasticity Body 732 is detached from from stepped hole 733, to release isolation seat 2 and the constraint of drive seat 1 in the Z-axis direction.

In order to improve the sensitivity of the second elastomer 732 response, it is provided on the upper surface of the second elastomer 732 downwards Inclined inclined-plane, so that the volume for protruding into the second elastomer 732 in stepped hole 733 reduces, then when pressing tablet 731 squeezes downwards When pressing the second elastomer 732, elastomer 732 can rapidly be detached from stepped hole 733.

Be provided with mounting hole 734 in drive seat 1, be provided with fixed disk 735 in mounting hole 734, the bottom of fixed disk 735 with The bottom end of drive seat 1 is to being in contact.The bottom of drive seat 1 is provided with ear 736, is provided in fixed disk 735 for accommodating ear The lid 738 of the gap 737 in portion 736,734 bottom end of fixed disk is fixedly connected with ear 736, thus by fixed disk 735 and driving Seat 1 is fixed.

Second elastomer 732 is arranged in fixed disk 735, is provided with spring between the second elastomer 732 and lid 738, So that the second elastomer 732 restores to original state.

The original state of second elastomer 732 is that the top of the second elastomer 732 extend out to the outside of fixed disk 735, i.e., The top of second elastomer 732 is higher than the upper surface of drive seat 1.

Isolation seat 2 and the mounting means of drive seat 1 are as follows:

The bottom surface of isolation seat 2 and the upper surface of drive seat 1 is set to be in contact, along the length direction (i.e. X-direction) of drive seat 1 Isolation seat 2 is pushed, in 2 moving process of isolation seat, the 4th sliding slot 711 and the sliding block 712 of 2 bottom end of isolation seat cooperate, right Guiding role is played in the movement of isolation seat 2.

When isolation seat 2 continues to move to, the first end of isolation seat 2 can touch the second elastomer 732, when isolation seat 2 continues Downward pressure can be applied to the second elastomer 732 when mobile, the second elastomer 732 is forced to move downward along Z-direction.Herein In the process, isolation seat 2 can be readily moved to the upper of the second elastomer 732 by the inclined-plane on 732 top of the second elastomer Side, to make the movement of isolation seat 2 not will receive resistance.

Then, the stepped hole 733 of 2 bottom end of isolation seat is moved to the top of the second elastomer 732, at this point, the second elastomer 732 are no longer pressurized, then the second elastomer 732 moves upwards to be inserted into stepped hole 733 under the action of the spring along Z-direction In, and restore to original state.At this point, the second elastomer 732 cooperates with stepped hole 733, to make isolation seat 2 can not be again It is mobile.

So far the installation of isolation seat 2 and drive seat 1 is completed.

When dismantling isolation seat 2, pressing tablet 731 only need to be pushed, is detached from the second elastomer 732 from stepped hole 733, i.e., Isolation seat 2 can be made to move along with above-mentioned contrary direction, so that isolation seat 2 be separated with drive seat 1.

Drive seat 1 includes the pedestal 11 being fixedly connected with the slide unit of trolley and the fixing seat with the setting of 11 integral type of pedestal 12.Wherein, pedestal 11 is for the driving plate 52 in fixed drive mechanism 5, and the side wall of fixing seat 12 is for fixed drive mechanism 5 Power source 51, power source 51 and driving plate 52 are electrically connected.

Instrument bindiny mechanism 4 includes instrument shaft 41, and one end of instrument shaft 41 is provided with instrument 42, the other end of instrument shaft 41 After the side wall for sequentially passing through the side wall of fixing seat 12, the side wall of isolation seat 2 and retainer 3, it is fixed on retainer 3.

Instrument 42 described in the utility model includes the device with three degree of freedom, two freedom degrees or one degree of freedom Tool, wherein the instrument 42 with three degree of freedom is such as surgical clamp, operating scissors；There are two the instruments 42 of freedom degree for tool for example Scalpel etc.；Instrument 42 with one degree of freedom is such as endoscope.It can by instrument bindiny mechanism 4 and retainer 3 Realize multiple freedom degrees of instrument 42, the specific implementation of freedom degree is by description in greater detail below.

First aspect according to the present utility model provides a kind of implementation with one degree of freedom instrument.

In the first embodiment of the utility model, instrument 42 has the first freedom degree (such as endoscope).Wherein, instrument 42 the first freedom degree, which refers to, to be that rotary shaft is rotated with the axis (along the x axis) of instrument shaft 41, the first of instrument 42 Freedom degree can be realized the spinning movement for imitating the arm of human body.

In the present embodiment, the first hole 121 is provided on the side wall of fixing seat 12, power source 51 includes first motor 511, The output shaft of first motor 511 is arranged in the first hole 121.In order to improve the utilization rate in space, the axial direction of instrument shaft 41, The axial direction of first motor 511 and the length direction of fixing seat 12 are identical.

The power delivery mode of first motor 511 is as follows:

First motor 511 is arranged on the side wall of fixing seat 12, after output shaft passes through the first hole 121, in output shaft End is fixedly connected with first shaft coupling 53.Second shaft coupling 21 is respectively arranged on the side wall of isolation seat 2 and the side wall of retainer 3 With third shaft coupling 31, second shaft coupling 21 is connected with first shaft coupling 53 and third shaft coupling 31 respectively, specific connection side Formula will be described in greater detail below.

Shaft 33 is additionally provided on the side wall of retainer 3, one end of shaft 33 is provided with from gear 34, third shaft coupling 31 End be provided with master gear 32, master gear 32 and be meshed from gear 34.

Therefore, when driving plate 52 receives the instruction that instrument is rotated along X-axis, driving plate 52 drives first motor 511 to revolve Turn, power is along the output shaft of first motor 511, first shaft coupling 53, second shaft coupling 21, third shaft coupling 31, master gear 32 It is transmitted with from gear 34, so that shaft 33 be driven to be rotated.Wherein, shaft 33 is hollow shaft, and the setting of instrument shaft 41 exists In shaft 33, to be rotated together with shaft 33.

Instrument shaft 41 and the connection type of shaft 33 are as follows:

As shown in fig. 7, the end of shaft 33 is provided with positioning protrusion 331, the first card is provided on the outer wall of instrument shaft 41 Slot 44, by instrument shaft 41 be inserted into shaft 33 in after, positioning protrusion 331 fastens with the first card slot 44, thus make instrument shaft 41 and Shaft 33 completes positioning in radial directions.

Further, it is provided with external screw thread in shaft 33, threaded sleeve 43 is provided on the outer wall of instrument shaft 41, works as instrument After bar 41 protrudes into shaft 33, instrument shaft 41 is fixedly connected with shaft 33 by threaded sleeve 43, to make instrument shaft 41 and turn Axis 33 completes positioning in the axial direction.

So far, shaft 33 has been fixed with instrument shaft 41 in both direction, therefore when shaft 33 rotates, instrument shaft 41 It is rotated therewith with instrument 42.

Fixed connection place between instrument shaft 41 and shaft 33 is a fixed point between instrument shaft 41 and retainer 3, But since the length of instrument shaft 41 is longer, there is unstability by the way that single-point is fixed.In order to improve instrument shaft 41 with Connective stability between retainer 3, is additionally provided with First 35 on retainer 3, and the end of instrument shaft 41 is fixed on first Seat 35, so that increasing the fixed point between instrument shaft 41 and retainer 3 is two, to improve the stability of the two connection.

Specifically, the fixed form between the end of instrument shaft 41 and First 35 is as follows:

As shown in FIG. 8 and 9, the first card hole 351 for installing instrument shaft 41, the first card hole are provided on First 35 351 axis is overlapped with the axis of shaft 33.The first elastic snap-gauge 352, the first elastic snap-gauge are provided in first card hole 351 352 can move along the radial direction of the first card hole 351, so that the installation diameter of the first card hole 351 be made to reduce (i.e. less than the first card The actual diameter in hole 351), or the installation diameter of the first card hole 351 is made to increase (actual diameter for being equal to the first card hole 351).

The end of First 35 is provided with the first press section 353, and the first press section 353 can be pressing lever, the first pressing Portion 353 is connected with the first elastic snap-gauge 352, and when pressing the first press section 353, the first elasticity snap-gauge 352 is moved downward, and makes the The installation diameter of one card hole 351 increases；When removing the pressure to the application of the first press section 353, the first elastic snap-gauge 352 is in bullet It is popped up under the action of property part, so that the installation diameter of the first card hole 351 be made to reduce.

Catch bar 46 is coaxially disposed in instrument shaft 41, catch bar 46 stretches out except the end of instrument shaft 41, instrument shaft Relative movement can be generated between 41 and catch bar 46.The second card slot 45 is provided on the outer wall of catch bar 46, when catch bar 46 After protruding into the first card hole 351, elastic first snap-gauge 352 fastens with the second card slot 45, and catch bar 46 is made to be fixed on the first card In hole 351, to be fixed with First 35.

When needing to remove instrument shaft 41, need to only press the first press section 353 makes the first elastic snap-gauge 352 along the first card The radial direction in hole 351 is mobile, so that the installation diameter of the first card hole 351 will be made to increase, can block catch bar 46 from first It is taken out in hole 351.

In the present embodiment, due to needing to realize instrument 42 along the rotation of the axial direction of instrument shaft 41, only need by Instrument 42 is fixed on the end of instrument shaft 41, and instrument 42 can be realized and rotate simultaneously with instrument shaft 41.

The connection type of first shaft coupling 53, second shaft coupling 21 and third shaft coupling 31 is described below.

The end of first shaft coupling 53 is provided with the first groove 531, and the both ends of second shaft coupling 21 are respectively arranged with second Groove 211 and the first strip 212, the end of third shaft coupling 31 are provided with the second strip 311, wherein the setting of the first strip 212 In the first groove 531, the second strip 311 is arranged in the second groove 211, thus by first shaft coupling 53, second shaft coupling 21 with and third shaft coupling 31 positioned in radial directions.

First shaft coupling 53, second shaft coupling 21 with and third shaft coupling 31 in the axial direction then by retainer 3, It is fixedly connected to be positioned between isolation seat 2 and drive seat 1.

Further, as shown in fig. 7, in order to improve first shaft coupling 53, second shaft coupling 21 and and third shaft coupling The convenience assembled between 31, is provided with the first spring 56 between first shaft coupling 53 and first motor 511, therefore by first When shaft coupling 53 and second shaft coupling 21 are attached, the first strip 212 and the first groove 531 are no longer necessary brigadier Operation, in other words, the first strip 212 on 21 end face of second shaft coupling can be with any position of the end face of second shaft coupling 21 Contacted, when the first strip 212 is not inserted into the first groove 531, in this case, first shaft coupling 53 by The thrust of second shaft coupling 21, so that the first spring 56 be made to be compressed.So when first motor 511 rotates and drives the first shaft coupling When device 53 rotates, since first shaft coupling 53 is not positioned with second shaft coupling 21 radially, it can generate therebetween Relative motion, so that the first groove 531 of first shaft coupling 53 be made to can rotate 212 phase of the first strip with second shaft coupling 21 Position with sum, and under the promotion of the first spring 56, fastens with the first strip 212, thus realize first shaft coupling 53 with Radial positioning between second shaft coupling 21.

Similarly, when third shaft coupling 31 and second shaft coupling 21 to be attached, the second strip 311 and the second groove 211 are no longer necessary operation to brigadier, and in other words, the second strip 311 on 31 end face of third shaft coupling can be with second Any position of the end face of shaft coupling 21 is contacted, when second shaft coupling 21 rotates, the second groove of second shaft coupling 21 211 can rotate match with the second strip 311 of third shaft coupling 31 and position, and under the promotion of the first spring 56, with Second strip 311 fastens, to realize the radial positioning between second shaft coupling 21 and third shaft coupling 31.

In conclusion being the rotation fortune for converting the rotary motion of first motor 511 to instrument shaft 41 in the present embodiment It is dynamic, so that instrument 42 be made to be rotated.

In the second embodiment of the utility model, instrument 42 have the second freedom degree (such as only carry out designated position cut Disconnected scalpel).Wherein, refer to can be (vertical with the axis of instrument shaft 41) for rotary shaft with Z axis for the second freedom degree of instrument 42 It is rotated, the second freedom degree of instrument 42 can be realized the carpal spinning movement for imitating human body.

In the present embodiment, the second hole 122 is provided on the side wall of fixing seat 12, power source 51 includes the second motor 512, The output shaft of second motor 512 is arranged in the second hole 122.In order to improve the utilization rate in space, the axial direction of instrument shaft 41, The axial direction of second motor 512 and the length direction of fixing seat 12 are identical.

The power of second motor 512 is transferred on instrument shaft 41 by screw mechanism, and specific transfer mode is as follows:

Firstly, First 35 is set as being slidably connected with retainer 3, thus when First 35 does straight reciprocating motion, It drives instrument shaft 41 to do straight reciprocating motion, and converts swing (i.e. about the z axis for straight reciprocating motion in the end of instrument shaft 41 Rotation).

The implementation of 35 straight reciprocating motion of First is described below:

Second motor 512 is arranged on the side wall of fixing seat 12, after output shaft passes through the second hole 122, in output shaft End is fixedly connected with the 4th shaft coupling 54.The 5th shaft coupling 22 is respectively arranged on the side wall of isolation seat 2 and the side wall of retainer 3 With the 6th shaft coupling 37, the 5th shaft coupling 22 is connected with the 4th shaft coupling 54 and the 6th shaft coupling 37 respectively.

6th shaft coupling 37 is connected (shown in Fig. 8) with the first lead screw 354, wherein the first lead screw 354 passes through First 35 simultaneously It is threadedly coupled with the formation of First 35.The bottom of First 35 is provided with first sliding groove 355, the first sliding rail 356 on retainer 3 It is arranged in first sliding groove 355, when the rotation of the first lead screw 354, First 35 is moved along the axial direction of the first lead screw 354.

Further, the extreme position that First 35 moves right is defined by the first spring retainer body 358, is such as schemed Shown in 8, the first spring retainer body 358 is arranged on the first lead screw 354, when First 35 moves right (close to the side of instrument 42 To) and by spring-compressed to most contracting amount when will be unable to move right again, First 35 can be avoided by spring and move to the limit Collision is generated with the first spring retainer body 358 when position.

Similarly, the extreme position that First 35 moves downward is defined by rear limit body 357, as shown in figure 8, after Limit body 357 is arranged on the first lead screw 354, when First 35 moves downward (direction far from instrument 42) and with after limit body It will be unable to move downward again after 357 contacts.

By carrying out mechanical position limitation to the extreme position in 35 both direction of First, the maximum of instrument 42 can be rotated Angle is controlled.

In addition, instrument shaft 41 and the fixed form of retainer 3 are as follows:

Optionally, fixed form identical with previous embodiment can be used with the fixed form of retainer 3 in instrument shaft 41.

Optionally, since in the present embodiment, instrument shaft 41 is not necessarily to be rotated around X-axis, therefore can also be by instrument shaft 41 It is directly fixed on the side wall of retainer 3.

Also, catch bar 46 and the fixed form of First 35 have been described in detail in the aforementioned embodiment, Details are not described herein.

Therefore, when driving plate 52 receives the instruction that instrument is rotated along Z axis, driving plate 52 drives the rotation of the second motor 512 Turn, output shaft, fourth shaft coupling 54, fiveth shaft coupling 22, sixth shaft coupling 37, first lead screw of the power along the second motor 512 354 and First 35 transmitted, thus by the rotary motion of the second motor 512 be converted into First 35 linear reciprocation transport It is dynamic.

Secondly, the end of instrument shaft 41 and instrument 42 are hinged, thus realize by straight reciprocating motion be converted into swing (i.e. around Z axis rotation).

The implementation that instrument 42 swings and (rotates about the z axis) is described below:

Instrument shaft 41 is internally provided with catch bar 46, and catch bar 46 can move in the axial direction in instrument shaft 41.It pushes away One end of lever 46 is connected with First 35, and the other end is connected with instrument 42, when First 35 is mobile, drive catch bar 46 into Row movement makes instrument 42 generate swing to pull or push instrument 42.

Specifically, as shown in FIG. 10 and 11, instrument shaft 41 includes outer tube 411 and is placed coaxially on interior in outer tube 411 Pipe 414, the first end of outer tube 411 are provided with swivel head 412, and the second end of outer tube is provided with spacing head 413, spacing head 413 Restraining position ring block 416 is set on outer wall, and 331 phase of positioning protrusion on stop collar 416, with shaft 33 is arranged in aforementioned first card slot 44 Engaging.

Inner tube 414 is arranged in outer tube 411, and the first end of inner tube 414 enters in swivel head 412 after stretching out outer tube 411, with Retainer ring inside swivel head 412 is in contact；The second end of inner tube 414 is set in the outside of spacing head 413, and with stop collar 416 End face be in contact, so that inner tube 414 is limited between swivel head 412 and spacing head 413.

In addition, the outer diameter of inner tube 414 is identical as the internal diameter of outer tube 411, therefore closely match between inner tube 414 and outer tube 411 It closes, can be rotated together.

Further, the first end of inner tube 414 is also provided with the groove body 415 of the axial direction extension along inner tube 414, groove body 415 be in order to avoid generating interference between oscillating rod 463 described below.

Catch bar 46 is placed coaxially on the inside of inner tube 414, and the first end of catch bar 46 is provided with adapter 461, turns Connector 461 is arranged in inner tube 414.

The end of adapter 461 is connected with oscillating rod 463, and the other end of oscillating rod is hinged with clamping head 465, clamping head 465 first ends are connected with instrument 42, and the second end and swivel head 412 of clamping head 465 are rotatablely connected, thus when oscillating rod 463 by To thrust or pulling force effect when, clamping head 465 drive instrument 42 rotated around the junction of itself and swivel head 412, from And it realizes instrument 42 and rotates about the z axis.

Specifically, the two sides setting of clamping head 465 is respectively arranged with connection plane 464, and the upper end of swivel head 412 is provided with The end of open slot 417, clamping head 465 is arranged in open slot 417, and connection plane 464 connects with the inner wall of open slot 417 Touching, and be attached swivel head 412 with plane 464 is connect by pin, so that clamping head 465 can be with the axis of pin Rotary shaft is rotated.

The second end of catch bar 46 sequentially passes through inner tube 414 and spacing head 413, outside and clamping in spacing head 413 Pipe 262 is connected.Specifically, the second end of catch bar 46 protrudes into clamping pipe 462, connects with the retainer ring inside clamping pipe 462 Touching；Second card slot 45 is arranged on the outer wall of clamping pipe 462, is connected together with the first card hole 351 on First 35.

Wherein, the internal diameter for being clamped pipe 462 is identical as the outer diameter of catch bar 46, therefore when First 35 is mobile and pulls clamping When pipe 462 is for linear motion, catch bar 46 is also for linear motion, i.e. the movement of First 35 carries out catch bar 46 along its axis It is moved, to make oscillating rod 463 by the effect of thrust or pulling force, and then makes clamping head 465 that instrument 42 be driven to carry out Rotation.

In the present embodiment, first end refers to that, close to one end of instrument 42, second end refers to one end far from instrument 42.

Additionally need, the 4th shaft coupling 54, the 5th shaft coupling 22 and the 6th shaft coupling 37 in the present embodiment it Between connection type and first shaft coupling 53, second shaft coupling 21 and third shaft coupling 31 in first embodiment connection type phase Together, wherein second spring 57 is provided between the 4th shaft coupling 54 and the second motor 512, it similarly, can by second spring 57 Keep the assembly between three shaft couplings faster, therefore details are not described herein.

In conclusion being the rotary motion of the second motor 512 to be transferred to the first lead screw 354, and incite somebody to action in the present embodiment The rotary motion of first lead screw 354 is converted into the straight reciprocating motion of First 35, and converts device for the straight reciprocating motion The swing (rotating about the z axis) of tool 42.

In the 3rd embodiment of the utility model, instrument 42 have third freedom degree (such as only carry out designated position cut Disconnected operating scissors).Wherein, the third freedom degree of instrument 42, which refers to, can be carried out switching action, and the third freedom degree of instrument 42 can It realizes and imitates the movement that the finger of human body closes up and opens.

In the present embodiment, third hole 123 is provided on the side wall of fixing seat 12, power source 51 includes third motor 513, The output shaft of third motor 513 is arranged in third hole 123.In order to improve the utilization rate in space, the axial direction of instrument shaft 41, The axial direction of third motor 513 and the length direction of fixing seat 12 are identical.

513 power of third motor is transferred on instrument shaft 41 by screw mechanism, and specific transfer mode is as follows:

Firstly, being slidably provided with second 36 on retainer 3, instrument shaft 41 is connected with second 36, thus when second Seat 36 does straight reciprocating motion, drives instrument shaft 41 to do straight reciprocating motion, and transport linear reciprocation in the end of instrument shaft 41 Turn turns to open and close movement.

The implementation of second 36 straight reciprocating motion is described below:

Third motor 513 is arranged on the side wall of fixing seat 12, after output shaft passes through third hole 123, in output shaft End is fixedly connected with the 7th shaft coupling 55.The 8th shaft coupling 23 is respectively arranged on the side wall of isolation seat 2 and the side wall of retainer 3 With the 9th shaft coupling 38, the 8th shaft coupling 23 is connected with the 7th shaft coupling 55 and the 9th shaft coupling 38 respectively.

9th shaft coupling 38 is connected with the second lead screw 364, wherein the second lead screw 364 pass through second 36 and with second 36 form threaded connection.Second 36 bottom is provided with second sliding slot 365, and the setting of the second sliding rail 366 on retainer 3 is the In two sliding slots 365, when the rotation of the second lead screw 364, second 36 axial direction along the second lead screw 364 is moved.

Therefore, when driving plate 52 receives the instruction that instrument is opened or is closed, driving plate 52 drives third motor 513 Rotation, output shaft, seventh shaft coupling 55, eightth shaft coupling 23, nineth shaft coupling 38, second thread of the power along third motor 513 Thick stick 364 and second 36 are transmitted, so that the linear reciprocation that the rotary motion of third motor 513 is converted into second 36 be transported It is dynamic.

Further, second 36 extreme position moved right is defined by second spring limit body 367, is such as schemed Shown in 8, second spring limit body 367 is arranged on the second lead screw 364, is moved right when second 36 (close to the side of instrument 42 To) and by spring-compressed to most contracting amount when will be unable to move right again, can be avoided second 36 by spring and move to the limit Collision is generated with second spring limit body 367 when position.

Second 36 extreme position moved downward is defined by circuit board 368, as shown in figure 8, circuit board 368 is set It sets on retainer 3, and is located at second 36 left side, extremely limited when First 35 moves downward (direction far from instrument 42) When setting, end will be unable to move downward again after contacting with the end of rear limit body 357.

By carrying out mechanical position limitation to the extreme position in second 36 both direction, the maximum of instrument 42 can be opened Angle is controlled.

In addition, instrument shaft 41 and the fixed form of retainer 3 are as follows:

Optionally, fixed form identical with previous embodiment can be used with the fixed form of retainer 3 in instrument shaft 41.

Optionally, since in the present embodiment, instrument shaft 41 is not necessarily to be rotated around X-axis, therefore can also be by instrument shaft 41 It is directly fixed on the side wall of retainer 3.

Further, the fixed form between catch bar 46 and second 36 is as follows:

The second card hole 361 for installing catch bar 46, the axis and shaft of the second card hole 361 are provided on second 36 33 axis is overlapped.The second elastic snap-gauge 362 is provided in second card hole 361, the second elastic snap-gauge 362 can be along the second card hole 361 radial direction is mobile, so that it is (i.e. practical straight less than the second card hole 361 to reduce the installation diameter of the second card hole 361 Diameter), or the installation diameter of the second card hole 361 is made to increase (actual diameter for being equal to the second card hole 361).

Second 36 end is provided with the second press section 363, and the second press section 363 can be pressing lever, the second pressing Portion 363 is connected with the second elastic snap-gauge 362, and when pressing the second press section 363, the second elasticity snap-gauge 362 is moved downward, and makes the The installation diameter of two card holes 361 increases；When removing the pressure to the application of the second press section 363, the second elastic snap-gauge 362 is in bullet It is popped up under the action of property part, so that the installation diameter of the second card hole 361 be made to reduce.

Draw bar 47 is coaxially disposed in catch bar 46, draw bar 47 stretches out except the end of catch bar 46, draw bar 47 can be moved in catch bar 46 along its axial direction.

Third card slot 48 is provided on the outer wall of draw bar 47, after draw bar 47 protrudes into the second card hole 361, elasticity the Two snap-gauges 362 fasten with third card slot 48, are fixed on draw bar 47 in second card hole 361, to carry out with second 36 It is fixed.

When needing to remove instrument shaft 41, need to only press the second press section 363 makes the second elastic snap-gauge 362 along the second card The radial direction in hole 361 is mobile, so that the installation diameter of the second card hole 361 will be made to increase, can block draw bar 47 from second It is taken out in hole 361.

The implementation of 42 open and close movement of instrument is described below:

As shown in figure 12, the first end of draw bar 47 sequentially passes through catch bar 46 and clamping head 465, and with 42 phase of instrument Even.It is in contact with the retainer ring inside clamping head 465.It is provided with the 4th spring 471 between draw bar 47 and clamping head 465, the 4th The first end of spring 471 is connected with the inner wall of clamping head 465, the second end and the inner wall phase of adapter 461 of the 4th spring 471 Even, it is limited in the 4th spring 471 between clamping head 465 and adapter 461.

Inclined hole 421 is provided on the side wall of instrument 42, the two sides of 47 first end of draw bar are provided with pin shaft 472, pin shaft 472 It is arranged in inclined hole 421, when the effect of 47 under tension of draw bar or thrust, pin shaft 472 will be pushed to transport in inclined hole 421 It is dynamic, so that instrument 42 be made to open or be closed.

Third card slot 48, third card slot 48 and the second of second 36 the card are provided on the outer wall of the second end of draw bar 47 Hole 361 fastens, therefore, when second 36 generation is mobile, it will drive draw bar 47 to be moved along its axial direction, to make Pin shaft 472 moves in inclined hole 421, and then instrument 42 is made to open or be closed.

In the present embodiment, first end refers to that, close to one end of instrument 42, second end refers to one end far from instrument 42.

Additionally need, the 7th shaft coupling 55, the 8th shaft coupling 23 and the 9th shaft coupling 38 in the present embodiment it Between connection type and first shaft coupling 53, second shaft coupling 21 and third shaft coupling 31 in first embodiment connection type phase Together, wherein third spring 58 is provided between the 7th shaft coupling 55 and third motor 513, it similarly, can by third spring 58 Keep the assembly between three shaft couplings faster, therefore details are not described herein.

In conclusion being the rotary motion of third motor 513 to be transferred to the second lead screw 364, and incite somebody to action in the present embodiment The rotary motion of second lead screw 364 is converted into second 36 straight reciprocating motion, and converts device for the straight reciprocating motion The open and close movement of tool 42.

The second aspect according to the present utility model provides a kind of fixed form of tool there are two freedom degree instrument.

In the fourth embodiment of the utility model, there is instrument 42 first freedom degree and the second freedom degree (such as to perform the operation Knife).

In the present embodiment, the first hole 121 and the second hole 122 are provided on the side wall of fixing seat 12, power source 51 includes First motor 511 and the second motor 512, the output shaft of first motor 511 are arranged in the first hole 121, the second motor 512 it is defeated Shaft is arranged in the second hole 122.In order to improve the utilization rate in space, the axial direction of instrument shaft 41, first motor 511, The axial direction of two motors 512 and the length direction of fixing seat 12 are identical.

Wherein, the power delivery mode of first motor 511 and the second motor 512 and the transfer mode phase in previous embodiment Together, details are not described herein.

In the present embodiment, due to not only needing to realize that instrument shaft 41 is rotated along X-axis, but also need to realize instrument shaft 41 along Z axis Rotation, therefore 41 one side of instrument shaft is connected by shaft 33 with retainer 3, and First 35 and retainer 3 are on the other hand passed through It is connected, connection type is identical as the transfer mode in previous embodiment, and details are not described herein.

Further, catch bar 46 has been coaxially disposed in instrument shaft 41, the specific set-up mode of catch bar 46 exists It is described in detail in previous embodiment, details are not described herein.

In conclusion being the rotation fortune for converting the rotary motion of first motor 511 to instrument shaft 41 in the present embodiment It is dynamic, and the rotary motion of the second motor 512 is transferred to the first lead screw 354, and convert the rotary motion of the first lead screw 354 to The straight reciprocating motion of First 35, and convert the straight reciprocating motion to the swing (i.e. about the z axis rotate) of instrument 42.

In the 5th embodiment of the utility model, instrument 42 have the first freedom degree and third freedom degree (such as only into The operating scissors that row designated position is cut).

In the present embodiment, the first hole 121 and third hole 123 are provided on the side wall of fixing seat 12, power source 51 includes First motor 511 and third motor 513, the output shaft of first motor 511 are arranged in the first hole 121, third motor 513 it is defeated Shaft is arranged in third hole 123.In order to improve the utilization rate in space, the axial direction of instrument shaft 41, first motor 511, The axial direction of three motors 513 and the length direction of fixing seat 12 are identical.

Wherein, the power delivery mode of first motor 511 and third motor 513 and the transfer mode phase in previous embodiment Together, details are not described herein.

In the present embodiment, due to not only need to realize instrument shaft 41 along X-axis rotate, but also need to realize instrument 42 folding fortune It is dynamic, therefore 41 one side of instrument shaft is connected by shaft 33 with retainer 3, and second 36 and 3 phase of retainer are on the other hand passed through Even, connection type is identical as the transfer mode in previous embodiment, and details are not described herein.

Further, it has been coaxially disposed catch bar 46 in instrument shaft 41, has been coaxially disposed draw bar in catch bar 46 47, the specific set-up mode of catch bar 46 and draw bar 47 is described in detail in the aforementioned embodiment, herein not It repeats again.

In conclusion being the rotation fortune for converting the rotary motion of first motor 511 to instrument shaft 41 in the present embodiment It is dynamic, and the rotary motion of third motor 513 is transferred to the second lead screw 364, and convert the rotary motion of the second lead screw 364 to Second 36 straight reciprocating motion, and convert the straight reciprocating motion to the open and close movement of instrument 42.

In the sixth embodiment of the utility model, there is instrument 42 second freedom degree and third freedom degree (such as to clamp The surgical clamp of sewing needle).

In the present embodiment, the second hole 122 and third hole 123 are provided on the side wall of fixing seat 12, power source 51 includes Second motor 512 and third motor 513, the output shaft of the second motor 512 are arranged in the second hole 122, third motor 513 it is defeated Shaft is arranged in third hole 123.In order to improve the utilization rate in space, the axial direction of instrument shaft 41, the second motor 512, The axial direction of three motors 513 and the length direction of fixing seat 12 are identical.

Wherein, the power delivery mode of the second motor 512 and third motor 513 and the transfer mode phase in previous embodiment Together, details are not described herein.

In the present embodiment, 41 one side of instrument shaft is connected by shaft 33 with retainer 3, on the other hand passes through First 35 are connected with retainer 3, and connection type is identical as the transfer mode in previous embodiment, and details are not described herein.

Further, it has been coaxially disposed catch bar 46 in instrument shaft 41, has been coaxially disposed draw bar in catch bar 46 47, the specific set-up mode of catch bar 46 and draw bar 47 is described in detail in the aforementioned embodiment, herein not It repeats again.

In terms of third according to the present utility model, a kind of fixed form with three degree of freedom instrument is provided.

Wherein, instrument 42 has the first freedom degree, the second freedom degree and third freedom degree (such as operating scissors).

In the present embodiment, the first hole 121, the second hole 122 and third hole are respectively arranged on the side wall of fixing seat 12 123, power source 51 includes first motor 511, the second motor 512 and third motor 513；The output shaft of first motor 511 is arranged In the first hole 121, the output shaft of the second motor 512 is arranged in the second hole 122, and the output shaft setting of third motor 513 exists In third hole 123.In order to improve the utilization rate in space, the axial direction of instrument shaft 41, the second motor 512, third motor 513 Axial direction and the length direction of fixing seat 12 are identical.

Wherein, in the power delivery mode and previous embodiment of first motor 511, the second motor 512 and third motor 513 Transfer mode it is identical, details are not described herein.

In the present embodiment, 41 one side of instrument shaft is connected by shaft 33 with retainer 3, and another aspect passes through the respectively One 35 and second 36 is connected with retainer 3, and connection type is identical as the transfer mode in previous embodiment, herein no longer It repeats.

Although the present utility model has been described by reference to the preferred embodiments, but in the model for not departing from the utility model In the case where enclosing, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as not depositing In structural conflict, items technical characteristic mentioned in the various embodiments be can be combined in any way.The utility model It is not limited to specific embodiment disclosed herein, but is included all technical solutions falling within the scope of the claims.

Claims (10)

1. the quick-disassembly structure of instrument retainer and isolation seat for connecting Minimally Invasive Surgery instrument, the instrument retainer are set to institute It states on isolation seat, which is characterized in that

The quick-disassembly structure includes the first positioning region and the second positioning region:

Wherein, first positioning region includes: the sliding slot being arranged on the isolation seat and the instrument retainer is arranged in The sliding rail that can be slided in the sliding slot of two sides,

Second positioning region includes: in accommodating chamber that the upper surface of the isolation seat opens up and can be in the accommodating chamber up and down Mobile elastomer, the top end part of the elastomer are convexly equipped with the pressing protrusion that can stop the instrument retainer, wherein institute The raised top of pressing is stated when being pressed by the bottom end of the instrument retainer not higher than the top of the accommodating chamber, the pressing The top of protrusion is higher than the top of the accommodating chamber in its natural state and is higher than the bottom end of the instrument retainer, the pressing The top of protrusion is flushed when being pressed by the bottom end of the instrument retainer with the top of the accommodating chamber.

2. quick-disassembly structure according to claim 1, which is characterized in that the end of the sliding rail is equipped with the guiding tilted down Inclined-plane, to reduce the resistance when sliding rail slides into the sliding slot.

3. quick-disassembly structure according to claim 1, which is characterized in that one end of the pressing protrusion, which is equipped with, to be tilted down Guide part, to reduce the resistance when instrument retainer is moved to the top of the pressing protrusion.

4. quick-disassembly structure according to any one of claim 1 to 3, which is characterized in that the elastomer includes can be in institute The fixture block moved up and down in accommodating chamber and the reset spring between the bottom of the fixture block and the bottom wall of the accommodating chamber are stated, The pressing protrusion is convexly equipped with the top of the fixture block.

5. quick-disassembly structure according to claim 4, which is characterized in that the bottom end of the fixture block is equipped at least two claws, The card hole being mutually clamped with the claw is equipped in the accommodating chamber.

6. quick-disassembly structure according to claim 5, which is characterized in that the bottom of the claw is provided with barb, it is described fall Hook is connected to the bottom of the card hole to limit the displacement that the elasticity pressing fixture block moves upwards.

7. quick-disassembly structure according to claim 4, which is characterized in that at least one side wall of the fixture block is led equipped with arc Slot, the side wall of the accommodating chamber are equipped with the conducting bar matched with the arc guide barrel.

8. quick-disassembly structure according to claim 5, which is characterized in that the bottom end of the fixture block is equipped with four claws, described Four claws are located at four turnings of the fixture block.

9. quick-disassembly structure according to claim 8, which is characterized in that the claw and the fixture block are integrally formed.

10. quick-disassembly structure according to any one of claim 1 to 3, which is characterized in that the top of the elastomer is in institute It states and is flushed under natural conditions with the top of the accommodating chamber.