CN209564148U - A kind of surgical instrument fixing device from movable fit structure - Google Patents
A kind of surgical instrument fixing device from movable fit structure Download PDFInfo
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- CN209564148U CN209564148U CN201821628182.7U CN201821628182U CN209564148U CN 209564148 U CN209564148 U CN 209564148U CN 201821628182 U CN201821628182 U CN 201821628182U CN 209564148 U CN209564148 U CN 209564148U
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Abstract
The utility model provide a kind of surgical instrument fixing device from movable fit structure, it include: sequentially connected driving device, first shaft coupling, second shaft coupling and third shaft coupling, regulating part is equipped between driving device and first shaft coupling, the inside of regulating part is equipped with through-hole and is in boss-shaped, the major diameter section of regulating part is fixedly connected with driving device, the path section of regulating part is slidably connected in the axial direction with the first shaft coupling, regulating part rotates the first shaft coupling with the driving device radially, mobile relative to driving device in the axial direction；Driving device is arranged on the side wall of drive seat, and the output end of driving device connects first shaft coupling, and second shaft coupling is arranged on the isolation seat, and third shaft coupling is arranged on retainer.The utility model can be realized fast automatic alignment and installation from movable fit structure, keeps Minimally Invasive Surgery instrument more flexible and automates.
Description
Technical field
The utility model relates to operating robot technical fields, more particularly, to a kind of the automatic of surgical instrument fixing device
Fit structure.
Background technique
Surgical instrument is often fixed on the slide unit of mechanical arm or mechanical arm by surgical instrument fixing device, is on the one hand performed the operation
The fixed device of instrument can provide the power of operation for surgical instrument, and another aspect surgical instrument fixing device also can control operation
The operation mode of instrument, it is seen then that surgical instrument fixing device is one and its complicated and crucial device, complicated place be by
Numerous small part compositions；It is critical that the assembling and cooperation between part will be accomplished precisely, it otherwise will be to operation
Operation cause irreversible damage.
In the prior art, motor provides power as power source and by transmission mechanism for surgical instrument, and transmission mechanism
It is then distributed in each components of composition surgical instrument fixing device, when each components are assembled, then needing will be each
The part of transmission mechanism involved in a components is docked, and between transmission mechanism part it has to be ensured that the essence of docking
Degree.
But surgical instrument, as a kind of precision instrument, part is more and complicated, if necessary to manually go to dock, it is not only time-consuming and
Arduously, but also it is easy to produce error；It is accordingly required in particular to which one kind can be without artificial docking, moreover it is possible to fast and accurate operation
Instrument transmission mechanism.
Utility model content
For the above-mentioned technical problem in the presence of the prior art, the utility model proposes a kind of fixed dresses of surgical instrument
Set from movable fit structure, comprising: sequentially connected driving device, first shaft coupling, second shaft coupling and third shaft coupling, institute
It states and is equipped with regulating part between driving device and the first shaft coupling, the inside of the regulating part is equipped with through-hole and is in boss-shaped,
The major diameter section of the regulating part is fixedly connected with the driving device, and the path section of the regulating part and the first shaft coupling exist
It is slidably connected in axial direction, the regulating part rotates the first shaft coupling with the driving device radially, in the axial direction
It is mobile relative to driving device；
The driving device is arranged on the side wall of the drive seat, and the output end of the driving device connects the first shaft coupling
Device, the second shaft coupling are arranged on the isolation seat, and the third shaft coupling is arranged on the retainer, the driving
The coaxial groove being equipped with for accommodating instrument shaft on seat and the isolation seat, the groove is for accommodating instrument shaft.
Preferably, set in the path section of the regulating part there are two symmetrical slide opening, slide opening through path section outer wall and
The length of slide opening axially extends.
Preferably, pin column and spring are additionally provided on regulating part, pin column is run through the path section of regulating part by two slide openings,
Spring is set in path section, and one end of spring is connected on the end face of major diameter section, and the other end is connected on pin column.
Preferably, the length of pin column is greater than the diameter of path section, and the both ends of pin column are fixed on the two of first shaft coupling
On side wall, first shaft coupling compressed spring is simultaneously moved axially by pin column along slide opening.
Preferably, the second end of first shaft coupling is equipped with the first groove, and the first groove is diameter of the length along first shaft coupling
To the long square groove shape of extension,
The first end of the second shaft coupling is equipped with the first strip, and second shaft coupling is inserted into the first shaft coupling by the first strip
It is docked in first groove of device with first shaft coupling.
Preferably, the second end of second shaft coupling is equipped with the second groove, and the second groove is diameter of the length along second shaft coupling
To the long square groove shape of extension,
The first end of third shaft coupling is equipped with the second strip, and third shaft coupling is inserted into second shaft coupling by the second strip
It is docked in second groove with second shaft coupling.
Preferably, the first spring is equipped between the first shaft coupling and the output end of the driving device, when described the
When one shaft coupling is by applied force, first spring-compressed, the driving device drives the first shaft coupling rotation, and makes
It obtains first strip to engage with first groove, second strip engages with second groove.
Preferably, the driving device is motor.
Preferably, the rotor of the motor is inserted into the through-hole of major diameter section of the regulating part, and bolt is by major diameter section side
Outer wall insertion through-hole in, through rotor and be inserted into the other side of major diameter section, enable the regulating part with the rotor
Rotation.
Preferably, it is installed or removed between the isolation seat and the retainer by the first quick-disassembly structure, it is described
It is installed or removed between isolation seat and the drive seat by the second quick-disassembly structure.
Compared with the prior art, the advantages of the utility model are: the utility model is in driving device and first shaft coupling
Between regulating part is set, first shaft coupling is by movement of the pin column of regulating part in slide opening to which opposite motor is axially transported
It is dynamic, first shaft coupling can be made to reset in addition, being additionally provided with spring in path section.Therefore, it is mounted on drive seat in isolation seat, the
When two shaft couplings are docked with first shaft coupling, the first strip can be contacted with any position of first shaft coupling end face, if the
To be caught in the first groove under one strip original state, then second shaft coupling, which pushes first shaft coupling, makes first shaft coupling to motor
Direction compressed spring then only needs rotary electric machine to drive first shaft coupling rotation, can make the first strip and the first groove automatically
Alignment docking, spring reset, without manually will second shaft coupling the first strip insertion first shaft coupling the first groove in.
Other features and advantages of the utility model will illustrate in the following description, also, partial from specification
In become apparent, or understood and implementing the utility model.The purpose of this utility model and other advantages can pass through
Specifically noted structure is achieved and obtained in the specification, claims and drawings.
Detailed description of the invention
The preferred embodiment of the utility model is described in detail below in conjunction with attached drawing.In figure:
Fig. 1 is the schematic perspective view of one of the utility model embodiment surgical instrument.
Fig. 2 is the decomposition texture from movable fit structure of one of the utility model embodiment surgical instrument fixing device
Schematic diagram.
Fig. 3 is the explosive view of driving device in the utility model embodiment, first shaft coupling and second shaft coupling.
Fig. 4 is the decomposition texture signal of the quick-disassembly structure of one of the utility model embodiment surgical instrument fixing device
(instrument bindiny mechanism is not shown in the figure) in figure one.
Fig. 5 is the decomposition texture signal of the quick-disassembly structure of one of the utility model embodiment surgical instrument fixing device
(instrument bindiny mechanism is not shown in the figure) in figure two.
Fig. 6 is the enlarged structure schematic diagram of the first locating piece (i.e. a-quadrant) shown in fig. 5.
Fig. 7 is the structural schematic diagram one of the first Quick-dismantle component in Fig. 5.
Fig. 8 is the structural schematic diagram two of the first Quick-dismantle component in Fig. 5.
Fig. 9 is the structural schematic diagram (frame of retainer is only shown in figure) of the retainer in Fig. 5.
Figure 10 is the top view (frame and the first Quick-dismantle component of retainer are only shown in figure) of the retainer in Fig. 5.
Figure 11 is that the structural schematic diagram of the isolation seat and drive seat in Fig. 5 (shows the first Quick-dismantle component and first in figure
Locating piece).
Figure 12 is the schematic perspective view of the second Quick-dismantle component in Fig. 5.
Figure 13 is the cross-sectional view of the second Quick-dismantle component in Fig. 5.
In the accompanying drawings, identical component uses identical appended drawing reference.The attached drawing is not drawn according to the actual ratio.
Specific embodiment
The embodiments of the present invention is described in detail below with reference to accompanying drawings and embodiments, whereby to the utility model
How applied technology method solves technical problem, and the realization process for reaching technical effect can fully understand and implement.
If it should be noted that do not constitute conflict, each feature in each embodiment and each embodiment in the utility model
It can be combined with each other, be formed by technical solution and both be within the protection scope of the present invention.
As shown in Figure 1, it is shown that a kind of surgical instrument comprising drive seat 1, the isolation seat 2 being arranged in drive seat 1 with
And the retainer 3 on isolation seat 2 is set.Wherein, instrument bindiny mechanism 4 (including instrument shaft 41 and device are provided on retainer 3
Tool 42), driving mechanism 5 is fixed in drive seat 1, in addition, drive seat 1 also acts as supporting role to instrument bindiny mechanism 4.
Fig. 2 is shown according to the fixation device of the surgical instrument of Fig. 1 from movable fit structure, comprising: sequentially connected drive
Dynamic device 51, first shaft coupling 6, second shaft coupling 7 and third shaft coupling 8, are equipped between driving device 51 and first shaft coupling 6
Regulating part 9, the inside of regulating part 9 are equipped with through-hole and are in boss-shaped, and the major diameter section 91 and driving device 51 of regulating part 9 are fixed to be connected
It connects, path section 92 and the first shaft coupling 6 of regulating part 9 are slidably connected in the axial direction, and regulating part 9 makes first shaft coupling 6 in radial direction
On rotated with driving device 51, driving device 51 opposite in the axial direction moves；
Driving device 51 is arranged on the side wall of drive seat 1, and the output end of driving device 51 connects first shaft coupling 6, the
Two shaft couplings 7 are arranged on isolation seat 2, and third shaft coupling 8 is arranged on retainer 1.
Specifically, it referring to Fig. 3, is set in the path section 92 of regulating part 9 there are two symmetrical slide opening 93, slide opening 93 runs through path
The outer wall and the length of slide opening 93 of section 92 axially extend.Be additionally provided with pin column 94 and spring 95 on regulating part 9, pin column 94 by
Two slide openings 93 and run through regulating part 9 path section 92, spring 95 is set in path section 92, and one end of spring 95 is connected to
On the end face of major diameter section 91, the other end is connected on pin column 94.The length of pin column 94 is greater than the diameter of path section 92, because
This, the both ends of pin column 94 are stretched out path section 92 and are fixed on the two sidewalls of first shaft coupling 6, and the length of pin column 94 is less than
Or the maximum radial dimension equal to first shaft coupling 6, in this way, by pin column 94 to the path of first shaft coupling 6 and regulating part 9
Section 92 has carried out circumferential limit.And slide opening 93 can then make first shaft coupling 6 and pin column 94 together compressed spring 95, and make
One shaft coupling 6 is moved axially along slide opening 93 with pin column 94 and is moved, and the length range of slide opening 93 limits first shaft coupling 6
Axial movement.
Further, the second end of first shaft coupling 6 is equipped with the first groove 61, and the first groove 61 is length along the first shaft coupling
The long square groove shape of device 6 radially extended,
The first end of second shaft coupling 7 is equipped with the first strip 71, and second shaft coupling 7 passes through the first strip 71 insertion first
It is docked in first groove 61 of axis device 6 with first shaft coupling 6.
Further, the second end of second shaft coupling 7 is equipped with the second groove 72, and the second groove 72 is length along the second shaft coupling
The long square groove shape of device radially extended,
The first end of third shaft coupling 8 is equipped with the second strip 81, and third shaft coupling 8 passes through the second strip 81 insertion second
It is docked in second groove 72 of axis device 7 with second shaft coupling 7.
Preferably, between first shaft coupling 7 and the output end of driving device 51 be equipped with spring 95, when first shaft coupling 7 by
When to applied force, spring 95 compresses, and driving device 51 drives first shaft coupling 7 to rotate, and makes the first strip 71 and first recessed
Slot 61 engages, and the second strip 81 engages with the second groove 72.
In the present embodiment, driving device 51 is motor.
Further, in the through-hole of the major diameter section 91 of the rotor insertion regulating part 9 of motor, bolt 96 is by 91 side of major diameter section
Outer wall insertion through-hole in, through rotor and be inserted into the other side of major diameter section 91, regulating part 9 enable to turn with 51 rotor of motor
It is dynamic.
Below by the detailed process in specific and detailed description the utility model without manually docking.
It is provided with regulating part 9 between first shaft coupling 6 and motor 51, therefore by first shaft coupling 6 and second shaft coupling 7
When being attached, the first strip 71 and the first groove 61 are no longer necessary operation to brigadier, in other words, second shaft coupling 7
The first strip 71 on end face can be contacted with any position of the end face of first shaft coupling 6, when the first strip 71 not
When being inserted into the first groove 61, in this case, thrust of the first shaft coupling 6 by second shaft coupling 7, to make spring
95 are compressed in the path section 92 of regulating part 9.So when first motor 5 rotates and first shaft coupling 6 is driven to rotate, due to
First shaft coupling 6 is not positioned with second shaft coupling 7 radially, therefore can generate relative motion therebetween, to make
First groove 61 of one shaft coupling 6 can rotate match with the first strip 71 of second shaft coupling 7 and position, and in spring 95
Promotion under, fasten with the first strip 71, to realize the radial positioning between first shaft coupling 6 and second shaft coupling 7.
Similarly, make third shaft coupling 8 to be attached with second shaft coupling 7, the second strip 81 and the second groove 72
Operation is no longer necessary to brigadier, in other words, the second strip 81 on 8 end face of third shaft coupling can be with second shaft coupling
Any position of 7 end face is contacted, and when second shaft coupling 7 rotates, the second groove 72 of second shaft coupling 7 be can rotate
Match with the second strip 81 of third shaft coupling 8 and position fastened and under the promotion of spring 95 with the second strip 81,
To realize the radial positioning between second shaft coupling 7 and third shaft coupling 8.
Attached drawing 4-13 will will be referred to below to carry out in detail the connection type between drive seat 1, isolation seat 2 and retainer 3
It describes in detail bright.
As shown in Figures 4 and 5, quick links are carried out by the first quick-disassembly structure between retainer 3 and isolation seat 2.
First quick-disassembly structure includes the first positioning region, wherein the first positioning region includes the third that 3 bottom of retainer is arranged in
Sliding slot 31 and the first sliding block 21 being arranged on isolation seat 2.First sliding block 21 can be contained in third sliding slot 31 and along
Three sliding slots 31 are slided.
Third sliding slot 31 is configured to two inconsistent parts of width, wider part close to instrument bindiny mechanism 4 one
End, relatively narrow one end partially away from instrument bindiny mechanism 4 form step 32 between wider part and relatively narrow part.Every
Disseat 2 21 two sides of the first sliding block are symmetrically equipped with the first locating piece 22, and the first locating piece 22 includes skewed slot 221 and is located at skewed slot
The lug boss 222 (as shown in Figure 6) of 221 ends.During the first sliding block 21 imports third sliding slot 31, first locating piece
22 can be connected on the step 32 of third sliding slot 31, to limit retainer 3 in the motion range of X-direction.To by the
One sliding block 21 and third sliding slot 31 position retainer 3 and isolation seat 2 completely in Y direction and X-direction.
Further, the first quick-disassembly structure further includes the second positioning region, and the second positioning region includes being arranged in third sliding slot 31
The convex block 33 (convex block 33 is located in the plane where 3 lower surface of retainer) of one end far from instrument bindiny mechanism 4, in the first cunning
Block 21 is equipped with groove 23 far from one end of instrument bindiny mechanism 4, is near completion assembly when retainer 3 is slided into isolation seat 2
When state, which can be contained in groove 23.To make isolation seat 2 with retainer 3 in the Z-axis direction by completely fixed
Position.
The first sliding block 21 is smoothly imported in third sliding slot 321 for convenience, is connected in the first sliding block 21 far from instrument
The end of mechanism 4 is equipped with the guiding surface 211 tilted down, to reduce resistance when the first sliding block 21 enters third sliding slot 31,
To improve assembly efficiency.
As shown in Figure 4-8, the two sides of retainer 3 are symmetrically equipped with the first Quick-dismantle component 34, and the first Quick-dismantle component 34 includes
Sequentially connected button 341, guide pad 342, block 343 and small column 344, button 341, guide pad 342, block 343 and small
Cylinder 344 is using integrated molding.Small column 344, which is arranged on the center of block 343 and small column 344, is arranged with the 5th bullet
Spring, it is preferable that the end face that block 343 is equipped with small column 344 is equipped with holding section 3441, to limit the 5th unnecessary shifting of spring
It is dynamic.Guide pad 342 includes rake 3421 (inclination upwards) and planar portions 3422 again, and rake 3421 makes the button beginning 341 begin
Final position is in the upper side of the first locating piece 22, to not generate interference with the first locating piece 22.Rake 3421 and planar portions
The lower surface of the position of 3422 engagements is equipped with the second locating piece 345.The width of second locating piece 345 is less than the width of skewed slot 221,
And the lower surface of retainer 3 contacted with the upper surface of isolation seat 2 and along X-axis is opposite slide when, the second locating piece 345 position always
In the top of the first locating piece 22.So that the second locating piece 345 can smoothly lead to when retainer moves along the x axis
Cross skewed slot 221.
As shown in figure 9, the position of corresponding first Quick-dismantle component 34 is equipped with guide groove 35 on retainer 3, guide pad 342 is put down
Face 3422 can be accommodated in guide groove 35, and guide pad 342 is moved along the y axis in guide groove 35.
As shown in Figure 10, the 5th spring is arranged between the small column 344 of two the first Quick-dismantle components 34 (the 5th spring is not
Show), the 5th spring is connected to respectively on the block 343 of each first Quick-dismantle component 34.Preferably, the 5th spring abuts respectively
In holding section 3441.When release button 341, the 5th spring can be such that two the first Quick-dismantle components 34 reset rapidly.Such as figure
Shown in 11, when retainer 3 and 2 installation condition of isolation seat, the second locating piece 345 is stuck in lug boss 222.
Retainer 3 and the mounting means of isolation seat 2 are as follows:
The lower surface of retainer 3 and the upper surface of isolation seat 2 is set to be in contact, along length direction (the i.e. X-axis side of isolation seat 2
To) retainer 3 is pushed, in 3 moving process of retainer, it is fixed that the second locating piece 345 on the first Quick-dismantle component 34 enters first
(close to the outside of skewed slot 221) in the skewed slot 221 of position block 22, under the limit of skewed slot 221 and guiding role, the first Quick-dismantle component
34 the 5th spring gradually reduces so that the direction of the second locating piece 345 towards close first sliding block 21 is mobile, to make second
Locating piece 345 can pass through the narrow portion of skewed slot 221.Second locating piece 345 passes through the effect after skewed slot 221 in the 5th spring
Lower reset, and the second locating piece 345 at this time is just stuck in the lug boss 222 (as shown in Figure 6) of the first locating piece 22, thus
Prevent retainer 3 from moving backward to X-axis.And at this point, the groove 23 on convex block 33 and the first sliding block 21 on third sliding slot 31
Just cooperate.At this point, retainer 3 and isolation seat 2 are completed to install.
When needing to disassemble retainer 3 from isolation seat 2, while the button 341 of two sides is pressed, at this point, second
Locating piece 345 is no longer limited by the lug boss 222 of the first locating piece 22, pushes retainer 3 along X-axis negative direction, makes second to determine
Position block 345 passes through skewed slot 221, at this point it is possible to release button 341, and retainer 3 is continued to press on along X-axis negative direction, it can be realized
The disassembly of retainer 3 and isolation seat 2.
Fig. 4 and Fig. 5 is returned, is quickly connected between isolation seat 2 and drive seat 1 by the second quick-disassembly structure.
Second quick-disassembly structure includes third positioning region, wherein third positioning region includes the 4 that 2 bottom of isolation seat is arranged in
Sliding slot 24 and the second sliding block 11 being arranged in drive seat 1, the second sliding block 11 can be accommodated in the 4th sliding slot 24, so that every
Disseat 2 can be slided along the length direction of drive seat 1.By the second sliding block 11 and the 4th sliding slot 24 make drive seat 1 with
Isolation seat 2 is positioned completely in the Y-axis direction.
Further, the second quick-disassembly structure 7 further includes the 4th positioning region, and the 4th positioning region includes being arranged at 2 bottom of isolation seat
The fixture block 25 of the one end of portion far from instrument bindiny mechanism 4 and isolation seat 2 is set close to the inserted block of 4 one end of instrument bindiny mechanism
26, inserted block 26 extends along the length direction of isolation seat 2.Be provided in drive seat 1 with the mutually matched jack 27 of the inserted block 26, when
After isolation seat 2 is mounted in drive seat 1, inserted block 26 is inserted into jack 27, while end of the drive seat 1 far from instrument bindiny mechanism 4
Portion is fastened in the fixture block 25 of isolation seat 2, to make retainer 1 with isolation seat 2 in x-and z-direction by completely fixed
Position.
As shown in Figures 12 and 13, the second quick-disassembly structure 7 further includes the second Quick-dismantle component 12, and the second Quick-dismantle component 12 includes slot
It seat 121 and can be accommodated in groove seat 121 and can be along the linkage block 122 that groove seat 121 slides up and down.The bottom of groove seat 121 is set
There are two guide rod 1211 and 1212, spring (not shown) is arranged on guide rod 1211 and 1212.Linkage block 122 includes the
Three sliding blocks 1221 and be arranged on third sliding block 1221 pressing bar 1222 (pressing bar 1222 be located proximate to instrument connect
One end of connection mechanism 4), the pressing bar 222 and third sliding block 1221 are integrally formed.The inside of linkage block 122 is equipped with the first cylinder
Hole 1223, the position of first cylindrical hole 1223 is corresponding with the position of the first guide rod 1211, and the first guide rod 1211 is arranged
It can be accommodated in after six springs in first cylindrical hole 1223.The position of first cylindrical hole 1223 and the position of pressing bar 1222
It can correspond to or not correspond to, as long as pressing pressing bar 1222, be able to drive third sliding block 1222 in groove seat 121 to moving down
It is dynamic.Through-hole 1223 is additionally provided in linkage block 122, the diameter of 1223 lower part of through-hole is greater than the diameter on top, the through-hole
Linkage button 123 is equipped in 1223, the diameter of linkage 123 lower part of button is greater than the diameter on linkage 123 top of button, and link button
123 lower part is accommodated in the lower part of through-hole 1223, and the top of linkage button 123 is accommodated in the top of through-hole 1223.To through-hole
The step that the step that 1223 upper and lower parts are formed is formed with linkage 123 upper and lower part of button abuts against.Link button 123
Inside is equipped with the second cylindrical hole 1231, and second cylindrical hole 1231 is corresponding with the position of the second guide rod 1212, the second guide rod
1212 put on the 7th spring after can be accommodated in second cylindrical hole 1231.
Further, referring again to Fig. 4 and Fig. 5, the second Quick-dismantle component 12 further includes the third that 2 bottom of isolation seat is arranged in
Card hole 28 (position of the third card hole 28 is located at close to one end of instrument bindiny mechanism 4), when isolation seat 2 and drive seat 1 are installed
Afterwards, linkage button 123 is accommodated in inside third card hole 28.
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 length direction (the i.e. X-direction of drive seat 1
Push isolation seat 2), in 2 moving process of isolation seat, the 4th sliding slot 24 and the second of drive seat upper surface of 2 bottom of isolation seat
Sliding block 11 cooperates, and plays limitation and guiding role to the movement of isolation seat 2.
Isolation seat 2 continues to move to, and the inserted block 26 of isolation seat 2 is inserted into the jack 27 of drive seat, also, 1 bottom plate of drive seat
End (far from instrument one end) be fastened in the fixture block 25 of isolation seat 2.Meanwhile second Quick-dismantle component linkage button 123
It is just accommodated in the third card hole 28 of isolation seat bottom, to complete the installation of isolation seat 2 Yu drive seat 1.
When needing to disassemble isolation seat 2 from drive seat 1, need to only press to pressing bar 1222, third sliding block
1221 move down, and third sliding block 1221 moves down drive linkage button 123 and moves down, so that linkage button 123 is from isolation seat 2
Third card hole 28 in remove, at this point, isolation seat 2 is pushed along the direction opposite with installation direction, thus by isolation seat 2 and driving
Seat 1 separates.When 1222 no longer stress of pressing bar, pressing bar 1222 and linkage button 123 are in the 6th spring and the 7th spring
Effect is lower to be resetted.
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. a kind of surgical instrument fixing device from movable fit structure, applied to include drive seat, be arranged in drive seat every
It disseats and the surgical instrument of the retainer on isolation seat is set characterized by comprising sequentially connected driving device,
First shaft coupling, second shaft coupling and third shaft coupling are equipped with regulating part between the driving device and the first shaft coupling,
The inside of the regulating part is equipped with through-hole and is in boss-shaped, and the major diameter section of the regulating part is fixedly connected with the driving device,
The path section of the regulating part is slidably connected in the axial direction with the first shaft coupling, and the regulating part makes the first shaft coupling
It is rotated radially with the driving device, it is mobile relative to driving device in the axial direction；
The driving device is arranged on the side wall of the drive seat, and the output end of the driving device connects first shaft coupling,
The second shaft coupling is arranged on the isolation seat, and the third shaft coupling is arranged on the retainer, the drive seat
Groove is equipped with coaxial on the isolation seat.
2. surgical instrument fixing device according to claim 1 from movable fit structure, which is characterized in that the regulating part
Path section on set there are two symmetrical slide opening, slide opening is through the outer wall of path section and the length of slide opening axially extends.
3. surgical instrument fixing device according to claim 2 from movable fit structure, which is characterized in that on regulating part also
Equipped with pin column and spring, pin column is run through the path section of regulating part by two slide openings, and spring is set in path section, spring
One end is connected on the end face of major diameter section, and the other end is connected on pin column.
4. surgical instrument fixing device according to claim 3 from movable fit structure, which is characterized in that the length of pin column
Degree is greater than the diameter of path section, and the both ends of pin column are fixed on the two sidewalls of first shaft coupling, first shaft coupling compressed spring
And it is moved axially by pin column along slide opening.
5. surgical instrument fixing device according to claim 1 from movable fit structure, which is characterized in that first shaft coupling
Second end be equipped with the first groove, the first groove be length along first shaft coupling the long square groove shape radially extended,
The first end of the second shaft coupling is equipped with the first strip, and second shaft coupling is inserted into first shaft coupling by the first strip
It is docked in first groove with first shaft coupling.
6. surgical instrument fixing device according to claim 5 from movable fit structure, which is characterized in that second shaft coupling
Second end be equipped with the second groove, the second groove be length along second shaft coupling the long square groove shape radially extended,
The first end of third shaft coupling is equipped with the second strip, and third shaft coupling is inserted into the second of second shaft coupling by the second strip
It is docked in groove with second shaft coupling.
7. surgical instrument fixing device according to claim 6 from movable fit structure, which is characterized in that described first
The first spring is equipped between axis device and the output end of the driving device, it is described when the first shaft coupling is by applied force
First spring-compressed, the driving device drives the first shaft coupling rotation, and makes first strip and described first
Groove engaging, second strip engage with second groove.
8. surgical instrument fixing device according to claim 1 from movable fit structure, which is characterized in that the driving dress
It is set to motor.
9. surgical instrument fixing device according to claim 8 from movable fit structure, which is characterized in that the motor
Rotor is inserted into the through-hole of major diameter section of the regulating part, and bolt is by running through rotor in the outer wall insertion through-hole of major diameter section side
And it is inserted into the other side of major diameter section, so that the regulating part is rotated with the rotor.
10. surgical instrument fixing device according to claim 9 from movable fit structure, which is characterized in that the isolation
It is installed or removed between seat and the retainer by the first quick-disassembly structure, is led between the isolation seat and the drive seat
The second quick-disassembly structure is crossed to be installed or removed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821628182.7U CN209564148U (en) | 2018-10-09 | 2018-10-09 | A kind of surgical instrument fixing device from movable fit structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821628182.7U CN209564148U (en) | 2018-10-09 | 2018-10-09 | A kind of surgical instrument fixing device from movable fit structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209564148U true CN209564148U (en) | 2019-11-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821628182.7U Active CN209564148U (en) | 2018-10-09 | 2018-10-09 | A kind of surgical instrument fixing device from movable fit structure |
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| Country | Link |
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| CN (1) | CN209564148U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114010318A (en) * | 2021-09-15 | 2022-02-08 | 苏州中科华影健康科技有限公司 | Endoscopic surgical instrument conveying device, control method and robot system |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114010318A (en) * | 2021-09-15 | 2022-02-08 | 苏州中科华影健康科技有限公司 | Endoscopic surgical instrument conveying device, control method and robot system |
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