CN214434482U

CN214434482U - Quick plug device, actuating mechanism and surgical robot

Info

Publication number: CN214434482U
Application number: CN202022895183.1U
Authority: CN
Inventors: 潘鲁锋; 黄善灯; 柳建飞; 闫泳利
Original assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Current assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Priority date: 2020-12-05
Filing date: 2020-12-05
Publication date: 2021-10-22
Anticipated expiration: 2030-12-05

Abstract

The utility model relates to a quick plug device, actuating mechanism and surgical robot, quick plug device includes: the base is used for being connected with a surgical instrument in a sliding mode and is provided with a sliding hole perpendicular to the sliding connection direction of the surgical instrument; the sheath limiting component is arranged on the base and comprises a limiting element which can slide in the sliding hole to lock/unlock the sheath of the surgical instrument; the push rod limiting component is arranged on the base and comprises a sliding sleeve which can move relative to the base to lock or unlock the push rod of the surgical instrument; the assembly is controlled in the dismouting, including can for the joint unlocking piece of frame motion, joint unlocking piece connect in the sliding sleeve can drive the sliding sleeve is relative the frame moves to the unblock the position of push rod, in this position, joint unlocking piece with spacing component joint and can the unblock the sheath, this quick plug device can realize quick assembly disassembly surgical instruments.

Description

Quick plug device, actuating mechanism and surgical robot

Technical Field

The utility model relates to the field of medical equipment, especially, relate to a quick plug device, actuating mechanism and surgical robot.

Background

The minimally invasive surgery is to open a tiny wound on the body of a patient, part of an actuating mechanism of a surgical robot penetrates through the tiny wound and enters the focus position, the telecentric motionless point of the actuating mechanism is enabled to coincide with the wound position, an operator controls a mechanical arm part of the surgical robot to drive the actuating mechanism to do spatial swing within a certain angle range by taking the telecentric motionless point as a hinged point, and the action of the actuating mechanism is assisted to complete the minimally invasive surgery. In recent years, minimally invasive surgery is gaining favor of medical staff and patients due to small wound and less bleeding.

The structure of the actuator generally includes: the surgical instrument is used for stretching into the focus position, and the driving component is used for driving the surgical instrument to rotate, open and close, and the like. In order to perform different surgical operations, the surgical instruments need to be adaptively replaced. In the existing actuating mechanism, the surgical instrument is not convenient to disassemble and assemble, and the requirement for quick disassembly, assembly and replacement of the surgical instrument is difficult to meet.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for a quick insertion and extraction device, an actuator and a surgical robot, which can quickly detach and install a surgical instrument.

The embodiment of the utility model provides an at first provide a surgical instruments's quick plug device, include:

the base is used for being connected with a surgical instrument in a sliding mode and is provided with a sliding hole perpendicular to the sliding connection direction of the surgical instrument;

the sheath limiting component is arranged on the base and comprises a limiting element which can slide in the sliding hole to lock/unlock the sheath of the surgical instrument;

the push rod limiting component is arranged on the base and comprises a sliding sleeve which can move relative to the base to lock or unlock the push rod of the surgical instrument;

the assembly is controlled in the dismouting, including can for the joint unlocking piece of frame motion, joint unlocking piece connect in the sliding sleeve can drive the sliding sleeve is relative the frame motion is to the unblock the position of push rod, in this position, joint unlocking piece with spacing component joint and can the unblock the sheath.

Surgical instruments is when dismantling the change, need all unblock sheath and push rod, then remove for the frame slides, in the above-mentioned quick plug device, the joint unlocking piece in controlling the subassembly through the dismouting drives the sliding sleeve among the spacing subassembly of push rod and slides, thereby realize the unblock of push rod among the surgical instruments, and the position of being unblock at the push rod, this joint unlocking piece can also or continue to unblock the sheath simultaneously, equivalently, through the motion of joint unlocking piece for the frame, can all unblock sheath and push rod, and need not to control two unblock structures respectively, surgical instruments's dismouting is comparatively simple and convenient, be favorable to surgical instruments's quick replacement.

In a feasible scheme, the assembly and disassembly operation control assembly further comprises a shifting block connecting piece, one side of the shifting block connecting piece is fixedly connected to the combined unlocking piece, and the other side of the shifting block connecting piece extends along the movement direction of the combined unlocking piece to form a sliding part.

Therefore, the sliding part is matched with the base to limit the tilting rotation of the shifting block connecting piece, so that the shifting block connecting piece can drive the combined unlocking piece to move relative to the base more stably, and the surgical instrument is unlocked more stably and reliably.

In a possible scheme, a bulge is arranged on one side surface of the base; the sliding part is provided with a sleeving hole into which the bulge can extend; the shifting block connecting piece can slide on the surface of the top surface of the protrusion relative to the base, and when the shifting block connecting piece slides to the position where the combined unlocking piece is connected with the limiting element along with the combined unlocking piece, the sleeve hole can be sleeved to the protrusion along with the shifting block connecting piece approaching to the base.

So set up, before protruding and cup joint the hole and adjust well, the slip of bellied top surface support shifting block connecting piece, at this moment, with shifting block connecting piece fixed connection's joint unlocking piece not yet with the sliding sleeve joint or not joint in place, and after protruding and cup joint the hole and adjust well, cup joint the hole and can cup joint to the protruding outside, at this moment, shifting block connecting piece is along with the side that the process of cup jointing between them is close to the frame, thereby make joint unlocking piece can drive spacing component sliding in the slide opening of frame thereupon, realize the unblock of sheath.

In a feasible scheme, offer on the frame and follow the slide that joint unlocking piece direction of motion arranged, the side of slide can be right the sliding part carries out the slip direction, still be provided with the inclined plane on the bottom surface of slide, the shifting block connecting piece can be followed the inclined plane slides and is close to the side of frame.

At least one side of slide can slide the direction to the sliding part of shifting block connecting piece, so can restrict the deflection of shifting block connecting piece for the frame, make its slip process more steady, and when cup jointing the hole and be about to cup joint to protruding, the shifting block connecting piece slides gradually along the inclined plane to leaning on frame side department, at this moment, cup joints the hole and overlaps just in protruding outside, the setting on inclined plane makes spacing element driven gradually and slide, the unblock process mitigatees more stably.

In one possible approach, the sheath stop assembly further comprises a first spring arranged to enable the stop element to be held in a position locking the sheath.

The elastic force of the first spring keeps the limiting element at the position of the locking sheath, so that the sheath is reliably kept in a locking state under the condition of no external force application, and the use problem caused by the fact that a user forgets to reset the limiting element after installing the surgical instrument is avoided.

In a possible solution, the limiting element is provided with a jack, the combined unlocking piece is provided with an insertion portion capable of being inserted into the jack, and the combined unlocking piece and the limiting element can be engaged through the insertion portion and the jack in a plugging fit manner.

The joint unlocking member and the check member can be reliably engaged along with the process of inserting the insertion portion of the joint unlocking member into the insertion hole of the check member.

In a feasible scheme, the joint unlocking piece further comprises a sleeve-connection part for being sleeved to the sliding sleeve, and the sliding sleeve comprises a sleeve-connection blocking part which is matched with the sleeve-connection part so that the sliding sleeve can slide along with the joint unlocking piece.

The sleeve joint part is matched with the sleeve joint blocking part in a sleeved mode, so that the sliding sleeve can reliably move along with the movement of the combined unlocking piece.

In a feasible scheme, the push rod limiting assembly further comprises a push rod locking sleeve and a push rod locking piece which are arranged in the sliding sleeve, and the push rod is arranged in the push rod locking sleeve;

along the sliding direction of the sliding sleeve relative to the push rod locking sleeve, the sliding sleeve is provided with a locking section and an unlocking section, when the sliding sleeve slides to the state that the locking section corresponds to the push rod locking sleeve,

the push rod locking piece can be restrained between the push rod locking sleeve and the push rod by the locking section, so that the push rod is locked relative to the push rod locking sleeve;

when the sliding sleeve slides to the unlocking section and corresponds to the push rod locking sleeve, the push rod locking piece moves towards the unlocking section to unlock the push rod.

The embodiment of the utility model provides an embodiment second aspect still provides an actuating mechanism of surgical robot, including the quick plug device of any above-mentioned embodiment to and surgical instruments, surgical instruments includes that epitheca and sliding sleeve locate two push rods in the epitheca, every the push rod correspondence is connected with a swinging member.

The third aspect of the embodiment of the present invention further provides a surgical robot including the above-mentioned actuator.

Drawings

FIG. 1 is a schematic structural view of an actuator according to an embodiment of the present invention, wherein the end of the sheath adjacent to the pair of pendulums is partially cut away to show the pair of push rods in the sheath;

FIG. 2 is an exploded block diagram of the actuator of FIG. 1;

FIG. 3 is an exploded view of the actuator with the housing and surgical instrument removed, with emphasis on the push rod drive assembly exploded;

FIG. 4 is a schematic view of the disassembled structure shown in FIG. 3 with the base removed, further illustrating the disassembly of the joint between the push rod stop assembly and the transition mounting plate;

FIG. 5 is an exploded view of the sheath and push rod spacing assemblies;

FIG. 6 is a schematic structural view of the sliding sleeve;

FIG. 7 is another perspective view of the sliding sleeve shown in FIG. 6;

FIG. 8 is a half sectional view of the sliding sleeve shown in FIG. 6;

FIG. 9 is an exploded view of the assembled configuration of the pusher bar stop assembly and the surgical instrument;

FIG. 10 is a schematic view of the structure of the stand;

fig. 11 is a schematic view of an assembly structure of the dismounting control assembly on the base, in which the shifting block and the shifting block connecting piece are in a locking station;

FIG. 12 is a schematic view of an assembly structure of the detachable operating assembly on the base, in which the moving block and the moving block connecting member are located at detachable positions;

FIG. 13 is a schematic view of the actuator with the housing and the push rod drive assembly removed;

fig. 14 is a schematic structural view of an actuator according to another embodiment of the present invention, in which a housing is omitted to show the internal structure of the housing;

FIG. 15 is a schematic view of the configuration of FIG. 14 with the surgical instrument removed;

fig. 16 is a schematic structural view of a surgical robot according to an embodiment of the present invention, in which a plurality of sets of actuators shown in fig. 1 are assembled.

100. An actuator; 200. a telecentric control mechanism; 300. a preoperative positioning mechanism; 400. a frame; 500. a base;

11. disassembling and assembling the control assembly; 111. a joint unlocking member; 1111. a fixing hole; 1112. an insertion portion; 1113. a socket joint part; 112. shifting blocks; 113. a shifting block connecting piece; 1131. sleeving a hole; 1132. a connecting end;

12. a surgical instrument; 121. an outer sheath; 1211. a limiting ring groove; 1212. linkage connecting grooves; 122. a push rod; 1221. a locking groove; 123. a swinging member;

13. a sheath limiting component; 131. a spacing element; 1311. a jack; 1312. a sheath limiting hole; 132. a first spring; 133. a baffle plate; 134. a detection element;

14. a push rod limiting component; 141. a sliding sleeve; 1411. a locking section; 1412. an unlocking section; 1413. a guide groove; 1414. a blocking part is sleeved; 142. a push rod locking sleeve; 1421. a guide rib; 1422. a lock hole; 143. a push rod locking member; 144. a second spring;

15. a push rod drive assembly; 151. a linear motor; 152. a mounting seat; 153. a load seat; 154. a guide member; 1541. a bushing; 1542. a guide shaft; 155. assembling a transition plate;

16. a machine base; 160. a substrate; 1600. an inner cavity; 161. a support portion; 162. a slideway; 1621. a bevel; 1622. a protrusion; 163. a slide hole; 164. a linkage protrusion; 165. supporting the boss;

17. a housing; 170. and (6) a via hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

The utility model discloses the quick plug device that the first aspect relates, the dismouting of surgical instruments part of adaptation in surgical robot, in order to understand the structure of quick plug device better, at first give the surgical instruments of an embodiment that this quick plug device is suitable for.

Such surgical instruments are adapted to be mounted to the front end, also referred to as the distal end, of a surgical robot for assisting in performing minimally invasive surgery. In the minimally invasive surgery completed by the surgical robot, only a small wound is formed on the body of a patient, the end part of the surgical instrument extends into the body of the patient from the small wound and reaches a focus, in order to avoid the wound being pulled in the surgery process, the surgical instrument needs to perform spatial swing by taking the wound as a telecentric motionless point, namely, the surgical instrument does not have displacement at the wound and is kept motionless all the time in the swing process of the surgical instrument. In such a surgical robot, the range of motion, flexibility and control accuracy of a surgical tool on a surgical instrument to a lesion are important, however, since a wound is small, the size of the surgical instrument cannot be excessively large, and thus, the design of a driving structure of the surgical tool in the surgical instrument is more limited.

In some surgical robots, a steel cable is used as a driving member of a surgical tool, and the surgical tool is driven to perform a deflecting or opening and closing motion by pulling the steel cable. However, when the surgical tool is pulled and driven a plurality of times, the wire rope itself is elongated and deformed to some extent, and thereafter, the motion relationship between the pulling distance of the wire rope and the swing width of the surgical tool is changed, so that the control accuracy is lowered.

In order to overcome various problems of the steel cable as a driving structure, a hard rod can be adopted as a driving piece in the surgical instrument so as to drive a surgical tool to complete surgical actions. No matter what kind of driving structure is adopted, the requirement of replacing surgical tools often exists in the operation, so the quick disassembly and assembly structure of the surgical instrument is also very important when the surgical robot structure is designed. In using a cable as the drive mechanism, it is common to provide a disposable end assembly at a location distal to the operative end of the surgical instrument to facilitate changing of the surgical instrument to meet the requirements of different surgical types. After the hard rod is used as a driving part, the disassembly and assembly structure of the surgical instrument needs to be redesigned.

Referring to fig. 1, in the surgical instrument using a rigid rod as a surgical tool driving structure, the surgical tool at least includes an outer sheath 121, a push rod 122 slidably disposed in the outer sheath 121, and a pair of swinging members 123 drivingly connected to one end of the push rod 122, and the pair of swinging members 123 and related structures together constitute a surgical tool for performing a predetermined surgical operation.

By the foregoing, in order to overcome the not high, creep scheduling problem of transmission precision that the cable wire drive brought, adopt push rod 122 as surgical tools's driving piece, in order to increase surgical tools in single swing motion scope of piece 123 to guarantee surgical tools's flexibility ratio, the utility model discloses a contain two push rods 122 among the surgical instruments 12 to drive a swing piece 123 respectively. It can be understood that no matter a single push rod 122 or two push rods 122 are adopted, the utility model provides a quick plugging device. That is, the present invention provides a quick connect/disconnect device suitable for a surgical instrument 12 having an outer sheath 121 and a push rod 122, which is used to rapidly unlock the outer sheath 121 and the push rod 122 when the surgical instrument is replaced.

Referring to fig. 2, 4 and 5, the quick plugging device includes a base 16, a sheath limiting assembly 13, a push rod limiting assembly 14 and a dismounting and mounting operation assembly 11, wherein: the surgical instrument 12 is slidably connected to the base 16, and when the surgical instrument 12 is assembled and disassembled, the surgical instrument 12 can slide relative to the base 16 to release the assembling constraint relationship between the two, and in the use state, the push rod 122 in the surgical instrument 12 can slide relative to the base 16 in the inner part of the outer sheath 121 to drive the surgical tool to move.

The sheath limiting component 13 is mounted on the base 16 and comprises a limiting element 131 capable of moving along a direction perpendicular to the sliding direction of the surgical instrument 12 relative to the base 16, and the movement of the limiting element 131 relative to the base 16 can lock or unlock the sheath 121; similarly, the push rod position limiting assembly 14 is also mounted on the housing 16 and includes a sliding sleeve 141, wherein the sliding sleeve 141 can move relative to the housing to lock/unlock the push rod 122.

Referring to fig. 3, 5 and 11, when the surgical robot works, the surgical instrument needs to rotate integrally with the base 16, in order to realize circumferential linkage between the sheath 121 and the base 16, a hole in the base 16 for inserting the sheath 121 is provided with a radially extending linkage protrusion 164, and correspondingly, a linkage connection groove 1212 capable of accommodating the linkage protrusion 164 to slide therein is formed in the sheath 121, so that when the sheath 121 is disassembled, as long as the axial position is unlocked, and the sheath 121 is pulled out of the base 16, the linkage protrusion 164 slides in the linkage connection groove 1212. When the sheath 121 is properly inserted into the housing 16, the cooperating engagement between the cooperating projection 164 and the cooperating engagement slot 1212, which is similar to a key connection, allows the housing 16 to circumferentially cooperate with the sheath 121.

The disassembly and assembly manipulation assembly 11 is used for simultaneously unlocking the sheath 121 and the push rod 122, and comprises a combined unlocking piece 111 capable of moving relative to the base 16, wherein the combined unlocking piece 111 can drive a sliding sleeve 141 in the push rod limiting assembly 14 to move together when sliding relative to the base 16, so that the sliding sleeve 141 slides to a position for unlocking the push rod 122 relative to the base 16, and when the sliding sleeve 141 slides to a position for unlocking the push rod 122 along with the combined unlocking piece 111, the combined unlocking piece 111 is engaged with a limiting element 131 in the sheath limiting assembly 13 to unlock the sheath 121.

It can be understood that the sliding sleeve 141 is required to move relative to the base 16 for unlocking the push rod 122, the limiting element 131 is required to move relative to the base 16 for unlocking the sheath 121, and the movement of the combined unlocking member 111 relative to the base 16 can be achieved at two positions simultaneously, so that a user can unlock the sheath 121 and the push rod 122 by operating the combined unlocking member 111 alone, the unlocking efficiency of the surgical instrument 12 is improved, and the operation mode is simple.

Referring to fig. 5 and 10, the base 16 is provided with a sliding hole 163 perpendicular to the sliding direction of the sheath 121, the limiting element 131 is slidably connected in the sliding hole 163, a sheath limiting hole 1312 is provided at a position on the limiting element 131 for engaging with the sheath 121, and the sheath limiting hole 1312 may be provided as a complete or partial hole-locking structure to engage with an outer wall of the sheath 121 to limit the sheath 121 along the sliding direction thereof. In the embodiment shown in fig. 5, the sheath limiting hole 1312 is configured to be capable of fitting into an irregular snap hole outside the sheath 121, when the limiting element 131 slides in the slide hole 163, different hole segments of the sheath limiting hole 1312 fit the outer wall of the sheath 121, and when the sheath limiting hole 1312 slides to a position where the hole wall thereof does not interfere with the sheath 121, the sheath 121 is unlocked.

In addition, in order to ensure the position limitation of the sheath limiting hole 1312 to be more reliable, in one embodiment, a limiting ring groove 1211 is formed at a predetermined axial position of the outer wall of the sheath 121, and a partial hole wall of the sheath limiting hole 1312 can extend into the limiting ring groove 1211. From the foregoing, in order to enable the outer sheath 121 to circumferentially couple with the housing 16, the two are circumferentially coupled via the coupling connecting slot 1212 and the coupling protrusion 164, so that in the embodiment designed with the stop ring slot 1211, the coupling connecting slot 1212 extends through the stop ring slot 1211 and preferably extends all the way to the end of the outer sheath 121 (as shown in fig. 5).

As can be seen from the foregoing, unlocking the sheath 121 requires the limiting element 131 to slide in the sliding hole 163, and therefore, in one embodiment, when the combined unlocking member 111 moves to the joint with the limiting element 131, the combined unlocking member 111 unlocks the sheath 121 by driving the limiting element 131 to slide.

With continued reference to fig. 5, in the illustrated embodiment, the position-limiting element 131 is formed with a hole 1311 capable of receiving the joint of the joint unlocking member 111, and the joint unlocking member 111 gradually engages into the hole 1311 as it slides, but the joint of the two does not directly cause the movement of the position-limiting element 131, and an external force is additionally applied through the joint unlocking member 111 to drive the position-limiting element 131 to slide to the position for unlocking the outer sheath 121. In other embodiments, the above-mentioned unlocking process of the sheath 121 can be realized in other manners, for example, in an realizable manner, the insertion hole 1311 on the limiting element 131 can be lengthened along the moving engagement direction of the combined unlocking member 111, and the insertion hole 1311 can be made into a non-uniform-diameter hole, and the size of the insertion hole 1311 is changed along with the engagement of the combined unlocking member 111 to the insertion hole 1311, so that the limiting element 131 gradually slides to the position for unlocking the sheath 121 along with the engagement of the combined unlocking member 111.

Referring to fig. 10 to 12, the disassembly and assembly manipulation assembly 11 may further include a dial link 113, wherein one side of the dial link 113 is fixedly connected to the joint unlocking member 111, and the other side of the dial link 113 extends along the movement direction of the joint unlocking member 111 to form a sliding portion.

Specifically, with reference to the orientation shown in fig. 11, the lower side of the dial link 113 is provided with a coupling end 1132 extending toward the inside of the housing 16, the coupling end 1132 being adapted to couple to the fixing hole 111 of the joint unlocking member 111 in fig. 5 and forming the illustrated relative positional relationship. The sliding part (not marked in the figure) is slidably connected to the base 16, when the user drives the shifting block connecting part 113 to slide relative to the base 16, the connecting end 1132 of the shifting block connecting part 113 can drive the joint unlocking part 111 to act together, and the sliding part can make the movement of the shifting block connecting part 113 more stable through the matching of the sliding part and the base 16.

Referring to fig. 10, a slide 162 is formed on one side of the base 16 for slidably connecting with the sliding portion of the dial connecting piece 113, and at least one side of the dial connecting piece 113 can be slidably engaged with at least one groove side wall of the slide 162, so that the slide 162 can slidably guide the dial connecting piece 113.

Further, as shown in fig. 11 and 12, a protrusion 1622 is provided on the bottom wall of the sliding track 162, and a side surface of the protrusion 1622 facing away from the bottom wall of the sliding track 162 is configured as a top surface of the protrusion 1622. The sliding portion of the shifting block connecting member 113 is correspondingly provided with a sleeve hole 1131 for accommodating the protrusion 1622 to extend into so that the shifting block connecting member 113 is close to the bottom wall of the slideway 162.

As shown in fig. 11, before the dial block connector 113 drives the combined unlocking member 111 to slide to the position for unlocking the outer sheath 121, the dial block connector 113 is supported on the top surface of the protrusion 1622 to slide, and as shown in fig. 12, when the combined unlocking member 111 slides to the position for engaging with the limiting element 131 and unlocking the outer sheath 121, the sleeving hole 1131 is sleeved to the protrusion 1622, and at this time, the dial block connector 113 can approach the base 16 along with the sleeving of the sleeving hole 1131 and the protrusion 1622, so as to drive the limiting element 131 to slide in the sliding hole 163 to unlock the outer sheath 121.

Referring to fig. 10, the bottom of the slideway 162 is also provided with a ramp 1621 on which the dial link 113 slides during movement of the dial link 113 from the position shown in fig. 11 to the position shown in fig. 12, so that the dial link 113 comes closer to the side of the housing 16.

The protrusions 1622 are spaced apart from each other in the opening direction of the slide 162 (or in the sliding direction of the dial link 113 with respect to the housing 16), so that the top surfaces of the protrusions 1622 can more stably support the sliding portion of the dial link 113. It is understood that the sliding hole 163 is disposed between two adjacent protrusions 1622. The number and the arrangement position of the sleeving holes 1131 correspond to those of the protrusions 1622.

Referring to fig. 11, the dial link 113 may also have the dial 112 attached thereto, the dial 112 extending from a through-hole 170 in the housing 17 of the surgical instrument illustrated in fig. 2, the through-hole 170 optionally configured as a kidney-shaped hole extending in the sliding direction of the dial link 113. Thus, the user can operate the dial block connecting piece 113 to move through the dial block 112 outside the housing 17, and further drive the joint unlocking piece 111 to move. Further, the outer surface of the dial 112 is provided with anti-slip lines, and the surface is formed into a curved slope, so that the user can unlock the lock by applying external force through the dial 112.

Referring back to FIG. 5, the sheath stop assembly 13 further includes a detection element 134, the detection element 134 being mounted on the path of the stop element 131 to detect the stop position of the stop element 131 within the slide hole 163 identified in FIG. 10. The detecting element 134 may be configured as a photoelectric switch or the like capable of providing a straight tube feedback signal, so that when the limiting element 131 slides to the position for unlocking the outer sheath 121, the photoelectric switch as the detecting element 134 can be triggered to emit a light signal to indicate to the user that the outer sheath 121 is unlocked currently, and the surgical device 12 can be removed and replaced as a whole.

Further, the sheath stop assembly 13 may further comprise a first spring 132, and the elastic force of the first spring 132 acts on the stop element 131 to keep it in a position to lock the sheath 121. As mentioned above, the external force applied to the position-limiting element 131 when the unlocking sheath 121 is unlocked pushes it close to the detecting element 134, so that, in the illustrated embodiment, the elastic force of the first spring 132 pushes the position-limiting element 131 against the detecting element 134.

In one embodiment, to facilitate the installation of the first spring 132, the sheath limiting assembly 13 further includes a stop piece 133, the stop piece 133 cooperates with the limiting element 131 to constrain the first spring 132 therebetween in a compressed state, and the stop piece 133 is fixed relative to the housing 16, so that the first spring 132 in the compressed state can push against the limiting element 131 away from the detecting element 134. Of course, in other embodiments, the first spring 132 may be in a stretched state, and the relative installation position between the first spring 132 and the limiting element 131 may be changed to achieve the same purpose, and the blocking piece 133 may be omitted, and an appropriate position on the base 16 may be adopted as the restraining position of one end of the first spring 132.

Referring to fig. 5, a first cooperating engagement portion is provided on the limiting element 131 and a second cooperating engagement portion is provided on the joint unlocking member 111, which are engageable to effect engagement of the joint unlocking member 111 with the limiting element 131. As can be seen from the foregoing, one embodiment of the first interlocking engagement portion is the insertion hole 1311 opened on the position-limiting element 131, and in this case, the second interlocking engagement portion may be correspondingly configured to be the insertion portion 1112 on the joint unlocking member 111. It will be appreciated that, in order to align the insertion part 1112 more accurately with the insertion hole 1311 of the stopper member 131 and insert it smoothly, the insertion part 1112 may be provided with a wedge structure having a front end narrower and a rear end gradually widened so that the insertion part 1112 can be introduced into the insertion hole 1311 smoothly.

When the dial 112 with the dial link 113 and the joint unlocking member 111 slides in the direction of the solid arrow in fig. 5, the insertion portion 1112 can be inserted into the insertion hole 1311 to achieve the engagement of the joint unlocking member 111 with the stopper member 131. There are many other embodiments of the first and second cooperating parts, which are not described herein, but should be equivalent to the above-mentioned embodiments of the insertion part 1112 and the insertion hole 1311 as long as the simple deformation structure of the joint unlocking member 111 and the limiting element 131 can be realized.

Referring to fig. 4 and 5, the combined unlocking member 111 further includes a socket part 1113 for being sleeved on the sliding sleeve 141, and in cooperation therewith, the sliding sleeve 141 includes a socket stop part 1414 capable of being matched with the socket part 1113, and the radial dimension of the socket stop part 1414 is larger than the inner bore dimension of the socket part 1113, so that the combined unlocking member 111 can drive the sliding sleeve 141 to slide along the direction indicated by the solid arrow in fig. 5 through the socket part 1113. In order to make the combined unlocking piece 111 slide to the position of engaging with the limiting element 131 and then drive the limiting element 131 to move radially relative to the sliding sleeve 141, the inner diameter of the socket part 1113 is slightly larger than the radial dimension of the other positions of the sliding sleeve 141 except the socket part 1414, which is equivalent to the matching of the socket part 1113 and the socket part 1414, only limiting the axial linkage of the combined unlocking piece 111 and the sliding sleeve 141, and not hindering the radial movement of the combined unlocking piece 111 relative to the sliding sleeve 141 at the preset position. Thus, when the combined unlocking member 111 carries the sliding sleeve to move jointly to engage the position of the stop member 131, the combined unlocking member 111 can move radially relative to the sliding sleeve 141 to carry the stop member 131 engaged with the combined unlocking member 111 to move to unlock the outer sheath 121.

Referring to fig. 3 and 5, the push rod position limiting assembly 14 further includes a second spring 144 disposed between the sliding sleeve 141 and the base 16, and the elastic force of the second spring 144 causes the sliding sleeve 141 to have a tendency to move away from the position limiting element 131, i.e., the direction of the elastic force of the second spring 144 is set to cause the sliding sleeve 141 to be kept at the position of locking the push rod 122 until the pushing force on the dial block 112 overcomes the elastic force of the second spring 144.

Referring to fig. 10, 11 and 13, the elastic force of the second spring 144 is directed to make the sliding sleeve 141 move downward (relative to the orientation shown in fig. 13), and in order to avoid the sliding sleeve 141 and the associated unlocking member 111 from moving over the downward stroke, a support protrusion 165 is provided on the base 16. As described above, the joint unlocking member 111 is in sleeve engagement with the sleeve-engaging stop 1414 of the sliding sleeve 141, so that the lower end of the joint unlocking member 111 is supported by the support protrusion 165 of the base 16 and cannot move downward, and the elastic force of the second spring 144 finally acts on the joint unlocking member 111 through the sleeve-engaging stop 1414 to elastically press the joint unlocking member against the support protrusion 165.

Referring to fig. 5 to 9, the push rod limiting assembly 14 is used for detachably locking the push rod 122 thereon, and therefore, in addition to the aforementioned sliding sleeve 141, it may further include a push rod locking sleeve 142 and a push rod locking member 143, an end of the push rod 122 remote from the surgical tool is inserted into the push rod locking sleeve 142, the push rod locking sleeve 142 is slidably sleeved in the sliding sleeve 141, the push rod locking member 143 is restrained by the sliding sleeve 141 and can be pushed between the push rod locking sleeve 142 and the push rod 122 by the sliding sleeve 141 to lock the push rod 122, and after the sliding sleeve 141 slides with the joint unlocking member 111 relative to the push rod locking sleeve 142, the sliding sleeve 141 releases the push rod locking member 143, thereby unlocking the push rod 122 relative to the push rod locking sleeve 142.

In the illustrated embodiment, the push rod locking member 143 is configured as a separate ball member from the push rod locking sleeve 142 and the push rod 122, but in other possible embodiments, the push rod locking member 143 may be configured as other shapes and/or components mounted on the push rod locking sleeve 142 or the push rod 122, as long as the above-described locking and unlocking functions can be achieved.

In order to equalize the forces on both sides of the axis of the push rod 122, each push rod 122 may correspond to one to many pairs of push rod locking members 143, and the two push rod locking members 143 in each pair are arranged in axial symmetry with respect to the axis of the push rod 122.

Referring to fig. 5, a locking hole 1422 is formed in the plunger locking sleeve 142, and the plunger locking member 143 configured as a spherical member is movably disposed in the locking hole 1422, and this movement includes rolling and sliding in the locking hole 1422. In one embodiment, the locking hole 1422 is configured as a tapered hole, so that the push rod locking element 143 can be exposed from the opening of the locking hole 1422 on the side near the insertion side of the push rod 122 by less than half of the volume to achieve the locking of the push rod 122; the push rod locking member 143 can also easily move from the other side of the lock hole 1422 with a slightly larger aperture toward the inner wall of the sliding sleeve 141, so that when the sliding sleeve 141 slides to the position for unlocking the push rod 122, the push rod locking member 143 can quickly respond to the unlocking of the push rod 122.

Referring to fig. 9, the push rod 122 is formed with a locking groove 1221 for receiving a portion of the push rod locking member 143, and as described above, when the sliding sleeve 141 is located at a position for locking the push rod 122, the push rod locking member 143 can be pushed toward the push rod 122, and in the embodiment where the locking groove 1221 is formed, the push rod locking member 143 pushed toward the push rod 122 can be partially inserted into the locking groove 1221, so as to more reliably lock the push rod 122.

Referring to fig. 6 to 8, the sliding sleeve 141 has a locking section 1411 and an unlocking section 1412 arranged in a sliding direction of the sliding sleeve 141, and an inner diameter of the sliding sleeve 141 corresponding to the unlocking section 1412 is larger than that of the locking section 1411. Thus, when the locking section 1411 corresponds to the push rod locking sleeve 142, the inner wall of the sliding sleeve 141 at the locking section 1411 pushes the push rod locking piece 143 into the locking groove 1221 on the push rod 122; when the unlocking section 1412 corresponds to the push rod locking sleeve 142, a gap is formed between the inner wall of the sliding sleeve 141 and the outer wall of the push rod locking sleeve 142, and at this time, the push rod locking member 143 can move in the locking hole 1422 to the opening on the side away from the locking groove 1221, and the push rod 122 is unlocked due to the disengagement of the push rod locking member 143 from the locking groove 1221.

In one embodiment, the inner wall of the sliding sleeve 141 at the locking section 1411 may substantially slidingly engage the outer wall of the push rod locking sleeve 142 to ensure that the push rod locking member 143 is reliably squeezed into the locking recess 1221.

Further, as shown in fig. 5 and 8, in order to allow relative sliding between the push rod locking sleeve 142 and the sliding sleeve 141 in only one direction (i.e., along the axial direction of the push rod 122), one of the two is provided with a guiding rib 1421, and the other is provided with a guiding groove 1413 slidably engaged with the guiding rib 1421, in the illustrated embodiment, the guiding rib 1421 protrudes from the outer wall of the push rod locking sleeve 142, and the guiding groove 1413 is opened in the sliding sleeve 141 and extends through the locking section 1411 and the unlocking section 1412.

As can be seen from the foregoing description, the number of the push rods 122 does not affect the functional implementation of the quick plugging device, and one push rod 122 and two push rods 122 can be locked and unlocked by the structure of the push rod limiting assembly 14, and those skilled in the art can adaptively design the shape of the push rod locking sleeve 142 and the internal shape of the sliding sleeve 141 according to the number of the push rods 122 to adapt to a single-push rod or double-push rod structure.

The second aspect of the present invention further provides an actuator 100, wherein the actuator 100 includes the quick plugging device according to any one of the above embodiments, and the surgical instrument 12. Referring to fig. 10, the base 16 includes a base 160 and a support 161, and most of the structural supports of the surgical instrument 12 and the quick-connect/disconnect device are mounted on the support 161.

As shown in fig. 2 to 4, the base 16 is provided with two push rod driving assemblies 15 for driving the push rods 122 to slide in the sheath 121 in a telescopic manner, and when two push rods 122 are provided, the two push rod driving assemblies 15 are provided in two groups. Taking one set of the push rod driving assemblies 15 as an example, it may include a linear driving device mounted on the supporting portion 161 of the base 16, and a load base 153, where the load base 153 is connected to the motion output end of the linear driving device to drive the push rod 122 to slide and stretch along the axial direction.

Specifically, the linear drive device may be selected as the linear motor 151 or other similar device, and when selected as the linear motor 151, the push rod drive assembly 15 may further include a guide 154. The general structure of the linear motor 151 includes a set of general stepping motor/servo motor and a screw nut assembly, the precise linear motor 151 can adopt the ball screw nut assembly as a motion conversion assembly, the motor outputs a rotary motion to drive a screw in the ball screw nut assembly to rotate, and then the nut is made to perform a linear motion along the axial direction of the screw by the cooperation of the screw nut and the screw. The linear motor 151 is fixedly mounted to the housing 16 by a mounting bracket 152.

The guide 154 is used to limit the rotational movement of the load base 153 so that it can only move linearly with the lead screw nut. One end of the push rod locking sleeve 142 in the push rod limiting assembly 14 is provided with a connecting flange portion (not marked in the drawings, and the portion with the connecting hole is the connecting flange portion), and can be directly or indirectly fixedly connected with the load base 153 through the connecting flange portion. To simplify the assembly between the push rod locking sleeve 142 and the load seat 153, the push rod driving assembly 15 may further include an assembly transition plate 155, so that the position where the push rod locking sleeve 142 is assembled with the load seat 153 can be flexibly adjusted by the assembly transition plate 155.

As shown in fig. 3 and 4, the guide 154 includes a bushing 1541 fixed to the load base 153 in an embedded manner, and a guide shaft 1542 fixedly installed on the base 160, wherein the guide shaft 1542 is fixed, and when the linear motor 151 drives the load base 153 to slide, the bushing 1541 is slidably engaged with the guide shaft 1542, so that the load base 153 can move linearly in only one direction. In other embodiments, the guide 154 may be replaced with a structure similar to a guide rail, as long as the purpose of limiting and guiding the guide 154 described above can be achieved, and the guide 154 may have various other equivalent and alternative forms, which are not described herein again.

Referring to fig. 14 and 15, there is shown another embodiment of the actuator, which differs from the previous embodiment mainly in that the base 160 of the housing 16 has an internal cavity 1600 formed therein, and the linear motor 151 is mounted directly to one side of the base 160; the cavity 1600 of the base body 160 communicates with the space inside the support portion 161, and one end of the push rod locking sleeve 142 can extend into the cavity 1600 and be connected to the movement output end of the linear motor 151 in the cavity 1600. In this embodiment, since the linear motor 151 is directly mounted on one side of the base 160, the mounting accuracy of the linear motor 151 is greatly improved, the movement accuracy of the push rod locking sleeve 142 is improved, and finally, the movement accuracy of the push rod mounted in the push rod locking sleeve 142 is improved.

Referring to fig. 16, a third aspect of the present invention further provides a surgical robot including the actuator 100 of the previous embodiment, and a telecentric manipulating mechanism 200, a preoperative positioning mechanism 300, a frame 400 and a base 500. The base 500 is configured with a plurality of frames 400, and each frame 400 is correspondingly configured with a set of preoperative positioning mechanism 300, telecentric operation mechanism 200 and actuator 100.

One possible implementation of the telecentric control mechanism 200 comprises a movable platform, a static platform and a plurality of telescopic units, wherein two ends of each telescopic unit are respectively and rotatably connected to the movable platform and the static platform, and the plurality of telescopic units are cooperatively telescopic to control the movable platform to move relative to the static platform;

the actuator 100 is disposed on the movable platform, and the surgical instrument 12 has a preset telecentric motionless point, and the deflection of the movable platform can drive the surgical instrument 12 to swing around the telecentric motionless point. When a minimally invasive surgery is performed, the actuator 100 is controlled by the preoperative positioning mechanism 300, so that the telecentric motionless point on the surgical instrument 12 coincides with a tiny wound on the body of a patient, and thus, in the subsequent surgery process, the surgical instrument 12 does not drag the wound because the surgical instrument 12 performs spatial swing by taking the telecentric motionless point as a fixed point.

The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be taken as limiting the present invention, and that suitable modifications and variations of the above embodiments are within the scope of the invention as claimed.

Claims

1. A quick connect/disconnect device for surgical instruments, comprising:

2. The quick connect-disconnect device of surgical instrument according to claim 1, wherein the disassembly and assembly manipulation assembly further includes a toggle block connector, one side of the toggle block connector is fixedly connected to the joint unlocking member, and the other side of the toggle block connector extends along a movement direction of the joint unlocking member to form a sliding portion.

3. The quick plugging device for surgical instruments according to claim 2, wherein a protrusion is provided on one side surface of the base; the sliding part is provided with a sleeving hole into which the bulge can extend; the shifting block connecting piece can slide on the surface of the top surface of the protrusion relative to the base, and when the shifting block connecting piece slides to the position where the combined unlocking piece is connected with the limiting element along with the combined unlocking piece, the sleeve hole can be sleeved to the protrusion along with the shifting block connecting piece approaching to the base.

4. The quick inserting and pulling device for surgical instruments according to claim 2, wherein a slide way is disposed on the base along the movement direction of the joint unlocking member, the side surface of the slide way can guide the sliding portion in a sliding manner, an inclined surface is further disposed on the bottom surface of the slide way, and the shifting block connecting member can slide along the inclined surface to be close to the side surface of the base.

5. The rapid insertion and extraction device of surgical instrument of claim 1, wherein the sheath stop assembly further comprises a first spring configured to enable the stop element to be held in a position that locks the sheath.

6. The quick connect-disconnect device for surgical instruments according to claim 1, wherein the position-limiting member has a receptacle formed thereon, the joint unlocking member has an insertion portion capable of being inserted into the receptacle, and the joint unlocking member and the position-limiting member are capable of being engaged by the insertion portion and the receptacle in a plugging fit.

7. The quick connect-disconnect device of surgical instruments of claim 1, wherein the joint unlocking member further comprises a socket for being sleeved to the sliding sleeve, the sliding sleeve comprising a socket stop cooperating with the socket to enable the sliding sleeve to slide with the joint unlocking member.

8. The quick plugging and unplugging device for surgical instruments according to any one of claims 1 to 7, wherein the push rod limiting assembly further comprises a push rod locking sleeve and a push rod locking piece which are arranged in the sliding sleeve, and the push rod is arranged in the push rod locking sleeve;

9. An actuator of a surgical robot, comprising the quick plugging device according to any one of claims 1 to 8, and a surgical instrument, wherein the surgical instrument comprises an outer sheath and two push rods slidably sleeved in the outer sheath, and each push rod is correspondingly connected with an oscillating piece.

10. A surgical robot comprising the actuator of claim 9.