WO2023231475A1 - Detachable surgical robot end executing apparatus and surgical robot - Google Patents

Detachable surgical robot end executing apparatus and surgical robot Download PDF

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Publication number
WO2023231475A1
WO2023231475A1 PCT/CN2023/078390 CN2023078390W WO2023231475A1 WO 2023231475 A1 WO2023231475 A1 WO 2023231475A1 CN 2023078390 W CN2023078390 W CN 2023078390W WO 2023231475 A1 WO2023231475 A1 WO 2023231475A1
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WO
WIPO (PCT)
Prior art keywords
transmission
transmission pull
surgical robot
hollow
pull rod
Prior art date
Application number
PCT/CN2023/078390
Other languages
French (fr)
Chinese (zh)
Inventor
柴召强
钟鹏飞
骆威
Original Assignee
以诺康医疗科技 (苏州) 有限公司
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Application filed by 以诺康医疗科技 (苏州) 有限公司 filed Critical 以诺康医疗科技 (苏州) 有限公司
Publication of WO2023231475A1 publication Critical patent/WO2023231475A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the present invention relates to the technical field of minimally invasive surgical robot execution equipment, and specifically to a detachable surgical robot end execution device and a surgical robot.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. The minimally invasive instruments used in minimally invasive surgery are limited by the size of the incision, which greatly increases the difficulty of the surgical operation. In addition, the fatigue, trembling and other movements that the doctor will inevitably produce during the long operation will be amplified and cannot achieve the benefits of minimally invasive surgery. best effect.
  • the end effector of the surgical robot is connected to the surgical instruments, allowing the doctor to use the surgical instruments to perform operations.
  • the end effector connected to the surgical instruments also needs to be removed for replacement and sterilization.
  • the existing surgical robot end effector is usually composed of a motor base, a sterile adapter plate and an instrument. During sterilization, disinfection or replacement, the entire instrument needs to be disassembled. Disassembly is too troublesome and greatly increases the use of the instrument. cost and maintenance cost; and the drive seat is far away from the surgical instruments and does not require disinfection, but it is easy to be infected with germs during the disassembly process. The internal space of the drive seat is not conducive to sterilization, and it is difficult to clean after infection with bacteria, which poses a safety risk. Therefore, how to replace and clean the end effector of a surgical robot is an urgent problem that needs to be solved.
  • the purpose of the present invention is to overcome the shortcomings of the existing technology and provide a detachable surgical robot end effector and a surgical robot.
  • a detachable surgical robot end effector device including a driving base and an actuator.
  • the actuator is detachably connected to the driving base through a connecting assembly.
  • the connecting assembly includes a connecting base and a connecting head.
  • the connecting base is slidably arranged.
  • In the connecting pipe at the front end of the driving base there is a set of first transmission pull rods in the connecting pipe that are drivingly connected to the driving base.
  • the first transmission pull rods are slidably arranged in the connecting base;
  • the connecting head is elastic Disposed at the end of the actuator, the actuator has a set of second transmission pull rods that are drivingly connected to its execution end.
  • the second transmission pull rods are slidably disposed in the connector, and the second transmission pull rods are Matching the first transmission pull rod, the connector is connected to or separated from the first transmission pull rod synchronously with the connecting seat, the second transmission pull rod, and the first transmission pull rod.
  • the driving base is drivingly connected to the execution end.
  • each of the first transmission pull rods is transmission connected to the transmission wheel set in the driving seat through a first connecting line;
  • the actuator further includes a hollow connecting rod, and the actuating end is hinged to the hollow connecting rod.
  • the front end of the rod, the connecting head is provided at the end of the hollow connecting rod, and each of the second transmission pull rods is drivingly connected to the execution end through a second connecting line.
  • the connecting seat includes a hollow tube part and a stepped end surface with a diameter larger than that of the hollow tube part, and the connecting seat is connected to A first tensioning mechanism is provided between the connecting pipes.
  • the first tensioning mechanism includes elastic clamping pillars, a first spring and first and second clamping holes.
  • a plurality of the elastic clamping pillars are arranged axially symmetrically.
  • the first spring is sleeved on the hollow tube part and contacts the end surface of the connecting tube and the step end surface respectively, and the plurality of first clamping holes and the third
  • the two clamping holes match the elastic clamping pillars and are respectively symmetrically arranged on the pipe wall side of the connecting pipe along the longitudinal axis.
  • the front end of the hollow tube portion has a set of first notches evenly distributed along the circumference of the tube wall, and one of the first transmission pull rods is slidably provided in each of the first notches.
  • a blocking block protruding from the first notch is provided on one side of the front end.
  • the connector includes a hollow shell and a second tensioning mechanism.
  • the front end of the hollow shell has a set of second notches evenly distributed along the circumference of its pipe wall, and each second notch is slidably provided with One said second transmission tie rod.
  • the second tensioning mechanism includes an annular blocking block, a second spring and a fixed seat.
  • the fixed block is fixed at the rear end of the hollow shell.
  • the blocking block, the second spring sliding sleeve Provided on the hollow shell, a set of contact protrusions are provided on the inner side of the blocking block. The contact protrusions are clamped in the second notch and contact the second transmission pull rod.
  • a set of L-shaped first chute is provided on the tube wall of the hollow shell, each first chute is connected to one of the second slots, and the first transmission pull rod passes through the The first chute slides into the second slot and is connected to the second transmission pull rod; the contact protrusion is located at the rear end of the second slot, and a set of L-shaped second slide groove, the abutment protrusion can slide from the second groove into the second slide groove by rotating, so that the second spring can drive the blocking block relative to the hollow The shell moves forward.
  • a set of pins is provided on the end surface of the blocking block, and a set of pin holes matching the pins are provided on the end surface of the step.
  • the axis of the hollow shell is provided with a positioning hole
  • the axis of the connecting pipe is provided with a positioning pin
  • the positioning pin matches the positioning hole
  • a surgical robot includes a detachable surgical robot end effector as described above.
  • the drive base and the actuator are detachably connected through the connecting assembly, so that the actuator can be disassembled instead of disassembling the entire end effector, reducing unnecessary disassembly and assembly processes, improving efficiency, and reducing unnecessary
  • the use of consumables reduces the difficulty of disinfection, reduces unnecessary waste, and reduces the overall cost of use;
  • the actuator can be used as a one-time use consumable to ensure safe and clean use, ensure the safety of surgery, and avoid the risk of sharing equipment. At the same time, compared with the traditional one-piece actuator and drive base The structure will not increase the cost of use too much;
  • the first connection line uses a large-diameter tungsten wire rope to connect the first transmission pull rod, which improves the toughness of the first connection line and ensures the long-term reliability and stability of the first transmission pull rod in the drive seat, which can improve the use lifespan, reducing replacement frequency and saving usage costs;
  • the connecting seat uses the first tensioning mechanism to limit the first transmission rod to ensure the tension of the connecting line.
  • the connecting head uses the second tensioning mechanism to limit the second transmission rod. Ensure the tension of the connecting line to ensure the stability of the connecting seat and the connecting head during assembly, improve the smoothness of assembly, and improve the reliability of the transmission connection between the first transmission pull rod and the second transmission pull rod.
  • Figure 1 Schematic diagram of the connection between the driving seat and the actuator in the embodiment of the present invention
  • Figure 2 Schematic diagram of the separation of the driving seat and the actuator in the embodiment of the present invention
  • FIG. 3 Partial schematic diagram of the driving seat in the embodiment of the present invention.
  • Figure 4 Partial cross-sectional view of the driving seat in the embodiment of the present invention.
  • Figure 5 An exploded schematic diagram of the connection socket in the embodiment of the present invention.
  • Figure 6 Partial cross-sectional view of the connecting seat in the embodiment of the present invention.
  • Figure 7 An exploded schematic diagram of the connector in the embodiment of the present invention.
  • FIG. 8 Schematic diagram of the connector in the embodiment of the present invention.
  • Figure 9 Schematic diagram of the separation of the connecting seat and the connecting head in the embodiment of the present invention.
  • Figure 10 A schematic diagram of the first state in which the connecting seat and the connecting head are connected in the embodiment of the present invention
  • Figure 11 A schematic diagram of the second state in which the connecting seat and the connecting head are connected in the embodiment of the present invention.
  • Figure 12 A schematic diagram of the third state in which the connecting seat and the connecting head are connected in the embodiment of the present invention.
  • Figure 13 A schematic diagram of the fourth state in which the connecting seat and the connecting head are connected in the embodiment of the present invention.
  • Figure 14 A schematic diagram of the fifth state in which the connecting seat and the connecting head are connected in the embodiment of the present invention.
  • the present invention discloses a detachable surgical robot end effector, which includes a drive base 1 and an actuator 2.
  • the actuator 2 is detachably connected to the drive base 1 through a connecting assembly.
  • the connection assembly includes a connecting seat 3 and a connecting head 4.
  • the connecting seat 3 is slidably disposed in the connecting tube 101 at the front end of the driving seat 1.
  • the connecting tube 101 has a set of connectors connected to the driving seat 1.
  • the first transmission pull rod 5 is connected by transmission.
  • the first transmission pull rod 5 is slidably provided in the connection seat 3; the connection head 4 is elastically provided at the end of the actuator 2, and the actuator 2 has a
  • a second transmission pull rod 6 is connected to its execution end 201.
  • the second transmission pull rod 6 is slidably disposed in the connector 4, and the second transmission pull rod 6 matches the first transmission pull rod 5.
  • the connecting head 4 is connected or separated from the connecting seat 3, the second transmission pull rod 6 and the first transmission pull rod 5 synchronously.
  • the driving The seat 1 is drivingly connected to the execution end 201.
  • the present invention detachably connects the drive base 1 and the actuator 2 through a connecting assembly, so that the actuator 2 can be disassembled instead of disassembling the entire end effector, reducing unnecessary disassembly and assembly processes. , improve efficiency, reduce the use of unnecessary consumables, reduce the difficulty of disinfection, reduce unnecessary waste, and reduce the overall cost of use.
  • the connection base 3 is provided on the driving base 1, and the connection head 4 is provided on the actuator 2.
  • the connection base 3 can also be provided On the actuator 2, the connector 4 is provided on on the driving base 1.
  • the arrangement of the connecting tube 101 can ensure that the driving seat 1 will not be contaminated during use, thereby ensuring that it does not need to be sterilized and is safe for repeated use.
  • the actuator 2 also includes a hollow connecting rod 202, the actuating end 201 is hinged to the front end of the hollow connecting rod 202, and the connecting head 4 is provided at the end of the hollow connecting rod 202.
  • the length of the connecting rod 202 is not unique, and the specific length can be determined according to specific needs, or the hollow connecting rods 202 of different lengths can be provided accordingly to facilitate replacement.
  • Each second transmission pull rod 6 is transmission connected to the execution end 201 through a second connection wire 8 , and the second connection wire 8 is passed through the hollow connecting rod 202 .
  • the second connecting wire 8 may be a metal rope made of metal material such as a steel wire rope, or a wire rope made of non-metallic material such as nylon. In a preferred embodiment, the second connecting wire 8 is preferably a tungsten wire rope so as to have good toughness.
  • the second connecting wire 8 and the second transmission rod 6 are connected by capillary stainless steel pressure-fitting.
  • Each of the first transmission pull rods 5 is transmission connected to the transmission wheel set 104 in the driving base 1 through a first connection wire 7 , and the first connection wire 7 is passed through the connection pipe 101 .
  • the first connecting wire 7 is preferably a large-diameter tungsten wire rope, so that it has good toughness and strength.
  • the large-diameter tungsten wire rope can increase the service life, meet the requirement of long-term use without breakage, reduce replacement frequency, and save usage costs.
  • the first connecting wire 7 and the first transmission rod 5 are connected by capillary stainless steel pressure-fitting.
  • the connecting seat 3 includes a hollow tube part 301 and a stepped end surface 302 with a diameter larger than the hollow tube part 301.
  • a first piece of paper is provided between the connecting seat 3 and the connecting tube 101.
  • the first tensioning mechanism includes an elastic clamping column 303, a first spring 304, a first clamping hole 102 and a second clamping hole 103.
  • the two elastic clamping columns 303 are symmetrically arranged on the hollow tube part 301.
  • the first spring 304 is sleeved on the hollow tube part 301 and contacts the end surface of the connecting tube 101 and the step end surface 302 respectively.
  • the two first clamping holes 102 and the second clamping hole The holes 103 all match the elastic clamping posts 303 and are symmetrically arranged on both sides of the pipe wall of the connecting pipe 101 along the longitudinal axis.
  • Figures 3-6 only show a technical solution in which the two first clamping holes 102 and the two second clamping holes 103 are matched with the two elastic clamping posts 303. Inventions may also use other alternatives.
  • N first clamping holes 102 and N second clamping holes 103 are matched with N elastic clamping posts 303 can be used as an alternative to the corresponding embodiment in Figures 3-6.
  • N is a natural number greater than or equal to 3.
  • the present invention is not limited to the use of the two first clamping holes 102 and the two second clamping holes 103 shown in Figures 3-6, both of which match the two elastic clamping posts 303.
  • a technical solution a technical solution in which a plurality of the first clamping holes 102 and a plurality of the second clamping holes 103 are matched with a plurality of the elastic clamping posts 303 can also be used.
  • the elastic clamping post 303 is penetrated on the side wall of the connecting pipe 101, and an elastic member, such as a spring, etc., that can reset it is provided between its inner end and the inner wall of the connecting pipe 101, so that the elasticity
  • the clamping post 303 has the elasticity to expand and contract relative to the connecting pipe 101. Pressing the elastic clamping column 303 can unlock it from the connecting pipe 101. When there is no external force, the elastic clamping column 303 moves from the first clamping hole. 102 or the second clamping hole 103 extends out to define the position of the connecting seat 3 relative to the connecting pipe 101 .
  • first notches 305 are evenly distributed along the circumference of the tube wall at the front end of the hollow tube portion 301, and one of the first transmission pull rods 5 is slidably provided in each of the first notches 305.
  • a blocking block 501 protruding from the first notch 305 is provided on one side of the front end of the first transmission pull rod 5 .
  • the working principle of the first tensioning mechanism is: when the connector 4 is separated from the connection base 3, that is, when the actuator 2 is not installed on the drive base 1, the elastic clamping column 303 is stuck. In the first clamping hole 102, at this time, the first The bottom of the notch 305 is in contact with the bottom of the first transmission pull rod 5, so that the first connecting wire 7 is in a tightened state, thereby limiting the position of the first transmission pull rod 5 and ensuring that the first transmission pull rod 5 is installed.
  • the position stability of the transmission pull rod 5 prevents it from swaying back and forth to ensure smooth assembly; when the connector 4 is connected to the connection base 3, press the elastic clamping column 303 to exit the third A clamping hole 102, the connecting seat 3 retracts under the elastic force of the first spring 304, the elastic clamping post 303 is clamped into the second clamping hole 103, at this time, the notch 305 is connected with the The first transmission pull rod 5 is unlocked and moved backward, leaving room for movement of the first transmission pull rod 5 .
  • the connector 4 includes a hollow shell 401 and a second tensioning mechanism.
  • the front end of the hollow shell 401 has a set of second notches 402 evenly distributed along the circumference of its tube wall.
  • Each One of the second transmission pull rods 6 is slidably disposed in the second slot 402 .
  • the second tensioning mechanism includes an annular blocking block 403, a second spring 404 and a fixed seat 405.
  • the fixed block 405 is fixed at the rear end of the hollow shell 401.
  • the blocking block 403, the second The spring 404 is slidably sleeved on the hollow housing 401.
  • Each of the contact protrusions 4031 is respectively locked in the second notch 402. inside and in contact with the second transmission pull rod 6 .
  • the contact protrusion 4031 is used to limit the position of the second transmission rod 6 when the driving base 1 and the actuator 2 are not connected.
  • a set of L-shaped first chute 406 is provided on the wall of the hollow shell 401, and each first chute 406 is connected to one of the second slots 402.
  • the first transmission The pull rod 5 slides into the second slot 402 through the first slide groove 406 and is connected to the second transmission pull rod 6 .
  • a bayonet 601 matching the clamping block 501 is formed in the middle part of the second transmission pull rod 6, and the bayonet 601 is connected with the first slide groove 406, so The blocking block 501 moves from the first chute 406 into the bayonet 601 so that the first transmission pull rod 5 and the second transmission pull rod 6 are connected.
  • the first chute 406 is provided to allow the first transmission pull rod 5 to enter the second slot 402 through movement and rotation. Therefore, the number of the first chute 406 is consistent with the number of the first transmission pull rod. 5 matches.
  • the contact protrusion 4031 is located at the tail end of the second slot 402, and a set of L-shaped second chute 407 is provided on the wall of the hollow shell 401, each The second slide grooves 407 are respectively connected with one of the second grooves 402, and the contact protrusion 4031 slides from the second groove 402 into the second slide groove 407 through rotation, so that the The second spring 404 drives the blocking block 403 to move forward relative to the hollow housing 401 .
  • the second slide groove 407 is used to cause the contact protrusion 4031 to release its restriction on the second transmission pull rod 6.
  • the second slide groove 407 and the contact protrusion 4031 are in contact with the second transmission rod 6.
  • the number of tie rods 6 matches.
  • the working principle of the second tensioning mechanism is: when the connecting head 4 is separated from the connecting seat 3, the contact protrusion 4031 is stuck at the bottom of the second notch 402 and is in contact with the second notch 402.
  • the second transmission pull rod 6 is in contact, so that the second connection line 8 is in a tightened state, and the second transmission pull rod 6 cannot move forward and backward, thereby limiting the position of the second transmission pull rod 6 and ensuring installation.
  • the position stability of the second transmission pull rod 6 will not sway back and forth, ensuring smooth assembly; when the connector 4 is connected to the connection base 3, the blocking block 403 is rotated so that the The contact protrusion 4031 is separated from the second transmission pull rod 6 and slides into the second chute 407.
  • the blocking block 403 moves forward under the elastic force of the second spring 404, so that the The blocking block 403 abuts the stepped end surface 302 of the connecting seat 3 while leaving room for movement of the second transmission rod 6 .
  • a set of pins 408 is provided on the end surface of the blocking block 403, and a set of pin holes 306 matching the pins 408 are provided on the step end surface 302.
  • the pin 408 is locked into the pin hole 306 .
  • a positioning hole 409 is provided on the axis of the hollow shell 401, and a positioning pin 307 is provided on the axis of the connecting pipe 101.
  • the positioning pin 307 matches the positioning hole 409.
  • connection working process of the connecting seat 3 and the connecting head 4 in the present invention is:
  • the blocking block 403 is rotated so that the contact protrusion 4031 slides into the second chute 407. At this time, the blocking block 403 moves forward driven by the second spring 404, so that the pin 408 snaps into the pin.
  • the connection between the connecting head 4 and the connecting seat 3 is completed, so that the driving seat 1 is connected to the actuator 2, the first transmission pull rod 5 is connected to the second transmission pull rod 6, and the The driving base 1 can be drivingly connected with the execution end 201 to perform surgical operations.
  • connection assembly can enable quick disassembly and installation between the actuator 2 and the drive base 1, so that all As a detachable component, the actuator 2 can be disassembled and sterilized to improve work efficiency. Furthermore, the actuator 2 can also be directly used as a disposable consumable, eliminating the need for sterilization steps, thereby ensuring safe use, saving subsequent maintenance steps, and optimizing use efficiency.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
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Abstract

Provided are a detachable surgical robot end executing apparatus and a surgical robot. The detachable surgical robot end executing apparatus comprises a driving base (1) and an executing member (2) detachably connected thereto. A connecting assembly comprises a connecting base (3) and a connector (4). The connecting base (3) is slidably arranged in a connecting pipe (101) at the front end of the driving base (1). The connecting pipe (101) is internally provided with a set of first transmission pull rods (5) in transmission connection with the driving base (1). The first transmission pull rods (5) are slidably arranged in the connecting base (3). The connector (4) is elastically arranged at the tail end of the executing member (2). The executing member (2) is internally provided with a set of second transmission pull rods (6) in transmission connection with an executing end (201) thereof. The second transmission pull rods (6) are slidably arranged in the connector (4), and the second transmission pull rods (6) are matched with the first transmission pull rods (5). The connector (4) is synchronously connected to or separated from the connecting base (3), and the second transmission pull rods (6) are synchronously connected to or separated from the first transmission pull rods (5). After the second transmission pull rods (6) are connected to the first transmission pull rods (5), the driving base (1) is in transmission connection with the executing end (201). By means of the connecting assembly, the driving base (1) is detachably connected to the executing member (2), thereby ensuring the operation safety and reducing unnecessary consumable use.

Description

可拆卸式手术机器人末端执行装置及手术机器人Detachable surgical robot end effector and surgical robot 技术领域Technical field
本发明涉及微创外科手术机器人执行设备技术领域，具体地涉及一种可拆卸式手术机器人末端执行装置及手术机器人。The present invention relates to the technical field of minimally invasive surgical robot execution equipment, and specifically to a detachable surgical robot end execution device and a surgical robot.
背景技术Background technique
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式，微创手术具有创伤小、疼痛轻、恢复快等优势。微创手术中的微创器械由于受到切口大小的限制，手术操作难度大为增加，另外医生在长时间手术过程中不可避免产生的疲劳、颤抖等动作会被放大，达不到微创手术的最佳效果。但随着机器人技术的发展，一种可以克服缺点、继承优点的微创医疗领域新技术——微创手术机器人技术应运而生，来代替医生进行各种复杂精细的操作，避免操作中的抖动，提高微创手术的效果，利于伤口恢复，也有助于保护医生和患者患部的直接接触，可谓一举多得。Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. The minimally invasive instruments used in minimally invasive surgery are limited by the size of the incision, which greatly increases the difficulty of the surgical operation. In addition, the fatigue, trembling and other movements that the doctor will inevitably produce during the long operation will be amplified and cannot achieve the benefits of minimally invasive surgery. best effect. However, with the development of robot technology, a new technology in the minimally invasive medical field that can overcome shortcomings and inherit advantages - minimally invasive surgical robot technology has emerged to replace doctors in performing various complex and delicate operations and avoid jitter during operations. , improve the effect of minimally invasive surgery, facilitate wound recovery, and also help protect the direct contact between the doctor and the patient's affected area, which can be said to serve multiple purposes.
在机器人辅助微创外科手术过程中，手术机器人的末端执行装置和手术器械连接，使得医生使用手术器械进行手术操作。为了保证手术的洁净和安全，除了手术器械之外，和手术器械连接的末端执行装置也是需要拆下来进行更换消毒的。During robot-assisted minimally invasive surgery, the end effector of the surgical robot is connected to the surgical instruments, allowing the doctor to use the surgical instruments to perform operations. In order to ensure the cleanliness and safety of the operation, in addition to the surgical instruments, the end effector connected to the surgical instruments also needs to be removed for replacement and sterilization.
现有的手术机器人末端执行装置通常是由电机座、无菌转接板和器械一体组成的，在灭菌、消毒或者替换的时候，需要将整个器械拆下来，拆卸过于麻烦，大大增加了使用成本和维护成本；并且驱动座离手术器械较远，本身不需要消毒，但在拆卸的过程中容易感染病菌，驱动座的内部空间不利于灭菌，感染细菌后难以清洁，存在安全风险。因此，如何解决手术机器人末端执行装置的更换清洁是目前急需解决的问题。The existing surgical robot end effector is usually composed of a motor base, a sterile adapter plate and an instrument. During sterilization, disinfection or replacement, the entire instrument needs to be disassembled. Disassembly is too troublesome and greatly increases the use of the instrument. cost and maintenance cost; and the drive seat is far away from the surgical instruments and does not require disinfection, but it is easy to be infected with germs during the disassembly process. The internal space of the drive seat is not conducive to sterilization, and it is difficult to clean after infection with bacteria, which poses a safety risk. Therefore, how to replace and clean the end effector of a surgical robot is an urgent problem that needs to be solved.
发明内容Contents of the invention
本发明的目的是克服现有技术存在的不足，提供一种可拆卸式手术机器人末端执行装置及手术机器人。The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a detachable surgical robot end effector and a surgical robot.
本发明的目的通过以下技术方案来实现：The purpose of the present invention is achieved through the following technical solutions:
可拆卸式手术机器人末端执行装置，包括驱动座和执行件，所述执行件通过连接组件与所述驱动座可拆卸地连接，所述连接组件包括连接座和连接头，所述连接座滑动设置于所述驱动座前端的连接管内，所述连接管内具有一组与所述驱动座传动连接的第一传动拉杆，所述第一传动拉杆滑动设置于所述连接座内；所述连接头弹性设置于所述执行件的末端，所述执行件内具有一组与其执行端传动连接的第二传动拉杆，所述第二传动拉杆滑动设置于所述连接头内，且所述第二传动拉杆与第一传动拉杆相匹配，所述连接头与所述连接座、所述第二传动拉杆与第一传动拉杆同步相连接或相分离，当所述第二传动拉杆与第一传动拉杆连接后，所述驱动座与所述执行端传动连接。A detachable surgical robot end effector device, including a driving base and an actuator. The actuator is detachably connected to the driving base through a connecting assembly. The connecting assembly includes a connecting base and a connecting head. The connecting base is slidably arranged. In the connecting pipe at the front end of the driving base, there is a set of first transmission pull rods in the connecting pipe that are drivingly connected to the driving base. The first transmission pull rods are slidably arranged in the connecting base; the connecting head is elastic Disposed at the end of the actuator, the actuator has a set of second transmission pull rods that are drivingly connected to its execution end. The second transmission pull rods are slidably disposed in the connector, and the second transmission pull rods are Matching the first transmission pull rod, the connector is connected to or separated from the first transmission pull rod synchronously with the connecting seat, the second transmission pull rod, and the first transmission pull rod. When the second transmission pull rod is connected to the first transmission pull rod, , the driving base is drivingly connected to the execution end.
优选的，每个所述第一传动拉杆分别通过第一连接线与所述驱动座内的传动轮组传动连接；所述执行件还包括空心连杆，所述执行端铰接于所述空心连杆的前端，所述连接头设置于所述空心连杆的末端，每个所述第二传动拉杆通过第二连接线与所述执行端传动连接。Preferably, each of the first transmission pull rods is transmission connected to the transmission wheel set in the driving seat through a first connecting line; the actuator further includes a hollow connecting rod, and the actuating end is hinged to the hollow connecting rod. The front end of the rod, the connecting head is provided at the end of the hollow connecting rod, and each of the second transmission pull rods is drivingly connected to the execution end through a second connecting line.
优选的，所述连接座包括空心管部和直径大于所述空心管部的台阶端面，所述连接座与 所述连接管之间设置有第一张紧机构，所述第一张紧机构包括弹性卡柱、第一弹簧和第一卡孔和第二卡孔，多个所述弹性卡柱轴对称设置于所述空心管部的侧壁上，所述第一弹簧套设于空心管部上并分别与所述连接管的端面、所述台阶端面抵接，多个所述第一卡孔和第二卡孔均与所述弹性卡柱相匹配，并分别沿纵向轴线对称设置于所述连接管的管壁侧，当所述连接头与所述连接座分离时，所述弹性卡柱卡设于所述第一卡孔内；当所述连接头与所述连接座连接时，所述弹性卡柱卡设于所述第二卡孔内。Preferably, the connecting seat includes a hollow tube part and a stepped end surface with a diameter larger than that of the hollow tube part, and the connecting seat is connected to A first tensioning mechanism is provided between the connecting pipes. The first tensioning mechanism includes elastic clamping pillars, a first spring and first and second clamping holes. A plurality of the elastic clamping pillars are arranged axially symmetrically. On the side wall of the hollow tube part, the first spring is sleeved on the hollow tube part and contacts the end surface of the connecting tube and the step end surface respectively, and the plurality of first clamping holes and the third The two clamping holes match the elastic clamping pillars and are respectively symmetrically arranged on the pipe wall side of the connecting pipe along the longitudinal axis. When the connecting head is separated from the connecting seat, the elastic clamping pillars are clamped In the first clamping hole; when the connector is connected to the connection base, the elastic clamping post is clamped in the second clamping hole.
优选的，所述空心管部的前端沿其管壁圆周均布有一组第一槽口，每个所述第一槽口内滑动设置有一个所述第一传动拉杆，所述第一传动拉杆的前端一侧设置有外凸于所述第一槽口的卡块。Preferably, the front end of the hollow tube portion has a set of first notches evenly distributed along the circumference of the tube wall, and one of the first transmission pull rods is slidably provided in each of the first notches. A blocking block protruding from the first notch is provided on one side of the front end.
优选的，所述连接头包括空心壳体和第二张紧机构，所述空心壳体的前端沿其管壁圆周均布有一组第二槽口，每个所述第二槽口内滑动设置有一个所述第二传动拉杆。Preferably, the connector includes a hollow shell and a second tensioning mechanism. The front end of the hollow shell has a set of second notches evenly distributed along the circumference of its pipe wall, and each second notch is slidably provided with One said second transmission tie rod.
优选的，所述第二张紧机构包括环状的阻挡块、第二弹簧和固定座，所述固定块固设于所述空心壳体的尾端，所述阻挡块、第二弹簧滑动套设于所述空心壳体上，所述阻挡块的内侧设有一组抵接凸部，所述抵接凸部卡设于所述第二槽口内并与所述第二传动拉杆抵接。Preferably, the second tensioning mechanism includes an annular blocking block, a second spring and a fixed seat. The fixed block is fixed at the rear end of the hollow shell. The blocking block, the second spring sliding sleeve Provided on the hollow shell, a set of contact protrusions are provided on the inner side of the blocking block. The contact protrusions are clamped in the second notch and contact the second transmission pull rod.
优选的，所述空心壳体的管壁上设置有一组L型的第一滑槽，每个第一滑槽分别与一个所述第二槽口相连通，所述第一传动拉杆通过所述第一滑槽滑入所述第二槽口内与所述第二传动拉杆连接；所述抵接凸部位于所述第二槽口的尾端，所述空心壳体的管壁上设有一组L型的第二滑槽，所述抵接凸部可通过旋转从所述第二槽口内滑入所述第二滑槽内，使得所述第二弹簧可驱动所述阻挡块相对所述空心壳体前移。Preferably, a set of L-shaped first chute is provided on the tube wall of the hollow shell, each first chute is connected to one of the second slots, and the first transmission pull rod passes through the The first chute slides into the second slot and is connected to the second transmission pull rod; the contact protrusion is located at the rear end of the second slot, and a set of L-shaped second slide groove, the abutment protrusion can slide from the second groove into the second slide groove by rotating, so that the second spring can drive the blocking block relative to the hollow The shell moves forward.
优选的，所述阻挡块的端面上设置有一组销柱，所述台阶端面上设置有一组与所述销柱相匹配的销孔，当所述第二弹簧驱动所述阻挡块相对所述空心壳体前移时，所述销柱卡入所述销孔内。Preferably, a set of pins is provided on the end surface of the blocking block, and a set of pin holes matching the pins are provided on the end surface of the step. When the second spring drives the blocking block relative to the hollow When the housing moves forward, the pin is stuck into the pin hole.
优选的，所述空心壳体的轴线设置有一定位孔，所述连接管的轴心设置有一定位销，所述定位销与所述定位孔相匹配。Preferably, the axis of the hollow shell is provided with a positioning hole, the axis of the connecting pipe is provided with a positioning pin, and the positioning pin matches the positioning hole.
手术机器人，包括如上所述的可拆卸式手术机器人末端执行装置。A surgical robot includes a detachable surgical robot end effector as described above.
本发明的有益效果主要体现在：The beneficial effects of the present invention are mainly reflected in:
1、通过连接组件将驱动座和执行件之间可拆卸式地连接使用，使得可通过拆卸执行件来代替拆卸整个末端执行装置，减少不必要的拆装流程，提高效率，并且减少不必要的耗材使用，降低消毒难度，减少不必要的浪费，降低整体使用成本；1. The drive base and the actuator are detachably connected through the connecting assembly, so that the actuator can be disassembled instead of disassembling the entire end effector, reducing unnecessary disassembly and assembly processes, improving efficiency, and reducing unnecessary The use of consumables reduces the difficulty of disinfection, reduces unnecessary waste, and reduces the overall cost of use;
2、执行件作为可拆卸地组件，可以作为一次性使用的耗材，来确保使用安全和洁净，确保手术的安全性，避免共用器材的风险，同时相比于执行件和驱动座一体式的传统结构，不会过多增加使用成本；2. As a detachable component, the actuator can be used as a one-time use consumable to ensure safe and clean use, ensure the safety of surgery, and avoid the risk of sharing equipment. At the same time, compared with the traditional one-piece actuator and drive base The structure will not increase the cost of use too much;
3、第一连接线采用大直径的钨丝绳来连接第一传动拉杆，提高第一连接线的韧性，保证驱动座内的第一传动拉杆的长期使用的可靠性和稳定性，可以提高使用寿命，减少更换频率，节约使用成本；3. The first connection line uses a large-diameter tungsten wire rope to connect the first transmission pull rod, which improves the toughness of the first connection line and ensures the long-term reliability and stability of the first transmission pull rod in the drive seat, which can improve the use lifespan, reducing replacement frequency and saving usage costs;
4、连接座通过第一张紧机构来对第一传动拉杆起到限位作用，保证连接线的张紧度，连接头通过第二张紧机构来对第二传动拉杆起到限位作用，保证连接线的张紧度，来确保组装时，连接座和连接头状态的稳定性，提高组装流畅性，以及提高第一传动拉杆和第二传动拉杆传动连接后的可靠性。4. The connecting seat uses the first tensioning mechanism to limit the first transmission rod to ensure the tension of the connecting line. The connecting head uses the second tensioning mechanism to limit the second transmission rod. Ensure the tension of the connecting line to ensure the stability of the connecting seat and the connecting head during assembly, improve the smoothness of assembly, and improve the reliability of the transmission connection between the first transmission pull rod and the second transmission pull rod.
附图说明 Description of the drawings
下面结合附图对本发明技术方案作进一步说明：The technical solution of the present invention will be further described below in conjunction with the accompanying drawings:
图1：本发明实施例中驱动座和执行件相连接的示意图；Figure 1: Schematic diagram of the connection between the driving seat and the actuator in the embodiment of the present invention;
图2：本发明实施例中驱动座和执行件相分离的示意图；Figure 2: Schematic diagram of the separation of the driving seat and the actuator in the embodiment of the present invention;
图3：本发明实施例中驱动座的部分示意图；Figure 3: Partial schematic diagram of the driving seat in the embodiment of the present invention;
图4：本发明实施例中驱动座的部分剖视图；Figure 4: Partial cross-sectional view of the driving seat in the embodiment of the present invention;
图5：本发明实施例中连接座的***示意图；Figure 5: An exploded schematic diagram of the connection socket in the embodiment of the present invention;
图6：本发明实施例中连接座的部分剖视图；Figure 6: Partial cross-sectional view of the connecting seat in the embodiment of the present invention;
图7：本发明实施例中连接头的***示意图；Figure 7: An exploded schematic diagram of the connector in the embodiment of the present invention;
图8：本发明实施例中连接头的示意图；Figure 8: Schematic diagram of the connector in the embodiment of the present invention;
图9：本发明实施例中连接座和连接头相分离的示意图；Figure 9: Schematic diagram of the separation of the connecting seat and the connecting head in the embodiment of the present invention;
图10：本发明实施例中连接座和连接头相连接的第一状态示意图；Figure 10: A schematic diagram of the first state in which the connecting seat and the connecting head are connected in the embodiment of the present invention;
图11：本发明实施例中连接座和连接头相连接的第二状态示意图；Figure 11: A schematic diagram of the second state in which the connecting seat and the connecting head are connected in the embodiment of the present invention;
图12：本发明实施例中连接座和连接头相连接的第三状态示意图；Figure 12: A schematic diagram of the third state in which the connecting seat and the connecting head are connected in the embodiment of the present invention;
图13：本发明实施例中连接座和连接头相连接的第四状态示意图；Figure 13: A schematic diagram of the fourth state in which the connecting seat and the connecting head are connected in the embodiment of the present invention;
图14：本发明实施例中连接座和连接头相连接的第五状态示意图。Figure 14: A schematic diagram of the fifth state in which the connecting seat and the connecting head are connected in the embodiment of the present invention.
具体实施方式Detailed ways
以下将结合附图所示的具体实施方式对本发明进行详细描述。但这些实施方式并不限于本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention. Structural, method, or functional changes made by those of ordinary skill in the art based on these embodiments are all included in the protection scope of the present invention.
在方案的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“前”、“后”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。并且，在方案的描述中，以操作人员为参照，靠近操作者的方向为近端，远离操作者的方向为远端。In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", " The orientations or positional relationships indicated by "inner", "outside", etc. are based on the orientations or positional relationships shown in the drawings, and are only for convenience and simplicity of description, and do not indicate or imply that the device or element referred to must have a specific orientation. , are constructed and operated in specific orientations and therefore should not be construed as limitations of the invention. Furthermore, the terms “first”, “second” and “third” are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Moreover, in the description of the scheme, the operator is used as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.
如图1至图14所示，本发明揭示了一种可拆卸式手术机器人末端执行装置，包括驱动座1和执行件2，所述执行件2通过连接组件与所述驱动座1可拆卸地连接，所述连接组件包括连接座3和连接头4，所述连接座3滑动设置于所述驱动座1前端的连接管101内，所述连接管101内具有一组与所述驱动座1传动连接的第一传动拉杆5，所述第一传动拉杆5滑动设置于所述连接座3内；所述连接头4弹性设置于所述执行件2的末端，所述执行件2内具有一组与其执行端201传动连接的第二传动拉杆6，所述第二传动拉杆6滑动设置于所述连接头4内，且所述第二传动拉杆6与第一传动拉杆5相匹配，所述连接头4与所述连接座3、所述第二传动拉杆6与第一传动拉杆5同步相连接或相分离，当所述第二传动拉杆6与第一传动拉杆5连接后，所述驱动座1与所述执行端201传动连接。As shown in Figures 1 to 14, the present invention discloses a detachable surgical robot end effector, which includes a drive base 1 and an actuator 2. The actuator 2 is detachably connected to the drive base 1 through a connecting assembly. The connection assembly includes a connecting seat 3 and a connecting head 4. The connecting seat 3 is slidably disposed in the connecting tube 101 at the front end of the driving seat 1. The connecting tube 101 has a set of connectors connected to the driving seat 1. The first transmission pull rod 5 is connected by transmission. The first transmission pull rod 5 is slidably provided in the connection seat 3; the connection head 4 is elastically provided at the end of the actuator 2, and the actuator 2 has a A second transmission pull rod 6 is connected to its execution end 201. The second transmission pull rod 6 is slidably disposed in the connector 4, and the second transmission pull rod 6 matches the first transmission pull rod 5. The connecting head 4 is connected or separated from the connecting seat 3, the second transmission pull rod 6 and the first transmission pull rod 5 synchronously. When the second transmission pull rod 6 is connected to the first transmission pull rod 5, the driving The seat 1 is drivingly connected to the execution end 201.
本发明通过连接组件将所述驱动座1和所述执行件2之间可拆卸式地连接使用，使得可通过拆卸所述执行件2来代替拆卸整个末端执行装置，减少不必要的拆装流程，提高效率，并且减少不必要的耗材使用，降低消毒难度，减少不必要的浪费，降低整体使用成本。本优选实施例中，所述连接座3设置于所述驱动座1上，所述连接头4设置于所述执行件2上，在其他可行实施例中，也可以将所述连接座3设置于所述执行件2上，所述连接头4设置于 所述驱动座1上。所述连接管101的设置可以确保在使用中所述驱动座1不会被污染，从而保证其无需消毒，进行重复使用的安全性。The present invention detachably connects the drive base 1 and the actuator 2 through a connecting assembly, so that the actuator 2 can be disassembled instead of disassembling the entire end effector, reducing unnecessary disassembly and assembly processes. , improve efficiency, reduce the use of unnecessary consumables, reduce the difficulty of disinfection, reduce unnecessary waste, and reduce the overall cost of use. In this preferred embodiment, the connection base 3 is provided on the driving base 1, and the connection head 4 is provided on the actuator 2. In other feasible embodiments, the connection base 3 can also be provided On the actuator 2, the connector 4 is provided on on the driving base 1. The arrangement of the connecting tube 101 can ensure that the driving seat 1 will not be contaminated during use, thereby ensuring that it does not need to be sterilized and is safe for repeated use.
具体的，所述执行件2还包括空心连杆202，所述执行端201铰接于所述空心连杆202的前端，所述连接头4设置于所述空心连杆202的末端，所述空心连杆202的长度不唯一，可根据具体需求确定具体长度，也可以相应设置不同长度的所述空心连杆202来便于更换使用。每个所述第二传动拉杆6通过第二连接线8与所述执行端201传动连接，所述第二连接线8穿设于所述空心连杆202内。所述第二连接线8可以是由钢丝绳等金属材质制成的金属绳，也可以是由尼龙等非金属材质制成的线绳。在优选实施例中，所述第二连接线8优选为钨丝绳，来使其具有良好的韧性。所述第二连接线8与所述第二传动拉杆6通过毛细不锈钢压合连接。Specifically, the actuator 2 also includes a hollow connecting rod 202, the actuating end 201 is hinged to the front end of the hollow connecting rod 202, and the connecting head 4 is provided at the end of the hollow connecting rod 202. The length of the connecting rod 202 is not unique, and the specific length can be determined according to specific needs, or the hollow connecting rods 202 of different lengths can be provided accordingly to facilitate replacement. Each second transmission pull rod 6 is transmission connected to the execution end 201 through a second connection wire 8 , and the second connection wire 8 is passed through the hollow connecting rod 202 . The second connecting wire 8 may be a metal rope made of metal material such as a steel wire rope, or a wire rope made of non-metallic material such as nylon. In a preferred embodiment, the second connecting wire 8 is preferably a tungsten wire rope so as to have good toughness. The second connecting wire 8 and the second transmission rod 6 are connected by capillary stainless steel pressure-fitting.
每个所述第一传动拉杆5分别通过第一连接线7与所述驱动座1内的传动轮组104传动连接，所述第一连接线7穿设于所述连接管101内。所述第一连接线7优选为大直径的钨丝绳，使其具有良好的韧性和强度，大直径的钨丝绳可以提高使用寿命，满足长期使用不断裂，减少更换频率，节约使用成本。所述第一连接线7与所述第一传动拉杆5通过毛细不锈钢压合连接。Each of the first transmission pull rods 5 is transmission connected to the transmission wheel set 104 in the driving base 1 through a first connection wire 7 , and the first connection wire 7 is passed through the connection pipe 101 . The first connecting wire 7 is preferably a large-diameter tungsten wire rope, so that it has good toughness and strength. The large-diameter tungsten wire rope can increase the service life, meet the requirement of long-term use without breakage, reduce replacement frequency, and save usage costs. The first connecting wire 7 and the first transmission rod 5 are connected by capillary stainless steel pressure-fitting.
如图3-6所示，所述连接座3包括空心管部301和直径大于所述空心管部301的台阶端面302，所述连接座3与所述连接管101之间设置有第一张紧机构，所述第一张紧机构包括弹性卡柱303、第一弹簧304、第一卡孔102和第二卡孔103，两个所述弹性卡柱303对称设置于所述空心管部301的两侧，所述第一弹簧304套设于空心管部301上并分别与所述连接管101的端面、所述台阶端面302抵接，两个所述第一卡孔102和第二卡孔103均与所述弹性卡柱303相匹配，并分别沿纵向轴线对称设置于所述连接管101的管壁两侧，当所述连接头4与所述连接座3分离时，所述弹性卡柱303卡设于所述第一卡孔102内；当所述连接头4与所述连接座3连接时，所述弹性卡柱303卡设于所述第二卡孔103内。As shown in Figures 3-6, the connecting seat 3 includes a hollow tube part 301 and a stepped end surface 302 with a diameter larger than the hollow tube part 301. A first piece of paper is provided between the connecting seat 3 and the connecting tube 101. The first tensioning mechanism includes an elastic clamping column 303, a first spring 304, a first clamping hole 102 and a second clamping hole 103. The two elastic clamping columns 303 are symmetrically arranged on the hollow tube part 301. On both sides, the first spring 304 is sleeved on the hollow tube part 301 and contacts the end surface of the connecting tube 101 and the step end surface 302 respectively. The two first clamping holes 102 and the second clamping hole The holes 103 all match the elastic clamping posts 303 and are symmetrically arranged on both sides of the pipe wall of the connecting pipe 101 along the longitudinal axis. When the connecting head 4 is separated from the connecting seat 3, the elastic The clamping column 303 is clamped in the first clamping hole 102; when the connector 4 is connected to the connection base 3, the elastic clamping column 303 is clamped in the second clamping hole 103.
需要说明的是，图3-6示出的仅为两个所述第一卡孔102和两个所述第二卡孔103均与两个所述弹性卡柱303相匹配的技术方案，本发明还可以使用其他的替代方案。It should be noted that Figures 3-6 only show a technical solution in which the two first clamping holes 102 and the two second clamping holes 103 are matched with the two elastic clamping posts 303. Inventions may also use other alternatives.
例如，N个所述第一卡孔102和N个所述第二卡孔103均与N个所述弹性卡柱303相匹配的技术方案，可以作为图3-6对应实施例的替代方案，其中，N为大于或等于3的自然数。For example, a technical solution in which N first clamping holes 102 and N second clamping holes 103 are matched with N elastic clamping posts 303 can be used as an alternative to the corresponding embodiment in Figures 3-6. Among them, N is a natural number greater than or equal to 3.
由此可知，本发明并不局限于使用图3-6示出的两个所述第一卡孔102和两个所述第二卡孔103均与两个所述弹性卡柱303相匹配的技术方案，还可以使用多个所述第一卡孔102和多个所述第二卡孔103均与多个所述弹性卡柱303相匹配的技术方案。It can be seen from this that the present invention is not limited to the use of the two first clamping holes 102 and the two second clamping holes 103 shown in Figures 3-6, both of which match the two elastic clamping posts 303. As a technical solution, a technical solution in which a plurality of the first clamping holes 102 and a plurality of the second clamping holes 103 are matched with a plurality of the elastic clamping posts 303 can also be used.
所述弹性卡柱303穿设于所述连接管101的侧壁上，其内端与所述连接管101的内壁之间设置有可使其复位的弹性件，例如弹簧等，使得所述弹性卡柱303具有相对所述连接管101伸缩的弹性，按压所述弹性卡柱303即可使其与连接管101解锁，当无外力影响时，所述弹性卡柱303从所述第一卡孔102或第二卡孔103内伸出，来限定所述连接座3相对所述连接管101的位置。The elastic clamping post 303 is penetrated on the side wall of the connecting pipe 101, and an elastic member, such as a spring, etc., that can reset it is provided between its inner end and the inner wall of the connecting pipe 101, so that the elasticity The clamping post 303 has the elasticity to expand and contract relative to the connecting pipe 101. Pressing the elastic clamping column 303 can unlock it from the connecting pipe 101. When there is no external force, the elastic clamping column 303 moves from the first clamping hole. 102 or the second clamping hole 103 extends out to define the position of the connecting seat 3 relative to the connecting pipe 101 .
进一步的，所述空心管部301的前端沿其管壁圆周均布有一组第一槽口305，每个所述第一槽口305内滑动设置有一个所述第一传动拉杆5，所述第一传动拉杆5的前端一侧设置有外凸于所述第一槽口305的卡块501。Furthermore, a group of first notches 305 are evenly distributed along the circumference of the tube wall at the front end of the hollow tube portion 301, and one of the first transmission pull rods 5 is slidably provided in each of the first notches 305. A blocking block 501 protruding from the first notch 305 is provided on one side of the front end of the first transmission pull rod 5 .
所述第一张紧机构的工作原理为：当所述连接头4与所述连接座3分离时，即所述驱动座1未安装所述执行件2时，所述弹性卡柱303卡设于所述第一卡孔102内，此时所述第一 槽口305的槽底与第一传动拉杆5的底部抵接，使得所述第一连接线7处于拉紧状态，达到限定所述第一传动拉杆5位置的目的，确保安装时所述第一传动拉杆5的位置稳定性，不会前后随意晃动，来保证组装时的流畅性；当所述连接头4与所述连接座3连接时，按压所述弹性卡柱303使其退出所述第一卡孔102，所述连接座3在所述第一弹簧304的弹力作用下内缩，所述弹性卡柱303卡入所述第二卡孔103内，此时所述槽口305与所述第一传动拉杆5解锁后移，给所述第一传动拉杆5留出移动空间。The working principle of the first tensioning mechanism is: when the connector 4 is separated from the connection base 3, that is, when the actuator 2 is not installed on the drive base 1, the elastic clamping column 303 is stuck. In the first clamping hole 102, at this time, the first The bottom of the notch 305 is in contact with the bottom of the first transmission pull rod 5, so that the first connecting wire 7 is in a tightened state, thereby limiting the position of the first transmission pull rod 5 and ensuring that the first transmission pull rod 5 is installed. The position stability of the transmission pull rod 5 prevents it from swaying back and forth to ensure smooth assembly; when the connector 4 is connected to the connection base 3, press the elastic clamping column 303 to exit the third A clamping hole 102, the connecting seat 3 retracts under the elastic force of the first spring 304, the elastic clamping post 303 is clamped into the second clamping hole 103, at this time, the notch 305 is connected with the The first transmission pull rod 5 is unlocked and moved backward, leaving room for movement of the first transmission pull rod 5 .
如图7-9所示，所述连接头4包括空心壳体401和第二张紧机构，所述空心壳体401的前端沿其管壁圆周均布有一组第二槽口402，每个所述第二槽口402内滑动设置有一个所述第二传动拉杆6。所述第二张紧机构包括环状的阻挡块403、第二弹簧404和固定座405，所述固定块405固设于所述空心壳体401的尾端，所述阻挡块403、第二弹簧404滑动套设于所述空心壳体401上，所述阻挡块403的内侧具有一组抵接凸部4031，每个所述抵接凸部4031分别卡设于所述第二槽口402内并与所述第二传动拉杆6抵接。所述抵接凸部4031用于在所述驱动座1和执行件2未连接的状态下，限制所述第二传动拉杆6的位置。As shown in Figures 7-9, the connector 4 includes a hollow shell 401 and a second tensioning mechanism. The front end of the hollow shell 401 has a set of second notches 402 evenly distributed along the circumference of its tube wall. Each One of the second transmission pull rods 6 is slidably disposed in the second slot 402 . The second tensioning mechanism includes an annular blocking block 403, a second spring 404 and a fixed seat 405. The fixed block 405 is fixed at the rear end of the hollow shell 401. The blocking block 403, the second The spring 404 is slidably sleeved on the hollow housing 401. There is a set of contact protrusions 4031 on the inside of the blocking block 403. Each of the contact protrusions 4031 is respectively locked in the second notch 402. inside and in contact with the second transmission pull rod 6 . The contact protrusion 4031 is used to limit the position of the second transmission rod 6 when the driving base 1 and the actuator 2 are not connected.
进一步的，所述空心壳体401的管壁上设置有一组L型的第一滑槽406，每个第一滑槽406分别与一个所述第二槽口402相连通，所述第一传动拉杆5通过所述第一滑槽406滑入所述第二槽口402内与所述第二传动拉杆6连接。在优选实施例中，所述第二传动拉杆6的中间部内凹形成有与所述卡块501相匹配的卡口601，且所述卡口601与所述第一滑槽406相连通，所述卡块501自所述第一滑槽406移动至所述卡口601内，使得所述第一传动拉杆5与所述第二传动拉杆6相连接。所述第一滑槽406的设置用于使得所述第一传动拉杆5通过移动和旋转进入所述第二槽口402内，因此所述第一滑槽406的数量与所述第一传动拉杆5相匹配。Further, a set of L-shaped first chute 406 is provided on the wall of the hollow shell 401, and each first chute 406 is connected to one of the second slots 402. The first transmission The pull rod 5 slides into the second slot 402 through the first slide groove 406 and is connected to the second transmission pull rod 6 . In a preferred embodiment, a bayonet 601 matching the clamping block 501 is formed in the middle part of the second transmission pull rod 6, and the bayonet 601 is connected with the first slide groove 406, so The blocking block 501 moves from the first chute 406 into the bayonet 601 so that the first transmission pull rod 5 and the second transmission pull rod 6 are connected. The first chute 406 is provided to allow the first transmission pull rod 5 to enter the second slot 402 through movement and rotation. Therefore, the number of the first chute 406 is consistent with the number of the first transmission pull rod. 5 matches.
在优选实施例中，所述抵接凸部4031位于所述第二槽口402的尾端，且所述空心壳体401的管壁上设置有一组L型的第二滑槽407，每个第二滑槽407分别与一个所述第二槽口402相连通，所述抵接凸部4031通过旋转从所述第二槽口402内滑入所述第二滑槽407内，使得所述第二弹簧404驱动所述阻挡块403相对所述空心壳体401前移。所述第二滑槽407用于使得所述抵接凸部4031解除其对所述第二传动拉杆6的限位，所述第二滑槽407和抵接凸部4031与所述第二传动拉杆6的数量相匹配。In a preferred embodiment, the contact protrusion 4031 is located at the tail end of the second slot 402, and a set of L-shaped second chute 407 is provided on the wall of the hollow shell 401, each The second slide grooves 407 are respectively connected with one of the second grooves 402, and the contact protrusion 4031 slides from the second groove 402 into the second slide groove 407 through rotation, so that the The second spring 404 drives the blocking block 403 to move forward relative to the hollow housing 401 . The second slide groove 407 is used to cause the contact protrusion 4031 to release its restriction on the second transmission pull rod 6. The second slide groove 407 and the contact protrusion 4031 are in contact with the second transmission rod 6. The number of tie rods 6 matches.
所述第二张紧机构的工作原理为：当所述连接头4与所述连接座3分离时，此时所述抵接凸部4031卡设于所述第二槽口402的底部并与所述第二传动拉杆6抵接，使得所述第二连接线8处于拉紧状态，且所述第二传动拉杆6无法前后移动，达到限定所述第二传动拉杆6位置的作用，确保安装时所述第二传动拉杆6的位置稳定性，不会前后随意晃动，保证组装时的流畅性；当所述连接头4与所述连接座3连接时，旋转所述阻挡块403，使得所述抵接凸部4031与所述第二传动拉杆6分离，并滑入所述第二滑槽407内，所述阻挡块403在所述第二弹簧404的弹力驱动下前移，使得所述阻挡块403和所述连接座3的台阶端面302抵接，同时给所述第二传动拉杆6留出移动空间。The working principle of the second tensioning mechanism is: when the connecting head 4 is separated from the connecting seat 3, the contact protrusion 4031 is stuck at the bottom of the second notch 402 and is in contact with the second notch 402. The second transmission pull rod 6 is in contact, so that the second connection line 8 is in a tightened state, and the second transmission pull rod 6 cannot move forward and backward, thereby limiting the position of the second transmission pull rod 6 and ensuring installation. At this time, the position stability of the second transmission pull rod 6 will not sway back and forth, ensuring smooth assembly; when the connector 4 is connected to the connection base 3, the blocking block 403 is rotated so that the The contact protrusion 4031 is separated from the second transmission pull rod 6 and slides into the second chute 407. The blocking block 403 moves forward under the elastic force of the second spring 404, so that the The blocking block 403 abuts the stepped end surface 302 of the connecting seat 3 while leaving room for movement of the second transmission rod 6 .
进一步的如图6和8所示，所述阻挡块403的端面上设置有一组销柱408，所述台阶端面302上设置有一组与所述销柱408相匹配的销孔306，当所述第二弹簧404驱动所述阻挡块403相对所述空心壳体401前移时，所述销柱408卡入所述销孔306内。所述阻挡块403的端面上优选均布有三个销柱408，所述销柱408和所述销孔306的卡合，使得所述阻挡块403和所述连接座3的台阶端面302在无缝连接的情况下，无法相互转动，来确定所述执行 件2不会相对于驱动座1转动，保证操作的稳定性。As further shown in Figures 6 and 8, a set of pins 408 is provided on the end surface of the blocking block 403, and a set of pin holes 306 matching the pins 408 are provided on the step end surface 302. When the When the second spring 404 drives the blocking block 403 to move forward relative to the hollow housing 401 , the pin 408 is locked into the pin hole 306 . There are preferably three pins 408 evenly distributed on the end surface of the blocking block 403. The engagement of the pins 408 with the pin holes 306 ensures that the blocking block 403 and the stepped end surface 302 of the connecting seat 3 are in perfect contact with each other. seam connection, unable to rotate with each other to determine the execution The component 2 will not rotate relative to the driving base 1, ensuring the stability of the operation.
如图6和8所示，所述空心壳体401的轴线设置有一定位孔409，所述连接管101的轴心设置有一定位销307，所述定位销307与所述定位孔409相匹配。当所述连接头4与所述连接座3连接时，所述定位销307***所述定位孔409内，且所述定位销307与所述空心壳体401之间的抵接，可以保证当所述第一张紧机构释放后，所述连接座3和连接头4之间相对位置的稳定，所述连接头4不会前后移动。As shown in Figures 6 and 8, a positioning hole 409 is provided on the axis of the hollow shell 401, and a positioning pin 307 is provided on the axis of the connecting pipe 101. The positioning pin 307 matches the positioning hole 409. When the connector 4 is connected to the connection base 3, the positioning pin 307 is inserted into the positioning hole 409, and the contact between the positioning pin 307 and the hollow shell 401 can ensure that the positioning pin 307 is inserted into the positioning hole 409. After the first tensioning mechanism is released, the relative position between the connecting seat 3 and the connecting head 4 is stable, and the connecting head 4 will not move forward or backward.
如图9-14所示，本发明中连接座3和连接头4的连接工作过程为：As shown in Figures 9-14, the connection working process of the connecting seat 3 and the connecting head 4 in the present invention is:
首先，将连接头4与连接座3对准，并移动所述执行件2使得所述连接头4与所述连接座3插接到位，此时所述第一传动拉杆5的卡块501进入所述第一滑槽406内并与所述第一滑槽406的底部抵接，同时所述定位销307***所述定位孔409内；First, align the connecting head 4 with the connecting base 3, and move the actuator 2 so that the connecting head 4 and the connecting base 3 are plugged into place. At this time, the blocking block 501 of the first transmission rod 5 enters The first chute 406 is in contact with the bottom of the first chute 406, and the positioning pin 307 is inserted into the positioning hole 409;
然后，旋转所述执行件2，使得所述第二传动拉杆6同步旋转，直至所述第二传动拉杆6的卡口601与所述卡块501卡合；Then, rotate the actuator 2 so that the second transmission pull rod 6 rotates synchronously until the bayonet 601 of the second transmission pull rod 6 engages with the blocking block 501;
接着，按压弹性卡柱303，使其退出第一卡孔102，此时所述连接座3在第一弹簧304的弹力驱动下后移，使得所述弹性卡柱303卡入第二卡孔103内；Then, press the elastic clamping post 303 to exit the first clamping hole 102. At this time, the connecting seat 3 moves backward under the elastic force of the first spring 304, so that the elastic clamping pillar 303 snaps into the second clamping hole 103. Inside;
最后，旋转阻挡块403，使得所述抵接凸部4031滑入第二滑槽407内，此时，所述阻挡块403在第二弹簧404的驱动下前移，使得销柱408卡入销孔306内，完成所述连接头4与连接座3之间的连接，使得所述驱动座1与执行件2相连接，所述第一传动拉杆5与第二传动拉杆6相连接，所述驱动座1可以与执行端201传动连接来进行手术操作。Finally, the blocking block 403 is rotated so that the contact protrusion 4031 slides into the second chute 407. At this time, the blocking block 403 moves forward driven by the second spring 404, so that the pin 408 snaps into the pin. In the hole 306, the connection between the connecting head 4 and the connecting seat 3 is completed, so that the driving seat 1 is connected to the actuator 2, the first transmission pull rod 5 is connected to the second transmission pull rod 6, and the The driving base 1 can be drivingly connected with the execution end 201 to perform surgical operations.
当需要拆卸时，将上述步骤反向操作就可使得所述连接头4与连接座3分离，所述连接组件的设置可以使得执行件2与驱动座1之间实现快速拆卸、安装，使得所述执行件2作为可拆卸地组件，可以进行拆卸消毒，来提高工作效率。进一步的，所述执行件2还可以直接作为一次性使用的耗材，免去消毒步骤，来确保使用安全又节省后续的维护步骤，优化使用效率。When disassembly is required, the above steps can be reversed to separate the connector 4 and the connection base 3. The arrangement of the connection assembly can enable quick disassembly and installation between the actuator 2 and the drive base 1, so that all As a detachable component, the actuator 2 can be disassembled and sterilized to improve work efficiency. Furthermore, the actuator 2 can also be directly used as a disposable consumable, eliminating the need for sterilization steps, thereby ensuring safe use, saving subsequent maintenance steps, and optimizing use efficiency.
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。It should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity. Persons skilled in the art should take the specification as a whole and understand each individual solution. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。 The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present invention. They are not intended to limit the protection scope of the present invention. Any equivalent implementations or implementations that do not deviate from the technical spirit of the present invention are not intended to limit the protection scope of the present invention. All changes should be included in the protection scope of the present invention.

Claims (10)

  1. 可拆卸式手术机器人末端执行装置，其特征在于：包括驱动座(1)和执行件(2)，所述执行件(2)通过连接组件与所述驱动座(1)可拆卸地连接，所述连接组件包括连接座(3)和连接头(4)，所述连接座(3)滑动设置于所述驱动座(1)前端的连接管(101)内，所述连接管(101)内具有一组与所述驱动座(1)传动连接的第一传动拉杆(5)，所述第一传动拉杆(5)滑动设置于所述连接座(3)内；所述连接头(4)弹性设置于所述执行件(2)的末端，所述执行件(2)内具有一组与其执行端(201)传动连接的第二传动拉杆(6)，所述第二传动拉杆(6)滑动设置于所述连接头(4)内，且所述第二传动拉杆(6)与第一传动拉杆(5)相匹配，所述连接头(4)与所述连接座(3)、所述第二传动拉杆(6)与第一传动拉杆(5)同步相连接或相分离，当所述第二传动拉杆(6)与第一传动拉杆(5)连接后，所述驱动座(1)与所述执行端(201)传动连接。A detachable surgical robot end effector is characterized in that it includes a drive base (1) and an actuator (2). The actuator (2) is detachably connected to the drive base (1) through a connecting assembly, so The connecting assembly includes a connecting seat (3) and a connecting head (4). The connecting seat (3) is slidably installed in the connecting tube (101) at the front end of the driving seat (1). The connecting tube (101) There is a set of first transmission pull rods (5) that are drivingly connected to the driving base (1), and the first transmission pull rod (5) is slidably arranged in the connecting base (3); the connecting head (4) The elasticity is provided at the end of the actuator (2). The actuator (2) has a set of second transmission pull rods (6) that are transmission connected to its execution end (201). The second transmission pull rod (6) The connecting head (4) is slidably arranged in the connecting head (4), and the second transmission rod (6) matches the first transmission rod (5). The connecting head (4) is connected to the connecting seat (3) and the The second transmission pull rod (6) is connected or separated from the first transmission pull rod (5) synchronously. When the second transmission pull rod (6) is connected to the first transmission pull rod (5), the driving seat (1 ) is drivingly connected to the execution end (201).
  2. 根据权利要求1所述的可拆卸式手术机器人末端执行装置，其特征在于：每个所述第一传动拉杆(5)分别通过第一连接线(7)与所述驱动座(1)内的传动轮组(104)传动连接；所述执行件(2)还包括空心连杆(202)，所述执行端(201)铰接于所述空心连杆(202)的前端，所述连接头(4)设置于所述空心连杆(202)的末端，每个所述第二传动拉杆(6)通过第二连接线(8)与所述执行端(201)传动连接。The detachable surgical robot end effector according to claim 1, characterized in that: each of the first transmission pull rods (5) is connected to the drive base (1) through a first connecting line (7). The transmission wheel set (104) is transmission connected; the actuator (2) also includes a hollow connecting rod (202), the actuating end (201) is hinged to the front end of the hollow connecting rod (202), and the connecting head (202) 4) It is provided at the end of the hollow connecting rod (202), and each of the second transmission pull rods (6) is drivingly connected to the execution end (201) through a second connecting line (8).
  3. 根据权利要求2所述的可拆卸式手术机器人末端执行装置，其特征在于：所述连接座(3)包括空心管部(301)和直径大于所述空心管部(301)的台阶端面(302)，所述连接座(3)与所述连接管(101)之间设置有第一张紧机构，所述第一张紧机构包括弹性卡柱(303)、第一弹簧(304)和第一卡孔(102)和第二卡孔(103)，多个所述弹性卡柱(303)轴对称设置于所述空心管部(301)的侧壁上，所述第一弹簧(304)套设于空心管部(301)上并分别与所述连接管(101)的端面、所述台阶端面(302)抵接，多个所述第一卡孔(102)和第二卡孔(103)均与所述弹性卡柱(303)相匹配，并分别沿纵向轴线对称设置于所述连接管(101)的管壁侧，当所述连接头(4)与所述连接座(3)分离时，所述弹性卡柱(303)卡设于所述第一卡孔(102)内；当所述连接头(4)与所述连接座(3)连接时，所述弹性卡柱(303)卡设于所述第二卡孔(103)内。The detachable surgical robot end effector according to claim 2, characterized in that the connecting seat (3) includes a hollow tube part (301) and a stepped end surface (302) with a diameter larger than the hollow tube part (301). ), a first tensioning mechanism is provided between the connecting seat (3) and the connecting pipe (101). The first tensioning mechanism includes an elastic clamping column (303), a first spring (304) and a third A clamping hole (102) and a second clamping hole (103), a plurality of elastic clamping posts (303) are arranged axially symmetrically on the side wall of the hollow tube part (301), the first spring (304) It is sleeved on the hollow tube part (301) and is in contact with the end surface of the connecting pipe (101) and the step end surface (302) respectively. A plurality of the first clamping holes (102) and the second clamping holes ( 103) are matched with the elastic clamping posts (303), and are symmetrically arranged on the wall side of the connecting pipe (101) along the longitudinal axis. When the connecting head (4) and the connecting seat (3 ) are separated, the elastic clamping column (303) is clamped in the first clamping hole (102); when the connector (4) is connected to the connecting seat (3), the elastic clamping column (303) is clamped in the second clamping hole (103).
  4. 根据权利要求3所述的可拆卸式手术机器人末端执行装置，其特征在于：所述空心管部(301)的前端沿其管壁圆周均布有一组第一槽口(305)，每个所述第一槽口(305)内滑动设置有一个所述第一传动拉杆(5)，所述第一传动拉杆(5)的前端一侧设置有外凸于所述第一槽口(305)的卡块(501)。The detachable surgical robot end effector according to claim 3, characterized in that: the front end of the hollow tube part (301) has a set of first notches (305) evenly distributed along the circumference of the tube wall, each of which is A first transmission pull rod (5) is slidably provided in the first notch (305), and a front end side of the first transmission pull rod (5) is provided with a protrusion protruding from the first notch (305). The card block (501).
  5. 根据权利要求1～4任一所述的可拆卸式手术机器人末端执行装置，其特征在于：所述连接头(4)包括空心壳体(401)和第二张紧机构，所述空心壳体(401)的前端沿其管壁圆周均布有一组第二槽口(402)，每个所述第二槽口(402)内滑动设置有一个所述第二传动拉杆(6)。The detachable surgical robot end effector according to any one of claims 1 to 4, characterized in that: the connector (4) includes a hollow shell (401) and a second tensioning mechanism, and the hollow shell The front end of (401) has a set of second notches (402) evenly distributed along the circumference of the tube wall, and one of the second transmission pull rods (6) is slidably installed in each second notch (402).
  6. 根据权利要求5所述的可拆卸式手术机器人末端执行装置，其特征在于：所述第二张紧机构包括环状的阻挡块(403)、第二弹簧(404)和固定座(405)，所述固定块(405)固设于所述空心壳体(401)的尾端，所述阻挡块(403)、第二弹簧(404)滑动套设于所述空心壳体(401)上，所述阻挡块(403)的内侧设有一组抵接凸部(4031)，每个所述抵接凸部(4031)卡设于所述第二槽口(402)内并与所述第二传动拉杆(6)抵接。 The detachable surgical robot end effector according to claim 5, characterized in that: the second tensioning mechanism includes an annular blocking block (403), a second spring (404) and a fixed seat (405), The fixed block (405) is fixed at the rear end of the hollow housing (401), and the blocking block (403) and the second spring (404) are slidably sleeved on the hollow housing (401). A set of contact protrusions (4031) are provided on the inner side of the blocking block (403). Each of the contact protrusions (4031) is clamped in the second notch (402) and connected with the second The transmission tie rod (6) is in contact.
  7. 根据权利要求6所述的可拆卸式手术机器人末端执行装置，其特征在于：所述空心壳体(401)的管壁上设置有一组L型的第一滑槽(406)，每个第一滑槽(406)分别与一个所述第二槽口(402)相连通，所述第一传动拉杆(5)通过所述第一滑槽(406)滑入所述第二槽口(402)内与所述第二传动拉杆(6)连接；所述抵接凸部(4031)位于所述第二槽口(402)的尾端，所述空心壳体(401)的管壁上设有一组L型的第二滑槽(407)，每个第二滑槽(407)分别与一个所述第二槽口(402)相连通，所述抵接凸部(4031)可通过旋转从所述第二槽口(402)内滑入所述第二滑槽(407)内，使得所述第二弹簧(404)可驱动所述阻挡块(403)相对所述空心壳体(401)前移。The detachable surgical robot end effector according to claim 6, characterized in that: a set of L-shaped first chute (406) is provided on the wall of the hollow shell (401), and each first The chute (406) is respectively connected with one of the second slots (402), and the first transmission rod (5) slides into the second slot (402) through the first chute (406). The inside is connected to the second transmission pull rod (6); the contact protrusion (4031) is located at the tail end of the second notch (402), and there is a pipe wall on the hollow shell (401). A set of L-shaped second chute (407), each second chute (407) is connected to one of the second slots (402), and the contact protrusion (4031) can be rotated from the corresponding second chute (407). The second slot (402) slides into the second chute (407), so that the second spring (404) can drive the blocking block (403) relative to the front of the hollow shell (401). shift.
  8. 根据权利要求6或7所述的可拆卸式手术机器人末端执行装置，其特征在于：所述阻挡块(403)的端面上设置有一组销柱(408)，所述台阶端面(302)上设置有一组与所述销柱(408)相匹配的销孔(306)，当所述第二弹簧(404)驱动所述阻挡块(403)相对所述空心壳体(401)前移时，所述销柱(408)卡入所述销孔(306)内。The detachable surgical robot end effector according to claim 6 or 7, characterized in that: a set of pins (408) is provided on the end surface of the blocking block (403), and a set of pins (408) is provided on the end surface of the step (302). There is a set of pin holes (306) matching the pins (408). When the second spring (404) drives the blocking block (403) to move forward relative to the hollow shell (401), the The pin (408) is inserted into the pin hole (306).
  9. 根据权利要求5所述的可拆卸式手术机器人末端执行装置，其特征在于：所述空心壳体(401)的轴线设置有一定位孔(409)，所述连接管(101)的轴心设置有一定位销(307)，所述定位销(307)与所述定位孔(409)相匹配。The detachable surgical robot end effector according to claim 5, characterized in that: the axis of the hollow shell (401) is provided with a positioning hole (409), and the axis of the connecting tube (101) is provided with a positioning hole (409). Positioning pin (307), the positioning pin (307) matches the positioning hole (409).
  10. 手术机器人，其特征在于，包括如权利要求1～9任一所述的可拆卸式手术机器人末端执行装置。 A surgical robot is characterized by including the detachable surgical robot end effector according to any one of claims 1 to 9.
PCT/CN2023/078390 2022-06-02 2023-02-27 Detachable surgical robot end executing apparatus and surgical robot WO2023231475A1 (en)

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