Quick change device for minimally invasive surgical instrument
阅读说明:本技术 微创手术器械快换装置 (Quick change device for minimally invasive surgical instrument ) 是由 王炳强 杨英侃 张淮峰 李建民 孔康 江万里 孙之建 于 2019-11-20 设计创作,主要内容包括:本发明涉及一种微创手术器械快换装置,其解决了现有微创外科手术机器人系统中器械更换结构成本高,可靠性低,操作复杂的技术问题,其包括器械转接座和快换接口,器械转接座包括隔离板和连接板封环,隔离板设有阶梯孔,阶梯孔内设有中间连接轮,中间连接轮的顶面设有两个顶面腰型孔,中间连接轮的底面设有两个底面腰型孔,阶梯孔设有插槽,连接板封环上的凸起插入插槽中;隔离板的侧面连接有导电铜片;快换接口包括快换基座、外壳、驱动组件、驱动电机、触点开关和电机滑动轴连接座。本发明广泛用于医疗器械技术领域。(The invention relates to a quick-change device for minimally invasive surgical instruments, which solves the technical problems of high instrument replacement structure cost, low reliability and complex operation in the existing minimally invasive surgical robot system and comprises an instrument adapter and a quick-change interface, wherein the instrument adapter comprises a partition plate and a connecting plate seal ring, the partition plate is provided with a stepped hole, a middle connecting wheel is arranged in the stepped hole, the top surface of the middle connecting wheel is provided with two top surface waist-shaped holes, the bottom surface of the middle connecting wheel is provided with two bottom surface waist-shaped holes, the stepped hole is provided with a slot, and a bulge on the connecting plate seal ring is inserted into the slot; the side surface of the isolation plate is connected with a conductive copper sheet; the quick-change interface comprises a quick-change base, a shell, a driving assembly, a driving motor, a contact switch and a motor sliding shaft connecting seat. The invention is widely applied to the technical field of medical instruments.)
1. The quick change device for minimally invasive surgery instruments is characterized by comprising an instrument adapter and a quick change interface, wherein the instrument adapter comprises a partition plate and a connecting plate seal ring, the partition plate is provided with a stepped hole, a middle connecting wheel is arranged in the stepped hole, the top surface of the middle connecting wheel is provided with a first top surface waist-shaped hole and a second top surface waist-shaped hole, and the bottom surface of the middle connecting wheel is provided with a first bottom surface waist-shaped hole and a second bottom surface waist-shaped hole; the isolating plate is provided with a boss, and the side surface of the isolating plate is provided with a clamping hook and a clamping groove; the stepped hole is provided with a slot, the connecting plate seal ring is provided with a bulge, and the bulge of the connecting plate seal ring is inserted into the slot; the side surface of the isolation plate is connected with a conductive copper sheet;
the quick-change connector comprises a quick-change base, a shell, a driving assembly, a driving motor, a contact switch and a motor sliding shaft connecting seat, the shell is connected with the quick-change base, the driving assembly is connected with the quick-change base, the contact switch is connected with the upper end face of the quick-change base, and the upper end face of the quick-change base is connected with a spring needle; the driving assembly comprises a jacking support, a jacking spring and a motor sliding shaft, the motor sliding shaft comprises a disc and two parallel sliding shaft sections, the two parallel sliding shaft sections are fixedly connected with the disc, and a spring mounting hole is formed in the center of the disc; the motor sliding shaft connecting seat is fixedly connected with an output shaft of the driving motor, the pushing spring is placed in a spring mounting hole of the motor sliding shaft, one end of the pushing spring is in contact with the lower end of the jacking support, and the other end of the pushing spring is in contact with the upper end of the motor sliding shaft connecting seat; the top support is provided with two top support shaft holes which are parallel to each other, two circular bulges are fixedly connected with the end surface of the top support, linear bearings are connected in the top support shaft holes, the two linear bearings are totally sleeved on the two sliding shaft sections respectively, and the tail end of the sliding shaft section is connected with a limiting screw.
2. The minimally invasive surgical instrument quick-change device according to claim 1, wherein a button switch is connected to a side surface of the quick-change base.
3. The quick-change device for minimally invasive surgical instruments according to claim 1 or 2, wherein the distances from the centers of the two circular protrusions on the top surface of the top support to the center of the circular surface on the top surface of the top support are different;
the distances from the centers of the first top surface kidney-shaped hole and the second top surface kidney-shaped hole to the center of the round surface of the top surface of the middle connecting wheel are different;
the distances from the centers of the first bottom surface waist-shaped hole and the second bottom surface waist-shaped hole to the center of the circular surface of the bottom surface of the middle connecting wheel are different;
the distance between the centers of the two circular bulges of the driving assembly is the same as the distance between the centers of the two bottom waist-shaped holes on the bottom surface of the middle connecting wheel.
4. The quick-change device for minimally invasive surgical instruments according to claim 3, wherein the sealing ring of the connecting plate is provided with a stop block, and the intermediate connecting wheel is provided with a limiting block.
5. The quick-change device for minimally invasive surgical instruments according to claim 4, wherein the conductive copper sheet is concave, a protrusion is arranged on the inner side of the conductive copper sheet, a slot is arranged on the side surface of the isolation plate, and a pit is arranged in the slot on the side surface of the isolation plate; the conductive copper sheet is inserted into the slot on the side face of the isolation board, the protrusions on the inner side of the conductive copper sheet are embedded with the pits, and the slot on the side face of the isolation board is connected with the clamping block.
6. The quick-change device for minimally invasive surgical instruments according to claim 5, wherein a control button is installed at the bottom of the housing.
Technical Field
The invention relates to the technical field of minimally invasive surgical robots, in particular to a quick change device for minimally invasive surgical instruments.
Background
Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.
Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.
Surgical instruments are an integral tool of surgical procedures that can perform various functions including clamping, cutting, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical operation.
During surgery, the patient robotic arm sets up a sterile drape attachment to isolate the surgical instruments from the surrounding area, maintaining the patient table clean. The surgical instrument needs to be connected to the instrument lift mount on the patient's robotic arm through the instrument adapter on the sterile drape attachment and receive electrical, mechanical, and other signals from the robotic arm. Meanwhile, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting and the like), the surgical instruments can be replaced at any time and reconnected with instrument mounting seats connected to the mechanical arms of the patient. Therefore, the realization of the quick replacement of the surgical instrument is an important function of the minimally invasive surgical robot. The existing instrument replacement structure has the problems of high cost, low reliability and complex operation. In order to meet the requirements of modern minimally invasive surgery, the instrument switching structure matched with surgical instruments and mechanical arms has the characteristics of low cost, high reliability and convenience in operation.
Disclosure of Invention
The invention provides a minimally invasive surgery instrument quick-change device which is low in cost, high in reliability and convenient and fast to operate, and aims to solve the technical problems of high instrument replacement structure cost, low reliability and complex operation in the existing minimally invasive surgery robot system.
The invention provides a quick change device for minimally invasive surgical instruments, which comprises an instrument adapter and a quick change interface, wherein the instrument adapter comprises a partition plate and a connecting plate seal ring, the partition plate is provided with a stepped hole, a middle connecting wheel is arranged in the stepped hole, the top surface of the middle connecting wheel is provided with a first top surface waist-shaped hole and a second top surface waist-shaped hole, and the bottom surface of the middle connecting wheel is provided with a first bottom surface waist-shaped hole and a second bottom surface waist-shaped hole; the isolating plate is provided with a boss, and the side surface of the isolating plate is provided with a clamping hook and a clamping groove; the stepped hole is provided with a slot, the sealing ring of the connecting plate is provided with a bulge, and the bulge of the sealing ring of the connecting plate is inserted into the slot; the side surface of the isolation plate is connected with a conductive copper sheet;
the quick-change connector comprises a quick-change base, a shell, a driving assembly, a driving motor, a contact switch and a motor sliding shaft connecting seat, the shell is connected with the quick-change base, the driving assembly is connected with the quick-change base, the contact switch is connected with the upper end face of the quick-change base, and the upper end face of the quick-change base is connected with a spring pin; the driving assembly comprises a jacking support, a jacking spring and a motor sliding shaft, the motor sliding shaft comprises a disc and two parallel sliding shaft sections, the two parallel sliding shaft sections are fixedly connected with the disc, and a spring mounting hole is formed in the center of the disc; the motor sliding shaft connecting seat is fixedly connected with an output shaft of the driving motor, the pushing spring is placed in a spring mounting hole of the motor sliding shaft, one end of the pushing spring is in contact with the lower end of the jacking support, and the other end of the pushing spring is in contact with the upper end of the motor sliding shaft connecting seat; the top holds in the palm and is equipped with two top support shaft holes that are parallel to each other, and two circular archs of the terminal surface fixedly connected with of top support are connected with linear bearing in the top support shaft hole, two linear bearing altogether, and two linear bearing overlap respectively on two slip shaft sections, the end-to-end connection stop screw of slip shaft section.
Preferably, a button switch is connected to the side surface of the quick-change base.
Preferably, the distances from the centers of the two circular bulges on the top surface of the top support to the center of the circular surface on the top surface of the top support are different;
the distances from the centers of the first top surface waist-shaped hole and the second top surface waist-shaped hole to the center of the round surface of the top surface of the middle connecting wheel are different;
the distances from the centers of the first bottom surface waist-shaped hole and the second bottom surface waist-shaped hole to the center of the circular surface of the bottom surface of the middle connecting wheel are different;
the distance between the centers of the two circular bulges of the driving component is the same as the distance between the centers of the two bottom waist-shaped holes on the bottom surface of the middle connecting wheel.
Preferably, the connecting plate seal ring is provided with a stop block, and the intermediate connecting wheel is provided with a limiting block.
Preferably, the conductive copper sheet is concave, the inner side of the conductive copper sheet is provided with a bulge, the side surface of the isolation plate is provided with a slot, and the slot on the side surface of the isolation plate is internally provided with a pit; the conductive copper sheet is inserted into the slot on the side surface of the isolation board, the bulge on the inner side of the conductive copper sheet is embedded with the pit, and the slot on the side surface of the isolation board is connected with a clamping block;
preferably, a control button is installed at the bottom of the housing.
The invention has the advantages of convenient operation, high connection reliability and low cost.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic view of a mounting arrangement of a surgical instrument of a minimally invasive surgical robotic system to a robotic arm of a patient;
FIG. 2 is a schematic structural view of the instrument adapter;
FIG. 3 is a schematic structural view of the instrument adapter;
FIG. 4 is a schematic view of the connection of a connection plate seal ring to a spacer plate in an instrument adapter;
FIG. 5 is a schematic view of the connection of conductive copper blades in the instrument adapter;
fig. 6 is a schematic structural diagram of a quick-change interface;
FIG. 7 is a schematic view of the mounting of the drive assembly in the quick-change coupling of FIG. 6;
fig. 8 is a schematic structural diagram of a driving assembly in the quick-change interface shown in fig. 6;
FIG. 9 is a cross-sectional view of the structure shown in FIG. 8;
FIG. 10 is a schematic view of the structure of a motor slide shaft in the structure shown in FIG. 8;
FIG. 11 is a schematic view of the structure of the jacking member of the structure of FIG. 8;
FIG. 12 is a positional relationship diagram of the surgical instrument, the instrument adapter and the quick-change interface;
FIG. 13 is a schematic structural view of the surgical instrument;
fig. 14 is a schematic view of a mounting arrangement of a surgical instrument to a quick-change interface via an instrument adapter;
FIG. 15 is a schematic view of the structure of FIG. 14 with the chip, pogo pins and conductive copper plate in communication;
fig. 16 is a schematic view of the state that the intermediate connecting wheel is jacked up by two circular bulges on the top surface under the action of the jacking spring after the instrument adapter is mounted to the quick-change connector through the buckling device;
FIG. 17 is a schematic view of the stop block 502-1 of the intermediate connecting
FIG. 18 is a schematic view of the circular boss of the jack engaging the kidney-shaped hole in the bottom surface of the intermediate coupling wheel;
FIG. 19 is a schematic view of the surgical instrument mounted on the instrument adapter with the rounded protrusion on the bottom surface of the drive shaft pressing against the intermediate coupling wheel;
FIG. 20 is a schematic view of a stop pin on the surgical instrument restricting the rotational angle of the drive assembly;
fig. 21 is a schematic view showing a state in which two circular protrusions on the bottom surface of the driving shaft of the surgical instrument are fitted into the first top kidney-shaped hole and the second top kidney-shaped hole of the intermediate coupling wheel.
The symbols in the drawings illustrate that:
1. the puncture outfit comprises an instrument lifting seat, 2. a stamp card, 3. a puncture outfit connecting seat, 4. a quick-change interface, 401. a quick-change base, 402. a shell, 403. a driving component, 403-1. a circular bulge, 403-2. a top support, 403-2-1. a top support shaft hole, 403-3. a linear bearing, 403-4. a limit screw, 403-5. a pushing spring, 403-6. a motor sliding shaft, 403-6-1. a sliding shaft section, 403-6-2. a spring mounting hole, 403-6-3. a disc, 404. a driving motor, 405. a contact switch, 406. a spring needle, 407. a button switch, 407-1. a button sliding block, 408. a control button, 409. a motor sliding shaft connecting seat;
5. the device comprises an instrument adapter seat, 501, an isolation plate, 501-1, a stepped hole, 501-1-1, a slot, 501-2, a hook, 501-3, a clamping groove, 501-4, a boss, 502, an intermediate connecting wheel, 502-1, a limiting block, 502-2, a first top surface waist-shaped hole, 502-3, a second top surface waist-shaped hole, 502-4, a first bottom surface waist-shaped hole, 502-5, a second bottom surface waist-shaped hole, 503, a connecting plate sealing ring, 503-1, a bulge, 503-2, a stop block, 504, a conductive copper sheet, 504-1, a bulge, 505, a slot, 505-1, a pit and 506, and a clamping block; 5-1. axis;
6. the surgical instrument comprises a
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1, the patient robot arm comprises an instrument lifting seat 1 for installing surgical instruments, a pricking card 2 is connected with the instrument lifting seat 1, and a puncture outfit connecting seat 3 is connected with the pricking card 2. A sterile drape may be attached to
As shown in fig. 2-5, the
The
The side of the
As shown in fig. 6 to 11, the quick-
The driving
When the motor sliding shaft 403-6 rotates under the action of the driving
As shown in fig. 12-13, the
Fig. 14 is a schematic view of the locking structure of the instrument adapter, the surgical instrument and the quick-change interface. The slider of the
As shown in fig. 15, the
As shown in fig. 16, after the
As shown in fig. 20 and 21, the stop step 605-2 of the surgical instrument contacts the stop pin 605-3 in the base of the instrument cassette, so that the rotation of the driving
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art should be informed by the teachings of the present invention, other configurations of the components, the driving device and the connection means, which are similar to the technical solution and are not designed creatively, shall fall within the protection scope of the present invention without departing from the inventive spirit of the present invention.
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