WO2022237586A1 - Locking device, surgical instrument, aseptic plate assembly, power box and robot system - Google Patents

Abstract

A locking device, a surgical instrument (14), an aseptic plate assembly (15), a power box (16) and a surgical robot system. The locking device comprises a guide rod clamping portion (143), a state adjustment device (142) and a guiding portion (141), wherein the guide rod clamping portion (143) is movably arranged in a first direction; the guiding portion (141) is used for limiting the radial movement of the guide rod clamping portion (143) in the first direction; the state adjustment device (142) is movably arranged in a second direction which forms an angle together with the first direction; the guide rod clamping portion (143) is provided with a first conversion portion (145); the state adjustment device (142) is provided with a second conversion portion (1422); the first conversion portion (145) is used for being connected to the second conversion portion (1422) in an abutting manner; the first conversion portion (145) and the second conversion portion (1422) are configured to convert the movement of the state adjustment device (142) in the second direction into movement of the guide rod clamping portion (143) in the first direction; the guide rod clamping portion (143) is further provided with a locking portion (1432); and the guide rod clamping portion (143) is configured to move in the first direction, so as to lock or unlock the locking portion (1432) and a corresponding locked object.

Description

Locking devices, surgical instruments, sterile plate assemblies, power boxes and robotic systems technical field

The invention relates to the technical field of robot-assisted surgery, in particular to a locking device, a surgical instrument, a sterile plate assembly, a power box and a robot system.

Background technique

In recent years, with the application and development of robot-related technologies, especially the development of computing technology, the role of medical surgical robots in clinical practice has attracted more and more attention. Among them, the minimally invasive surgical robot system can reduce the physical labor of doctors during the operation through interventional therapy, and at the same time achieve the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery.

The minimally invasive surgical robot system enables the doctor to remotely control the mechanical arm and surgical tools on the slave operating robot at the main console to complete the operation. The development of robotic devices for minimally invasive surgery not only enables doctors to complete operations with less trauma, but with the same perspective and operating experience as traditional open surgery. More importantly, it enables doctors to perform surgery away from the patient, or perform surgery next to the patient in the ward, or remotely control the remote receiving device through the operation input device, so as to complete the operation.

In telesurgery, the surgeon uses some form of remote control, such as a servo mechanism, to manipulate the movement of surgical instruments, rather than holding and moving the instruments directly. In the telesurgery system, the surgeon controls the surgical workstation by operating the main control device to perform surgery on the patient, and the main control device controls the movement of the servo-mechanism surgical instruments.

However, if this surgical method is to be realized, there must be a system/device to support and drive the surgical instrument to move, and the above-mentioned system/device is usually realized by a robotic arm. Surgical instruments will come into contact with the patient's lesions during the operation and will be contaminated. Usually, it needs to be sterilized multiple times to achieve reuse. The robotic arm of the surgical robot usually needs to be used repeatedly, but due to its large size and many internal Sterilized and sterilized parts such as electronic devices, encoders or sensors, etc., so in order to avoid further contamination of the robotic arm by contaminated surgical instruments during the operation, a sterile plate is required to isolate the surgical instrument and the robotic arm. In addition, different surgical instruments need to be replaced repeatedly during the operation. Surgical instruments are used to complete operations such as cutting, suturing or electrocoagulation. During the operation, according to different operations, the surgical instruments will be subjected to forces in multiple directions. When the current surgical instruments or sterile plates are subjected to external forces, the surgical instruments will Or the aseptic plate often shakes to different degrees relative to the mechanical arm. The shaking is not good for the precise control of surgical instruments, and may cause safety hazards. On the other hand, the current locking structure of surgical instruments or sterile plates has tripping risks of.

Contents of the invention

The purpose of the present invention is to provide a locking device, a surgical instrument, a sterile plate assembly, a power box and a robot system, so as to solve the problem that the existing surgical instruments or sterile plates are easy to shake or trip.

In order to solve the above technical problems, according to the first aspect of the present invention, a locking device is provided, which includes: a guide rod holding part, a state adjusting device and a guide part;

The guide rod clamping part is movably arranged along a first direction, and the guide part is used to limit the radial movement of the guide rod clamping part along the first direction;

said state adjustment device is movably disposed along a second direction at an angle to said first direction;

The guide rod clamping part has a first conversion part, the state adjustment device has a second conversion part, and the first conversion part is used to abut against the second conversion part; the first conversion part and The second conversion part is configured to convert the movement of the state adjusting device along the second direction into the movement of the guide rod clamping part along the first direction;

The guide rod clamping part further has a locking part, and the guide rod clamping part is configured to move along the first direction so that the locking part and the corresponding locked object are locked or unlocked.

Optionally, in the locking device, one of the first conversion portion and the second conversion portion includes a guide wheel, and the other includes a slope;

said guide wheel is rotatably disposed about a third direction at an angle to said first direction; said second direction is disposed at an angle to said third direction;

The normal direction of the inclined surface is at an angle to the second direction, and the normal direction of the inclined surface is perpendicular to the third direction; the inclined surface is used for abutting connection with the outer periphery of the guide wheel.

Optionally, in the locking device, the first direction, the second direction and the third direction are perpendicular to each other.

Optionally, the locking device includes an elastic part, and the elastic part is configured to provide elastic force to the guide rod clamping part, so as to push the guide rod clamping part to be in an initial state without external force, The locking orientation along the locking portion is locked with the corresponding locked object.

Optionally, in the locking device, when the guide rod clamping part is in an initial state without external force, the abutting connection between the first conversion part and the second conversion part pushes the The state adjustment device is in the pop-up state; when the state adjustment device is pressed down, it pushes the guide bar clamping part to overcome the elastic force of the elastic part and move in a direction away from the locking direction, so that the locking part is aligned with the corresponding The locked object is unlocked.

Optionally, in the locking device, the guide rod clamping part includes two guide rods, the two guide rods are located at both ends of the guide rod clamping part, and the axes of the two guide rods parallel to or coincident with each other; the guide part includes two guide holes adapted to the outer contour of the guide rod, and each guide rod is used to pass through a different guide hole; the guide rod The clamping portion has at least two locking portions, the at least two locking portions are arranged at intervals along the first direction, and the locking orientations of the locking portions are the same.

Optionally, in the locking device, the locking device includes one elastic part, one end of the elastic part is connected to the guide rod holding part, and the other end is connected to the guide part.

Optionally, the locking device includes two guide rod clamping parts, each guide rod clamping part includes a guide rod, and the axes of the guide rods of the two guide rod clamping parts are parallel or overlap; the state adjustment device has two second conversion parts, and the two second conversion parts are respectively abutted and connected with the first conversion parts of the two guide rod clamping parts; each of the guide rods The rod holding part has at least one locking part, and the locking directions of the locking parts of the two guide rod holding parts are opposite.

Optionally, the locking device includes two elastic parts, one ends of the two elastic parts are respectively connected to the two guide rod clamping parts, and the other ends of the two elastic parts are respectively connected to the two guide rod clamping parts. Pilot connection.

Optionally, the locking device includes one elastic part, and two ends of the elastic part are respectively connected to the two guide rod clamping parts.

Optionally, the locking device also includes an adjustment guide seat;

The adjustment guide seat has an adjustment guide groove opened along the second direction, the state adjustment device has an adjustment limit rod extending along the second direction, the adjustment limit rod passes through the adjustment guide groove, and is The adjustment guide groove restricts radial movement along the second direction.

Optionally, in the locking device, the state adjustment device has a pressing surface, the pressing surface is connected to one end of the adjustment limit rod, and the end of the adjustment limit rod away from the pressing surface has an adjustment A limit hook, the adjustment limit hook is used to abut against the adjustment guide seat, so as to limit the movement of the state adjustment device toward the pressing surface.

Optionally, in the locking device, the adjustment limit rod has elasticity in the radial direction, and the adjustment limit rod is integrally formed with the adjustment limit hook

In order to solve the above technical problems, according to the second aspect of the present invention, a surgical instrument is also provided, which includes: a first base plate and at least two locking devices as described above;

At least two of the locking devices are disposed on the first base plate at intervals, and the surgical instrument is used to realize locking or unlocking of the corresponding sterile plate assembly through the at least two of the locking devices.

Optionally, in the surgical instrument, the first base plate has a first clamping portion guide groove penetrating through, and the first clamping portion guide groove extends along the first direction; the locking portion passes through The first clamping portion guide groove is restricted by the first clamping portion guide groove to move radially along the first direction of the locking device in the extending direction of the first base plate.

Optionally, in the surgical instrument, the first base plate has a first power transmission hole through which the power transmission member passes.

Optionally, in the surgical instrument, the first base plate is parallel to the axis of the guide rod holding portion of the locking device.

In order to solve the above technical problems, according to a third aspect of the present invention, a sterile plate assembly is also provided, which includes: a second substrate;

The second substrate is used for abutting connection with the first substrate of the surgical instrument as described above;

The second base plate has a first locking platform, and the first locking platform is used for locking with the locking part of the locking device of the surgical instrument, so that the surgical instrument and the sterile plate assembly are locked.

Optionally, in the sterile plate assembly, the second base plate has a second clamping portion guide groove, and the second clamping portion guide groove is used for accommodating the locking portion of the surgical instrument, the The guide groove of the second locking part extends along the first direction of the locking device of the surgical instrument, and is used to limit the locking part of the surgical instrument along the direction of extension of the second base plate along the direction of the locking device of the surgical instrument. Radial movement in the first direction.

Optionally, in the sterile plate assembly, one of the first locking platform and the locking part of the surgical instrument has a guiding slope, and the first locking platform is used to lock the locking part of the surgical instrument through the guiding slope. Apply a force in the opposite direction to the lock.

Optionally, the sterile plate assembly includes a third base plate and at least two locking devices as described above; the third base plate is detachably connected to the second base plate; at least two of the locking devices are spaced apart Set on the third base plate, the sterile plate assembly is used to realize locking or unlocking with the corresponding power box through at least two locking devices of its own.

Optionally, in the aseptic plate assembly, the third base plate has a third guide groove through which the clamping portion guides, and the guide groove of the third clamping portion is along the third locking device of the aseptic plate assembly. Extending in one direction; the locking part of the sterile plate assembly passes through the guide groove of the third clamping part, and is restricted by the guide groove of the third clamping part along the extending direction of the third base plate along the The radial movement of the locking device in the first direction.

Optionally, in the sterile plate assembly, the second base plate is parallel to the third base plate, and the axis of the second base plate and the guide rod holding part of the locking device of the sterile plate assembly parallel.

Optionally, in the sterile plate assembly, the second base plate has a through second power transmission hole, the third base plate has a through third power transmission hole, and the second power transmission hole is connected to the The third power transmission hole corresponds to the first power transmission hole of the first base plate; the second power transmission hole and the third power transmission hole are used for the power transmission member to pass through.

In order to solve the above technical problems, according to the fourth aspect of the present invention, a power box is also provided, which is used to assemble and connect with the above-mentioned sterile plate assembly; the power box includes: a fourth base plate; the The fourth substrate is used for abutting connection with the third substrate of the sterile plate assembly;

The fourth base plate has a second locking platform, and the second locking platform is used to lock with the locking part of the locking device of the sterile plate assembly, so that the sterile plate assembly and the power box can realize locking.

Optionally, in the power box, the fourth base plate has a guide groove of a fourth clamping part, and the guide groove of the fourth clamping part is used to accommodate the locking part of the sterile plate assembly. The guide groove of the fourth clamping part extends along the first direction of the locking device of the sterile plate assembly, and is used to limit the locking part along the extending direction of the fourth base plate along the locking device of the sterile plate assembly The radial movement in the first direction of .

Optionally, in the power box, the fourth base plate has a through fourth power transmission hole, and the fourth power transmission hole is used to correspond to the third power transmission hole of the third base plate. For power transmission parts to pass through.

Optionally, in the power box, the power box further includes a drive assembly and a power transmission member, the drive assembly is coupled to the power transmission member, and the power transmission member is used to pass through the fourth Power transmission holes.

In order to solve the above-mentioned technical problems, according to the fifth aspect of the present invention, a surgical robot system is also provided, which includes a mechanical arm, the above-mentioned surgical instrument, the above-mentioned sterile plate assembly, and the above-mentioned power A box; the surgical instrument, the sterile plate assembly and the power box are detachably connected, and are used for connecting with the mechanical arm.

To sum up, in the locking device, surgical instrument, sterile plate assembly, power box and surgical robot system provided by the present invention, the locking device includes: a guide rod clamping part, a state adjustment device and a guiding part; The guide rod clamping part is movably arranged along the first direction, and the guide part is used to limit the radial movement of the guide rod clamping part along the first direction; the state adjustment device is along with the second One direction is set movably in a second direction with an angle; the guide rod clamping part has a first conversion part, and the state adjustment device has a second conversion part, and the first conversion part is used to communicate with the second The conversion part is abutted against the connection; the first conversion part and the second conversion part are configured to convert the movement of the state adjustment device along the second direction into the movement of the guide rod holding part along the second direction. movement in one direction; the guide rod clamping part also has a locking part, and the guide rod clamping part is configured to move along the first direction so that the locking part and the corresponding locked object can be locked or unlock.

With such a configuration, when the operation state adjustment device moves along the second direction, based on the conversion between the first conversion part and the second conversion part, the guide bar clamping part can be driven to move along the first direction so that the locking part and the corresponding locked object can be realized. Lock or unlock. Thus, the locking and dismounting can be conveniently realized between the surgical instrument and the aseptic plate assembly, and between the aseptic plate assembly and the power box, and the locking device has high reliability and is not easy to shake.

Description of drawings

Those of ordinary skill in the art will understand that the provided drawings are for better understanding of the present invention, but do not constitute any limitation to the scope of the present invention. in:

FIG. 1 is a schematic diagram of a surgical scene of a surgical robot system according to Embodiment 1 of the present invention;

Fig. 2 is a schematic diagram of the tool arm supporting and mounting the surgical instrument according to Embodiment 1 of the present invention;

Fig. 3 is a schematic diagram of the assembly of the surgical instrument, the sterile plate assembly and the power box according to Embodiment 1 of the present invention;

Fig. 4 is an exploded schematic view of the surgical instrument of Embodiment 1 of the present invention;

5 is a schematic diagram of a locking device according to Embodiment 1 of the present invention;

Fig. 6 is an exploded schematic view of the locking device shown in Fig. 5;

Figure 7a and Figure 7b are side views and top views of the locking device shown in Figure 5;

Fig. 8 is a schematic view before the assembly of the surgical instrument and the sterile plate assembly according to Embodiment 1 of the present invention;

Fig. 9 is a side sectional view of the surgical instrument and the sterile plate assembly shown in Fig. 8;

Fig. 10 is a side sectional view of the assembled surgical instrument and the sterile plate assembly according to Embodiment 1 of the present invention;

Fig. 11 is a schematic diagram of the guide rod clamping part of Embodiment 1 of the present invention;

Fig. 12 is a schematic diagram of another preferred example of a locking device according to Embodiment 1 of the present invention;

Fig. 13 is a schematic diagram of another preferred example of the guide rod clamping part of Embodiment 1 of the present invention;

Fig. 14 is a schematic diagram of a locking device according to Embodiment 2 of the present invention;

Fig. 15 is an exploded schematic diagram of the locking device shown in Fig. 14;

Figures 16a and 16b are side and top views of the locking device shown in Figure 14;

Fig. 17 is a schematic view before the assembly of the surgical instrument and the sterile plate assembly according to the second embodiment of the present invention;

Figure 18 is a side sectional view of the surgical instrument and sterile plate assembly shown in Figure 17;

Fig. 19 is a side sectional view of the assembled surgical instrument and the sterile plate assembly according to the second embodiment of the present invention;

Fig. 20 is a schematic diagram of the clamping part of the guide rod according to the second embodiment of the present invention;

Fig. 21 is a schematic diagram of a locking device according to Embodiment 3 of the present invention;

Fig. 22 is an exploded schematic diagram of the locking device shown in Fig. 21;

Figures 23a and 23b are side and top views of the locking device shown in Figure 21;

Fig. 24 is a side sectional view of the surgical instrument and the sterile plate assembly according to the third embodiment of the present invention before assembly;

Fig. 25 is a side sectional view of the assembled surgical instrument and the sterile plate assembly according to the third embodiment of the present invention;

Fig. 26 is a schematic diagram of the clamping part of the guide rod according to the third embodiment of the present invention;

27 is a schematic diagram of a sterile plate assembly according to Embodiment 4 of the present invention;

Figure 28 is an exploded schematic view of the sterile plate assembly shown in Figure 27;

Figures 29a and 29b are top and side views of the sterile plate assembly shown in Figure 27;

Fig. 30 is a schematic diagram before assembly of the aseptic plate assembly and the power box according to Embodiment 4 of the present invention;

Figure 31 is a side sectional view of the sterile plate assembly and power box shown in Figure 30;

Fig. 32 is a side cross-sectional view of the assembly of the aseptic plate assembly and the power box according to the fourth embodiment of the present invention.

In the attached picture:

1-patient-side robot; 11-column; 12-support mechanism; 13-tool arm; 104-image trolley; 105-tool cart; 106-doctor console; 107-main operator;

14-surgical instrument; 140-first base plate; 1401-adjusting guide seat; 1402-guiding groove of the first clamping part; 1403-adjusting guiding groove; 1404-first power transmission hole; 141-guiding part; 1411-guiding hole ;142-status adjustment device; 1421-adjustment limit rod; 1422-second conversion part; 1423-pressing surface; 1424-adjustment limit hook; Part; 144-elastic part; 145-first conversion part; 146-apparatus upper cover;

15-sterile plate assembly; 151-the second base plate; 1511-the first locking platform; 1512-the guide groove of the second clamping part; 1514-the second power transmission hole; 152-the third base plate; 1522-the third clamping Department guide groove; 1524-the third power transmission hole;

16-power box; 160-the fourth base plate; 1601-the second locking platform; 1602-the guide groove of the fourth clamping part. 1604-the fourth power transmission hole; 166-the power box housing.

Detailed ways

In order to make the purpose, advantages and features of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in very simplified form and not drawn to scale, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. In addition, the structures shown in the drawings are often a part of the actual structures. In particular, each drawing needs to display different emphases, and sometimes uses different scales.

As used in this specification, the singular forms "a", "an" and "the" include plural objects, the term "or" is usually used in the sense of including "and/or", and the term "several" Usually, the term "at least one" is used in the meaning of "at least one", and the term "at least two" is usually used in the meaning of "two or more". In addition, the terms "first", "second "Two" and "third" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of these features, the term "proximal end" is usually the end close to the operator, the term The "distal end" is usually the end close to the patient, that is, the end close to the lesion. "One end" and "the other end" as well as "proximal end" and "distal end" usually refer to the corresponding two parts, which not only include the end point, the term "installation" , "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integration; it can be directly connected or indirectly connected through an intermediary, and it can be an internal connection between two components. connectivity or interaction between two elements. In addition, as used in this specification, an element is arranged on another element, usually only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements can be direct or indirect through an intermediate element. connection, coupling, fit or transmission, but should not be understood as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of another element, unless the content Also clearly point out. Those of ordinary skill in the art can understand the specific meanings of the above terms in this specification according to specific situations.

The purpose of the present invention is to provide a locking device, a surgical instrument, a sterile plate assembly, a power box and a robot system, so as to solve the problem that the existing surgical instruments or sterile plates are easy to shake or trip.

Description is made below with reference to the accompanying drawings.

[Example 1]

Please refer to FIG. 1 to FIG. 11 , wherein FIG. 1 is a schematic diagram of the surgical scene of the surgical robot system in Embodiment 1 of the present invention; FIG. 2 is a schematic diagram of the tool arm supporting and mounting surgical instruments in Embodiment 1 of the present invention; FIG. 3 It is a schematic diagram of the assembly of the surgical instrument, the sterile plate assembly and the power box of the first embodiment of the present invention; FIG. 4 is an exploded schematic diagram of the surgical instrument of the first embodiment of the present invention; FIG. 5 is a schematic diagram of the locking device of the first embodiment of the present invention; Fig. 6 is an exploded schematic view of the locking device shown in Fig. 5; Fig. 7a and Fig. 7b are a side view and a top view of the locking device shown in Fig. 5; Fig. 8 is an assembly of a surgical instrument and a sterile plate assembly according to Embodiment 1 of the present invention Front schematic view; Fig. 9 is a side sectional view of the surgical instrument and the aseptic plate assembly shown in Fig. 8; Fig. 10 is a side sectional view of the assembled surgical instrument and the aseptic plate assembly according to Embodiment 1 of the present invention; Fig. 11 is a schematic diagram of the clamping part of the guide rod according to the first embodiment of the present invention.

An embodiment of the present invention provides a surgical robot system. FIG. 1 shows the surgical robot system and its surgical application scenarios. In an exemplary embodiment, the surgical robot system is a master-slave teleoperated surgical robot, That is, the surgical robot system includes an execution end and a control end, wherein the control end includes a doctor's console 106 and a main operator 107 that can be movably arranged on the doctor's console 106 . With further reference to FIG. 2 , the execution end includes a patient-end robot 1, the patient-end robot 1 includes a column 11 and a mechanical arm, the mechanical arm includes a support mechanism 12 and a tool arm 13, and surgical instruments 14 (including operating instruments and endoscopes, etc.) are mounted Or be connected to the tool arm 13. The main operating principle of the surgical robot system is: the doctor performs minimally invasive surgical treatment on the patient on the hospital bed 101 through the remote operation of the doctor console 106 and the main operator 107 . Wherein, the master operating hand 107 forms a master-slave control relationship with the tool arm 13 and the surgical instrument 14 . Specifically, the tool arm 13 and the surgical instrument 14 move according to the movement of the main operating hand 107 during the operation, that is, they move correspondingly according to the operation of the main operating hand 107 by the doctor's hand. Furthermore, the master operator 107 also receives the force information of human tissues and organs on the surgical instrument and feeds it back to the doctor's hand, so that the doctor can experience the surgical operation more intuitively. The end of the tool arm 13 is used to mount or connect the surgical instrument 14, so that the surgical instrument 14 can perform surgical operations, such as rotating around a fixed point in a space; the support mechanism 12 can be connected with a plurality of tool arms 13 The rotatable connection is used to adjust the spatial position of the fixed point. In some embodiments, it may further include a plurality of support mechanisms 12, and the plurality of support mechanisms 12 are respectively rotatably connected with a plurality of tool arms 13; the column 11 is connected with the support mechanism 12 and is used to determine the spatial positions of the support mechanism 12 and the tool arm 13 . Optionally, the surgical robot system further includes an image trolley 104 and a tool trolley 105, and the image trolley 104 is used to provide and display surgical operation information for an auxiliary operator (such as a nurse) in real time. The tool trolley 105 is used to place the surgical instrument 14 or other tools, so as to take and place the surgical instrument 14 or other tools during the operation.

The patient-side robot 1 is a specific implementation platform of the teleoperation surgical robot system. Please refer to FIG. 2 and FIG. 3 , which show a schematic diagram of a tool arm 13 of the patient-side robot 1 supporting and mounting a surgical instrument 14 . As mentioned in the background art, since the surgical instrument 14 needs to be replaced continuously during the operation, in order to avoid contamination of the tool arm 13 , the surgical instrument 14 is connected to the tool arm 13 through the sterile plate assembly 15 . Further, in the example shown in FIGS. 2 and 3 , one side of the sterile plate assembly 15 is detachably connected to the surgical instrument 14 , and the other side of the sterile plate assembly 15 is detachably connected to the power box 16 . The power box 16 is used to provide power for the surgical instrument 14 to drive the distal end of the surgical instrument 14 to perform surgical operations, such as clamping, cutting, scissoring and other operations. Of course, in other embodiments, the surgical instrument 14 can also be a component that does not require power input such as an endoscope, then the power box 16 can not be provided, and only the surgical instrument 14 is connected to the tool arm 13 through the sterile plate assembly 15 That's it. It can be understood that the example shown in FIG. 2 is only a partial example of the patient-side robot 1 rather than a limitation on the patient-side robot 1 , and those skilled in the art can determine the specific structure of the patient-side robot 1 according to the prior art To improve the configuration, the present invention is not limited to this.

In order to realize the fast loading and unloading between the above-mentioned surgical instrument 14, the sterile plate assembly 15 and the power box 16, this embodiment provides a locking device, and the surgical instrument 14 may include several locking devices to realize the combination with the sterile plate assembly. 15 fast loading and unloading; further, the sterile plate assembly 15 may also include several locking devices to realize fast loading and unloading of the power box 16. The specific structure and principle of the locking device will be described below by taking a surgical instrument 14 including the locking device as an example. Please refer to FIG. 4 , the surgical instrument 14 includes a first base plate 140 and two locking devices, and the two locking devices are arranged on the first base plate 140 at intervals, and the surgical instrument 14 is used to pass The two locking devices are locked or unlocked with the corresponding sterile plate assembly 15 . Further, the surgical instrument 14 also includes an upper instrument cover 146 , which is used to assemble with the first base plate 140 to form an inner cavity for accommodating other components of the surgical instrument 14 . In this embodiment, other components inside the surgical instrument 14 are not described, and those skilled in the art can configure them according to the prior art.

Please refer to FIG. 5 and FIG. 6, the locking device includes: a guide rod clamping part 143, a state adjustment device 142 and a guide part 141; ) is movably arranged, and the guide part 141 is used to limit the radial direction of the guide rod clamping part 143 along the first direction (referring to the direction perpendicular to the x direction, and the following is about the radial direction along a certain direction The description can be understood in the same way); the state adjusting device 142 is movably arranged along a second direction (shown as y direction in FIG. 5 ) which is angled to the first direction; The part 143 has a first conversion part 145, and the state adjustment device 142 has a second conversion part 1422, and the first conversion part 145 is used to abut and connect with the second conversion part 1422; the first conversion part 145 And the second conversion part 1422 is configured to convert the movement of the state adjustment device 142 along the second direction into the movement of the guide rod clamping part 143 along the first direction; the guide rod The locking part 143 also has a locking part 1432, and the guide rod locking part 143 is configured to move along the first direction, so that the locking part 1432 can be locked or unlocked with the corresponding locked object. In the example of the surgical instrument 14 , the state adjusting device 142 is, for example, a button, and the locking portion 1432 is, for example, a locking hook. The locked object corresponding to the locking portion 1432 specifically refers to the sterile plate assembly 15 . It should be noted that the angle between the first direction and the second direction is not limited to be perpendicular to each other. Those skilled in the art can reasonably select the angle between the first direction and the second direction according to the arrangement position of the state adjustment device 142 . In the example shown in Fig. 5, the surgical instrument 14 comprises two locking devices arranged in parallel along the second direction. Preferably, the first base plate 140 is parallel to the axis of the guide bar holding portion 143 of the locking device, that is, the first base plate 140 is parallel to the first direction. In some other embodiments, the surgical instrument 14 can also include more locking devices, and the arrangement of the locking devices is not limited to being parallel to each other. arrangement, etc., the present invention is not limited thereto. More than two locking devices can reduce the shaking of the surgical instrument 14 during the operation, improve stability and safety, and improve operation accuracy.

Optionally, one of the first conversion portion 145 and the second conversion portion 1422 includes a guide wheel, and the other includes a slope; please refer to FIG. 6 , in an alternative embodiment, the first conversion portion 145 includes a guide wheel, and the second conversion portion 1422 includes a slope. The guide wheel is rotatably arranged around a third direction (shown as z direction in FIG. 5 ) which is at an angle to the first direction; the second direction is arranged at an angle to the third direction; The normal direction is at an angle to the second direction, and the normal direction of the slope is perpendicular to the third direction; the slope is used for abutting connection with the outer circumference of the guide wheel. Since the normal direction of the slope is perpendicular to the third direction, the slope of the second conversion part 1422 and the guide wheel of the first conversion part 145 maintain a tangent state. A component force along the first direction pushes the guide rod clamping portion 143 to slide along the first direction, that is, the linear movement of the state adjusting device 142 along the second direction will be transformed into the slide of the guide rod clamping portion 143 along the first direction. Of course, in some other embodiments, the guide wheel is not limited to be rotatable around the third direction, and it can also be a fixed smooth cylinder, such as a cylinder or a prism. Preferably, the first direction, the second direction and the third direction are perpendicular to each other.

Preferably, the locking device includes an elastic portion 144 configured to provide elastic force to the guide rod holding portion 143 to push the guide rod holding portion 143 to its initial position without external force. state, the locking orientation along the locking portion 1432 is locked with the corresponding locked object. Please continue to refer to FIG. 6, the locking part 1432 has a hook end along the first direction, when the locking part 1432 moves toward the direction of the hook end, the hook end can be locked with the object to be locked (such as the first locking platform of the sterile plate assembly) Therefore, it can be understood that the orientation of the hook end is the locking orientation of the locking portion 1432 . Here, the elastic force provided by the elastic portion 144 to the guide rod clamping portion 143 may be a pushing force in some embodiments, and may also be a pulling force in other embodiments. However, it should be understood that the elastic force exerted by the elastic portion 144 on the guide bar holding portion 143 , including pushing force or pulling force, is in the same direction as the locking direction of the locking portion 1432 . In this way, when the guide rod clamping portion 143 is in an initial state without external force, it can be locked with the corresponding locked object along the locking direction of the locking portion 1432 .

Furthermore, when the guide rod clamping part 143 is in the initial state without external force, the state adjusting device 142 is pushed to be in the Pop-up state: when the state adjusting device 142 is pressed down, push the guide rod clamping portion 143 to overcome the elastic force of the elastic portion 144 and move away from the locking direction, so that the locking portion 1432 corresponds to the The locked object is unlocked. The state adjustment device 142 can move along the second direction between the pressed state and the popped state. When the guide rod clamping part 143 is in the initial state, it only receives the elastic force from the elastic part 144. At this time, it can pass through the first The conversion part 145 and the second conversion part 1422 make the state adjusting device 142 in the pop-up state. Specifically, as in the above-mentioned embodiment, the state adjusting device 142 can be in the spring-up state through the tangential contact between the guide wheel and the inclined surface. When the state adjustment device 142 is pressed, the state adjustment device 142 moves to the pressed state, and through the conversion of the guide wheel and the inclined surface, the guide bar clamping part 143 is driven to overcome the elastic force of the elastic part 144 and move away from the locking direction. , so that the locking part 1432 is disengaged from the corresponding locked object to realize unlocking.

Please refer to FIG. 11 , in an example, the guide rod holding part 143 includes two guide rods 1431, and the two guide rods 1431 are located at both ends of the guide rod holding part 143. The axes of the guide rods 1431 are parallel or coincident with each other; the guide part 141 includes two guide holes 1411 adapted to the outer contour of the guide rods 1431, each of the guide rods 1431 is used to pass through different In the guide hole 1411; the guide rod holding part 143 has at least two locking parts 1432, at least two locking parts 1432 are arranged at intervals along the first direction, and the locking parts 1432 facing the same. As shown in FIG. 6 , the guide rod 1431 may be cylindrical, and the corresponding guide hole 1411 is a cylindrical hole. After the guide rod 1431 is inserted into the guide hole 1411 , it is limited by the guide hole 1411 to move radially along the first direction, and can only move in the guide hole 1411 along the first direction or rotate around the axis of the guide rod 1431 . Preferably, the first substrate 140 has a first clamping part guide groove 1402 extending through the first clamping part guide groove 1402; the locking part 1432 passes through the first clamping part guide groove 1402. The locking portion guide groove 1402 is restricted by the first locking portion guiding groove 1402 to move radially along the first direction of the locking device along the extending direction of the first substrate 140 . When the locking portion 1432 passes through the first locking portion guide groove 1402 , the first locking portion guiding groove 1402 can restrict the locking portion 1432 so that the guide rod locking portion 143 cannot rotate around the axis of the guide rod 1431 . The setting of the guide hole 1411 and the guide groove 1402 of the first clamping part can limit the movement of the guide rod clamping part 143 on the one hand, prevent the guide rod clamping part 143 from falling out, and facilitate the assembly of the guide rod clamping part 143 on the other hand. In practice, it is only necessary to firstly insert the locking portion 1432 of the guide rod holding portion 143 into the guide groove 1402 of the first holding portion, and then insert the guide rod 1431 into the guide hole 1411 to complete the assembly. Of course, those skilled in the art can change the shape of the guide rod 1431 and the guide hole 1411 according to the actual situation, such as setting it as a prism, which itself has the effect of preventing circumferential rotation, then the first clamping part guide can be canceled at this time. The restriction of the slot 1402 to the locking portion 1432 and the shape of the first locking portion guide slot 1402 are not limited.

Preferably, the locking device includes one elastic part 144 , one end of the elastic part 144 is connected to the guide rod clamping part 143 , and the other end is connected to the guide part 141 . In this embodiment, since there is only one guide rod clamping portion 143, the locking orientations of the locking portions 1432 on the guide rod clamping portion 143 are in the same direction, so only one orientation of the guide rod clamping portion 143 is provided. Elasticity is enough. The locking direction of the locking portion 1432 is the same as the direction of the elastic force provided by the elastic portion 144 . To simplify the structure, only one elastic part 144 may be provided. Please refer to FIG. 6. In an alternative embodiment, the guide rod 1431 is located at both ends of the guide rod clamping part 143. The elastic part 144 can be a spring, which is sleeved on the outside of the guide rod 1431. When the guide rod After 1431 is inserted into the guide hole 1411 to realize assembly, one end of the spring is connected to the guide part 141 , and the other end is connected to the guide rod holding part 143 . Please refer to FIG. 12 and FIG. 13 , in another preferred example, the elastic part 144 can be an elastic piece, one end of the elastic piece is fixedly connected with the guide rod clamping part 143 , and the other end is used to abut against the guide part 141 Depend on. The shrapnel provides elastic force through its own elastic deformation. The shape of the shrapnel can be, for example, V-shape, N-shape, W-shape, etc., and the present invention does not specifically limit the shape of the shrapnel.

Please continue to refer to FIG. 5 and FIG. 6. Optionally, the locking device further includes an adjustment guide seat 1401, the adjustment guide seat 1401 has an adjustment guide groove 1403 opened along the second direction, and the state adjustment device 142 has an adjustment guide slot 1403 along the The adjustment limit rod 1421 extending in the second direction, the adjustment limit rod 1421 passes through the adjustment guide groove 1403 and is limited by the adjustment guide groove 1403 to move radially in the second direction. In one example, the adjustment guide seat 1401 is fixedly arranged on the first base plate 140, the adjustment guide groove 1403 is a rectangular groove penetrating along the second direction, and the state adjustment device 142 has four adjustment limit rods 1421, the four The adjustment limit rods 1421 are distributed in an array, and their outer contours are adapted to the shape of the adjustment guide groove 1403. Thus, when the state adjustment device 142 is assembled with the adjustment guide seat 1401, the four adjustment limit rods 1421 are adjusted by the adjustment guide groove. 1403, so that the state adjustment device 142 can only move along the second direction.

Further, the state adjustment device 142 has a pressing surface 1423, the pressing surface 1423 is connected to one end of the adjustment limit rod 1421, and the state adjustment device 142 is far away from the pressing surface when the adjustment limit rod 1421 One end of 142 has an adjustment limit hook 1424 , and the adjustment limit hook 1424 is used to abut against the adjustment guide seat 1401 to limit the movement of the state adjustment device 142 toward the pressing surface 1423 . Adjust the setting of the limit hook 1424 to prevent the state adjustment device 142 from falling out of the adjustment guide seat 1401 . In some embodiments, the adjustment limit rod 1421 has elasticity in the radial direction, and the adjustment limit rod 1421 is integrally formed with the adjustment limit hook 1424 . The specific function of adjusting the limit hook 1424 will be described below with reference to FIG. 5 and FIG. 6 . The state adjustment device 142 moves positively along the y-axis, so that the adjustment limit rod 1421 is inserted into the adjustment guide seat 1401. Inwardly deformed, until the adjustment limit hook 1424 escapes from the adjustment guide groove 1403, the adjustment limit rod 1421 returns to its original shape, and at this time the state adjustment device 142 is in the initial state after assembly. Thereafter, pressure can be applied to the pressing surface 1423 , and the driving state adjusting device 142 continues to move along the positive direction of the y-axis to push the guide rod clamping portion 143 . When the pressure on the pressing surface 1423 is removed, the state adjustment device 142 moves in the opposite direction along the y-axis under the elastic force of the elastic part 144 until it returns to the original state, and the limit hook 1424 and the adjustment guide seat 1401 are adjusted. The state adjusting device 142 is abutted against to restrict further reverse movement along the y-axis, so as to prevent the state adjusting device 142 from slipping out of the adjusting guide groove 1403 .

Please refer to FIG. 7a and FIG. 7b. In a preferred example, each guide rod clamping portion 143 includes two locking portions 1432, the span of the two locking portions 1432 along the first direction is S, and the first substrate 140 along the second The length in one direction is L1, and when S≥0.2L1 is satisfied, the span between the two locking parts 1432 is larger, which can reduce the shaking of the surgical instrument 14 during the operation, improve stability and safety, and improve surgical accuracy.

Optionally, the first base plate 140 has a first power transmission hole through which the power transmission member passes.

Please refer to FIG. 8 to FIG. 10 , this embodiment also provides a sterile plate assembly 15 , which is used for quick assembly and connection with the above-mentioned surgical instrument 14 . The sterile plate assembly 15 includes a second base plate 151; the second base plate 151 is used for abutting connection with the first base plate 140 of the surgical instrument 14; the second base plate 151 has a first locking platform 1511, so The first locking platform 1511 is used to lock with the locking portion 1432 of the locking device of the surgical instrument 14 , so that the surgical instrument 14 and the sterile plate assembly 15 are locked. Preferably, the second base plate 151 has a second clamping part guide groove 1512, the second clamping part guide groove 1512 is used to accommodate the locking part 1432 of the surgical instrument 14, and the second clamping part The guide groove 1512 extends along the first direction of the locking device of the surgical instrument 14, and is used to limit the locking portion 1432 of the surgical instrument 14 along the extending direction of the second base plate 151 along the locking device of the surgical instrument 14. The radial movement in the first direction of . The second clamping portion guide groove 1512 preferably runs through the second base plate 151, and its extension direction is the same as the first direction of the locking device on the corresponding surgical instrument 14. It can be understood that if the surgical instrument 14 has multiple The locking devices arranged in different directions may have multiple different first directions. Preferably, the first locking platform 1511 is located at one end of the second locking portion guiding groove 1512 along the extending direction of the second locking portion guiding groove 1512 .

The example shown in FIG. 8 is used as an example below for illustration. In the example shown in FIG. The guide grooves 1512 of the holding portion extend along the x direction, and the radial direction along the first direction of the locking device of the surgical instrument 14 in the extending direction of the second base plate 151 is the y direction. The groove width of the second clamping part guide groove 1512 along the y direction can be adapted to the y direction width of the locking part 1432, so that the locking part 1432 is restricted in the y direction after being inserted into the second clamping part guide groove 1512. degrees, without restricting the degrees of freedom in the x and z directions. Thus, the locking part 1432 can be conveniently inserted into the second locking part guide groove 1512 along the z direction, and then move along the x direction, so that the locking part 1432 is locked with the first locking platform 1511 .

Preferably, one of the first locking platform 1511 and the locking portion 1432 of the surgical instrument 14 has a guide inclined surface, and when the locking portion 1432 is inserted into the guide groove 1512 of the second clamping portion, the locking portion 1432 is in the elastic Under the action of the elastic force of the part 144 , it abuts against the first locking platform 1511 through the guide slope. Then the locking part 1432 continues to be inserted, and the first locking platform 1511 is used to apply a force in the opposite direction to the elastic force of the elastic part 144 to the locking part 1432 through the guide slope, so as to overcome the elastic force and push the locking part 1432 along the opposite direction of the locking direction (that is, FIG. 9 and the rightward direction in Fig. 10) until the hook end of the locking part 1432 crosses the guide slope along the z direction, and the locking part 1432 moves along the locking direction (that is, in Fig. 9 and Fig. 10 ) under the elastic force of the elastic part 144 Moving to the left direction), the first locking platform 1511 and the locking portion 1432 are locked together. With such a configuration, in use, the surgical instrument 14 can be directly approached towards the sterile plate assembly 15, and the locking part 1432 can be automatically locked with the first locking platform 1511 under the push of the guide slope.

Preferably, the side of the second locking part guide groove 1512 facing the locking part 1432 (the upper side of the second locking part guiding groove 1512 in FIG. 8 ) has a flared guide part to facilitate the smooth insertion of the locking part 1432 . For example, the flaring guide portion can be in the shape of a bell mouth that expands upwards, and its edge can be a flaring bevel or an arc surface.

Through the above configuration, the surgical instrument 14 can be locked with the sterile plate assembly 15 conveniently and quickly, and the surgical instrument 14 can be separated from the sterile plate assembly 15 conveniently and quickly by pressing the state adjustment device 142 .

[Example 2]

The locking device, surgical instrument, sterile plate assembly, power box, and surgical robot system of the second embodiment of the present invention are basically the same as those of the first embodiment, and the same parts will not be described, and only the differences will be described below.

Please refer to Fig. 14 to Fig. 20, wherein Fig. 14 is a schematic diagram of the locking device according to Embodiment 2 of the present invention; Fig. 15 is an exploded schematic diagram of the locking device shown in Fig. 14; Fig. 16a and Fig. 16b are the locking devices shown in Fig. 14 The side view and the top view of the device; Figure 17 is a schematic diagram of the surgical instrument and the sterile plate assembly of Embodiment 2 of the present invention before assembly; Figure 18 is a side sectional view of the surgical instrument and the sterile plate assembly shown in Figure 17; 19 is a lateral cross-sectional view of the assembled surgical instrument and the sterile plate assembly according to Embodiment 2 of the present invention; FIG. 20 is a schematic diagram of the holding part of the guide rod according to Embodiment 2 of the present invention.

In the second embodiment, the specific structure of the locking device is different from that in the first embodiment. Specifically, as shown in FIGS. 14 to 20 , the locking device includes two guide rod clamping portions 143, each of the guide rod clamping portions 143 includes a guide rod 1431, and the two guide rods The axes of the guide rods 1431 of the clamping part 143 are parallel or coincident; the state adjusting device 142 has two second conversion parts 1422, and the two second conversion parts 1422 are engaged with the two guide rods respectively. The first conversion part 145 of the holding part 143 is abutted against the connection; each of the guide rod clamping parts 143 has at least one of the locking parts 1432, and the locking directions of the locking parts 1432 of the two guide rod clamping parts 143 are opposite .

Optionally, the first conversion parts 145 of the two guide rod clamping parts 143 are arranged relatively close to each other. In the example shown in FIG. 14 and FIG. 15 , the first conversion part 145 includes a guide wheel, and the two second conversion parts 1422 of the state adjustment device 142 respectively include slopes with opposite slopes, and the slopes of the slopes can be specifically related to the locking mechanism. The locking orientation of the portion 1432 is matched.

Preferably, the locking device includes two elastic parts 144, one ends of the two elastic parts 144 are respectively connected to the two guide bar holding parts 143, and the other ends of the two elastic parts 144 are respectively It is connected with the guide part 141. In the example shown in Fig. 14 and Fig. 15, the spring is also selected as the elastic part 144, and the spring is sleeved on the outside of the guide rod 1431. part 141 , and the other end is connected to the guide rod clamping part 143 . With such configuration, the two guide rod clamping parts 143 are independent of each other, and the same state adjustment device 142 can simultaneously drive the two guide rod clamping parts 143 to move.

Please refer to FIG. 20 , in some other embodiments, the elastic portion 144 can be an elastic piece, and the specific arrangement of the elastic piece can refer to Embodiment 1, which will not be repeated here.

Preferably, in the second embodiment, the two elastic parts 144 are respectively located at the ends of the two guide rod clamping parts 143 away from each other, and are used to apply elastic force to the two guide rod clamping parts 143 to approach each other. The locking direction of the locking portion 1432 of the two guide rod clamping parts 143 is towards the center of the locking device, and the slopes of the two slopes of the state adjustment device 142 are facing outward, so that when the state adjustment device 142 is pressed, the two guide rods The locking parts 143 are separated from each other to realize unlocking.

Preferably, the span of the locking portions 1432 of the two guide rod holding portions 143 along the first direction is S, the length of the first substrate 140 along the first direction is L1, and S≧0.2L1 is satisfied.

[Embodiment 3]

The locking device, surgical instrument, sterile plate assembly, power box, and surgical robot system of the third embodiment of the present invention are basically the same as those of the first embodiment, and the same parts will not be described, and only the differences will be described below.

Please refer to Fig. 21 to Fig. 26, wherein Fig. 21 is a schematic diagram of the locking device according to Embodiment 3 of the present invention; Fig. 22 is an exploded schematic diagram of the locking device shown in Fig. 21; Fig. 23a and Fig. 23b are the locking devices shown in Fig. 21 The side view and top view of the device; Figure 24 is a side sectional view of the surgical instrument and the sterile plate assembly of the third embodiment of the present invention before assembly; Figure 25 is the assembled surgical instrument and the sterile plate assembly of the third embodiment of the present invention Side sectional view; FIG. 26 is a schematic diagram of the guide rod clamping part of the third embodiment of the present invention.

In the third embodiment, the specific structure of the locking device is different from that in the first embodiment. Specifically, the locking device of the third embodiment is substantially the same as the locking device of the second embodiment, and it includes two guide rod clamping parts 143 . Different from the second embodiment, the locking device includes one elastic portion 144 , and the two ends of the elastic portion 144 are respectively connected with the two guide rod clamping portions 143 .

Optionally, the first conversion parts 145 of the two guide rod clamping parts 143 are arranged relatively close to each other. In the example shown in Fig. 21 and Fig. 22, the first conversion part 145 comprises a guide wheel, and the two second conversion parts 1422 of the state adjusting device 142 respectively comprise slopes with opposite slopes, and the slopes of the slopes can be specifically related to the locking The locking orientation of the portion 1432 is matched.

Preferably, in the third embodiment, the elastic part 144 is located at one end of the two guide rod clamping parts 143 close to each other, and is used to apply elastic force to the two guide rod clamping parts 143 to move away from each other. The locking orientation of the locking portion 1432 of the two guide rod clamping portions 143 is towards the two ends of the locking device, and the slopes of the two slopes of the state adjustment device 142 are facing inward, so that when the state adjustment device 142 is pressed, the two guides The rod holding parts 143 are close to each other to realize unlocking.

In some embodiments, the elastic portion 144 can be a spring, as shown in FIGS. 21 to 25 ; in other embodiments, the elastic portion 144 can be an elastic piece, as shown in FIG. 26 .

Preferably, the span of the locking portions 1432 of the two guide rod holding portions 143 along the first direction is S, the length of the first substrate 140 along the first direction is L1, and S≧0.2L1 is satisfied.

[Example 4]

The locking device, surgical instrument, sterile plate assembly, power box, and surgical robot system of the fourth embodiment of the present invention are basically the same as those of the first embodiment, the same parts will not be described, and only the differences will be described below.

Please refer to Fig. 27 to Fig. 32, wherein, Fig. 27 is a schematic diagram of the aseptic plate assembly of Embodiment 4 of the present invention; Fig. 28 is an exploded schematic view of the aseptic plate assembly shown in Fig. 27; Fig. 29a and Fig. 29b are Fig. 27 The top view and side view of the aseptic board assembly shown; Figure 30 is a schematic diagram of the aseptic board assembly and power box in Embodiment 4 of the present invention before assembly; Figure 31 is the aseptic board assembly and power box shown in Figure 30 Fig. 32 is a side sectional view of the assembly of the aseptic plate assembly and the power box according to Embodiment 4 of the present invention.

In the fourth embodiment, the specific structures of the sterile plate assembly 15 and the power box 16 are different from those in the first embodiment.

Please refer to FIG. 27 and FIG. 28 , in the fourth embodiment, the sterile plate assembly 15 can be connected with the power box 16 by quick assembly. The sterile plate assembly 15 includes a third base plate 152 and at least two locking devices as described above; the third base plate 152 is detachably connected to the second base plate 151; at least two of the sterile plate assembly The locking devices 15 are disposed on the third base plate 152 at intervals, and the sterile plate assembly 15 is used to realize locking or unlocking with the corresponding power box 16 through at least two of the locking devices of itself. The third base plate 152 is detachably connected to the second base plate 151, which can facilitate the assembly of the locking device.

Preferably, the third base plate 152 has a through third clamping portion guide groove 1522, and the third clamping portion guide groove 1522 extends along the first direction of the locking device of the sterile plate assembly 15; The locking part 1432 of the sterile plate assembly 15 passes through the third clamping part guide groove 1522, and is restricted by the third clamping part guide groove 1522 along the extending direction of the third base plate 152 along the locking Radial movement of the device in a first direction.

The setting principle and structure of the third clamping part guide groove 1522 are similar to the setting principle and structure of the first clamping part guide groove 1402 in Embodiment 1. Please refer to the description of the first clamping part guide groove 1402 in Embodiment 1. No further explanation will be given here.

Optionally, the second base plate 151 has a through second power transmission hole 1514 (as shown in FIG. 8 ), the third base plate 152 has a through third power transmission hole 1524, and the second power transmission hole 1514 corresponds to the third power transmission hole 1524, and is used to correspond to the first power transmission hole 1404 of the first substrate 140, such as the three are coaxially arranged through; the second power transmission hole 1514 and the The third power transmission hole 1524 is used for the power transmission member to pass through.

It should be noted that the second base plate 151 of the sterile plate assembly 15 is used to lock with the locking device of the surgical instrument 14, and the locking device of the sterile plate assembly 15 itself is used to lock with the power box 16. The embodiment does not specifically limit the arrangement direction of the locking device of the sterile plate assembly 15 and the locking device of the surgical instrument 14 , and the two may be parallel or out of plane. Preferably, the second base plate 151 is parallel to the third base plate 152 , and the second base plate 151 is parallel to the axis of the guide rod holding portion 143 of the locking device of the sterile plate assembly 15 .

Further, the locking device of the sterile plate assembly 15 and the locking device of the surgical instrument 14 may be the same or different. The two may respectively include the locking device of any one of the first to third embodiments above. Furthermore, as shown in Figure 27 and Figure 28, in order to reduce the volume of the sterile plate assembly 15, the state adjustment device 142 in the locking device of the sterile plate assembly 15 can be arranged in the middle of the third base plate 152, and The second substrate 151 is penetrated to the direction of the second substrate 151 . Correspondingly, avoidance holes are correspondingly provided on the first base plate 140 of the surgical instrument 14 for the state adjustment device 142 in the locking device of the sterile plate assembly 15 to pass through.

Preferably, in the locking device of the sterile plate assembly 15, the span of the two locking parts 1432 along the first direction is S, and the length of the third substrate 152 along the first direction is L2, satisfying S≥0.2L2.

The fourth embodiment also provides a power box 16, which is used to assemble and connect with the above-mentioned aseptic plate assembly 15; the power box 16 includes a fourth base plate 160; the fourth base plate 160 is used for connecting with the The third base plate 152 of the sterile plate assembly 15 is connected against; 1432 are locked, so that the sterile plate assembly 15 and the power box 16 are locked.

Further, the fourth base plate 160 has a guide groove 1602 of a fourth clamping part, and the guide groove 1602 of the fourth clamping part is used for accommodating the locking part 1432 of the sterile plate assembly 15, and the fourth clamping part The holding part guide groove 1602 extends along the first direction of the locking device of the sterile plate assembly 15, and is used to restrict the locking portion 1432 from extending along the direction of the fourth base plate 160 along the direction of the sterile plate assembly 15. The radial movement of the locking device in the first direction.

The locking connection mode of the power box 16 and the sterile board assembly 15 is the same or similar to the locking connection mode of the sterile board assembly 15 and the surgical instrument 14 . The setting principle and structure of the fourth substrate 160 and the second locking stage 1601 and the fourth clamping part guide groove 1602 provided thereon are the same as those of the second substrate 151 and the first locking stage 1511 and the second locking stage 1511 provided thereon in Embodiment 1. The setting principle and structure of the guide groove 1512 of the second clamping part are similar, please refer to the description of the second base plate 151 and the first locking platform 1511 and the guide groove 1512 of the second clamping part provided on it in Embodiment 1, and will not be expanded here illustrate.

Optionally, the fourth base plate 160 has a through fourth power transmission hole 1604, and the fourth power transmission hole 1604 is used to correspond to the third power transmission hole 1524 of the third base plate 152 for supplying The power transmission passes through.

Further, the power box 16 also includes a drive assembly and a power transmission member (not shown), the drive assembly is coupled to the power transmission member, and the power transmission member is used to pass through the fourth power transmission Hole 1604. Preferably, after the power box 16, the sterile plate assembly 15 and the surgical instrument 14 are sequentially assembled and connected, the fourth power transmission hole 1604, the third power transmission hole 1524, the second power transmission hole 1514 and the first power transmission hole 1404 are the same as Axis through. The drive assembly includes, for example, a motor commonly used in the field, and the power transmission member, for example, may be a drive shaft of the motor or other transmission components. Optionally, the power box 16 also includes a power box housing 166, which is used to assemble and connect with the fourth base plate 160 to form an inner cavity to accommodate and protect components such as drive components and power transmission parts. .

To sum up, in the locking device, surgical instrument, sterile plate assembly, power box and surgical robot system provided by the present invention, the locking device includes: a guide rod clamping part, a state adjustment device and a guiding part; The guide rod clamping part is movably arranged along the first direction, and the guide part is used to limit the radial movement of the guide rod clamping part along the first direction; the state adjustment device is along with the second One direction is set movably in a second direction at an angle; the guide rod clamping part has a first conversion part, and the state adjustment device has a second conversion part, and the first conversion part is used to communicate with the second The conversion part is abutted against the connection; the first conversion part and the second conversion part are configured to convert the movement of the state adjustment device along the second direction into the movement of the guide rod holding part along the second direction. movement in one direction; the guide rod clamping part also has a locking part, and the guide rod clamping part is configured to move along the first direction, so that the locking part and the corresponding locked object can be locked or unlock. So configured, the operation state adjustment device moves along the second direction, and based on the conversion between the first conversion part and the second conversion part, the guide bar holding part can be driven to move along the first direction so that the locking part and the corresponding locked object can be realized. Lock or unlock. Thus, the locking and dismounting can be conveniently realized between the surgical instrument and the sterile plate assembly, as well as between the sterile plate assembly and the power box, and the locking device has high reliability and is not easy to shake.

It should be noted that the above embodiments are not limited to being used alone, but can be combined with each other, and the present invention is not limited thereto. The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosures shall fall within the protection scope of the claims.

Claims (29)

A locking device, characterized by comprising: a guide rod holding part, a state adjusting device and a guide part; The guide rod clamping part is movably arranged along a first direction, and the guide part is used to limit the radial movement of the guide rod clamping part along the first direction; said state adjustment device is movably disposed along a second direction at an angle to said first direction; The guide rod clamping part has a first conversion part, the state adjustment device has a second conversion part, and the first conversion part is used to abut against the second conversion part; the first conversion part and The second conversion part is configured to convert the movement of the state adjusting device along the second direction into the movement of the guide rod clamping part along the first direction; The guide rod clamping part further has a locking part, and the guide rod clamping part is configured to move along the first direction so that the locking part and the corresponding locked object are locked or unlocked. The locking device according to claim 1, wherein one of the first conversion part and the second conversion part comprises a guide wheel, and the other comprises a slope; said guide wheel is rotatably disposed about a third direction at an angle to said first direction; said second direction is disposed at an angle to said third direction; The normal direction of the inclined surface is at an angle to the second direction, and the normal direction of the inclined surface is perpendicular to the third direction; the inclined surface is used for abutting connection with the outer periphery of the guide wheel. The locking device according to claim 2, wherein the first direction, the second direction and the third direction are perpendicular to each other. The locking device according to claim 1, characterized in that, the locking device comprises an elastic portion configured to provide elastic force to the guide rod clamping portion to push the guide rod clamping portion When it is in an initial state without external force, it can be locked with a corresponding locked object along the locking direction of the locking portion. The locking device according to claim 4, characterized in that, when the guide rod clamping part is in an initial state without external force, through the abutting connection between the first conversion part and the second conversion part, Push the state adjustment device to be in the pop-up state; when the state adjustment device is pressed down, push the guide rod clamping part to overcome the elastic force of the elastic part and move in a direction away from the locking direction, so that the locking Part and the corresponding locked object are unlocked. The locking device according to claim 4, wherein the guide rod holding part comprises two guide rods, the two guide rods are located at both ends of the guide rod holding part, and the two guide rods The axes of the rods are parallel or coincident with each other; the guide part includes two guide holes adapted to the outer contour of the guide rods, each of the guide rods is used to pass through different guide holes; The guide rod clamping portion has at least two locking portions, the at least two locking portions are arranged at intervals along the first direction, and the locking directions of the locking portions are the same. The locking device according to claim 6, characterized in that, the locking device comprises one elastic part, one end of the elastic part is connected to the guide rod holding part, and the other end is connected to the guide part. The locking device according to claim 4, characterized in that, the locking device comprises two guide rod clamping parts, each of the guide rod clamping parts comprises a guide rod, and the two guide rod clamping parts The axes of the guide rods of the holding part are parallel or coincident; the state adjustment device has two second conversion parts, and the two second conversion parts are respectively connected with the first conversion of the two guide rod clamping parts. Each of the guide rod clamping parts has at least one locking part, and the locking directions of the locking parts of the two guide rod clamping parts are opposite. The locking device according to claim 8, characterized in that, the locking device comprises two elastic parts, one ends of the two elastic parts are respectively connected with the two guide rod clamping parts, and the two The other ends of the elastic parts are respectively connected with the guide parts. The locking device according to claim 8, characterized in that, the locking device comprises one elastic part, and two ends of the elastic part are respectively connected to two locking parts of the guide rod. The locking device according to claim 1, further comprising an adjustment guide seat; The adjustment guide seat has an adjustment guide groove opened along the second direction, the state adjustment device has an adjustment limit rod extending along the second direction, the adjustment limit rod passes through the adjustment guide groove, and is The adjustment guide groove restricts radial movement along the second direction. The locking device according to claim 11, wherein the state adjustment device has a pressing surface, the pressing surface is connected to one end of the adjustment limit rod, and the adjustment limit rod is far away from the end of the pressing surface. One end has an adjustment limit hook, and the adjustment limit hook is used to abut against the adjustment guide seat to limit the movement of the state adjustment device toward the pressing surface. The locking device according to claim 12, wherein the adjustment limit rod has elasticity in the radial direction, and the adjustment limit rod is integrally formed with the adjustment limit hook. A surgical instrument, characterized by comprising: a first base plate and at least two locking devices according to any one of claims 1-13; At least two of the locking devices are disposed on the first base plate at intervals, and the surgical instrument is used to realize locking or unlocking of the corresponding sterile plate assembly through the at least two of the locking devices. The surgical instrument according to claim 14, wherein the first base plate has a first clamping portion guide groove extending along the first direction; the locking part passes through the first clamping part guide groove, and is limited by the first clamping part guide groove to move radially along the first direction of the locking device in the extending direction of the first base plate. The surgical instrument according to claim 14, wherein the first base plate has a first power transmission hole through which the power transmission member passes. The surgical instrument according to claim 14, wherein the first base plate is parallel to the axis of the guide rod holding portion of the locking device. A sterile plate assembly, characterized in that it comprises: a second substrate; The second substrate is used for abutting connection with the first substrate of the surgical instrument according to any one of claims 14-17; The second base plate has a first locking platform, and the first locking platform is used for locking with the locking part of the locking device of the surgical instrument, so that the surgical instrument and the sterile plate assembly are locked. The aseptic plate assembly according to claim 18, wherein the second base plate has a second clamping portion guide groove, and the second clamping portion guide groove is used for accommodating the locking portion of the surgical instrument , the guide groove of the second locking part extends along the first direction of the locking device of the surgical instrument, and is used to limit the locking part of the surgical instrument along the extending direction of the second base plate along the direction of the surgical instrument The radial movement of the locking device in the first direction. The aseptic plate assembly according to claim 18, wherein one of the first locking table and the locking portion of the surgical instrument has a guiding slope, and the first locking table is used to pass through the guiding slope to The locking portion exerts a force in a direction opposite to the locking direction. The sterile plate assembly according to claim 18, characterized in that, the sterile plate assembly comprises a third base plate and at least two locking devices according to any one of claims 1-13; the third The substrate is detachably connected to the second substrate; at least two of the locking devices are arranged at intervals on the third substrate, and the sterile plate assembly is used to communicate with the at least two of the locking devices by itself. The corresponding power box realizes locking or unlocking. The aseptic plate assembly according to claim 21, characterized in that, the third base plate has a third clamping portion guide groove penetrating through, and the third clamping portion guide groove is locked along the aseptic plate assembly. The first direction of the device extends; the locking part of the sterile plate assembly passes through the guide groove of the third clamping part, and is restricted by the guide groove of the third clamping part in the extending direction of the third substrate radial movement along the first direction of the locking device. The aseptic plate assembly according to claim 21, wherein the second base plate is parallel to the third base plate, and the second base plate is held by the guide rod of the locking device of the aseptic plate assembly Axes parallel to each other. The aseptic plate assembly according to claim 21, wherein the second base plate has a through second power transmission hole, the third base plate has a through third power transmission hole, and the second power transmission The hole corresponds to the third power transmission hole and is used to correspond to the first power transmission hole of the first base plate; the second power transmission hole and the third power transmission hole are used to supply the power transmission member through. A power box, characterized in that it is used to assemble and connect with the sterile plate assembly according to any one of claims 21-24; the power box includes: a fourth base plate; The third substrate of the sterile plate assembly is connected against; The fourth base plate has a second locking platform, and the second locking platform is used to lock with the locking part of the locking device of the sterile plate assembly, so that the sterile plate assembly and the power box can realize locking. The power box according to claim 25, wherein the fourth base plate has a guide groove for a fourth clamping portion, and the guide groove for the fourth clamping portion is used for accommodating the locking portion of the sterile plate assembly , the guide groove of the fourth clamping portion extends along the first direction of the locking device of the aseptic plate assembly, and is used to limit the locking portion to move along the direction of extension of the fourth base plate along the aseptic plate assembly The radial movement of the locking device in the first direction. The power box according to claim 25, wherein the fourth base plate has a fourth power transmission hole through it, and the fourth power transmission hole is used to communicate with the third power transmission hole of the third base plate. Correspondingly, it is used for power transmission parts to pass through. The power box according to claim 27, wherein the power box further comprises a drive assembly and a power transmission member, the drive assembly is coupled to the power transmission member, and the power transmission member is used to pass through the Describe the fourth power transmission hole. A surgical robot system, characterized by comprising a robotic arm, the surgical instrument according to any one of claims 14-17, the sterile plate assembly according to any one of claims 21-24, and the The power box described in any one of claims 25-28; the surgical instrument, the sterile plate assembly, and the power box are detachably connected to each other and connected to the mechanical arm.

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