CN117359652A - Surgical robot joining device and joining method - Google Patents

Abstract

The invention provides a surgical robot joint device and a joint method, comprising a joint part, an instrument part and a driving part which are arranged on two opposite sides of the joint part, and a first joint part, a second joint part, a third joint part and a fourth joint part, wherein the first joint part and the second joint part are respectively arranged at the upper end and the lower end of a first joint disc on the joint part; the third butt joint part is arranged on the second switching disc on the driving part, and the fourth butt joint part is arranged on the third switching disc on the instrument part; the third butting part and the second butting part are matched and locked to realize the preset butting of the second adapter plate and the first adapter plate; the fourth butting part is matched and locked with the first butting part to realize the preset butting of the third adapter plate and the first adapter plate; the invention improves the joint efficiency and reliability of the second transfer disc and the first transfer disc through the matching locking of the third butt joint part and the second butt joint part and the matching locking of the fourth butt joint part and the first butt joint part.

Description

Surgical robot joining device and joining method

Technical Field

The invention relates to the technical field of medical equipment, in particular to a surgical robot joint device and a joint method.

Background

With the development of science and technology, the medical operation robot changes the operation pattern, has the characteristics of high flexibility, accuracy, stable operation and the like, and is gradually accepted by surgeons. The surgical instrument is an important component part of the surgical robot and is also an end execution part, and the performance of the surgical instrument plays a vital role on the quality of the surgical effect, so the surgical instrument with high flexibility and stable and reliable performance becomes a research direction in recent years.

The instruments used in the operation are of a plurality of types, and the instruments are generally required to be quickly connected and replaced with a medical robot, so that the effective transmission of power is ensured, and various operation operations are smoothly performed. The medical robot is not suitable for conventional sterilization operation due to factors such as size, cost and component performance, so that a disposable sterile adapter plate is additionally arranged between the medical robot and the medical robot (power box), power transmission and sterile isolation from the medical robot to the medical robot are realized, an instrument adapter plate is arranged on the instrument, a power box adapter plate is arranged on the power box, a sterile adapter plate is arranged on the sterile adapter plate, and the sterile adapter plate and the medical robot are required to be matched and jointed when being installed, but due to the fact that the number of the adapter plates is large, the control process is complex, high efficiency of the jointing process is not facilitated, and the jointing reliability is not facilitated.

Disclosure of Invention

The invention aims to provide a surgical robot joint device and a joint method, which are used for improving the joint efficiency and reliability of a second joint disc and a first joint disc through matching locking of a third joint part and a second joint part and matching locking of a fourth joint part and a first joint part.

In order to achieve the above object, the present invention provides a surgical robot joint device comprising a joint portion, an instrument portion and a driving portion provided on opposite sides of the joint portion, and first, second, third and fourth docking portions, wherein:

the first butt joint part and the second butt joint part are respectively arranged at the upper end and the lower end of the first transfer disc on the joint part; the third butting part is arranged on the second rotating disc on the driving part and faces the second butting part, and the fourth butting part is arranged on the third rotating disc on the instrument part and faces the first butting part;

after the joint part is installed with the driving part, the second transfer disc is driven to rotate relative to the first transfer disc, so that the preset butt joint of the second transfer disc and the first transfer disc is realized through the matching locking of the third butt joint part and the second butt joint part; after the joint part and the instrument part are installed, the second transfer disc is driven to rotate relative to the third transfer disc along with the first transfer disc, so that the third transfer disc and the first transfer disc are in preset butt joint through the matching locking of the fourth butt joint part and the first butt joint part. The beneficial effects of the invention are as follows: the third butting part and the second butting part are matched and locked, so that the second turntable and the first turntable are in preset butting; the fourth butting part is matched and locked with the first butting part, so that the preset butting of the third turntable and the first turntable is realized, and the joint efficiency and reliability of the joint part, the instrument part and the driving part can be improved. The first butt joint part and the second butt joint part are respectively arranged at the upper end and the lower end of the first transfer disc on the joint part; the third butt joint portion is arranged on the second rotating disc on the driving portion and faces to the second butt joint portion, the fourth butt joint portion is arranged on the third rotating disc on the instrument portion and faces to the first butt joint portion, and the first butt joint portion, the second butt joint portion, the third butt joint portion and the fourth butt joint portion are arranged among the joint portion, the instrument portion and the driving portion, so that the advantages of combination of the existing instrument are reserved, the installation obstruction force is small, the device is light, and the overall size is small.

Optionally, the joint portion includes a first isolation board and a second isolation board that are connected, and a mounting hole that penetrates through the first isolation board and the second isolation board along an axial direction, wherein the second isolation board is disposed near the driving portion.

Optionally, the first transfer dish includes upper plate, lower fishplate bar, and locates upper plate bar with between the fishplate bar down, and be used for upper plate bar with the spliced pole that lower fishplate bar is connected, wherein:

the connecting column is movably arranged in the mounting hole, the upper connecting plate is connected with the first butt joint part, the lower connecting plate is connected with the second butt joint part, and the upper connecting plate and the lower connecting plate are respectively arranged on the upper side and the lower side of the joint part.

Optionally, the upper end face of the first adapter plate is provided with a first magnet, the second isolation plate is provided with a second magnet, and the polarities of one side, close to each other, of the second magnet and the first magnet are the same.

Optionally, the first and second delay parts are further provided between the second isolation plate and the lower plate, wherein:

the first delay part is arranged on the second isolation plate, the second delay part is arranged on the lower connection plate, and the first delay part and the second delay part can be arranged in a staggered mode, so that when the second transfer plate rotates, the second transfer plate rotates relative to the first transfer plate through the blocking of the first delay part to the second delay part.

Optionally, the third butt joint portion and/or the second butt joint portion is provided with a first chamfer portion.

Optionally, a second chamfer is provided on the fourth abutting portion and/or the first abutting portion.

Optionally, the apparatus portion includes an apparatus box, an apparatus head, and an apparatus rod disposed between the apparatus box and the apparatus head and used for connecting the apparatus box and the apparatus head, and further includes a first rotating shaft, a first gear, a second gear, and a second rotating shaft, wherein:

the first rotating shaft is movably arranged on the bottom plate of the instrument box, and the first rotating shaft is arranged in the middle of the third rotating disc;

the second rotating shaft is rotatably arranged on the bottom plate of the instrument box, and a through hole for installing the instrument rod is formed in the second rotating shaft;

the first gear and the second gear are meshed with each other, and the first gear and the second gear are sleeved on the first rotating shaft and the second rotating shaft respectively.

Optionally, the device further comprises a zero position adjusting part, configured to be in a zero position state when the third adapter plate is not stressed, wherein:

the zero position adjusting part comprises an arc-shaped base arranged in the instrument box, wherein the arc-shaped base is provided with a mounting groove, a notch and a first elastic piece arranged in the mounting groove; the gear further comprises a collision piece arranged on the first gear, and the collision piece is arranged on the notch.

Optionally, the device further comprises a sleeve, wherein the sleeve is connected with the device box, and the device rod and the device head penetrate into the sleeve.

Optionally, the second switching dish includes first disk body and second disk body, and locates between the first disk body with the second disk body, and be used for the first disk body with the second elastic component that the second disk body is connected, wherein:

when the first disc body is stressed, the first disc body moves along the axial direction close to the second disc body under the guide of the second elastic piece.

Optionally, the device further comprises at least two first locking pieces arranged on the lower end face of the joint part, at least two second locking pieces arranged on the upper end face of the joint part, at least two third locking pieces arranged on the upper end face of the driving part and at least two fourth locking pieces arranged on the lower end face of the device part, wherein:

when the joint part and the driving part are installed, the two opposite first locking pieces move to the outer sides of the two opposite third locking pieces so as to realize the locking of the joint part and the driving part; when the joint part and the instrument part are installed, the two opposite second locking pieces move to the inner sides of the two opposite fourth locking pieces so as to lock the joint part and the instrument part.

In order to achieve the above object, the present invention also provides a surgical robot joining method, which uses the surgical robot joining apparatus to join, comprising the steps of:

s1, after the joint part and the driving part are installed, the second switching disc is driven to rotate relative to the first switching disc, so that the preset joint of the second switching disc and the first switching disc is realized when the third butt joint part and the second butt joint part are matched and locked;

s2, after the second transfer disc is connected with the first transfer disc, driving the second transfer disc to reset along with the first transfer disc;

and S3, after the joint part and the instrument part are installed, the second transfer disc is driven to rotate relative to the third transfer disc with the first transfer disc, so that the third transfer disc is jointed with the first transfer disc when the fourth butt joint part and the first butt joint part are locked in a matching way, and the zero positions of the first transfer disc and the second transfer disc are locked through the zero position of the third transfer disc.

The surgical robot joining method has the beneficial effects that: when the joint part is jointed with the instrument part or the joint part is jointed with the driving part, the method can achieve the effect of full automatic adjustment, and simultaneously can achieve the characteristics of high efficiency and reliability in the adjustment process.

Optionally, the zero adjustment of the third adapter disc in S3 includes the following steps:

s31, resetting one end of the first elastic piece compressed by the abutting piece can push the abutting piece to move inwards of the notch;

s32, when the abutting piece moving into the notch is abutted by the two ends of the first elastic piece to be stationary, zero adjustment of the third switching disc is achieved through the first gear and the first rotating shaft;

s33, the instrument head is assembled into the sleeve, and zero locking of the third adapter plate can be achieved through limiting of the inner pipe wall of the sleeve on the instrument head.

Drawings

FIG. 1 is a schematic view of the explosive structure of the joint, instrument and drive portions of the present invention;

FIG. 2 is a schematic view of the interface, instrument and drive portions of the present invention;

FIG. 3 is a schematic view of a first adapter plate according to the present invention;

FIG. 4 is a schematic view of an exploded structure of a first adapter plate, a second adapter plate, and a third adapter plate according to the present invention;

FIG. 5 is a schematic diagram showing an assembled structure of a first adapter plate, a second adapter plate, and a third adapter plate according to the present invention;

FIG. 6 is a schematic view of the bottom structure of the instrument portion of the present invention;

FIG. 7 is a schematic axial view of a joint according to the present invention;

FIG. 8 is a schematic view of the structure of the present invention in which two asymmetric grooves are butted with two asymmetric protrusions;

FIG. 9 is a schematic bottom view of a second spacer according to the present invention;

FIG. 10 is a schematic view of a structure in which a first chamfer portion or a second chamfer portion is provided on a protrusion according to the present invention;

FIG. 11 is a schematic view of the structure of the instrument portion of the present invention;

FIG. 12 is a schematic view of the internal structure of the cartridge of the present invention;

FIG. 13 is a schematic bottom view of the zero adjuster of the present invention;

FIG. 14 is a schematic view of a first gear with a contact member thereon according to the present invention;

FIG. 15 is a schematic elevational view of the instrument head of the present invention in a cannula;

FIG. 16 is a schematic view of the left-hand structure of FIG. 15 in accordance with the present invention;

FIG. 17 is a schematic view of the pitch angle of the instrument head within the cannula according to the present invention;

FIG. 18 is a schematic view of the yaw angle of the instrument head within the sleeve of the present invention;

fig. 19 is a system diagram of a surgical robot joining method in accordance with the present invention.

Reference numerals

1. A joint; 101. a first transfer plate; 1011. an upper connecting plate; 1012. a lower connecting plate; 1013. a connecting column; 102. a first partition plate; 103. a second partition plate;

2. an instrument part; 201. a third switching disc; 202. an instrument box; 203. an instrument head; 204. an instrument bar; 205. a first rotating shaft; 206. a first gear; 207. a second gear; 208. a second rotating shaft; 209. a through hole; 3. a driving section; 301. a second transfer plate; 3011. a first tray; 3012. a second tray body; 3013. a second elastic member; 302. a driving motor;

4. A first butt joint part;

5. a second butt joint part;

6. a third butt joint part;

7. a fourth butt joint part;

8. a first delay section;

9. a second delay section;

10. a first chamfer portion;

11. a second chamfer portion;

12. a zero position adjusting part; 121. an arc-shaped base; 122. a mounting groove; 123. a notch; 124. a first elastic member; 125. a contact member;

13. a sleeve;

14. a first locking member;

15. and a second locking member.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the word, and equivalents thereof may be found in the elements or items listed thereafter without excluding other elements or items.

In view of the problems with the prior art, embodiments of the present invention provide a surgical robotic engagement device. The surgical robot joint device can improve the joint efficiency and reliability of the second joint plate 301 and the first joint plate 101 and the third joint plate 201 and the first joint plate 101 by matching and locking the third joint part 6 and the second joint part 5 and matching and locking the fourth joint part 7 and the first joint part 4.

In one embodiment, as shown in fig. 1 and 2, the surgical robot engaging device includes an engaging portion 1 (may be understood as a sterile isolation plate), an aseptic cover (not shown) is provided outside the engaging portion 1, instrument portions 2 (may be understood as surgical instruments) and driving portions 3 (may be understood as power boxes) provided at opposite sides of the engaging portion 1, and first, second, third and fourth docking portions 4, 5, 6 and 7, wherein: the first abutting portion 4 and the second abutting portion 5 are respectively provided at the upper and lower ends of the first turntable 101 on the joint portion 1 (it can be understood that the axial direction of the first turntable 101 is in a vertical state), as shown in fig. 3; the third docking portion 6 is provided on the second turntable 301 on the driving portion 3 and faces the second docking portion 5 (which may be understood as being provided on the upper end surface of the second turntable 301), as shown in fig. 4 and 5; the fourth docking portion 7 is provided on the third tray 201 on the instrument portion 2 and faces the first docking portion 4 (which may be understood as being provided on the lower end surface of the third tray 201), as shown in fig. 6 in combination with fig. 3; after the joint part 1 is installed with the driving part 3, the second turntable 301 is driven to rotate relative to the first turntable 101, so that the second turntable 301 and the first turntable 101 are in preset butt joint through the matching locking of the third butt joint part 6 and the second butt joint part 5, and the preset butt joint can be understood as butt joint at any position in the circumferential direction, preferably zero butt joint; the driving of the second turntable 301 may be intelligently controlled, specifically, an inductor (not shown) is disposed in the driving portion 3, the inductor is electrically connected with an external processor (not shown), and when the inductor collects the mounting signals of the joint portion 1 and the driving portion 3 and transmits the mounting signals to the processor, the processor controls the driving motor 302 in the driving portion 3 to rotate with the second turntable 301, and in other examples, the rotation of the second turntable 301 may also be manually controlled; after the joint part 1 is mounted on the instrument part 2, the second turntable 301 is driven to rotate relative to the third turntable 201 with the first turntable 101, so that the fourth docking part 7 is matched and locked with the first docking part 4, and the third turntable 201 is docked with the first turntable 101 in a preset manner, the preset docking can be understood as zero docking, and the driving rotation of the second turntable 301 is consistent with the above description and is not repeated here.

In one embodiment, as shown in fig. 7 and in combination with fig. 1, the joint portion 1 includes a first isolation plate 102 and a second isolation plate 103 that are connected, and a mounting hole (not numbered) that penetrates the first isolation plate 102 and the second isolation plate 103 along an axial direction, wherein the second isolation plate 103 is disposed near the driving portion 3. The first adapter plate 101 is movably disposed in the mounting hole, specifically, may move up and down in the mounting hole along the axial direction, and may rotate circumferentially along the central axis.

In one embodiment, the second adapter plate 301 includes a first plate 3011 and a second plate 3012, and a second elastic member 3013 disposed between the first plate 3011 and the second plate 3012 and used for connecting the first plate 3011 and the second plate 3012, wherein; when the first plate 3011 receives a force in the vertical direction, the first plate 3011 moves toward or away from the second plate 3012 in the axial direction under the guide of the second elastic member 3013, as shown in fig. 4. In this embodiment, the second elastic member 3013 may be provided with a plurality of second elastic members 3013, preferably, a plurality of second elastic members 3013 are annularly disposed about the central axis of the second turntable 301, so that the second elastic members can play a better supporting role and can play a balancing role at the same time.

In one embodiment, the second elastic member 3013 may be a second return spring, or may be a second telescopic member, which is not limited to the second return spring and the second telescopic member. The second telescopic component comprises a second telescopic rod, a second telescopic cylinder and a second telescopic spring, the second telescopic rod is movably inserted into the second telescopic cylinder, the second telescopic spring is wound outside the second telescopic rod, two ends of the second telescopic spring are respectively fixedly arranged on the side wall of the second telescopic rod and the outer side wall of the second telescopic cylinder, and the second telescopic component is arranged, so that the first disc 3011 can move relative to the second disc 3012, and on the other hand, the first disc 3011 can only move towards the second disc 3012 in a vertical direction and can be close to or far away from the second disc 3012. It should be noted that the structure of the second adapter plate 301 may also be used as an observation index for the completion of the butt joint between the first adapter plate 101 and the second adapter plate 301 or the butt joint between the first adapter plate 101 and the third adapter plate 201, so that the existing moment detection may be used as a safety limitation of the apparatus, rather than an identification signal of the apparatus joint, so that under the condition of ensuring the joint efficiency and reliability, frequent pulling of the filament bundles during the joint is reduced, and protection of the apparatus filament bundles under the unexpected conditions (such as obstruction, jamming, over-range motion, etc.) is realized.

Specifically, when the docking of the first docking plate 101 with the second docking plate 301 is completed, the second elastic member 3013 is at the first compressed height; when the first transfer board 101 and the second transfer board 301 are not in butt joint, the second elastic piece 3013 is at a second compressed height, so that the heights of the second transfer board 301 in two cases are different, and whether the connection is completed can be judged through comparing and observing the first compressed height and the second compressed height. Specifically, when the first adapter plate 101 and the second adapter plate 301 are not in butt joint, the instrument portion 2 and the joint portion 1 cannot be clamped and fixed, and in this state, the combination of the instrument portion 2 and the joint portion 1 has a first height in the vertical direction, and when the instrument portion 2 and the joint portion 1 are in butt joint and are in clamp fixation, the first height and the second height are different, so that whether the joint is completed or not can be judged by the heights of the instrument portion 2 and the joint portion 1.

In one embodiment, the first docking portion 4, the second docking portion 5, the third docking portion 6 and the fourth docking portion 7 may be protrusions or recesses, but are not limited to the protrusions or recesses in other examples; specifically, when the second abutting portion 5 is a groove, the third abutting portion 6 is a protrusion, so arranged as to realize a locking process when the protrusion enters into the groove; when the first abutting portion 4 is a protrusion, the fourth abutting portion 7 is a groove, and the function of the fourth abutting portion is consistent with that of the first abutting portion, and will not be described herein.

In one embodiment, when the first docking portion 4, the second docking portion 5, the third docking portion 6, or the fourth docking portion 7 are protrusions, M protrusions are provided on each of the upper and lower ends of the first transfer tray 101, the second transfer tray 301, or the third transfer tray 201, M is a positive integer greater than 1, in one example, the number of protrusions may be set to an even number, and two opposite protrusions are symmetrically provided about the central axis; for example, in the example of fig. 3, two of the protrusions are provided on the upper end of the first adapter plate 101, and the two protrusions are symmetrically provided with respect to the central axis of the first adapter plate 101, which can improve the joining efficiency. Of course, in other examples, two of the projections may be provided asymmetrically with respect to the central axis of the first adapter disk 101, as shown in fig. 8. It is to be understood that the number of the protrusions may also be arranged in an odd number, for example three, and that the three protrusions may be arranged in an annular shape, preferably in an equidistant annular shape.

In one embodiment, when the first docking portion 4, the second docking portion 5, the third docking portion 6, or the fourth docking portion 7 are grooves, in one example, the number of grooves provided on the upper and lower ends of the first tray 101, the second tray 301, or the third tray 201 is consistent with the number of protrusions provided on the upper and lower ends of the first tray 101, the second tray 301, or the third tray 201, so as to improve the coupling efficiency and reliability when coupling. Specifically, in the example of fig. 6, two grooves are provided on the lower end surface of the third adapter plate 201, and two protrusions are preferably provided on the corresponding upper end surface of the first adapter plate 101, where it is noted that the two grooves are not symmetrical with respect to the central axis of the third adapter plate 201, and one of the grooves is a circular groove and the other is a kidney-shaped groove; of course, in other embodiments, both the grooves may be circular grooves or kidney grooves, or may be symmetrically disposed about the central axis of the third adapter plate 201, which is not limited to the circular grooves and the kidney grooves.

In order to make the following description clearer, the first abutting portion 4 and the second abutting portion 5 are both protrusions, and the third abutting portion 6 and the fourth abutting portion 7 are both grooves. When the lower end of the first tray 101 is engaged with the second tray 301 or the upper end of the first tray 101 is engaged with the third tray 201, the following embodiments are provided, specifically:

in one embodiment, two of the grooves symmetrical about the central axis interface with two of the protrusions symmetrical about the central axis; in a process that the third turntable 201 approaches the first turntable 101 downwards or the second turntable 301 approaches the first turntable 101 upwards, in one case, the protrusion faces the groove, and at this time, the protrusion directly enters the groove, so that the third turntable 201 and the first turntable 101 or the second turntable 301 and the first turntable 101 are engaged, and the second elastic member 3013 is not compressed; in another case, the protrusion is not right opposite to the groove, at this time, the second rotating disc 301 rotates to seek the position relative to the first rotating disc 101, or the second rotating disc 301 rotates to seek the position relative to the third rotating disc 201 with the first rotating disc 101, when the protrusion is moved to be right opposite to the groove, the engaging process is implemented, and when the protrusion is not in butt joint with the groove, because the protrusion is abutted against the surface of the rotating disc, the protrusion does not enter the groove, and therefore, under the action of the interference force, the first disc 3011 is made to be close to the second disc 3012 downwards, so that the second elastic member 3013 is compressed, and when the protrusion is right opposite to the groove along with the rotation of the second rotating disc, the second elastic member 3013 resets to push the protrusion into the groove, so as to implement the engaging process.

In one embodiment, the case when the two grooves symmetrical about the central axis and the two protrusions asymmetrical about the central axis are butted, or the case when the two grooves asymmetrical about the central axis and the two protrusions symmetrical about the central axis are butted, is identical to the case when the two grooves symmetrical about the central axis and the two protrusions symmetrical about the central axis are butted, and a detailed description thereof is omitted herein.

In one embodiment, the situation when the two grooves asymmetric about the central axis and the two protrusions asymmetric about the central axis are butted is identical to the situation when the two protrusions symmetric about the central axis and the two grooves symmetric about the central axis are butted, and the description thereof will be omitted. It should be noted that, in the case where two grooves asymmetric about the central axis are butted with two protrusions asymmetric about the central axis, when the grooves and the protrusions are dislocated, only one opposite position is located between the grooves and the protrusions during the locating rotation, as shown in fig. 8. It should be noted that the arrangement of this embodiment is applicable to the mounting and docking of the engaging portion 1 with the instrument portion 2, and may also be used for the mounting and docking of the engaging portion 1 with the driving portion 3.

In one embodiment, the first adapter plate 101 includes an upper plate 1011, a lower plate 1012, and a connection post 1013 provided between the upper plate 1011 and the lower plate 1012 for connecting the upper plate 1011 and the lower plate 1012, as shown in fig. 3, wherein:

the connecting posts 1013 are movably disposed in the mounting holes, the upper end surface of the upper connecting plate 1011 is connected with the first abutting portion 4, the lower end surface of the lower connecting plate 1012 is connected with the second abutting portion 5, the upper connecting plate 1011 and the lower connecting plate 1012 are respectively disposed on the upper and lower sides of the joint portion 1, as shown in fig. 3 and in combination with fig. 1, in this example, the diameters of the upper connecting plate 1011 and the lower connecting plate 1012 are both larger than the diameter of the connecting posts 1013 and the aperture of the mounting holes, so that the arrangement can play a limiting role, and the first connecting plate 101 is ensured not to fall off from the joint portion 1.

In one embodiment, the surgical robotic engagement device further comprises a first delay portion 8 and a second delay portion 9 disposed between the second spacer plate 103 and the lower plate 1012, wherein: the first delay part 8 is disposed on the lower end surface of the second isolation plate 103, as shown in fig. 9, the second delay part 9 is disposed on the upper end surface of the lower connection plate 1012, as shown in fig. 3, the first delay part 8 and the second delay part 9 may be disposed in a dislocation manner, so that when the second turntable 301 rotates, the second turntable 301 rotates relative to the first turntable 101 due to the blocking of the first delay part 8 to the second delay part 9. In this embodiment, the first delay part 8 may be a triangle, and the tip of the triangle is disposed away from the second partition 103, but is not limited to the triangle; the second delay part 9 may be a protrusion, as shown in fig. 3, but is not limited to the protrusion. The provision of the first and second delay parts 8 and 9 can improve the joining efficiency and reliability. Of course, in other embodiments, the roughness of the lower surface of the second spacer plate 103 and the roughness of the upper surface of the lower plate 1012 may be increased, so that the same effect as the first and second deferral portions 8 and 9 is achieved by increasing the friction between the second spacer plate 103 and the lower plate 1012 when the second spacer plate 103 contacts the lower plate 1012.

When the protrusion is opposite to the groove during the butt joint, the lower end of the first delay part 8 is located above the upper end of the second delay part 9, and at this time, the second turntable 301 carries the first turntable 101 to rotate, so that the second turntable is not affected by the second isolation plate 103. When the protrusion is not opposite to the groove, under the action of the interference, on one hand, the first disc 3011 moves downward to be close to the second disc 3012, the second elastic member 3013 is compressed, on the other hand, the lower plate 1012 is interfered to move upward relative to the joint portion 1, at this time, the lower end of the first delay portion 8 and the upper end of the second delay portion 9 are dislocated in the same horizontal direction, so that during the synchronous rotation of the second rotating disc 301 with the first rotating disc 101, the rotation speed of the first rotating disc 101 relative to the joint portion 1 is lower than the rotation speed of the second rotating disc 301 due to the interference of the second delay portion 9 on the first delay portion 8, and at this time, the second rotating disc 301 rotates relative to the first rotating disc 101, so that the protrusion rotates in a locating manner relative to the groove; when the protrusion moves to be aligned with the groove, the second elastic member 3013 pushes the first disc 3011 to reset upwards, and pushes the protrusion to enter the groove, so that the second elastic member 3013 resets, and it should be noted that during this process, the second elastic member 3013 does not reset to a natural state.

When the first rotating disc 101 is abutted with the second rotating disc 301, the position of the first rotating disc 101 which is abutted against and moves upwards is not reset, so that the lower end of the first delaying portion 8 and the upper end of the second delaying portion 9 are still kept to be misplaced in the same horizontal direction, when the second rotating disc 301 is reset with the first rotating disc 101, friction exists between the first delaying portion 8 and the second delaying portion 9, so that multiple friction can cause abrasion of equipment, in order to solve the problem, in one example, a first magnet is arranged on the upper end face of the first rotating disc 101, a second magnet is arranged on the second isolating plate 103, the polarity of one side of the second magnet and the polarity of one side of the first magnet which are close to each other are the same, namely, the polarity of the second magnet and the first magnet, specifically, when the first rotating disc 101 and the second rotating disc 301 are abutted, the second magnet and the first rotating disc 101 are in a complete abutting state, the repulsive force of the second magnet and the first rotating disc 101 is reset, and the repulsive force of the second magnet is not influenced by the first rotating disc 101, and the repulsive force of the second rotating disc 101 is located on the side of the rotating disc 101. Of course, in other examples, the first tray 101 is reset downwards and returns to the state that the lower end of the first delay part 8 is located above the upper end of the second delay part 9, and is not limited to the interaction of the second magnet and the first magnet, for example, in one example, the combination of the second magnet and the first magnet is not included, and the reset of the first tray 101 downwards may be achieved by the interference of the third tray 201 when the instrument part 2 is docked with the joint part 1.

In one embodiment, the third butt joint part 6 and/or the second butt joint part 5 is provided with a first chamfer part 10; the fourth abutting portion 7 and/or the first abutting portion 4 is provided with a second chamfering portion 11, as shown in fig. 3. The arrangement of the first chamfer portion 10 and the second chamfer portion 11 ensures that effective engagement can be performed mechanically during installation, and greatly improves the efficiency and reliability of engagement during the positioning rotation of the first adapter plate 101, the second adapter plate 301 and the third adapter plate 201; meanwhile, the range of the locating rotation process can be reduced, and the safety during the connection is improved. Through the arrangement of the first chamfer portion 10 and the second chamfer portion 11, the protrusion and the groove can be in position-finding engagement without being completely right opposite, and the effect of position-supplementing is achieved, so that the engagement efficiency and reliability are further improved. Specifically, as shown in fig. 10 in combination with fig. 8, the angle is γ1 when the protrusion first reaches the engagement zone and γ2 when the protrusion second reaches the engagement zone, wherein γ2 > γ1 (specific γ1 and γ2 angles are determined according to the design engagement feature, such as, but not limited to, 20 °). I.e. when the instrument is in positioning engagement with the sterile barrier, the projection may slide directly into the recess for docking when the projection differs by γ2 from the zero position of the third adapter plate 201. If gamma 2 is more than gamma 1 and more than or equal to f (a & b), the instrument part 2 can be directly jointed with the joint part 1 without locating joint, thereby reducing the angle precision requirement of joint and improving the reliability and efficiency of butt joint; meanwhile, the machining precision is not required to be precisely controlled during machining, so that the machining difficulty can be reduced. If locating engagement is added, the reliability of the butt joint can be further improved. Where f (a & b) is an angle converted to the third dial 201 according to a reduction ratio or the like.

In one embodiment, the first chamfer portion 10 and the second chamfer portion 11 may each be a trumpet-shaped groove provided at an end of the protrusion or an opening of the groove. In an example, the first chamfer portion 10 and the second chamfer portion 11 may have a size of 1-2mm, so that the first abutting portion 4 or the fourth abutting portion 7 may be more gently entered into the second abutting portion 5 or the third abutting portion 6 by reducing the angle of the first chamfer portion 10 and the second chamfer portion 11, thereby improving abutting efficiency.

In one embodiment, the instrument part 2 includes an instrument box 202, an instrument head 203, and an instrument bar 204 disposed between the instrument box 202 and the instrument head 203 and used for connecting the instrument box 202 and the instrument head 203, as shown in fig. 11, and further includes a first rotating shaft 205, a first gear 206, a second gear 207, and a second rotating shaft 208, as shown in fig. 12, wherein: the first rotating shaft 205 is movably arranged on the bottom plate of the instrument box 202, and the first rotating shaft 205 is arranged in the middle of the third rotating disc 201; the second rotating shaft 208 is rotatably arranged on the bottom plate of the instrument box 202, and a through hole 209 for installing the instrument rod 204 is arranged on the second rotating shaft 208; the first gear 206 and the second gear 207 are meshed with each other, and the first gear 206 and the second gear 207 are respectively sleeved on the first rotating shaft 205 and the second rotating shaft 208.

In one embodiment, as shown in fig. 14 and 13 in combination with fig. 12 and 11, the surgical robotic engagement device further comprises a zero adjustment 12 for being in a zero state when the third hub 201 is unstressed, wherein: the zero position adjusting portion 12 includes an arc-shaped base 121 disposed inside the instrument box 202, the arc-shaped base 121 is provided with a mounting groove 122, and the arc-shaped base 121 is provided with a notch 123, and a first elastic member 124 (which may be understood as a first return spring or a first telescopic member, which has a similar structure to that of a second telescopic member, and is not described herein, but is not limited to the first return spring or the first telescopic member); the first gear 206 further includes a contact member 125 (which may be understood as an arc block, but is not limited to the arc block), and the contact member 125 is disposed in the notch 123.

The zero position adjusting part 12 is arranged to enable the third adapter plate 201 to be always in a zero position, so that when the third adapter plate 201 is engaged with the first adapter plate 101, the third adapter plate 201 can be rotated at a small angle near the zero position to realize quick butt joint of engagement features. The zero position adjusting part 12 has reasonable structural design, and can achieve the effect of high zero resetting precision, specifically, the third rotating disc 201 moves to the outside of the notch 123 through the first rotating shaft 205 with the abutting piece 125, and after the first elastic piece 124 is compressed, the third rotating disc 201 is in a zero position state when the abutting piece 125 is still in the notch 123 along with the elastic acting force of the first elastic piece 124 is pushed to return to the notch 123 after the acting force is lost on the third rotating disc 201, and along with the contact of both ends of the first elastic piece 124 with the abutting piece 125. Since the first gear 206 is meshed with the second gear 207, the instrument rod 204 and the instrument head 203 are also in the zero state by the second gear 207 in the state in which the first gear 206 is in the zero state.

In one embodiment, the surgical robotic engagement device further includes a cannula 13, the cannula 13 being coupled to the instrument cartridge 202, the instrument stem 204 and the instrument head 203 penetrating into the cannula 13, as shown in fig. 15 and 16. After insertion of the tool head 203 into the cannula 13, both pitch and yaw movements of the tool head 203 may be limited, specifically, pitch of the tool head 203 may be limited to a range of motion at an angle + -a, as shown in fig. 17, and yaw of the tool head 203 may be limited to a range of motion at an angle + -b, as shown in fig. 18. The pitch and yaw angles may vary from instrument to instrument, generally ranging from 5 ° to 20 °. When the docking is performed, the driving unit 3 may further set the pitch and yaw angles of the instrument after identifying the type of the instrument, for example, ±a for the pitch angle of the instrument, and± (a+Δ) for the head end angle at the time of the locating and joining may be adjusted according to the test.

In one embodiment, the surgical robot engagement device further comprises at least two first locking members 14 provided on the lower end surface of the engagement portion 1, at least two second locking members 15 provided on the upper end surface of the engagement portion 1, as shown in fig. 7, at least two third locking members (not shown) provided on the upper end surface of the driving portion 3, and at least two fourth locking members (not shown) provided on the lower end surface of the instrument portion 2, wherein: when the joint part 1 and the driving part 3 are installed, the two opposite first locking pieces 14 move to the inner sides of the two opposite third locking pieces so as to realize the locking of the joint part 1 and the driving part 3; when the joint part 1 and the instrument part 2 are mounted, the two opposite second locking pieces 15 move to the inner sides of the two opposite fourth locking pieces so as to lock the joint part 1 and the instrument part 2. In this embodiment, the first locking member 14, the second locking member 15, the third locking member and the fourth locking member are designed reasonably, and can achieve a self-locking effect when the joint portion 1 is mounted to the driving portion 3 and the joint portion 1 is mounted to the instrument portion 2.

In one embodiment, the first locking member 14, the second locking member 15, the third locking member and the fourth locking member may be a locking groove structure or a locking structure, which is not limited to the locking groove structure or the locking structure. In a specific implementation, when the first locking member 14 is in a locking groove structure, the third locking member is in a locking structure; when the second locking member 15 is in a locking structure, the fourth locking member is in a locking groove structure. The self-locking effect is realized through the cooperation of the locking structure and the locking groove structure. In one embodiment, the locking groove structure comprises a first vertical plate and a locking hole arranged on the first vertical plate; the lock catch structure comprises a second vertical plate and a lock plate which is arranged on the second vertical plate and is in a right-angle triangle structure, and when the lock catch structure is installed, the lock plate is clamped in the lock hole to lock the first vertical plate and the second vertical plate, so that the joint part 1 and the instrument part 2 or the joint part 1 and the driving part 3 are locked together.

The invention also provides a surgical robot joining method, as shown in fig. 19, which joins by using the surgical robot joining apparatus, comprising the steps of:

S1, after the joint part 1 and the driving part 3 are installed, the second rotating disc 301 is driven to rotate relative to the first rotating disc 101, so that when the third butt joint part 6 and the second butt joint part 5 are matched and locked, the second rotating disc 301 and the first rotating disc 101 are in preset joint;

s2, after the second turntable 301 is jointed with the first turntable 101, the second turntable 301 is driven to reset along with the first turntable 101;

s3, after the engaging portion 1 is mounted on the instrument portion 2, the second turntable 301 is driven to rotate relative to the third turntable 201 with the first turntable 101, so that when the fourth docking portion 7 is locked with the first docking portion 4, the third turntable 201 is engaged with the first turntable 101, and the zero positions of the first turntable 101 and the second turntable 301 are locked by the zero positions of the third turntable 201.

In one embodiment, the zero adjustment of the third turntable 201 in S3 includes the steps of:

s31, one end of the first elastic member 124 compressed by the abutting member 125 is reset to push the abutting member 125 to move into the notch 123;

s32, when the abutting piece 125 moving into the notch 123 is abutted by the two ends of the first elastic piece 124 to be stationary, zero adjustment of the third adapter plate 201 is realized through the first gear 206 and the first rotating shaft 205;

S33, the assembly of the instrument head 203 into the sleeve 13 can realize zero locking of the third adapter plate 201 through the limit of the inner pipe wall of the sleeve 13 to the instrument head 203. The invention has reasonable structural design, realizes the zero adjustment of the third turntable 201 through the zero adjustment part 12, locks the zero position of the third turntable 201 through the sleeve 13, thus realizing the zero automatic adjustment of the third turntable 201 through the cooperation of the zero adjustment part 12 and the sleeve 13, and simultaneously locking the zero position of the third turntable 201, so that the rotation angle can be reduced and the joint efficiency can be improved when the second turntable 301 carries the first turntable 101 to rotate and seek the position.

The specific flow of the method for jointing the surgical robot is as follows, firstly, a jointing part 1 is installed on a driving part 3, after the jointing part 1 is identified by an inductor in the driving part 3, each driving motor 302 in the driving part 3 starts to be driven to move and carry out locating jointing with a second switching disc 301, the rotating range A at the moment covers the limit position (generally A is less than or equal to 360 degrees) of the driving part 3, and after the movement is finished, the driving motor 302 drives the second switching disc 301 to return to a zero position; after the grooves on the second adapter plate 301 are engaged with the protrusions on the first adapter plate 101, the engagement of the engaging portion 1 with the driving portion 3 is successful. At this time, whether docking is successful can be determined by checking whether the first turntable 101 returns to the zero position on the one hand, and the second turntable 301 is high on the other hand. If the engagement portion 1 and the driving portion 3 are successfully engaged, the next step of mounting the instrument portion 2 is performed; if the coupling is not successful, the coupling part 1 and the driving part 3 are removed and reinstalled. Alternatively, if the first adapter plate 101 on the joint 1 is not checked after the joint 1 completes the locating joint operation, the instrument 2 is directly mounted, and if the instrument 2 is successfully engaged, the joint 1 and the driving part 3 are successfully engaged; if the instrument portion 2 is not successfully engaged, the engagement portion 1 and the driving portion 3 are not successfully engaged.

After the instrument portion 2 is successfully clamped with the joint portion 1, the driving portion 3 detects the installation of the instrument portion 2, starts driving the respective driving motors 302 to move and drives the first switching disc 101 to perform the positioning joint through the second switching disc 301, at this time, the rotation range B of the respective driving motors 302 is determined by referring to the angles (a, B) related before, and the spin angle is defined according to the measured self-resetting precision. When the instrument part 2 is jointed with the joint part 1, the first adapter plate 101 is in the zero position under the action of the zero position adjusting part 12, so that the rotation range B is smaller during locating joint, the movement range of the driving motor 302 is reduced, the safety of instrument tows is ensured, and the efficiency is improved. After the instrument portion 2 is successfully engaged with the engagement portion 1, whether the engagement is successful may be determined by checking the movement of the instrument shafts (e.g., checking the first rotation shaft 205 and the second rotation shaft 208).

While embodiments of the present invention have been described in detail hereinabove, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. It is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention described herein is capable of other embodiments and of being practiced or of being carried out in various ways.

Claims (14)

1. The surgical robot joint device is characterized by comprising a joint part, instrument parts and driving parts which are arranged on two opposite sides of the joint part, and a first butt joint part, a second butt joint part, a third butt joint part and a fourth butt joint part, wherein:

the first butt joint part and the second butt joint part are respectively arranged at the upper end and the lower end of the first transfer disc on the joint part; the third butting part is arranged on the second rotating disc on the driving part and faces the second butting part, and the fourth butting part is arranged on the third rotating disc on the instrument part and faces the first butting part;

after the joint part is installed with the driving part, the second transfer disc is driven to rotate relative to the first transfer disc, so that the preset butt joint of the second transfer disc and the first transfer disc is realized through the matching locking of the third butt joint part and the second butt joint part; after the joint part and the instrument part are installed, the second transfer disc is driven to rotate relative to the third transfer disc along with the first transfer disc, so that the third transfer disc and the first transfer disc are in preset butt joint through the matching locking of the fourth butt joint part and the first butt joint part.

2. The joining apparatus according to claim 1, wherein the joining portion includes a first separator and a second separator that are connected, and a mounting hole that penetrates the first separator and the second separator in an axial direction, wherein the second separator is provided near the driving portion.

3. The bonding apparatus according to claim 2, wherein the first transfer tray includes an upper plate, a lower plate, and a connection post provided between the upper plate and the lower plate and for connecting the upper plate and the lower plate, wherein:

the connecting column is movably arranged in the mounting hole, the upper connecting plate is connected with the first butt joint part, the lower connecting plate is connected with the second butt joint part, and the upper connecting plate and the lower connecting plate are respectively arranged on the upper side and the lower side of the joint part.

4. The joining apparatus according to claim 3, further comprising a first delay portion and a second delay portion provided between the second separator plate and the lower plate, wherein:

the first delay part is arranged on the second isolation plate, the second delay part is arranged on the lower connection plate, and the first delay part and the second delay part can be arranged in a staggered mode, so that when the second transfer plate rotates, the second transfer plate rotates relative to the first transfer plate through the blocking of the first delay part to the second delay part.

5. The joining apparatus according to claim 4, wherein a first magnet is provided on an upper end face of the first transfer plate, a second magnet is provided on the second partition plate, and polarities of sides of the second magnet and the first magnet which are adjacent to each other are the same.

6. The joining device according to claim 1, wherein the third butt joint and/or the second butt joint is provided with a first chamfer.

7. The joining device according to claim 1, wherein the fourth butt joint and/or the first butt joint is provided with a second chamfer.

8. The engagement device of claim 1, wherein the instrument portion comprises an instrument pod, an instrument head, and an instrument stem disposed between the instrument pod and the instrument head for connection of the instrument pod to the instrument head, further comprising a first rotational axis, a first gear, a second gear, and a second rotational axis, wherein:

the first rotating shaft is movably arranged on the bottom plate of the instrument box, and the first rotating shaft is arranged in the middle of the third rotating disc;

the second rotating shaft is rotatably arranged on the bottom plate of the instrument box, and a through hole for installing the instrument rod is formed in the second rotating shaft;

The first gear and the second gear are meshed with each other, and the first gear and the second gear are sleeved on the first rotating shaft and the second rotating shaft respectively.

9. The engagement device of claim 8, further comprising a zero adjustment for being in a zero state when the third adapter plate is unstressed, wherein:

the zero position adjusting part comprises an arc-shaped base arranged in the instrument box, wherein the arc-shaped base is provided with a mounting groove, a notch and a first elastic piece arranged in the mounting groove; the gear further comprises a collision piece arranged on the first gear, and the collision piece is arranged on the notch.

10. The engagement device of claim 8, further comprising a sleeve coupled to the instrument pod, the instrument stem and the instrument head penetrating into the sleeve.

11. The bonding apparatus according to claim 1, wherein the second adapter plate comprises a first plate and a second plate, and a second elastic member provided between the first plate and the second plate and for connecting the first plate and the second plate, wherein:

When the first disc body is stressed, the first disc body moves along the axial direction close to the second disc body under the guide of the second elastic piece.

12. The engagement device according to claim 1, further comprising at least two first locking members provided at a lower end face of the engagement portion, at least two second locking members provided at an upper end face of the engagement portion, and at least two third locking members provided at an upper end face of the driving portion and at least two fourth locking members provided at a lower end face of the instrument portion, wherein:

when the joint part and the driving part are installed, the two opposite first locking pieces move to the outer sides of the two opposite third locking pieces so as to realize the locking of the joint part and the driving part; when the joint part and the instrument part are installed, the two opposite second locking pieces move to the inner sides of the two opposite fourth locking pieces so as to lock the joint part and the instrument part.

13. A surgical robot joining method, characterized by joining with the surgical robot joining apparatus according to any one of claims 1 to 12, comprising the steps of:

S1, after the joint part and the driving part are installed, the second switching disc is driven to rotate relative to the first switching disc, so that the preset joint of the second switching disc and the first switching disc is realized when the third butt joint part and the second butt joint part are matched and locked;

s2, after the second transfer disc is connected with the first transfer disc, driving the second transfer disc to reset along with the first transfer disc;

and S3, after the joint part and the instrument part are installed, the second transfer disc is driven to rotate relative to the third transfer disc with the first transfer disc, so that the third transfer disc is jointed with the first transfer disc when the fourth butt joint part and the first butt joint part are locked in a matching way, and the zero positions of the first transfer disc and the second transfer disc are locked through the zero position of the third transfer disc.

14. The joining method according to claim 13, characterized in that the zero adjustment of the third adapter disk in S3 comprises the steps of:

s31, resetting one end of the first elastic piece compressed by the abutting piece can push the abutting piece to move inwards of the notch;

s32, when the abutting piece moving into the notch is abutted by the two ends of the first elastic piece to be stationary, zero adjustment of the third switching disc is achieved through the first gear and the first rotating shaft;

S33, the instrument head is assembled into the sleeve, and zero locking of the third adapter plate can be achieved through limiting of the inner pipe wall of the sleeve on the instrument head.