CN118319496A

CN118319496A - A surgical instrument quick-change device and a quick-change method

Info

Publication number: CN118319496A
Application number: CN202410536528.4A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Hangzhou Weijing Medical Robot Co ltd
Current assignee: Hangzhou Weijing Medical Robot Co ltd
Priority date: 2024-04-29
Filing date: 2024-04-29
Publication date: 2024-07-12
Also published as: WO2025227724A1

Abstract

The present application discloses a surgical instrument quick-change device and a quick-change method, wherein the surgical instrument quick-change device includes a drive box and an isolating member that can be snapped onto the drive box, a first adapter is elastically and telescopically provided on the drive box, and a second adapter that can be plugged into the first adapter is provided on the isolating member. In an embodiment of the present application, the above-mentioned surgical instrument quick-change device and quick-change method are adopted, the first adapter is elastically and telescopically provided on the drive box, during the installation process of the isolating member and the drive box or the instrument box, the plug-in matching state of the second adapter and the first adapter or the third adapter is reflected by the change in the telescopic state of the first adapter, and based on the telescopic change state of the first adapter, its rotation is controlled to adjust the circumferential matching position between the adapters, thereby realizing automatic alignment between the adapters, which can greatly improve the installation efficiency of the drive box and the isolating member while ensuring the transmission matching accuracy of the surgical instrument.

Description

Surgical instrument quick-change device and quick-change method

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument quick-changing device and a quick-changing method.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and the minimally invasive instrument becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.

A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and passes the input to a patient surgical platform connected to a teleoperated surgical instrument. The top of surgical instrument sets up the apparatus box, the apparatus box can dismantle with the drive box through the division board generally and is connected, surgical instrument is the consumptive material, need change after using certain number of times, be provided with the pivot in the apparatus box, set up the rolling disc that corresponds with the pivot on the division board, connect the pivot of drive box, the pivot of apparatus box respectively through the upper and lower of rolling disc, set up the motor in the drive box, the motor rotates and drives the pivot rotation in the drive box, drive division board carousel and rotate, the carousel drives the rotation of apparatus box pivot, thereby draw on the epaxial wire rope of apparatus box, the rotatory action of wire rope control instrument pincers opening and shutting.

Most of the prior surgical instruments adopt detachable connection among the driving box, the isolation board and the instrument box, and meanwhile, the driving box rotating shaft, the isolation board rotating disc and the instrument box rotating shaft are generally driven in an inserting mode, and as a plurality of rotating shafts are arranged on one instrument box, the driving box rotating shaft, the isolation board rotating disc and the instrument box rotating shaft are required to be aligned and clamped simultaneously when being connected, and for convenient clamping, the initial positions of the driving box rotating shaft, the isolation board rotating disc and the instrument box rotating shaft are regulated to the zero-point consistent positions by workers, but in the actual loading and unloading process, the condition that the driving box rotating shaft, the isolation board rotating disc and the instrument box rotating shaft are difficult to align is easily caused under the action of a matching error, so that operators need to further manually regulate the rotating shafts until alignment, and the installation efficiency is affected.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a surgical instrument quick-change device and a quick-change method which are simple to operate and high in loading and unloading efficiency.

In order to achieve the above object, the present invention is achieved by the following technical scheme.

The application provides a surgical instrument quick-change device which comprises a driving box and a spacer, wherein the spacer can be clamped with the driving box in a first direction;

The end face, close to one side of the isolation piece, of the driving box is elastically provided with a first adapter piece connected with the rotation driving assembly in a telescopic manner, and the end face, close to one side of the driving box, of the isolation piece is provided with a second adapter piece which can be spliced with the first adapter piece in a first direction, corresponding to the first adapter piece;

the driving box is also provided with an induction unit for monitoring the telescopic state of the first adapter;

the first adapter and the second adapter can mutually transmit torque in a plugging state, and the first direction is specifically set as the axial direction of the first adapter;

in the unconnected state or the connected state of the driving box and the isolating piece, the first adapter piece is in an extending state under the action of elasticity of the first adapter piece;

The technical effect is that the drive box and the isolation piece are installed in a clamping fit mode, meanwhile, the first transfer piece can be elastically telescopic and arranged on the drive box, in the installation process of the drive box and the isolation piece, the plugging fit state of the first transfer piece and the second transfer piece is reflected through the telescopic state change of the first transfer piece, the circumferential fit position of the first transfer piece and the second transfer piece is controlled to be rotationally regulated based on the telescopic change state of the first transfer piece, and therefore automatic alignment of the first transfer piece and the second transfer piece is achieved, and the installation efficiency of the drive box and the isolation piece can be greatly improved while the transmission fit precision between the first transfer piece and the second transfer piece is guaranteed.

Further defined, the surgical instrument quick-change device further comprises an instrument box detachably connected with the spacer;

A third adapter piece coupled with the instrument rod is rotatably arranged on the end surface of one side of the instrument box, which is close to the isolating piece, at a position corresponding to the second adapter piece;

the third adapter piece can be inserted into one end, away from the driving box, of the second adapter piece in the first direction, and the second adapter piece and the third adapter piece can mutually transmit torque in an inserted state.

Further limited, in the surgical instrument quick-change device, a first connection groove is formed at one end, close to the spacer, of the first adapter, a first connection protrusion is formed at one end, close to the drive box, of the second adapter, and the first connection protrusion can be inserted into and transmit torque to the first connection groove on the first adapter at a corresponding position;

And/or one end, far away from the driving box, of the second adapter is provided with a second adapter convex part, one end, close to the isolating piece, of the third adapter is provided with a second adapter groove, and the second adapter groove can be spliced with the second adapter convex part on the second adapter at the corresponding position and transmit torque.

Further defined, the surgical instrument quick-change device described above, wherein the spacer includes a spacer plate body and a floating plate disposed on the spacer plate body;

The second adapter piece is arranged on the floating plate in a penetrating way and can rotate relative to the floating plate;

The device has the technical effects that the floating plate is movably arranged on the isolating piece, and in the installation process of the isolating piece and the instrument box, the telescopic state change of the first adapting piece can be driven through the position change of the floating plate, so that the plugging matching state of the second adapting piece and the third adapting piece is reflected, the first adapting piece and the second adapting piece are controlled to synchronously rotate based on the telescopic change state of the first adapting piece, the second adapting piece can be adjusted on the circumferential matching position of the second adapting piece and the third adapting piece, the automatic alignment of the second adapting piece and the third adapting piece is further realized, and in the installation process of the driving box, the isolating piece and the instrument box, the automatic alignment among the first adapting piece, the second adapting piece and the third adapting piece can be realized simultaneously through the telescopic state monitoring and the rotation adjustment of the first adapting piece, manual adjustment is not needed, and the integral installation efficiency of the device is further improved.

Further limiting, in the surgical instrument quick-change device, a movable cavity for accommodating the floating plate is formed in the isolation plate body in a penetrating manner, and a floating adjusting groove is formed in the inner wall of the movable cavity;

The floating plate is fixedly provided with a sliding lug at a position corresponding to the floating adjusting groove, and the sliding lug is arranged in the floating adjusting groove in a sliding manner along the first direction.

Further limited, in the surgical instrument quick-change device, one side end of the spacer away from the driving box can be spliced with the instrument box in the second direction, and displacement of the instrument box relative to the spacer in the first direction is limited in the spliced state of the spacer and the instrument box;

The instrument box is fixedly provided with a positioning convex part on the end surface of one side close to the driving box, the end surface of one side of the isolating part far away from the driving box is provided with a guide groove which can be in sliding connection with the positioning convex part, and the guide groove extends along the second direction, one end of the guide groove is communicated with the movable cavity, and the other end of the guide groove is communicated with the outer surface of the isolating part;

The floating plate of the separator is provided with a containing groove positioned in the extending direction of the guide groove on the end surface of one side far away from the driving box;

The second direction is specifically set to be any direction on the axial vertical plane of the first adapter; in the inserting process of the isolating piece and the instrument box, the positioning convex piece can be abutted against the floating plate so as to enable the second adapter piece and the third adapter piece to keep a distance in the first direction; after the isolation piece and the instrument box are inserted, the positioning convex piece can be in scarf joint with the accommodating groove;

The device has the technical effects that the isolation piece is in plug-in fit with the instrument box in the second direction, and meanwhile, the floating plate is supported through the positioning convex piece in the plug-in fit process, so that the second adapter piece and the third adapter piece keep a distance in the first direction, and interference is avoided in the installation process of the isolation piece and the instrument box.

Further defined, the surgical instrument quick-change device further comprises an unlocking component for releasing the plugging state of the second adapter and the third adapter;

the unlocking component comprises an operating piece and a pushing piece, wherein the pushing piece is arranged on one side end face of the instrument box, close to the isolating piece, and can stretch and retract along a first direction;

The control piece is coupled with the top moving piece and can control the top moving piece to extend towards the direction close to one side of the driving box so as to push against the floating plate.

The application also provides a surgical instrument quick-change method, which is characterized by being suitable for the surgical instrument quick-change device described in any one of the above, and comprising the following steps:

clamping the spacer on the driving box in a first direction;

the telescopic state of the first transfer piece is obtained in the clamping process of the isolation piece and the driving box or after the clamping is finished;

Executing rotation driving on the first adapter piece in the retraction state, monitoring the retraction state of the first adapter piece in the rotation process of the first adapter piece, and stopping rotation driving when the first adapter piece is converted into the extension state;

the first direction is specifically set to be the axial direction of the first adapter, and when the isolating piece and the driving box are clamped and connected, and the first adapter is in an extending state, the first adapter and the second adapter are in an inserting state and can mutually transmit torque.

Further defined, the surgical instrument quick-changing method further comprises:

inserting the instrument box onto the spacer in a second direction;

acquiring the telescopic state of the first adapter after the instrument box and the isolating piece are spliced;

The second direction is specifically set to be any direction on the axial vertical surface of the first adapter, and when the instrument box is inserted and the first adapter is in an extending state, the second adapter and the third adapter are in an inserting state and can mutually transmit torque;

the floating plate is jacked up by the positioning convex piece in the inserting process of the instrument box, and the positioning convex piece is embedded into the accommodating groove after the instrument box is inserted so as to release the support of the floating plate.

Releasing the clamping connection between the isolation piece and the driving box in the first direction;

and/or controlling the top moving part to extend out and jack up the floating plate through the control part, and releasing the plug connection between the instrument box and the isolation part in the second direction;

And the second adapter piece and the third adapter piece are disconnected in a plugging manner under the condition that the floating plate is jacked up.

Drawings

FIG. 1 is a schematic view of a surgical instrument quick change device according to an embodiment of the present application;

FIG. 2 is a schematic view showing the installation of the drive cassette 100 and the spacer 200 in the surgical instrument quick-change device according to the embodiment of the present application;

FIG. 3 is an exploded view of the surgical instrument quick change device according to the embodiment of the present application, after the "housing 110" is removed from the "drive box 100";

FIG. 4 is a schematic view of the structure of the "bottom plate 130" part of the quick-change device for surgical instruments according to the embodiment of the present application;

FIG. 5 is a schematic view of the structure of the "mounting plate 120" portion of the surgical instrument quick-change device according to the embodiment of the present application;

FIG. 6 is a schematic view of a surgical instrument quick-change device according to an embodiment of the present application, wherein the "bottom plate 130" is omitted from the "drive box 100";

FIG. 7 is an exploded view of the structure of the "elastic adapter assembly" of the surgical instrument quick change device according to the embodiment of the present application;

FIG. 8 is a cross-sectional view of the structure of the "elastic adapter assembly" of the surgical instrument quick change device according to the embodiment of the present application;

FIG. 9 is a schematic view showing the structure of a "first adapter 151" in the surgical instrument quick-change device according to the embodiment of the present application;

FIG. 10 is a schematic view showing the structure of a "first adapter 151" in the surgical instrument quick-change device according to the embodiment of the present application;

FIG. 11 is an exploded view of a "spacer 200" of a surgical instrument quick change device according to an embodiment of the present application;

FIG. 12 is an exploded view of a "spacer 200" of a surgical instrument quick change device according to an embodiment of the present application;

FIG. 13 is a schematic view showing the installation of the second adapter 240 and the base plate 250 in the surgical instrument quick-change device according to the embodiment of the present application;

FIG. 14 is a schematic view of the structure of an instrument box 300 in the surgical instrument quick-change device according to the embodiment of the present application;

Fig. 15 is a schematic view of the structure of the quick-change device for surgical instruments according to the embodiment of the application, after the "instrument box 300" is removed from the "loading plate 310".

Reference numerals

The device comprises a driving box-100, a housing-110, a mounting plate-120, a bottom plate-130, a limit baffle-131, a clamping hole-132, a first adapting piece-151, an adapting part-1511, a transmission tooth-1512, a central through hole-1513, a mounting groove-1514, a screw hole-1515, a first adapting groove-1516, a limit piece-152, a fastening bolt-153, an elastic piece-154, a central shaft-155, a bearing piece-156, a clamping ring-157, a sensing head-158, a flat groove-159, a motor-160, a driving gear-161, a displacement sensor-170, a spacer-200, an adapting plate-210, a key-211, a clamping plate-212, a first floating groove-213, a guide groove-214, a sleeve plate-220, a guide groove-221, a second floating groove-222, a limit plate-230, a containing groove-231, an embedding hole-232, a second adapting piece-240, an adapting body-241, a second adapting boss-242, a first adapting boss-243, a limit boss-244, a base plate-250, a mounting hole-251, a step-252, a clamp tab-300, a positioning boss-300, a top positioning device-330, a top positioning device-360, a top positioning device-loading and a top device-loading and unloading device-360.

Detailed Description

The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are obtained by a person skilled in the art based on the embodiments of the present application, fall within the scope of protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The surgical instrument quick-change device and the quick-change method provided by the embodiment of the application are described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.

As shown in fig. 1 to 15, an embodiment of the present application provides a surgical instrument quick-change device, which includes a driving case 100, a spacer 200 engaged with the driving case 100 in a first direction, and an instrument case 300 detachably connected to the spacer 200, wherein an instrument bar 400 is mounted on the instrument case 300.

The driving box 100 is provided with a first adapter piece 151 connected with the rotation driving assembly in an elastic telescopic manner on the end face of one side, which is close to the isolating piece 200, and a second adapter piece 240 which can be matched and spliced with the first adapter piece 151 in a first direction is arranged on the end face of one side, which is close to the driving box 100, of the isolating piece 200, and the first adapter piece 151 and the second adapter piece 240 can mutually transmit torque in a splicing state.

The first direction is specifically set to be that the first adapter 151 is in an axial direction, and in a state that the driving box 100 and the spacer 200 are not connected, the first adapter 151 is in an extended state under the action of elasticity of the first adapter 151, and an induction unit for monitoring the extension state of the first adapter 151 is further disposed on the driving box 100.

It can be understood that, when the spacer 200 is mounted to the driving box 100 in the first direction, the first adapter 151 is inserted into the second adapter 240 at the corresponding position, and when the driving box 100 and the spacer 200 are engaged, if the first adapter 151 is not aligned with the second adapter 240 at the corresponding position in the inserting direction, the second adapter 240 will abut against the first adapter 151, so as to drive the first adapter 151 to overcome the elasticity of the sensing unit and retract, the sensing unit detects that the first adapter 151 is in the retracted state, and then drives the first adapter 151 to rotate by rotating the driving assembly, and when the first adapter 151 rotates to align with the second adapter 240 at the corresponding position in the inserting direction, the first adapter 151 can extend out under the action of the elasticity of the sensing unit and be inserted into the second adapter 240, and the sensing unit closes the rotating driving assembly after detecting that the first adapter 151 is in the extended state.

In the embodiment of the application, with the adoption of the surgical instrument quick-change device, the driving box 100 and the isolation piece 200 are installed in a clamping fit manner, meanwhile, the first adapter 151 can be elastically and telescopically arranged on the driving box 100, in the installation process of the driving box 100 and the isolation piece 200, the plugging fit state of the first adapter 151 and the second adapter 240 is reflected through the telescopic state change of the first adapter 151, and the circumferential fit position of the first adapter 151 and the second adapter 240 is controlled to be rotationally regulated based on the telescopic change state of the first adapter 151, so that the automatic alignment of the first adapter 151 and the second adapter 240 is realized, and the installation efficiency of the driving box 100 and the isolation piece 200 can be greatly improved while the transmission fit precision between the first adapter 151 and the second adapter 240 is ensured.

In a preferred embodiment, as shown in fig. 2 to 6 and 11 to 13, the first adaptor 151 is elastically telescopic on the driving box 100, the second adaptor 240 is arranged on the spacer 200, and the second adaptors 240 and the first adaptors 151 are respectively located correspondingly and can be inserted and matched.

It can be appreciated that the sensing unit can monitor the telescopic states of the plurality of first adapters 151, respectively, and individually control the rotation of the first adapters 151 at the corresponding positions through the rotation driving assembly based on the telescopic states of the first adapters 151.

In a preferred embodiment, as shown in fig. 3, 4 and 6 to 13, a first connection slot 1516 is disposed at an end of the first connection member 151 adjacent to the spacer 200, and a first connection protrusion 243 capable of mating with and transmitting torque to the first connection slot 1516 on the first connection member 151 at a corresponding position is disposed at an end of the second connection member 240 adjacent to the driving box 100.

It is to be understood that, in order to ensure torque transmission between the first adapter 151 and the second adapter 240, the first adapter groove 1516 cannot be configured as a rotation groove coaxial with the first adapter 151, and can be configured as a square groove, a pentagonal groove, a special groove, or another groove shape that can abut against the first adapter convex portion 243 in the circumferential direction of the first adapter 151, so long as torque transmission between the first adapter 151 and the second adapter 240 can be achieved, which will not be described herein.

It should be understood that the plugging engagement of the first adapter 151 and the second adapter 240 is not limited to the above-mentioned one, for example, the first adapter protrusion 243 can be disposed on the first adapter 151, and the first adapter slot 1516 can be disposed on the second adapter 240, so long as the plugging engagement of the first adapter 151 and the second adapter 240 can be achieved, which will not be described herein.

In a preferred embodiment, as shown in fig. 1 to 6, the driving cartridge 100 includes a mounting plate 120, a cover case 110 fixedly provided on an end surface of the mounting plate 120 on a side away from the spacer 200, and a bottom plate 130 fixedly provided on an end surface of the mounting plate 120 on a side close to the spacer 200.

The first adapter 151 is disposed through the bottom plate 130 and can elastically stretch and retract with respect to the bottom plate 130.

In a preferred embodiment, as shown in fig. 2, 11 and 12, the spacer 200 includes a spacer body and a floating plate disposed on the spacer body, and the second adapter 240 is disposed on the floating plate and is capable of rotating relative to the floating plate.

In a preferred embodiment, as shown in fig. 3, 4, 11 and 12, a plurality of clamping holes 132 are formed on an end surface of the bottom plate 130 near the spacer 200, a plurality of clamping plates 212 are fixedly arranged on the spacer body corresponding to the plurality of clamping holes 132, and the plurality of clamping plates 212 can be respectively clamped with the clamping holes 132 at corresponding positions.

It is to be understood that the form of the snap-fit between the driving box 100 and the spacer 200 is not limited to the above-mentioned one, for example, the snap-fit holes 132 can be formed on the spacer body, and the snap-fit plates 212 can be formed on the bottom plate 130, so long as the snap-fit between the driving box 100 and the spacer 200 in the first direction can be achieved, which is not described herein.

In a preferred embodiment, the spacer plate body includes a connector plate 210 and a sleeve plate 220 fixedly disposed on the end surface of the connector plate 210 on the side far from the driving cassette 100, wherein the floating plate is movable in the first direction relative to the connector plate 210 and the sleeve plate 220, and a third adapter member 360 coupled to the instrument bar 400 is rotatably disposed on the end surface of the instrument cassette 300 on the side near the spacer 200 at a position corresponding to the second adapter member 240.

The third adaptor 360 can be plugged with one end, far away from the driving box 100, of the second adaptor 240 in the first direction, and the second adaptor 240 and the third adaptor 360 can mutually transmit torque in the plugging state.

It can be understood that, when the device box 300 is mounted on the spacer 200 in the state that the spacer 200 and the driving box 100 are clamped and the first adapter 151 is inserted into the second adapter 240 at the corresponding position, if the third adapter 360 is not aligned with the second adapter 240 at the corresponding position in the inserting direction, the third adapter 360 will abut against the second adapter 240, so as to drive the floating plate to move towards the side close to the driving box 100 relative to the connecting plate 210 and the sleeve plate 220, further drive the first adapter 151 to overcome the elasticity of the floating plate and retract through the second adapter 240, and the sensing unit detects that the first adapter 151 is in the retracted state, and drives the first adapter 151 and the second adapter 240 to synchronously rotate through the rotation driving assembly, when the second adapter 240 rotates to align with the third adapter 360 at the corresponding position in the inserting direction, the first adapter 151 can stretch out under the action of the elasticity of the second adapter 240 and drive the floating plate to move to reset the side far away from the driving box 100 relative to the connecting plate 210 and the sleeve plate 220, and the sensing unit detects that the first adapter 151 is in the retracted state, and the sensing unit drives the first adapter 151 to rotate in the first adapter 240 to synchronously rotate, so as to realize the synchronous rotation of the first adapter 151 and the first adapter 240.

In the embodiment of the application, with the adoption of the surgical instrument quick-change device, the floating plate is movably arranged on the spacer 200, and in the installation process of the spacer 200 and the instrument box 300, the telescopic state change of the first adapter 151 can be driven through the position change of the floating plate, so that the plugging and matching states of the second adapter 240 and the third adapter 360 are reflected, the synchronous rotation of the first adapter 151 and the second adapter 240 is controlled based on the telescopic state change of the first adapter 151, the adjustment of the second adapter 240 and the third adapter 360 on the circumferential matching positions can be realized, the automatic alignment of the second adapter 240 and the third adapter 360 is further realized, and in the installation process of the driving box 100, the spacer 200 and the instrument box 300, the automatic alignment among the first adapter 151, the second adapter 240 and the third adapter 360 can be simultaneously realized through the telescopic state monitoring and the rotation adjustment without manual adjustment, and the overall installation efficiency of the device is further improved.

In a preferred embodiment, as shown in fig. 2 to 6 and 11 to 15, a plurality of third adapters 360 are disposed on the instrument box 300, and the plurality of third adapters 360 and the plurality of second adapters 240 are respectively located correspondingly and can be in plug-in fit.

It will be appreciated that when the instrument box 300 is mounted on the spacer 200, as long as one of the third adapters 360 is not aligned with the second adapter 240 at the corresponding position, the floating plate will drive all the second adapters 240 to move synchronously toward the side close to the driving box 100, i.e. all the first adapters 151 will be converted into the retracted state under the pushing of the second adapter 240, and after the sensing unit detects that the first adapters 151 are in the retracted state, all the first adapters 151 and the second adapters 240 are driven to rotate synchronously until all the second adapters 240 are aligned with the third adapters 360.

In a preferred embodiment, as shown in fig. 11 to 15, the end of the second adaptor 240 away from the driving box 100 is provided with a second adaptor protrusion 242, and the end of the third adaptor 360 near the spacer 200 is provided with a second adaptor groove 361 capable of mating with the second adaptor protrusion 242 on the second adaptor 240 at a corresponding position and transmitting torque.

It should be appreciated that, in order to ensure torque transmission between the second adapter 240 and the third adapter 360, the second adapting groove 361 cannot be configured as a rotation groove coaxial with the third adapter 360, and can be configured as a square groove, a pentagonal groove, a special groove or other groove shapes that can abut against the second adapter 240 in the circumferential direction of the third adapter 360, so long as torque transmission between the third adapter 360 and the second adapter 240 can be achieved, which will not be described herein.

It should be understood that the plugging engagement of the second adaptor 240 and the third adaptor 360 is not limited to the above-mentioned one, for example, the second adapting groove 361 can be disposed on the second adaptor 240, and the second adapting protrusion 242 can be disposed on the third adaptor 360, so long as the plugging engagement of the third adaptor 360 and the second adaptor 240 can be achieved, which is not described herein.

In a preferred embodiment, as shown in fig. 1, 2, 11 and 12, the connecting plate 210 and the sleeve plate 220 are provided with a movable cavity for accommodating the floating plate.

The end surface of the connecting plate 210 near the sleeve plate 220 is provided with a plurality of first floating grooves 213 along the edge of the movable cavity, the end surface of the sleeve plate 220 near the connecting plate 210 is provided with a plurality of second floating grooves 222 corresponding to the first floating grooves 213, and the first floating grooves 213 and the second floating grooves 222 are respectively communicated with the movable cavity.

The floating plate is fixedly provided with a plurality of sliding lugs 252 at corresponding positions of the first floating grooves 213 and the second floating grooves 222, and in the connecting state of the connecting plate 210 and the sleeve plate 220, the first floating grooves 213 and the second floating grooves 222 at corresponding positions are buckled to form a floating adjusting groove, the floating plate is positioned in the movable cavity, and the sliding lugs 252 are slidably arranged in the floating adjusting groove at corresponding positions along the first direction.

It will be appreciated that in order to ensure the stability of the movement of the floating plate relative to the connector plate 210 in the first direction, at least two of the plurality of first floating grooves 213 are located at the inner wall positions of the opposite sides of the movable cavity.

Of course, if the floating plate is slidably engaged with the movable cavity, the number of the first floating grooves 213 and the second floating grooves 222 can be at least one, and the installation position thereof can be unlimited, and the sliding engagement of the floating adjustment groove and the sliding lug 252 is only used to limit the movable travel of the floating plate relative to the connector plate 210.

In a preferred embodiment, as shown in fig. 2 and 11 to 13, the floating plate includes a base plate 250 and a limiting plate 230 fixedly disposed on an end surface of the base plate 250 on a side remote from the driving case 100.

The second adaptor 240 is disposed on the base plate 250 and the limiting plate 230 in a penetrating manner, and is capable of rotating relative to the base plate 250 and the limiting plate 230 along an axial direction thereof.

In a preferred embodiment, as shown in fig. 11 to 13, a mounting hole 251 is formed through the substrate 250 at a position corresponding to the first adaptor 151, a positioning step 253 is formed on an inner wall of the mounting hole 251, and a fitting hole 232 is formed through the limiting plate 230 at a position corresponding to the mounting hole 251.

The second adapting piece 240 includes an adapting main body 241, a second adapting convex portion 242, a first adapting convex portion 243, and a limiting convex portion 244, where the adapting main body 241 is fixedly disposed on an end surface of the adapting main body 241 far away from the driving box 100, the first adapting convex portion 243 is fixedly disposed on an end surface of the adapting main body 241 near the driving box 100, and the limiting convex portion 244 is fixedly disposed on an outer peripheral surface of the adapting main body 241.

Wherein, the switching main body 241 is arranged in the mounting hole 251 and the embedded hole 232 in a penetrating way and is in clearance fit with the mounting hole 251 and the embedded hole 232, the aperture of the embedded hole 232 is smaller than the outer diameter of the limiting convex piece 244, one side end surface of the limiting convex piece 244 close to the driving box 100 can be abutted with one side end of the positioning step 253 far away from the driving box 100, and one side end surface far away from the driving box 100 can be abutted with one side end surface of the limiting plate 230 close to the driving box 100.

It can be appreciated that, through the interference fit between the limiting protruding member 244 and the positioning step 253, and between the limiting plate 230, the second adaptor 240 can be mounted on the base plate 250 and the limiting plate 230, and meanwhile, the requirement of the second adaptor 240 for rotating relative to the floating plate can be met.

It should be understood that the mounting form of the second adaptor 240 on the floating plate is not limited to the above-mentioned one, for example, the second adaptor 240 can be rotatably connected with the floating plate through a bearing member, but the component cost is increased, on the other hand, when the third adaptor 360 drives the floating plate to move integrally in a direction approaching to one side of the driving box 100 through the second adaptor 240, and the rotation driving assembly drives the first adaptor 151 and the second adaptor 240 to rotate synchronously, since the limiting protruding member 244 can slightly float in the first direction in the mounting hole 251, the second adaptor 240 and the third adaptor 360 can be directly pre-plugged under the pushing of the first adaptor 151 after the pre-plugging of all the second adaptor 240 and the third adaptor 360 is completed, and the floating plate will reset under the pushing of the first adaptor 151.

In a preferred embodiment, as shown in fig. 11 to 13, the sliding lugs 252 are fixedly disposed on the base plate 250 and can slide in the first direction in the floating adjustment slots.

In a preferred embodiment, as shown in fig. 11 and 12, two keys 211 are symmetrically and fixedly arranged on the end surface of the side of the engagement plate 210 away from the driving box 100 with respect to the floating plate.

The socket board 220 has a slot corresponding to the key 211, and the key 211 can pass through the slot corresponding to the key 211 and be clamped with the socket board 220.

In a preferred embodiment, as shown in fig. 11 and 12, an unlocking notch is disposed on the sleeve plate 220 corresponding to the key 211, and an operator can press the key 211 at the unlocking notch to release the locking between the key 211 and the sleeve plate 220.

It can be appreciated that, since the first floating groove 213 on the connector board 210 and the second floating groove 222 on the sleeve board 220 need to be buckled to form the floating adjustment groove, the connector board 210 and the sleeve board 220 can be matched by using a clamping connection to improve the installation efficiency of the connector board 210 and the sleeve board 220, and meanwhile, the connection mode between the connector board 210 and the sleeve board 220 is not limited to the above one, for example, other detachable installation structures such as a bolt connection, a buckle connection and the like can be adopted between the connector board 210 and the sleeve board 220, so long as the detachable connection of the connector board 210 and the sleeve board 220 can be realized.

In a preferred embodiment, as shown in fig. 1, 14 and 15, the instrument box 300 includes a loading plate 310 and an instrument holder 320 fixedly provided on an end surface of the loading plate 310 on a side remote from the drive box 100.

The third adapter 360 penetrates the loading plate 310 and can rotate along the axis of the third adapter relative to the loading plate 310.

In a preferred embodiment, as shown in fig. 2, 14 and 15, the instrument box 300 can be plugged with the end of the spacer 200 away from the driving box 100 in the second direction.

The instrument rack 320 is fixedly provided with a positioning convex part 350 on the end surface of one side close to the driving box 100, and the end surface of one side of the isolating part 200 far away from the driving box 100 is provided with a guide groove 221 which can be connected with the positioning convex part 350 in a sliding manner, wherein the guide groove 221 extends along the second direction, one end of the guide groove is communicated with the movable cavity, and the other end of the guide groove is communicated with the outer surface of the isolating part 200.

The floating plate is provided with a receiving groove 231 located in the extending direction of the guide groove 221 on the end surface of the side away from the driving case 100.

The second direction is specifically set to be any direction on the axial vertical plane of the first adapter 151, and in the plugging state of the spacer 200 and the instrument box 300, the positioning protruding member 350 can be in scarf joint with the accommodating groove 231, and the displacement of the instrument box 300 in the first direction relative to the spacer 200 is limited.

It can be understood that when the instrument box 300 and the spacer 200 are inserted in the second direction, the positioning protruding member 350 slides to the corresponding position of the movable cavity through the guiding slot 221, and as the positioning protruding member 350 moves continuously, the positioning protruding member 350 pushes the floating plate away from the end surface of one side of the driving box 100, so that the second adapter member 240 and the third adapter member 360 are temporarily not inserted, after the positioning protruding member 350 moves to the position of the accommodating slot 231, the floating plate loses the pushing force and moves in the direction away from one side of the driving box 100 under the action of the elastic force of the first adapter member 151, at this time, the second adapter member 240 and the third adapter member 360 are matched and inserted, if the second adapter member 240 and the corresponding position third adapter member 360 are dislocated in the circumferential direction, the first adapter member 151 overcomes the elastic force of the corresponding position through the abutting of the third adapter member 360, after the sensing unit detects that the first adapter member 151 is in the retracted state, the driving member 151 and the second adapter member 240 are synchronously rotated until the second adapter member 240 and the corresponding position third adapter member 360 are aligned in the circumferential direction of the upper adapter member 360, and the first adapter member 360 is completely inserted in the circumferential direction of the corresponding position of the first adapter member 360 after the first adapter member and the first adapter member is completely inserted in the accommodating slot 231.

In the embodiment of the present application, with the adoption of the surgical instrument quick-change device, the spacer 200 is in plug-in fit with the instrument box 300 in the second direction, and the floating plate is supported by the positioning convex piece 350 in the plug-in fit process, so that the distance between the second adapter 240 and the third adapter 360 in the first direction is kept, and interference is avoided in the installation process of the spacer 200 and the instrument box 300.

It can be appreciated that when the positioning protruding member 350 lifts up the floating plate, since all the first adapting members 151 are in the retracted state and the second adapting members 240 and the third adapting members 360 keep a distance in the first direction, it is not significant that the rotation driving assembly drives the first adapting members 151 and the second adapting members 240 to rotate synchronously, so that the rotation driving assembly can be set to be inactive at this stage, and the rotation adjustment of the rotation driving assembly on the first adapting members 151 and the second adapting members 240 is performed based on the telescopic state of the first adapting members 151 after the insertion of the instrument box 300 is completed.

In a preferred embodiment, as shown in fig. 2 and 12, the guide groove 221 is disposed on the sleeve plate 220, and the receiving groove 231 is disposed on the limiting plate 230.

In a preferred embodiment, as shown in fig. 2, 12, 14 and 15, the keys 211 are parallel to the guide grooves 221, and guide grooves 214 parallel to the guide grooves 221 are respectively provided on the end surfaces of the two keys 211 near the symmetry axis.

Two clamping convex parts 311 are fixedly arranged on the loading and unloading plate 310 at corresponding positions relative to the two guide grooves 214, and the two clamping convex parts 311 can be respectively spliced with the guide grooves 214 at the corresponding positions in the second direction.

It can be appreciated that, after the protruding portion 311 is in plug-in engagement with the guiding groove 214, inner walls on two sides of the guiding groove 214 in the first direction can abut against corresponding side end surfaces of the protruding portion 311, so as to implement movement restriction of the instrument box 300 relative to the spacer 200 in the first direction.

In a preferred embodiment, as shown in fig. 2 to 4, the bottom plate 130 is fixedly provided with a limit baffle 131, and in the plugging state of the instrument box 300 and the spacer 200, the limit baffle 131 can abut against the instrument box 300 to limit the instrument box 300 in the second direction.

In a preferred embodiment, the unlocking component is further included for unlocking the second adaptor 240 and the third adaptor 360.

In a preferred embodiment, as shown in fig. 14 and 15, the unlocking assembly includes an operating member 330 and a pushing member 340 disposed on an end surface of the instrument box 300 near the spacer 200 and capable of extending and retracting in the first direction.

The operation piece 330 is coupled to the top moving piece 340 and can control the top moving piece 340 to extend toward a side close to the driving box 100, and in the connected state of the spacer 200 and the instrument box 300, the top moving piece 340 extends to push the floating plate to move toward a side far away from the instrument box 300.

It will be appreciated that when the ejector 340 extends out and lifts up the floating plate, the positioning protruding member 350 is disengaged from the receiving groove 231, and the second adapter 240 is disengaged from the third adapter 360, so that the instrument box 300 can move along the second direction and disengage from the spacer 200.

It will be appreciated that when the pushing member 340 pushes up the floating plate, since all the first adaptor 151 is in the retracted state and the second adaptor 240 and the third adaptor 360 keep a distance in the first direction, it is not significant that the rotation driving assembly drives the first adaptor 151 and the second adaptor 240 to rotate synchronously, so that the rotation driving assembly can be set to be inactive at this stage, thereby reducing the loss of energy.

In a preferred embodiment, as shown in fig. 14 and 15, the control member 330 is fixedly connected to the instrument frame 320 and can swing relative to the instrument frame 320, and the control member 330 includes a pressing portion 331 and a tilting portion 332 fixedly connected to the pressing portion 331.

Wherein, the end of the tilted top 332 near the driving box 100 can be abutted against the end of the top moving member 340 far away from the driving box 100, and the pressing or pulling pressing portion 331 can drive the tilted top 332 to swing towards the side near the driving box 100 and jack up the top moving member 340, thereby realizing the detachment between the second adapter 240 and the third adapter 360 and the release of the scarf joint between the positioning protruding member 350 and the accommodating groove 231.

In a preferred embodiment, the unlocking component is not limited to the above-mentioned one, for example, a guiding slope may be disposed on an inner wall of the accommodating groove 231 near the guiding groove 221, and when the instrument box 300 and the spacer 200 are unplugged, the positioning protruding member 350 may be directly disengaged from the accommodating groove 231 along the guiding slope, so as to jack up the floating plate to unplug the second adaptor 240 and the third adaptor 360.

It will be appreciated that, since the guide slope is disposed on the inner wall of the accommodating groove 231, the engagement stability of the positioning protruding member 350 in the accommodating groove 231 will be reduced, that is, the spacer 200 and the instrument box 300 may be separated under the action of gravity or vibration, and in order to avoid this, a controllable limiting structure may be further disposed between the spacer 200 and the instrument box 300, so as to ensure the connection reliability of the spacer 200 and the instrument box 300.

In a preferred embodiment, as shown in fig. 3,5, 7 and 8, the sensing unit includes a displacement sensor 170 fixedly disposed on the mounting plate 120 and located at a position corresponding to the first adapter 151, and a sensing head 158 fixedly connected to an end of the first adapter 151 remote from the spacer 200.

It can be appreciated that when the first adapter 151 elastically expands and contracts relative to the mounting plate 120, the distance between the sensing head 158 and the displacement sensor 170 in the first direction changes, and the displacement sensor 170 and the sensing head 158 cooperate to monitor the change of the distance therebetween, so as to determine the expansion and contraction state of the first adapter 151.

It is to be understood that the arrangement form of the sensing unit is not limited to the above, for example, a travel switch can be directly arranged at the end of the telescopic travel of the first adaptor 151, so long as the telescopic state of the first adaptor 151 can be monitored, and detailed description thereof is omitted.

In a preferred embodiment, as shown in fig. 3 and 5 to 10, the rotation driving assembly includes a motor 160 fixedly disposed on an end surface of the mounting plate 120 on a side far from the bottom plate 130, the motor 160 is located at a position corresponding to the first adapter 151, and a driving gear 161 is fixedly disposed on the power output end.

The first adapter 151 is fixedly provided with a transmission gear 1512 engaged with the driving gear 161 at a corresponding position, and an engagement stroke of the transmission gear 1512 and the driving gear 161 in the first direction is greater than an elastic expansion stroke of the first adapter 151.

It can be appreciated that when the motor 160 is started, the driving gear 161 can drive the driving gear 1512 to rotate, so as to realize the rotation driving of the first adapter 151, and since the engagement stroke of the driving gear 161 and the driving gear 1512 in the first direction is greater than the elastic telescopic stroke of the first adapter 151, when the first adapter 151 elastically stretches and contracts relative to the mounting plate 120, the driving gear 1512 and the driving gear 161 can always keep the engaged state, so as to ensure the reliability of the rotation driving of the first adapter 151 by the rotation driving assembly.

In a preferred embodiment, as shown in fig. 3 to 6, the power output end of the motor 160 extends to a position of a cavity between the mounting plate 120 and the bottom plate 130, and the driving gear 161 is fixedly disposed on the power output end of the motor 160 and located in the cavity between the mounting plate 120 and the bottom plate 130.

The first adapter 151 extends through the base plate 130 and the drive teeth 1512 are located in the cavity between the mounting plate 120 and the base plate 130.

It will be appreciated that locating the drive gear 161, drive teeth 1512 within the cavity between the mounting plate 120, base plate 130 allows the drive components to be hidden, thereby improving the cleanliness of the device.

As shown in fig. 3 to 10, an embodiment of the present application provides an elastic switching structure for a surgical instrument quick-change device in the above-described embodiment, which includes a first switching member 151 penetrating through a base plate 130 and an elastic unit connected to the first switching member 151.

The elastic unit includes a central shaft 155 rotatably coupled to the housing 110 through a bearing member 156, and the first adapter 151 is slidably disposed on the central shaft 155.

Wherein, a circumferential limiting unit and an elastic unit are arranged between the first adapter 151 and the central shaft 155.

It can be understood that, because the circumferential limiting unit is disposed between the first adapter 151 and the central shaft 155, the central shaft 155 can drive the first adapter 151 to rotate synchronously when rotating, or the central shaft 155 can be driven to rotate synchronously when the first adapter 151 rotates, meanwhile, when the first adapter 151 receives the thrust along the axial direction of the central shaft 155, the elastic unit can accumulate elastic potential energy, and when the external force applied to the first adapter 151 is relieved, the elastic unit can reset under the elastic action of the elastic unit.

In a preferred embodiment, as shown in fig. 7 and 8, an outer protrusion is fixedly provided on the outer peripheral surface of the central shaft 155, and the elastic unit is specifically configured as an elastic member 154 sleeved on the central shaft 155.

One end of the elastic member 154 abuts against the end face of the outer part, which is close to one side of the first adapter 151, and the other end abuts against the corresponding end of the first adapter 151.

It will be appreciated that the elastic member 154 can accumulate elastic potential energy and give the first adapter 151 elastic force to return when the first adapter 151 slides on the central shaft 155.

In a preferred embodiment, the spring 154 is embodied as a spring.

It is understood that the arrangement form of the elastic unit is not limited to the above, for example, elastic rubber or a snap spring can be further disposed between the outer flange and the first adapter 151, so long as the elastic sliding of the first adapter 151 on the central shaft 155 can be realized, and details thereof will not be repeated herein.

In a preferred embodiment, as shown in fig. 7 and 8, a plurality of bearing members 156 are disposed on the central shaft 155 in an axial array along the central shaft 155.

The bearing member 156 closest to the first adapter 151 abuts against the end surface of the outer flange on the opposite side, and a collar 157 for limiting the bearing member 156 is fixed to the center shaft 155.

It will be appreciated that collar 157 can abut the end of bearing member 156 to effect a fixed relative position between bearing member 156 and central shaft 155.

In a preferred embodiment, as shown in fig. 7 and 8, an end of the central shaft 155 away from the first adapter 151 is embedded with a sensing head 158.

In a preferred embodiment, as shown in fig. 7 to 10, the first adapter 151 includes an adapter 1511 and a driving gear 1512 fixedly disposed at one end of the adapter 1511, and the adapter 1511 and the driving gear 1512 are provided with a central through hole 1513 slidably connected to the central shaft 155 along a central axis.

Wherein, the end surface of the adapting part 1511 far away from the gear teeth part 1512 is provided with a first adapting groove 1516, and the first adapting groove 1516 is arranged along the radial direction of the adapting part 1511 and is communicated with the outer peripheral surface of the adapting part 1511.

In a preferred embodiment, as shown in fig. 7 to 10, the circumferential limit unit includes a flat groove 159 provided on the outer circumferential surface of the center shaft 155, a mounting groove 1514 provided on the outer circumferential surface of the adapter 1511 and penetrating the center through hole 1513, and a limit member 152 fixedly provided in the mounting groove 1514.

Wherein, the end of the limiting member 152 near the central axis of the first adapter member 151 extends to the central through hole 1513 and is slidably connected with the flat groove 159, and two inner walls of the flat groove 159 on two axial sides of the central axis 155 can respectively abut against the extending portion of the limiting member 152.

When the first adapter 151 is not pushed by external force, the elastic member 154 does not accumulate elastic potential energy or has elastic potential energy for pushing the first adapter 151 to move to the side far away from the outer flange, and the extending part of the limiting member 152 is abutted with the inner wall of the flat groove 159 at the side far away from the outer flange; when the first adapter 151 receives external pushing force and the elastic member 154 compresses, the extending portion of the limiting member 152 can abut against the inner wall of the flat groove 159 on the side close to the outer flange.

In the embodiment of the present application, the above-mentioned elastic switching structure is adopted, and by matching the flat groove 159 with the limiting member 152, on one hand, the relative rotation limitation between the first switching member 151 and the central shaft 155 can be realized, and on the other hand, the sliding travel of the first switching member 151 on the central shaft 155 can be limited, so as to ensure the stability of the matching between the central shaft 155 and the first switching member 151.

It is to be understood that the arrangement form of the circumferential limiting unit is not limited to the above-mentioned one, for example, the central shaft 155 can be configured to be in spline connection with the first adaptor 151, and meanwhile, the limiting portion is configured at the end point of the spline sliding fit stroke of the first adaptor 151 and the central shaft 155, so long as the axial sliding fit and torque transmission between the first adaptor 151 and the central shaft 155 can be realized, which will not be described herein.

In a preferred embodiment, as shown in fig. 7 to 10, a screw hole 1515 is formed on an inner wall of the mounting groove 1514 near the central through hole 1513, and the stopper 152 is fixedly connected to the screw hole 1515 by a fastening bolt 153.

It is to be understood that the fixing manner between the limiting member 152 and the first adapter 151 is not limited to the above-mentioned one, for example, a clamping or fastening structure can be further provided between the limiting member 152 and the first adapter 151, so long as the fixing of the limiting member 152 on the first adapter 151 can be achieved, which is not described herein.

The embodiment of the application also provides a surgical instrument quick-change method, which is suitable for the surgical instrument quick-change device in the embodiment, and comprises the following steps:

s1, clamping the spacer 200 on the driving box 100 in a first direction;

S2, acquiring the telescopic state of the first adapter 151 during the clamping process of the spacer 200 and the driving box 100 or after the clamping process of the spacer 200 and the driving box 100 is finished;

s3, performing rotation driving on the first adapter piece 151 in a retracted state, monitoring the telescopic state of the first adapter piece 151 in the rotation process, and stopping rotation driving when the first adapter piece is converted into an extended state;

The first direction is specifically set to be that the first adapter 151 is axial, and when the spacer 200 and the driving box 100 are clamped and the first adapter 151 is in the extended state, the first adapter 151 and the second adapter 240 are in the plugging state and can mutually transmit torque.

In the embodiment of the application, with the adoption of the quick-change method for the surgical instrument, in the installation process of the driving box 100 and the spacer 200, the plugging and matching state of the first adapter 151 and the second adapter 240 is reflected through the telescopic state change of the first adapter 151, and the rotation adjustment and circumferential matching position of the second adapter 240 are controlled based on the telescopic state change of the first adapter 151, so that the automatic alignment of the first adapter 151 and the second adapter 240 is realized, the inefficiency of manual adjustment is avoided, and the problem that the first adapter 151 and the second adapter 240 cannot be aligned and cannot be installed is solved.

In a preferred embodiment, step S3 further comprises:

s4, plugging the instrument box 300 onto the spacer 200 in a second direction;

S5, acquiring the telescopic state of the first adapter 151 after the instrument box 300 is inserted;

S6, performing rotation driving on the first adapter piece 151 in a retracted state, monitoring the telescopic state of the first adapter piece 151 in the rotation process, and stopping rotation driving when the first adapter piece is converted into an extended state;

The second direction is specifically set to be any direction on the axial vertical plane of the first adapter 151, and when the instrument box 300 is inserted and the first adapter 151 is in an extended state, the second adapter 240 and the third adapter 360 are in an inserted state and can mutually transmit torque;

The floating plate is lifted up by the positioning convex piece 350 in the plugging process of the instrument box 300, and the positioning convex piece 350 is embedded into the accommodating groove 231 after the plugging process of the instrument box 300 is completed so as to release the support of the floating plate.

In the embodiment of the application, with the adoption of the quick-change method for the surgical instrument, the telescopic state of the first adapter 151 is changed through the position change of the floating plate in the installation process of the spacer 200 and the instrument box 300, so that the plugging and matching state of the second adapter 240 and the third adapter 360 is reflected, the synchronous rotation of the first adapter 151 and the second adapter 240 is controlled based on the telescopic and changing state of the first adapter 151, the adjustment of the second adapter 240 and the third adapter 360 on the circumferential matching position can be realized, the automatic alignment of the second adapter 240 and the third adapter 360 is realized, the alignment precision is high, the manual adjustment is not needed, the integral installation efficiency of the device is further improved, meanwhile, the floating plate is supported through the positioning convex piece 350 in the plugging and matching process, so that the distance between the second adapter 240 and the third adapter 360 in the first direction is kept, the interference is avoided in the installation process of the spacer 200 and the instrument box 300, and the integral stability of the installation process is ensured.

In a preferred embodiment, step S6 further comprises:

S7, controlling the top moving part 340 to extend out and jack up the floating plate through the control part 330;

s8, releasing the plug connection between the instrument box 300 and the spacer 200 in the second direction;

Wherein, under the floating plate is lifted up and extended by the top moving member 340, the positioning protruding member 350 is separated from the receiving groove 231, and the second adaptor 240 and the third adaptor 360 are disconnected.

In a preferred embodiment, step S8 further comprises:

S9, releasing the engagement between the spacer 200 and the drive cassette 100 in the first direction.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims

1. The quick-change device for the surgical instrument is characterized by comprising a driving box and a spacer, wherein the spacer can be clamped with the driving box in a first direction;

In the state that the driving box and the isolating piece are not connected or are connected, the first adapter piece is in an extending state under the action of elasticity of the first adapter piece.

2. The surgical instrument quick change device of claim 1, further comprising an instrument cartridge removably coupled to the spacer;

3. The surgical instrument quick change device according to claim 2, wherein a first connection groove is formed in one end of the first adapter close to the spacer, a first connection protrusion is formed in one end of the second adapter close to the drive box, and the first connection protrusion can be inserted into the first connection groove on the first adapter at a corresponding position and transmit torque;

4. The surgical instrument quick change device of claim 1, wherein the spacer comprises a spacer plate body and a floating plate disposed on the spacer plate body;

The floating plate can move in a first direction relative to the isolation plate body, and the second adapter piece penetrates through the floating plate and can rotate relative to the floating plate.

5. The surgical instrument quick change device according to claim 4, wherein the isolation plate body is provided with a movable cavity for accommodating the floating plate in a penetrating manner, and the inner wall of the movable cavity is provided with a floating adjusting groove;

6. A surgical instrument quick change device according to any one of claims 2 to 5, wherein the spacer is adapted to be inserted into the instrument case in a second direction at a side end thereof remote from the drive case, and wherein displacement of the spacer and the instrument case in the first direction relative to the spacer is limited in the inserted state of the spacer and the instrument case;

The second direction is specifically set to be any direction on the axial vertical plane of the first adapter; in the inserting process of the isolating piece and the instrument box, the positioning convex piece can be abutted against the floating plate so as to enable the second adapter piece and the third adapter piece to keep a distance in the first direction; after the isolation piece and the instrument box are inserted, the positioning convex piece can be in scarf joint with the containing groove.

7. The surgical instrument quick change device of claim 6, further comprising an unlocking assembly for releasing the second adapter and the third adapter from the mated state;

8. A surgical instrument quick change method, adapted for use in a surgical instrument quick change device according to any one of claims 1 to 7, comprising:

clamping the spacer on the driving box in a first direction;

9. The surgical instrument quick change method of claim 8, further comprising:

inserting the instrument box onto the spacer in a second direction;

10. The surgical instrument quick change method of claim 9, further comprising: