Disclosure of Invention
In view of this, in order to solve the above-described problems, the present application provides an engagement device, a slave operating apparatus having the engagement device, and a surgical robot including the slave operating apparatus, wherein the input device includes:
An engagement device for engaging an instrument and a drive device, the engagement device comprising a first body and a receiving slot opening in the first body, the receiving slot having an instrument receiving end in a central region of the first body for receiving an instrument shaft of the instrument.
Preferably, the receiving groove is a chute.
Preferably, the receiving slot includes an opening disposed on a first side of the first body, the opening communicating with the instrument receiving end, the opening being located in a non-central region of the first side.
Preferably, the receiving groove includes a first sidewall and a second sidewall located at both sides of a central axis of the receiving groove, and a length of the first sidewall is smaller than a length of the second sidewall.
Preferably, the engagement means comprises a second side edge non-parallel to the first side edge, the first side wall being at an acute angle to the first side edge and/or the second side wall being at an acute angle to the second side edge.
Preferably, the distance between the centre of the opening and the second side is smaller than the distance between the centre of the instrument receiving end and the second side.
Preferably, the engagement device further comprises a first buckle, a second buckle and a third buckle, wherein the first buckle, the second buckle and the third buckle are arranged on the first main body, the first buckle and the second buckle are used for being buckled with the instrument and a buckle seat on the driving device, the third buckle is used for being buckled with the buckle seat of the driving device, and the instrument containing end is located in a triangular area formed by the first buckle, the second buckle and the third buckle.
Preferably, the first buckle is disposed at the first side, and the third buckle is disposed at the second side.
Preferably, the first catch is located between the first side wall and the first side edge.
Preferably, the engagement means further comprises first and second engagement discs for engaging the instrument and drive means, the receiving slot being located between the first and second engagement discs.
Preferably, the first catch is located between the receiving slot and the first engagement disc and/or the second engagement disc is located between the receiving slot and the second side.
Preferably, the first buckle and the second buckle are symmetrically arranged on the first main body.
Preferably, the first catch and/or the second catch are rotatable relative to the first body.
Preferably, the first buckle, the second buckle and/or the third buckle are/is pivoted on the first main body.
Preferably, the third clasp comprises an instrument clip extending along the proximal end of the engagement means, the instrument clip being for gripping the instrument.
Preferably, the distance between the central surfaces of the first and second catches to the first side wall is smaller than the width of the first catch, or the central surface passes through the instrument receiving end.
Preferably, the engagement means further comprises a second body perpendicular to the first body, the second body comprising a straight plate and curved plates at both ends of the straight plate, the second body being for guiding the instrument to engage to the engagement means.
Preferably, the concave sides of the two curved plates face the instrument receiving end of the receiving slot so that the second body embraces the instrument cassette of the instrument during engagement of the instrument to the engagement means.
Preferably, the straight plate is provided with bullet-shaped guide bars for guiding the instrument to be coupled to the coupling means.
A slave operating device comprising a drive means mounted on the robotic arm and an engagement means as described above, the upper engagement means being engaged on the drive means.
The surgical robot comprises a master operation device and the slave operation device, wherein the slave operation device executes corresponding operations according to instructions of the master operation device.
The instrument receiving end of the receiving groove of the engagement device of the present application is provided at the center of the engagement device, and can be applied to an instrument in which the instrument shaft is at the center of the instrument box.
Detailed Description
In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the application. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions as used herein are for the purpose of illustration and do not denote a unique embodiment, it being understood that these spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., an element or feature described as "below" or "beneath" other element or feature would be oriented "above" the other element or feature if the device were turned over in the figures. Thus, the example term "below" may include both an orientation above and below.
The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator. As used herein, "coupled" may be understood broadly as wherein two or more objects are connected to any event in a manner that allows the absolutely coupled objects to operate with each other such that there is no relative movement between the objects in at least one direction, such as coupling of a protrusion and a recess, which may move relative to each other in a radial direction but not in an axial direction.
The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument comprising an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery, a jaw, a stapler, a scissor, an imaging device (e.g., an endoscope or ultrasonic probe), and the like. Some instruments used in embodiments of the present application further include providing the end effector with an articulating component (e.g., an articulation assembly) that enables the position and orientation of the end effector to be manipulated for movement with one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end effector includes jaws that also include functional mechanical degrees of freedom, such as opening and closing. The instrument may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system elements.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "and/or" and/or "as used herein include any and all combinations of one or more of the associated listed items.
As shown in fig. 1 and 2, the surgical robot according to one embodiment of the present application includes a slave operation device 10 and a master operation device 20, wherein the slave operation device 10 is located at a patient side for performing a surgical operation, and the slave operation device 10 includes a plurality of mechanical arms 11 and an instrument 12 mounted on the mechanical arms 11, and the instrument 12 may be an electrocautery, a forceps, an anastomat, a cutter, or the like for performing a surgical operation, or may be a camera or other surgical instrument for acquiring images, and the plurality of instruments 12 are inserted into the patient from different incisions. The robotic arm is configured to be supported by the support post through a plurality of large arms, and in other embodiments, the robotic arm of the slave manipulator may also be mounted on a wall or ceiling.
The robotic arm 11 further includes a parallelogram linkage to which the instrument 12 is removably mounted on a distal end, the parallelogram linkage being capable of allowing the instrument 12 to move or multiple mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). The parallelogram linkage serves to constrain movement of the instrument 12 near a Remote Center of Motion (RCM) on the surgical instrument that remains stationary relative to the patient, which is typically located where the instrument enters the patient's body. In other embodiments, the large arm of the other slave operating device is configured differently, and a plurality of instruments of the slave operating device are detachably mounted on the power mechanism at the distal end of the large arm, the plurality of instruments enter the human body from one incision, and the plurality of large arms control the restraining instrument to move near the remote movement center, and refer to the Chinese patent application CN201810664598.2.
The slave manipulator 10 comprises a plurality of mechanical arms 11, the distal end of the parallelogram mechanism of the mechanical arms 11 is provided with an instrument support arm 14, the instrument support arm 14 is provided with a driving device 13, the driving device 13 is used for driving an end effector 17 at the distal end of the instrument 12 to move, and the driving device 13 can move along the proximal end or the distal end of the instrument support arm 14. The instrument 12 is mounted on a drive device 13, and the instrument 12 is movable with the drive device 13 toward the distal or proximal end of the instrument support arm 14 to move the distal end of the instrument 12 into or out of the body.
During use of the surgical robot, the instrument 12 as a whole is sterile, and the mechanical arm 11 and the driving means 13 of the slave operating device 10 are sterile, which are isolated from the sterile environment by a sterile cover (not shown). As shown in fig. 3, the instrument cassette 19 of the instrument 12 is coupled to the drive device 13 by the coupling device 18, and the coupling device 18 is sterilized during use, so that the coupling device 18 can sterilely isolate the instrument 12 from the drive device 13.
The end effector 17 is supported by the instrument shaft 16 of the instrument 12. In one embodiment, the instrument shaft 16 is hollow, the transmission mechanism within the instrument box 19 is connected to the end effector 17 by a cable, and the drive device 13 drives the transmission mechanism to move so that the transmission mechanism pulls or releases the cable to thereby manipulate the end effector 17 to move.
The instrument shaft 16 passes through the poking card 15 and is restrained by the poking card 15, the poking card 12 is butted with the instrument supporting arm 13 through the poking card clamping device, so that the poking card 12 can be driven to move together through the mechanical arm 11, the poking card 12 can be driven by the mechanical arm 11 to rotate around a remote fixed point by virtue of the butting of the poking card 12 on the instrument supporting arm 13, and at the moment, the instrument shaft 16 passing through the poking card 12 also rotates around the remote fixed point, so that the end effector 17 of the instrument 12 has a larger movement range in the human body.
The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to view the surgical site from outside the patient's body. The vision system generally includes a video image acquisition function (e.g., an instrument 12 having an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 12 with image acquisition capability includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images within the patient's body. The one or more imaging sensors may be positioned at the distal end of the instrument 12 with image acquisition capabilities and the signals generated by the one or more sensors may be transmitted along a cable or wirelessly for processing and display on a video display device.
The main operation device 20 is located at the operator's side, and the main operation device 20 is used for sending control commands to the auxiliary operation device 10 and displaying images acquired from the operation device 10 according to the operation of the operator, the operator can observe the three-dimensional stereoscopic imaging in the patient provided by the imaging system through the main operation device 20, and the operator can control the auxiliary operation device 10 to perform related operations (such as performing surgery or acquiring images in the patient) with an immersive sense by observing the three-dimensional images in the patient. The main operation device 20 includes a main control console 21 and an input device 22, wherein the main control console 21 includes a display device, an armrest, a control signal processing system, and an observation device, and the display device is used for displaying images acquired by the imaging system. The armrest is used for placing the arm and/or the hand of the operator so that the operator can operate the input device more comfortably, and the observation device is used for observing the image displayed by the display device. The armrest can be omitted according to the actual requirement, or the observation device can be omitted, and the observation can be directly performed at the moment. The operator controls the movement of the slave operation device 10 through the operation input means 22, and the control signal processing system of the master control console 21 processes the input signal of the input means 22 and issues a control command to the slave operation device, and the slave operation device 300 is used for responding to the control command sent by the master control console 21 and performing a corresponding operation.
Referring to fig. 4 and 5, fig. 5 is a top view of the engagement device 280 of fig. 4, in one embodiment, the instrument 12 is engaged with the driving device 23 by the engagement device 280, the engagement device 280 includes a first body 281 and first and second snaps 283 and 284 rotatably disposed on the first body 281, specifically, the first and second snaps 283 are rotatably disposed near the first side 2811 of the first body 281, the second and first snaps 283 and 283 are symmetrically disposed on the first body and rotatable with respect to the first body 281, i.e., the first and second snaps 283 and 284 are symmetrically disposed about a central axis X of the first body 281, the central axis X passing through the center of the first body 281 and bisecting the first body 280 in a length direction, the first and second snaps 283 and 284 being used to connect the engagement device 280 to the driving device 23 and connect the instrument cassette 19 of the instrument 12 to the engagement device 280.
As shown in fig. 6 and 7, fig. 6 is a cross-sectional view along the AA plane of fig. 5. In one embodiment, the first buckle 283 and the second buckle 284 are pivotally connected to the first body 281 by a pivot 2833,2843, and the first buckle 283 and the second buckle 284 each include an instrument side pawl and a drive side pawl for respectively engaging with the buckle seat 1921,1922 on the instrument case 19 and the buckle seats 233,234 on the drive device 23 to connect the instrument case 19 and the drive device 23 to the engagement device 280. Specifically, the instrument side pawl 2831 of the first buckle 283 is configured to engage with the first buckle seat 1921 on the instrument box 19, and the instrument side pawl 2841 of the second buckle 284 is configured to engage with the second buckle seat 1922 on the instrument box 19. The driving side pawl 2832 of the first catch 283 is configured to engage with the third catch seat 233 at the proximal end of the driving device 23, and the driving side pawl 2834 of the second catch 284 is configured to engage with the fourth catch seat 234 of the driving device 23.
When the instrument 12 is to be removed, the operator presses the release mechanisms 191 on both sides of the instrument box 19 of the instrument 12, the release mechanisms 191 are used to release the connection of the first buckle 283 and the second buckle 284 with the instrument box 19, so that the instrument 12 is disengaged from the engagement device 280, and since the first buckle 283 and the second buckle 284 are symmetrical about the central axis X, the two release mechanisms 191 can also be symmetrically arranged on both sides of the instrument box 191, which is more advantageous for the operator to operate the release mechanisms 191 to separate the instrument 12 from the engagement device 280.
Referring again to fig. 4-6, in one embodiment, the engagement device 280 further includes a third catch 285 disposed at a second side 2812 of the first body 281 and extending along the distal end of the first body 281, the second side 2812 being located on a side opposite the instrument support arm 14 and non-parallel to the first side 2811, the third catch 285 being configured to snap with a fifth catch seat 235 on the drive device 23. In this way, the third buckle 285 forms a triangle relationship with the first buckle 283 and the second buckle 284, the receiving groove 282 for receiving the instrument shaft 16 is positioned between the three buckles, and three sides of the engaging device 280 are provided with buckles for buckling with the driving device 23, so that the engaging device 280 is firmly engaged with the driving device, the situation that the engaging device and the driving device 23 fall off due to the forced overturning of the instrument 12 in the operation process is avoided, and the operation safety is provided.
Referring to fig. 8, in one embodiment, the third clasp 285 includes an instrument clip 2852 extending proximally of the engagement device 280, the instrument clip 2852 being used to clamp the instrument pod 19. As shown in fig. 10, the third buckle 285 is pivoted to the first main body 281 of the engaging device 280 through a pivot 2853, and after the engaging device 281 is engaged to the driving device 23, the driving claw 2851 of the third buckle 285 engages with the fifth buckle seat 235 on the driving device 23, and the elastic member 2855 located on the first main body 281 is used for biasing the driving claw 2851, so as to maintain the driving claw 2851 in an engaged state with the fifth buckle seat 235.
After the instrument 12 is connected to the engagement means 280, the instrument housing 12 longitudinally compresses the instrument clip 2854 of the third catch 285 such that the projection 2854 at the proximal end of the instrument clip 2852 abuts the side of the instrument housing 19, thereby rotating the instrument catch 285 clockwise about the pivot 2853 to cause the drive catch 2851 to snap closer to the fifth catch seat 285, and the instrument clip 2852 of the third catch 285 clamps the instrument housing 19 to prevent deflection of the instrument 12 away from the instrument support arm 14 to cause the instrument 12 to be more firmly engaged to the engagement means 280.
When the engaging device 280 needs to be removed from the driving device 23, the operator holds the instrument side claw 2831 of the first buckle 283 and the instrument side claw 2841 of the second buckle 284 toward the center of the engaging device 280, so that the first buckle 283 and the second buckle 284 rotate about the pivot 2833,2843, the driving claw 2843 of the first buckle 283 and the driving claw 2844 of the second buckle 284 open away from the center of the engaging device 280, the driving claw 2843 releases the connection with the third buckle seat 233, and the driving claw 2842 releases the connection with the fourth buckle seat 234. At this time, only the fifth buckle 285 is still clamped with the fifth buckle seat 285 of the driving device 23, and the operator only needs to hold the engaging device 280 to move the engaging device 280 away from the instrument supporting arm 14, so that the connection between the fifth buckle 285 and the fifth buckle seat 235 can be released, and the release mechanism for releasing the fifth buckle is not required to be separately provided, and the difficulty of the operator in removing the engaging device 280 is not increased.
Referring again to fig. 4 and 5, in one embodiment, the first body 281 of the engagement device 280 is provided with a receiving slot 282 for receiving the instrument shaft 16 of the instrument 12, the receiving slot 282 is a chute, specifically, the instrument receiving end 2821 of the receiving slot 282 is located in a central region of the first body 281 for receiving the instrument shaft 16 after the instrument 12 is connected to the engagement device 280, the opening 2822 of the receiving slot 282 is provided in a non-central region on the first side 2811 of the first body 281, the opening 2822 of the receiving slot 2822 is in communication with the instrument receiving end 2821, and the angle α between the central axis Y of the receiving slot 282 and the central axis X of the first body is non-right such that the receiving slot 282 forms a non-right angle with the side of the first body 281. Further, α is acute such that the opening 2822 of the receiving slot 282 is oriented toward the outward side, i.e., the distance from the center of the opening 2822 to the first side 2812 is less than the distance from the center of the instrument receiving end 2821 to the first side 2812. In other words, the first side wall 2823 of the receiving slot 282 has an acute angle with the first side edge 2811 of the first body 281, and the second side wall 2824 of the receiving slot 282 has an acute angle with the second side edge 2812 of the first body 281, wherein the length s1 of the first side wall 2823 is smaller than the length s2 of the second side wall 2824, and the first side wall 2823 and the second side wall 2823 refer to the portions of the receiving slot 282 where the slot walls are flat.
Since the receiving groove for receiving the instrument shaft 16 is the receiving groove 282, a space of the first main body 281 portion between the first side wall 2812 and the first side wall 2811 of the receiving groove 282 is larger than that of the receiving groove perpendicular to the first side wall 2811, so that the volume of the first buckle 283 can be made larger, and the first buckle 283 and the second buckle 281 of the larger volume can make the connection between the instrument 12 and the driving device 23 and the engaging device 280 more firm.
In addition, since the second side 2812 of the first body 280 faces the operator during use, the opening 2822 of the receiving slot 282 is closer to the operator than the instrument receiving end 2821, and during loading of the instrument 12 into the engagement device 280, the operator holds the instrument 12 to translate the instrument shaft 16 from the opening 2822 of the receiving slot 282 along its central axis Y to the instrument receiving end 2821, which makes loading of the instrument 12 easier for the operator.
As shown in fig. 5, in one embodiment, a plurality of engagement discs 2861,2862,3863,3864 of the engagement device 280 are distributed about the first body 281, and a plurality of engagement discs 2861,2862,2863,2864 are used to engage the instrument disc 1931 of the instrument 12 and the drive disc 236 of the drive device 23. The receiving groove 282 is located in the middle of the plurality of engagement plates 2861,2862,3863,3864, and in particular, the first catch 283 is located between the first side wall 2823 and the first connecting plate 2861 of the receiving groove 282, and the second connecting plate 2862 is located between the second connecting plate 2812 and the second side wall 2824.
In one embodiment, the instrument receiving end 2821 of the receiving slot 282 is positioned within the triangular area of the first, second and third snaps 283, 284, 285 so that the three snaps securely lock the instrument box of the instrument 12 regardless of the orientation of the instrument 12. Further, the smaller the distance L from the center of the instrument receiving end 2821 to the center plane AA of the first and second catches 283 and 284, the smaller the moment the instrument applies to the first and second catches 283 and 284, preferably L is less than the width M of the first catch 283, and further L is less than half the width M of the first catch, i.e., L < M/2, allowing the instrument 12 to be stably attached to the engagement device 280.
As shown in fig. 7 and 10, a plurality of instrument trays 1931,1932,1933,1934 corresponding to the plurality of engagement trays 2861,2862,2863,2864 are also positioned around the engagement surface of the instrument tray 19, wherein the first engagement tray 283 is positioned between the first catch 283 and the third side 2813 of the engagement device 280, and the second engagement tray 2862 is positioned between the second side 2812 and the second side wall 2824 of the receiving slot 282. The plurality of instrument trays 1931,1932,1933,1934 are coupled to a plurality of capstans 1921,1922,1923,1924, respectively, located within the instrument pod 19, and the plurality of drive discs 236, via a plurality of coupling discs 2861,2862,2863,2864, drive the rotation of the instrument tray 1931,1932,1933,1934 to thereby rotate the plurality of capstans 1921,1922,1923,1924. Accordingly, a corresponding plurality of capstans 1921,1922,1923,1924 are also located near the four corners of the instrument box 19, the proximal end of the instrument shaft 16 is located in the central region of the instrument box 19, and a plurality of actuation cables 1925 extend through the instrument shaft 16 to the distal end of the instrument shaft 16, one end of which is on the shaft capstan 1921,1922,1923,1924.
Because the proximal end of the instrument shaft 16 is located in the central region of the instrument box 19 and a plurality of capstans 1921,1922,1923,1924 may be distributed about the instrument shaft 16, the included angle between the drive cables 1925 wound on different capstans may be relatively large, reducing interference between the drive cables 1925 within the instrument box 19 and facilitating routing of the drive cables 1925.
As shown in fig. 11, in one embodiment, the receiving slot 382 of the engagement device 380 is a curved chute, specifically, the first side wall 3823 and the second side wall 2834 of the receiving slot 382 are both curved side walls, the instrument receiving end 3821 of the receiving slot 382 extends further toward the inside of the first body of the engagement device 380 such that the central surfaces AA of the first buckle 283 and the second buckle 284 pass through the instrument receiving end 3821, such that the distance from the axis of the instrument shaft 16 to the central surface AA after the instrument 12 is engaged to the engagement device 380 is very small, such that the moment applied to the first buckle 283 and the second buckle 284 when the instrument 12 is forced to flip is very small, whereby the instrument 12 is less likely to disengage from the engagement device 380, and more preferably, the central surfaces AA of the first buckle 283 and the second buckle 284 pass through the center of the instrument receiving end 3821, such that the moment applied to the first buckle 283 and the second buckle 284 by the instrument 12 due to the force is almost zero, thereby completely avoiding the risk of the instrument 12 being forced to flip off the engagement device 380.
Referring again to fig. 5, 8 and 9, in one embodiment, the third side edge of the engagement means 280 extends proximally out of the second body 287, the second body 287 is perpendicular to the first body 282, the second body 287 is in the shape of a circular plate, and in particular, the second body 287 includes a straight plate 2871 located in the middle region of the third side edge 2813 and two curved plates 2872 located at both ends of the third side edge 2813, the concave surfaces of the two curved plates 2872 facing the center of the engagement means 280. The instrument box 19 of the instrument 12 has rectangular rounded corners 1911 at its ends adjacent the guide end face 192 of the second body 287 and a straight end face 1912 aligned with the straight plate 2871 of the second body 287 intermediate the two rectangular rounded corners 1911. Whereby during loading of the instrument 12 into the engagement means 280, the guiding end face 192 of the instrument cassette 19 slides along the second body 287 of the engagement means 280 from its proximal end to its distal end, and when the guiding end face 192 slides into the embracing area formed by the two curved panels 2872 entering the second body 287, the rectangular rounded corners 1911 of the guiding end face 192 are clamped in the embracing area, preventing the instrument cassette 19 from shifting direction during loading, improving loading efficiency and accuracy.
In one embodiment, the straight end surface 1912 of the second body 287 of the engagement device 280 is further provided with a guide bar 2873, the guide bar 2873 being bullet-shaped, i.e. the guide bar 2873 comprises a bullet-shaped front portion 2874 and an elongated rear portion 2875. Correspondingly, as shown in fig. 7, the straight plate 2871 of the guiding end face 192 of the instrument 12 is provided with a guiding groove 1913, and the width of the bottom groove 1914 of the guiding groove 1913 is larger than the width of the top groove 1915 thereof. When loading the instrument 12 onto the engagement means 280, the front portion 2874 of the guide bar 2873 enters the bottom slot 1914 first, and as the instrument 12 is moved further distally, the front portion 2874 of the guide bar 2873 moves along the bottom slot 1914 toward the top slot 1915, after the instrument 12 is successfully engaged with the engagement means 280, the front portion 2874 of the guide bar 2873 is received in the top slot 1915 of the guide slot 1913, and the rear portion 2875 of the guide bar 2873 is received in the bottom slot 1914 of the guide slot 1913.
The guide bar 2873 works in conjunction with the guide slot 1913 and the encircling second body 287 to further increase the accuracy and efficiency of loading the instrument 12. In some embodiments, the guide bars 2873 and the guide slots 1913 are two, and the cooperation of the two guide bars 2873 with the two guide slots 1913, respectively, further provides for high loading of the instrument 12 with accuracy and efficiency.
Referring again to fig. 4 and 7, in one embodiment, the engaging means 280 has a detent 288 on the instrument engagement surface and a detent 1941 on the engagement surface of the instrument 12 that mates with the detent 288, the first detent 288 being inserted into the first detent 1941 after the instrument 12 is engaged to the engaging means 280, the first detent 288 being inserted into the first detent 1941 to further constrain movement of the instrument 12 to allow for a more secure engagement of the instrument 12 to the engaging means 280. Further, the number of the first positioning pins 288 and the first positioning grooves 1941 is two, and the two first positioning pins 288 are respectively located at two sides of the instrument receiving end 2821 of the receiving groove 282 and located on the central axis X of the engaging device, and the two first positioning pins 288 and the two first positioning grooves 1941 can effectively inhibit the rotation of the instrument 12.
In one embodiment, the engagement surface of the driving device 13 is provided with a second positioning pin 237, and correspondingly, the engagement surface of the engagement device 280 adjacent to the driving device 13 is provided with a second positioning groove (not shown), after the engagement device 280 is engaged with the driving device 13, the second positioning pin 237 is inserted into the second positioning groove, and the second positioning pin 237 is inserted into the second positioning groove, so that the rotation of the instrument 12 and the engagement device 280 as a whole can be inhibited. In some embodiments, the second positioning pins 237 and the second positioning slots are two, respectively, and the second positioning pins are located at two sides of the receiving slot 232 of the driving device 23.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.