CN217286061U - Quick aligning mechanism of surgical instrument box and power box - Google Patents

Abstract

The utility model relates to a quick aligning mechanism of a surgical instrument box and a power box, which comprises the power box and the instrument box, wherein a lower clutch plate on a front cover plate of the power box is arranged corresponding to an upper clutch plate on the instrument box, and a gap of the upper clutch plate is completely embedded with a bulge of the lower clutch plate; the front cover plate is provided with a positioning pin and a guide buckle, and the positioning pin and the guide buckle are respectively inserted into a pin hole and a buckle groove of the instrument box; a driving motor is arranged in the power box, an output shaft is arranged at the output end of the driving motor, and the lower clutch plate slides back and forth along the output shaft; the front section of the output shaft is provided with a compression spring, the compression spring provides a reset force when the lower clutch plate is pushed towards the direction of the driving motor by an external force, so that the lower clutch plate is pushed back to the original position by the compression spring when the external force disappears, and the lower clutch plate is driven by the motor to rotate down and is embedded with the upper clutch plate to realize rapid alignment; the utility model discloses can realize the quick alignment and the quick installation of changing the apparatus among the operation process, and the structure is succinct, and the reliability is high, and is with low costs, easy and simple to handle.

Description

Quick aligning mechanism of surgical instrument box and power box

[ technical field ]

The utility model belongs to the technical field of surgical robot technique and specifically relates to a quick alignment mechanism of surgical instruments box and power box.

[ background art ]

With the development and progress of science and technology, minimally invasive surgical robots have been accepted by more and more hospitals and doctors worldwide and used for various clinical surgeries. During robotic surgery, various surgical instruments are often replaced to perform gripping, cutting, suturing, knotting, etc., but the power cartridges used to drive the movement of the surgical instruments are typically not replaced and are attached to the end effector arms. Therefore, achieving rapid replacement of surgical instruments is an important function of minimally invasive surgical robots. The key point of quick replacement is that the surgical instrument box and the power box can be conveniently and quickly aligned under the operation of human hands, which has important practical significance for the smooth operation of the robot operation.

Regarding the utility model patent application of patent application publication No. CN111000636A, this utility model provides a drive box's partial mechanism though can realize surgical instruments's quick replacement, nevertheless has the structure complicacy simultaneously, and the processing cost is high, receives processing and assembly error to influence easily, the lower scheduling problem of reliability. In order to adapt to the characteristics and clinical requirements of minimally invasive robot surgery, the surgical instrument should be capable of being quickly aligned to the power box, and related mechanisms should have the characteristics of low cost, high reliability, simplicity and convenience in operation and the like.

[ contents of utility model ]

The utility model aims at solving foretell not enough and providing a quick alignment mechanism of surgical instruments box and power box, can realize the quick alignment and the quick installation of changing the apparatus among the operation process, it is succinct to have the structure simultaneously, and the reliability is high, and is with low costs, advantages such as easy and simple to handle.

The quick alignment mechanism for the surgical instrument box and the power box comprises apower box 1 and aninstrument box 4, wherein afront cover plate 3 is installed at the front end of thepower box 1, atail cover 13 is installed at the rear end of thepower box 1, alower clutch plate 2 on thefront cover plate 3 of thepower box 1 is arranged corresponding to anupper clutch plate 5 on theinstrument box 4, a notch is formed in the surface of theupper clutch plate 5, a bulge is formed in the surface of thelower clutch plate 2, and the notch of theupper clutch plate 5 is completely embedded with the bulge of thelower clutch plate 2; thefront cover plate 3 is provided with apositioning pin 6 and aguide buckle 14 with a guide function, the rear end of theinstrument box 4 is provided with apin hole 7 and abuckle groove 15, thepin hole 7 and thebuckle groove 15 are respectively arranged opposite to the positioningpin 6 and theguide buckle 14 on thefront cover plate 3, and thepositioning pin 6 and theguide buckle 14 are respectively inserted into thepin hole 7 and thebuckle groove 15 so as to realize the quick alignment of thepower box 1 and theinstrument box 4; adriving motor 12 is installed in thepower box 1, anoutput shaft 10 is installed at the output end of thedriving motor 12, theoutput shaft 10 is fixed with the output end of thedriving motor 12 into a whole through aset screw 11, theoutput shaft 10 is arranged in thefront cover plate 3 and extends into thelower clutch plate 2, and thelower clutch plate 2 is connected to theoutput shaft 10 in a sliding manner and slides back and forth along theoutput shaft 10; the front section of theoutput shaft 10 is provided with acompression spring 9, thecompression spring 9 is arranged between theoutput shaft 10 and thelower clutch plate 2, thecompression spring 9 provides a reset force when thelower clutch plate 2 is pushed towards thedriving motor 12 by an external force, so that thelower clutch plate 2 is pushed back to the original position by thecompression spring 9 when the external force disappears, and thelower clutch plate 2 rotates under the driving of thedriving motor 12 and is embedded with theupper clutch plate 5 on theinstrument box 4 to realize rapid alignment.

Preferably, a guide key is arranged in the middle section of theoutput shaft 10, the guide key is matched with a keyway on thelower clutch plate 2 on thefront cover plate 3, and thelower clutch plate 2 slides back and forth on theoutput shaft 10 through the guide key and the keyway.

Preferably,bolts 8 are arranged on two sides of thelower clutch plate 2, and the heads of thebolts 8 are blocked on two sides of thelower clutch plate 2 to prevent thelower clutch plate 2 from completely falling off theoutput shaft 10.

Preferably, fourlower clutch plates 2 on thepower box 1 and fourupper clutch plates 5 on theinstrument box 4 are arranged and are distributed in a rectangular shape.

Preferably, the notches on theupper clutch plate 5 and the protrusions on thelower clutch plate 2 are symmetrically arranged.

Preferably, thepositioning pins 6 are arranged in the middle of thefront cover plate 3 in a bilateral symmetry manner, theguide buckles 14 are arranged on two sides of thefront cover plate 3 in a bilateral symmetry manner, and theguide buckles 14 are hook-shaped rod pieces designed.

Compared with the prior art, the utility model, have following advantage:

(1) the utility model discloses in the in-process of changing surgical instruments box, when apparatus box and power box dock and paste completely, the clutch plate does not align completely with lower clutch plate in part, lower clutch plate can be promoted a section distance towards the motor direction by last clutch plate at this moment, when driving motor rotates, lower clutch plate rotates thereupon, when arch on the clutch plate turns to and coincides with the breach on the clutch plate just down, lower clutch plate can reset under the effect of spring, thereby make upper clutch plate and lower clutch plate be in the same place with the gomphosis, realize the purpose of quick alignment;

(2) the gap on the upper clutch plate and the bulge on the lower clutch plate are symmetrically arranged, so that the motor can reach the position embedded with the upper clutch plate more quickly than the asymmetric arrangement when driving the lower clutch plate to rotate, and the alignment time is saved;

(3) the utility model can be used for realizing the rapid alignment and butt joint of the surgical instrument box and the power box of the minimally invasive surgery robot, and can adapt to the characteristics and clinical requirements of the minimally invasive robot surgery;

(4) the utility model discloses can realize the quick alignment and the quick installation of changing the apparatus among the operation process, it is succinct to have the structure simultaneously, and the reliability is high, and is with low costs, advantages such as easy and simple to handle.

[ description of the drawings ]

FIG. 1 is a schematic structural view of the power box and the instrument box of the present invention when they are fitted together;

FIG. 2 is a schematic structural view of the instrument box of the present invention;

FIG. 3 is a schematic structural view of the power box of the present invention;

fig. 4 is an exploded view of the power cartridge of the present invention;

FIG. 5 is a schematic view of the internal structure of the power box of the present invention;

fig. 6 is an exploded view of the driving motor of the present invention;

in the figure: 1. the device comprises apower box 2, alower clutch plate 3, afront cover plate 4, aninstrument box 5, anupper clutch plate 6, apositioning pin 7, apin hole 8, abolt 9, acompression spring 10, anoutput shaft 11, aset screw 12, adriving motor 13, atail cover 14, aguide buckle 15 and a buckle groove.

[ detailed description of the invention ]

The utility model provides a quick aligning mechanism of a surgical instrument box and a power box, which comprises apower box 1 and aninstrument box 4, wherein the front end of thepower box 1 is provided with afront cover plate 3, the rear end of thepower box 1 is provided with atail cover 13, alower clutch plate 2 on thefront cover plate 3 of thepower box 1 is arranged corresponding to anupper clutch plate 5 on theinstrument box 4, the surface of theupper clutch plate 5 is provided with a gap, the surface of thelower clutch plate 2 is provided with a bulge, and the gap of theupper clutch plate 5 is completely embedded with the bulge of thelower clutch plate 2; thefront cover plate 3 is provided with apositioning pin 6 and aguide buckle 14 with a guide function, the rear end of theinstrument box 4 is provided with apin hole 7 and abuckle groove 15, thepin hole 7 and thebuckle groove 15 are respectively arranged opposite to thepositioning pin 6 and theguide buckle 14 on thefront cover plate 3, and thepositioning pin 6 and theguide buckle 14 are respectively inserted into thepin hole 7 and thebuckle groove 15 so as to realize the quick alignment of thepower box 1 and theinstrument box 4; adriving motor 12 is installed in thepower box 1, anoutput shaft 10 is installed at the output end of thedriving motor 12, theoutput shaft 10 is fixed with the output end of thedriving motor 12 into a whole through aset screw 11, theoutput shaft 10 is arranged in thefront cover plate 3 and extends into thelower clutch plate 2, a guide key is arranged at the middle section of theoutput shaft 10, the guide key is matched with a key slot hole on thelower clutch plate 2 on thefront cover plate 3, and thelower clutch plate 2 slides back and forth on theoutput shaft 10 through the guide key and the key slot hole;compression spring 9 has been installed to outputshaft 10 anterior segment,compression spring 9 locates betweenoutput shaft 10 andlower clutch plate 2,compression spring 9 provides the restoring force whenclutch plate 2 is pushed to drivingmotor 12 direction by external force down toclutch plate 2 pushes back the normal position bycompression spring 9 when making external force disappear down, andlower clutch plate 2 rotates under drivingmotor 12 drives and realizes quick the alignment withlast clutch plate 5 oninstrument box 4 inlays together.

Wherein, thebolt 8 is arranged on both sides of thelower clutch plate 2, and the head of thebolt 8 is blocked on both sides of thelower clutch plate 2, thereby preventing thelower clutch plate 2 from completely falling off theoutput shaft 10. Thelower clutch plate 2 on thepower box 1 and theupper clutch plate 5 on theinstrument box 4 are all provided with four and are distributed in a rectangular shape, and thedriving motors 12 and the like are correspondingly arranged, so that alignment can be realized more quickly and accurately. The twopositioning pins 6 are symmetrically arranged in the middle of thefront cover plate 3, theguide buckles 14 are symmetrically arranged on the two sides of thefront cover plate 3, theguide buckles 14 are designed with hook-shaped rod pieces, and the hook-shaped structure can be used for better guiding.

The invention will be further described with reference to the following specific examples:

referring to fig. 1, a schematic diagram of thesurgical instrument box 4 and thepower box 1 connected together during a surgical procedure is shown. The indentations of theupper clutch plate 5 on thesurgical instrument cassette 4 need to be fully engaged with the protrusions of the surface of thelower clutch plate 2 on thepower cassette 1 in order to transmit power from thepower cassette 1 to thesurgical instrument cassette 4. Because when changing surgical instruments, go up clutch-plate 5's breach position and clutch-plate 2's the bellied position in surface all is random down, consequently need design one kind like the mechanism can makepower box 1 andapparatus box 4, go up clutch-plate 5 and clutch-plate 2 down and can both aim at fast when the apparatus is changed in the staff operation. Specifically, afront cover plate 3 is mounted in front of thepower box 1, apositioning pin 6 and abuckle 14 with a guiding function are arranged on the front cover plate, thepositioning pin 6 can be inserted into apin hole 7 on the instrument box, and the guidingbuckle 14 can be inserted into abuckle groove 15 on the instrument box, so that thepower box 1 and theinstrument box 4 can be quickly aligned.

Meanwhile, anoutput shaft 10 is mounted on the shaft of a drivingmotor 12, and is fixed with the motor shaft by aset screw 11. The middle section of theoutput shaft 10 is provided with a guide key which is matched with a key groove hole on thelower clutch plate 2, so that thelower clutch plate 2 can slide back and forth on theoutput shaft 10. The front section of theoutput shaft 10 is provided with acompression spring 9, and when thelower clutch plate 2 is pushed towards the motor by external force, thecompression spring 9 can provide certain reset force, so that thelower clutch plate 2 can be pushed back to the original position by the spring when the external force disappears.Bolts 8 are arranged on two sides of thelower clutch plate 2, and the head parts of thebolts 8 can prevent thelower clutch plate 2 from completely falling off theoutput shaft 10.

In the process of changing the surgical instrument box, wheninstrument box 4 docks and pastes withpower box 1 completely, clutch-plate 5 does not align completely with clutch-plate 2 down in part, clutch-plate 2 can be promoted a section distance towards the motor direction by clutch-plate 5 down this moment, when drivingmotor 12 rotates, clutch-plate 2 also can rotate thereupon down, when arch on clutch-plate 2 turned to just coincide with the breach on clutch-plate 5 down, clutch-plate 2 can reset under the effect ofspring 9 down, thereby make clutch-plate 5 and clutch-plate 2 gomphosis down be in the same place, realize the purpose of aligning fast. The notch on theupper clutch plate 5 and the bulge on thelower clutch plate 2 are symmetrically arranged, so that the motor can drive thelower clutch plate 2 to rotate to reach the position embedded with theupper clutch plate 5 more quickly than the asymmetric arrangement, and the alignment time is saved.

To sum up, the mechanism can realize quick alignment and quick installation of changing the apparatus among the operation process, and has the advantages of simple structure, high reliability, low cost, simple and convenient operation and the like.

The present invention is not limited by the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and are all included in the protection scope of the present invention.

Claims (6)

1. A quick alignment mechanism of surgical instrument box and power box, includes power box (1) and apparatus box (4), its characterized in that: the front end of the power box (1) is provided with a front cover plate (3), the rear end of the power box (1) is provided with a tail cover (13), a lower clutch plate (2) on the front cover plate (3) of the power box (1) is arranged corresponding to an upper clutch plate (5) on the instrument box (4), the surface of the upper clutch plate (5) is provided with a notch, the surface of the lower clutch plate (2) is provided with a bulge, and the notch of the upper clutch plate (5) is completely embedded with the bulge of the lower clutch plate (2); the front cover plate (3) is provided with a positioning pin (6) and a guide buckle (14) with a guide function, the rear end of the instrument box (4) is provided with a pin hole (7) and a buckle groove (15), the pin hole (7) and the buckle groove (15) are respectively arranged opposite to the positioning pin (6) and the guide buckle (14) on the front cover plate (3), and the positioning pin (6) and the guide buckle (14) are respectively inserted into the pin hole (7) and the buckle groove (15) so as to realize the rapid alignment of the power box (1) and the instrument box (4); a driving motor (12) is installed in the power box (1), an output shaft (10) is installed at the output end of the driving motor (12), the output shaft (10) is fixed with the output end of the driving motor (12) into a whole through a set screw (11), the output shaft (10) is arranged in the front cover plate (3) and extends into the lower clutch plate (2), and the lower clutch plate (2) can be connected to the output shaft (10) in a sliding mode and slides back and forth along the output shaft (10); compression spring (9) have been installed to output shaft (10) anterior segment, compression spring (9) are located output shaft (10) and down between clutch plate (2), compression spring (9) provide the restoring force when clutch plate (2) are pushed to driving motor (12) direction by external force down to clutch plate (2) are pushed the normal position by compression spring (9) back down when making external force disappear, clutch plate (2) rotate under driving motor (12) drive and are in the same place realization fast alignment with last clutch plate (5) the gomphosis on apparatus box (4) down.

2. The surgical instrument cassette and power cassette quick alignment mechanism of claim 1, wherein: the middle section of the output shaft (10) is provided with a guide key, the guide key is matched with a key slot hole on a lower clutch plate (2) on the front cover plate (3), and the lower clutch plate (2) slides back and forth on the output shaft (10) through the guide key and the key slot hole.

3. The surgical instrument cassette and power cassette quick alignment mechanism of claim 1, wherein: bolts (8) are arranged on two sides of the lower clutch plate (2), and the heads of the bolts (8) are blocked on two sides of the lower clutch plate (2) to prevent the lower clutch plate (2) from completely falling off the output shaft (10).

4. The surgical instrument cassette and power cassette quick alignment mechanism of claim 1, wherein: the lower clutch plate (2) on the power box (1) and the upper clutch plate (5) on the instrument box (4) are respectively provided with four clutch plates which are distributed in a rectangular shape.

5. The surgical instrument cassette and power cassette quick alignment mechanism of claim 4, wherein: the notch on the upper clutch plate (5) and the bulge on the lower clutch plate (2) are symmetrically arranged.

6. The surgical instrument cassette and power cassette quick alignment mechanism of any of claims 1-5, wherein: locating pin (6) are provided with two, and bilateral symmetry arranges in front shroud (3) middle part, front shroud (3) both sides are located to direction buckle (14) bilateral symmetry formula, direction buckle (14) are for having the hooked member of design.

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