CN117338438A - Quick sleeve inserting device for surgical robot - Google Patents
Quick sleeve inserting device for surgical robot Download PDFInfo
- Publication number
- CN117338438A CN117338438A CN202311217219.2A CN202311217219A CN117338438A CN 117338438 A CN117338438 A CN 117338438A CN 202311217219 A CN202311217219 A CN 202311217219A CN 117338438 A CN117338438 A CN 117338438A
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- China
- Prior art keywords
- locking
- piece
- base
- unlocking
- locking piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000009434 installation Methods 0.000 claims abstract description 57
- 230000005489 elastic deformation Effects 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 239000012528 membrane Substances 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000035515 penetration Effects 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B2017/347—Locking means, e.g. for locking instrument in cannula
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
Abstract
The invention provides a sleeve rapid plugging device for a surgical robot, which comprises a base and a locking assembly. The front end of base is equipped with the adaptor, and the adaptor includes the keysets, and the middle part of keysets is sunken in order to form the installation passageway to the rear end direction, is equipped with joint portion on the inside wall that the installation passageway has elasticity and the installation passageway, and the installation passageway is used for the external sleeve pipe of holding, and joint portion is used for with external sleeve pipe joint. The locking component comprises a locking member and an operating part, wherein the locking member is movably connected to the base and is movably connected to enable the locking member to move between a locking position and an unlocking position; the locking piece is located the lateral wall of butt in the installation passageway when locking position to the elastic deformation of restriction installation passageway makes the sleeve pipe unable break away from the joint with joint portion, leaves the lateral wall of installation passageway when the locking piece is located the unblock position. The operation part is respectively connected with the locking piece and the base and is used for driving the movement of the locking piece and maintaining the locking piece in a locking position in a locking state.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a sleeve rapid plugging device for a surgical robot.
Background
In operation of the surgical robot, a doctor sends out instructions through a main control end, and slave end instrument arms cooperate with each other to finish the operation at a designated position. During surgery, surgical instruments are often extended into the patient's body by means of a penetration cannula inserted into the patient's body. For example, in teleoperated surgical systems, the penetration cannula and surgical instrument can be mounted at the manipulation robot arm of the patient side cart and remotely manipulated via teleoperation at the surgeon console. The penetration cannula needs to be configured differently for various types of surgical procedures and the penetration cannula needs to be coupled with the instrument arm assembly.
Typically, in a master-slave teleoperated surgical procedure, a penetration cannula is manually inserted into the patient's abdominal cavity and, once the incision site is determined, the penetration cannula is docked to an interface on a robotic arm. The existing butt joint mode of the puncture sleeve adopts an external clamping mode, a middle part is required to be arranged to convert linear motion into rotation of the clamping jaw, and the connecting device of the mechanical arm end is large in size due to the fact that the rotation space of the clamping jaw is required to be reserved.
Disclosure of Invention
The invention aims to provide a quick sleeve inserting device for a surgical robot, which aims to solve the problem of large size of a connecting device of a mechanical end in the prior art.
The technical scheme of the invention is as follows:
a cannula quick connector for surgical robots, comprising:
the adapter comprises an adapter plate, the middle of the adapter plate is recessed towards the rear end direction to form a mounting channel, the mounting channel is elastic, the inner side wall of the mounting channel is provided with a clamping part, the mounting channel is used for accommodating an external sleeve, and the clamping part is used for being clamped with the external sleeve;
the locking assembly comprises a locking piece and an operating part, wherein the locking piece is movably connected to the base, and the movable connection is used for enabling the locking piece to be movable between a locking position and an unlocking position; the locking piece is abutted against the outer side wall of the mounting channel when being positioned at the locking position so as to limit the elastic deformation of the mounting channel and prevent the outer sleeve from being separated from the clamping connection with the clamping connection part; the locking piece is located at the unlocking position and leaves the outer side wall of the installation channel;
the operating part is respectively connected with the locking piece and the base and is used for driving the locking piece to move and maintaining the locking piece in the locking position in the locking state.
In one embodiment, the quick sleeve inserting device for the surgical robot is in sliding connection, and the sliding direction is parallel to the axial direction of the mounting channel;
at least part of the outer side wall of the installation channel is a first inclined surface which is inclined relative to the axial direction of the installation channel, a second inclined surface is arranged on the locking piece, and the second inclined surface is abutted to the first inclined surface in a fitting way when the locking piece is positioned at the locking position.
In one embodiment, the operation member includes an elastic member disposed between the locking member and the base, and the elastic member has an elastic force for driving the locking member to move toward the locking position.
In one embodiment, the operation part further comprises an unlocking piece movably connected to the base, wherein the unlocking piece is connected to the locking piece, and is used for driving the locking piece to overcome the elastic resistance of the elastic piece and slide towards the unlocking position when the locking piece is acted by external force.
In one embodiment, the quick sleeve inserting device for the surgical robot is characterized in that the locking piece is connected with a pushing rod;
the connecting end of the unlocking piece is rotationally connected with the base, and the operating end of the unlocking piece is positioned outside the base and is used for receiving external force drive; the unlocking piece is abutted with the pushing rod and used for pushing the pushing rod to drive the locking piece to overcome the elastic resistance of the elastic piece to move towards the unlocking position when being driven by external force.
In one embodiment, the quick sleeve inserting device for the surgical robot is characterized in that the part, abutting against the pushing rod, of the unlocking piece is located between the connecting end and the operating end, and the pushing rod is located in the rear end direction of the unlocking piece.
In one embodiment, the locking assembly includes two locking members, the two locking members are respectively slidably connected to the base, and the two locking members are symmetrically arranged about the axis of the installation channel; and a connecting piece is respectively connected with the two locking pieces so as to realize synchronous movement of the two locking pieces.
In one embodiment, the locking assembly includes two locking members, the two locking members are respectively slidably connected to the base, and the two locking members are symmetrically arranged about the axis of the installation channel; the pushing rod is respectively connected with the two locking pieces so as to realize synchronous movement of the two locking pieces.
In one embodiment, the quick sleeve inserting device for the surgical robot is characterized in that a limiting groove is formed in the base, and the pushing piece is slidably connected in the limiting groove.
In one embodiment, the quick sleeve plugging device for the surgical robot is characterized in that an opening is formed in the tail end of the installation channel formed by recessing the middle part of the adapter plate towards the rear end direction, and the adapter piece further comprises a sterile film which is installed at the rear end of the adapter plate and seals the opening.
By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:
according to the quick plugging device for the sleeve of the surgical robot, when the sleeve is connected, the locking piece is driven to be located at the unlocking position through the operation part, and then the part of the sleeve, which is used for being connected with the device, stretches into the mounting channel and is connected with the clamping part in a clamping way (the mounting channel has elasticity, so that the clamping can be completed in the stretching process); and then the locking piece is driven to a locking position, and the locking piece is propped against the outer side wall of the installation channel, so that the elastic deformation of the installation through hole is limited, the sleeve cannot be separated from the clamping connection with the clamping connection part, and the sleeve is locked. When the sleeve is unlocked, the locking piece is driven to the unlocking position through the operating part, and at the moment, the locking piece leaves the outer side wall of the installation channel, and the sleeve can be directly pulled out by utilizing the elasticity of the installation channel, so that the sleeve is disassembled. The invention can realize the installation and the disassembly of the sleeve by directly utilizing the movement of the locking piece, compared with the prior art, the invention does not need to be converted into rotary movement, thus the structure is simple, and the size of the whole device is small.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic view of a structure of a sleeve locking device for a surgical robot, in which a sleeve is locked;
FIG. 2 is a schematic cross-sectional view of a quick cannula hub for a surgical robot according to the present invention;
fig. 3 is a schematic cross-sectional view of a sleeve-locked sleeve of a surgical robot quick connector according to the present invention.
Reference numerals illustrate:
1: a base; 1-1: a cylindrical spring seat; 2: an adapter; 2-1: an adapter plate; 2-2: a clamping part; 2-3: a hook hole; 2-4: a sterile membrane; 3: a sleeve; 3-1: a mounting part; 4: a locking member; 5: a spring; 6: a push rod; 7: a limit groove; 8: an unlocking member; 9: a clasp; 9-1: hook tip; 9-2: a pressing part.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
Referring to fig. 1 to 3, the present embodiment provides a cannula quick connector for a surgical robot, which includes a base 1 and a locking assembly. The front end of the base 1 (the front end refers to one end relatively close to the sleeve 3, the rear end refers to one end relatively far away from the sleeve 3) is provided with an adapter 2, the adapter 2 comprises an adapter plate 2-1, the middle part of the adapter plate 2-1 is recessed towards the rear end direction to form a mounting channel, the mounting channel is elastic, a clamping part 2-2 is arranged on the inner side wall of the mounting channel, the mounting channel is used for accommodating the outer sleeve 3, and the clamping part 2-2 is used for being clamped with the outer sleeve 3.
The locking assembly comprises a locking piece 4 and an operating part, wherein the locking piece 4 is movably connected with the base 1 and is movably connected for enabling the locking piece 4 to move between a locking position and an unlocking position; the locking piece 4 is abutted against the outer side wall of the mounting channel when being positioned at the locking position so as to limit the elastic deformation of the mounting channel and prevent the outer sleeve 3 from being separated from the clamping connection with the clamping connection part 2-2; the locking member 4 is located in the unlocked position away from the outer side wall of the mounting channel.
The operating member is connected to the locking member 4 and the base 1, respectively, for driving the movement of the locking member 4 and maintaining the locking member 4 in the locked position in the locked state.
When the sleeve 3 is connected, the locking piece 4 is driven to be positioned at the unlocking position through the operation part, and then the part of the sleeve 3 used for being connected with the device stretches into the mounting channel and is connected with the clamping part 2-2 in a clamping way (the mounting channel has elasticity, so that the clamping can be completed in the stretching process); and then the locking piece 4 is driven to a locking position, and at the moment, the locking piece 4 abuts against the outer side wall of the installation channel, so that the elastic deformation of the installation sleeve 3 is limited, the clamping part 2-2 can be firmly clamped with the sleeve 3, and the sleeve 3 is locked. When unlocking, the locking piece 4 is driven to the unlocking position through the operation part, at the moment, the locking piece 4 leaves the outer side wall of the installation channel, and the sleeve 3 can be directly pulled out by utilizing the elasticity of the installation channel, so that the disassembly is realized.
The quick cannula insertion device for the surgical robot according to the present embodiment will be further described below.
The quick sleeve plugging device for the surgical robot is installed on the surgical robot and is generally mainly installed at the execution end of a mechanical arm of the surgical robot. Specifically, the rear end of the base 1 of the present device is connected to the robot arm, or is directly part of the robot arm. When the sleeve 3 is installed, the adapter 2 is installed on the base 1, and then the installation part 3-1 of the sleeve 3 is inserted into the installation channel to realize connection.
The adaptor 2 includes a sterile film 2-4 and the adaptor plate 2-1, where the adaptor plate 2-1 is detachably mounted on the front end of the base 1, and specifically, the adaptor plate may be detachably connected by a buckle, a clasp 9, or other manners, which is not limited herein. In this embodiment, the periphery of the adapter plate 2-1 extends toward the rear end direction so that the shape of the adapter plate 2-1 is similar to the shape of a cover, and covers the front end of the base 1, wherein the main body part of the adapter plate 2-1 is located at the front end of the base 1, and the extension part is attached to the periphery of the base 1; the extension part is provided with a hook hole 2-3, the base 1 is rotationally connected with a hook 9, a hook tip 9-1 of the hook 9 stretches into the hook hole 2-3, the hook 9 is provided with a hook spring between the back of the hook tip 9-1 and the base 1, and the hook spring is used for pressing the hook tip 9-1 into the hook hole 2-3 by utilizing elastic force so as to realize stable installation of the adapter plate 2-1 on the base 1. The hook 9 is also provided with a pressing part 9-2, the pressing part 9-2 is exposed outside the base 1, the hook 9 can rotate against the resistance of a hook spring by pressing the pressing part 9-2, so that the hook tip 9-1 is separated from the hook hole 2-3, and the adapter plate 2-1 can be detached from the base 1.
The tail end of the installation channel formed by the middle part of the adapter plate 2-1 in the direction of the rear end is provided with an opening, and the arrangement of the opening is beneficial to the elastic deformation of the installation channel when the sleeve 3 (actually, the installation part 3-1 on the sleeve 3 stretches into the installation channel and is clamped with the clamping part 2-2) is clamped with the clamping part 2-2 and is separated from the clamping part, so that the installation and the dismounting are smoother.
The sterile film 2-4 and the adapter plate 2-1 are connected into a whole through bonding and serve as disposable consumables. In practice, the aseptic film 2-4 is interposed between the locking member 4 when it abuts against the outer side wall of the installation passage. One side of the sterile film 2-4 is provided with a part such as a locking part 4 which can be reused and has no sterile requirement, and the other side is provided with a sleeve 3 and an adapter plate 2-1 which need to be sterilized when disposable consumables are needed or reused.
The movable connection between the locking piece 4 and the base 1 is sliding connection, and the sliding direction is parallel to the axial direction of the installation channel. At least part of the outer side wall of the installation channel is a first inclined plane which is obliquely arranged relative to the axial direction of the installation channel, a second inclined plane is arranged on the locking piece 4, and the second inclined plane is abutted with the first inclined plane in a fitting way when the locking piece 4 is positioned at the locking position.
The locking member 4 may be provided in one or more, and is not particularly limited. In this embodiment, two locking members 4 are provided, and the two locking members 4 are symmetrically disposed about the axis of the installation channel, and in the locked state, the two locking members 4 are located at corresponding locking positions, and abut against the outer side walls of the installation channel from two sides of the installation channel respectively. A connecting member is connected to the two locking members 4, respectively, to achieve synchronous movement of the two locking members 4.
The operating member includes an elastic member and an unlocking member 8. The elastic member is provided between the locking member 4 and the base 1, and has an elastic force for driving the locking member 4 to move toward the locking position. Specifically, the elastic member may be a spring 5, the base 1 is provided with a cylindrical spring seat 1-1, the spring 5 is sleeved on the locking member 4, part of the locking member 4 and most of the spring 5 are located in the cylindrical spring seat 1-1, one end of the spring 5 is abutted to the bottom surface of the cylindrical spring seat 1-1, and the other end is abutted to the locking member 4.
The unlocking piece 8 is connected with the locking piece 4 and is used for driving the locking piece 4 to slide towards the unlocking position against the elastic resistance of the elastic piece when the locking piece 4 is acted by external force. Specifically, the connecting end of the unlocking piece 8 is rotationally connected with the base 1, and the operating end of the unlocking piece 8 is positioned outside the base 1 and is used for receiving external force drive; the locking piece 4 is connected with a push rod 6, and the unlocking piece 8 is abutted with the push rod 6 and used for pushing the push rod 6 to drive the locking piece 4 to move towards the unlocking position direction against the elastic resistance of the elastic piece when being driven by external force. More specifically, the part of the unlocking member 8 abutting against the pushing rod 6 is located between the connecting end and the operating end, and the pushing rod 6 is located in the rear end direction of the unlocking member 8. When the unlocking piece 8 is pressed downwards in the rear end direction, the unlocking piece 8 rotates and pushes the push rod 6 to move backwards, and the push rod 6 moves backwards to drive the unlocking piece 8 to move towards the unlocking position direction against the resistance of the spring 5; when the unlocking member 8 is released, the locking member 4 is driven to return to the locking position by the elastic force of the spring 5, and the pushing rod 6 connected with the locking member 4 pushes the unlocking member 8 to rotate in the front direction to reset. Wherein the push rod 6 and the connecting piece may be the same member.
The base 1 is provided with a limit groove 7, the push rod 6 is slidably connected in the limit groove 7, and the sliding direction is the same as that of the locking piece 4 and is used for limiting the sliding distance of the locking piece 4. When the pushing rod 6 is positioned at the two ends of the limiting groove 7, the pushing rod is positioned at the locking position and the unlocking position corresponding to the locking piece 4 respectively.
As shown in fig. 3 (which is a schematic view of the forces at the outer side wall of the installation channel that is located above the locking member 4 in fig. 2 and abuts against the locking member), when an extraction force is applied to the sleeve 3 in the locked state, the sleeve 3 and the engagement portion 2-2 in the installation channel interact, so that the outer side wall of the installation channel generates a force F on the locking member 4, and since the included angle between the first inclined surface and the axis of the installation channel is small, the force F generated by the force F pushes the F resistance generated by the spring 5 that prevents the locking member 4 from moving backward, so that the locking member 4 can be maintained in the locked position, and the sleeve 3 cannot be pulled out.
When the device locks the installation part 3-1 of the sleeve 3, part of the outer side wall of the installation channel is abutted by the locking piece 4, at the moment, part of the installation channel can be elastically deformed, but the degree of elastic deformation of the installation channel can be reduced after the installation channel is limited by the locking piece 4, so that the elastic deformation can not lead the installation part 3-1 of the sleeve 3 to be separated from the clamping connection, and the whole device can lock the sleeve 3 to be separated after the locking piece 4 reaches the locking position and is abutted against the outer side wall of the installation channel. The abutting position of the locking piece 4 and the outer side wall of the installation channel is positioned at the corresponding position of the clamping part 2-2 and can move a certain distance relative to the rear end, but cannot be too far back. The abutting position of the locking piece 4 and the outer side wall of the installation channel can limit the elastic deformation of the installation channel when the locking piece 4 is at the locking position so that the installation part 3-1 of the sleeve 3 cannot be separated from the clamping connection with the clamping connection part 2-2, and the specific position can be set according to the factors such as the shape and the size of the installation sleeve 3, the elastic modulus, the size of the clamping connection part 2-2 and the like.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.
Claims (10)
1. A quick cannula insertion device for a surgical robot, comprising:
the adapter comprises an adapter plate, the middle of the adapter plate is recessed towards the rear end direction to form a mounting channel, the mounting channel is elastic, the inner side wall of the mounting channel is provided with a clamping part, the mounting channel is used for accommodating an external sleeve, and the clamping part is used for being clamped with the external sleeve;
the locking assembly comprises a locking piece and an operating part, wherein the locking piece is movably connected to the base, and the movable connection is used for enabling the locking piece to be movable between a locking position and an unlocking position; the locking piece is abutted against the outer side wall of the mounting channel when being positioned at the locking position so as to limit the elastic deformation of the mounting channel and prevent the outer sleeve from being separated from the clamping connection with the clamping connection part; the locking piece is located at the unlocking position and leaves the outer side wall of the installation channel;
the operating part is respectively connected with the locking piece and the base and is used for driving the locking piece to move and maintaining the locking piece in the locking position in the locking state.
2. The cannula quick connector device for surgical robots according to claim 1, wherein the movable connection is a sliding connection, and a sliding direction is parallel to an axial direction of the installation channel;
at least part of the outer side wall of the installation channel is a first inclined surface which is inclined relative to the axial direction of the installation channel, a second inclined surface is arranged on the locking piece, and the second inclined surface is abutted to the first inclined surface in a fitting way when the locking piece is positioned at the locking position.
3. The cannula quick connector device for surgical robots according to claim 2, wherein the operating member includes an elastic member provided between the locking member and the base, the elastic member having an elastic force for driving the locking member to move toward the locking position.
4. A quick cannula coupling device for surgical robots according to claim 3 wherein said operating member further comprises an unlocking member movably coupled to said base, said unlocking member being coupled to said locking member for driving said locking member to slide in the direction of said unlocking position against the elastic resistance of said elastic member when subjected to an external force.
5. The surgical robot cannula quick connector according to claim 4, wherein the locking member is connected with a push rod;
the connecting end of the unlocking piece is rotationally connected with the base, and the operating end of the unlocking piece is positioned outside the base and is used for receiving external force drive; the unlocking piece is abutted with the pushing rod and used for pushing the pushing rod to drive the locking piece to overcome the elastic resistance of the elastic piece to move towards the unlocking position when being driven by external force.
6. The quick cannula insertion device of claim 5, wherein a portion of the unlocking member that abuts the push rod is located between the connection end and the operation end, and the push rod is located in a rear end direction of the unlocking member.
7. The quick cannula hub of claim 1, wherein said locking assembly comprises two of said locking members slidably coupled to said base, respectively, and wherein said locking members are symmetrically disposed about an axis of said mounting channel; and a connecting piece is respectively connected with the two locking pieces so as to realize synchronous movement of the two locking pieces.
8. The quick cannula hub of claim 6, wherein said locking assembly includes two locking members slidably coupled to said base, respectively, and wherein said locking members are symmetrically disposed about an axis of said mounting channel; the pushing rod is respectively connected with the two locking pieces so as to realize synchronous movement of the two locking pieces.
9. The quick cannula hub of claim 6, wherein the base is provided with a limiting slot, and the pusher is slidably coupled within the limiting slot.
10. The quick cannula hub of claim 1, wherein the central portion of the adapter plate is recessed in a rearward direction to form a mounting channel having an opening at a distal end thereof, and wherein the adapter further comprises a sterile membrane mounted to a rear end of the adapter plate and closing the opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311217219.2A CN117338438A (en) | 2023-09-20 | 2023-09-20 | Quick sleeve inserting device for surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311217219.2A CN117338438A (en) | 2023-09-20 | 2023-09-20 | Quick sleeve inserting device for surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117338438A true CN117338438A (en) | 2024-01-05 |
Family
ID=89368169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311217219.2A Pending CN117338438A (en) | 2023-09-20 | 2023-09-20 | Quick sleeve inserting device for surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117338438A (en) |
-
2023
- 2023-09-20 CN CN202311217219.2A patent/CN117338438A/en active Pending
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