CN213156402U

CN213156402U - Guides and surgical robots

Info

Publication number: CN213156402U
Application number: CN202020545104.1U
Authority: CN
Inventors: 闫晓刚; 刘铁昌; 郭硕
Original assignee: Tinavi Medical Technologies Co Ltd
Current assignee: Tinavi Medical Technologies Co Ltd
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2021-05-11
Anticipated expiration: 2030-04-14

Abstract

The utility model relates to a director and surgical robot. The guider includes: the guide device comprises a guide device body and a guide device body, wherein the guide device body comprises a connecting rod and a first guide part, the connecting rod comprises a first end and a second end which are opposite, the first end is provided with a first binding surface, and the first guide part is arranged at the first end of the connecting rod; the opening and closing body comprises an opening and closing rod and a second guide part, the opening and closing rod is provided with a second binding surface, the second guide part is arranged at the top end of the opening and closing rod and connected with the first guide part, and the first guide part and the second guide part form a guide through hole under the condition that the second binding surface is tightly attached to the first binding surface; the locking piece limits the opening and closing body to move under the condition that the second binding surface is tightly attached to the first binding surface. The utility model discloses a director simple structure, convenient operation, the reliability is high.

Description

Guider and surgical robot

Technical Field

The utility model belongs to the medical equipment field, concretely relates to director and surgical robot.

Background

When an orthopedic surgery robot is used for surgery, a guider is needed to guide a surgical tool. During the operation, sometimes the guide needs to be removed. In the existing orthopedic surgery robot, the guider is of a closed structure, the fixing mode is single, the operation is inconvenient when the guider needs to be moved away, and the quick installation, fixation and separation of the guider cannot be realized.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a director and surgical robot, the guide part of director can open and shut, satisfies the demand of puting aside the director fast.

An embodiment of the utility model provides a guider, include: the guide device comprises a guide device body, a guide device body and a guide device body, wherein the guide device body comprises a connecting rod and a first guide part, the connecting rod comprises a first end and a second end which are opposite, the first end is provided with a first binding surface, and the first guide part is arranged at the first end of the connecting rod; the opening and closing body comprises an opening and closing rod and a second guide part, the opening and closing rod is provided with a second binding surface, the second guide part is arranged at the top end of the opening and closing rod and connected with the first guide part, and the first guide part and the second guide part form a guide through hole under the condition that the second binding surface is tightly attached to the first binding surface; the locking piece limits the opening and closing body to move under the condition that the second binding surface is tightly attached to the first binding surface.

According to some embodiments of the invention, the retaining member comprises: the rotary lock comprises a locking through hole, the connecting rod penetrates through the locking through hole, the rotary lock can move along the axis of the connecting rod, a clamping groove communicated with the locking through hole is formed in the side wall of the rotary lock, and the clamping groove extends to the top surface of the rotary lock; and the limiting pin is matched with the rotary lock, and when the limiting pin is positioned in the clamping groove, the opening and closing rod penetrates into the locking through hole.

According to some embodiments of the invention, the stop pin is located on the opening and closing rod or the connecting rod.

According to some embodiments of the invention, the second guide part is hinged to the first guide part.

According to some embodiments of the invention, the locking groove comprises an axial portion and a circumferential portion, the end of the axial portion extends to the edge of the twist lock, the other end communicating with the circumferential portion.

According to the utility model discloses a some embodiments, set up the locating pin on the first binding face, set up on the second binding face with the locating hole that the locating pin corresponds, the second binding face is hugged closely under the condition of first binding face, the locating pin is located in the locating hole.

According to some embodiments of the invention, the guide through hole is a circular through hole.

According to some embodiments of the invention, the second end of the connecting rod is provided with a joint for connecting moving parts.

According to some embodiments of the utility model, on the connecting rod, the both sides of first binding face are equipped with the concave surface respectively.

An embodiment of the utility model provides a surgical robot, include: a guide as described above; a moving part, the guide being connected to the moving part.

The guider of the utility model has simple structure and high reliability; when the second binding surface is tightly attached to the first binding surface, the first guide part and the second guide part are kept to form a guide through hole for guiding the surgical tool through the limitation of the locking part; when the guider needs to be removed, the limitation of the locking part is removed, the opening and closing body is rotated, the guider can be removed quickly, and the normal operation is ensured.

Drawings

FIG. 1 is a schematic view of a guide according to an embodiment of the present invention;

FIG. 2 is an exploded view of a deflector according to an embodiment of the present invention;

FIG. 3 is an open state view of a deflector according to an embodiment of the present invention;

FIG. 4 is a schematic view of a deflector body according to an embodiment of the invention;

fig. 5 is a first schematic view of the opening and closing body according to the embodiment of the present invention;

fig. 6 is a second schematic view of the opening and closing body according to the embodiment of the present invention;

fig. 7 is a schematic view of a twist lock according to an embodiment of the present invention;

fig. 8 is a schematic view of a clamp according to an embodiment of the present invention.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art can appreciate, the described embodiments can be modified in various different ways, without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "straight", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present disclosure. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

Throughout the description of the present disclosure, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or otherwise in communication with one another; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the disclosure. To simplify the disclosure of the present disclosure, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The preferred embodiments of the present disclosure will be described in conjunction with the appended drawings, it being understood that the preferred embodiments described herein are merely for purposes of illustrating and explaining the present disclosure and are not intended to limit the present disclosure

As shown in fig. 1, 2 and 3, embodiments of the present invention provide a guide. The guide includes a guide body 100, an opening and closing body 200, and a locker 300. When the opening and closing body 200 is closely attached to the guide body 100, the guide body 100 and the opening and closing body 200 form a guide through hole, and the opening and closing body 200 is locked by the locker 300 for guiding the surgical tool. When the opening and closing body 200 is moved away from the guide body 100, the guide is opened, and the guide is moved.

As shown in fig. 4, the guider body 100 includes a connecting rod 110 and a first guide part 120. The connecting rod 110 includes opposite first and

second ends

111 and 112. The first end 111 is provided with a first abutting surface 113. The first abutting surface 113 is a plane and extends from the end of the first end 111 to the second end 112 along the axis of the connecting rod 110. The extending length of the first abutting surface 113 is set according to actual requirements, and in this embodiment, the length of the first abutting surface 113 is about 1/4 of the length of the connecting bar 110. The cross section of the portion of the first abutting surface 113 of the connecting rod 110 is semicircular. Optionally, a corner may be disposed in the middle of the connecting rod 110 (between the first end 111 and the second end 112) to bend the connecting rod 110 at a certain angle to better meet the assembly requirement.

The first guide 120 is provided at the first end 111 of the connecting rod. The first guide portion 120 is formed in a semicircular shape, and a first through groove 121 is formed in an inner wall thereof. In this embodiment, the first through groove 121 has a semicircular cross section. The axis of the first guide 120 is perpendicular to the axis of the connecting rod 110. The axis of the first guide 120 may also be disposed not perpendicular to the axis of the connecting rod 110, as needed.

As shown in fig. 5 and 6, the opening and closing body 200 includes an opening and closing lever 210 and a second guide part 220. The opening and closing rod 210 has a semi-cylindrical shape and includes a second abutting surface 211. The second engaging surface 211 is a plane and extends from the top end to the bottom end of the opening/closing rod 210.

The second guide part 220 is disposed at the top end of the opening and closing lever 210. The second guide portion 220 has a semicircular ring shape, and a second through groove 221 is formed in an inner wall thereof. In this embodiment, the second through-groove 221 has a semicircular cross section. The axis of the second guide part 220 is perpendicular to the axis of the opening and closing lever 210. If necessary, the axis of the second guide part 220 may not be perpendicular to the axis of the opening and closing rod 210.

The second guide portion 220 is connected to the first guide portion 120. Optionally, the top end of the first guide part 120 is provided with a short post for mounting the rotating shaft, and the short post is provided with a shaft hole 122. The second guide portion 220 has a rotation shaft 222 at a top end thereof. When assembling, the rotating shaft 222 is disposed in the corresponding shaft hole 122, so as to realize the hinge connection between the second guiding portion 220 and the first guiding portion 120.

The opening and closing body 200 is rotated toward the guide body 100, the opening and closing body 200 is rotated until the second contact surface 211 contacts the first contact surface 113, the bottom end of the second guide portion 220 contacts the bottom end of the first guide portion 120, the first through groove 121 of the first guide portion 120 and the second through groove 221 of the second guide portion are engaged with each other to form a guide through hole, and the guide is in a closed state. The guide through hole is used for arranging a surgical tool and guiding the surgical tool. In this embodiment, the guiding through hole is a circular through hole, and the first through groove 121 and the second guiding portion second through groove 221 may be formed in other corresponding shapes according to the specific shape of the guided surgical tool, so that the guiding through hole formed by engaging the two can be designed in other required shapes.

The opening/closing body 200 is rotated away from the guide body 100, and the second contact surface 211 is separated from the first contact surface 113. The first guide portion 120 and the second guide portion 220 cannot form a guide through hole, and the guide is in an open state. The guide is movable when the guide is in the open state.

The locker 300 restricts the movement of the opening and closing body 200 in a state where the second contact surface 211 is closely contacted with the first contact surface 113. That is, the locking member 300 may maintain the guide in a closed position to prevent opening of the guide during guiding of the surgical tool.

As shown in fig. 7, according to an alternative embodiment of the present invention, the locker 300 includes: a twist lock 310 and a restraint pin 320.

The outer wall of the twist lock 310 is cylindrical and the inner part is a locking through hole 311 extending along the axis. The side wall of the twist lock 310 is provided with a locking groove 312 communicated with the locking through hole 311. The slot 312 extends to the edge of the twist lock 310. The connecting rod 110 passes through the locking through hole 311, so that the rotary lock 310 is sleeved on the connecting rod 110. The twist lock 310 is movable along the axis of the connecting rod 110, and the twist lock 310 is also rotatable on the connecting rod 110.

The restraint pin 320 is used to limit lateral movement and/or rotation of the twist lock 310. The twist lock 310 may be moved to allow the stop pin 320 to enter the slot 312. When the stop pin 320 is located in the engaging groove 312, the opening/closing rod 210 penetrates into the locking through hole 311, and the rotation lock 310 limits the opening/closing body 200 to rotate, thereby ensuring that the guider is in a closed state.

In an alternative, the stopper pin 320 is located on a semicircular surface of the opening/closing lever 210. In another alternative, the spacing pin 320 is located on a semicircular face of the connecting rod 110. The position of the limit pin 320 can be set according to actual requirements.

According to an optional aspect of the present invention, the slot 312 includes an axial portion 3121 and a circumferential portion 3122. Extending along the axial portion 3121 in the axial direction of the twist lock 310, the circumferential portion 3122 extends in the circumferential direction of the twist lock 310, one end of the axial portion 3121 extends to the edge of the twist lock 310, and the other end communicates with one end of the circumferential portion 3122, so that the card slot 312 is approximately L-shaped.

The opening and closing body 200 is tightly attached to the guider body 100, when the guider needs to be locked, the rotary lock 310 is moved towards the first end 111 of the connecting rod, and the limit pin 320 slides into the axial part 3121 of the clamping groove 312; the twist lock 310 is moved to position the check pin 320 at the bottom end of the along-axis portion 3121 and then the check pin 320 is rotated into the circumferential portion 3122. When the limiting pin 320 is located at the circumferential portion 3122, the twist lock 310 can be limited from moving along the axis, so that the opening body 200 does not rotate, thereby ensuring that the guide is in the closed state.

When the guider needs to be removed, the rotary lock 310 is rotated reversely, the limit pin 320 enters the axial line portion 3121 from the circumferential portion 3122, then the rotary lock 310 is moved towards the second end 112 of the connecting rod until the limit pin 320 is located outside the clamping groove 312, the limit pin 320 no longer plays a role in limiting the rotary lock 310, the opening and closing rod 210 is located outside the locking through hole 311, the opening and closing body 200 can be rotated freely, and the guider is opened.

As shown in FIG. 8, retaining member 300 can alternatively be formed as a separate component, such as an existing yoke 330, which can also be used to form a retaining guide.

According to an optional technical scheme of the utility model, set up locating pin 114 on the first binding face 113, set up the locating hole 212 that corresponds with the locating pin on the second binding face 211. When the second attachment surface 211 is attached to the first attachment surface 113, the positioning pin 114 is located in the positioning hole 212. The cooperation of the positioning pin 114 and the positioning hole 212 facilitates the assembly positioning of the opening and closing body 200 with the guide body 100. In another scheme, the positioning pin 114 is disposed on the second attachment surface 211, and the positioning hole 212 is disposed on the first attachment surface 113, which can also meet the requirement of positioning.

According to an optional technical scheme of the utility model, on the outer wall of connecting rod 110, the both sides of first binding face 113 are equipped with concave surface 115 respectively. The edge of the concave surface 115 is connected with the edge of the first abutting surface 113, and the concave surface 115 is substantially perpendicular to the first abutting surface 113. The size of the concave surface 115 is similar to the size of fingers of an operator, when the guider needs to be opened, the two fingers of the operator clamp the opening and closing rod 210 through the concave surface 115, and then the opening and closing body 200 is rotated, so that the guider can be opened.

According to an alternative embodiment of the present invention, the second end 112 of the connecting rod is provided with a joint 116. The joint 116 is used for connecting the guide with the moving part of the surgical robot. In this embodiment, the joint 116 is a pentagonal joint.

The present embodiments also provide a surgical robot, including: such as the above guides and moving parts. The moving part is connected with the guider and drives the guider to move.

The working steps of the guider of the embodiment are as follows:

1. turning the opening and closing body to the side closed with the guider main body;

2. the positioning pin on the guider main body is superposed with the positioning hole on the opening and closing body;

3. the rotary lock clamping groove is aligned to the limiting pin, the rotary lock is pushed to reach the bottom forwards, and the rotary lock is rotated to be locked in place;

4. the guider is normally used for guiding the surgical tool;

5. and when the guider needs to be removed, reversely operating the steps 1-3.

The utility model discloses a director simple structure, through the director main part with open the fit cooperation, can realize the closure of director and open, guarantee through the retaining member that unnecessary can not appear when the closure state of director opens, director convenient to use is swift, the reliability is high.

The above description is only exemplary of the present disclosure and should not be taken as limiting the disclosure, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Finally, it should be noted that: although the present disclosure has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A guide, comprising:

the guide device comprises a guide device body, a guide device body and a guide device body, wherein the guide device body comprises a connecting rod and a first guide part, the connecting rod comprises a first end and a second end which are opposite, the first end is provided with a first binding surface, and the first guide part is arranged at the first end of the connecting rod;

the opening and closing body comprises an opening and closing rod and a second guide part, the opening and closing rod is provided with a second binding surface, the second guide part is arranged at the top end of the opening and closing rod and connected with the first guide part, and the first guide part and the second guide part form a guide through hole under the condition that the second binding surface is tightly attached to the first binding surface;

the locking piece limits the opening and closing body to move under the condition that the second binding surface is tightly attached to the first binding surface.

2. The guide of claim 1, wherein the retaining member comprises:

the rotary lock comprises a locking through hole, the connecting rod penetrates through the locking through hole, the rotary lock can move along the axis of the connecting rod, a clamping groove communicated with the locking through hole is formed in the side wall of the rotary lock, and the clamping groove extends to the top surface of the rotary lock;

and the limiting pin is matched with the rotary lock, and when the limiting pin is positioned in the clamping groove, the opening and closing rod penetrates into the locking through hole.

3. The guide of claim 2, wherein the limit pin is located on the opening and closing rod or the connecting rod.

4. The guide of claim 1, wherein the second guide portion is hingedly connected to the first guide portion.

5. The guide of claim 2, wherein the slot includes an axial portion and a circumferential portion, one end of the axial portion extending to an edge of the twist lock and the other end communicating with one end of the circumferential portion.

6. The guide device of claim 1, wherein the first attachment surface has a positioning pin, the second attachment surface has a positioning hole corresponding to the positioning pin, and the positioning pin is located in the positioning hole when the second attachment surface is attached to the first attachment surface.

7. The guide of claim 1, wherein said guide through hole is a circular through hole.

8. The guide of claim 1, wherein the second end of the connecting rod is provided with a joint for connecting a moving part.

9. The guide device of claim 1, wherein the connecting rod is provided with a concave surface on each side of the first abutting surface.

10. A surgical robot, comprising:

a guide according to any one of claims 1 to 9;

a moving part, the guide being connected to the moving part.