CN113456237A

CN113456237A - Sleeve pipe adapter and surgical robot

Info

Publication number: CN113456237A
Application number: CN202110758542.5A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Konuositeng Technology Co ltd
Current assignee: Shenzhen Konuositeng Technology Co ltd
Priority date: 2021-07-05
Filing date: 2021-07-05
Publication date: 2021-10-01

Abstract

The invention discloses a cannula adapter and a surgical robot. The cannula adapter includes an adapter body, a jaw pivotably connected to the adapter body, a guide rail connected to the adapter body, a movable member constrained by and movable along the guide rail, a resilient assembly located within the adapter body to provide an urging force to bias the jaw toward a clamped state, and a handle. The clamping jaw is provided with a biasing pair. The movable member has a biasing portion having a first restraint surface capable of restraining the position of the biasing pair. The handle includes a hinge portion, an operating portion, and an executing portion. The handle is hinged with the adapter body via a hinge. The operating portion and the executing portion are respectively located outside and inside the adapter body and are both connected with the hinge portion. The execution part is movably connected to the movable part. The handle can draw the movable piece to move along the guide rail through the execution part, and then the position of the clamping jaw is changed through the interaction of the offset part and the offset pair. The sleeve adapter provided by the invention has the advantage that the operation is more convenient.

Description

Sleeve pipe adapter and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a cannula adapter and a surgical robot.

Background

The master-slave minimally invasive surgery robot can help doctors to realize accurate positioning of surgery, and has the advantages of reducing wounds of patients, shortening postoperative recovery time and the like. And it has stable operation platform, can solve the condition such as doctor's shiver, therefore has a large amount of applications in clinical surgery.

The surgical robot on the patient side performs a surgical operation with a surgical tool having an end effector. Among them, the surgical tools are commonly scissors and clip lamps. The pitching, deflecting and gripping actions of the end effector are usually realized by using a wire rope structure.

At the body end, a passage is usually created and opened in the body cavity by an instrument called a cannula. Firstly, the mark point of the sleeve is arranged on the surface of the belly of a human body, then the surgical micro-instrument enters the human body through the sleeve channel, and the slender tube of the surgical instrument is supported by the rigidity of the sleeve, so that the deformation of the slender tube is avoided. In the early stage of opening the abdominal cavity, gas is injected into the abdominal cavity through the air holes on the sleeve, so that the abdominal cavity is expanded, and the operation space of the instrument is vacated. During surgery, cannulas exist in different types and lengths depending on the type of surgical instrument and the thickness of the abdominal cavity of the patient; such as models for 8mm diameter instruments, models for 5mm diameter instruments, and camera collars, among others. It follows that cannulas play an important role in surgical robots.

Correspondingly, the corresponding structure of the cannula to the robotic arm is referred to as a cannula adaptor. The sleeve adapter needs to be capable of easily and quickly engaging the sleeve under manual operation, and can be safely and stably connected with the sleeve without shaking and the like.

Since the range of motion of the robotic arm is large and 3 to 4 robotic arms are involved in the surgery at the same time, it is necessary that the cannula adapter be as small as possible to prevent interference pressure on the human body or spatial interference between the robotic arm and the robotic arm.

The body and cannula are relatively stationary and immovable at the beginning of the surgical deployment, once the cannula is inserted into the body. At the moment, a control button on a mechanical arm of the surgical robot can be pressed to realize dragging follow-up of the mechanical arm, and the mechanical arm is dragged to the position near the sleeve to be butted. Generally, a medical professional drags the mechanical arm with one hand and holds the cannula with the other hand. Therefore, the convenient and fast operation and the matching among the cannula, the mechanical arm and the cannula adapter are related to the length and the convenience of the operation preparation time.

However, the existing cannula adaptor has many problems of large occupied space, difficult one-hand operation, poor convenience, complex structure and the like.

Therefore, there is a need for a cannula adapter and surgical robot that at least partially address the above issues.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above problems, a first aspect of the present invention provides

A cannula adapter, comprising:

an adapter body;

at least one jaw pivotably connected to the adapter body, the jaw having a biasing pair connected thereto;

a guide rail fixedly connected to the adapter body;

a movable member having a biasing portion that cooperates with the biasing pair, the movable member being restricted by the guide rail and moving in a direction of the guide rail, the biasing portion having a first restriction surface that restricts a position of the biasing pair;

an elastic component arranged in the adapter body to provide an urging force to enable the clamping jaw to be inclined to a clamping state;

a handle, the handle comprising:

a hinge portion via which the handle is hinged with the adapter body;

the operating part is positioned outside the adapter main body and fixedly connected with the hinged part; and

an execution part which is positioned in the adapter main body, is fixedly connected with the hinge part and is provided with a hinge part

The executing part is movably connected to the movable part;

wherein the handle is configured to enable the actuator to pull the movable member to move along the guide rail, thereby changing the position of the clamping jaw through the interaction of the offset part and the offset pair.

According to the sleeve adapter, an operator can finish clamping and releasing actions of the pair of clamping jaws by one hand through the handle, so that the operator can finish other actions such as operating a matched sleeve by the other hand, and the operation is more convenient and faster.

Further, when the bias pair is located at a first end of the first constraint surface, the clamping jaw is in a clamping state, and when the bias pair is located at a second end of the first constraint surface, the clamping jaw is in an opening state, and the slope of a tangent plane of the second end relative to the direction of the guide rail is larger than that of the tangent plane of the first end relative to the direction of the guide rail. According to the sleeve adapter, due to the large-slope design of the second end of the biasing part, when the sleeve adapter is used, the movable piece moves a small distance, so that the clamping jaws can be opened at a large angle, the moving range of hands is small when a user pulls the handle, and the sleeve adapter is friendly to one-hand operation.

Further, at least part of the first constraint surface runs along the direction from the first end to the second end, and the slope of the tangent plane of the part of the first constraint surface relative to the direction of the guide rail is gradually increased. Therefore, the first constraint surface of the movable piece is matched with the offset pair more smoothly by the variable slope design, the movement of the offset pair has no jumping sense, and the hand feeling of a user is better when the user uses the movable piece.

Further, the first constraining surface is configured as a smooth curved surface; or a combination of the first constraining surface and a structure configured as a plurality of straight and curved surfaces.

Further, the slope of the tangent plane of the first end with respect to the direction of the guide rail is minimal. The design slope at the first end is minimum, and when the biasing pair is positioned at the first end, the biasing pair and the first constraint surface are in a wedging state, so that the force direction of the spring to the biasing pair is minimum in the opening direction component of the clamping jaw, and the force direction of the spring to the biasing pair is maximum in the guide rail direction, the clamping jaw can be easily in a clamping state and kept in the clamping state, and the clamping jaw is not easy to open under the accidental condition.

Further, the slope of the first end is less than or equal to 0.3.

Furthermore, the offset part is also provided with a second constraint surface, the second constraint surface and the first constraint surface form a waist-shaped groove structure, a space for accommodating the offset pair motion is arranged between the second constraint surface and the first constraint surface, and the slope change of the second constraint surface is the same as that of the first constraint surface. The second constraint surface is designed, so that the bias pair can reset along the track of the second constraint surface when resetting from the opening position of the clamping jaw to the clamping position, vibration generated by larger elastic force is reduced, and the service life is prolonged. Moreover, the elastic component can directly act on the movable piece due to the double restraint of the first restraint surface and the second restraint surface, so that the space is saved, and the installation of other components is facilitated.

Further, a slope of a line formed by the intersection of the first constraining surface and/or the second constraining surface with a horizontal plane at the first end with respect to a longitudinal straight line on the horizontal plane is less than or equal to 0.1.

Further, a slope of a line formed by the intersection of the first constraining surface and/or the second constraining surface with a horizontal plane at the first end with respect to a longitudinal straight line on the horizontal plane is less than or equal to 0.05.

Further, the biasing pair is configured as a slider or a roller.

Further, when the clamping jaw is in the clamping state, the handle is located at an initial position, when the clamping jaw is in the opening state, the handle is located at a working position, and the initial position and the working position of the executing part are located on the same side of the hinge part in the vertical direction. The initial position and the operating position of execution portion are in same one side, have avoided execution portion by the span of less power to maximum power, and when the handle was followed initial position to operating position on the one hand, the user made the feel of power not have the sensation of being difficult to break off with the fingers and thumb, and when on the other hand handle got back to initial position from operating position, user's hand did not have the bullet pain sense.

Further, the moment arm at the implement approaches zero when the distance between the jaw and the sleeve is at a maximum. According to this scheme for the user can use less power when opening the clamping jaw the biggest, is favorable to the user to concentrate on the installation sleeve pipe with attention, improves user experience.

Further, the operating part and the executing part are at least partially odd-symmetrical or center-symmetrical relative to the hinge part, and the extending directions of the operating part and the executing part are tangent to the hinge part. According to the arrangement, the barrier can be effectively avoided, and the smooth rotation of the handle is facilitated.

Furthermore, the upper surface of the adapter main body is provided with a position-giving part, and when the operation part is located at the working position, the operation part can be embedded into the position-giving part.

Further, the clamping jaw comprises:

a body portion, said biasing pair being disposed on said body portion;

a pivot portion provided to the body portion and pivotably connected to the adapter main body; and

a clamping portion disposed at an end of the body portion.

Further, the bias pair is located between the pivot portion and the clamping portion, and the pivot portion and the clamping portion are located at two ends of the body portion respectively.

Further, the pivot portion is located between the biasing pair and the clamping portion, and the pivot portion is located in a middle portion of the body portion.

Furthermore, each clamping part of the clamping jaw is provided with a claw tip facing the sleeve, the included angle of the claw tip ranges from 80 degrees to 100 degrees, and the central line of the included angle of the claw tip and the direction of the clamping force of the clamping jaw are in the same straight line.

Further, the midline of the included angle of the jaw tips is perpendicular to the body portion of the jaws.

Further, the elastic member is disposed in the adapter main body and connected between the movable member and the adapter main body.

Further, the cannula adapter includes a pair of jaws, and the resilient assembly is connected between the pair of jaws and disposed proximate the gripping portion.

A second aspect of the invention provides a surgical robot comprising a cannula adapter according to the first aspect described above.

The surgical robot according to the present invention can achieve similar technical effects to those of the cannula adaptor of the first aspect described above.

Drawings

The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

In the drawings:

fig. 1 is a perspective view illustrating a partial structure of a surgical robot according to a preferred embodiment of the present invention;

FIG. 2 is a perspective view of the surgical robot shown in FIG. 1 from another perspective;

FIG. 3 is an exploded view of a portion of the surgical robot of FIG. 1;

FIG. 4 is a schematic view of the surgical robot of FIG. 1 illustrating the mounting of the concealed adaptor body and handle;

FIG. 5 is a perspective view of the movable member, guide rail, handle and jaws of the surgical robot according to a preferred embodiment of the present invention;

FIG. 6 is a side view installation schematic of the movable member, guide rail, handle and jaws of FIG. 5; and

fig. 7 is a schematic top view of a movable member and a jaw of a surgical robot according to a preferred embodiment of the present invention.

Description of reference numerals:

100: the surgical robot 110: the sleeve 120: sterile adapter

130: the sleeve adapter 131: drag control button 132: unlocking button

140: the adapter body 141: upper panel 151: guide rail

160: the clamping jaw 161: the clamping portion 162: pivoting part

163: the offset pair 165: the claw tips 166: body part

170: the movable member 171: offset portion 172: fitting groove

174: first end 175: second end 176: first constraining surface

177: second constraining surface 180: a handle 181: operation part

182: the execution unit 183: the hinge portion 190: elastic component

184: first arm portion 185: second arm part

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the following description, a detailed description will be given in order to thoroughly understand the present invention. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. It is apparent that the implementation of the embodiments of the invention is not limited to the specific details familiar to those skilled in the art. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.

It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, such as a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component". It is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used herein for purposes of illustration only and are not limiting.

An exemplary embodiment according to the present invention will now be described in more detail with reference to fig. 1 to 7.

Refer to fig. 1, 2, 3 and 4. The surgical robot 100 of the present invention has one or more robotic arms. The robotic arm includes a cannula 110, a cannula adaptor 130, and a sterile adaptor 120. Wherein sterile adapter 120 is first mounted onto cannula adapter 130 and locked, possibly with a sterile dressing or the like in between. Cannula 110 is then mounted to sterile adaptor 120 and cannula 110 is allowed to lock by cannula adaptor 130.

Cannula adapter 130 includes an adapter body 140, at least one clamping jaw 160, a resilient assembly 190, a guide rail 151, a movable member 170, and a handle 180. Wherein the adapter body 140 may be a housing of the cannula adapter 130. An interactive light (not shown), an unlock button 132, and a drag control button 131, etc. may be provided thereon. For ease of detailed description, the end of the ferrule adapter 130 near the ferrule 110 is defined herein as a front portion, and the end of the ferrule adapter 130 remote from the ferrule 110 and opposite the front portion is defined herein as a rear portion.

A drag control button 131 is provided at the rear of the cannula adapter 130, which may serve as a movement control feature for the robotic arm. For example, when the drag control button 131 is in a normal state (not pressed), the robot arm is in a locked state, which may not be moved. When the operator presses the drag control button 131, the robot arm is unlocked, and it can be dragged and moved by the operator.

An unlock button 132 is provided near the front of the cannula adapter 130, which may serve as a connection control component between the sterile adapter 120 and the cannula adapter 130. Illustratively, the connection between sterile adapter 120 and cannula adapter 130 is by a snap, clasp, or other means, and an unlock button 132 is used to unlock such connection. That is, sterile adapter 120 may be removed from cannula adapter 130 when an operator presses unlock button 132.

The interactive light may then display various light signals to indicate the current status of the cannula adapter 130 based on various sensors disposed within the adapter body 140. It may be disposed at any convenient location for viewing, and in this embodiment, it is disposed adjacent to the unlock button 132.

Refer to fig. 2 to 7. A clamping jaw 160 is disposed within adapter body 140, clamping jaw 160 having a body portion 166, a pivot portion 162, and a gripping portion 161. Wherein the pivot portion 162 may be located in the middle of the body portion 166. In the present embodiment, the pivot portion 162 and the grip portion 161 are located at both ends of the body portion 166, respectively. The pivot portion 162 is pivotably connected to the adapter body 140. When only one clamping jaw 160 is provided, then the sleeve 110 is clamped between one clamping jaw 160 and the inner wall of the adapter body 140.

In an embodiment not shown, one clamping jaw 160 and one clamping plate (not shown) may be provided, with the clamping portion 161 of the clamping jaw 160 facing the clamping plate. And the clamping plate has a body portion 166, a pivot portion 162, and a biasing pair 163, described below, without the clamping portion 161. The clamping plate extends beyond the adapter body 140 to the sterile adapter 120 or the cannula 110 and is positioned at the side of the sterile adapter 120 or the cannula 110 to provide a lifting and squeezing effect to the sterile adapter 120 or the cannula 110 to facilitate the clamping operation.

Preferably, to obtain a better gripping effect, the cannula adapter 130 comprises a pair of clamping jaws 160. The respective gripping portions 161 of the pair of jaws 160 are then bent toward each other (or inwardly) to effect inward grippability of the pair of jaws 160. In the present embodiment, the gripping portions 161 of the pair of gripping claws 160 are provided with respective claw tips 165 facing each other, and the center line of the angle between the claw tips 165 and the direction of the gripping force of the gripping claws 160 are aligned in the same line. Preferably, the angled midline of the prong 165 is perpendicular to the body portion 166. The included angle of the toe 165 is in the range of 80 to 100. Preferably, the included angle of the prongs 165 is 90 °. The above-described arrangement of the prongs 165 allows the jaws 160 to be more easily inserted into the sleeve 110 to form the engagement. Also, the prongs 165 are suitably angled to allow the sleeve 110 to be disengaged by force if the mechanism is accidentally stuck. Furthermore, the angle of the prongs 165 of about 90 ° avoids both an excessively small guiding accommodation during clamping of the jaws 160 and an excessively sharp angle that prevents the curtain-like sterile adaptor 120 from being inserted into the sleeve 110 and being released therefrom.

With the long arm arrangement of the clamping jaw 160, one end of the clamping jaw 160 pivots and the other end clamps, so that the swing amplitude of the clamping jaw 160 is reduced, the installation space in the sleeve adapter 130 is enlarged, and the sleeve 110 can be positioned quickly.

Please refer to fig. 5 and 6. The elastic member 190 is disposed in the adapter body 140 and acts on the pair of jaws 160 to provide an urging force to clamp the clamping portions 161 of the pair of jaws 160 inward. In the present embodiment, the elastic member 190 is preferably configured as a spring. Which is disposed between a pair of jaws 160 along the length of jaws 160, i.e., longitudinally. Specifically, one end of the elastic member 190 is connected to the adaptor body 140, and the other end is connected to the movable member 170. Therefore, the spring is longitudinally arranged in a larger space, and larger elastic force can be output.

Alternatively, the spring assembly 190 may also be connected between a pair of jaws 160, i.e., laterally disposed (not shown). Specifically, it may be laterally disposed at any position between the pivot portion 162 and the clamp portion 161. This makes it possible to save labor for the operator to operate the handle 180. Preferably, the elastic member 190 is located near the grip 161.

Please refer to fig. 3, 5, 6 and 7. The guide rails 151 are fixedly connected to the adapter body 140. Preferably, the adaptor body 140 has a detachable upper panel 141, and the guide rails 151 may be fixedly coupled to an inner surface of the upper panel 141, for example, by screw-fitting.

The movable member 170 is provided to the guide rail 151 and is fitted over a shoulder of the guide rail 151 in a "convex" shape from below the guide rail 151 to be configured to be movable along the guide rail 151. Also, the movable member 170 is preferably symmetrical with respect to the guide rail 151. More preferably, the pair of jaws 160 may also be symmetrical with respect to the rail 151.

Please refer to fig. 3 to 7. The movable member 170 has an offset portion 171, and the clamping jaw 160 has an offset pair 163. The biasing portion 171 and the biasing pair 163 can cooperate to function. Illustratively, as the movable member 170 moves on the guide rail 151, the biasing portion 171 can press against the biasing pair 163 such that the clamping jaw 160 pivots along its pivot portion 162. Thereby causing the distance between the gripping portions 161 of the pair of gripping claws 160 to change, so that the pair of gripping claws 160 grip the casing 110 or release the casing 110.

Wherein the biasing pair 163 on the clamping jaw 160 may be disposed anywhere between the pivot portion 162 and the clamping portion 161. Preferably, in this embodiment, the biasing pair 163 is disposed in the middle of the body portion 166 of the clamping jaw 160.

In an alternative embodiment, the offset 171 has a first constraint surface 176. Illustratively, the first constraining surface 176 may be configured as a side of the movable member 170 facing the biasing pair 163. The offset 171 has a first end 174 and a second end 175. When the distance between the clamping jaw 160 and the sleeve 110 is minimal, or when the clamping jaw 160 is clamping the sleeve 110, the clamping jaw 160 may be considered in a clamped state with the biasing pair 163 at the first end 174. The jaws 160 can be considered to be in the open position when the jaws 160 are at a maximum distance from the sleeve 110, or when the jaws 160 are separated from the sleeve 110 and have a maximum opening, with the bias pair 163 at the second end 175. In other words, first end 174 corresponds to the gripping state of jaws 160 and second end 175 corresponds to the opening state of jaws 160. As the jaws 160 are switched between the clamped and expanded states, the biasing pair 163 moves between the first and second ends 174, 175 of the biasing portion 171. The biasing pair 163 may be configured as a slider or a roller, among other things. To reduce the frictional effect, the offset pair 163 is preferably designed as a rolling element, which may be a bearing, for example.

As an example, the first end 174 may correspond to a clamped state, which is disposed adjacent to the cannula 110. The second end 175 corresponds to an expanded state, which is disposed away from the cannula 110. It will be readily appreciated that the second end 175 corresponds to the clamping state and the first end 174 corresponds to the opening state, and that the movement direction of the handle 180 (described in detail below) and/or the driving direction of the elastic force may be changed.

For ease of understanding, the term "slope" is used hereinafter, e.g., "slope of a tangent plane to first constraining surface 176 at first end 174 with respect to the direction of rail 151" refers to "slope of a line formed by the intersection of first constraining surface 176 with a horizontal plane at first end 174 with respect to a straight longitudinal line on the horizontal plane", and so on.

Wherein the slope of the tangent plane of the first constraining surface 176 relative to the direction of the guide rail 151 at the first end 174 is greater than the slope of the tangent plane relative to the direction of the guide rail 151 at the second end 175. In other words, the intersection of first constraining surface 176 with a horizontal plane forms a line having a slope at first end 174 relative to a longitudinal line on the horizontal plane that is less than the slope of the line at second end 175 relative to the longitudinal line. It will be readily appreciated that the slope of the first constraining surface 176 at the first end 174 is less than the slope at the second end 175.

According to the cannula adapter 130 of the present invention, the small slope of the first end 174 of the biasing portion 171 and the large slope of the second end 175 of the biasing portion 171 are designed such that the movable member 170 moves a small distance to open the clamping jaws 160 at a large angle when in use, so that the movable range of the hand is small when the user pulls the handle 180, and the single-hand operation is more friendly. At the same time, the clamping jaw 160 can be driven to move by a small elastic force and can be prevented from opening reversely, and the clamping of the clamping jaw 160 is facilitated. And the small slope design of the first end 174 is also beneficial to the adaptation of different specifications of sleeves, and the adaptability is high.

Preferably, the slope of the tangent plane of the first constraining surface 176 along the portion from the first end 174 to the second end 175 is gradually increased relative to the direction of the guiding rail 151. In other words, the slope of the line formed by the intersection of the first constraining surface 176 and the horizontal plane with respect to a longitudinal line on the horizontal plane becomes progressively greater from the first end 174 to the second end 175. That is, the slope of the first constraining surface 176 increases from the first end 174 to the second end 175. Therefore, the design of the gradual slope can enable the movable part to move a smaller distance to enable the clamping jaw 160 to open a larger angle, and on the other hand, the matching between the first constraint surface 176 of the movable part 170 and the offset pair 163 is smoother, the movement of the offset pair 163 has no jumping sense, and the user feels better when using the device.

When the biasing portion 171 is provided only with the first restraint surface 176, only one of the elastic force of the spring and the urging force of the operator can act on the claw 160 or the movable member 170. Illustratively, when the resilient assembly 190 is coupled between the movable member 170 and the adapter body 140 and provides a pulling force, the urging force of the operator may cause the jaws 160 to open, while the pulling force may not cause the jaws 160 to close. In such a case, it may be desirable to position spring assembly 190 between a pair of jaws 160 to provide a spring force that tends to grip jaws 160.

In the embodiment shown in fig. 7, the biasing portion 171 further has a second constraint surface 177, and a space for accommodating the movement of the biasing pair 163 is formed between the second constraint surface 177 and the first constraint surface 176. Preferably, the offset 171 is configured as a kidney-shaped slot through the movable member 170, which also has a second constraining surface 177. The second constraining surface 177 is spaced from the first constraining surface 176 and also extends from the first end 174 to the second end 175. Alternatively, the first and second constraining

surfaces

176 and 177 are configured as two inner cylindrical surfaces of a kidney slot. It will be readily appreciated that the slope of the second constraining surface 177 varies in the same manner as the first constraining surface 176, i.e., the slope of the line formed by the intersection of the second constraining surface 177 with the horizontal plane becomes progressively greater from the first end 174 to the second end 175 with respect to a longitudinal line on the horizontal plane. Alternatively, the first constraining surface 176 may be parallel to the second constraining surface 177. The second constraining surface 177 is designed to allow the bias pair 163 to follow the trajectory of the second constraining surface 177 when returning from the open position to the clamping position of the clamping jaw 160, reducing vibration due to large spring force and extending the service life.

Thus, the two constraining surfaces may interfere with the offset pair 163 in both directions of movement of the offset pair 163. Specifically, when the resilient assembly 190 is disposed between the adapter body 140 and the movable member 170 and provides a pulling force, as described above, i.e., the resilient assembly 190 is a tension spring, the movable member 170 tends to move away from the sleeve 110, and the second constraining surface 177 can push the biasing pair 163 such that the clamping jaw 160 tends to clamp. Conversely, when the operator moves the movable member 170 toward the direction close to the sleeve 110 against the elastic force, the first constraining surface 176 interferes with the biasing pair 163, so that the clamping jaws 160 tend to open. The elastic assembly 190 is connected between the adapter body 140 and the movable member 170, that is, the first constraint surface 176 and the second constraint surface 177 are constrained in a double manner, which is beneficial to saving space and making a position for installing other components, so that the integration of the whole system is higher and the functions are more complete.

In addition, such a variable slope design reduces the length of travel of the movable member 170 itself relative to a constant small slope design, and also reduces the relative spring stretch length, yet allows the jaws 160 to open at a greater angle. The elastic assembly 190 may be in the form of a spring such as a compression spring, besides a tension spring, and only needs to adaptively adjust the pulling direction of the handle 180.

The first and second constraining

surfaces

176 and 177 shown in the present embodiment are configured as smooth curved surfaces. In an embodiment not shown, the first and second constraining

surfaces

176 and 177 may also be configured as a combination of a plurality of straight and curved surfaces, as long as a variable slope design is satisfied.

To further enhance the clamping effectiveness and applicability of clamping jaw 160, the slope of first and/or second constraining

surfaces

176, 177 at first end 174 is preferably as small as possible. In other words, the first and/or second constraining

surfaces

176, 177 are angled as little as possible from the central plane P of the vertically bisecting rail 151 at the first end 174.

As one implementation, a slope of a line formed by the intersection of the first constraining surface 176 and/or the second constraining surface 177 with the horizontal plane at the first end 174 relative to a longitudinal line on the horizontal plane is less than or equal to 0.3. Preferably, a slope of a line formed by the intersection of the first constraining surface 176 and/or the second constraining surface 177 with the horizontal plane at the first end 174 relative to a longitudinal line on the horizontal plane is less than or equal to 0.1. More preferably, the slope of a line formed by the intersection of the first and/or second constraining

surfaces

176, 177 with the horizontal plane at the first end 174 with respect to a longitudinal line on the horizontal plane is less than or equal to 0.05. It will be readily appreciated that the slope of a line formed by the intersection of the first and/or second constraining

surfaces

176, 177 with the horizontal plane at the first end 174 with respect to a longitudinal line on the horizontal plane approaches 0 as closely as possible.

In other words, the first and/or second constraining

surfaces

176, 177 at the first end 174 preferably make an angle with the central plane P of the vertically bisecting rail 151 of less than 5 °, or less, approximately equal to 0 °.

Therefore, when the slope of the tangent plane of the first end 174 with respect to the direction of the guide rail 151 is minimum, and the biasing pair 163 is located at the first end 174, the first constraining surface 176 is in a wedged state, so that the force direction of the spring to the biasing pair 163 is minimum in the direction component of the opening of the clamping jaw 160, and is maximum in the direction component of the guide rail 151, the clamping jaw 160 can be easily clamped and maintained in this state, and the clamping jaw 160 is not easily opened accidentally.

Please refer to fig. 1, fig. 2, fig. 3, fig. 5 and fig. 6. A handle 180 is pivotably provided on the adaptor body 140, which is mounted at the upper panel 141. Specifically, the handle 180 includes a hinge portion 183, an operation portion 181, and an execution portion 182. The operation part 181 is located on the top of the handle 180, and is used for operation of an operator. An implement portion 182 is located at the bottom of the handle 180 and is movably coupled to the movable member 170. The hinge portion 183 is located between the operating portion 181 and the executing portion 182, and the handle 180 is connected to the adapter main body 140 via the hinge portion 183. The upper panel 141 defines an opening through which the handle 180 extends at least partially into the adapter body 140 such that the implement portion 182 is at least partially within the adapter body 140 and the handle portion 181 is at least partially outside the adapter body 140.

Specifically, the operating portion 181 is located outside the adapter main body, and the executing portion 182 is located inside the adapter main body, both of which are connected to the hinge portion 183. The operation unit 181 includes a first arm 184 integrally connected to the hinge 183, and the actuator 182 includes a second arm 185 integrally connected to the hinge 183. Alternatively, the operation portion 181 is connected to the hinge portion 183 via the first arm portion 184, and the execution portion 182 is connected to the hinge portion 183 via the second arm portion 185. The operation portion of the operation portion 181 and the execution portion of the execution portion 182 are located at the end portions of the first arm portion 184 and the second arm portion 185, respectively. Wherein the first arm 184 and the second arm 185 each have a relatively straight configuration. The operation portion 181, the hinge portion 183, and the actuator portion 182 may be integrally formed, or may be formed by fixedly assembling a plurality of components.

In the present embodiment, the movable member 170 is provided with the engaging groove 172, and the actuator 182 is configured as a sliding member slidably disposed in the engaging groove 172, i.e., the engaging groove 172 may be configured as a sliding groove. In a non-illustrated embodiment, the actuating part 182 can also be designed as a roller, for example a roller or a bearing, in order to reduce friction. At this time, the actuator 182 is rollable within the engagement groove 172.

When the operator operates the operation unit 181, or when the operator pulls the handle 180, the handle 180 can pivot about the hinge 183. Accordingly, the actuating part 182 of the handle 180 can pull the movable member 170 to move along the guide rail 151. Specifically, the operation portion 181 of the handle 180 performs a first circular motion with the hinge portion 183 as an axis and a distance between the operation portion 181 and the hinge portion 183 as a radius. The actuator 182 of the handle 180 performs a second circular motion with the hinge 183 as the axis and the distance between the actuator 182 and the hinge 183 as the radius. The movable member 170 performs a linear motion under the interference of the executing portion 182, and the moving distance thereof is a component of the second circular motion in the horizontal direction.

Thus, the handle 180 can pull the movable member 170 to move along the guide rail 151 through the actuator 182, and further, the position of the jaw 160 is changed by the interaction of the offset 171 and the offset pair 163. Or, the distance between the respective gripping portions 161 of the pair of gripping claws 160 is changed.

When the clamping jaw 160 is in the clamping state, the handle 180 is in the initial position, or the actuating portion 182 and the operating portion 181 are in the initial position. When the jaws 160 are in the open position, the handle 180 is in the working position, or the actuating portion 182 and the operating portion 181 are in the working position. In the embodiment, when the operation portion 181 is in the initial position, the first arm portion 184 is in a state close to being erected, and when the operation portion 181 is in the working position, the first arm portion 184 is in a state of lying on its side or flat, or a state of being close to lying on its side or flat, and similarly, when the execution portion 182 is in the initial position, the second arm portion 185 is in a state of being close to being erected, and when the execution portion 182 is in the working position, the second arm portion 185 is in a state of being close to lying on its side or flat. That is, in the initial position, the movable member 170 is spaced apart from the sleeve 110 by the elastic force, and the handle 180 is erected by the movable member 170. When the distance between the jaws 160 and the sleeve 110 is maximized, the handle 180 is in a flat position, which may also be indicated as a lying position or a lying position. At this time, the operator pulls the handle 180 so that the movable member 170 approaches the sleeve 110 and approaches the horizontal with the interference of the execution part 182. Alternatively, when handle 180 is approximately horizontal, near the locked condition, the operator does not need to exert significant force on the handle to maintain jaws 160 in the open condition.

Preferably, the upper surface of the adapter main body 140 is further provided with a relief portion (not shown) into which the operating portion 181 and the first arm portion 184 can be fitted when the operating portion 181 is in the operating position.

The above-described design of handle 180 ensures that a user can have a relatively small operating force when pressing operating portion 181 to the extreme position where jaws 160 are open, so that the user can concentrate on the abutment of cannula 110 with cannula adaptor 130 without being distracted by the force with which handle 180 is maintained.

In order to avoid obstacles and facilitate smooth rotation of the handle 180, the operating portion 181 and the actuating portion 182 are at least partially odd-symmetric or quasi-odd-symmetric with respect to the hinge portion 183. That is, the operation portion 181, the execution portion 182, and the hinge portion 183 are not aligned or coplanar. Instead, as shown, the operating portion 181 is located on one side of the hinge portion 183 and the actuating portion 182 is located on the other side of the hinge portion 183. In other words, the extending directions of the operating portion 181 and the executing portion 182, that is, the first arm portion 184 and the second arm portion 185 are preferably both cut at the hinge portion 183.

The initial position and the working position of the actuator 182 are both on the same side of the hinge 183. In other words, when the actuator 182 is located at the initial position, and when the actuator 182 is located at the working position, the position of the actuator 182 is changed little. That is, the moment arms of the initial position and the working position of the executing part 182 are acute angles, that is, the moving stroke of the executing part 182 is small, which can make the user save more labor.

In some embodiments, the operation portion 181 and the execution portion 182 may be centrosymmetric, for example, the angle between the first arm 184 and the second arm 185 is less than 180 °, the first arm 184 or the operation portion 181 is in the first upright configuration in the initial position, the first arm 184 or the operation portion 181 is in the other upright configuration in the working position, and the state of the second arm 185 or the execution portion 182 follows the changing rule of upright → flat lying.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.

The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A cannula adapter, comprising:

an adapter body;

a guide rail fixedly connected to the adapter body;

a handle, the handle comprising:

a hinge portion via which the handle is hinged with the adapter body;

The executing part is movably connected to the movable part;

2. The cannula adapter of claim 1, wherein the jaws are in a gripping state when the biasing pair is at a first end of the first binding surface and in an open state when the biasing pair is at a second end of the first binding surface, the second end having a greater tangential slope with respect to the direction of the rail than the first end.

3. The ferrule adapter according to claim 2, wherein at least a portion of the first constraint surface runs from the first end to the second end, and the slope of the tangent plane of the first constraint surface changes gradually and increasingly with respect to the direction of the guide rail.

4. The cannula adapter of claim 3, wherein the slope of a tangent plane of the first end with respect to the direction of the rail is minimized.

5. The cannula adapter of claim 4, wherein the slope of the first end is less than or equal to 0.3.

6. The cannula adapter according to any one of claims 2-5, wherein the offset portion further comprises a second constraint surface, a space for accommodating the offset pair motion is provided between the second constraint surface and the first constraint surface, and a change in slope of the second constraint surface is the same as a change in slope of the first constraint surface.

7. A cannula adapter according to any of claims 1-5, wherein said biasing pair is configured as a slider or roller.

8. The cannula adapter of claim 1, wherein the handle is in an initial position when the jaws are in the clamped position and the handle is in the working position when the jaws are in the expanded position, the initial position of the implement portion being vertically on the same side of the hinge as the working position.

9. The cannula adapter of claim 8, wherein the moment arm at the implement approaches zero when the jaw is at a maximum distance from the cannula.

10. The cannula adapter of claim 8, wherein the operative portion and the actuating portion are at least partially odd or centered symmetrically with respect to the hinge portion, and the directions of extension of the operative portion and the actuating portion are both tangential to the hinge portion.

11. The cannula adapter of claim 8, wherein the adapter body has a relief portion on an upper surface thereof, and the operating portion is insertable into the relief portion when the operating portion is in the operating position.

12. A cannula adapter according to any of claims 1-3 or 8-11, wherein said clamping jaw comprises:

a body portion, said biasing pair being disposed on said body portion;

a clamping portion disposed at an end of the body portion.

13. The ferrule adapter according to claim 12, wherein the bias pair is located between the pivot portion and the clamping portion, and the pivot portion and the clamping portion are located at both ends of the body portion, respectively.

14. The cannula adapter of claim 12, wherein the gripping portion of the jaw is provided with a prong facing the cannula, the prong included angle ranging from 80 ° to 100 °, and a centerline of the prong included angle is collinear with a direction of the gripping force of the jaw.

15. A surgical robot comprising a cannula adapter according to any of claims 1-14.