Cannula adapter and surgical robot
View Patent ↗The present disclosure discloses a cannula adapter and a surgical robot. The cannula adapter includes an adapter body, a first guide member, a clamping jaw, an operating actuation mechanism, and a follower mechanism. The first guide member is fixedly disposed in the adapter body. The clamping jaw is disposed in the adapter body and limited by the first guide member, and is configured to translate between a first position and a second position in a guiding direction of the first guide member. The follower mechanism is configured to be driven by the operating actuation mechanism to move. The follower mechanism and at least one clamping jaw are cooperatively movable, the at least one clamping jaw is in the first position when the follower mechanism is in a third position, and the at least one clamping jaw is in the second position when the follower mechanism is in a fourth position.
1 . A cannula adapter configured to hold a cannula of a surgical robot, comprising:
an adapter body;
a first guide rail extending along a first direction and fixedly disposed in the adapter body;
at least one clamping jaw disposed in the adapter body and movably coupled to the first guide rail, wherein the at least one clamping jaw is translationally movable along the first guide rail between a first position and a second position without rotating relative to the adapter body;
an operating actuation mechanism; and
a follower mechanism including a movable member movably coupled to the adapter body and configured to be driven by the operating actuation mechanism to translationally move in a second direction transverse to the first direction without rotating relative to the adapter body;
wherein the at least one clamping jaw is movably coupled to the movable member, such that translational movement of the movable member relative to the adapter body in the second direction drives the at least one clamping jaw to translationally move along the first guide rail, the at least one clamping jaw is in the first position when the movable member is in a third position, and the at least one clamping jaw is in the second position when the movable member is in a fourth position.
2 . The cannula adapter according to claim 1 , wherein an included angle between the first direction and the second direction is in a range of 85° to 90°.
3 . The cannula adapter according to claim 1 , wherein the at least one clamping jaw includes two clamping jaws, the two clamping jaws are configured to be driven concurrently by the operating actuation mechanism to translationally move in two opposite directions, respectively.
4 . The cannula adapter according to claim 1 , wherein two clamping jaws are provided, the two clamping jaws are configured to be driven concurrently by the operating actuation mechanism to translationally move, and an included angle between directions in which the two clamping jaws are translationally moved is in a range of 170° to 180°.
5 . The cannula adapter according to claim 1 , wherein the movable member includes a track surface, and one of a roller and a bearing is connected between the at least one clamping jaw and the track surface and is movable along the track surface; and wherein the track surface has both a component in the first direction and a component in the second direction.
6 . The cannula adapter according to claim 5 , wherein the first direction is perpendicular to the second direction.
7 . The cannula adapter according to claim 1 , further comprising an elastic assembly connected to the follower mechanism and configured to bias to the movable member to the third position, so as to bias the at least one clamping jaw to the first direction, and on the condition that the at least one claiming jaw to the first direction, the at least one clamping jaw is configured to apply a clamping force to the cannula.
8 . The cannula adapter according to claim 1 , further comprising a second guide rail, wherein the second guide member is fixedly disposed with respect to the adapter body, the second guide rail supports the movable member, and the movable member is movably coupled to the second guide rail.
9 . A surgical robot, comprising a cannula adapter, wherein the cannula adapter is configured to hold a cannula of the surgical robot, and includes:
an adapter body;
a first guide rail extending along a first direction and fixedly disposed in the adapter body;
at least one clamping jaw disposed in the adapter body and movably coupled to the first guide rail, wherein the at least one clamping jaw is translationally movable along the first guide rail between a first position and a second position without rotating relative to the adapter body;
an operating actuation mechanism; and
a follower mechanism including a movable member movably coupled to the adapter body and configured to be driven by the operating actuation mechanism to translationally move in a second direction transverse to the first direction without rotating relative to the adapter body;
wherein the at least one clamping jaw is movably coupled to the movable member, such that translational movement of the movable member relative to the adapter body in the second direction drives the at least one clamping jaw to translationally move along the first guide rail, the at least one clamping jaw is in the first position when the movable member is in a third position, and the at least one clamping jaw is in the second position when the movable member is in a fourth position.
10 . The cannula adapter according to claim 7 , further comprising a handle hinged to the adapter body and movably coupled to the movable member, wherein the movable member translationally moves in the second direction to the fourth position when the handle is actuated to rotate relative to the adapter body.
11 . The cannula adapter according to claim 10 , wherein the movable member defines a groove, the handle has a rolling member movably received within the groove, the rolling member is movable in a third direction relative to the movable member, and the third direction is perpendicular to both the first direction and the second direction.
12 . The cannula adapter according to claim 1 , wherein the movable member defines at least one slot, and each of the at least clamping jaw has a roller movably received in a respective one of the at least one slot, the roller is movable relative to the movable member following a track on a plane defined by the direction and the second direction and transvers to both the first direction and the second direction.
13 . The cannula adapter according to claim 12 , wherein the track is straight or curved.
14 . The cannula adapter according to claim 12 , wherein two clamping jaws are provided, and the movable member defines two slots, the two slots are symmetrically arranged about a plane perpendicular to the first direction.
15 . The cannula adapter according to claim 12 , wherein the movable member has two surfaces defining one of the at least on slot, the two surfaces are opposite each other and extend parallelly, a slope of a plane tangent to one of the two surfaces about the second direction varies gradually in the first direction.
16 . The cannula adapter according to claim 1 , wherein the movable member has at least one first limitation surface, each of the at least clamping jaw has a roller configured to roll on a respective one of the at least one first limitation surface when the movable member is moved from the third position to the fourth position, such that the at least one jaw is moved from the first position to the second position.
17 . The cannula adapter according to claim 16 , wherein the at least one first limitation surface is perpendicular to a plane defined by the direction and the second direction, and an intersection between the at least one first limitation surface and the plane is a line or a curve transvers to both the first direction and the second direction.
18 . The cannula adapter according to claim 16 , wherein the movable member has at least one second limitation surface, each roller of the at least clamping jaw is configured to roll on a respective one of the at least one second limitation surface when the movable member is moved from the fourth position to the third position, such that the at least one jaw is moved from the second position to the first position.
19 . The cannula adapter according to claim 18 , wherein the at least one second limitation surface is perpendicular to a plane defined by the direction and the second direction, and an intersection between the at least one first limitation surface and the plane is a line or a curve transvers to both the first direction and the second direction.
20 . A cannula adapter for a surgical robot, comprising:
an adapter body;
a first guide rail extending along a first direction and fixedly disposed in the adapter body;
at least one clamping jaw disposed in the adapter body and movably coupled to the first guide rail, wherein the at least one clamping jaw translationally movable along the first guide rail;
an operating actuation mechanism; and
a follower mechanism including a movable member movably coupled to the adapter body and configured to be driven by the operating actuation mechanism to translationally move in a second direction transverse to the first direction;
wherein the movable member defines at least one slot, and each of the at least one clamping jaw has a roller movably received in a respective one of the at least one slot, the roller is movable relative to the movable member along a track on a plane defined by the first direction and the second direction, such that the at least one clamping jaw is moved along the first guide rail when the movable member is moved in the second direction.