CN110338904A - A kind of clamping device, clamper and operating robot - Google Patents
A kind of clamping device, clamper and operating robot Download PDFInfo
- Publication number
- CN110338904A CN110338904A CN201910789024.2A CN201910789024A CN110338904A CN 110338904 A CN110338904 A CN 110338904A CN 201910789024 A CN201910789024 A CN 201910789024A CN 110338904 A CN110338904 A CN 110338904A
- Authority
- CN
- China
- Prior art keywords
- caliper
- clamping face
- clamping
- rear end
- caliper body
- 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
Links
- 230000015271 coagulation Effects 0.000 claims description 15
- 238000005345 coagulation Methods 0.000 claims description 15
- 230000003187 abdominal effect Effects 0.000 claims description 12
- 239000011810 insulating material Substances 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 210000001519 tissue Anatomy 0.000 description 27
- 210000001015 abdomen Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000023597 hemostasis Effects 0.000 description 4
- 230000001771 impaired effect Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 210000003781 tooth socket Anatomy 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000012777 electrically insulating material Substances 0.000 description 1
- 238000009297 electrocoagulation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009940 knitting Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 210000002429 large intestine Anatomy 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000000813 small intestine Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Otolaryngology (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention provides a kind of clamping device, clamper and operating robots, are related to medical nipper technical field.The clamping device includes: right caliper body, the front end protrusion of its clamping face has multiple first fins, multiple first fins to the left and right sides of the right caliper body extend, the front end of the clamping face of the right caliper body open up it is fluted, the groove from the top of multiple first fins through；And left caliper, the front end of clamping face is plane or curved surface, and the front end protrusion of the left caliper clamping face has multiple lug bosses, and multiple lug bosses can be placed in the groove along the extending direction of the groove.Compared with the existing technology, also considerably less to clamped disorganization.
Description
Technical field
The present invention relates to medical nipper technical fields, in particular to a kind of clamping device, clamper and surgical machine
People.
Background technique
In traditional open surgery, vascular procedure is handled using clamp, and head end tooth socket is Debakey tooth, concave-convex
Tooth socket designs so that the damage to tissue substantially reduces, so clamp can accommodate the delicate tissues such as blood vessel.
Currently, generalling use serration clamp in laparoscopic surgery；Though serration clamp is able to achieve the clamping action to tissue,
But since the design of its serration has biggish chucking power, can the abdominal tissues of human body be caused with bigger damage.And it is only capable of
Play the role of clamping tissue, cannot effectively be stopped blooding for clamped abdominal tissues, influence abdominal operation process Chinese medicine
Raw effective observation to human abdomen.
Summary of the invention
The present invention is directed to solve serration clamp used in existing abdominal operation to a certain extent to the abdomen group of human body
Weave the damage of Cheng Geng great；In addition, this clamp is only capable of playing the role of clamping tissue, it cannot be for clamped abdomen group
In terms of knitting at least one of the problems such as effectively being stopped blooding.
To solve the above problems, on the one hand, the present invention provides a kind of clamping device, comprising:
Right caliper body, the front end protrusion of clamping face have multiple first fins, and multiple first fins are to the right caliper body
The left and right sides extend, the front end of the clamping face of the right caliper body opens up fluted, and the groove is from multiple first fins
Top through；And
The front end of left caliper, clamping face is plane or curved surface, and the front end protrusion of the left caliper clamping face has multiple convex
The portion of rising, multiple lug bosses can be placed in the groove along the extending direction of the groove.
Further, the groove extends back along the clamping face of the right caliper body from front end.
Further, the parallel setting of two grooves.
Further, the front end of clamping face of multiple first fins from the right caliper body is successively arranged to its clamping face
Rear end；
The rear end protrusion of the clamping face of the left caliper has multiple second fins, multiple second fins can with it is multiple
A part of first fin is meshed.
Further, the right caliper body and the left caliper can be conductive.
Further, the rear end of the right caliper body and the rear end of the left caliper are respectively fixed with pedestal, two bottoms
Seat is that insulating materials is made.
Further, the clamping face of the right caliper body and the clamping face of the left caliper are oppositely arranged, the right caliper body
The front end of clamping face can be in contact with the front end of the clamping face of the left caliper.
On the other hand, the present invention also provides a kind of clamper, the clamper includes the clamping device, the clamper
It further include electric coagulation device, the left caliper and the right caliper body pass through conducting wire respectively and connect with the electrode of the electric coagulation device.
In another aspect, a kind of operating robot, the artificial abdominal operation robot of surgical machine, the operating robot
The clamper is installed.
Further, the operating robot includes arm body, the left caliper and the right caliper body respectively with the arm body
Hingedly；
The side of the left caliper rear end is connect by left opening wirerope with the operating robot, after the left caliper
The other side at end is connect by left closure wirerope with the operating robot, the side and its other side of the left caliper rear end
It is disposed opposite to each other；
The side of the right caliper body rear end is opened wirerope after passing through and is connect with the operating robot, caliper behind the right side
Closure wirerope is connect with the operating robot after the other side of rear end passes through, and the side of caliper rear end is another with it behind the right side
Side is disposed opposite to each other.
It is an advantage of the current invention that be plane using the front end of the clamping face of left caliper, and corresponding right caliper body
The front end protrusion of clamping face has multiple first fins, matches in this way only by multiple first fins with plane or curved surface to press from both sides
Tissue is held, impaired abdominal tissues are especially easy；Clamping face formation relative to left caliper and right caliper body is engaged convex
The case where rib, makes grasped tissue deform, and the probability of especially bending deformation is lower (because of the clamping face of left caliper
Front end is plane), therefore, also it is greatly lowered just the probability of clamped tissue damaged's wound.Simultaneously as fin be only to
The left and right sides of right caliper body extends, therefore it is mobile readily along the extending direction of the first fin to make grasped tissue, and influences
Cure (operation or other cures) process, therefore the front end of the clamping face of right caliper body opens up fluted, groove is from multiple the
The top of one fin is through and the front end protrusion of left caliper clamping face has multiple lug bosses, and multiple lug bosses can be along recessed
The extending direction of slot is placed in groove；To prevent clamped tissue from moving.In addition, the quantity of groove is less than or much few
In the quantity of the first fin, therefore, the multiple lug bosses that are especially used cooperatively also considerably less to clamped disorganization, it is right
Clamped tissue only forms the chucking power of multiple points, rather than the entirely chucking power of recess region, therefore is substantially prevented from and is pressed from both sides
The tissue damaged held.
Further, after right caliper body and left caliper are respectively turned on the anode and cathode of positive supply, make right caliper body and left caliper
It can be with electric coagulation hemostasis, to guarantee effective observation of the doctor to human abdomen during abdominal operation.
Detailed description of the invention
Fig. 1 is a schematic perspective view of the right caliper body of a specific embodiment of the invention；
Fig. 2 is a schematic perspective view of the left caliper of a specific embodiment of the invention；
Fig. 3 is another schematic perspective view of the right caliper body of a specific embodiment of the invention；
Fig. 4 is another schematic perspective view of the left caliper of a specific embodiment of the invention；
Fig. 5 is the schematic isometric that the clamping device of a specific embodiment of the invention is connect with the electric coagulation device
Figure；
Fig. 6 is the schematic isometric that the right caliper body of a specific embodiment of the invention is matched with the left caliper
Figure；
Fig. 7 is the enlarged partial schematic perspective view in Fig. 6 at P；
Description of symbols:
100 right caliper bodies, the clamping face of 101 right caliper bodies, 102 first fins, 103 grooves, 200 left calipers, 201 left calipers
Clamping face, 202 lug bosses, 203 second fins, 300 pedestals, 401 conducting wires, 402 left opening wirerope, 403 right opening wirerope,
404 left closure wirerope, 405 right closure wirerope, 500 electric coagulation devices, 501 electrode catheters, 600 arm bodies.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
In the description of the present invention, it is to be understood that, the orientation or position of the instructions such as term " on ", "lower", " preceding " " rear "
Setting relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot
It is interpreted as limitation of the present invention.
Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes at least one this feature.
It is understandable to enable this above objects, features, and advantages to become apparent, with reference to the accompanying drawing to this specific reality
Example is applied to be described in detail.
Referring to Fig. 1, Fig. 2, Fig. 6 and Fig. 7, present embodiments provide for a kind of clamping devices, comprising: right caliper body 100 and a left side
Caliper 200.
The front end protrusion of the clamping face 101 of right caliper body has multiple first fins 102, and multiple first fins 102 are to right caliper body
100 left and right sides extends, and the front end of the clamping face 101 of right caliper body opens up fluted 103, and groove 103 is from multiple first fins
102 top through.
The front end of the clamping face 201 of left caliper is plane or curved surface, and the front end protrusion of the clamping face 201 of left caliper has multiple
Lug boss 202, multiple lug bosses 202 can be placed in groove 103 along the extending direction of groove 103.
It should be noted that multiple first fins 102 can be aligned to its right pincers from the front end of the clamping face 101 of right caliper body
The rear end of the clamping face 101 of body；Correspondingly, the plane or curved surface of the front end of the clamping face 201 of left caliper also extend to it
The rear end of the clamping face 201 of left caliper, groove 103 can also extend to the rear end of its clamping face from the front end of clamping face.But because
For the front end of validity period clamping face inevitable in medical field, usual caliper use, therefore just emphasize the " clamping face of right caliper body
101 front end protrusion has multiple first fins 102 " and " front end of the clamping face 201 of left caliper is plane or curved surface ".
In addition, why saying that " multiple lug bosses 202 can be placed in groove 103 along the extending direction of groove 103 " is
Because multiple lug bosses 202 just being capable of edge when right caliper body 100 is with the clamping of left caliper 200 and its clamping face is in contact
The extending direction of groove 103 be placed in groove 103.
In addition, the front end of the clamping face 201 of left caliper is plane or curved surface, then the front end of the clamping face 101 of right caliper body
Multiple first fins 102 of protrusion will also be arranged according to plane or curved surface accordingly, before the clamping face 201 to guarantee left caliper
Holding can stick together with the front end of the clamping face 101 of right caliper body completely, or is referred to as and completely attaches to.
In addition, the rear end of left caliper 200 and right caliper body 100 here can be respectively fixed with handle, to constitute doctor
The clamp used manually；Certainly, the rear end of left caliper 200 and right caliper body 100 can also be mounted on mechanical gripper, and machinery presss from both sides
Holder is also possible to the mechanical arm of operating robot either para-operational device.Therefore there is no to left caliper here
200 make specific restriction with the installation site of right caliper body 100.
Preferably, the plane of the front end of the clamping face 201 of left caliper or curved surface are smooth or bright and clean surface.
Since the front end of the clamping face 201 of left caliper is plane, and the front end of the clamping face 101 of corresponding right caliper body
Protrusion has multiple first fins 102, matches only by multiple first fins 102 with plane or curved surface carry out trapping human in this way
Tissue is especially easy impaired abdominal tissues；The formation of clamping face 101 of clamping face 201 and right caliper body relative to left caliper
The case where fin of engagement, grasped tissue is made to deform, the probability of especially bending deformation is lower (because of left caliper
The front end of clamping face 201 is plane), therefore, also it is greatly lowered just the probability of clamped tissue damaged's wound.Simultaneously as
Fin is only to extend to the left and right sides of right caliper body 100, therefore make grasped tissue prolonging readily along the first fin 102
It is mobile to stretch direction, and influences to cure (operation or other cures) process, therefore the front end of the clamping face 101 of right caliper body opens up
Fluted 103, groove 103 is from the top of multiple first fins 102 through and the front end of the clamping face 201 of left caliper is raised
There are multiple lug bosses 202, multiple lug bosses 202 can be placed in groove 103 along the extending direction of groove 103；To prevent
Clamped tissue moves.In addition, the quantity of groove 103 be less than or far less than the first fin 102 quantity, therefore to quilt
Clamping disorganization is also considerably less, and the multiple lug bosses 202 being especially used cooperatively only are formed clamped tissue multiple
The chucking power of point, rather than the chucking power in entire 103 region of groove, therefore it is impaired to be substantially prevented from grasped tissue.
Referring to Fig. 1, further, groove 103 extends back along the clamping face 101 of right caliper body from front end.
That is, groove 103 forms form of straight lines, the damage of tissue is further dropped in this way in clamping process
It is low, while being matched with multiple first fins 102, prevent clamped tissue from moving along the extending direction of the first fin 102.
Referring to Fig. 1, further, two parallel settings of groove 103.
It should be noted that two recessed when the clamping face 201 of left caliper is in contact with the clamping face 101 of right caliper body
Multiple lug bosses 202 are provided in slot 103.
The present inventor has found that the parallel setting of two grooves 103 can either guarantee clamping effect by repetition test
Fruit, while clamped tissue will not be damaged.
Referring to Fig. 1, further, multiple first fins 102 are successively arranged from the front end of the clamping face 101 of right caliper body to it
The rear end of clamping face 101；
The rear end protrusion of the clamping face 201 of left caliper has multiple second fins 203, multiple second fins 203 can with it is more
A part of a first fin 102 is meshed.
So set, firm grip does not loosen when making the gripper mechanism grips non-delicate tissues.
Referring to Fig. 3 to Fig. 5, further, right caliper body 100 can be conductive, and left caliper 200 can be conductive.
In this way, right caliper body 100 and left caliper 200 are respectively turned on the electrode of power supply, make right caliper body 100 and left caliper 200 can
With electric coagulation hemostasis, to guarantee effective observation of the doctor to human abdomen during abdominal operation.
It should be noted that " electric coagulation hemostasis " described herein includes " high-frequency electrocoagulation art ".
Referring to Fig. 3 and Fig. 4, further, the rear end of right caliper body 100 and the rear end of left caliper 200 are respectively fixed with pedestal
300, two pedestals 300 are that insulating materials is made.
Here insulating materials can be the electrically insulating materials such as rubber, plastics.
During cooperation " electric coagulation hemostasis ", to prevent left caliper 200 and right caliper body 100 from generating unnecessary electricity, or
In order to which doctor is easy to operate, and it is respectively fixed with the rear end of right caliper body 100 and the rear end of left caliper 200 made of insulating materials
Pedestal 300.
Fig. 6 and Fig. 7 is participated in, further, the clamping face 101 of right caliper body is oppositely arranged with the clamping face 201 of left caliper, right
The front end of the clamping face 101 of caliper can be in contact with the front end of the clamping face 201 of left caliper.Namely right caliper body 100 and a left side
Caliper 200 can be engaged and separate.
Referring to Fig. 5, in addition, present embodiment additionally provides a kind of clamper, clamper includes aforesaid clip mechanism, clamping
Device further includes electric coagulation device 500, and left caliper 200 and right caliper body 100 are connected by the electrode of conducting wire 401 and electric coagulation device 500 respectively
It connects.
Specifically, left caliper 200 and right caliper body 100 pass through the electrode catheter 501 of conducting wire 401 and electric coagulation device 500 respectively
Connection.And electrode catheter 501 can be connected with external high-frequency apparatus and realize instrument coagulation.
In addition, the technical effect that the clamper obtains is identical as the technical effect that aforesaid clip mechanism obtains, therefore at this
In excessive explanation is no longer done to clamper.
In addition, present embodiment additionally provides a kind of operating robot, the artificial abdominal operation robot of surgical machine, operation
Robot is equipped with aforesaid clip device.For the abdomen capillary angle of human body, the especially large intestine and small intestine site of human body
Impaired and bleeding, therefore the clamping machine of present embodiment are easier with capillary abundant, therefore using common clamp
Structure can be used for abdominal operation.
In addition, the technical effect that the operating robot obtains is identical as the technical effect that aforesaid clip mechanism obtains, therefore
Excessive explanation is no longer done to clamper herein.
Referring to Fig. 6, further, operating robot includes arm body 600, left caliper 200 and right caliper body 100 respectively with arm body
600 is hinged；The side of 200 rear end of left caliper is connect by left opening wirerope 402 with operating robot, 200 rear end of left caliper
The other side connect with operating robot by left closure wirerope 404, the side of 200 rear end of left caliper is opposite with its other side
Setting；The side of 100 rear end of right caliper body is connect by right opening wirerope 403 with operating robot, 100 rear end of right caliper body it is another
Side is connect by right closure wirerope 405 with operating robot, and the side of 100 rear end of right caliper body is opposite with its other side to be set
It sets.
In this way, when the robot operates clamping device, using left caliper 200 and right caliper body 100 respectively with arm body
600 is hinged；And control left closure wirerope 404 and the left stretching for opening wirerope 402 respectively by robot, to make a left side
Caliper 200 opens or closure；It is also using right closure wirerope 405 and the right stretching control right caliper body 100 for opening wirerope 403
Same reason, no longer illustrates herein.
In addition, left closure wirerope 404, Zuo Zhangkai wirerope 402, right closure wirerope 405 and right opening wirerope 403
It can also be connect with electric coagulation device 500, to realize that the stretching to these wirerope controls.
Claims (10)
1. a kind of clamping device characterized by comprising
Right caliper body (100), the front end protrusion of clamping face (101) have multiple first fins (102), multiple first fins
(102) left and right sides of Xiang Suoshu right caliper body (100) extends, and the front end of the clamping face (101) of the right caliper body (100) offers
Groove (103), the groove (103) from the top of multiple first fins (102) through；And
Left caliper (200), the front end of clamping face (201) are plane or curved surface, left caliper (200) clamping face (201)
Front end protrusion has multiple lug bosses (202), and multiple lug bosses (202) can be along the extending direction of the groove (103)
It is placed in the groove (103).
2. clamping device according to claim 1, which is characterized in that the groove (103) is along the right caliper body (100)
Clamping face (101) extend back from front end.
3. clamping device according to claim 2, which is characterized in that the parallel setting of two grooves (103).
4. clamping device according to claim 1, which is characterized in that multiple first fins (102) are from the right pincers
It successively arranges to the rear end of its clamping face (101) front end of the clamping face (101) of body (100)；
The rear end protrusion of the clamping face (201) of the left caliper (200) has multiple second fins (203), and multiple described second is convex
Rib (203) can be meshed with a part of multiple first fins (102).
5. clamping device according to any one of claim 1 to 4, which is characterized in that the right caliper body (100) can lead
Electricity, the left caliper (200) can be conductive.
6. clamping device according to claim 5, which is characterized in that the rear end of the right caliper body (100) and the left pincers
The rear end of body (200) is respectively fixed with pedestal (300), and two pedestals (300) are that insulating materials is made.
7. clamping device according to any one of claim 1 to 4, which is characterized in that the clamping of the right caliper body (100)
Face (101) and the clamping face (201) of the left caliper (200) are oppositely arranged, the clamping face (101) of the right caliper body (100)
Front end can be in contact with the front end of the clamping face (201) of the left caliper (200).
8. a kind of clamper, which is characterized in that the clamper includes clamping device described in any one of claims 1 to 7,
The clamper further includes electric coagulation device (500), and the left caliper (200) and the right caliper body (100) pass through conducting wire respectively
(401) it is connect with the electrode of the electric coagulation device (500).
9. a kind of operating robot, which is characterized in that the artificial abdominal operation robot of surgical machine, the operating robot
Clamper according to any one of claims 8 is installed.
10. operating robot according to claim 9, which is characterized in that the operating robot includes arm body (600),
The left caliper (200) and the right caliper body (100) are hinged with the arm body (600) respectively；
The side of left caliper (200) rear end is connect by left opening wirerope (402) with the operating robot, the left side
The other side of caliper (200) rear end is connect by left closure wirerope (404) with the operating robot, the left caliper
(200) side of rear end is disposed opposite to each other with its other side；
The side of right caliper body (100) rear end is connect by right opening wirerope (403) with the operating robot, the right side
The other side of caliper (100) rear end is connect by right closure wirerope (405) with the operating robot, the right caliper body
(100) side of rear end is disposed opposite to each other with its other side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910789024.2A CN110338904A (en) | 2019-08-26 | 2019-08-26 | A kind of clamping device, clamper and operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910789024.2A CN110338904A (en) | 2019-08-26 | 2019-08-26 | A kind of clamping device, clamper and operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110338904A true CN110338904A (en) | 2019-10-18 |
Family
ID=68181184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910789024.2A Pending CN110338904A (en) | 2019-08-26 | 2019-08-26 | A kind of clamping device, clamper and operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110338904A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1291800A (en) * | 1971-09-13 | 1972-10-04 | Evagelos John Hadjiyannakis | Bifurcated vascular clamp |
| US4226240A (en) * | 1979-05-30 | 1980-10-07 | Walker Jr William E | Surgical foreceps |
| US6840938B1 (en) * | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
| CN200973731Y (en) * | 2007-05-29 | 2007-11-14 | 许林 | Vascular blocking clamp without generating wound |
| US20080119870A1 (en) * | 2006-11-16 | 2008-05-22 | Williams Matthew R | Two-piece end-effectors for robotic surgical tools |
| US20090088774A1 (en) * | 2007-09-30 | 2009-04-02 | Nitish Swarup | Apparatus and method of user interface with alternate tool mode for robotic surgical tools |
| CN210931799U (en) * | 2019-08-26 | 2020-07-07 | 苏州康多机器人有限公司 | Clamping mechanism, clamp holder and surgical robot |
-
2019
- 2019-08-26 CN CN201910789024.2A patent/CN110338904A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1291800A (en) * | 1971-09-13 | 1972-10-04 | Evagelos John Hadjiyannakis | Bifurcated vascular clamp |
| US4226240A (en) * | 1979-05-30 | 1980-10-07 | Walker Jr William E | Surgical foreceps |
| US6840938B1 (en) * | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
| US20080119870A1 (en) * | 2006-11-16 | 2008-05-22 | Williams Matthew R | Two-piece end-effectors for robotic surgical tools |
| CN200973731Y (en) * | 2007-05-29 | 2007-11-14 | 许林 | Vascular blocking clamp without generating wound |
| US20090088774A1 (en) * | 2007-09-30 | 2009-04-02 | Nitish Swarup | Apparatus and method of user interface with alternate tool mode for robotic surgical tools |
| CN210931799U (en) * | 2019-08-26 | 2020-07-07 | 苏州康多机器人有限公司 | Clamping mechanism, clamp holder and surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2001249932B2 (en) | Electrosurgical instrument which reduces collateral damage to adjacent tissue | |
| US7435249B2 (en) | Electrosurgical instruments which reduces collateral damage to adjacent tissue | |
| US7160298B2 (en) | Electrosurgical instrument which reduces effects to adjacent tissue structures | |
| US20040176762A1 (en) | Electrosurgical instrument reducing flashover | |
| JP2004524920A (en) | Electrosurgical instruments to reduce flashover | |
| US20030018332A1 (en) | Bipolar electrosurgical instrument with replaceable electrodes | |
| US20070135813A1 (en) | Treatment tool for endoscope | |
| US10610234B2 (en) | Open-close-repeatable rotatable hemoclip for the gastrointestinal tract with electrocoagulation | |
| CN210931799U (en) | Clamping mechanism, clamp holder and surgical robot | |
| CN110338904A (en) | A kind of clamping device, clamper and operating robot | |
| CN112315576A (en) | Bipolar electric energy forceps head for minimally invasive surgical instrument | |
| CN115300096A (en) | Electric coagulation forceps for neuroendoscopy operation | |
| CN211243685U (en) | High-frequency endoscope operation electrode | |
| CN110507411A (en) | Double-pole electric coagulation forceps | |
| CN102160817A (en) | High-frequency closed galvanic pincette | |
| CN213722365U (en) | Pressing electrocoagulation type dura mater closing device for skull base operation | |
| CN218651996U (en) | Bipolar electric coagulation forceps for hemostasis of neuroendoscopy operation | |
| CN211911675U (en) | Electric bipolar thermal biopsy forceps for endoscope | |
| CA2443246C (en) | Electrosurgical instrument reducing thermal spread | |
| CN213744445U (en) | High-insulation instant scabbing high-pressure-resistant FEP (fluorinated ethylene propylene) spring hose for thermal biopsy forceps | |
| CN213588465U (en) | Improved mosquito-repellent forceps for operation | |
| CN215778580U (en) | Bipolar electric coagulation forceps with length capable of being adjusted automatically | |
| CN202060871U (en) | Electrode assembly for high-frequency closed galvanic pincette | |
| CN110368085B (en) | High-frequency endoscope operation electrode | |
| AU2001249912A1 (en) | Electrosurgical instrument reducing thermal spread |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |