CN111529066A - Instrument poking clamp for surgical robot - Google Patents
Instrument poking clamp for surgical robot Download PDFInfo
- Publication number
- CN111529066A CN111529066A CN202010473162.2A CN202010473162A CN111529066A CN 111529066 A CN111529066 A CN 111529066A CN 202010473162 A CN202010473162 A CN 202010473162A CN 111529066 A CN111529066 A CN 111529066A
- Authority
- CN
- China
- Prior art keywords
- pull rod
- chuck
- base
- control device
- instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0801—Prevention of accidental cutting or pricking
- A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs
Abstract
The invention provides an instrument poking clamp for a surgical robot, which belongs to the technical field of medical instruments and comprises a base, a first chuck and a second chuck, wherein the first chuck and the second chuck are connected to the base, the first chuck and the second chuck are suitable for rotating relative to the base, the instrument poking clamp further comprises a pull rod device and a pull rod control device, the pull rod device is connected with the first chuck and the second chuck and drives the first chuck and the second chuck to be clamped or loosened with each other, the pull rod control device is matched with the pull rod device, and the pull rod device is locked or loosened when the first chuck and the second chuck are clamped with each other. The pull rod device can drive the first chuck and the second chuck to be clamped or loosened, and the pull rod control device can lock the pull rod device, so that the clamping state of the first chuck and the second chuck is kept stable, the patient is prevented from being accidentally injured, the first chuck and the second chuck can be clamped or loosened by pulling the pull rod device, and the operation is convenient.
Description
Technical Field
The invention relates to a medical instrument, in particular to an instrument poking clip for a surgical robot.
Background
Modern surgical operations have entered the minimally invasive age, and poking cards are common minimally invasive surgical tools. When the robot is controlled to stab the card and is held surgical instruments to perform operations, the swing of the mechanical arm of the robot requires the card to be stabbed and also swings together with the mechanical arm, and the mechanical arm and the card cannot swing with each other. The existing clamping tools cannot meet the requirements.
Disclosure of Invention
In order to solve one of the above problems, the present invention provides an instrument poking clip for a surgical robot, including a base, a first clip head and a second clip head which are oppositely arranged, wherein the first clip head and the second clip head are both connected to the base, the first clip head and the second clip head are adapted to rotate relative to the base,
also comprises a pull rod device and a pull rod control device,
the pull rod device is connected with the first chuck and the second chuck and is used for driving the first chuck and the second chuck to clamp or loosen mutually,
the pull rod control device is matched with the pull rod device, and the pull rod device is locked or loosened when the first chuck and the second chuck are clamped mutually.
Optionally, the pull rod device comprises a connecting plate and a pull rod, one end of the pull rod is a hinged end, the other end of the pull rod is a mounting end, the mounting end of the pull rod is mounted on the base,
one end of each of the first chuck and the second chuck is a free end, the other end of each of the first chuck and the second chuck is a connecting end, the connecting points of the first chuck and the second chuck and the base are respectively positioned between the free end and the connecting end,
one end of the connecting plate is respectively hinged with the connecting ends of the first chuck and the second chuck, the other end of the connecting plate is hinged with the hinged end of the pull rod,
the pull rod control device is used for locking or releasing the pull rod.
Optionally, a first automatic resetting device is arranged between the mounting end of the pull rod and the base.
Optionally, a baffle is arranged on one side edge of the pull rod, the baffle protrudes out of the side edge,
the pull rod control device is a rod-shaped part, a pull rod accommodating groove and a baffle plate accommodating groove are formed in the pull rod control device, the width of the pull rod accommodating groove is larger than that of the pull rod, the pull rod control device is arranged between two opposite side edges of the base and is perpendicular to the pull rod, the pull rod control device is suitable for moving between the two opposite side edges relative to the base,
the pull rod is clamped between the pull rod control device and the base, the pull rod penetrates through the accommodating groove, and the baffle is suitable for being accommodated in the baffle accommodating groove and blocked by the side wall of the baffle accommodating groove.
Optionally, a second automatic resetting device is arranged between the pull rod control device and the base.
Optionally, the first automatic return device and the second automatic return device are both springs.
Optionally, a limit block is arranged on the base, an installation space for the pull rod to pass through is arranged on the limit block,
the pull rod penetrates through the mounting space and is suitable for sliding relative to the limiting block between the direction close to the first chuck and the second chuck and the direction far away from the first chuck and the second chuck.
Optionally, an installation groove is formed in the middle of one side face of the base, a left side wall is formed on the left side of the base, a right side wall is formed on the right side of the base, a bottom wall is formed at the bottom of the base, and the pull rod, the limiting block and the pull rod control device are all arranged in the installation groove.
Optionally, one end of the pull rod control device is a control end, a mounting hole is formed in the left side wall, and the control end penetrates through the mounting hole and extends out of the base.
Optionally, the other end of the pull rod control device is a mounting end, the mounting end is arranged on the right side wall, a guide groove is formed in the right side wall, the guide groove is suitable for accommodating the mounting end of the pull rod control device, and the second automatic reset device is arranged in the guide groove.
Compared with the prior art, the invention has the beneficial effects that: the pull rod device is connected with the first chuck and the second chuck and can drive the first chuck and the second chuck to clamp or loosen, and the pull rod control device can lock the pull rod device in a clamping state, so that the clamping state of the first chuck and the second chuck is kept stable, a patient is prevented from being accidentally injured, and the first chuck and the second chuck can be clamped or loosened by pulling the pull rod device, so that the operation is convenient.
Drawings
FIG. 1 is an axial view of an instrument stab clip for a surgical robot of the present invention;
FIG. 2 is a front view showing an instrument stab clip clamping state for a surgical robot according to the present invention;
FIG. 3 is a front view showing an instrument stab clip in a released state for a surgical robot according to the present invention
FIG. 4 is a block diagram of the pull rod of the instrument stab card holder for a surgical robot according to the present invention;
FIG. 5 is a block diagram of a control device of a pull rod in an instrument stab card holder for a surgical robot according to the present invention.
Description of reference numerals:
11-a base; 111-mounting grooves; 112-left side wall, 113-right side wall; 114-a bottom wall; 115-a guide groove; 12-a first chuck; 13-a connecting plate; 14-a pull rod; 141-first automatic resetting means; 142-a baffle; 15-a pull rod control device; 151-a pull rod accommodating groove; 152-a baffle receiving slot; 153-second automatic reset means; 16-a limiting block.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
In addition, it should be understood in the description of the present invention that the forward direction of "X" in the drawings represents the left direction, and correspondingly, the reverse direction of "X" represents the right direction; the forward direction of "Y" represents the forward direction, and correspondingly, the reverse direction of "Y" represents the backward direction; the forward direction of "Z" represents upward and, correspondingly, the reverse direction of "Z" represents downward, and the terms "X," "Y," "Z," and the like, indicate an orientation or positional relationship that is merely for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
If there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
As shown in fig. 1, 2, and 3, an instrument poking clamp for a surgical robot according to an embodiment of the present invention includes a base 11, a first chuck 12, a second chuck, a pull rod device, and a pull rod control device, where the first chuck 12 and the second chuck are both connected to the base 11, the first chuck 12 and the second chuck are disposed opposite to each other, the first chuck 12 and the second chuck are adapted to rotate relative to the base 11, the pull rod device is connected to the first chuck 12 and the second chuck, the pull rod device can drive the first chuck 12 and the second chuck to clamp or release each other, and the pull rod control device is matched with the pull rod device, and when the first chuck 12 and the second chuck are clamped to each other, the pull rod device is locked or released.
According to the instrument poking clamp for the surgical robot, the pull rod device can drive the first chuck 12 and the second chuck to clamp or loosen, and the pull rod control device can lock the pull rod device in a clamping state, so that the clamping state of the first chuck 12 and the second chuck is kept stable, accidental injury to a patient is avoided, and the operation is convenient.
Specifically, the pull rod device comprises a connecting plate 13 and a pull rod 14, one end of the pull rod 14 is a hinged end, the other end of the pull rod 14 is a mounting end, the mounting end of the pull rod 14 is mounted on the base 11,
one end of the first chuck 12 and one end of the second chuck are free ends, the other end of the first chuck 12 and the other end of the second chuck are connecting ends, the connecting points of the first chuck 12 and the second chuck and the base 11 are positioned between the free ends and the connecting ends,
one end of a connecting plate 13 is hinged with the connecting ends of the first chuck 12 and the second chuck respectively, the other end of the connecting plate 13 is hinged with the hinged end of a pull rod 14, the pull rod 14 is pulled to move in the direction far away from the first chuck 12 and the second chuck, the pull rod 14 drives the first chuck 12 and the second chuck to rotate relative to the base 11 through the connecting plate 13, the free ends of the first chuck 12 and the second chuck are close to each other, and the first chuck 12 and the second chuck are clamped tightly; pulling the pull rod 14 to move towards the direction close to the first chuck 12 and the second chuck, wherein the pull rod 14 drives the first chuck 12 and the second chuck to rotate relative to the base 11 through the connecting plate 13, the free ends of the first chuck 12 and the second chuck are far away from each other, and the first chuck 12 and the second chuck are loosened;
the pull rod control device 15 is engaged with the pull rod 14, and the pull rod control device 15 is used for locking or unlocking the pull rod 14.
According to the instrument poking clamp for the surgical robot, the pull rod can drive the first chuck and the second chuck to clamp or loosen, and the pull rod control device can lock the pull rod in a clamping state, so that the clamping state of the first chuck and the second chuck is kept stable, accidental injury to a patient is avoided, and the operation is convenient.
Further, a first automatic returning device 141 is provided between the mounting end of the pull rod 14 and the base 11, and specifically, the first automatic returning device 141 employs a spring. After the pull rod 14 is released by the pull rod control device 15, the pull rod 14 can be automatically reset, so that the operation is more convenient.
Specifically, as shown in fig. 1, the base 11 is a plate-shaped member, the left side and the right side of the base 11 correspond to each other, as shown in fig. 4 and 5, a baffle 142 is disposed on one side of the pull rod 14, the baffle 142 protrudes from the side, the pull rod control device 15 is a rod-shaped member, one end of the pull rod control device 15 is a mounting end, the other end of the pull rod control device 15 is a control end, the mounting end and the control end of the pull rod control device 15 are respectively disposed on two corresponding sides of the base 11, the pull rod control device 15 is perpendicular to the pull rod 14, the pull rod control device 15 is movable between the two corresponding sides relative to the base 11, a pull rod receiving groove 151 and a baffle receiving groove 152 are formed in the pull rod control device 15, the width of the pull rod receiving groove 152 is greater than the width of the pull rod 14, the width is a dimension along the X axis direction of the coordinate axis, the pull rod, the pull rod 14 is clamped between the pull rod control device 15 and the base 11, the pull rod 14 passes through the accommodating groove 151, the pull rod 14 is suitable for moving relative to the pull rod control device 15 in a direction close to the first chuck 12 and the second chuck or in a direction away from the first chuck 12 and the second chuck, when the pull rod control device 15 is positioned at the left end, the baffle 142 is accommodated in the baffle accommodating groove 152 and is blocked by the side wall of the baffle accommodating groove 152, the pull rod 14 is locked, when the pull rod control device 15 is positioned at the right end, the baffle 142 is disengaged from the baffle accommodating groove 152, and the pull rod 14 is disengaged.
Further, a second automatic reset device 153 is disposed between the mounting end of the pull rod control device 15 and the base 11, and specifically, the second automatic reset device 153 employs a spring. Due to the arrangement of the second automatic resetting device 153, after the acting force acting on the control end of the pull rod control device 15 disappears, the pull rod control device 15 can be automatically reset, so that the operation is more convenient.
Further, a limit block 16 is arranged on the base 11, the limit block 16 is positioned on one side of the pull rod control device 15 close to the installation end of the pull rod 14, and an installation space for the pull rod 14 to pass through is arranged on the limit block 16, specifically, the limit block 16 is connected with the base 11 through a bolt, the installation space can be a through hole arranged on the limit block 16, or a groove arranged on one side surface of the limit block 16 facing the base 11; the pull rod 14 passes through the mounting space on the stopper 16, and the pull rod 14 is adapted to slide relative to the stopper 16 between a direction approaching the first and second jaws 12, 12 and a direction moving away from the first and second jaws 12, 12. Due to the arrangement of the limiting block 16, the pull rod 14 is limited to move only in the direction close to the first chuck 12 and the second chuck or in the direction far away from the first chuck 12 and the second chuck, the pull rod 14 is prevented from shaking in the left-right direction, the instrument poking clamp for the surgical robot is more stable in the clamping state, and the injury of a patient in the surgical process is avoided.
Specifically, the first chuck 12 and the second chuck are both in a semicircular arc shape, a mounting groove 111 is formed in the middle of one side surface of the base 11, a left side wall 112 is formed on the left side of the base 11, a right side wall 113 is formed on the right side of the base 11, a bottom wall 114 is formed at the bottom of the base 11, the pull rod 14, the limiting block 16 and the pull rod control device 15 are all arranged in the mounting groove 111, the control end and the mounting end of the pull rod control device 15 are respectively arranged on the left side wall 112 and the right side wall 113 of the base 11, and the mounting end of the pull rod 14 is mounted on the bottom wall. As shown in fig. 1, a mounting hole is formed on the left sidewall 112, the control end of the pull rod control device 15 passes through the mounting hole and extends out of the base 11, a guide groove 115 is formed on the right sidewall 113, a spring is disposed in the guide groove 115, and the guide groove 115 is suitable for accommodating the mounting end of the pull rod control device 15, so that the pull rod control device 15 can move left and right relative to the base 11. The control end extends out of the base 11, so that the control is more convenient; the guide groove 115 limits the moving direction of the pull rod control device 15 to a direction perpendicular to the pull rod 14, so that the instrument stab clamp for the surgical robot is more stable in a clamping state.
The instrument poking clamp for the surgical robot is suitable for poking a card, during surgery, the poking card is inserted into the body of a patient, a mechanical arm is swung to a proper position, a first chuck 12 and a second chuck of the instrument poking clamp for the surgical robot are opened and sleeved on the poking card, the first chuck 12 and the second chuck are pressed by fingers, a pull rod 14 is pulled, the pull rod 14 moves downwards, a first automatic resetting device 141 is in a pressing state, a second automatic resetting device 153 pops out, a baffle 142 on the pull rod 14 is arranged in a baffle accommodating groove 152 on a pull rod control device 15, and the first chuck 12 and the second chuck are locked on the poking card; when the machine needs to be removed after the operation, the control end of the pull rod control device 15 is pressed, the second automatic resetting device 153 is compressed, the pull rod control device 15 is pressed to move rightwards, the baffle 142 on the pull rod 14 is separated from the baffle containing groove 152 on the pull rod control device 15, the first automatic resetting device 141 is popped out, the pull rod 14 is pushed to move upwards, the first chuck 12 and the second chuck are loosened from the poking card, and therefore the poking card is released.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. An instrument poking clamp for a surgical robot comprises a base (11), a first clamp head (12) and a second clamp head which are arranged oppositely, wherein the first clamp head (12) and the second clamp head are both connected to the base (11), the first clamp head (12) and the second clamp head are suitable for rotating relative to the base (11), and the instrument poking clamp is characterized in that,
also comprises a pull rod device and a pull rod control device (15),
the pull rod device is connected with the first chuck (12) and the second chuck and is used for driving the first chuck (12) and the second chuck to clamp or loosen mutually,
the pull rod control device (15) is matched with the pull rod device, and the pull rod device is locked or loosened when the first chuck (12) and the second chuck are clamped mutually.
2. An instrument poke clip for a surgical robot according to claim 1,
the pull rod device comprises a connecting plate (13) and a pull rod (14), one end of the pull rod (14) is a hinged end, the other end of the pull rod (14) is a mounting end, the mounting end of the pull rod (14) is mounted on the base (11),
one end of the first chuck (12) and one end of the second chuck are free ends, the other end of the first chuck (12) and the other end of the second chuck are connecting ends, connecting points of the first chuck (12), the second chuck and the base (11) are respectively positioned between the free ends and the connecting ends,
one end of the connecting plate (13) is respectively hinged with the connecting ends of the first chuck (12) and the second chuck, the other end of the connecting plate (13) is hinged with the hinged end of the pull rod (14),
the pull rod control device (15) is used for locking or releasing the pull rod (14).
3. An instrument poke clip for a surgical robot according to claim 2,
a first automatic resetting device (141) is arranged between the mounting end of the pull rod (14) and the base (11).
4. An instrument poke clip for a surgical robot according to claim 3,
a baffle plate (142) is arranged on one side edge of the pull rod (14), the baffle plate (142) protrudes out of the side edge,
the pull rod control device (15) is a rod-shaped component, a pull rod accommodating groove (151) and a baffle plate accommodating groove (152) are formed in the pull rod control device (15), the width of the pull rod accommodating groove (151) is larger than that of the pull rod (14), the pull rod control device (15) is arranged between two opposite side edges of the base (11), the pull rod control device (15) is perpendicular to the pull rod (14), the pull rod control device (15) is suitable for moving between the two opposite side edges relative to the base (11),
the pull rod (14) is clamped between the pull rod control device (15) and the base (11), the pull rod (14) penetrates through the pull rod accommodating groove (151), and the baffle (142) is suitable for being accommodated in the baffle accommodating groove (152) and blocked by the side wall of the baffle accommodating groove (152).
5. An instrument poke clip for a surgical robot according to claim 4, characterised in that a second automatic reset means (153) is provided between the pull rod control means (15) and the base (11).
6. An instrument poke clip for a surgical robot according to claim 5, characterised in that the first automatic return means (141) and the second automatic return means (153) are both springs.
7. An instrument poke clip for a surgical robot according to claim 5,
a limiting block (16) is arranged on the base (11), an installation space for the pull rod (14) to pass through is arranged on the limiting block (16),
the pull rod (14) penetrates through the installation space, and the pull rod (14) is suitable for sliding relative to the limiting block (16) between a direction close to the first clamping head (12) and the second clamping head and a direction far away from the first clamping head (12) and the second clamping head.
8. An instrument poke clip for a surgical robot according to claim 7,
mounting groove (111) have been seted up at a side middle part of base (11) the left side of base (11) forms left side wall (112) the right side of base (11) forms right side wall (113) the bottom of base (11) forms diapire (114), pull rod (14) stopper (16) pull rod controlling means (15) all set up in mounting groove (111).
9. An instrument poke clip for a surgical robot according to claim 8,
one end of the pull rod control device (15) is a control end, a mounting hole is formed in the left side wall (112), and the control end penetrates through the mounting hole and extends out of the base (11).
10. An instrument poke clip for a surgical robot according to claim 9,
the other end of the pull rod control device (15) is a mounting end, the mounting end is arranged on the right side wall (113), a guide groove (115) is formed in the right side wall (113), the guide groove (115) is suitable for containing the mounting end of the pull rod control device (15), and the second automatic resetting device (153) is arranged in the guide groove (115).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010473162.2A CN111529066A (en) | 2020-05-29 | 2020-05-29 | Instrument poking clamp for surgical robot |
| PCT/CN2021/096984 WO2021239140A1 (en) | 2020-05-29 | 2021-05-28 | Instrument trocar clamp for surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010473162.2A CN111529066A (en) | 2020-05-29 | 2020-05-29 | Instrument poking clamp for surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111529066A true CN111529066A (en) | 2020-08-14 |
Family
ID=71968300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010473162.2A Pending CN111529066A (en) | 2020-05-29 | 2020-05-29 | Instrument poking clamp for surgical robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111529066A (en) |
| WO (1) | WO2021239140A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021239140A1 (en) * | 2020-05-29 | 2021-12-02 | 苏州康多机器人有限公司 | Instrument trocar clamp for surgical robot |
| CN114041881A (en) * | 2022-01-10 | 2022-02-15 | 极限人工智能(北京)有限公司 | Instrument clamping device and minimally invasive surgery robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116530987A (en) * | 2023-05-10 | 2023-08-04 | 薛红梅 | Neonate's heel blood sampling auxiliary device |
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| DE102013002813B4 (en) * | 2013-02-19 | 2017-11-09 | Rg Mechatronics Gmbh | Holding device with at least one jaw for a robotic surgical system |
| CN111529066A (en) * | 2020-05-29 | 2020-08-14 | 哈尔滨思哲睿智能医疗设备有限公司 | Instrument poking clamp for surgical robot |
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| CN114041881B (en) * | 2022-01-10 | 2022-04-12 | 极限人工智能(北京)有限公司 | Instrument clamping device and minimally invasive surgery robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021239140A1 (en) | 2021-12-02 |
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