CN111839670A - Medical robot separating forceps - Google Patents
Medical robot separating forceps Download PDFInfo
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- CN111839670A CN111839670A CN202010674858.1A CN202010674858A CN111839670A CN 111839670 A CN111839670 A CN 111839670A CN 202010674858 A CN202010674858 A CN 202010674858A CN 111839670 A CN111839670 A CN 111839670A
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 238000000926 separation method Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to a medical robot separating clamp, and belongs to the field of medical instruments. The pipe clamp comprises a clamp handle mechanism, a clamp pipe mechanism, a clamp head mechanism and a planet wheel, wherein the clamp handle mechanism and the clamp head mechanism are respectively arranged at two ends of the clamp pipe mechanism; the structure is characterized in that: the clamp handle mechanism comprises a front movable clamp handle, a rear movable clamp handle and a fixed clamp handle, the clamp tube mechanism comprises an inner pull rope, an outer pull rod and a clamp tube, and the clamp head mechanism comprises a clamp head seat and a clamp head; the movable clamp handle and the rear movable clamp handle are both mounted on the fixed clamp handle, one end of the clamp pipe is mounted on the fixed clamp handle, the clamp head seat is mounted at the other end of the clamp pipe, the clamp head is mounted on the clamp head seat, the outer pull rod is mounted in the clamp pipe, the inner pull rope is mounted in the outer pull rod, one end of the outer pull rod is connected with the front movable clamp handle, the other end of the outer pull rod is connected with the clamp head seat, one end of the inner pull rope is connected with the rear movable clamp handle, and the other end of the inner pull rope is connected with the clamp head.
Description
Technical Field
The invention relates to a medical robot separating clamp, and belongs to the field of medical instruments.
Background
The tissue separating forceps are one of common surgical instruments, are of stainless steel multi-piece structures at present and are combined through a four-bar hinge mechanism, one end of the four-bar hinge mechanism is connected with a forceps holder, the other end of the four-bar hinge mechanism is connected with a handle through steel wire traction, and the handle pulls or releases the steel wire, so that the opening and closing of the forceps holder are controlled, and the functions of clamping, separating, hemostasis and the like of tissues are realized. Because the four-bar hinge structure is fine, the manufacturing process is complex, the production cost is increased, and the gap of the four-bar hinge structure is difficult to clean and disinfect after the four-bar hinge structure is used, so that the safety and the sanitation of the operation are affected. In addition, the thin four-bar linkage hinge mechanism is limited in stress and easy to damage after being used for a certain number of times, so that the use cost is improved, and the service life is shortened. Difficult control, inconvenient use and prolonged operation time.
In view of this, patent document No. 201710123866.5 discloses a medical surgical separating forceps, which is not easy to control and cannot be used for multi-angle and all-directional grasping.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the medical robot separating forceps with reasonable structural design.
The technical scheme adopted by the invention for solving the problems is as follows: the medical robot separating forceps comprise a forceps handle mechanism, a forceps tube mechanism, a forceps head mechanism and a planet wheel, wherein the forceps handle mechanism and the forceps head mechanism are respectively arranged at two ends of the forceps tube mechanism, and the planet wheel is arranged on the forceps tube mechanism; the structure is characterized in that: the clamp pipe mechanism comprises an inner pull rope, an outer pull rod and a clamp pipe, and the clamp head mechanism comprises a clamp head seat and a clamp head; the movable pliers handle and the rear movable pliers handle are both mounted on the fixed pliers handle, one end of the pliers tube is mounted on the fixed pliers handle, the pliers head seat is mounted at the other end of the pliers tube, the pliers head is mounted on the pliers head seat, the outer pull rod is mounted in the pliers tube, the inner pull rope is mounted in the outer pull rod, one end of the outer pull rod is connected with the front movable pliers handle, the other end of the outer pull rod is connected with the pliers head seat, one end of the inner pull rope is connected with the rear movable pliers handle, and the other end of the inner pull rope is connected with the pliers head.
Furthermore, the front movable clamp handle comprises a front movable clamp handle body, a front movable clamp handle rotating shaft, a front movable clamp handle clamping seat and a front movable clamp handle clamping groove, the front movable clamp handle clamping seat is fixed on the front movable clamp handle body, an included angle exists between the front movable clamp handle clamping seat and the front movable clamp handle body, the front movable clamp handle rotating shaft is fixed at the joint of the front movable clamp handle clamping seat and the front movable clamp handle body, the front movable clamp handle clamping groove is arranged on the front movable clamp handle clamping seat, the front movable clamp handle rotating shaft is installed on the fixed clamp handle, and one end of the outer pull rod is connected with the front movable clamp handle clamping groove.
Furthermore, the rear movable clamp handle comprises a rear movable clamp handle body, a rear movable clamp handle rotating shaft, a rear movable clamp handle clamping seat and a rear movable clamp handle clamping groove, the rear movable clamp handle clamping seat is fixed on the rear movable clamp handle body, an included angle is formed between the rear movable clamp handle clamping seat and the rear movable clamp handle body, the rear movable clamp handle rotating shaft is fixed at the joint of the rear movable clamp handle clamping seat and the rear movable clamp handle body, the rear movable clamp handle clamping groove is formed in the rear movable clamp handle clamping seat, the rear movable clamp handle rotating shaft is installed on the fixed clamp handle, and one end of the inner pull rope is connected with the rear movable clamp handle clamping groove.
Furthermore, the fixed clamp handle comprises a fixed clamp handle body, a front movable clamp handle hinging seat, a rear movable clamp handle hinging seat and a clamp pipe limiting seat, the front movable clamp handle hinging seat and the rear movable clamp handle hinging seat are respectively fixed at the front end and the rear end of the fixed clamp handle body, the clamp pipe limiting seat is fixed on the fixed clamp handle body, the front movable clamp handle and the rear movable clamp handle are respectively installed on the front movable clamp handle hinging seat and the rear movable clamp handle hinging seat, and one end of the clamp pipe is installed on the clamp pipe limiting seat.
Furthermore, the inner pull rope comprises an inner pull rope body, an inner pull rope ball head, an inner pull rope pull seat and an inner pull rope rotating shaft, the inner pull rope ball head and the inner pull rope pull seat are respectively fixed at two ends of the inner pull rope body, the inner pull rope rotating shaft is fixed on the inner pull rope pull seat, the inner pull rope ball head is connected with the rear movable plier handle, and the inner pull rope rotating shaft is connected with the plier head.
Further, the outer pull rod comprises an outer pull rod body, an outer pull rod ball head, an outer pull rod pulling seat and an outer pull rod rotating shaft, the outer pull rod ball head and the outer pull rod pulling seat are respectively fixed at two ends of the outer pull rod body, the outer pull rod rotating shaft is fixed on the outer pull rod pulling seat, the outer pull rod ball head is connected with the front movable plier handle, and the outer pull rod rotating shaft is connected with the plier head seat.
Furthermore, the clamp tube comprises a clamp tube body, a clamp tube limiting ring, a clamp tube limiting groove and a clamp head seat hinge arm, wherein the clamp tube limiting ring and the clamp head seat hinge arm are fixed on the clamp tube body, the clamp tube limiting groove is formed in the fixed clamp handle, the clamp tube limiting ring is located in the clamp tube limiting groove, and the clamp head seat is installed on the clamp head seat hinge arm.
Furthermore, the binding clip seat comprises a binding clip seat body, a binding clip seat rotating shaft and a binding clip seat sliding groove, wherein the binding clip seat rotating shaft and the binding clip seat sliding groove are both arranged on the binding clip seat body, the binding clip is arranged on the binding clip seat body, the binding clip seat rotating shaft is arranged at the other end of the binding clip, the other end of the outer pull rod is connected with the binding clip seat sliding groove, and the binding clip seat sliding groove is obliquely arranged.
Further, the binding clip includes left binding clip body, right binding clip body, left binding clip spout, right binding clip spout and binding clip pivot, left side binding clip spout and right binding clip spout set up respectively on left binding clip body and right binding clip body, left side binding clip body and right binding clip body are all installed on the binding clip head seat through the binding clip pivot, the both sides of the other end of interior stay cord are connected with left binding clip spout and right binding clip spout respectively, left side binding clip spout and right binding clip spout all incline to set up, and left binding clip spout and right binding clip spout cross arrangement.
Furthermore, the planet wheel is used for controlling the rotation of the clamp pipe, the front movable clamp handle is used for controlling the outer pull rod so as to control the rotation of the clamp head seat, and the rear movable clamp handle is used for controlling the inner pull rope so as to control the opening and closing of the clamp head; and/or; the planet wheel is arranged on the manipulator.
Compared with the prior art, the invention has the following advantages: when the medical robot separating clamp is used, the front movable clamp handle pushes and pulls the outer pull rod to enable the clamp head seat to drive the clamp head to rotate, and the rear movable clamp handle pushes and pulls the inner pull rope to enable the clamp head to be opened and closed on the clamp head seat.
The tip of outer pull rod body is provided with the outer pull rod bulb, activity pincers handle draw-in groove before being provided with on the preceding activity pincers handle cassette, outer pull rod bulb and preceding activity pincers handle draw-in groove all are the setting of ball column structure, therefore the tong pipe mechanism can the free rotation, because binding clip seat spout slope sets up, consequently pushing away, when pulling the outer pull rod body, can make the outer pull rod pivot slide in binding clip seat spout, and then can realize binding clip seat body along binding clip seat pivot swing, in order to realize the regulation to binding clip seat body angle, because interior stay cord body is flexonics, consequently can not influence the control of interior stay cord body to the binding clip when binding clip seat body swings.
The tip of interior stay cord body is provided with interior stay cord bulb, be provided with back activity tong handle draw-in groove on the back activity tong handle cassette, interior stay cord bulb and back activity tong handle draw-in groove all are the setting of ball column structure, consequently the tong pipe mechanism can the free rotation, because be provided with left binding clip spout and right binding clip spout on left binding clip body and the right binding clip body respectively, and left binding clip spout and right binding clip spout all incline, cross arrangement, consequently pushing away, draw the rope body in drawing, can make interior stay cord pivot slide in left binding clip spout and right binding clip spout, and then make left binding clip body and right binding clip body rotate along the binding clip pivot, can realize the control of opening and shutting of left binding clip body and right binding clip body.
Can also install the planet wheel on the manipulator, through manipulator control planet wheel and then make the rotation of tong pipe spacing ring at the tong pipe spacing inslot rotation, in order to realize the rotation of tong pipe body, the accessible tong pipe body is rotatory, drives the tong head seat and the binding clip is rotatory, and nimble control facilitates the use, can prolong the life of this medical robot release clamp.
Drawings
Fig. 1 is a rear view structural diagram of a medical robot release clip according to an embodiment of the present invention.
Fig. 2 is a schematic view of the cross-sectional structure a-a in fig. 1.
Fig. 3 is an enlarged schematic view of a portion B in fig. 2.
Fig. 4 is a schematic perspective view of a medical robotic separation forceps according to an embodiment of the present invention.
Fig. 5 is an enlarged schematic view of the portion C in fig. 4.
Fig. 6 is an enlarged schematic view of a portion D in fig. 4.
Fig. 7 is an exploded view of a medical robotic separation forceps according to an embodiment of the present invention.
Fig. 8 is an enlarged schematic view of a portion E in fig. 7.
Fig. 9 is an enlarged schematic view of a portion F in fig. 7.
In the figure: a forceps handle mechanism 1, a forceps tube mechanism 2, a forceps head mechanism 3, a planet wheel 4,
A front movable clamp handle 11, a rear movable clamp handle 12, a fixed clamp handle 13,
An inner pull rope 21, an outer pull rod 22, a clamp tube 23,
A forceps head seat 31, a forceps head 32,
A front movable clamp handle body 111, a front movable clamp handle rotating shaft 112, a front movable clamp handle clamping seat 113, a front movable clamp handle clamping groove 114,
A rear movable clamp handle body 121, a rear movable clamp handle rotating shaft 122, a rear movable clamp handle clamping seat 123, a rear movable clamp handle clamping groove 124,
A fixed forceps handle body 131, a front movable forceps handle hinging seat 132, a rear movable forceps handle hinging seat 133, a forceps tube limiting seat 134,
An inner rope body 211, an inner rope ball 212, an inner rope pulling seat 213, an inner rope pulling rotating shaft 214,
An outer pull rod body 221, an outer pull rod ball head 222, an outer pull rod pull seat 223, an outer pull rod rotating shaft 224,
A clamp tube body 231, a clamp tube limit ring 232, a clamp tube limit groove 233, a clamp head seat hinge arm 234,
A bit holder body 311, a bit holder rotating shaft 312, a bit holder sliding groove 313,
A left tong head body 321, a right tong head body 322, a left tong head sliding groove 323, a right tong head sliding groove 324 and a tong head rotating shaft 325.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
Examples are given.
Referring to fig. 1 to 9, it should be understood that the structures, ratios, sizes, and the like shown in the drawings attached to the present specification are only used for matching the disclosure of the present specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical essence, and any modifications of the structures, changes of the ratio relationships, or adjustments of the sizes, should still fall within the scope of the present invention without affecting the functions and the achievable objectives of the present invention. In the present specification, the terms "upper", "lower", "left", "right", "middle" and "one" are used for clarity of description, and are not used to limit the scope of the present invention, and the relative relationship between the terms and the relative positions may be changed or adjusted without substantial technical changes.
The medical robot separating forceps in the embodiment comprise a forceps handle mechanism 1, a forceps tube mechanism 2, a forceps head mechanism 3 and a planet wheel 4, wherein the forceps handle mechanism 1 and the forceps head mechanism 3 are respectively installed at two ends of the forceps tube mechanism 2, and the planet wheel 4 is installed on the forceps tube mechanism 2.
The forceps handle mechanism 1 in the embodiment comprises a front movable forceps handle 11, a rear movable forceps handle 12 and a fixed forceps handle 13, the forceps tube mechanism 2 comprises an inner pull rope 21, an outer pull rod 22 and a forceps tube 23, and the forceps head mechanism 3 comprises a forceps head seat 31 and a forceps head 32; the movable pliers handles 11 and the rear movable pliers handles 12 are both mounted on the fixed pliers handles 13, one end of the pliers tube 23 is mounted on the fixed pliers handles 13, the pliers head seat 31 is mounted at the other end of the pliers tube 23, the pliers head 32 is mounted on the pliers head seat 31, the outer pull rod 22 is mounted in the pliers tube 23, the inner pull rope 21 is mounted in the outer pull rod 22, one end of the outer pull rod 22 is connected with the front movable pliers handle 11, the other end of the outer pull rod 22 is connected with the pliers head seat 31, one end of the inner pull rope 21 is connected with the rear movable pliers handles 12, and the other end of the inner pull rope 21 is connected with the pliers head 32.
The front movable pliers handle 11 in this embodiment includes a front movable pliers handle body 111, a front movable pliers handle rotating shaft 112, a front movable pliers handle clamping seat 113 and a front movable pliers handle clamping groove 114, the front movable pliers handle clamping seat 113 is fixed on the front movable pliers handle body 111, an included angle exists between the front movable pliers handle clamping seat 113 and the front movable pliers handle body 111, the front movable pliers handle rotating shaft 112 is fixed at the connection position of the front movable pliers handle clamping seat 113 and the front movable pliers handle body 111, the front movable pliers handle clamping groove 114 is arranged on the front movable pliers handle clamping seat 113, the front movable pliers handle rotating shaft 112 is installed on the fixed pliers handle 13, and one end of the outer pull rod 22 is connected with the front movable pliers handle clamping groove 114.
The rear movable pliers handle 12 in this embodiment includes a rear movable pliers handle body 121, a rear movable pliers handle rotating shaft 122, a rear movable pliers handle clamping seat 123 and a rear movable pliers handle clamping groove 124, the rear movable pliers handle clamping seat 123 is fixed on the rear movable pliers handle body 121, an included angle exists between the rear movable pliers handle clamping seat 123 and the rear movable pliers handle body 121, the rear movable pliers handle rotating shaft 122 is fixed at the joint of the rear movable pliers handle clamping seat 123 and the rear movable pliers handle body 121, the rear movable pliers handle clamping groove 124 is arranged on the rear movable pliers handle clamping seat 123, the rear movable pliers handle rotating shaft 122 is installed on the fixed pliers handle 13, and one end of the inner pull rope 21 is connected with the rear movable pliers handle clamping groove 124.
The fixed forceps handle 13 in this embodiment includes a fixed forceps handle body 131, a front movable forceps handle hinge seat 132, a rear movable forceps handle hinge seat 133 and a forceps tube limiting seat 134, the front movable forceps handle hinge seat 132 and the rear movable forceps handle hinge seat 133 are respectively fixed at the front end and the rear end of the fixed forceps handle body 131, the forceps tube limiting seat 134 is fixed on the fixed forceps handle body 131, the front movable forceps handle 11 and the rear movable forceps handle 12 are respectively installed on the front movable forceps handle hinge seat 132 and the rear movable forceps handle hinge seat 133, and one end of the forceps tube 23 is installed on the forceps tube limiting seat 134.
The inner rope 21 in this embodiment includes an inner rope body 211, an inner rope ball 212, an inner rope socket 213, and an inner rope shaft 214, the inner rope ball 212 and the inner rope socket 213 are fixed at two ends of the inner rope body 211, the inner rope shaft 214 is fixed on the inner rope socket 213, the inner rope ball 212 is connected to the rear movable vise handle 12, and the inner rope shaft 214 is connected to the vise head 32.
The outer tie rod 22 in this embodiment includes an outer tie rod body 221, an outer tie rod ball 222, an outer tie rod pull seat 223 and an outer tie rod rotation shaft 224, the outer tie rod ball 222 and the outer tie rod pull seat 223 are respectively fixed at two ends of the outer tie rod body 221, the outer tie rod rotation shaft 224 is fixed on the outer tie rod pull seat 223, the outer tie rod ball 222 is connected with the front movable plier handle 11, and the outer tie rod rotation shaft 224 is connected with the plier head seat 31.
The clamp tube 23 in this embodiment includes a clamp tube body 231, a clamp tube limiting ring 232, a clamp tube limiting groove 233, and a clamp head seat hinge arm 234, the clamp tube limiting ring 232 and the clamp head seat hinge arm 234 are both fixed to the clamp tube body 231, the clamp tube limiting groove 233 is disposed on the fixed clamp handle 13, the clamp tube limiting ring 232 is located in the clamp tube limiting groove 233, and the clamp head seat 31 is mounted on the clamp head seat hinge arm 234.
The binding clip holder 31 in this embodiment includes a binding clip holder body 311, a binding clip holder rotating shaft 312, and a binding clip holder sliding groove 313, wherein the binding clip holder rotating shaft 312 and the binding clip holder sliding groove 313 are both disposed on the binding clip holder body 311, the binding clip 32 is mounted on the binding clip holder body 311, the binding clip holder rotating shaft 312 is mounted at the other end of the binding clip 23, the other end of the outer pull rod 22 is connected with the binding clip holder sliding groove 313, and the binding clip holder sliding groove 313 is disposed obliquely.
The binding clip 32 in this embodiment includes a left binding clip body 321, a right binding clip body 322, a left binding clip sliding groove 323, a right binding clip sliding groove 324, and a binding clip rotating shaft 325, the left binding clip sliding groove 323 and the right binding clip sliding groove 324 are respectively disposed on the left binding clip body 321 and the right binding clip body 322, the left binding clip body 321 and the right binding clip body 322 are both mounted on the binding clip base 31 through the binding clip rotating shaft 325, two sides of the other end of the inner pull rope 21 are respectively connected with the left binding clip sliding groove 323 and the right binding clip sliding groove 324, the left binding clip sliding groove 323 and the right binding clip sliding groove 324 are both disposed in an inclined manner, and the left binding clip sliding groove 323 and the right binding clip sliding groove 324 are disposed in an intersecting manner.
The planet wheel 4 in the embodiment is used for controlling the rotation of the clamp pipe 23, the front movable clamp handle 11 is used for controlling the outer pull rod 22 to further control the rotation of the clamp head seat 31, and the rear movable clamp handle 12 is used for controlling the inner pull rope 21 to further control the opening and closing of the clamp head 32; the planet wheel 4 is mounted on the robot arm.
Specifically, when the medical robot release clamp is used, the front movable clamp handle 11 pushes and pulls the outer pull rod 22 to enable the clamp head seat 31 to drive the clamp head 32 to rotate, and the rear movable clamp handle 12 pushes and pulls the inner pull rope 21 to enable the clamp head 32 to be opened and closed on the clamp head seat 31.
The end of the outer pull rod body 221 is provided with an outer pull rod ball 222, the front movable clamp handle clamping groove 114 is arranged on the front movable clamp handle clamping seat 113, the outer pull rod ball 222 and the front movable clamp handle clamping groove 114 are all arranged in a spherical structure, so the clamp pipe mechanism 2 can rotate freely, and the clamp head seat sliding groove 313 is arranged in an inclined manner, so that when the outer pull rod body 221 is pushed and pulled, the outer pull rod rotating shaft 224 can slide in the clamp head seat sliding groove 313, and further the clamp head seat body 311 can swing along the clamp head seat rotating shaft 312 to realize the angle adjustment of the clamp head seat body 311, and the inner pull rope body 211 is flexibly connected, so the control of the inner pull rope body 211 on the clamp head 32 cannot be influenced when the clamp head seat body 311 swings.
The end of the inner pull rope body 211 is provided with an inner pull rope ball 212, the rear movable clamp handle clamping groove 124 is arranged on the rear movable clamp handle clamping seat 123, the inner pull rope ball 212 and the rear movable clamp handle clamping groove 124 are arranged in a spherical structure, so the clamp pipe mechanism 2 can rotate freely, and because the left clamp head body 321 and the right clamp head body 322 are respectively provided with a left clamp head sliding groove 323 and a right clamp head sliding groove 324, and the left clamp head sliding groove 323 and the right clamp head sliding groove 324 are inclined and arranged in a crossed manner, the inner pull rope body 211 can be pushed and pulled, so the inner pull rope rotating shaft 214 can slide in the left clamp head sliding groove 323 and the right clamp head sliding groove 324, and further the left clamp head body 321 and the right clamp head body 322 can rotate along the clamp head rotating shaft 325, and the opening and closing control of the left clamp head body 321 and the right clamp head body 322 can be realized.
Can also install planet wheel 4 on the manipulator, through manipulator control planet wheel 4 and then make the rotation of tong pipe spacing ring 232 at tong pipe spacing groove 233, in order to realize the rotation of tong pipe body 231, accessible tong pipe body 231 is rotatory, drives binding clip seat 31 and binding clip 32 rotatory, and nimble control facilitates the use, can prolong the life of this medical robot release pincers.
In addition, it should be noted that the specific embodiments described in the present specification may be different in the components, the shapes of the components, the names of the components, and the like, and the above description is only an illustration of the structure of the present invention. Equivalent or simple changes in the structure, characteristics and principles of the invention are included in the protection scope of the patent. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (10)
1. A medical robot separating forceps comprises a forceps handle mechanism (1), a forceps tube mechanism (2), a forceps head mechanism (3) and a planet wheel (4), wherein the forceps handle mechanism (1) and the forceps head mechanism (3) are respectively installed at two ends of the forceps tube mechanism (2), and the planet wheel (4) is installed on the forceps tube mechanism (2); the method is characterized in that: the clamp handle mechanism (1) comprises a front movable clamp handle (11), a rear movable clamp handle (12) and a fixed clamp handle (13), the clamp tube mechanism (2) comprises an inner pull rope (21), an outer pull rod (22) and a clamp tube (23), and the clamp head mechanism (3) comprises a clamp head seat (31) and a clamp head (32); the movable pliers handles (11) and the rear movable pliers handle (12) are both mounted on the fixed pliers handle (13), one end of the pliers tube (23) is mounted on the fixed pliers handle (13), the pliers head seat (31) is mounted at the other end of the pliers tube (23), the pliers head (32) is mounted on the pliers head seat (31), the outer pull rod (22) is mounted in the pliers tube (23), the inner pull rope (21) is mounted in the outer pull rod (22), one end of the outer pull rod (22) is connected with the front movable pliers handle (11), the other end of the outer pull rod (22) is connected with the pliers head seat (31), one end of the inner pull rope (21) is connected with the rear movable pliers handle (12), and the other end of the inner pull rope (21) is connected with the pliers head (32); the planet wheel (4) is used for controlling the clamp pipe (23) to rotate, the front movable clamp handle (11) is used for controlling the outer pull rod (22) to further control the clamp head seat (31) to rotate, and the rear movable clamp handle (12) is used for controlling the inner pull rope (21) to further control the clamp head (32) to open and close.
2. The medical robotic separation forceps of claim 1, wherein: the front movable clamp handle (11) comprises a front movable clamp handle body (111), a front movable clamp handle rotating shaft (112), a front movable clamp handle clamping seat (113) and a front movable clamp handle clamping groove (114), wherein the front movable clamp handle clamping seat (113) is fixed on the front movable clamp handle body (111), an included angle exists between the front movable clamp handle clamping seat (113) and the front movable clamp handle body (111), the front movable clamp handle rotating shaft (112) is fixed at the joint of the front movable clamp handle clamping seat (113) and the front movable clamp handle body (111), the front movable clamp handle clamping groove (114) is arranged on the front movable clamp handle clamping seat (113), the front movable clamp handle rotating shaft (112) is installed on the fixed clamp handle (13), and one end of the outer pull rod (22) is connected with the front movable clamp handle clamping groove (114).
3. The medical robotic separation forceps of claim 1, wherein: the rear movable clamp handle (12) comprises a rear movable clamp handle body (121), a rear movable clamp handle rotating shaft (122), a rear movable clamp handle clamping seat (123) and a rear movable clamp handle clamping groove (124), the rear movable clamp handle clamping seat (123) is fixed on the rear movable clamp handle body (121), an included angle exists between the rear movable clamp handle clamping seat (123) and the rear movable clamp handle body (121), the rear movable clamp handle rotating shaft (122) is fixed at the joint of the rear movable clamp handle clamping seat (123) and the rear movable clamp handle body (121), the rear movable clamp handle clamping groove (124) is arranged on the rear movable clamp handle clamping seat (123), the rear movable clamp handle rotating shaft (122) is installed on the fixed clamp handle (13), and one end of the inner pull rope (21) is connected with the rear movable clamp handle clamping groove (124).
4. The medical robotic separation forceps of claim 1, wherein: the fixed clamp handle (13) comprises a fixed clamp handle body (131), a front movable clamp handle hinged seat (132), a rear movable clamp handle hinged seat (133) and a clamp tube limiting seat (134), the front movable clamp handle hinged seat (132) and the rear movable clamp handle hinged seat (133) are respectively fixed at the front end and the rear end of the fixed clamp handle body (131), the clamp tube limiting seat (134) is fixed on the fixed clamp handle body (131), a front movable clamp handle (11) and a rear movable clamp handle (12) are respectively installed on the front movable clamp handle hinged seat (132) and the rear movable clamp handle hinged seat (133), and one end of a clamp tube (23) is installed on the clamp tube limiting seat (134).
5. The medical robotic separation forceps of claim 1, wherein: interior stay cord (21) are including interior stay cord body (211), interior stay cord bulb (212), interior stay cord draw seat (213) and interior stay cord pivot (214), the both ends of stay cord body (211) including interior stay cord bulb (212) and interior stay cord draw seat (213) are fixed respectively, interior stay cord pivot (214) are fixed on interior stay cord draw seat (213), interior stay cord bulb (212) are connected with back activity plier handle (12), interior stay cord pivot (214) are connected with plier head (32).
6. The medical robotic separation forceps of claim 1, wherein: the outer pull rod (22) comprises an outer pull rod body (221), an outer pull rod ball head (222), an outer pull rod pulling seat (223) and an outer pull rod rotating shaft (224), the outer pull rod ball head (222) and the outer pull rod pulling seat (223) are fixed at two ends of the outer pull rod body (221) respectively, the outer pull rod rotating shaft (224) is fixed on the outer pull rod pulling seat (223), the outer pull rod ball head (222) is connected with the front movable tong handle (11), and the outer pull rod rotating shaft (224) is connected with the tong head seat (31).
7. The medical robotic separation forceps of claim 1, wherein: the clamp tube (23) comprises a clamp tube body (231), a clamp tube limiting ring (232), a clamp tube limiting groove (233) and a clamp head seat hinge arm (234), the clamp tube limiting ring (232) and the clamp head seat hinge arm (234) are fixed on the clamp tube body (231), the clamp tube limiting groove (233) is formed in a fixed clamp handle (13), the clamp tube limiting ring (232) is located in the clamp tube limiting groove (233), and the clamp head seat (31) is installed on the clamp head seat hinge arm (234).
8. The medical robotic separation forceps of claim 1, wherein: the binding clip seat (31) comprises a binding clip seat body (311), a binding clip seat rotating shaft (312) and a binding clip seat sliding groove (313), wherein the binding clip seat rotating shaft (312) and the binding clip seat sliding groove (313) are both arranged on the binding clip seat body (311), the binding clip (32) is arranged on the binding clip seat body (311), the binding clip seat rotating shaft (312) is arranged at the other end of the binding clip tube (23), the other end of the outer pull rod (22) is connected with the binding clip seat sliding groove (313), and the binding clip seat sliding groove (313) is obliquely arranged.
9. The medical robotic separation forceps of claim 1, wherein: the binding clip (32) comprises a left binding clip body (321), a right binding clip body (322), a left binding clip sliding groove (323), a right binding clip sliding groove (324) and a binding clip rotating shaft (325), the left binding clip sliding groove (323) and the right binding clip sliding groove (324) are respectively arranged on the left binding clip body (321) and the right binding clip body (322), the left binding clip body (321) and the right binding clip body (322) are respectively arranged on the binding clip seat (31) through the binding clip rotating shaft (325), two sides of the other end of the inner stay cord (21) are respectively connected with the left binding clip sliding groove (323) and the right binding clip sliding groove (324), the left binding clip sliding groove (323) and the right binding clip sliding groove (324) are respectively arranged in an inclined mode, and the left binding clip sliding groove (323) and the right binding clip sliding groove (324) are arranged in a crossed mode.
10. The medical robotic separation forceps of claim 1, wherein: the planet wheel (4) is arranged on the manipulator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010674858.1A CN111839670A (en) | 2020-07-14 | 2020-07-14 | Medical robot separating forceps |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010674858.1A CN111839670A (en) | 2020-07-14 | 2020-07-14 | Medical robot separating forceps |
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| CN111839670A true CN111839670A (en) | 2020-10-30 |
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