CN114041881B

CN114041881B - Instrument clamping device and minimally invasive surgery robot

Info

Publication number: CN114041881B
Application number: CN202210022099.XA
Authority: CN
Inventors: 王迎智; 李浩泽; 齐斌
Original assignee: Apeiron Surgical Beijing Co Ltd
Current assignee: Apeiron Surgical Beijing Co Ltd
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-04-12
Anticipated expiration: 2042-01-10
Also published as: CN114041881A

Abstract

The embodiment of the invention provides an instrument clamping device and a minimally invasive surgery robot, wherein in the instrument clamping device, a first clamping component and a second clamping component are oppositely arranged and are provided with gaps for placing instruments, and a base comprises a first side and a second side which are oppositely arranged; the first clamping assembly is arranged on the first side of the base and is connected to the base in a sliding mode; the second clamping assembly is arranged on the second side of the base and is connected to the base in a sliding mode; the driving part is connected with the transmission assembly, the transmission assembly is respectively connected with the first elastic part and the second elastic part, the first elastic part is connected with the first clamping assembly, and the second elastic part is connected with the second clamping assembly; in an unlocking state, the driving piece can drive the first clamping assembly and the second clamping assembly to move towards or away from each other so as to adjust the width of the gap; in the locking state, the positions of the first clamping assembly and the second clamping assembly are locked, and the instrument can be clamped.

Description

Instrument clamping device and minimally invasive surgery robot

Technical Field

The invention relates to the technical field of minimally invasive surgery robots, in particular to an instrument clamping device and a minimally invasive surgery robot.

Background

At present, with the rapid development of robot technology, the technology of performing laparoscopic surgery using a surgical robot is also more and more mature. In the prior art, a surgical robot may include: when the surgical robot is used for laparoscopic surgery, the instrument can be clamped through the clamping device and conveyed into the abdominal cavity of a human body, and the laparoscopic surgery is carried out.

However, the existing clamping device is designed to be single, and only can clamp a fixed-size instrument. However, in the process of performing the laparoscopic surgery, various surgical operations such as cutting, pulling, suturing, and suction may be performed, and various instruments may be used correspondingly, so that it is difficult for one clamping device to satisfy the demands of the laparoscopic surgery.

Disclosure of Invention

In view of the above, embodiments of the present invention have been developed to provide an instrument holding device and a minimally invasive surgical robot that overcome or at least partially solve the above-mentioned problems.

In order to solve the above problem, an embodiment of the present invention discloses an instrument clamping device, including: the device comprises a base, a first clamping assembly, a second clamping assembly, a driving piece, a transmission assembly, a first elastic piece and a second elastic piece, wherein the first clamping assembly and the second clamping assembly are oppositely arranged, a gap for placing an instrument is arranged between the first clamping assembly and the second clamping assembly, the base comprises a first side and a second side which are oppositely arranged, wherein,

the first clamping assembly is arranged on the first side of the base and is connected to the base in a sliding mode;

the second clamping assembly is arranged on the second side of the base and is connected to the base in a sliding mode;

the driving piece is connected with the transmission assembly, the transmission assembly is respectively connected with the first elastic piece and the second elastic piece, the first elastic piece is connected with the first clamping assembly, and the second elastic piece is connected with the second clamping assembly;

the instrument clamping device comprises an unlocking state and a locking state, and in the unlocking state, the driving piece compresses or stretches the first elastic piece and the second elastic piece through the transmission assembly, so that the first clamping assembly and the second clamping assembly are driven to move towards or away from each other to adjust the width of the gap; in the locking state, the first elastic piece and the second elastic piece are in a compressed state, and the positions of the first clamping assembly and the second clamping assembly are locked so as to fix the width of the gap and clamp the instrument.

Optionally, the driver comprises: drive division, connecting portion and parallel and the sliding shaft and the axis of rotation that the interval set up, transmission assembly includes: a first transmission member and a second transmission member;

one end of the sliding shaft is fixedly connected with the connecting part, the other end of the sliding shaft is connected with the first transmission piece in a sliding manner, and the first transmission piece is connected with the first elastic piece;

one end of the rotating shaft is connected with the connecting part, the other end of the rotating shaft is rotatably connected with the second transmission piece, and the second transmission piece is connected with the second elastic piece;

in the process that the driving portion drives the connecting portion to move, the first transmission piece can be rotatably connected to the connecting portion through the rotating shaft, and the second transmission piece can be slidably connected to the connecting portion through the sliding shaft, so that the first clamping assembly and the second clamping assembly move towards or away from each other.

Optionally, the second transmission comprises: the second transmission part extends to a first direction along the first transmission part, and the first direction is a direction from the second side to the first side;

the first transmission part is respectively connected with the second elastic piece and the second transmission part, and the second transmission part is rotatably connected with the rotating shaft.

Optionally, a limit groove is formed in one side of the first transmission member opposite to the connecting portion, the extending direction of the limit groove intersects with the first direction, the sliding shaft is slidably matched with the limit groove, and the periphery of the sliding shaft abuts against the groove wall of the limit groove;

the second transmission part is provided with a rotating groove at a position opposite to the connecting part, and the rotating shaft is rotatably inserted into the rotating groove.

Optionally, the connecting portion comprises first and second opposing surfaces that intersect at the drive portion, the drive portion being switchable between a first position and a second position;

when the first surface abuts against the outer wall of the base, the driving part is switched to the first position, and the width of the gap reaches the maximum size; when the second surface abuts against the outer wall of the base, the driving part is switched to the second position, and the instrument clamping device is switched to the locking state;

wherein, in the process that the driving part is switched from the first position to the second position, the driving part drives the connecting part to rotate by a first angle relative to the second transmission part, and the first angle is greater than or equal to 180 degrees.

Optionally, the limiting groove comprises a first limiting groove and a second limiting groove which are of long strip structures, the second limiting groove is communicated with the first limiting groove, and the width of the second limiting groove is the same as that of the first limiting groove;

the first limiting groove and the second limiting groove are in V-shaped structures.

Optionally, the transmission assembly comprises: respectively with first transmission assembly and second transmission assembly that the driving piece is connected, first centre gripping subassembly includes: first grip block with be used for wearing to establish the first connecting rod of first elastic component, the second centre gripping subassembly includes: the second clamping block and a second connecting rod are used for penetrating the second elastic piece;

the first elastic piece is arranged between the first transmission assembly and the first clamping block, and two ends of the first elastic piece are respectively abutted against the first transmission assembly and the first clamping block;

the second elastic piece is arranged between the second transmission assembly and the second clamping block, and two ends of the second elastic piece are respectively abutted against the second transmission assembly and the second clamping block;

one end of the first connecting rod penetrates through the first transmission assembly and is in sliding connection with the first transmission assembly, and the other end of the first connecting rod is fixedly connected with the first clamping block;

one end of the second connecting rod penetrates through the second transmission assembly and is connected with the second transmission assembly in a sliding mode, and the other end of the second connecting rod is fixedly connected with the second clamping block.

Optionally, a first groove is formed in one side, facing the second clamping block, of the first clamping block, and a second groove is formed in one side, facing the first clamping block, of the second clamping block;

the first groove and the second groove are opposite and are used for clamping the instrument.

Optionally, the first groove comprises: at least one of a V-shaped groove, a U-shaped groove and an arc-shaped groove;

the second groove includes: at least one of a V-shaped groove, a U-shaped groove and an arc-shaped groove.

Optionally, the base comprises: the first side plate is arranged on the first side of the base, the second side plate is arranged on the second side of the base, and the first clamping block and the second clamping block are both arranged between the first side plate and the second side plate;

a first sliding rod is arranged on one side, away from the second clamping block, of the first clamping block and is connected to the first side plate in a sliding mode;

one side of the second clamping block, which is far away from the first clamping block, is provided with a second sliding rod, and the second sliding rod is connected with the second side plate in a sliding manner.

Optionally, the first transmission assembly is disposed on a side of the first clamping block away from the second clamping block, and the second transmission assembly is disposed on a side of the second clamping block away from the first clamping block;

a first guide rod is arranged on one side, facing the first side plate, of the first transmission assembly and is connected to the first side plate in a sliding mode;

and a second guide rod is arranged on one side of the second transmission assembly, which faces the second side plate, and the second guide rod is connected to the second side plate in a sliding manner.

Optionally, the first side plate is provided with a first shaft hole for penetrating the first sliding rod and a first through hole for penetrating the first guide rod, and the second side plate is provided with a second shaft hole for penetrating the second sliding rod and a second through hole for penetrating the second guide rod;

the first sliding rod is connected with the first shaft hole in a sliding mode, the second sliding rod is connected with the second shaft hole in a sliding mode, the first guide rod is connected with the first through hole in a sliding mode, and the second guide rod is connected with the second through hole in a sliding mode.

Optionally, the instrument gripping device further comprises a connection assembly, the base comprising a third side plate, the base comprising a third side disposed between the first side and the second side, the third side plate disposed at the third side, the connection assembly disposed at a top of the third side plate;

a sliding groove is formed in one side, close to the third side plate, of the connecting assembly, and/or a sliding groove is formed in one side, close to the connecting assembly, of the third side plate;

the transmission assembly can penetrate through and is movably connected to the sliding groove, and two ends of the transmission assembly respectively protrude out of the first side and the second side of the base.

Optionally, the connection assembly comprises: the connecting plate and the connecting column are connected to the connecting plate;

the connecting column protrudes out of the connecting plate along the direction deviating from the third side plate.

Optionally, the first clamping assembly and the second clamping assembly are symmetrically arranged along the center of the base in the direction from the first side to the second side;

the first elastic member and the second elastic member are disposed symmetrically along a center of the base in a direction from the first side to the second side.

Optionally, the connecting portion is a transmission plate, the driving portion is a pressing plate, and the pressing plate is perpendicular to the transmission plate.

Optionally, the transmission assembly comprises: the screw thread turning directions of the first screw rod and the second screw rod are opposite;

one end of the first screw rod, which is far away from the second screw rod, is in threaded connection with the third transmission piece, the third transmission piece is connected with the first elastic piece, and the third transmission piece and the first clamping assembly move in the same direction through the first elastic piece;

one end, far away from the first screw rod, of the second screw rod is in threaded connection with a fourth transmission piece, the fourth transmission piece is connected with the second elastic piece, and the fourth transmission piece and the second clamping assembly move in the same direction through the second elastic piece;

the first screw rod and/or the second screw rod are/is connected with the driving piece.

Optionally, a first through hole for passing through the first screw rod is formed in a position of the third transmission member opposite to the first screw rod, and a second through hole for passing through the second screw rod is formed in a position of the fourth transmission member opposite to the second screw rod;

a first baffle is arranged at one end of the first screw rod, which is far away from the second screw rod, the first baffle is arranged at one side of the third transmission piece, which is far away from the fourth transmission piece, the outer diameter of the first baffle is larger than the caliber of the first through hole,

and/or a second baffle is arranged at one end, far away from the first screw rod, of the second screw rod, the second baffle is arranged on one side, far away from the third transmission part, of the fourth transmission part, and the outer diameter of the second baffle is larger than the caliber of the second through hole.

Optionally, the driver is a rotary button;

the rotary button is sleeved at one end, far away from the second screw rod, of the first screw rod and is in threaded connection with the first screw rod, and/or the rotary button is sleeved at one end, far away from the first screw rod, of the second screw rod and is in threaded connection with the second screw rod.

In a second aspect, an embodiment of the present invention further provides a minimally invasive surgical robot, including: split type surgical device, float pole subassembly and above-mentioned apparatus clamping device, apparatus clamping device connect in the bottom of float pole subassembly, among the apparatus clamping device first centre gripping subassembly with but second centre gripping subassembly unblock and lockable ground centre gripping in split type surgical device.

The embodiment of the invention has the following advantages:

in an embodiment of the present invention, the first clamping assembly and the second clamping assembly may be disposed on two opposite sides of the base, and when the instrument clamping device is switched to the unlocked state, the driving member may compress the first elastic member and the second elastic member through the transmission assembly, and further may drive the first clamping assembly and the second clamping assembly to move towards each other through resilience forces of the first elastic member and the second elastic member, so that the width of the gap between the first clamping assembly and the second clamping assembly is small, and an instrument with a small size may be clamped; the driving piece can stretch the first elastic piece and the second elastic piece through the transmission assembly, and then the first clamping assembly and the second clamping assembly can be driven to move back and forth through resilience force of the first elastic piece and the second elastic piece, so that the width of the gap between the first clamping assembly and the second clamping assembly is larger, and instruments with larger sizes can be clamped. Because the width of the gap between the first clamping assembly and the second clamping assembly is adjustable, the instrument clamping device can adapt to instruments with different sizes, and the functional diversity of the instrument clamping device can be improved.

Drawings

FIG. 1 is a schematic view of an instrument holder of the present invention in one orientation;

FIG. 2 is a schematic cross-sectional view of an instrument holder of the present invention;

FIG. 3 is a schematic view of an instrument holder of the present invention in another orientation;

FIG. 4 is a schematic view of a first clamping assembly of the present invention;

FIG. 5 is a schematic diagram of a second clamping assembly of the present invention;

FIG. 6A is a schematic view of a drive member of the present invention;

FIG. 6B is a schematic view of another alternative actuator of the present invention;

FIG. 7A is a schematic view of a spacing groove according to the present invention;

FIG. 7B is a schematic view of a sliding track of the sliding shaft sliding along the limiting groove according to the present invention;

FIG. 8A is a schematic view of another spacing groove of the present invention;

FIG. 8B is a schematic view of another sliding shaft of the present invention sliding along the limiting groove;

FIG. 9 is a cross-sectional view of another instrument holding device of the present invention;

FIG. 10 is a schematic view of another instrument holding device of the present invention in an orientation;

FIG. 11 is a schematic view of another instrument holding device of the present invention in another orientation;

fig. 12 is a schematic structural diagram of a minimally invasive surgical robot of the present invention.

Description of reference numerals:

20-a split surgical device, 23-a floating rod assembly, 24-an instrument clamping device, 50-a base, 501-a first side plate, 502-a second side plate, 503-a third side plate, 51-a first clamping assembly, 511-a first clamping block, 5111-a first groove, 512-a first elastic member, 5152-a first sliding rod, 517-a first connecting rod, 52-a second clamping assembly, 524-a second clamping block, 5241-a second groove, 5242-a second sliding rod, 525-a second elastic member, 526-a second connecting rod, 53-a driving member, 531-a driving portion, 532-a connecting portion, 5321-a first surface, 5322-a second surface, 5323-a third surface, 5324-a fourth surface, 533-a sliding shaft, 534-a rotating shaft, 54-a transmission component, 541-a first transmission piece, 5411-a limiting groove, 54111-a first limiting groove, 54112-a second limiting groove, 542-a second transmission piece, 5421-a first transmission part, 5422-a second transmission part, 543-a first screw rod, 544-a second screw rod, 5442-a second baffle, 5451-a first guide rod, 5461-a second guide rod, 547-a third transmission piece, 548-a fourth transmission piece, 55-a connecting component, 551-a connecting plate, 552-a connecting column and 56-a sliding groove.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The features of the terms first and second in the description and in the claims of the invention may explicitly or implicitly include one or more of these features. In the description of the present invention, "a plurality" means two or more unless otherwise specified. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

In the description of the present invention, it is to be understood that the terms "center", "length", "width", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

One of the core concepts of the embodiments of the present invention is to provide a clamping assembly.

Referring to fig. 1, which shows a schematic structural view of an instrument holding device of the present invention, fig. 2, which shows a schematic structural cross-sectional view of an instrument holding device of the present invention, fig. 3, which shows a schematic structural view of an instrument holding device of the present invention in another direction, and in conjunction with fig. 1-3, the instrument holding device may specifically include: the base 50, the first clamping assembly 51, the second clamping assembly 52, the driving member 53, the transmission assembly 54, the first elastic member 512 and the second elastic member 525, the first clamping assembly 51 and the second clamping assembly 52 may be oppositely arranged, a gap for placing an instrument may be provided between the first clamping assembly 51 and the second clamping assembly 52, the base 50 may include a first side and a second side which are oppositely arranged, wherein the first clamping assembly 51 may be arranged on the first side of the base 50 and may be slidably connected to the base 50; the second clamping assembly 52 may be disposed on a second side of the base 50 and may be slidably coupled to the base 50; the driving member 53 can be connected with the transmission assembly 54, the transmission assembly 54 can be respectively connected with the first elastic member 512 and the second elastic member 525, the first elastic member 512 is connected with the first clamping assembly 51, and the second elastic member 525 is connected with the second clamping assembly 52; the instrument clamping device may include an unlocked state in which the driving member 53 may compress or stretch the first and second elastic members 512 and 525 via the transmission assembly 54, thereby driving the first and second clamping assemblies 51 and 52 to move toward or away from each other, and a locked state in which the width of the gap may be adjusted; in the locked state, first resilient element 512 and second resilient element 525 may be in a compressed state, and first clamping assembly 51 and second clamping assembly 52 may be in a locked position, which may fix the width of the gap and clamp the instrument.

In the embodiment of the present invention, the first clamping assembly 51 and the second clamping assembly 52 may be disposed on two opposite sides of the base 50, and when the instrument clamping device is switched to the unlocked state, the driving member 53 may compress the first elastic member 512 and the second elastic member 525 through the transmission assembly 54, and further may drive the first clamping assembly 51 and the second clamping assembly 52 to move towards each other through the resilience of the first elastic member 512 and the second elastic member 525, so that the width of the gap between the first clamping assembly 51 and the second clamping assembly 52 is small, and an instrument with a small size may be clamped; the driving member 53 can also stretch the first elastic member 512 and the second elastic member 525 through the transmission assembly 54, and then the first clamping assembly 51 and the second clamping assembly 52 can be driven to move back and forth through the resilience force of the first elastic member 512 and the second elastic member 525, so that the width of the gap between the first clamping assembly 51 and the second clamping assembly 52 is larger, and a larger-sized instrument can be clamped. Because the width of the gap between the first clamping component 51 and the second clamping component 52 is adjustable, the instrument clamping device can adapt to instruments with different sizes, and the functional diversity of the instrument clamping device can be improved.

The instrument described in the embodiments of the present invention may be a device for performing a surgical procedure.

The base 50 of the present embodiment may be a basic structure of the instrument holder, and may be used to arrange and assemble the first and

second clamp assemblies

51, 52, the driving member 53, and the transmission assembly 54.

Specifically, the base 50 may include a first side and a second side that are oppositely disposed, for example, the first side may be a left side, the second side may be a right side, or the first side may be a right side, the second side may be a left side, or the first side may be a front side, the second side may be a rear side, and the like, which is not particularly limited in this embodiment of the present invention.

Further, the first clamping assembly 51 may be slidably connected to the first side of the base 50, the second clamping assembly 52 may be slidably connected to the second side of the base 50, and the first clamping assembly 51 and the second clamping assembly 52 are oppositely disposed and may clamp the instrument, so that the two opposite sides of the instrument are stressed, and the effect of clamping the instrument may be achieved.

Specifically, the driving member 53 may be used to provide a power source to the transmission assembly 54, so that the transmission assembly 54 compresses or stretches the first elastic member 512 and the second elastic member 525, and thus may transmit a driving force to the first clamping assembly 51 and the second clamping assembly 52.

Specifically, the first elastic element 512 and the second elastic element 525 may be springs, elastic pieces, and other structures with elastic characteristics, which are not particularly limited in the embodiment of the present invention.

Specifically, the number of the first elastic elements 512 may be one, two, or four, and the like, and the number of the second elastic elements 525 may be one, two, or four, and the like, which is not particularly limited in the embodiment of the present invention.

Specifically, when the instrument holding device is in the unlocked state, the first elastic member 512 can be used to drive the first holding assembly 51 to move, and the second elastic member 525 can be used to drive the second holding assembly 52 to move, so that the first holding assembly 51 and the second holding assembly 52 can move relatively, and the width of the gap can be adjusted to match instruments with different sizes.

Specifically, when the instrument clamp device is in the locked state, the first elastic element 512 is in a compressed state, and the state of the first elastic element 512 is fixed, so that pressure can be applied to the first clamp assembly 51; second resilient member 525 may also be in a compressed state, and second resilient member 525 may be held in a fixed position and may apply pressure to second clamping assembly 52 such that first and

second clamping assemblies

51, 52 may clamp the instrument.

Specifically, the width of the gap may be adjusted to a maximum size first; the instrument may then be placed within the gap; the driving member 53 is moved by the transmission assembly 54, the first elastic element 512 and the second elastic element 525 are compressed and rebound, and the first clamping assembly 51 and the second clamping assembly 52 can move towards each other, so that the width of the gap is gradually reduced; with first and

second clamp assemblies

51, 52 abutting the instrument, first and

second clamp assemblies

51, 52 no longer move toward each other, and first and second

resilient members

512, 525 continue to be compressed; when the instrument clamping device is switched from the unlocking state to the locking state, the first elastic element 512 and the second elastic element 525 can be locked in the compression state respectively, so that the first elastic element 512 and the second elastic element 525 respectively apply pressure to the first clamping assembly 51 and the second clamping assembly 52, and the first clamping assembly 51 and the second clamping assembly 52 can clamp the instrument from two sides of the instrument respectively, and then the instrument can be clamped by the instrument clamping device.

Specifically, during the process of disassembling the instrument, the driving component 54 may be driven by the driving component 53 to move, the first elastic component 512 and the second elastic component 525 are loosened or stretched, and the first clamping component 51 and the second clamping component 52 move away from each other, so that the width of the gap gradually increases, and the disassembling of the instrument is completed.

In an embodiment of the present invention, power can be transmitted to the first clamping assembly 51 and the second clamping assembly 52 through the first elastic element 512 and the second elastic element 525 respectively, so that the first clamping assembly 51 and the second clamping assembly 52 move towards each other to ensure the centering clamping of the instrument. The clamping of different sized instruments is achieved by the property that the first and second

resilient members

512, 525 can compress within a certain range. The first elastic element 512 and the second elastic element 525 can compensate the compression or the extension of the instruments with different sizes according to the elastic characteristics of the instruments. The first elastic element 512 and the second elastic element 525 have a small variation range, so that the instrument can be stably clamped without being damaged due to excessive force.

In practical application, the instrument clamping device can be operated by one hand or two hands, so that the operation is convenient.

Alternatively, the driver 53 may include: the driving portion 531, the connecting portion 532, and the sliding shaft 533 and the rotating shaft 534 arranged in parallel and spaced apart from each other, the transmission assembly 54 may include: a first transmission member 541 and a second transmission member 542; one end of the sliding shaft 533 may be fixedly connected to the connection portion 532, the other end may be slidably connected to the first transmission element 541, and the first transmission element 541 may be connected to the first elastic element 512; one end of the rotating shaft 534 can be connected with the connecting portion 532, the other end can be rotatably connected with the second transmission member 542, and the second transmission member 542 can be connected with the second elastic member 525; during the process that the driving portion 531 drives the connecting portion 532 to move, the first transmission piece 541 can be rotatably connected to the connecting portion 532 through the rotating shaft 534, and the second transmission piece 542 can be slidably connected to the connecting portion 532 through the sliding shaft 533, so that the first clamping assembly 51 and the second clamping assembly 52 can move towards or away from each other.

In the embodiment of the present invention, since one end of the sliding shaft 533 is fixedly connected to the connecting portion 532, the other end is slidably connected to the first transmission member 541, and the first transmission member 541 is connected to the first clamping assembly 51, the first transmission member 541 can drive the first clamping assembly 51 to slide relative to the connecting portion 532; because one end of the rotating shaft 534 is connected with the connecting portion 532, the other end is connected with the second transmission member 542 in a rotating manner, and the second transmission member 542 is connected with the second clamping assembly 52, the second transmission member 542 can drive the second clamping assembly 52 to rotate relative to the connecting portion 532, and the first clamping assembly 51 and the second clamping assembly 52 can move towards or away from each other relative to the connecting portion 532 in a moving manner respectively by the first clamping assembly 51 and the second clamping assembly 52.

Specifically, the sliding shaft 533 may be fixedly connected to the connection portion 532 or rotatably connected to the connection portion 532. In practical applications, the sliding shaft 533 may also be rotatably connected to the connecting portion 532, and rotatably or fixedly connected to the first transmission member 541, which is not particularly limited in the embodiment of the present invention.

Alternatively, the connection plate 551 may be a driving plate, and the driving part 531 may be a pressing plate, which may be disposed perpendicular to the driving plate.

In the embodiment of the invention, the pressing plate is perpendicular to the transmission plate, so that the transmission plate is driven to move by poking the pressing plate, and the operation is simple and convenient.

As shown in fig. 5, the second transmission member 542 may include: the first transmission part 5421 and the second transmission part 5422 slidably connected to the base 50, the second transmission part 5422 may extend along the first transmission part 5421 in a first direction, and the first direction may be a second side to first side direction; the first transmission part 5421 may be connected to the second elastic member 525 and the second transmission part 5422, respectively, and the second transmission part 5422 may be rotatably connected to the rotation shaft 534.

In the embodiment of the present invention, the second transmission portion 5422 can rotate relative to the connection portion 532 through the rotation shaft 534, and further the first transmission portion 5421 can drive the second clamping assembly 52 to rotate relative to the connection portion 532.

Specifically, the first transmission part 5421 and the second transmission part 5422 may be an integral structure, or the first transmission part 5421 and the second transmission part 5422 may be fixed by bonding or bolting by a welder, which is not particularly limited in this embodiment of the present invention.

Specifically, the second transmission portion 5422 may be bent along the first transmission portion 5421, so that the first transmission portion 5421 and the second transmission portion 5422 form an included angle therebetween, for example, the first transmission portion 5421 and the second transmission portion 5422 form an included angle of 86 °, 90 °, and 100 °, which is not particularly limited in the embodiment of the present invention.

For example, the first transmission piece 541 may be slidably connected to the left side of the base 50, the first transmission part 5421 may be slidably connected to the right side of the base 50, the second transmission part 5422 may extend from the right side of the base 50 to the left side of the base 50, and the second transmission part 5422 may be slidably connected to the top of the base 50.

As shown in fig. 4, a side of the first transmission piece 541 opposite to the connection portion 532 may be provided with a limiting groove 5411, an extending direction of the limiting groove 5411 may intersect with the first direction, the sliding shaft 533 may be slidably engaged with the limiting groove 5411, and an outer circumference of the sliding shaft 533 may abut against a groove wall of the limiting groove 5411; the second transmission part 5422 may be provided with a rotation groove into which the rotation shaft 534 is rotatably inserted at a position opposite to the connection part 532.

In the embodiment of the present invention, the sliding shaft 533 is slidably engaged with the limiting groove 5411, so that the stability and reliability of the sliding of the first transmission piece 541 relative to the connection portion 532 can be improved. The rotation shaft 534 is rotatably inserted into the rotation groove, which can improve the stability and reliability of the rotation of the second transmission part 5422 and the connection part 532.

Specifically, the opening direction of the rotation groove faces the connection portion 532, and the rotation groove may be a full through groove or a half through groove, which is not particularly limited in the embodiment of the present invention.

Specifically, the limiting groove 5411 may be a long-strip-shaped structural groove, an opening direction of the limiting groove 5411 may face the connecting portion 532, an extending direction of the limiting groove 5411 may intersect with the first direction, for example, the sliding shaft 533 may move back and forth in the limiting groove 5411, and the first transmission piece 541 may drive the first clamping assembly 51 to move left and right.

Specifically, the length direction of the limiting groove 5411 may be the same as the extending direction of the limiting groove 5411, and the periphery of the sliding shaft 533 abuts against the groove wall of the limiting groove 5411, so that the outer diameter of the sliding shaft 533 is adapted to the width of the limiting groove 5411, the sliding shaft 533 can be limited to move only in the length direction of the limiting groove 5411, and the stability and reliability of the sliding shaft 533 sliding along the limiting groove 5411 can be improved.

As shown in fig. 6A and 6B, the connecting portion 532 may include opposing first and

second surfaces

5321 and 5322, the first and

second surfaces

5321 and 5322 may intersect at the driving portion 531, and the driving portion 531 may be switched between a first position and a second position; when the first surface 5321 abuts against the outer wall of the base 50, the driving portion 531 can be switched to the first position, and the width of the gap can reach the maximum size; when the second surface 5322 abuts against the outer wall of the base 50, the driving portion 531 can be switched to the second position, and the instrument holding device can be switched to the locked state; during the process of switching the driving portion 531 from the first position to the second position, the driving portion 531 may drive the connecting portion 532 to rotate by a first angle relative to the second transmission portion 5422, where the first angle may be greater than or equal to 180 °.

In the embodiment of the present invention, the first surface 5321 and the second surface 5322 of the connecting portion 532 intersect at the driving portion 531, so that the first surface 5321 and the second surface 5322 form an included angle, so that the driving portion 531 can drive the connecting portion 532 to rotate 180 ° or more than 180 ° relative to the second transmission portion 5422 during the process of switching the driving portion 531 from the first position to the second position, and thus, when the second surface 5322 abuts against the outer wall of the base 50, the locking of the instrument clamping device can be achieved.

As shown in fig. 2, in the case of clamping the instrument using the first clamping assembly 51 and the second clamping assembly 52, the first clamping assembly 51 can move leftwards, and the second clamping assembly 52 can move rightwards, specifically, the first surface 5321 of the connecting part 532 is abutted against the outer wall of the base 50, and the width of the gap is adjusted to the maximum size; then placing the instrument between the first clamping assembly 51 and the second clamping assembly 52, and driving the connecting part 532 to move by using the driving part 531, so that the first clamping assembly 51 and the second clamping assembly 52 move towards each other; until the second surface 5322 of the connecting portion 532 abuts against the outer wall of the base 50, the driving portion 531 stops driving the connecting portion 532 to move, and in this process, as shown in fig. 7A, the limiting groove 5411 may be an elongated groove, and the moving track of the corresponding sliding shaft 533 relative to the limiting groove 5411 and the rotating shaft 534 is shown in fig. 7B.

Specifically, during the relative movement of the first clamping assembly 51 and the second clamping assembly 52, the first transmission piece 541 drives the sliding shaft 533 to move leftward through the limiting groove 5411, so that the sliding shaft 533 can move from the left side of the rotating shaft 534 to the right side of the rotating shaft 534. The sliding shaft 533 can move forward from the initial position on the stopper groove 5411 and then move backward to return to the initial position, and in this state, the sliding shaft 533 can reach the dead point position a; then, the sliding shaft 533 can continue to move backward from the initial position on the stopper groove 5411, so that the sliding shaft 533 can go over the dead point position a to the self-locking position B.

Specifically, when the first surface 5321 of the connecting portion 532 abuts against the outer wall of the base 50, if the driving portion 531 is used to apply power, the first transmission element 541 and the second transmission element 5422 can move toward each other, and the first elastic element 512 and the second elastic element 525 bounce back after being squeezed, so that the first elastic element 512 can drive the first clamping assembly 51 to move rightward, and the second elastic element 525 can drive the second clamping assembly 52 to move leftward.

After the first clamping assembly 51 and the second clamping assembly 52 abut against the instrument, the driving part 531 is continuously used for applying power, and the first elastic piece 512 and the second elastic piece 525 are compressed because the first clamping assembly 51 and the second clamping assembly 52 do not move towards each other any more, in this case, the first elastic piece 512 can apply a leftward force F1 to the sliding shaft 533 through the first transmission piece 541, while a component force of the F1 along a tangential direction of a running track of the sliding shaft 533 is F2, a direction of the F2 is opposite to a sliding direction of the sliding shaft 533 along the limiting groove 5411, and when the power applied by the driving part 531 disappears, the sliding shaft 533 is easy to slide back along the limiting groove 5411 due to the action of the F2, and the first elastic piece 512 is easy to rebound and drive the first clamping assembly 51 to move towards the left, which is not beneficial to clamping the instrument.

When the connection portion 532 is rotated 180 ° with respect to the second transmission portion 5422, the sliding shaft 533 can be moved to the dead point position a where F2 is 0 and the sliding shaft 533 can be held at the dead point position a.

When the connecting portion 532 rotates more than 180 ° relative to the second transmission portion 5422, the sliding shaft 533 can cross the dead point position a to reach the self-locking position B, and in this position, the direction of F2 faces downward and is consistent with the moving direction of the sliding shaft 533 along the limiting groove 5411, so that the sliding shaft 533 can be effectively ensured to be kept at the self-locking position B, and further, the first clamping assembly 51 and the second clamping assembly 52 are ensured to be relatively fixed, which is beneficial to clamping the instrument.

As shown in fig. 6B, the connection portion 532 may further include: the third surface 5323 and the fourth surface 5324, the third surface 5323 and the fourth surface 5324 may be disposed between the first surface 5321 and the second surface 5322, and the third surface 5323 and the fourth surface 5324 may be arc-shaped structures, and during the driving portion 531 drives the connecting portion 532 to move, the first surface 5321 and the second surface 5322 may abut against or be spaced apart from the outer wall of the base 50 to avoid the rotation of the connecting portion 532 relative to the second transmission portion 5422.

As shown in fig. 8A, the limiting groove 5411 may include a first limiting groove 54111 and a second limiting groove 54112 of a long bar-shaped structure, the second limiting groove 54112 and the first limiting groove 54111 may communicate, and the width of the second limiting groove 54112 and the width of the first limiting groove 54111 may be the same; the first and

second stopper grooves

54111 and 54112 may be configured in a V shape.

In the embodiment of the present invention, the limiting groove 5411 formed by combining the first limiting groove 54111 and the second limiting groove 54112 may be a V-shaped groove, so that the sliding shaft 533 can slide in the V-shaped groove, and the rapid fastening of the instrument can be realized; and can realize big drive ratio, it is comparatively laborsaving, be convenient for the switching from the unblock state to the locking state is accomplished fast to apparatus clamping device.

Specifically, in the process of switching the instrument holding device from the unlocked state to the locked state, the movement trace of the sliding shaft 533 is as shown in fig. 8B.

Alternatively, the transmission assembly 54 may include: first and second transmission assemblies respectively connected to the driving member 53, the first clamping assembly 51 may include: the first clamping block 511 and the first connecting rod 517 for penetrating the first elastic member 512, the second clamping assembly 52 may include: a second clamping block 524 and a second connecting rod 526 for passing through the second elastic member 525; the first elastic element 512 may be disposed between the first transmission element and the first clamping block 511, and two ends of the first elastic element 512 may abut against the first transmission element and the first clamping block 511, respectively; the second elastic member 525 may be disposed between the second transmission assembly and the second clamping block 524, and two ends of the second elastic member 525 may abut against the second transmission assembly and the second clamping block 524, respectively; one end of the first connecting rod 517 can penetrate through the first transmission assembly and is slidably connected with the first transmission assembly, and the other end of the first connecting rod can be fixedly connected with the first clamping block 511; one end of the second connecting rod 526 may penetrate through the second transmission assembly and be slidably connected to the second transmission assembly, and the other end may be fixedly connected to the second clamping block 524.

In the embodiment of the present invention, the driving element 53 may compress or stretch the first elastic element 512 through the first transmission assembly, and may drive the first clamping block 511 to move under the elastic action of the first elastic element 512, and the first connecting rod 517 may play a guiding role in compressing or stretching the first elastic element 512, so as to improve the reliability of the first elastic element 512 driving the first clamping block 511 to move; the driving member 53 can also compress or stretch the second elastic member 525 through the second transmission assembly, and drive the second clamping block 524 to move under the elastic action of the second elastic member 525, and the second connecting rod 526 can guide the compression or stretching of the second elastic member 525, so as to improve the reliability of the second elastic member 525 driving the second clamping block 524 to move.

Specifically, the first connecting rod 517 and the first clamping block 511 may be fixed by a screw or a threaded rod, or may be connected by adhesion; the second connecting rod 526 and the second clamping block 524 may be fixed by screws or threaded rods, or may be connected by adhesion, which is not particularly limited in the embodiment of the present invention.

As shown in fig. 2, the first transmission assembly may be a first transmission piece 541, and the second transmission rod assembly may be a first transmission part 5421. As shown in fig. 9, the first drive component may also be third drive member 547 and the second drive component may be fourth drive member 548.

Specifically, the first connecting rods 517 and the first elastic elements 512 are arranged in a one-to-one correspondence manner, the number of the first connecting rods 517 may be one, two, or four, etc., the second connecting rods 526 and the second elastic elements 525 are arranged in a one-to-one correspondence manner, and the number of the second connecting rods 526 may be one, two, or four, etc., which is not limited in this embodiment of the present invention.

Specifically, the first connecting rod 517 may be a stepped shaft, and the portion extending out of the first transmission assembly is relatively large in size, so that the first transmission assembly and the first connecting rod 517 can be prevented from falling off. The second connecting rod 526 can be a stepped shaft, and the portion extending out of the second transmission assembly is large in size, so that the second transmission assembly and the second connecting rod 526 can be prevented from falling off.

As shown in fig. 2 and 9, a side of the first clamping block 511 facing the second clamping block 524 may be provided with a first groove 5111, and a side of the second clamping block 524 facing the first clamping block 511 may be provided with a second groove 5241; the first groove 5111 and the second groove 5241 are opposed and both used to clamp the instrument.

In the embodiment of the present invention, when the first and second clamping blocks 511 and 524 are used to clamp the instrument, at least a portion of the instrument may be embedded in the first and

second grooves

5111 and 5241, which may improve the reliability and safety of the first and second clamping blocks 511 and 524 in clamping the instrument.

Alternatively, the first groove 5111 may include: at least one of a V-shaped groove, a U-shaped groove and an arc-shaped groove; the second groove 5241 may include: at least one of a V-shaped groove, a U-shaped groove and an arc-shaped groove.

In practical applications, the first groove 5111 may be a V-shaped groove, a U-shaped groove, or an arc-shaped groove, so as to improve the structural diversity of the first groove 5111. The second grooves 5241 may be V-shaped grooves, U-shaped grooves or arc-shaped grooves, which may improve the structural diversity of the second grooves 5241.

Alternatively, the base 50 may include: a first side plate 501 and a second side plate 502, wherein the first side plate 501 may be disposed on a first side of the base 50, the second side plate 502 may be disposed on a second side of the base 50, and both the first clamping block 511 and the second clamping block 524 may be disposed between the first side plate 501 and the second side plate 502; a first sliding rod 5152 can be arranged on the side of the first clamping block 511 facing away from the second clamping block 524, and the first sliding rod 5152 can be slidably connected to the first side plate 501; a side of the second clamping block 524 facing away from the first clamping block 511 may be provided with a second sliding bar 5242, and the second sliding bar 5242 may be slidably connected to the second side plate 502.

In the embodiment of the present invention, the first clamping block 511 may be slidably connected to the first side plate 501 through a first sliding rod 5152, so that the first sliding rod 5152 may guide the first side plate 501, and may define the running route of the first clamping block 511; the second clamping block 524 may be slidably connected to the second side plate 502 by a second sliding bar 5242, such that the second sliding bar 5242 may guide the second side plate 502 and may define a path of travel for the second clamping block 524. In the embodiment of the present invention, since the movement path of the first and second clamping blocks 511 and 524 may be defined, the reliability of the first and second clamping blocks 511 and 524 clamping the instrument may be improved.

Specifically, the number of the first sliding rods 5152 may be one, two, or four, and the like, and the number of the second sliding rods 5242 may be one, two, or four, and the like, which is not particularly limited in the embodiment of the present invention.

Alternatively, the first transmission assembly may be disposed on a side of the first clamping block 511 away from the second clamping block 524, and the second transmission assembly may be disposed on a side of the second clamping block 524 away from the first clamping block 511; a first guide rod 5451 can be arranged on one side of the first transmission assembly facing the first side plate 501, and the first guide rod 5451 can be slidably connected to the first side plate 501; a side of the second transmission assembly facing the second side plate 502 may be provided with a second guide rod 5461, and the second guide rod 5461 may be slidably coupled to the second side plate 502.

In the embodiment of the present invention, the first transmission assembly is slidably connected to the first side plate 501 through the first guide rod 5451, so that the first guide rod 5451 can guide the first transmission assembly, the operation route of the first guide rod 5451 can be defined, and the reliability of the first guide rod 5451 driving the first clamping block 511 to move through the first elastic element 512 is improved. The second transmission assembly is slidably connected to the second side plate 502 through the second guide rod 5461, so that the second guide rod 5461 can guide the second transmission assembly, the running route of the second guide rod 5461 can be limited, and the reliability of the second guide rod 5461 driving the second clamping block 524 to move through the second elastic element 525 is improved.

Specifically, the number of the first guide rods 5451 may be one, two, or four, and the like, and the number of the second guide rods 5461 may be one, two, or four, and the like, which is not particularly limited in the embodiment of the present invention.

Optionally, the first side plate 501 may be provided with a first shaft hole for passing the first sliding rod 5152 and a first through hole for passing the first guiding rod 5451, and the second side plate 502 may be provided with a second shaft hole for passing the second sliding rod 5242 and a second through hole for passing the second guiding rod 5461; the first sliding bar 5152 may be slidably coupled to the first shaft hole, the second sliding bar 5242 may be slidably coupled to the second shaft hole, the first guide bar 5451 may be slidably coupled to the first through hole, and the second guide bar 5461 may be slidably coupled to the second through hole.

In the embodiment of the present invention, the first sliding rod 5152 is matched with the first shaft hole through the shaft hole, so that the stability of the sliding connection of the first sliding rod 5152 to the first side plate 501 can be improved. The shaft hole of the second sliding rod 5242 is engaged with the second shaft hole, so that the stability of the sliding connection of the second sliding rod 5242 to the second side plate 502 can be improved. The shaft hole fit between the first guide rod 5451 and the first through hole can improve the stability of the first guide rod 5451 in sliding connection with the first side plate 501. The shaft hole fit between the second guide rod 5461 and the second through hole can improve the stability of the sliding connection of the second guide rod 5461 to the second side plate 502.

Specifically, the first sliding rods 5152 may be disposed in one-to-one correspondence with the first shaft holes, and the second sliding rods 5242 may be disposed in one-to-one correspondence with the second shaft holes. The first through holes may be provided in one-to-one correspondence with the first guide rods 5451, and the second through holes may be provided in one-to-one correspondence with the second guide rods 5461.

As shown in fig. 1-3 and 9-11, the instrument holding device may further include a connection assembly 55, the base 50 may include a third side plate 503, the base 50 may include a third side disposed between the first side and the second side, the third side plate 503 may be disposed on the third side of the base 50, and the connection assembly 55 may be disposed on top of the third side plate 503; a side of the connecting assembly 55 adjacent to the third side plate 503 may be provided with a sliding groove 56, and/or a side of the third side plate 503 adjacent to the connecting assembly 55 may be provided with a sliding groove 56; the transmission component 54 may be disposed through and movably connected to the sliding slot 56, and two ends of the transmission component 54 may protrude out of the first side and the second side of the base 50, respectively.

In the embodiment of the present invention, the transmission assembly 54 is movably connected to the sliding groove 56, so that the movement stability of the transmission assembly 54 can be improved, and further, the stability of the transmission assembly 54 driving the first clamping assembly 51 and the second clamping assembly 52 to move toward or away from each other can be improved. Two ends of the transmission assembly 54 protrude from the first side and the second side of the base 50, respectively, so that the transmission assembly 54 is connected with the first clamping assembly 51 disposed on the first side of the base 50 and the second clamping assembly 52 disposed on the second side of the base 50.

Specifically, the connection assembly 55 and the third side plate 503 may be connected by a screw or a bolt, or may be connected by adhesion, and the like, which is not particularly limited in this embodiment of the present invention.

For example, in the case that the first side is a left side, and the second side is a right side, the third side may be a front side, a rear side, an upper side, or a lower side of the base 50, and the third side plate 503 may be specifically provided according to real-time requirements, which is not specifically limited in this embodiment of the present invention. As shown in fig. 2, the third side plate 503 may be disposed on the upper side of the base 50, and other cases may be referred to.

Specifically, the slide groove 56 may be provided on a side of the connection plate 551 close to the third side plate 503; alternatively, the chute 56 is arranged on one side of the third side plate 503 close to the connecting plate 551; alternatively, the slide groove 56 may be provided on the side of the connection plate 551 adjacent to the third side plate 503, and the slide groove 56 may be provided on the side of the third side plate 503 adjacent to the connection plate 551.

As shown in fig. 1 to 3, the transmission assembly 54 may include a first transmission member 541 disposed on a first side of the base 50 and a second transmission member 542 disposed on a second side of the base 50, the driving member 53 may be disposed on the first side of the base 50, the driving member 53 may be connected with the first transmission member 541, and the first transmission member 541 may be connected with the first clamping assembly 51; the second transmission member 542 may include a first transmission part 5421 and a second transmission part 5422, two ends of the first transmission part 5421 may be connected to one end of the second transmission part 5422 and the second clamping assembly 52, respectively, and the other end of the second transmission part 5422 may be connected to the driving member 53; the second transmission portion 5422 can penetrate through the sliding groove 56 and can be slidably connected to the sliding groove 56, and two ends of the second transmission portion 5422 can protrude out of the sliding groove 56 respectively.

As shown in fig. 9 to 11, the transmission assembly 54 may include a first lead screw 543 and a second lead screw 544 connected together, an end of the first lead screw 543 away from the second lead screw 544 may be connected to the first clamping assembly 51, and an end of the second lead screw 544 away from the first lead screw 543 may be connected to the second clamping assembly 52; the first screw rod 543 and the second screw rod 544 can be inserted into the sliding groove 56 and can be screwed into the sliding groove 56, and two ends of the first screw rod 543 and the second screw rod 544, which are far away from each other, can protrude out of the sliding groove 56 respectively.

Optionally, the connection assembly 55 comprises: a connecting plate 551 and a connecting post 552 connected to the connecting plate 551; the connection post 552 may protrude from the connection plate 551 in a direction away from the third side plate 503.

In practical applications, the connecting column 552 protrudes from the connecting plate 551 in a direction away from the third side plate 503, so as to facilitate the assembly between the instrument holding device and other devices.

Alternatively, the first and

second clamp assemblies

51 and 52 may be symmetrically disposed along the center of the base 50 in the first side-to-second side direction; the first elastic member 512 and the second elastic member 525 may be symmetrically disposed along the center of the base 50 in the first side to second side direction.

In the embodiment of the present invention, the first clamping assembly 51 and the second clamping assembly 52 are symmetrically arranged along the center of the base 50 in the first side-to-second side direction, and the first elastic element 512 and the second elastic element 525 are symmetrically arranged along the center of the base 50 in the first side-to-second side direction, so that the first clamping assembly 51 and the second clamping assembly 52 can clamp the instrument stably and centrally.

Specifically, the direction from the first side to the second side of the base 50 may be a second direction, and the first connecting rod 517 and the second connecting rod 526 may be symmetrically disposed along the center of the base 50 in the second direction; the first and second clamping blocks 511 and 524 may be symmetrically disposed along the center of the susceptor 50 in the second direction; the first groove 5111 and the second groove 5241 may be symmetrically arranged along the center of the base 50 in the second direction.

As shown in fig. 9, the transmission assembly 54 may include: the screw rotating directions of the first screw rod 543 and the second screw rod 544 can be opposite; one end of the first screw rod 543, which is away from the second screw rod 544, can be connected to the third transmission member 547 in a threaded manner, the third transmission member 547 is connected to the first elastic member 512, and the third transmission member 547 moves in the same direction as the first clamping assembly 51 through the first elastic member 512; the end of the second screw rod 544 far from the first screw rod 543 can be connected with a fourth transmission member 548 in a threaded manner, the fourth transmission member 548 is connected with the second elastic member 525, and the fourth transmission member 548 moves in the same direction as the second clamping assembly 52 through the second elastic member 525; the first lead screw 543 and/or the second lead screw 544 are connected to the drive 53.

In the embodiment of the present invention, since the thread rotation directions of the first screw rod 543 and the second screw rod 544 are opposite, the driving element 53 can drive the first screw rod 543 and the second screw rod 544 to rotate reversely, so that the third transmission element 547 and the fourth transmission element 548 can move reversely, and further, the first clamping assembly 51 and the second clamping assembly 52 can move towards each other or away from each other.

Specifically, the first lead screw 543 and the second lead screw 544 may be indirectly connected, the driving member 53 may be connected to the first lead screw 543 and the second lead screw 544, respectively, and the first lead screw 543 and the second lead screw 544 may move independently. The first screw 543 and the second screw 544 may be fixedly connected, the driving member 53 may be connected to one of the first screw 543 and the second screw 544, and further, the first screw 543 and the second screw 544 may be an integrated structure.

Specifically, the first screw rod 543 and the third transmission member 547 may be connected by screw threads, and the second screw rod 544 and the fourth transmission member 548 may be connected by screw threads, so that in case that the first screw rod 543 and the second screw rod 544 move reversely, the first clamping assembly 51 and the second clamping assembly 52 also move reversely.

Specifically, the two ends of the first elastic element 512 are respectively connected with the third transmission element 547 and the first clamping assembly 51, so as to transmit the movement of the third transmission element 547 to the first clamping assembly 51; second resilient element 525 is coupled at each end to fourth drive element 548 and second clamping assembly 52, respectively, to transmit the motion of fourth drive element 548 to second clamping assembly 52.

As shown in fig. 9, third transmission member 547 may be provided on a first side of base 50, and fourth transmission member 548 may be provided on a second side of base 50; the third transmission piece 547 can be screwed with the first screw rod 543, and the third transmission piece 547 can be slidably connected with the first clamping assembly 51; fourth drive member 548 may be threadably coupled to second screw 544 and fourth drive member 548 may be slidably coupled to second clamping assembly 52.

Optionally, a first through hole for passing through the first screw rod 543 is disposed at a position of the third transmission member 547 opposite to the first screw rod 543, and a second through hole for passing through the second screw rod 544 is disposed at a position of the fourth transmission member 548 opposite to the second screw rod 544; one end of the first screw rod 543, which is far away from the second screw rod 544, is provided with a first baffle, the first baffle is disposed on one side of the third transmission piece 547, which is far away from the fourth transmission piece 548, an outer diameter of the first baffle may be greater than an aperture of the first through hole, and/or one end of the second screw rod 544, which is far away from the first screw rod 543, is provided with a second baffle 5442, the second baffle 5442 may be disposed on one side of the fourth transmission piece 548, which is far away from the third transmission piece 547, and an outer diameter of the second baffle 5442 may be greater than an aperture of the second through hole.

In the embodiment of the present invention, the first baffle is disposed on a side of the third transmission member 547 away from the fourth transmission member 548, and an outer diameter of the first baffle may be larger than an aperture of the first through hole, so as to prevent the third transmission member 547 and the first screw rod 543 from being disengaged. The second baffle 5442 is disposed on a side of the fourth transmission piece 548 far away from the third transmission piece 547, and an outer diameter of the second baffle 5442 may be larger than an aperture of the second through hole, so as to avoid separation of the fourth transmission piece 548 and the second screw rod 544.

Specifically, only the first barrier may be provided, only the second barrier 5442 may be provided, or both the first barrier and the second barrier 5442 may be provided.

Specifically, the first through hole may be disposed at a position where the third transmission member 547 is opposite to the first screw rod 543, and the second through hole may be disposed at a position where the fourth transmission member 548 is opposite to the second screw rod 544.

Specifically, a first baffle may be disposed on a side of third transmission piece 547 away from fourth transmission piece 548, and second baffle 5442 may be disposed on a side of fourth transmission piece 548 away from third transmission piece 547.

Alternatively, the driver 53 may be a rotary button; the rotary button may be sleeved at an end of the first lead screw 543 away from the second lead screw 544 and in threaded connection with the first lead screw 543, and/or the rotary button may be sleeved at an end of the second lead screw 544 away from the first lead screw 543 and in threaded connection with the second lead screw 544.

In the embodiment of the invention, the first screw rod 543 and the second screw rod 544 can be driven to move by the rotary button, so that the operation is simple and convenient, and the rotary button is in threaded connection with the first screw rod 543 or the second screw rod 544, so that self-locking can be realized, and the positions of the first clamping assembly 51 and the second clamping assembly 52 can be conveniently locked.

Specifically, the number of the rotation buttons may be one, and as shown in fig. 10 and 11, one rotation button may control the movement of the first lead screw 543 and the second lead screw 544 at the same time; or the number of the rotation buttons may be two, and the two rotation buttons may respectively control the movement of the first lead screw 543 and the second lead screw 544, which is not particularly limited in the embodiment of the present invention.

Specifically, the rotary button may be sleeved on an end of the first lead screw 543 away from the second lead screw 544, and the rotary button may further have an effect of blocking the third transmission member 547, in this case, only the second baffle 5442 may be provided, as shown in fig. 9, and the other cases may be provided as reference.

The instrument clamping device provided by the embodiment of the invention at least has the following advantages:

In a second aspect, as shown in fig. 12, an embodiment of the present invention further provides a minimally invasive surgical robot, which may include a split surgical device 20, a floating rod assembly 23, and the above-mentioned instrument clamping device 24, wherein the instrument clamping device 24 may be connected to a bottom end of the floating rod assembly 23, and a first clamping assembly 51 and a second clamping assembly 52 in the instrument clamping device 24 may be unlocked and lockably clamped to the split surgical device 20.

Specifically, the top end of the instrument holding device 24 may be provided with a coupling assembly 55, and the connection post 552 of the coupling assembly 55 may be coupled to the bottom end of the float lever assembly 23. The top of the split surgical device 20 is provided with a protrusion for facilitating clamping, and the first clamping assembly 51 and the second clamping assembly 52 are clamped on the protrusion.

Specifically, when the first and

second clamping assemblies

51 and 52 are lockingly clamped to the split surgical device 20, the split surgical device 20 can be used to perform a surgical procedure.

In particular, the split surgical device 20 of the present embodiment may be the same as the instrument of the previous embodiment.

The minimally invasive surgery robot provided by the embodiment of the invention at least has the following advantages:

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The instrument clamping device and the minimally invasive surgery robot provided by the invention are described in detail, the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. An instrument holding device, comprising: a base (50), a first clamping assembly (51), a second clamping assembly (52), a driving member (53), a transmission assembly (54), a first elastic member (512) and a second elastic member (525), wherein the first clamping assembly (51) and the second clamping assembly (52) are oppositely arranged, a gap for placing an instrument is arranged between the first clamping assembly (51) and the second clamping assembly (52), the base (50) comprises a first side and a second side which are oppositely arranged, wherein,

the first clamping component (51) is arranged on a first side of the base (50) and is connected to the base (50) in a sliding mode;

the second clamping component (52) is arranged on the second side of the base (50) and is connected to the base (50) in a sliding mode;

the driving part (53) is connected with the transmission assembly (54), the transmission assembly (54) is respectively connected with the first elastic part (512) and the second elastic part (525), the first elastic part (512) is connected with the first clamping assembly (51), and the second elastic part (525) is connected with the second clamping assembly (52);

the instrument clamping device comprises an unlocking state and a locking state, wherein in the unlocking state, the driving piece (53) compresses or stretches the first elastic piece (512) and the second elastic piece (525) through the transmission component (54), and then drives the first clamping component (51) and the second clamping component (52) to move towards or away from each other so as to adjust the width of the gap; in the locking state, the first elastic element (512) and the second elastic element (525) are in a compressed state, and the positions of the first clamping assembly (51) and the second clamping assembly (52) are locked so as to fix the width of the gap and clamp the instrument;

wherein the drive member (53) comprises: a drive portion (531), a connecting portion (532), the connecting portion (532) comprising opposing first and second surfaces (5321, 5322), the first and second surfaces (5321, 5322) intersecting at the drive portion (531), the drive portion (531) being switchable between a first position and a second position; when the second surface (5322) abuts against the outer wall of the base (50), the driving portion (531) is switched to the second position, and the instrument clamp device is switched to the locked state.

2. Instrument holding device according to claim 1, characterized in that the drive member (53) comprises: a sliding shaft (533) and a rotating shaft (534) arranged in parallel and spaced apart, the transmission assembly (54) comprising: a first transmission member (541) and a second transmission member (542);

one end of the sliding shaft (533) is fixedly connected with the connecting part (532), the other end of the sliding shaft is connected with the first transmission piece (541) in a sliding manner, and the first transmission piece (541) is connected with the first elastic piece (512);

one end of the rotating shaft (534) is connected with the connecting part (532), the other end of the rotating shaft is rotatably connected with the second transmission piece (542), and the second transmission piece (542) is connected with the second elastic piece (525);

during the process that the driving part (531) drives the connecting part (532) to move, the first transmission piece (541) can be rotatably connected to the connecting part (532) through the rotating shaft (534), and the second transmission piece (542) can be slidably connected to the connecting part (532) through the sliding shaft (533) so as to enable the first clamping assembly (51) and the second clamping assembly (52) to move towards or away from each other.

3. Instrument clamping device according to claim 2, wherein the second transmission member (542) comprises: the base comprises a first transmission part (5421) and a second transmission part (5422) connected to the base (50) in a sliding mode, wherein the second transmission part (5422) extends along the first transmission part (5421) to a first direction, and the first direction is the direction from the second side to the first side;

the first transmission part (5421) is respectively connected with the second elastic piece (525) and the second transmission part (5422), and the second transmission part (5422) is rotatably connected with the rotating shaft (534).

4. The instrument clamping device according to claim 3, wherein a side of the first transmission member (541) opposite to the connecting portion (532) is provided with a limiting groove (5411), an extending direction of the limiting groove (5411) intersects with the first direction, the sliding shaft (533) is slidably engaged with the limiting groove (5411), and an outer circumference of the sliding shaft (533) abuts against a groove wall of the limiting groove (5411);

the second transmission part (5422) is provided with a rotation groove at a position opposite to the connecting part (532), and the rotation shaft (534) is rotatably inserted into the rotation groove.

5. The instrument holding device of claim 4,

when the first surface (5321) abuts against the outer wall of the base (50), the driving portion (531) is switched to the first position, and the width of the gap reaches a maximum dimension;

wherein, in the process that the driving part (531) is switched from the first position to the second position, the driving part (531) drives the connecting part (532) to rotate relative to the second transmission part (5422) by a first angle, and the first angle is larger than or equal to 180 degrees.

6. The instrument holding device according to claim 4, wherein the limiting groove (5411) comprises a first limiting groove (54111) and a second limiting groove (54112) which are in an elongated structure, the second limiting groove (54112) is communicated with the first limiting groove (54111), and the width of the second limiting groove (54112) is the same as that of the first limiting groove (54111);

the first and second stopper grooves (54111, 54112) are configured in a V shape.

7. The instrument clamping device according to claim 1, wherein the transmission assembly (54) comprises: a first transmission assembly and a second transmission assembly respectively connected with the driving member (53), the first clamping assembly (51) comprising: a first clamping block (511) and a first connecting rod (517) for penetrating the first elastic member (512), the second clamping assembly (52) comprising: a second clamping block (524) and a second connecting rod (526) for penetrating the second elastic piece (525);

the first elastic piece (512) is arranged between the first transmission component and the first clamping block (511), and two ends of the first elastic piece (512) are respectively abutted against the first transmission component and the first clamping block (511);

the second elastic piece (525) is arranged between the second transmission component and the second clamping block (524), and two ends of the second elastic piece (525) are respectively abutted against the second transmission component and the second clamping block (524);

one end of the first connecting rod (517) penetrates through the first transmission assembly and is in sliding connection with the first transmission assembly, and the other end of the first connecting rod is fixedly connected with the first clamping block (511);

one end of the second connecting rod (526) penetrates through the second transmission component and is connected with the second transmission component in a sliding mode, and the other end of the second connecting rod is fixedly connected with the second clamping block (524).

8. The instrument clamping device according to claim 7, wherein a side of the first clamping block (511) facing the second clamping block (524) is provided with a first groove (5111), and a side of the second clamping block (524) facing the first clamping block (511) is provided with a second groove (5241);

the first groove (5111) and the second groove (5241) are opposite and are both used for clamping the instrument.

9. The instrument clamp device according to claim 8, wherein the first groove (5111) comprises: at least one of a V-shaped groove, a U-shaped groove and an arc-shaped groove;

the second groove (5241) includes: at least one of a V-shaped groove, a U-shaped groove and an arc-shaped groove.

10. The instrument clamp device according to claim 7, wherein the base (50) comprises: a first side plate (501) and a second side plate (502), wherein the first side plate (501) is arranged on a first side of the base (50), the second side plate (502) is arranged on a second side of the base (50), and the first clamping block (511) and the second clamping block (524) are arranged between the first side plate (501) and the second side plate (502);

a first sliding rod (5152) is arranged on one side, away from the second clamping block (524), of the first clamping block (511), and the first sliding rod (5152) is connected to the first side plate (501) in a sliding manner;

a second sliding rod (5242) is arranged on one side, facing away from the first clamping block (511), of the second clamping block (524), and the second sliding rod (5242) is connected to the second side plate (502) in a sliding manner.

11. The instrument clamping device of claim 10, wherein the first transmission assembly is disposed on a side of the first clamping block (511) distal from the second clamping block (524), and the second transmission assembly is disposed on a side of the second clamping block (524) distal from the first clamping block (511);

a first guide rod (5451) is arranged on one side, facing the first side plate (501), of the first transmission assembly, and the first guide rod (5451) is connected to the first side plate (501) in a sliding mode;

one side of the second transmission assembly facing the second side plate (502) is provided with a second guide rod (5461), and the second guide rod (5461) is connected to the second side plate (502) in a sliding mode.

12. The instrument clamping device according to claim 11, wherein the first side plate (501) is provided with a first shaft hole for penetrating the first sliding rod (5152) and a first through hole for penetrating the first guide rod (5451), and the second side plate (502) is provided with a second shaft hole for penetrating the second sliding rod (5242) and a second through hole for penetrating the second guide rod (5461);

the first sliding rod (5152) is slidably connected to the first shaft hole, the second sliding rod (5242) is slidably connected to the second shaft hole, the first guide rod (5451) is slidably connected to the first through hole, and the second guide rod (5461) is slidably connected to the second through hole.

13. The instrument clamp device according to claim 1, further comprising a connection assembly (55), wherein the base (50) includes a third side plate (503), wherein the base (50) includes a third side disposed between the first side and the second side, wherein the third side plate (503) is disposed at the third side, and wherein the connection assembly (55) is disposed at a top of the third side plate (503);

a sliding groove (56) is formed in one side, close to the third side plate (503), of the connecting assembly (55), and/or a sliding groove (56) is formed in one side, close to the connecting assembly (55), of the third side plate (503);

the transmission component (54) can penetrate through and is movably connected to the sliding groove (56), and two ends of the transmission component (54) respectively protrude out of the first side and the second side of the base (50).

14. The instrument clamp device according to claim 13, wherein the connection assembly (55) comprises: a connecting plate (551) and a connecting column (552) connected to the connecting plate (551);

the connecting column (552) protrudes out of the connecting plate (551) in a direction away from the third side plate (503).

15. The instrument clamp device according to claim 1, wherein the first clamp assembly (51) and the second clamp assembly (52) are symmetrically disposed along a center of the base (50) in the first side-to-second side direction;

the first elastic member (512) and the second elastic member (525) are symmetrically disposed along a center of the base (50) in the first side to the second side direction.

16. The instrument holding device according to claim 2, wherein the connecting portion (532) is a transmission plate and the driving portion (531) is a pressing plate, the pressing plate being arranged perpendicular to the transmission plate.

17. The instrument clamping device according to claim 1, wherein the transmission assembly (54) comprises: the screw driving mechanism comprises a third transmission piece (547), a fourth transmission piece (548), a first screw rod (543) and a second screw rod (544) which are connected with each other, wherein the screw directions of the first screw rod (543) and the second screw rod (544) are opposite;

one end, far away from the second screw rod (544), of the first screw rod (543) is in threaded connection with the third transmission piece (547), the third transmission piece (547) is connected with the first elastic piece (512), and the third transmission piece (547) moves in the same direction with the first clamping assembly (51) through the first elastic piece (512);

one end, far away from the first screw rod (543), of the second screw rod (544) is in threaded connection with the fourth transmission piece (548), the fourth transmission piece (548) is connected with the second elastic piece (525), and the fourth transmission piece (548) moves in the same direction with the second clamping assembly (52) through the second elastic piece (525);

the first spindle (543) and/or the second spindle (544) is connected to the drive element (53).

18. The instrument clamping device according to claim 17, wherein a first through hole for passing the first lead screw (543) is formed at a position of the third transmission member (547) opposite to the first lead screw (543), and a second through hole for passing the second lead screw (544) is formed at a position of the fourth transmission member (548) opposite to the second lead screw (544);

one end of the first screw rod (543) far away from the second screw rod (544) is provided with a first baffle, the first baffle is arranged on one side of the third transmission piece (547) far away from the fourth transmission piece (548), the outer diameter of the first baffle is larger than the caliber of the first through hole,

and/or a second baffle (5442) is arranged at one end, far away from the first screw rod (543), of the second screw rod (544), the second baffle (5442) is arranged at one side, far away from the third transmission piece (547), of the fourth transmission piece (548), and the outer diameter of the second baffle (5442) is larger than the caliber of the second through hole.

19. Instrument holding device according to claim 17, characterized in that the drive member (53) is a rotary button;

the rotary button sleeve is arranged at one end, far away from the second lead screw (544), of the first lead screw (543) and is in threaded connection with the first lead screw (543), and/or the rotary button sleeve is arranged at one end, far away from the first lead screw (543), of the second lead screw (544) and is in threaded connection with the second lead screw (544).

20. A minimally invasive surgical robot, comprising: split surgical device (20), a float bar assembly (23) and the instrument clamping device (24) of any one of claims 1-19, the instrument clamping device (24) being connected to a bottom end of the float bar assembly (23), the first clamping assembly (51) and the second clamping assembly (52) in the instrument clamping device (24) being unlockably and lockably clamped to the split surgical device (20).