CN114191030A

CN114191030A - Butt joint structure with replaceable components and repeating clamp for surgical robot

Info

Publication number: CN114191030A
Application number: CN202111443130.9A
Authority: CN
Inventors: 庞建; 高轶明; 翟俊旺
Original assignee: Suzhou Wesent Medical Robot Co Ltd
Current assignee: Suzhou Wesent Medical Robot Co Ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-03-18

Abstract

The invention discloses a butt joint structure with replaceable components, which comprises a first butt joint mechanism and a second butt joint mechanism, wherein the first butt joint mechanism and the second butt joint mechanism are respectively and fixedly connected with two end parts needing butt joint in the component replacing process; the first butting mechanism comprises a first hook and a rotation stopping elastic sheet; the second butting mechanism comprises a second hook and a rotation stopping groove; when the two end parts are butted, the first hook and the second hook are hooked, and the rotation stopping elastic sheet is embedded with the rotation stopping groove. The invention also discloses a continuous hair clip applier for surgical robots, which comprises a replaceable component positioned at the front part of the clip applier, wherein the replaceable component is connected with the shaft rod part of the clip applier through a butt joint structure of the replaceable component. Can make the axostylus axostyle portion of executing the clamp realize detachable butt joint with the change subassembly, be convenient for adjust organize and press from both sides quantity and model etc. improve the convenience of use. The number and the type of the tissue clips are convenient to adjust, and the use cost is reduced.

Description

Butt joint structure with replaceable components and repeating clamp for surgical robot

Technical Field

The invention belongs to the technical field of manipulator appliances on the side of a patient in a surgical robot system, and particularly relates to a butt joint structure with replaceable components and a continuous firing clamp for a surgical robot.

Background

Clip appliers are a surgical instrument used to close plastic or metal clips onto a blood or urinary tract. In the minimally invasive surgery process, the clip applier is directly actuated by the surgical robot, and when in use, the clip applier is connected with an actuating disc/actuating motor of the surgical robot. In some minimally invasive surgical approaches, there may be a need to vary the size of the tissue clips, temporarily increasing the number of tissue clips.

In the same operation, in order to meet the requirements, if the tissue clamp model is adjusted in a mode of integrally disassembling and replacing the clip applier, the tissue clamp is not convenient to add, the cost is high, and the risk that an actuator of the surgical robot is polluted is easily increased by repeated operation.

How to quickly replace the front component in the surgical process so as to adjust the type of the clip applier and add the tissue clip becomes a technical problem to be solved by the technicians in the field.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a butt joint structure with replaceable components and a continuous firing clip applier for a surgical robot. The detachable butt joint structure capable of realizing the two end parts to be butted and the continuous firing clip applier for the surgical robot using the detachable butt joint structure are disclosed, so that the front component of the clip applier can be replaced without being integrally detached and replaced. The use mode is flexible, and the resource saving is facilitated.

In order to achieve the purpose, the invention adopts the following technical scheme:

a butt joint structure with replaceable components comprises a first butt joint mechanism and a second butt joint mechanism, wherein the first butt joint mechanism and the second butt joint mechanism are respectively and fixedly connected with two end parts needing butt joint in a component replacing process; the first butting mechanism comprises a first hook and a rotation stopping elastic sheet; the second butting mechanism comprises a second hook and a rotation stopping groove; when the two end parts are butted, the first hook and the second hook are hooked, and the rotation stopping elastic sheet is embedded with the rotation stopping groove.

Preferably, the invention also comprises a third docking mechanism and a fourth docking mechanism; the third butt joint mechanism and the fourth butt joint mechanism are respectively and fixedly connected with two end parts needing butt joint in the component replacing process; the third butt joint mechanism comprises a connecting seat and a limiting block fixedly connected with the connecting seat, and the limiting block extends out of the connecting seat; the fourth butt joint mechanism comprises a clamping groove used for clamping the limiting block, the limiting block extends into the clamping groove from the channel in the butt joint process of the two end parts, and the connecting seat rotates to enable the limiting block and the channel to be staggered and clamped into the clamping groove.

Preferably, the invention also comprises a fifth docking mechanism and a sixth docking mechanism;

the fifth butt joint mechanism and the sixth butt joint mechanism are respectively and fixedly connected with two end parts needing butt joint in the component replacement process;

the fifth docking mechanism comprises a cross joint;

the sixth butt joint mechanism comprises a cross-shaped joint clamping groove for clamping a cross-shaped joint;

the cross joint extends into the cross joint clamping groove from the channel and then is clamped in the cross joint clamping groove after being rotated;

when the two end parts are butted, the first butt joint mechanism, the second butt joint mechanism, the third butt joint mechanism, the fourth butt joint mechanism, the fifth butt joint mechanism and the sixth butt joint mechanism synchronously act; when the first hook is hooked with the second hook, the rotation stopping elastic sheet is embedded with the rotation stopping groove, the limiting block is clamped into the clamping groove, and the cross-shaped connector is clamped into the clamping groove.

Preferably, in the process of butt joint of the two end parts, the first hook reaches the hooking position of the second hook from the channel, and then the first hook or the second hook is rotated to enable the first hook and the second hook to approach each other until the first hook and the second hook are hooked with each other; in the process, the rotation stopping elastic sheet is stirred to enable the rotation stopping elastic sheet to generate elastic deformation, so that the action interference of the end part of the rotation stopping groove in the hooking process on the rotation stopping elastic sheet is avoided; when the first hook and the second hook are hooked, the rotation stopping elastic sheet stops being pushed, the rotation stopping elastic sheet resets, and the rotation stopping elastic sheet is just embedded into the rotation stopping groove after resetting; the first hook and the second hook are right-angle hooks respectively.

Preferably, the present invention further comprises a replaceable component located at the front part of the clip applier, wherein the replaceable component is connected to the shaft part of the clip applier by a docking structure of the replaceable component, and the docking structure of the replaceable component is as defined in any one of claims 1 to 4.

Preferably, the two end parts needing butt joint in the component replacing process are respectively the front end of the shaft part of the clamping pliers and the rear end of the replaceable component; the first butt joint mechanism is fixed with the component pipe of the replaceable component, and the second butt joint mechanism is fixed with the body pipe of the clip applier; the third butt joint mechanism is fixed with a nail closing rod in the instrument body pipe, and the fourth butt joint mechanism is fixed with a nail closing pipe in the assembly pipe; the fifth butt joint mechanism is fixed with a nail feeding plate positioned in the assembly pipe, and the sixth butt joint mechanism is fixed with a nail feeding rod in the nail closing rod; after the replaceable component is fixedly butted with the shaft rod part, the first hook is hooked with the second hook, the rotation stopping elastic piece is embedded with the rotation stopping groove, the limiting block is clamped into the clamping groove, and the cross-shaped joint is clamped into the cross-shaped joint clamping groove.

Preferably, the middle part of the connecting seat is provided with a middle hole, and the front end of the nail feeding rod penetrates through the middle hole and is fixedly connected with the rear part of the cross-shaped joint clamping groove; the connecting seat is provided with an inserting groove, the rear part of the cross-shaped joint clamping groove is fixedly provided with an inserting pin, and the inserting pin is inserted into the inserting groove; when the inserting pin is inserted into the inserting groove, the cross-shaped joint clamping groove and the connecting seat cannot rotate relative to each other by taking the axis of the middle hole as a shaft.

Preferably, the invention also comprises a device body base, the device body tube, the nail closing rod and the nail feeding rod are respectively connected with the device body base for the driver body tube, the nail closing rod and the nail feeding rod, the nail closing rod and the device body tube are sequentially sleeved from inside to outside; the nail feeding rod, the nail closing rod and the body pipe are coaxially arranged; the body base comprises a first transmission component, a second transmission component, a third columnar body and a driving assembly; the first transmission assembly comprises a first chuck and a first transmission wheel, and the first chuck is fixedly connected with the first transmission wheel through a shaft; when the first chuck rotates, the first transmission wheel rotates along with the first chuck; the lower part of the third cylindrical body is rotatably connected with the positioning seat, the third cylindrical body is fixedly connected with the instrument body tube, the third cylindrical body is connected with the first driving wheel, and when the first driving wheel rotates, the third cylindrical body rotates along with the first driving wheel; the second transmission assembly and the third transmission assembly are respectively connected with the driving assembly; the second transmission assembly comprises a second chuck and a second transmission wheel, and the second chuck is fixedly connected with the second transmission wheel through a shaft; when the second chuck rotates, the second transmission wheel rotates along with the second chuck; the third transmission assembly comprises a third chuck and a third transmission wheel, and the third chuck is fixedly connected with the third transmission wheel through a shaft; when the third chuck rotates, the third driving wheel rotates along with the third chuck; the drive assembly comprises an outer rotor and an inner rotor; the inner rotating body and the outer rotating body can be connected in a rotating way by taking the central axis of the inner rotating body and the central axis of the outer rotating body as an axis; the external rotating body comprises a first cylindrical body, a cavity extending along the central axis of the first cylindrical body is arranged in the first cylindrical body, and the outer side wall of the first cylindrical body is connected with a third driving wheel; when the third transmission wheel rotates, the first cylindrical body rotates along with the third transmission wheel; the inner rotating body comprises a second cylindrical body, the upper part of the second cylindrical body extends into the cavity, the lower part of the second cylindrical body is positioned outside the cavity, and the outer side wall of the part of the second cylindrical body, which is positioned outside the cavity, is connected with the second driving wheel; when the second driving wheel rotates, the second cylindrical body rotates along with the second driving wheel; a nail closing driving sleeve is fixedly arranged in the second cylindrical body, a through screw hole is formed in the middle of the nail closing driving sleeve, and a nail closing rod is in threaded connection with the nail closing driving sleeve; one end of the cavity, which is far away from the opening, is fixedly provided with a nail feeding driving sleeve, a through screw hole is formed in the nail feeding driving sleeve, and a nail feeding rod is connected with the nail feeding driving sleeve through threads; the upper part of the first cylindrical body is fixedly connected with the positioning seat, and the first cylindrical body can rotate relative to the positioning seat; the lower part of the second cylindrical body is fixedly connected with the other positioning seat, and the second cylindrical body can rotate relative to the positioning seat; the nail feeding rod and the nail closing rod are respectively connected with a rotation stopping mechanism, the rotation stopping mechanism can prevent the nail feeding rod and the nail closing rod from rotating by taking the central axis of the rotation stopping mechanism as an axis, and the rotation stopping mechanism allows the nail feeding rod and the nail closing rod to move along the central axis of the rotation stopping mechanism; the nail feeding rod penetrates through the second cylindrical body and is connected with the nail feeding driving sleeve.

Preferably, the replaceable assembly comprises an assembly tube, a nail closing tube positioned in the assembly tube, a nail bin positioned in the assembly tube, a nail feeding plate connected with the nail bin and a clamping jaw hinged to the front part of the nail bin; the nail closing tube is sleeved outside the nail bin;

a guide fixing piece is fixedly arranged in the assembly pipe, the nail bin is fixedly connected with the guide fixing piece, and a gap for the nail closing pipe to move towards the front and back direction of the clip applier is arranged between the nail bin and the guide fixing piece; the tail part of the clamping jaw is provided with a closing spring which can provide closing force for the clamping jaw to close for a certain angle;

the nail feeding plate is connected with an opening spring used for keeping the clamping jaw in an opening state; the rear part of the nail feeding plate is connected with the cross-shaped joint;

the nail feeding plate is fixedly provided with a nail feeding elastic sheet, the nail bin is internally provided with a nail bin stopping elastic sheet, the nail feeding plate is connected with the nail bin to form a bin which extends along the length direction and can store a tissue clamp, and when the tissue clamp is positioned in the bin, the nail feeding elastic sheet and the nail bin stopping elastic sheet are respectively abutted against the positioning bulge part of the tissue clamp; the front end of the nail feeding plate is provided with a nail pushing head used for pushing the tissue clamp;

when the clamping jaw is in an opening state, the front end of the opening spring is clamped at the tail part of the clamping jaw, when the nail feeding rod moves forwards, the nail feeding rod pushes the nail feeding plate to move forwards, the opening spring moves forwards along with the nail feeding plate until the front end of the opening spring abuts against the boss at the tail part of the clamping jaw, the actuating hook on the opening spring is separated from the actuating hook hole on the nail feeding plate, in the retreating process of the nail feeding plate, the actuating hook enters and hooks the actuating hook hole on the nail feeding plate again, and the opening spring returns along with the retreating of the nail feeding plate.

Preferably, the rotation stopping mechanism comprises a rotation stopping pipe, the rotation stopping pipe is fixedly connected with the instrument body pipe, and a first guide hole is formed in the side wall of the rotation stopping pipe;

the side wall of the nail closing rod is provided with a second guide hole corresponding to the first guide hole in position;

the nail feeding rod is fixedly connected with a limiting column, the limiting column is inserted into the first guide hole and the second guide hole, and when the nail feeding rod or the nail closing rod moves towards the front portion or the rear portion of the clip applier, the limiting column moves along the length direction of the first guide hole and the second guide hole.

The butt joint structure of the replaceable component disclosed by the invention can realize detachable butt joint of the shaft rod part of the clip applier and the replaceable component, is convenient for adjusting the number, the type and the like of tissue clips, and improves the use convenience.

The continuous hair clip applier for the surgical robot can replace the front component, so that the number and the type of tissue clips can be adjusted conveniently, and the use cost is reduced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the abutting relationship of the front end of the shaft portion of the clip applier of the invention with the rear end of the replaceable component;

FIG. 3 is a schematic structural view of the connection of the shaft portion of the clip applier of the invention to the replaceable assembly;

FIG. 4 is a schematic structural diagram of the positional relationship between the clamping groove and the nail closing tube of the present invention;

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

FIG. 6 is a schematic structural diagram of the connection between the first docking mechanism and the second docking mechanism (at this time, the first hook and the second hook are hooked, and the rotation-stopping elastic sheet is embedded in the rotation-stopping groove);

FIG. 7 is a schematic view of the construction of the plug pin of the present invention;

FIG. 8 is a schematic structural view of the connection between the limiting block and the clamping groove of the present invention;

FIG. 9 is a schematic view of the first, second and third chucks of the present invention;

FIG. 10 is a schematic structural diagram of the connection relationship between the first transmission assembly, the second transmission assembly, the third transmission assembly and the driving assembly;

FIG. 11 is a schematic structural view of the drive assembly of the present invention;

FIG. 12 is a schematic structural view showing the positional relationship of the bearing and the table of the present invention;

FIG. 13 is a schematic structural view of the anti-rotation mechanism of the present invention;

FIG. 14 is a schematic view of the structure between the base, middle layer support and top layer of the present invention;

FIG. 15 is a schematic structural view of the connection of the closure spring of the present invention to the jaws;

FIG. 16 is a schematic structural view showing the connection relationship of the nail feeding plate, the opening spring and the clamping jaws of the present invention;

FIG. 17 is a schematic view of the internal construction of the replaceable assembly of the present invention;

FIG. 18 is a schematic structural view showing a positional relationship between a second pilot hole and a stopper post according to the present invention;

FIG. 19 is a schematic view of the construction of the manual control port of the present invention;

FIG. 20 is a schematic structural diagram illustrating a docking process of the first docking mechanism and the second docking mechanism according to the present invention;

FIG. 21 is a schematic structural diagram of an embodiment of the present invention;

in the attached drawings, a first hook 1, a rotation-stopping elastic sheet 2, a second hook 3, a rotation-stopping groove 4, a connecting seat 5, a limiting block 6, a clamping groove 7, a cross joint 8, a cross joint clamping groove 9, a channel 10, a component tube 11, a body tube 12, a nail closing rod 13, a nail closing tube 14, a nail feeding plate 15, a nail feeding rod 16, a pin 17, an insertion groove 18, a body base 19, a first chuck 20, a first transmission wheel 21, a second chuck 22, a second transmission wheel 23, a third columnar body 24, a first columnar body 25, a second columnar body 26, a cavity 27, a nail closing driving sleeve 28, a nail feeding driving sleeve 29, a rotation-stopping tube 30, a first guide hole 31, a second guide hole 32, a limiting column 34, a nail cabin 35, a clamping jaw 371, a guide fixing plate 37, an opening fixing hole, a closing spring 38, a spring 39 spring, a nail feeding elastic sheet 40, a nail cabin retreat-stopping elastic sheet 41, a limiting protrusion 411, a through hole 412, a

positioning protrusion

42, 43 pushing heads, 44 actuating hooks, 45 actuating hook holes, 46 third chucks, 47 third driving wheels, 48 internal rotating bodies, 49 external rotating bodies, 50 gear rings, 51 bases, 52 middle-layer brackets, 53 top-layer brackets, 54 shells, 541 upper covers, 542 control port cover plates, 543 manual control ports, 544 stop pins, a shaft part, b replaceable components, tail parts of c clamping jaws, d tissue clamps, e central shafts, the positions of f stations and g bearings.

Detailed Description

The following examples are given in conjunction with the accompanying drawings to further illustrate the embodiments. The present invention is not limited to the description of the following examples.

In the illustrated embodiment, to facilitate a sufficient and clear understanding of the technical solutions disclosed in the embodiments of the present invention for those skilled in the art, a relatively uniform orientation reference is used: when the replaceable component b is butted with the shaft part a of the clip applier, the clamping jaw 36 is in the front orientation, and the body base 19 is in the rear orientation (refer to fig. 1). In the present embodiment, the tissue clips d may also be called staples or tacks.

Example 1

As shown in fig. 1 to 8, referring to fig. 9 to 19, the docking structure of the replaceable unit is disclosed in the present embodiment. The device comprises a first butt joint mechanism and a second butt joint mechanism, wherein the first butt joint mechanism and the second butt joint mechanism are fixedly connected with two end parts needing butt joint in the component replacing process respectively.

As shown in fig. 2, the first docking mechanism includes a first hook 1 and a rotation stop spring piece 2. The second butting mechanism comprises a second hook 3 and a rotation stopping groove 4. As shown in fig. 6, when the two ends are butted, the first hook 1 is hooked with the second hook 3, and the rotation-stopping elastic piece 2 is fitted into the rotation-stopping groove 4.

Referring to fig. 2 and 6, in the process of butt joint of two end parts, the first hook reaches the hooking position of the second hook from the channel, then the first hook or the second hook is rotated to enable the first hook 1 and the second hook 3 to approach each other until the hook is hooked, and in the process, the rotation-stopping elastic sheet 2 is shifted to enable the rotation-stopping elastic sheet 2 to generate elastic deformation so as to avoid action interference of the end part where the rotation-stopping groove is located to the rotation-stopping elastic sheet in the hooking process (namely, avoiding an action obstacle on the second end part in the hooking process); after the first hook 1 and the second hook 3 are hooked, the rotation stopping elastic piece 2 stops being stirred, the rotation stopping elastic piece 2 resets, and the rotation stopping elastic piece 2 is just embedded into the rotation stopping groove 4 after resetting to complete locking action.

Referring to fig. 6 and 20, the first hook 1 and the rotation-stopping elastic piece 2 and the second hook and the rotation-stopping groove are formed by cutting the end bodies to be butted. The rotation stopping elastic sheet is cut to form a cantilever sheet structure integrated with the end body.

The butt joint structure of the replaceable component b further comprises a third butt joint mechanism and a fourth butt joint mechanism.

As shown in fig. 2, 3 and 7, the third docking mechanism and the fourth docking mechanism are respectively and fixedly connected with two end portions to be docked in the assembly replacing process. The third docking mechanism includes a connecting seat 5 and a limiting block 6 fixedly connected with the connecting seat 5, as shown in fig. 7: the limiting block 6 extends out of the outer side of the connecting seat 5. The arrow in the figure indicates the direction of the unintended side.

As shown in fig. 4, the fourth docking mechanism includes a slot 7 for holding the stopper 6, the stopper 6 extends into the slot 7 from the channel 10 in the docking process of the two end portions, and the connecting seat 5 rotates to make the stopper 6 dislocate from the channel 10 and be clamped into the slot 7. Preferably, the slot 7 is an annular slot 7.

The docking structure of the replaceable component b further comprises a fifth docking mechanism and a sixth docking mechanism.

The fifth butt joint mechanism and the sixth butt joint mechanism are fixedly connected with two end parts needing butt joint in the assembly replacing process respectively.

As shown in fig. 2, 3 and 7, and with reference to the other figures, the fifth docking mechanism includes a cross-shaped joint 8. The sixth docking mechanism includes a cross joint slot 9 for holding the cross joint 8. The cross joint 8 extends into the cross joint clamping groove 9 from the channel, and is clamped in the cross joint clamping groove 9 after being rotated.

Referring to fig. 20, the first and second docking mechanisms are shown expanded for clarity of illustration. When the two end parts are butted, the first butt joint mechanism, the second butt joint mechanism, the third butt joint mechanism, the fourth butt joint mechanism, the fifth butt joint mechanism and the sixth butt joint mechanism synchronously act; when the first hook 1 is hooked with the second hook 3, the rotation stopping elastic sheet 2 is embedded with the rotation stopping groove 4, the limiting block 6 is clamped into the clamping groove 7, and the cross-shaped joint 8 is clamped into the cross-shaped joint clamping groove 9.

Example 2

Referring to the other drawings, as shown in fig. 9 to 19, the robot disclosed in this embodiment has a replaceable unit b docked to the front of the shaft portion a of the hair running clipper, and the docking structure is the docking structure disclosed in embodiment 1.

The surgical robot hair-coupling clip applier disclosed in the embodiment of the invention comprises a replaceable component b positioned at the front part of the clip applier, wherein the replaceable component b is connected with a shaft part a of the clip applier through a butt joint structure of the replaceable component b.

In this embodiment, the two ends to be butted in the process of replacing the components described in embodiment 1 are the front end of the shaft portion a of the clip applier and the rear end of the replaceable component b.

Referring to fig. 6, the first docking mechanism is fixed to the module tube 11 of the replaceable module b, and the second docking mechanism is fixed to the body tube 12 of the clip applier.

Referring to fig. 8, a third docking mechanism is fixed with a nail-closing rod 13 in the body tube 12, and a fourth docking mechanism is fixed with a nail-closing tube 14 in the assembly tube 11.

Referring to fig. 3 and 5, a fifth docking mechanism is secured to a staple feed plate 15 located within the module tube 11 and a sixth docking mechanism is secured to a staple feed bar 16 located within the staple close bar 13.

Referring to fig. 20 (for clarity, in the drawing, the tube body of the assembly tube and the body tube is unfolded), when the device is used, the rotation stopping elastic sheet is pressed to enable the rotation stopping elastic sheet to avoid an obstacle, the first hook reaches the hooking position of the second hook through the channel, then the first hook is rotated, when the first hook and the second hook are hooked with each other, the rotation stopping elastic sheet is stopped being pressed, the rotation stopping elastic sheet is restored to be deformed, and at the moment, the rotation stopping elastic sheet is just embedded with the rotation stopping groove; in the process, referring to fig. 8, when the channel corresponding to the first hook enters the hooking position of the second hook, the limiting block enters the clamping groove through the channel, and when the first hook rotates and is hooked with the second hook, the limiting block is clamped into the annular clamping groove from the channel; in this process, referring to fig. 7, when the passage corresponding to the first hook enters the hooking position of the second hook, the cross joint enters the cross joint clamping groove through the passage, and when the first hook rotates and is hooked with the second hook, the cross joint is clamped into the cross joint clamping groove in a rotating manner.

Preferably, as shown with reference to figures 3 and 7: the middle part of the connecting seat 5 is provided with a middle hole, and the front end of the nail feeding rod 16 passes through the middle hole and is fixedly connected with the rear part of the cross-shaped joint clamping groove 9.

As shown in fig. 7, the connection seat 5 is provided with an insertion groove 18, the rear portion of the cross-shaped connector slot 9 is fixedly provided with an insertion pin 17, and the insertion pin 17 is inserted into the insertion groove 18; when the inserting pin 17 is inserted into the inserting groove 18, the cross-shaped connector clamping groove 9 and the connecting seat 5 cannot rotate relative to each other by taking the axis of the central hole as an axis.

Preferably, referring to fig. 7, the cross-shaped connector slot 9 is an integral body, and the cross-shaped connector slot 9 is formed at the front part of the body and the plug pin 17 is formed at the rear part of the body by cutting.

The number of the inserting pins is two and the inserting pins are symmetrically arranged and are respectively inserted into the inserting grooves at the corresponding positions.

As shown in fig. 12, referring to fig. 1, the continuous emission clip applier includes a body base 19, a body tube 12, a nail feeding rod 16 and a nail closing rod 13 are respectively connected to the body base 19 for the driver body tube 12, the nail feeding rod 16 and the nail closing rod 13, and the nail feeding rod 16, the nail closing rod 13 and the body tube 12 are sequentially nested from inside to outside; the nail feeding rod 16, the nail closing rod 13 and the body pipe 12 are coaxially arranged.

As shown in the figure 1, the shaft rod part comprises a nail feeding rod, a nail closing rod and a body tube.

As shown in fig. 9, 10 and 11, the body base 19 includes a first transmission member, a second transmission member, a third cylindrical body 24, and a driving assembly. The first transmission assembly comprises a first chuck 20 and a first transmission wheel 21, and the first chuck 20 and the first transmission wheel 21 are fixedly connected through a shaft; when the first chuck rotates, the first driving wheel rotates along with the first chuck. The lower part of the third cylindrical body 24 is rotatably connected with the positioning seat, the third cylindrical body 24 is fixedly connected with the body tube 12, the third cylindrical body 24 is connected with the first driving wheel 21, and when the first driving wheel 21 rotates, the third cylindrical body 24 rotates along with the first cylindrical body 24. Therefore, the body tube 12 of the clip applier can rotate, the body tube 12 drives the component tube 11 to rotate, and the clamping jaw 36 is adjusted to rotate. Preferably, the nail feeding rod and the nail closing rod penetrate through the third cylindrical body and are connected with the second cylindrical body and the first cylindrical body.

The second transmission component and the third transmission component are respectively connected with the driving assembly.

The second transmission assembly comprises a second chuck 22 and a second transmission wheel 23, and the second chuck 22 is fixedly connected with the second transmission wheel 23 through a shaft; when the second chuck rotates, the second transmission wheel rotates along with the second chuck; the third transmission assembly comprises a third chuck 46 and a third transmission wheel 47, and the third chuck 46 is fixedly connected with the third transmission wheel 47 through a shaft; when the third chuck rotates, the third driving wheel rotates along with the third chuck. Referring to fig. 10 and 11, the drive assembly includes outer rotor 49 and inner rotor 48; inner rotor 48 and outer rotor 49 are connected to each other so as to be rotatable about their own central axis e.

Referring to fig. 12, the external rotor 49 comprises a first cylindrical body 25, a cavity 27 extending along a central axis e of the first cylindrical body 25 is arranged inside the first cylindrical body 25, and an outer side wall of the first cylindrical body 25 is connected with a third transmission wheel 47; when the third transmission wheel 47 rotates, the first cylindrical body 25 rotates along with the third transmission wheel; the internal rotor 48 comprises a second cylindrical body 26, the upper part of the second cylindrical body 26 extends into the cavity 27, the lower part of the second cylindrical body 26 is positioned outside the cavity 27, and the outer side wall of the part of the second cylindrical body 26 positioned outside the cavity 27 is connected with the second transmission wheel 23; when the second transmission wheel 23 rotates, the second cylindrical body 26 rotates along with the second transmission wheel; a nail closing driving sleeve 28 is fixedly arranged inside the second cylindrical body 26, a through screw hole is formed in the middle of the nail closing driving sleeve 28, and the nail closing rod 13 is in threaded connection with the nail closing driving sleeve 28.

Referring to fig. 12, a nail feeding driving sleeve 29 is fixedly arranged at one end of the cavity 27 far away from the opening, a through screw hole is formed in the nail feeding driving sleeve 29, and the nail feeding rod 16 is in threaded connection with the nail feeding driving sleeve 29.

Referring to fig. 14, the upper portion of the first cylindrical body 25 is fixedly connected to the positioning seat, and the first cylindrical body 25 can rotate relative to the positioning seat. The lower part of the second cylindrical body 26 is fixedly connected with another positioning seat, and the second cylindrical body 26 can rotate relative to the positioning seat. Referring to fig. 13, the nail feeding rod 16 and the nail closing rod 13 are respectively connected to a rotation stopping mechanism, the rotation stopping mechanism can prevent the nail feeding rod 16 and the nail closing rod 13 from rotating around their own central axes e, and the rotation stopping mechanism allows the nail feeding rod 16 and the nail closing rod to move along their own central axes e.

In the above embodiments, the "positioning seat" described is a fixing frame/seat structure with positioning function connected to the structure to be positioned (such as the first cylindrical body 25, the second cylindrical body 26, the third cylindrical body 24, etc.), and they may be separate structures, respectively corresponding to the structure of the device to be positioned, or may be an integrated positioning structure on the premise of satisfying the requirements of compact and precise functions and structural layout.

As shown in fig. 11, preferably, the first column, the second column and the third column are coaxially arranged, and the nail closing rod and the nail feeding rod penetrate through a central hole of the third column and then extend into the second column and the first column.

It should be clear from reading this embodiment and referring to the drawings that the positioning seat only allows the first and second

cylindrical bodies

25, 26 to rotate about their own central axes e, but not to allow the first and second cylindrical bodies to yaw and translate or otherwise rotate about their own central axes e. The nail feeding rod 16 passes through the second cylindrical body and is connected with a nail feeding driving sleeve 29.

In use, the body base 19 is connected to a robotic arm of a surgical robot. The first chuck 20, the second chuck 22 and the third chuck 46 are respectively connected to an actuating disk or an actuating motor of the surgical robot.

Preferably, the nail feeding driving sleeve 29 and the nail closing driving sleeve 28 are hollow sleeve-shaped driving sleeves with connecting threads.

As shown in fig. 13 and 18: the rotation stopping mechanism comprises a rotation stopping pipe 30, the rotation stopping pipe 30 is fixedly connected with the body pipe 12, and a first guide hole 31 is formed in the side wall of the rotation stopping pipe 30. The side wall of the nail closing rod 13 is provided with a second guide hole 32 corresponding to the first guide hole 31; the nail feeding rod 16 is fixedly connected with a limiting column 34, the limiting column 34 is inserted into the first guide hole 31 and the second guide hole 32, and when the nail feeding rod 16 or the nail closing rod 13 moves towards the front part or the rear part of the clip applier, the limiting column 34 moves along the length direction of the first guide hole 31 and the second guide hole 32. It should be understood from reading the present embodiment that the first guide hole 31 and the second guide hole 32 are holes having a certain length, such as long holes (kidney-shaped holes) or other holes capable of limiting the deflection of the position-limiting column 34 and allowing the position-limiting column to move in the length direction. The limiting column is perpendicular to the nail feeding rod. The rotation stopping mechanism can prevent the nail feeding rod and the nail closing rod from rotating along with the rotation of the nail feeding driving sleeve and the nail closing driving sleeve in the rotation process.

Referring to FIG. 5: the replaceable component b is a detachable component butted at the front end of the shaft part a of the clip applier, and the number, the type and the like of the tissue clips are adjusted by replacing the component. Thereby improving the operation efficiency and avoiding the pollution risk caused by integral disassembly.

As shown in fig. 17, the replaceable module b comprises a module tube 11, a nail magazine 35 located inside the module tube 11, a nail feeding plate 15 connected with the nail magazine 35, and a clamping jaw 36 hinged at the front of the nail magazine 35. The nail bin and the nail feeding plate are inserted in the nail closing pipe.

The nail bin 35 is fixedly connected with the assembly tube 11 through a guide fixing piece 37; the tail c of the jaw is provided with a closing spring 38 capable of providing a closing force for closing the jaw 36 at an angle. Furthermore, the assembly pipe is sleeved outside the nail bin, the guide fixing piece is fixedly connected with the assembly pipe, and the nail bin is fixedly connected with the guide fixing piece.

Referring to fig. 15 and 16, the nail feeding plate 15 is connected with an opening spring 39 for keeping the clamping jaws 36 open; the rear part of the nail feeding plate 15 is connected with the cross joint 8.

Referring to fig. 17, the nail feeding plate 15 is fixedly provided with a nail feeding elastic sheet 40, the nail bin 35 is internally provided with a nail bin stopping elastic sheet 41, after the nail feeding plate 15 is connected with the nail bin 35, a bin which extends along the length direction of the nail bin and can store a tissue clamp d is formed, and when the tissue clamp d is positioned in the bin, the nail feeding elastic sheet 40 and the nail bin stopping elastic sheet 41 are respectively abutted against a positioning convex part 42 of the tissue clamp d. The front end of the staple feeding plate 15 is provided with a staple pushing head 43 for pushing the tissue clip d.

When the clamping jaws 36 are in an opening state, the front ends of the opening springs 39 are clamped at the tail parts c of the clamping jaws, when the nail feeding rod 16 moves forwards, the nail feeding rod 16 pushes the nail feeding plate 15 to move forwards, the opening springs 39 move forwards along with the nail feeding plate 15 until the front ends of the opening springs 39 abut against the bosses at the tail parts of the clamping jaws 36, the actuating hooks 44 on the opening springs 39 are separated from the actuating hook holes 45 on the nail feeding plate 15, and at the moment, the tail parts of the clamping jaws lose the opening force provided by the opening springs. And when the third chuck rotates reversely and the nail feeding plate 15 retreats, the actuating hook 44 enters and hooks the actuating hook hole 45 on the nail feeding plate 15 again, and the opening spring 39 retreats along with the nail feeding plate 15.

Preferably, the plurality of magazine retaining spring pieces 41 and the staple feeding spring piece 40 are arranged along the longitudinal direction of the magazine 35.

The following illustrates a set of transmission actions: in use, the second chuck 22 and the third chuck 46 are respectively fixed in abutment with an actuation disc on a robotic arm of the robotic system for minimally invasive surgery, and rotation of the actuation disc can drive rotation of the corresponding chuck. The second chuck 22 rotates forwards/backwards, the second transmission wheel 23 rotates along with the second chuck, so as to drive the second cylindrical body 26 to rotate, when the second cylindrical body 26 rotates, the nail closing driving sleeve rotates, on one hand, the screw threads generate pushing/pulling force on the nail closing rod 13, on the other hand, the rotation stopping mechanism simultaneously prevents the nail closing rod 13 from rotating and allows the nail closing rod to move along the direction of the central axis e of the nail closing rod, so that the nail closing rod 13 moves forwards/backwards, and the nail closing rod drives the nail closing pipe to reciprocate back and forth, and multiple times of closing and opening of the clamping jaws are completed. Similarly, when the third chuck 46 rotates in the forward/reverse direction, the third transmission wheel 47 rotates to drive the first cylindrical body 25 to rotate, and the nail feeding driving sleeve rotates to push the nail feeding rod 16 to move forward or backward. During the forward movement of the nail feeding rod 16, the nail feeding plate moves back and forth along with the nail feeding rod, so that the tissue clip d in the nail bin 35 is pushed into the clamping jaws 36, and the nail closing rod 13 moves forward to close the clamping jaws 36, so that the tissue clip d is closed.

Example 3

This example was further optimized on the basis of example 2:

referring to fig. 1 to 19, as shown in fig. 14, the body base 19 includes a base 51, a middle bracket 52 and a top bracket 53, the middle bracket 52 and the top bracket 53 are respectively and fixedly connected with the base 51, the upper portion of the first cylindrical body 25 is rotatably connected with the top bracket 53, and the lower portion of the second cylindrical body 26 is rotatably connected with the middle bracket 52; third cylinder 24 of the hair clip applier jaws is pivotally connected to base 51. In this embodiment, the structures rotatably coupled to each other are coupled using bearings. The first chuck 20, the second chuck 22 and the third chuck 46 of the body base 19 respectively extend to the outer side of the base 51, the first chuck 20, the second chuck 22 and the third chuck 46 are respectively connected with a plurality of brake discs or actuating motors of the surgical robot at corresponding positions, and when the brake discs or actuating motors rotate forwards or backwards, the first chuck 20, the second chuck 22 and the third chuck 46 rotate forwards or backwards along with the brake discs or actuating motors. The body base 19 carries a catch mechanism or other quick release mechanism for detachable attachment to the surgical robot.

In some embodiments of the present invention, the positioning seat is connected with the first cylindrical body 25 and the second cylindrical body 26 through a bearing.

As shown in fig. 12, the inner sidewall of the cavity 27 is fixedly connected with the outer sidewall of the second cylindrical body 26 through a bearing g. The inner diameter of the opening end of the cavity 27 is expanded to form a stand, the outer diameter of the upper part of the second cylindrical body 26 is reduced to form a stand, and the bearing g is clamped between the stand inside the cavity 27 and the stand outside the second cylindrical body 26.

The nail closing rod 13 is sleeved outside the nail feeding rod 16, the body tube 12 is sleeved outside the nail closing rod 13, and the body tube 12, the nail closing rod 13 and the nail feeding rod 16 are coaxially arranged. The nail feeding rod 16 passes through the second cylindrical body and is connected with the first cylindrical body.

The outer side wall of the first cylindrical body 25 is fixedly provided with a gear ring 50, the third driving wheel 47 is a transmission gear, and the gear ring 50 is meshed with the transmission gear.

The outer side wall of the second cylindrical body 26 is provided with a gear ring 50, the second transmission wheel 23 is a transmission gear, and the gear ring 50 is meshed with the transmission gear. The outer side wall of the third cylindrical body 24 is fixedly provided with a gear ring 50, the first driving wheel 21 is a driving gear, and the gear ring 50 is meshed with the driving gear.

The body tube 12 and the nail closing rod 13 are respectively of a hollow structure, the nail closing rod 13 is inserted in the body tube 12, and the nail feeding rod 16 is inserted in the nail closing rod 13.

When the nail feeding rod 16 moves towards the front end or the rear end of the instrument, the nail feeding plate 15 can move forwards/backwards along the length direction of the nail bin 35 along with the nail feeding rod 16.

The nail closing rod 13 is sleeved outside the nail feeding rod 16, the front end of the nail closing rod 13 is fixedly connected with the nail closing tube 14, the nail closing tube 14 is sleeved outside the nail bin 35, a limiting protrusion 411 is arranged on the side wall of the nail bin 35, a through hole 412 is arranged on the side wall of the nail closing tube 14, the limiting protrusion 411 penetrates through the through hole 412, and the limiting protrusion 411 is allowed to pass through in a reciprocating mode along the length direction of the through hole 412 by the through hole 412. The vias 412 are kidney shaped holes in this embodiment.

As shown in fig. 5 and 17, the nail feeding plate 15 is fixedly provided with a nail feeding elastic sheet 40, the nail bin 35 is internally provided with a nail bin stopping elastic sheet 41, after the nail feeding plate 15 is connected with the nail bin 35, a bin which extends along the length direction and can store the tissue clamp d is formed, and when the tissue clamp d is positioned in the bin, the nail feeding elastic sheet 40 and the nail bin stopping elastic sheet 41 are respectively abutted with a positioning convex part 42 (also called as a tissue clamp cylinder) of the tissue clamp d. The nail feeding elastic sheet 40 and the nail bin backstop elastic sheet 41 are arranged in pairs oppositely. The plurality of tissue clips d are sequentially arranged along the length direction of the nail bin 35, when the nail feeding rod moves forwards, the nail feeding plate moves along with the nail feeding rod, the nail pushing head 43 feeds the tissue clips d on the nail feeding position at the forefront position of the nail bin into the clamping jaw 36, in the process, the nail feeding elastic sheet 40 pushes the tissue clips d at the rear position forwards, and the tissue clips reach the nail feeding positions at the forefront position one by one. The nail closing tube moves forwards to close the clamping jaw, and one-time tissue clamping closing action is completed. The nail bin backstop elastic sheet abuts against the tissue clamp in the process of retreating the nail feeding plate to prevent the tissue clamp from being pushed to the rear part of the clip applier by the nail feeding elastic sheet. The plurality of tissue clips d are sequentially pushed to the clamping jaw 36 one by one according to the process and closed, so that the purpose of continuously sending and applying clips is achieved. After the nail feeding is finished for one time, the nail feeding driving sleeve 29 is driven by the third chuck 46 to rotate reversely, the nail feeding plate 15 moves backwards to return, the nail feeding elastic sheet 40 bounces off the tissue clamp d under the elastic deformation of the nail feeding elastic sheet in the retreating process, and the nail bin backstop elastic sheet 41 abuts against the positioning protruding part 42 of the tissue clamp d to prevent the tissue clamp d from retreating along with the nail feeding elastic sheet 40. Before the nail is not fed, the clamping jaw 36 is kept open, at the moment, the front end of the opening spring 39 is clamped at the tail part c of the clamping jaw, the opening spring 39 moves forwards along with the nail feeding plate 15 until the front end of the opening spring 39 abuts against a boss at the tail part of the clamping jaw 36, the actuating hook 44 on the opening spring 39 is separated from the actuating hook hole 45 on the nail feeding plate 15, the actuating hook enters and hooks the actuating hook hole 45 on the nail feeding plate 15 again in the rear process of the nail feeding plate 15, and the opening spring 39 returns back along with the nail feeding plate 15 to finish one-time nail feeding. When closing the nail, the nail closing tube 14 moves forwards until the nail closing tube 14 closes the clamping jaws 36 to complete nail closing.

Referring to fig. 5, a guide fixing plate 37 is fixedly provided inside the module tube, a fixing hole 371 corresponding to the restricting protrusion 411 is provided on the guide fixing plate 37, and the restricting protrusion 411 is inserted into the fixing hole 371 through the hole 412. The guide fixing piece 37 is separated into two parts from the middle part, and the two parts are buckled to form a cylindrical shape when being assembled. A gap for reciprocating the staple closing tube 14 is preset between the guide fixing piece 37 and the staple cartridge 35. The guide fixing piece 37 is welded or snap-fitted inside the assembly tube.

As shown in fig. 19, referring to fig. 1, the housing 54 of the body base 19 includes an upper cover 541 detachably connected to the base 51, the upper cover 541 covers the middle layer rack and the top layer rack, the upper cover is provided with a manual control opening 543, and the manual control opening 543 is detachably connected to a control opening cover plate 542. The position of the manual control opening 543 corresponds to the position of the second driving wheel, the third driving wheel and/or the first driving wheel in the body base 19.

The control port cover 542 is made of a transparent material. The control port cover plate 542 is clamped and fixed with the manual control port 543.

When the power supply of the surgical robot system which is manually incapable of resisting the force rejection is lost in an accident with extremely low probability, the front-end manipulator cannot move, the clamp applying forceps cannot move, and medical personnel can toggle the first driving wheel 21, the second driving wheel 23 or the third driving wheel 47 through the manual control port 543 by opening the control port.

Referring to fig. 10-17, several exemplary clip applier application sequences are illustrated, and the present invention is not limited to a single action, but is illustrated as follows, among other actions.

In use, the first action: the body pipe rotates, the first chuck drives the first transmission wheel to rotate, the first transmission wheel is meshed with the third cylindrical body through a gear, the third cylindrical body is fixedly connected with the body pipe through a pin, and the first chuck rotates to enable the body pipe to rotate along the center shaft of the body pipe.

Referring to fig. 21, in some embodiments, during testing, it is found that, in the process of docking the replaceable assembly to the shaft portion, due to manual docking by medical staff, the docking mechanisms are forced to shift relatively before being clamped in place due to hand shaking or action interference of other structural assemblies, which affects the docking effect. Or when the replaceable component is bumpy and transported in the independent transportation process, the butt joint mechanisms of the replaceable component are relatively displaced.

In order to solve the problems, a stop pin capable of being manually inserted and pulled out is inserted into the replaceable assembly, the relative positions of the assembly pipe, the nail closing pipe and the nail feeding plate are fixed, mutual displacement among the assembly pipe, the nail closing pipe and the nail feeding plate inside is prevented, and the stop pin is pulled out after the replaceable assembly is butted with the shaft rod part.

And II, feeding clips: the third chuck is connected with a third driving wheel, the third driving wheel is meshed with a gear outside the first cylindrical body, a nail feeding driving sleeve (also called as a nail feeding nut) is arranged inside the third cylindrical body, and the nail feeding driving sleeve is matched with the screw thread of the nail feeding rod. The nail feeding rod is provided with a limiting column which slides in the long hole of the rotation stopping pipe to prevent the nail feeding rod from rotating. The rotation stopping pipe is fixed in the body pipe through a buckle.

When the third chuck rotates under the driving of the actuating motor/actuating disc, the nail feeding driving sleeve correspondingly rotates, the screw threads push the nail feeding rod to act, the rotation motion is changed into linear motion, and then the nail feeding rod moves forwards or backwards.

The head of the nail feeding rod is fixed with the tail of the nail feeding plate through a butt joint structure, and the movement of the nail feeding rod is transferred to the nail feeding plate. The head of the staple feeding plate pushes the tissue clip located in the ready-to-deliver position forward to the working position with the jaws open. Meanwhile, the nail feeding plate is provided with nail feeding elastic sheets which push a tissue clamp cylinder of a second tissue clamp (the tissue clamp positioned at the forefront part in the nail bin is the first tissue clamp, and the nth tissue clamp is sequentially arranged towards the back part to form the second tissue clamp … …).

Action three, closing the clamp: the second chuck is connected with a second driving wheel which is meshed with a gear outside the second cylindrical body, a nail closing driving sleeve (also called as a nail closing nut) is arranged inside the second cylindrical body, and the nail closing driving sleeve is matched with the screw thread of the nail closing rod. When the second chuck rotates under the drive of the actuating motor/actuating disc, the nail closing driving sleeve correspondingly rotates, the screw threads push the nail closing rod, the rotation motion is changed into linear motion, and the nail closing rod moves forwards along with the linear motion. The rotation stopping mechanism also prevents the nail closing rod from rotating. The head of the nail closing rod is fixed with the tail of the nail closing pipe through a butting mechanism, and the movement of the nail closing rod is transferred to the nail closing pipe. The nail closing pipe is guided by the guide fixing piece, the guide fixing piece is fixed in the assembly pipe through a buckle, and the assembly pipe is fixed with the body pipe. And when the nail closing pipe advances, the clamping jaws are pushed to be closed, and the nail closing is completed.

Action four, close the nail pole, send the nail pole to reset: (the related figure shows that the action three is used for closing the clamp.) the second chuck rotates reversely (the reverse direction refers to the direction opposite to the direction of the closing nail action) under the driving of the motor, and the closing nail driving sleeve rotates reversely to drive the closing nail rod and the closing nail tube to return to the original position.

The third chuck rotates reversely (the reverse direction refers to the direction opposite to the direction during the nail feeding action) under the driving of the motor (the related figure shows that the 'action two: the nail feeding clamp') and the nail feeding driving sleeve rotates reversely to drive the nail feeding rod to return to the original position.

In the process that the nail feeding rod drives the nail pushing piece to return to the original position, the head of the nail feeding plate and the nail feeding elastic piece are pulled back, and the second tissue clamp completely returns to the position of preparing the nail bin and is clamped by the nail bin backstop elastic piece.

And fifthly, feeding and closing the nails again: after resetting is completed, feeding the nail again, closing the nail and performing action two: clip feeding and action three: the closed clamp is the same.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims

1. The utility model provides a butt-joint structural of removable subassembly which characterized in that: the device comprises a first butt joint mechanism and a second butt joint mechanism, wherein the first butt joint mechanism and the second butt joint mechanism are respectively and fixedly connected with two end parts needing butt joint in the component replacement process;

the first butting mechanism comprises a first hook and a rotation stopping elastic sheet;

the second butting mechanism comprises a second hook and a rotation stopping groove;

when the two end parts are butted, the first hook and the second hook are hooked, and the rotation stopping elastic sheet is embedded with the rotation stopping groove.

2. The docking structure for replaceable components of claim 1 wherein: the device also comprises a third docking mechanism and a fourth docking mechanism;

the third butt joint mechanism and the fourth butt joint mechanism are respectively and fixedly connected with two end parts needing butt joint in the component replacing process;

the third butt joint mechanism comprises a connecting seat and a limiting block fixedly connected with the connecting seat, and the limiting block extends out of the connecting seat;

the fourth butt joint mechanism comprises a clamping groove used for clamping the limiting block, the limiting block extends into the clamping groove from the channel in the butt joint process of the two end parts, and the connecting seat rotates to enable the limiting block and the channel to be staggered and clamped into the clamping groove.

3. The docking structure for replaceable components of claim 2 wherein: the device also comprises a fifth docking mechanism and a sixth docking mechanism;

the fifth docking mechanism comprises a cross joint;

4. The docking structure for replaceable components of claim 3 wherein: in the process of butt joint of the two end parts, the first hook reaches the hooking position of the second hook from the channel, and then the first hook or the second hook is rotated to enable the first hook and the second hook to approach each other until the first hook and the second hook are hooked with each other; in the process, the rotation stopping elastic sheet is stirred to enable the rotation stopping elastic sheet to generate elastic deformation, so that the action interference of the end part of the rotation stopping groove in the hooking process on the rotation stopping elastic sheet is avoided; when the first hook and the second hook are hooked, the rotation stopping elastic sheet stops being pushed, the rotation stopping elastic sheet resets, and the rotation stopping elastic sheet is just embedded into the rotation stopping groove after resetting;

the first hook and the second hook are right-angle hooks respectively.

5. The utility model provides a surgical robot is with sending and executing clamp which characterized in that: the replaceable component comprises a replaceable component arranged at the front part of the clip applier, the replaceable component is connected with the shaft part of the clip applier through a butt joint structure of the replaceable component, and the butt joint structure of the replaceable component is the butt joint structure of the replaceable component in any one of claims 1 to 4.

6. The surgical robot hair clip applier of claim 5, wherein: two end parts needing butt joint in the component replacing process are respectively the front end of a shaft rod part of the clip applier and the rear end of the replaceable component;

the first butt joint mechanism is fixed with the component pipe of the replaceable component, and the second butt joint mechanism is fixed with the body pipe of the clip applier;

the third butt joint mechanism is fixed with a nail closing rod in the instrument body pipe, and the fourth butt joint mechanism is fixed with a nail closing pipe in the assembly pipe;

the fifth butt joint mechanism is fixed with a nail feeding plate positioned in the assembly pipe, and the sixth butt joint mechanism is fixed with a nail feeding rod in the nail closing rod;

after the replaceable component is fixedly butted with the shaft rod part, the first hook is hooked with the second hook, the rotation stopping elastic piece is embedded with the rotation stopping groove, the limiting block is clamped into the clamping groove, and the cross-shaped joint is clamped into the cross-shaped joint clamping groove.

7. The docking structure for replaceable components of claim 6 wherein: a middle hole is formed in the middle of the connecting seat, and the front end of the nail feeding rod penetrates through the middle hole and is fixedly connected with the rear part of the cross-shaped joint clamping groove;

the connecting seat is provided with an inserting groove, the rear part of the cross-shaped connector clamping groove is fixedly provided with an inserting pin, and the inserting pin is inserted into the inserting groove; when the inserting pin is inserted into the inserting groove, the cross-shaped joint clamping groove and the connecting seat cannot rotate relative to each other by taking the axis of the middle hole as a shaft.

8. The surgical robot hair clip applier of claim 6, wherein: the nail feeding rod, the nail closing rod and the nail feeding rod are sequentially sleeved from inside to outside; the nail feeding rod, the nail closing rod and the body pipe are coaxially arranged;

the body base comprises a first transmission component, a second transmission component, a third columnar body and a driving assembly;

the first transmission assembly comprises a first chuck and a first transmission wheel, and the first chuck is fixedly connected with the first transmission wheel through a shaft; when the first chuck rotates, the first transmission wheel rotates along with the first chuck; the lower part of the third cylindrical body is rotatably connected with the positioning seat, the third cylindrical body is fixedly connected with the instrument body tube, the third cylindrical body is connected with the first driving wheel, and when the first driving wheel rotates, the third cylindrical body rotates along with the first driving wheel;

the second transmission assembly and the third transmission assembly are respectively connected with the driving assembly;

the second transmission assembly comprises a second chuck and a second transmission wheel, and the second chuck is fixedly connected with the second transmission wheel through a shaft; when the second chuck rotates, the second transmission wheel rotates along with the second chuck; the third transmission assembly comprises a third chuck and a third transmission wheel, and the third chuck is fixedly connected with the third transmission wheel through a shaft; when the third chuck rotates, the third driving wheel rotates along with the third chuck;

the drive assembly comprises an outer rotor and an inner rotor; the inner rotating body and the outer rotating body can be connected in a rotating way by taking the central axis of the inner rotating body and the central axis of the outer rotating body as an axis;

the external rotating body comprises a first cylindrical body, a cavity extending along the central axis of the first cylindrical body is arranged in the first cylindrical body, and the outer side wall of the first cylindrical body is connected with a third driving wheel; when the third transmission wheel rotates, the first cylindrical body rotates along with the third transmission wheel;

the inner rotating body comprises a second cylindrical body, the upper part of the second cylindrical body extends into the cavity, the lower part of the second cylindrical body is positioned outside the cavity, and the outer side wall of the part of the second cylindrical body, which is positioned outside the cavity, is connected with the second driving wheel; when the second driving wheel rotates, the second cylindrical body rotates along with the second driving wheel; a nail closing driving sleeve is fixedly arranged in the second cylindrical body, a through screw hole is formed in the middle of the nail closing driving sleeve, and a nail closing rod is in threaded connection with the nail closing driving sleeve;

one end of the cavity, which is far away from the opening, is fixedly provided with a nail feeding driving sleeve, a through screw hole is formed in the nail feeding driving sleeve, and a nail feeding rod is connected with the nail feeding driving sleeve through threads; the upper part of the first cylindrical body is fixedly connected with the positioning seat, and the first cylindrical body can rotate relative to the positioning seat;

the lower part of the second cylindrical body is fixedly connected with the other positioning seat, and the second cylindrical body can rotate relative to the positioning seat; the nail feeding rod and the nail closing rod are respectively connected with a rotation stopping mechanism, the rotation stopping mechanism can prevent the nail feeding rod and the nail closing rod from rotating by taking the central axis of the rotation stopping mechanism as an axis, and the rotation stopping mechanism allows the nail feeding rod and the nail closing rod to move along the central axis of the rotation stopping mechanism;

the nail feeding rod penetrates through the second cylindrical body and is connected with the nail feeding driving sleeve.

9. The surgical robot hair clip applier of claim 6, wherein: the replaceable assembly comprises an assembly tube, a nail closing tube positioned in the assembly tube, a nail bin positioned in the assembly tube, a nail feeding plate connected with the nail bin and a clamping jaw hinged to the front part of the nail bin; the nail closing tube is sleeved outside the nail bin;

the nail feeding plate is fixedly provided with a nail feeding elastic sheet, the nail bin is internally provided with a nail bin stopping elastic sheet, the nail feeding plate is connected with the nail bin to form a bin which extends along the length direction of the nail bin and can store a tissue clamp, and when the tissue clamp is positioned in the bin, the nail feeding elastic sheet and the nail bin stopping elastic sheet are respectively abutted against the positioning bulge part of the tissue clamp; the front end of the nail feeding plate is provided with a nail pushing head used for pushing the tissue clamp;

10. The surgical robot hair clip applier of claim 7, wherein: the rotation stopping mechanism comprises a rotation stopping pipe, the rotation stopping pipe is fixedly connected with the body pipe, and a first guide hole is formed in the side wall of the rotation stopping pipe;

11. The surgical robot hair clip applier of claim 9, wherein: the nail feeding device is characterized by further comprising a pluggable stop pin for preventing the assembly pipe, the nail closing pipe and the nail feeding sheet from moving relatively, and one end of the stop pin penetrates through the side walls of the assembly pipe and the nail closing pipe and is finally fixedly connected with the nail feeding sheet.