CN115252134A

CN115252134A - Clamping device for interventional operation, rotary driving mechanism and surgical robot

Info

Publication number: CN115252134A
Application number: CN202210755271.2A
Authority: CN
Inventors: 叶胤; 熊科; 柳秋圆; 王德倡; 王羿儒; 丁晓东; 邢庭瑀; 张涵
Original assignee: Shanghai Shenji Medical Technology Co ltd
Current assignee: Shanghai Shenji Medical Technology Co ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-11-01
Anticipated expiration: 2042-06-29
Also published as: CN115252134B

Abstract

The invention provides a clamping device for interventional operation, a rotary driving mechanism and a surgical robot, belonging to the technical field of medical equipment, wherein the clamping device for interventional operation comprises a hollow shaft and a clamp holder, one end of the hollow shaft is used for penetrating through a rotary piece at the tail end of the rotary driving mechanism and installing the rotary piece, and the hollow shaft is coaxially arranged with the rotary piece; the holder is connected to the other end of the hollow shaft, and a clamping cavity communicated with the hollow shaft is formed in the holder. When the rotating member is rotated, the clamping device for intervention operation is driven to rotate synchronously, the structure is simple, the stability is high, the space occupied by the clamping device for intervention operation and the rotating member is small, the interference between the clamping device and other surrounding components is not easy to occur, the overall weight is light, and the light-weight design is facilitated.

Description

Clamping device for interventional operation, rotary driving mechanism and surgical robot

Technical Field

The invention relates to the technical field of medical mechanical equipment, in particular to a clamping device, a rotary driving mechanism and a surgical robot for interventional operation.

Background

The interventional operation is generally guided by medical imaging equipment such as X-ray fluoroscopy, CT positioning and B-type ultrasonic instrument, and the specially made consumables such as catheter and guide wire are guided to the lesion area in the body through natural ducts of artery, vein and digestive system of human body, biliary tract or drainage duct after operation, so as to perform various interventional operation treatments, thereby achieving the purpose of diagnosing and treating diseases.

At present, in order to avoid fatigue of doctors caused by long-time manual delivery of consumables such as catheters and guide wires and reduce the working time of doctors in a radiation environment, a rotary driving mechanism equipped with a clamping device is generally adopted to drive the clamping device and the consumables such as catheters and guide wires clamped by the clamping device to rotate together. However, the position of the rotating consumable such as a catheter and a guide wire may be disturbed, and stability needs to be improved.

Disclosure of Invention

The invention aims to improve the stability of the consumable rotation driven by the rotation driving mechanism to a certain extent.

In order to solve the above technical problems, the present invention provides a clamping device for interventional procedures, which comprises a hollow shaft and a holder, wherein one end of the hollow shaft is used for passing through a rotating member at the tail end of a rotary driving mechanism and installing the rotating member, and the hollow shaft is used for being coaxially arranged with the rotating member; the holder is connected to the other end of the hollow shaft, and a clamping cavity communicated with the hollow shaft is formed in the holder.

Optionally, the hollow shaft includes a first shaft segment and a second shaft segment, the second shaft segment is located between the first shaft segment and the holder, the second shaft segment is used for being connected with the supporting seat of the rotary driving mechanism in a rotating manner, the first shaft segment is used for being connected with the rotating member, and an axial limiting member is arranged at one end, away from the second shaft segment, of the first shaft segment.

Optionally, the holder includes first holder, second holder and spacing subassembly, the second holder with first holder rotates to be connected, the second holder be used for with form between the first holder press from both sides the chamber, spacing subassembly set up in between first holder and the second holder, spacing subassembly is used for locking the relative position of first holder and second holder.

Optionally, the holder further comprises a counterweight structure mounted on the holder and adapted to adjust the centre of gravity of the clamping device for interventional procedures to the axis of the hollow shaft.

Optionally, the first clamping piece or the second clamping piece is detachably connected with the counterweight structure.

Optionally, the counterweight structure is a counterweight block, at least one of the first clamping member and the second clamping member is provided with a limiting groove for mounting the counterweight block, the extending direction of the limiting groove is consistent with the axial direction of the hollow shaft or points to the clamping cavity, and the counterweight block is inserted into the limiting groove along the extending direction of the limiting groove.

Optionally, the limiting assembly comprises a clamping connection structure, the clamping connection structure comprises a clamping piece and a clamping portion, the clamping piece and the clamping portion are arranged on the first clamping piece and the second clamping piece respectively, and the clamping piece is used for being clamped with the clamping portion.

Optionally, the connecting position of the second clamping piece and the first clamping piece in rotational connection and the clamping connection structure are respectively located on two sides of the clamping cavity.

Optionally, the clamping device for interventional operation further includes a first torsion spring, the first torsion spring is disposed at a rotational connection between the first clamping member and the second clamping member and is connected to the first clamping member and the second clamping member respectively, and the first torsion spring is configured to drive the second clamping member to rotate when the clamping member is released from the clamping portion; the joint spare with first holder rotates to be connected, just the joint spare with be provided with the second torsional spring between the first holder, joint portion for set up in the bayonet socket of second holder, the second torsional spring is used for making the joint spare keeps on the motion route of bayonet socket.

Optionally, the clamping device for interventional surgery further comprises a guide ring, the guide ring is arranged at one end of the first clamping piece or the second clamping piece far away from the hollow shaft, and the guide ring and the hollow shaft are coaxial.

Compared with the prior art, the invention has the following beneficial effects:

the hollow shaft and the rotating part are coaxially arranged, the hollow shaft can penetrate through the rotating part at the tail end of the rotating driving mechanism and is rotationally connected with the supporting seat of the rotating driving mechanism, and the rotating part can be installed on the supporting seat to realize the rotating support of the rotating part; meanwhile, the gripper can grip consumables such as a catheter or a guide wire, so that when the rotating member rotates, the consumables such as the catheter or the guide wire can be driven to rotate together, in the process that the consumables such as the catheter and the guide wire rotate (rotate along with the rotating member), the consumables such as the catheter and the guide wire are not easy to deviate in the radial direction of the hollow shaft, a device for supporting a clamping device for intervention operation is not required to be additionally arranged, a multi-stage connecting structure is not required to be arranged to respectively realize the connection between the rotating member and the supporting seat and the connection between the rotating member and the clamping device for intervention operation, the installation of the rotating member and the clamping device for intervention operation is reliable, the synchronous rotation stability is high, the axial relative movement gap of the hollow shaft is small, and the position control precision (rotating position control and delivery position control) of the consumables such as the catheter and the guide wire in the intervention operation can be improved to a certain extent; in addition, the arrangement mode can reduce the installation space required by the clamping device and the rotating piece for interventional operation to a certain extent, occupies small space, is not easy to interfere with other surrounding components, has lighter overall weight and is beneficial to light-weight design.

In a second aspect, the present invention provides a rotary driving mechanism, which includes a rotating member for driving a hollow shaft to rotate and a supporting seat for rotatably connecting with the hollow shaft.

In a third aspect, the present invention provides a surgical robot comprising a gripping device for interventional procedures as described above and a rotary drive mechanism for the gripping device for interventional procedures.

The rotary drive mechanism and the surgical robot have all the advantages of a clamping device for interventional procedures, which are not described in detail here.

Drawings

FIG. 1 is a schematic view of a clamp device for interventional procedures in accordance with an embodiment of the present invention coupled to a rotary drive mechanism;

FIG. 2 is a schematic view of a clamping device, a rotary drive mechanism and a cassette for use in interventional procedures in accordance with an embodiment of the present invention;

FIG. 3 is a schematic view of a clamping device for use in interventional procedures in an embodiment of the present invention;

FIG. 4 is an exploded view of the clamping device of FIG. 3 for use in interventional procedures;

FIG. 5 is a schematic view of another perspective of a clamping device for interventional procedures in an embodiment of the present invention;

FIG. 6 is a schematic view of a clamping device for interventional procedures in accordance with another embodiment of the present invention;

FIG. 7 is an exploded view of the clamping device of FIG. 6 for use in interventional procedures;

FIG. 8 is a schematic structural view of a clamping device for interventional procedures with a closed clamping cavity according to another embodiment of the present invention;

fig. 9 is a schematic structural view of a clamping device for interventional operation according to another embodiment of the present invention, with its clamping cavity opened.

Description of reference numerals:

1-a gripper; 11-a first clamp; 12-a second clamp; 13-a clamping cavity; 14-a limiting groove; 2-a hollow shaft; 21-a first shaft section; 22-a second shaft section; 23-mounting grooves; 31-a rotating member; 32-a support base; 33-a bearing; 34-a first transmission member; 35-a second transmission member; 4-consumable material; 5-axial limit piece; 6-clamping connection structure; 61-a clip; 62-a clamping part; 7-a baffle plate; 8-a guide ring; 9-a box body; 100-a first shaft; 200-a counterweight structure; 300-an elastomeric material; 400-a first torsion spring; 500-a second rotating shaft; 600-a second torsion spring; 700-a third shaft; 800-third torsion spring.

Detailed Description

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

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 and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to "an embodiment," "one embodiment," "some embodiments," "exemplary" and "one embodiment" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or embodiment of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

The terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In the drawings, the Z-axis represents the vertical, i.e., up-down, position, and the positive direction of the Z-axis (i.e., the arrow direction of the Z-axis) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents a horizontal direction and is designated as a left-right position, and a positive direction of the X-axis (i.e., an arrow direction of the X-axis) represents a right side and a negative direction of the X-axis (i.e., a direction opposite to the positive direction of the X-axis) represents a left side; in the drawings, the Y-axis indicates the front-rear position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the front side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the rear side; it should also be noted that the Z-axis, Y-axis, and X-axis are only meant to facilitate the description of the invention and to simplify the description, and are not meant to 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 therefore should not be taken as limiting the invention.

As shown in fig. 1 to 9, the embodiment of the present invention provides a clamping device for interventional operation, the clamping device for interventional operation comprises a hollow shaft 2 and a gripper 1, one end of the hollow shaft 2 is used for passing through a rotating member 31 at the end of a rotary driving mechanism and for mounting the rotating member 31, the hollow shaft 2 is used for being arranged coaxially with the rotating member 31; the clamp holder 1 is connected to the other end of the hollow shaft 2, and the clamp holder 1 is provided with a clamp cavity 13 communicated with the hollow shaft 2.

Illustratively, the rotating member 31 may be a transmission member such as a cylindrical gear, a bevel gear, etc., without limitation, the hollow shaft 2 is a tubular structure with a certain length, the hollow shaft 2 is inserted into and connected with a through hole of the rotating member 31, the hollow shaft 2 is connected with the rotating member 31 through a key or a circumferential positioning plane, the hollow shaft 2 is disposed coaxially with the rotating member 31, so that the rotating member 31 may be mounted on the hollow shaft 2 and drive the hollow shaft 2 to rotate, a mounting groove 23 is formed at an end of the hollow shaft 2 away from the holder 1, the mounting groove 23 is used for mounting an axial limiting member 5, and the axial limiting member 5 is used for limiting the rotating member 31 to axially separate from the hollow shaft 2, wherein the axial direction is an X-axis direction in fig. 1.

The manner in which the holder 1 holds the consumable 4 such as a catheter or guidewire is not intended to be limiting. Illustratively, as shown in fig. 2 and 3, the clamper 1 may include a first clamping member 11 and a second clamping member 12, the first clamping member 11 and the second clamping member 12 are connected by a third rotating shaft 700, the third rotating shaft is sleeved with a third torsion spring 800, the third torsion spring 800 is respectively connected with the first clamping member 11 and the second clamping member 12 to drive the second clamping member 12 to rotate relative to the first clamping member 11 until the clamping cavity 13 is closed, and to maintain the closed state of the clamping cavity 13, it should be noted that in this case, the third rotating shaft 700 and the third torsion spring 800 may form a set of limiting components (described later).

That is, the clamping device for interventional procedures can play both a role of clamping consumables 4 such as catheters and guide wires and also can be used for realizing the installation of the rotating member 31, specifically, the rotating member 31 can be installed to the supporting seat 32 of the rotary driving mechanism through the hollow shaft 2, for example, the hollow shaft 2 is rotatably connected with the supporting seat 32, and the rotating member 31 is installed on the hollow shaft 2.

Thus, the hollow shaft 2 and the rotating part 31 are coaxially arranged, the hollow shaft 2 can penetrate through the rotating part 31 at the tail end of the rotating driving mechanism and is rotatably connected with the supporting seat 32 of the rotating driving mechanism, the rotating part 31 can be installed on the supporting seat 32, and the rotating part 31 can be rotatably supported; meanwhile, the holder 1 can hold consumables 4 such as catheters or guide wires, so that when the rotary member 31 rotates, the consumables 4 such as catheters or guide wires can be driven to rotate together, in the process that the consumables 4 such as catheters and guide wires rotate (rotate along with the rotary member 31), the consumables 4 such as catheters and guide wires are not easy to deviate in the radial direction of the hollow shaft 2, a device for supporting a clamping device for interventional operation is not required to be additionally arranged, a multi-stage connecting structure is not required to be arranged to respectively realize the connection between the rotary member 31 and the supporting seat 32 and the connection between the rotary member 31 and the clamping device for interventional operation, the rotary member 31 and the clamping device for interventional operation are reliably installed, the synchronous rotation stability is high, the relative movement gap in the axial direction of the hollow shaft 2 is small, and the position control precision (rotary position control and delivery position control) of the consumables 4 such as catheters and guide wires in the interventional operation can be improved to a certain extent; in addition, the arrangement mode can reduce the installation space required by the clamping device for interventional operation and the rotating piece 31 to a certain extent, occupies small space, is not easy to interfere with other components such as surrounding catheters, guide wires and the like, has light overall weight and is beneficial to light weight design.

As shown in fig. 1 to 8, the hollow shaft 2 optionally comprises a first shaft section 21 and a second shaft section 22, the second shaft section 22 is located between the first shaft section 21 and the holder 1, the second shaft section 22 is used for rotatably connecting with a supporting seat 32 of the rotary driving mechanism, and the first shaft section 21 is used for connecting with a rotating member 31.

For example, the first shaft segment 21 and the second shaft segment 22 may be detachably connected or may be integrally formed, the second shaft segment 22 is rotatably connected to a support seat 32 of the rotary driving mechanism through a bearing 33, the support seat 32 is a plate-shaped structure with a certain thickness, the bearing 33 is at least partially installed in an installation hole on the support seat 32, for example, the number of the bearings 33 may be two, the bearing 33 includes a rolling portion and a limiting portion, the two bearings 33 may be respectively located at two sides of the support seat 32, the rolling portion is installed in the installation hole, and the limiting portion is used for limiting the second shaft segment 22 to move in the axial direction.

Illustratively, as shown in fig. 2, the rotating member 31 and a part of the hollow shaft 2 are installed in the box 9, during the rotation process of the consumable 4 such as a catheter, a guide wire, etc., the rotating member 31 is driven by the rotating driving mechanism to rotate the hollow shaft 2 in the box 9, thereby avoiding the interference with other external components, in addition, the bottom of the box 9 is provided with an opening, a first transmission member 34 is arranged in the opening and rotatably connected with the rotating member 31, a part of the first transmission member 34 is located at the outer end of the opening and rotatably connected with a second transmission member 35, the first transmission member 34 and the rotating member 31 are driven by the driving member of the rotating driving mechanism to rotate, so as to achieve the purpose of driving the consumable in the clamping device for the intervention operation to rotate, in addition, the bottom of the box 9 is provided with an opening, the driving member of the rotating driving mechanism can be installed outside the box 9, the interference between the rotating member 31 and the related components in the box 9 is avoided, and the overhaul and the replacement of the driving member of the rotating driving mechanism and the transmission components (the first transmission member 34 and the second transmission member 35) are also facilitated. The box 9 may be provided with a roller or the like for driving the consumable 4 such as a catheter and a guide wire to advance or retreat, which will not be described in detail herein.

So, when the clamping device who is used for interveneeing the operation is used for rotary drive mechanism, hollow shaft 2 passes supporting seat 32 and rotates through second axle section 22 and is connected with supporting seat 32, and realize the installation of rotating member 31 through first axle section 21, at this moment, holder 1 and rotating member 31 are located the both sides of supporting seat 32 respectively, rotating member 31 and the clamping device that is used for intervene the operation bodily rotation's stress stability is high, can avoid rotating member 31 and holder 1 all to form cantilever structure when being located supporting seat 32 with one side, and then can reduce the position disturbance of cantilever end because of cantilever structure's cantilever overlength leads to, thereby can improve the position control precision of consumptive material 4 such as pipe, seal wire to a certain extent.

As shown in fig. 3 to 7, optionally, the clamping device 1 includes a first clamping member 11, a second clamping member 12, and a limiting assembly, wherein the second clamping member 12 is rotatably connected to the first clamping member 11, the second clamping member 12 is used for forming a clamping cavity 13 with the first clamping member 11, the limiting assembly is disposed between the first clamping member 11 and the second clamping member 12, and the limiting assembly is used for locking the relative positions of the first clamping member 11 and the second clamping member 12.

It should be noted that the above-mentioned limiting assembly can maintain the locking state of at least one relative position of the first clamping member 11 and the second clamping member 12: for example, the two limiting assemblies may be arranged in two groups, corresponding to the two states, and the structures of the two groups of limiting assemblies may be different, wherein the structure of one group of limiting assemblies is described above, and the structure of the other group of limiting assemblies is described in detail later.

Illustratively, as shown in fig. 4 and 5, the first clamping member 11 and the second clamping member 12 comprise a clamping portion and a holding portion, the first clamping member 11 and the second clamping member 12 are rotatably connected, and when the second clamping member 12 rotates relative to the first clamping member 11 to close the clamping cavity 13, the clamping cavity 13 is formed between the clamping portions of the first clamping member 11 and the second clamping member 12. The holding parts of the first holding part 11 and the second holding part 12 adopt a bending structure design, so that the turning radius of the first holding part 11 and the second holding part 12 can be reduced, and interference with other parts is avoided.

As shown in fig. 6 to 9, the first clamping member 11 may have the same shape and structure as the second clamping member 12, and when the clamping chamber 13 is closed, the first clamping member 11 and the second clamping member 12 are symmetrically disposed such that the distance from any point on the first clamping member 11 to the axis of the hollow shaft 2 is the same as the distance from a point on the second clamping member 12 that is symmetrical with respect to the axis of the hollow shaft 2.

It should be understood that the hollow shaft 2 can likewise be connected to the second clamping element 12, which is not described in detail here.

Therefore, the second clamping piece 12 and the first clamping piece 11 rotate relatively to open or close the clamping cavity, and the relative position of the first clamping piece 11 and the second clamping piece 12 is kept locked through the limiting component, for example, when the second clamping piece 12 moves relative to the first clamping piece 11 to close the clamping cavity 13, the limiting component limits the relative movement of the first clamping piece 11 and the second clamping piece 12, so that consumables 4 such as catheters and guide wires in the clamping cavity 13 are clamped, the operation is simple and fast, the operation time is reduced, and the physical damage of a doctor in a radiation environment for a long time is avoided.

In addition, an elastic material 300, such as rubber, sponge, latex, etc., may be disposed within the clip cavity 13, so as to be suitable for consumables 4 of catheters, guidewires, etc., of different diameters.

As shown in fig. 6 to 9, the holder 1 optionally further comprises a counterweight structure 200, the counterweight structure 200 being mounted on the holder 1 and being used to adjust the centre of gravity of the clamping device for interventional procedures to be located on the axis of the hollow shaft 2.

Illustratively, the weight structure 200 may be a plate-shaped structure having a certain thickness, the number of the weight structures 200 may be plural, and the weight structure 200 may be fixedly connected with the holder 1 or detachably connected.

So, install counter weight structure 200 in the less department of holder 1 quality to the centre of gravity that the clamping device that the adjustment is used for interveneeing the operation is located the axis of hollow shaft 2, when rotary driving mechanism drive hollow shaft 2 is rotatory, the clamping device that is used for intervene the operation keeps dynamic balance at rotatory in-process, can effectively reduce the shake of consumptive material 4 such as pipe, seal wire in pressing from both sides the chamber 13 in rotatory in-process, guarantee that consumptive material 4 such as pipe, seal wire are difficult for radially taking place the off normal at hollow shaft 2 at the pivoted in-process, thereby improve stability and the reliability of intervene the operation.

As shown in fig. 6 to 9, optionally, the first clamping member 11 or the second clamping member 12 is detachably connected to the weight structure 200.

Exemplarily, the detachable connection mode of the counterweight structure 200 and the first clamping member 11 or the second clamping member 12 may be a threaded connection, a clamping connection, and the like, so that the counterweight structure 200 is conveniently installed to adjust the gravity center position of the clamping device for the interventional operation, and the counterweight structure is simple in structure and strong in practicability.

As shown in fig. 6 to 9, optionally, the counterweight structure 200 is a counterweight, at least one of the first clamping member 11 and the second clamping member 12 is provided with a limiting groove 14 for mounting the counterweight, an extending direction of the limiting groove 14 is consistent with an axial direction of the hollow shaft 2 or points to the clamping cavity 13, and the counterweight is inserted into the limiting groove 14 along the extending direction of the limiting groove 14.

In this embodiment, the cross-sectional shape of the limiting groove 14 may be T-shaped, inverted trapezoid, etc., and is not limited herein, the limiting groove 14 may be located on one side of the second clamping member 12 facing the first clamping member 11, the extending direction of the limiting groove may be the same as the axial direction of the hollow shaft 2, the limiting groove 14 may also be located on two sides of the second clamping member 12 in the X direction, the extending direction of the limiting groove points to the clamping cavity 13, and one end of the configuration block is matched with the limiting groove 14, so that the balancing weight may be inserted into the limiting groove 14.

So, the balancing weight can be adorned in spacing groove 14 by the plug-in, can change the balancing weight of different specifications and/or adjust the mounted position of balancing weight on first holder 11 or second holder 12, and the mode that the adjustment is used for intervene clamping device's of operation focus position is simple and convenient more, and the practicality is strong.

As shown in fig. 5 to 7, optionally, the limiting assembly includes a clamping connection structure 6, the clamping connection structure 6 includes a clamping member 61 and a clamping portion 62 respectively disposed on the first clamping member 11 and the second clamping member 12, and the clamping member 61 is used for clamping with the clamping portion 62.

Specifically, the clamping member 61 may be located on the first clamping member 11, and the clamping portion 62 is located on the second clamping member 12, or the clamping member 61 is located on the second clamping member 12, and the clamping portion 62 is located on the first clamping member 11. The clamping piece 61 can be an elastic clamping piece, the clamping portion 62 is a clamping interface, the elastic clamping piece is located on a movement path of the second clamping piece 12 and corresponds to the position of the clamping portion 62, and when the second clamping piece 12 rotates to a state that the clamping cavity is closed relative to the first clamping piece 11, the elastic clamping piece is clamped with the clamping portion 62, so that the second clamping piece 12 is limited to move relative to the first clamping piece 11.

So, through joint piece 61 and the joint of joint portion 62 joint to the relative position locking (the state that keeps the die cavity to close) of first holder 11 of restriction and second holder 12, simple structure, easy operation, the practicality is strong.

As shown in fig. 8, alternatively, the connecting position of the second clamping member 12 rotatably connected with the first clamping member 11 and the clamping connection structure 6 are respectively located at two sides of the clamping cavity 13.

So, second holder 12 rotates the hookup location and the joint connection structure 6 of being connected with first holder 11 and is located the both sides that press from both sides chamber 13 respectively for when opening or closing and pressing from both sides chamber 13, avoid second holder 12 to be connected with the rotation of first holder 11 and joint connection structure to pressing from both sides consumptive material 4 production interference such as pipe, seal wire in the chamber 13, also make things convenient for the doctor to put into with consumptive material 4 such as pipe, seal wire and press from both sides in the chamber 13 or take out from pressing from both sides chamber 13.

In addition, as shown in fig. 6 to 9, at this time, when the second clamping member 12 and the first clamping member 11 surround to form the clamping cavity 13, the first clamping member 11 and the second clamping member 12 are approximately symmetrical, and the connection position where the second clamping member 12 and the first clamping member 11 are rotatably connected and the clamping connection structure 6 may be symmetrically arranged about the center of the clamping cavity 13, for example, in fig. 8, the distance from the two end edges of the clamping device in the Y-axis direction to the clamping cavity is equal, and the distance from the two end edges in the Z-axis direction to the clamping cavity is equal, wherein the former distance is generally greater than the latter distance.

As shown in fig. 5 to 7, optionally, the clamping device for interventional operation further comprises a first torsion spring 400, the first torsion spring 400 is disposed at the rotational connection between the first clamping member 11 and the second clamping member 12 and is respectively connected with the first clamping member 11 and the second clamping member 12, the first torsion spring 400 is used for driving the second clamping member 12 to rotate when the clamping member 61 is released from the clamping portion 62; the clamping piece 61 is rotatably connected with the first clamping piece 11, a second torsion spring 600 is arranged between the clamping piece 61 and the first clamping piece 11, the clamping portion 62 is a clamping opening formed in the second clamping piece 12, and the second torsion spring 600 is used for enabling the clamping piece 61 to be kept on a moving path of the clamping opening.

Exemplarily, as shown in fig. 6 and 7, the limiting assembly may be a first torsion spring 400, a first rotating shaft 100, a second torsion spring 600 and a second rotating shaft 500, the first clamping member 11 and the second clamping member 12 are rotatably connected by the first rotating shaft 100, the first torsion spring 400 is sleeved on the first rotating shaft 100, two ends of the first torsion spring 400 are respectively connected with the first clamping member 11 and the second clamping member 12, and when the clamping member 61 is released from the clamping portion 62, the first torsion spring 400 may drive the second clamping member 12 to rotate in a counterclockwise direction with respect to the first clamping member 11, so as to ensure that the relative positions of the first clamping member 11 and the second clamping member 12 when the clamping cavity 13 is opened are locked. Exemplarily, the clamping member 61 is rotatably connected with the first clamping member 11 through the second rotating shaft 500, the second torsion spring 600 is sleeved on the second rotating shaft 500, two ends of the second torsion spring 600 are respectively connected with the clamping member 61 and the first clamping member 11, and the second torsion spring 600 can keep the clamping member 61 in a state of being butted with the bayonet.

It should be noted that the first torsion spring 400, the first rotating shaft 100, the second torsion spring 600 and the second rotating shaft 500 form another set of limiting components.

Thus, when the clamping cavity 13 needs to be closed, the second clamping piece 12 rotates relative to the first clamping piece 11, the clamping piece 61 overcomes the resistance of the first torsion spring 400 and is clamped with the bayonet, so that the first clamping piece 11 and the second clamping piece 12 are kept locked at the relative position where the clamping cavity 13 is closed, when the clamping cavity 13 needs to be opened, the clamping piece 61 rotates counterclockwise relative to the first clamping piece 11 to be separated from the bayonet, the first torsion spring 400 drives the second clamping piece 12 to rotate counterclockwise relative to the first clamping piece 11, so that the second clamping piece 12 and the first clamping piece 11 are kept locked at the relative position (the clamping cavity is opened), the clamping device for interventional operation can be used at any angle, the first clamping piece 11 and the second clamping piece 12 can be kept in a separated state all the time, so that double hands can be released to a certain degree, a doctor can conveniently place consumables 4 such as catheters and guide wires into the clamping cavity 13 or take out of the consumables 4 from the clamping cavity 13, the operation is simple, the operation time is reduced, and the body damage of the doctor caused by radiation environment. Simultaneously, after the joint piece 61 breaks away from the bayonet, the second torsion spring 600 drives the joint piece 61 to rotate to the motion path of the bayonet, so that the joint piece 61 and the bayonet at the next time are convenient to joint, the structure is simple, the operation is easy, and the practicability is high.

As shown in fig. 3 and 4, the clamping device for interventional operation further comprises a guide ring 8, the guide ring 8 is disposed on one end of the first clamping member 11 or the second clamping member 12 far away from the hollow shaft 2, and the guide ring 8 is coaxial with the hollow shaft 2.

Illustratively, the size of the through hole of the guide ring 8 is larger than the size of the consumable 4 such as a catheter, a guide wire, etc., and preferably, the through hole in the guide ring 8 has the same cross-sectional shape as the clip cavity 13.

So, keep away from the one end of hollow shaft 2 on first holder 11 or second holder 12 and set up guide ring 8, and guide ring 8 and the coaxial setting of hollow shaft 2, at the pipe, consumptive material 4 such as seal wire carry to the in-process that presss from both sides chamber 13, the pipe, consumptive material 4 such as seal wire passes through guide ring 8 earlier and gets into in the clamp chamber 13, at this moment, guide ring 8 is the pipe, consumptive material 4 such as seal wire provides certain location and guide effect, treat that first holder 11 and second holder 12 close and press from both sides behind the chamber 13, the pipe, consumptive material 4 such as seal wire follow the axial displacement of hollow shaft 2 and enter in hollow shaft 2, can effectively avoid the pipe, consumptive material 4 such as seal wire twines or crooked in transportation process, also make things convenient for the doctor to carry the pipe, consumptive material 4 such as seal wire, and easy operation.

In addition, a baffle 7 is arranged at the joint of the hollow shaft 2 and the clamp 1, the baffle 7 is of a plate-shaped structure with a certain thickness, and the baffle 7 can be used for installing the hollow shaft 2 and is connected with the clamp 1, so that the hollow shaft 2 is communicated with the clamping cavity 13.

A further embodiment of the invention provides a rotary drive mechanism comprising a rotary member 31, a support base 32 and a clamping device as above for interventional procedures.

The rotary drive mechanism has all the advantages of a clamping device for interventional procedures, and will not be described in detail here.

A further embodiment of the present invention provides a surgical robot comprising a gripping device for interventional procedures as described above and a rotary drive mechanism as described above.

The surgical robot has all the advantages of a clamping device for interventional surgery, which will not be described in detail here.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.

Claims

1. A clamping device for interventional procedures, comprising:

the hollow shaft (2), one end of the hollow shaft (2) is used for passing through a rotating piece (31) at the tail end of the rotary driving mechanism and is used for installing the rotating piece (31), and the hollow shaft (2) is used for being coaxially arranged with the rotating piece (31);

the clamp holder (1), the clamp holder (1) is connected to the other end of the hollow shaft (2), and the clamp holder (1) is formed with a clamp cavity (13) communicated with the hollow shaft (2).

2. Clamping device for interventional procedures according to claim 1, characterized in that the hollow shaft (2) comprises a first shaft section (21) and a second shaft section (22), the second shaft section (22) being located between the first shaft section (21) and the holder (1), the second shaft section (22) being intended for rotational connection with a support seat (32) of the rotational drive mechanism, the first shaft section (21) being intended for connection with the rotary member (31).

3. Clamping device for interventional procedures according to claim 1, characterized in that the holder (1) comprises a first clamping member (11), a second clamping member (12), the second clamping member (12) being rotatably connected with the first clamping member (11), the second clamping member (12) being adapted to form the clamping cavity (13) with the first clamping member (11), and a stop assembly being arranged between the first clamping member (11) and the second clamping member (12), the stop assembly being adapted to lock the relative position of the first clamping member (11) and the second clamping member (12).

4. The clamping device for interventional procedures as defined in claim 3, characterized in that the holder (1) further comprises a counterweight structure (200), the counterweight structure (200) being mounted on the holder (1) and being adapted to adjust the centre of gravity of the clamping device for interventional procedures to the axis of the hollow shaft (2).

5. Clamping device for interventional procedures according to claim 4, characterized in that the first clamp (11) or the second clamp (12) is detachably connected with the counterweight structure (200).

6. The clamping device for interventional procedures according to claim 5, characterized in that the counterweight structure (200) is a counterweight block, at least one of the first clamping member (11) and the second clamping member (12) is provided with a limiting groove (14) for mounting the counterweight block, the extending direction of the limiting groove (14) is consistent with the axial direction of the hollow shaft (2) or points to the clamping cavity (13), and the counterweight block is inserted into the limiting groove (14) along the extending direction of the limiting groove (14).

7. The clamping device for interventional procedures as defined in claim 3, wherein the limiting assembly comprises a clamping connection structure (6), the clamping connection structure (6) comprises a clamping piece (61) and a clamping portion (62) respectively arranged on the first clamping piece (11) and the second clamping piece (12), and the clamping piece (61) is used for being clamped with the clamping portion (62).

8. Clamping device for interventional procedures according to claim 7, characterized in that the connection position of the second clamping part (12) with the first clamping part (11) in a rotatable connection and the snap connection (6) are located on both sides of the clamping cavity (13), respectively.

9. The clamping device for interventional procedures as defined in any one of claims 7 or 8, wherein the limiting assembly further comprises a first torsion spring (400), the first torsion spring (400) is disposed at the rotational connection between the first clamping member (11) and the second clamping member (12) and is respectively connected with the first clamping member (11) and the second clamping member (12), and the first torsion spring (400) is used for driving the second clamping member (12) to rotate when the clamping member (61) is released from clamping with the clamping portion (62);

joint spare (61) with first holder (11) rotate to be connected, just joint spare (61) with be provided with second torsional spring (600) between first holder (11), joint portion (62) for set up in the bayonet socket of second holder (12), second torsional spring (600) are used for making joint spare (61) keep on the motion route of bayonet socket.

10. Clamping device for interventional procedures according to claim 3, further comprising a guide ring (8), the guide ring (8) being arranged on the first grip (11) or the second grip (12) at an end remote from the hollow shaft (2), the guide ring (8) and the hollow shaft (2) being coaxial.

11. A rotary drive mechanism comprising a rotary member (31), a support base (32) and a clamping device for interventional procedures as defined in any one of claims 1-10.

12. A surgical robot comprising a clamping device for interventional procedures according to any one of claims 1-10 or comprising a rotary drive mechanism according to claim 11.