CN115252134B - Clamping device for interventional operation, rotary driving mechanism and operation robot - Google Patents

Abstract

The invention provides a clamping device for interventional operation, a rotary driving mechanism and an operation robot, which belong 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 is used for installing the rotary piece, and the hollow shaft is used for being coaxially arranged with the rotary piece; the clamp holder is connected to the other end of the hollow shaft, and a clamp cavity communicated with the hollow shaft is formed on the clamp holder. When the rotating part rotates, the clamping device for interventional operation is driven to synchronously rotate, the structure is simple, the stability is high, the space occupied by the clamping device for interventional operation and the rotating part is small, interference with other parts around is not easy to occur, the whole weight is light, and the lightweight design is facilitated.

Description

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

Technical Field

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

Background

The interventional operation generally uses medical imaging equipment such as X-ray fluoroscopy, CT positioning, B-type ultrasonic instrument and the like as guidance, and special consumables such as catheters, guide wires and the like reach a lesion area in the body through natural pipelines of arteries, veins and digestive systems of the human body, biliary tracts or drainage pipelines after operation so as to perform various interventional operation treatments, thereby achieving the purposes of diagnosing and treating diseases.

At present, in order to avoid fatigue caused by long-time manual delivery of consumable materials such as catheters and guide wires by doctors and reduce working time of doctors in a radiation environment, a rotary driving mechanism provided with a clamping device is generally adopted to drive the clamping device and the consumable materials such as catheters and guide wires clamped by the clamping device to rotate together. However, there is a disturbance in the position of the consumable material such as a catheter and a guide wire after rotation, and stability is required to be improved.

Disclosure of Invention

The invention aims to solve the problem of how to improve the stability of the rotary driving mechanism for driving the consumable to rotate to a certain extent.

In order to solve the technical problem, the invention provides a clamping device for interventional operation, which comprises a hollow shaft and a clamp holder, wherein one end of the hollow shaft is used for penetrating a rotating piece at the tail end of a rotary driving mechanism and is used for installing the rotating piece, and the hollow shaft is used for being coaxially arranged with the rotating piece; the clamp holder is connected to the other end of the hollow shaft, and a clamp cavity communicated with the hollow shaft is formed in the clamp holder.

Optionally, the hollow shaft includes first axle section and second axle section, the second axle section is located first axle section with between the holder, the second axle section be used for with rotary drive mechanism's supporting seat rotates to be connected, first axle section be used for with the rotating member is connected, first axle section is kept away from the one end of second axle section is provided with axial limiter.

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 the clamp chamber, spacing subassembly set up in between the first holder with the second holder, spacing subassembly is used for locking first holder with the relative position of second holder.

Optionally, the holder further comprises a weight 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 member or the second clamping member is detachably connected with the counterweight structure.

Optionally, the counter weight structure is the balancing weight, be provided with on at least one of first holder and the second holder and be used for the installation the spacing groove of balancing weight, the extending direction of spacing groove with the axial of hollow shaft is unanimous or point to press from both sides the chamber, the balancing weight be used for following the extending direction cartridge in of spacing groove in the spacing groove.

Optionally, the spacing subassembly includes joint connection structure, joint connection structure including set up respectively in joint spare and joint portion on first holder with the second holder, the joint spare be used for with joint portion joint.

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

Optionally, the clamping device for interventional surgery further includes a first torsion spring, where the first torsion spring is disposed at a rotation connection position of the first clamping piece and the second clamping piece and is connected with the first clamping piece and the second clamping piece respectively, and the first torsion spring is used for driving the second clamping piece to rotate when the clamping piece is released from the clamping portion; the clamping piece is rotationally connected with the first clamping piece, a second torsion spring is arranged between the clamping piece and the first clamping piece, the clamping part is a bayonet arranged on the second clamping piece, and the second torsion spring is used for enabling the clamping piece to be kept on a movement path of the bayonet.

Optionally, the clamping device for interventional operation further comprises a guide ring, wherein the guide ring is arranged at one end, far away from the hollow shaft, of the first clamping piece or the second clamping piece, 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 piece are coaxially arranged, the hollow shaft can pass through the rotating piece at the tail end of the rotary driving mechanism and is rotationally connected with the supporting seat of the rotary driving mechanism, and the rotating piece can be mounted on the supporting seat to realize the rotary support of the rotating piece; meanwhile, the clamp holder can clamp consumable materials such as a catheter or a guide wire, and the like, so that when the rotating member rotates, the consumable materials such as the catheter or the guide wire, and the like can be driven to rotate together, and in the process that the consumable materials such as the catheter, the guide wire, and the like rotate (rotate along with the rotating member), the consumable materials such as the catheter, the guide wire, and the like are not easy to deviate in the radial direction of the hollow shaft, a device for supporting a clamping device for interventional operation is not needed to be additionally arranged, the rotating member and a supporting seat are not needed to be respectively connected by a multistage connection structure, the rotating member and the clamping device for interventional operation are also needed to be connected, the rotating member and the clamping device for interventional operation are reliably installed, the synchronous rotation stability is high, and the relative movement clearance in the axial direction of the hollow shaft is small, so that the position control precision (rotation position control and delivery position control) of the consumable materials such as the catheter, the guide wire, and the like in interventional 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 parts, has lighter overall weight and is beneficial to lightweight design.

In a second aspect, the present invention provides a rotary drive mechanism comprising a rotary member for rotating a hollow shaft and a support for rotational connection with the hollow shaft.

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

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

Drawings

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

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

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

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

FIG. 5 is a schematic view of another view of a clamping device for interventional procedures in accordance with 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 for interventional procedures shown in FIG. 6;

FIG. 8 is a schematic view of a clamping chamber of a clamping device for interventional procedures in accordance with another embodiment of the present invention when closed;

fig. 9 is a schematic view showing a structure in which a clamping cavity of a clamping device for interventional operation is opened in another embodiment of the present invention.

Reference numerals illustrate:

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

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the description of the present specification, descriptions of the terms "embodiment," "one embodiment," "some embodiments," "illustratively," and "one embodiment" and the like 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 implementation of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same examples or implementations. Furthermore, the particular features, structures, materials, or characteristics 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 implicitly indicating the number of technical features indicated. As such, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

The Z-axis in the drawing represents vertical, i.e., up-down position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) 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; the X-axis in the drawing indicates a horizontal direction and is designated as a left-right position, and the positive direction of the X-axis (i.e., the arrow of the X-axis is directed) indicates a right side, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) indicates a left side; the Y-axis in the drawing indicates the front-back position, and the positive direction of the Y-axis (i.e., the arrow of the Y-axis is directed) 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 foregoing Z-axis, Y-axis, and X-axis are meant to be illustrative only and not indicative or implying that the apparatus or component in question must be oriented, configured or operated in a particular orientation, and therefore should not be construed as limiting the invention.

As shown in fig. 1 to 9, the embodiment of the present invention provides a clamping device for an interventional procedure, the clamping device for an interventional procedure including a hollow shaft 2 and a holder 1, one end of the hollow shaft 2 being for passing through a rotary member 31 at the end of a rotary drive mechanism and for mounting the rotary member 31, the hollow shaft 2 being for coaxial arrangement with the rotary member 31; the clamp 1, the clamp 1 is connected to the other end of the hollow shaft 2, and the clamp 1 is formed 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, or the like, where the hollow shaft 2 is a tubular structure with a certain length, the hollow shaft 2 is inserted into a through hole of the rotating member 31 and connected with the through hole, the hollow shaft 2 is keyed to the rotating member 31 or connected with the rotating member 31 through a circumferential positioning plane, and the hollow shaft 2 is coaxially arranged 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, and a mounting groove 23 is formed at an end of the hollow shaft 2 far from the holder 1, where 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 be separated from the hollow shaft 2 in an axial direction, where 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 a guidewire is not limited. As shown in fig. 2 and 3, the holder 1 may include a first holding member 11 and a second holding member 12, where the first holding member 11 and the second holding member 12 are connected by a third rotating shaft 700, and a third torsion spring 800 is sleeved on the third rotating shaft, and the third torsion spring 800 is respectively connected with the first holding member 11 and the second holding member 12, so as to drive the second holding member 12 to rotate relative to the first holding member 11 until the holding chamber 13 is closed, and maintain the state that the holding chamber 13 is closed, and in this case, the third rotating shaft 700 and the third torsion spring 800 may form a set of limiting assemblies (to be described later).

That is, the clamping device for interventional operations can function both to clamp the consumable 4 such as a catheter, a guide wire, etc., and to effect the mounting of the rotating member 31, specifically, the rotating member 31 can be mounted to the support base 32 of the rotation driving mechanism through the hollow shaft 2, for example, the hollow shaft 2 is rotatably connected to the support base 32, and the rotating member 31 is mounted on the hollow shaft 2.

Thus, the hollow shaft 2 and the rotating member 31 are coaxially arranged, the hollow shaft 2 can pass through the rotating member 31 at the tail end of the rotary driving mechanism and is rotationally connected with the supporting seat 32 of the rotary driving mechanism, and the rotating member 31 can be mounted on the supporting seat 32 to realize the rotary support of the rotating member 31; meanwhile, the holder 1 can hold the consumable 4 such as a catheter or a guide wire, so that when the rotating member 31 rotates, the consumable 4 such as the catheter or the guide wire can be driven to rotate together, and in the process that the consumable 4 such as the catheter or the guide wire rotates (rotates along with the rotating member 31), the consumable 4 such as the catheter or the guide wire is 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 needed to be additionally arranged, the connection between the rotating member 31 and the supporting seat 32 is also not needed to be respectively realized by arranging a multi-stage connection structure, the rotating member 31 and the clamping device for interventional operation are connected, the installation of the rotating member 31 and the clamping device for interventional operation is reliable, the synchronous rotation stability is high, and the relative movement clearance in the axial direction of the hollow shaft 2 is small, so that the position control precision (the rotation position control and the delivery position control) of the consumable 4 such as the catheter or the guide wire in the interventional operation can be improved to a certain extent; in addition, this arrangement can reduce the installation space required for the clamp device and the rotating member 31 for the interventional operation to some extent, occupies a small space, is not liable to interfere with other parts such as surrounding catheters and guide wires, and is light in overall weight, thereby facilitating lightweight 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 being located between the first shaft section 21 and the holder 1, the second shaft section 22 being adapted for rotational connection with a support 32 of the rotary drive mechanism, the first shaft section 21 being adapted for connection with the rotary member 31.

The connection between the first shaft section 21 and the second shaft section 22 may be a detachable connection or may be an integral connection, the second shaft section 22 is rotatably connected to the supporting seat 32 of the rotation driving mechanism through the bearing 33, the supporting seat 32 is a plate structure with a certain thickness, the bearing 33 is at least partially installed in the installation hole on the supporting 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 supporting seat 32, the rolling portion is installed in the installation hole, and the limiting portion is used for limiting the second shaft section 22 to move along the axial direction.

As shown in fig. 2, the rotating member 31 and a part of the hollow shaft 2 are installed in the box body 9, in the process of rotating the consumable 4 such as a catheter and a guide wire, the rotating member 31 is driven by the rotating member 31 to drive the hollow shaft 2 to rotate in the box body 9, so as to avoid interaction with other external components, in addition, an opening is formed in the bottom of the box body 9, a first transmission member 34 is arranged in the opening and is rotationally connected with the rotating member 31, a part of the first transmission member 34 is positioned at the outer end of the opening and is rotationally connected with the second transmission member 35, the first transmission member 34 and the rotating member 31 are driven by the driving member of the rotating member to rotate, so that the purpose of driving the consumable in the clamping device for interventional operation to rotate is achieved. The inside of the case 9 may be provided with a structure such as a roller for driving the consumable 4 such as a catheter and a guide wire to advance or retract, which will not be described in detail herein.

So, when the clamping device for interventional operation is used for rotating the actuating mechanism, hollow shaft 2 passes supporting seat 32 and rotates with supporting seat 32 through second shaft section 22 to realize the installation of rotating member 31 through first shaft 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 for interventional operation's the atress stability of whole rotation is high, can avoid rotating member 31 and holder 1 to all be located the same side of supporting seat 32 and form cantilever structure, and then can reduce the position disturbance of cantilever end because of cantilever overlength of cantilever structure 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, alternatively, the holder 1 includes a first holding member 11, a second holding member 12, and a limiting assembly, where the second holding member 12 is rotationally connected to the first holding member 11, the second holding member 12 is used to form a holding cavity 13 with the first holding member 11, and the limiting assembly is disposed between the first holding member 11 and the second holding member 12, and the limiting assembly is used to lock the relative positions of the first holding member 11 and the second holding member 12.

It should be noted that, the above-mentioned limiting assembly may maintain a locked state of at least one of the relative positions of the first clamping member 11 and the second clamping member 12: the first clamping cavity 13 is in an open state, and the second clamping cavity 13 is in a closed state, for example, the two sets of limiting components can be arranged, respectively correspond to the two states, and the structures of the two sets of limiting components can be different, wherein the structure of one set of limiting components is described above, and the structure of the other set of limiting components is described in detail below.

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

As shown in fig. 6 to 9, the shape and structure of the first clamping member 11 may be the same as the second clamping member 12, and the first clamping member 11 and the second clamping member 12 are symmetrically disposed when the clamping chamber 13 is closed, so 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 the point on the second clamping member 12 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.

In this way, the second clamping piece 12 and the first clamping piece 11 can relatively rotate to open or close the clamping cavity, and the relative positions of the first clamping piece 11 and the second clamping piece 12 are kept locked through the limiting component, for example, when the second clamping piece 12 moves to the clamping cavity 13 to be closed relative to the first clamping piece 11, the limiting component limits the relative movement of the first clamping piece 11 and the second clamping piece 12, so that the consumable 4 such as a catheter, a guide wire and the like in the clamping cavity 13 is clamped, the operation is simple and quick, the operation time is shortened, 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., can be arranged in the clamping cavity 13, so that the device can be suitable for consumable materials 4, such as catheters, guide wires, etc., with different diameters.

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

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

Thus, the counterweight structure 200 is arranged at the position with smaller mass of the clamp holder 1 so as to adjust the gravity center of the clamping device for interventional operation to be positioned on the axis of the hollow shaft 2, and when the rotary driving mechanism drives the hollow shaft 2 to rotate, the clamping device for interventional operation keeps dynamic balance in the rotating process, so that the shaking of consumable materials 4 such as a catheter and a guide wire in the clamp cavity 13 in the rotating process can be effectively reduced, the consumable materials 4 such as the catheter and the guide wire are not easy to deviate in the radial direction of the hollow shaft 2 in the rotating process, and the stability and the reliability of interventional operation are improved.

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

Illustratively, the detachable connection manner between the counterweight structure 200 and the first clamping member 11 or the second clamping member 12 may be a threaded connection, a clamping connection, etc., so that the installation of the counterweight structure 200 is convenient to adjust the gravity center position of the clamping device for interventional operation, and the structure is simple and practical.

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 installing the counterweight, the extending direction of the limiting groove 14 is consistent with the axial direction of the hollow shaft 2 or is directed to the clamping cavity 13, and the counterweight is used for being 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., without limitation, the limiting groove 14 may be located at one side of the second clamping member 12 facing the first clamping member 11, the extending direction of the limiting groove may be consistent with the axial direction of the hollow shaft 2, the limiting groove 14 may also be located at two sides of the second clamping member 12 in the X direction, the extending direction of the limiting groove may be directed toward the clamping cavity 13, and one end of the configuration block may be matched with the limiting groove 14, so that the balancing weight may be inserted into the limiting groove 14.

So, but the balancing weight cartridge can be in spacing groove 14, can change the balancing weight of different specifications and/or adjust the mounted position of balancing weight on first clamping piece 11 or second clamping piece 12, and the mode of adjusting the clamping device's that is used for interveneing the operation focus position is simple and convenient more, and the practicality is strong.

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

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

Thus, the clamping member 61 and the clamping portion 62 are clamped to limit the relative position of the first clamping member 11 and the second clamping member 12 to be locked (keeping the closed state of the clamping cavity), so that the structure is simple, the operation is easy, and the practicability is high.

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

So, the connection position and the joint connection structure 6 that second holder 12 and first holder 11 rotate to be connected are located the both sides in pressing from both sides chamber 13 respectively for when opening or closing pressing from both sides chamber 13, avoid second holder 12 and first holder 11 rotate to be connected and joint connection structure to pressing from both sides pipe, seal wire etc. consumptive material 4 in chamber 13 and produce the negotiation, also make things convenient for the doctor to put into pressing from both sides intracavity 13 with pipe, seal wire etc. consumptive material 4 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 are surrounded 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 is rotationally connected with the first clamping member 11 and the clamping connection structure 6 may be symmetrically disposed about the center of the clamping cavity 13, for example, in fig. 8, the distances from the two end edges of the clamp holder to the clamping cavity in the Y-axis direction are equal, and the distances from the two end edges to the clamping cavity in the Z-axis direction are equal, wherein the former distance is generally larger than the latter distance.

As shown in fig. 5 to 7, optionally, the clamping device for interventional operation further includes a first torsion spring 400, where the first torsion spring 400 is disposed at a rotational connection position of the first clamping member 11 and the second clamping member 12 and is respectively connected to 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 the clamping portion 62; the clamping piece 61 is rotationally 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 bayonet arranged on the second clamping piece 12, and the second torsion spring 600 is used for enabling the clamping piece 61 to be kept on a movement path of the bayonet.

As shown in fig. 6 and 7, the limiting component may be a first torsion spring 400, a first rotating shaft 100, a second torsion spring 600, and a second rotating shaft 500, where the first clamping member 11 and the second clamping member 12 are rotationally connected through 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 and the clamping portion 62 are released from the clamping connection, the first torsion spring 400 may drive the second clamping member 12 to rotate in a counterclockwise direction relative 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 are locked when the clamping cavity 13 is opened. Illustratively, 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 in butt joint 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.

In this way, 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 closed relative position of the clamping cavity 13, when the clamping cavity 13 needs to be opened, the clamping piece 61 rotates anticlockwise relative to the first clamping piece 11 to separate from the bayonet, the first torsion spring 400 drives the second clamping piece 12 to rotate anticlockwise relative to the first clamping piece 11, so that the second clamping piece 12 and the first clamping piece 11 keep the relative position locked (the clamping cavity is opened), and the clamping device for interventional operation can also ensure that the first clamping piece 11 and the second clamping piece 12 always keep the separated state at any angle, so that hands can be liberated to a certain extent, a doctor can conveniently put a catheter, a guide wire and the like consumable 4 into the clamping cavity 13 or take the consumable 4 out of the clamping cavity 13, the operation is simple, the operation time is shortened, and the physical damage of the doctor caused by the radiation environment is reduced. Meanwhile, after the clamping piece 61 is separated from the bayonet, the second torsion spring 600 drives the clamping piece 61 to rotate to the moving path of the bayonet, so that the next clamping piece 61 and the bayonet are conveniently clamped, 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 procedures further comprises a guide ring 8, the guide ring 8 being arranged at the end of the first clamping member 11 or the second clamping member 12 remote from the hollow shaft 2, the guide ring 8 being 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 guidewire, etc., and preferably the through-hole in the guide ring 8 is the same as the cross-sectional shape of the clamping cavity 13.

So, one end of keeping away from hollow shaft 2 on first holder 11 or second holder 12 sets up guide ring 8, and guide ring 8 and the coaxial setting of hollow shaft 2, in the in-process that consumable 4 such as pipe, seal wire carried to clamp chamber 13, consumable 4 such as pipe, seal wire gets into clamp chamber 13 through guide ring 8 earlier, at this moment, guide ring 8 provides certain location and guide effect for consumable 4 such as pipe, seal wire, treat that first holder 11 and second holder 12 close clamp chamber 13 after, consumable 4 such as pipe, seal wire follow the axial displacement of hollow shaft 2 and get into hollow shaft 2 in, can effectively avoid consumable 4 such as pipe, seal wire winding or bending in the transportation process, also make things convenient for doctor to carry consumable 4 such as pipe, seal wire, 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 provided with the hollow shaft 2 and is connected with the clamp 1, so that the hollow shaft 2 is communicated with the clamp 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 described above for interventional procedures.

The rotary drive mechanism has all the advantages that the clamping device for interventional procedures has, which are not described in detail here.

Yet another embodiment of the present invention provides a surgical robot comprising a clamping device for interventional procedures as described above and a rotational drive mechanism as described above.

The surgical robot has all the advantages that the clamping device for interventional procedures has, which are not described in detail here.

Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.

Claims (10)

1. A clamping device for interventional procedures, comprising:

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

the clamp device comprises a clamp device (1), wherein the clamp device (1) is connected to the other end of the hollow shaft (2), and a clamp cavity (13) communicated with the hollow shaft (2) is formed in the clamp device (1);

the clamp holder (1) comprises a first clamping piece (11), a second clamping piece (12) and a limiting assembly, wherein the second clamping piece (12) is rotationally connected with the first clamping piece (11), the second clamping piece (12) is used for forming a clamping cavity (13) with the first clamping piece (11), the limiting assembly is arranged between the first clamping piece (11) and the second clamping piece (12), and the limiting assembly is used for locking the relative positions of the first clamping piece (11) and the second clamping piece (12);

the holder (1) further comprises a weight structure (200), which weight structure (200) is mounted on the holder (1) and is used for adjusting the centre of gravity of the clamping device for interventional procedures to the axis of 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 a rotational connection with a support (32) of the rotary drive mechanism, the first shaft section (21) being intended for a connection with the rotary element (31).

3. Clamping device for interventional procedures according to claim 1, characterized in that the first clamping member (11) or the second clamping member (12) is detachably connected with the weight structure (200).

4. A clamping device for interventional procedures according to claim 3, characterized in that 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, the extending direction of the limiting groove (14) is consistent with the axial direction of the hollow shaft (2) or is directed to the clamping cavity (13), and the counterweight is used for being inserted into the limiting groove (14) along the extending direction of the limiting groove (14).

5. Clamping device for interventional procedures according to claim 1, characterized in that the limiting assembly comprises a clamping connection structure (6), the clamping connection structure (6) comprising a clamping part (61) and a clamping part (62) arranged on the first clamping part (11) and the second clamping part (12) respectively, the clamping part (61) being adapted to be clamped with the clamping part (62).

6. Clamping device for interventional procedures according to claim 5, characterized in that the connection location of the second clamping member (12) in rotational connection with the first clamping member (11) and the snap connection structure (6) are located on both sides of the clamping chamber (13), respectively.

7. The clamping device for interventional procedures according to any one of claims 5 or 6, wherein the limiting assembly further comprises a first torsion spring (400), the first torsion spring (400) being arranged at a rotational connection of the first clamping member (11) and the second clamping member (12) and being connected to the first clamping member (11) and the second clamping member (12), respectively, the first torsion spring (400) being adapted to drive the second clamping member (12) to rotate when the clamping member (61) is released from the clamping portion (62);

the clamping piece (61) is rotationally 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 bayonet arranged on the second clamping piece (12), and the second torsion spring (600) is used for enabling the clamping piece (61) to be kept on a movement path of the bayonet.

8. Clamping device for interventional procedures according to claim 1, further comprising a guide ring (8), said guide ring (8) being arranged at the end of the first clamping member (11) or the second clamping member (12) remote from the hollow shaft (2), said guide ring (8) being coaxial with the hollow shaft (2).

9. A rotary drive mechanism, characterized by comprising a rotary member (31), a support (32) and a clamping device for interventional procedures according to any one of claims 1-8.

10. Surgical robot comprising a clamping device for interventional procedures according to any of claims 1-8 or comprising a rotary drive mechanism according to claim 9.