CN115252144B

CN115252144B - Operation navigation positioning robot and electric end effector thereof

Info

Publication number: CN115252144B
Application number: CN202211177574.7A
Authority: CN
Inventors: 张昊任; 史纪鹏; 滕绯虎; 陈向前
Original assignee: Truehealth Beijing Medical Technology Co Ltd
Current assignee: True Health Guangdong Hengqin Medical Technology Co ltd
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2023-01-17
Anticipated expiration: 2042-09-27
Also published as: CN115252144A

Abstract

The application discloses operation navigation positioning robot and electronic end effector thereof, this electronic end effector includes: the mounting base, the linear module, the driving module, the upper clamping jaw and the lower clamping jaw are mounted; the upper jaw and the lower jaw can be opened or closed under traction; the clamping device also comprises an upper connecting piece and a lower connecting piece, wherein the upper connecting piece can synchronously and linearly move along with the upper clamping jaw, and the lower connecting piece is fixedly arranged on the installation foundation; the driving module comprises a transmission shaft, an upper reel and a lower reel, and the transmission shaft can be driven to rotate; the transmission shaft sequentially penetrates through the upper connecting piece and the lower connecting piece and is connected with the upper connecting piece and the lower connecting piece in a rotating way; the upper reel and the lower reel are sleeved on the transmission shaft; go up the reel and twine respectively on the reel down and be equipped with haulage rope and haulage rope down, go up the haulage rope and be connected with last clamping jaw, lower haulage rope is connected with lower clamping jaw. The application solves the problems that in the related art, for the end effector with a needle head clamping jaw and a needle tail clamping jaw, the operation is complex when a puncture needle is clamped and released, and the rapid release cannot be realized.

Description

Surgical navigation positioning robot and electric end effector thereof

Technical Field

The application relates to the technical field of puncture robots, in particular to an electric end effector.

Background

The stability and the precision of puncture operation can effectively be improved in the robot puncture, and the robot can stably centre gripping pjncture needle, keeps puncture position and puncture angle. The robot clamps the puncture needle and performs puncture needle insertion operation through the end effector, and the end effector needs to have functions of clamping the puncture needle and puncturing the needle. In addition, the end effector is also capable of quickly releasing the needle: when the patient is mistakenly operated, the puncture needle is quickly released to avoid injury to the patient; and after the puncture is finished, releasing the puncture needle, and carrying out CT scanning on the puncture needle and the patient together to verify whether the puncture is in place.

The existing scheme needs manual clamping and puncture needle release, and through clamping puncture needles such as a knob, a bolt and clamping jaws linked with the knob, the scheme that two clamping jaws clamp the puncture needle at the needle tail and the needle head respectively is designed, so that the puncture needle is required to be manually operated twice, the operation is complex and time-consuming, and the puncture needle cannot be released quickly.

Disclosure of Invention

The main objective of the present application is to provide an electric end effector to solve the problem that the operation is complex and the needle cannot be released quickly when clamping and releasing the puncture needle for the end effector with a needle head clamping jaw and a needle tail clamping jaw in the related art.

To achieve the above object, the present application provides an electric end effector including: the mounting base, the linear module, the driving module, the upper clamping jaw and the lower clamping jaw are mounted; wherein,

the linear module is arranged on the installation foundation, and the lower clamping jaw is arranged on the installation foundation through a lower installation seat; the upper clamping jaw is arranged at the output end of the linear module through an upper mounting seat;

the upper clamping jaw and the lower clamping jaw are respectively used for clamping a needle head part and a needle tail part of the puncture needle, the upper clamping jaw clamps and fixes the needle head part, and the needle tail part can slide in the lower clamping jaw along the axial direction;

the electric end effector also comprises an upper connecting piece and a lower connecting piece, the upper connecting piece can synchronously and linearly move along with the upper clamping jaw, and the lower connecting piece is fixedly arranged on the installation foundation;

the driving module comprises a steering engine, a transmission shaft, an upper reel and a lower reel, the steering engine is fixedly arranged on the installation base, the steering engine is in transmission connection with the transmission shaft and is used for driving the transmission shaft to rotate, and the axis of the transmission shaft is parallel to the linear output direction of the linear module; the transmission shaft sequentially penetrates through the upper connecting piece and the lower connecting piece and is connected in a rotating mode;

the upper reel and the lower reel are sleeved on the transmission shaft, the upper reel is arranged on the upper connecting piece and can rotate along with the transmission shaft and move linearly along the axis of the transmission shaft, and the lower reel is arranged on the lower connecting piece and can rotate along with the rotating shaft;

an upper traction rope and a lower traction rope are respectively wound on the upper reel and the lower reel, the upper traction rope is connected with the upper clamping jaw, and the lower traction rope is connected with the lower clamping jaw; the upper clamping jaw and the lower clamping jaw are of a normally open structure, and can be closed and clamp the puncture needle under the traction of the upper traction rope and the lower traction rope respectively.

Furthermore, the upper clamping jaw and the lower clamping jaw are of normally open structures and can be closed and clamp the puncture needle under the traction of the upper traction rope and the lower traction rope respectively.

Furthermore, the upper clamping jaw comprises a first clamping arm and a second clamping arm, and the first clamping arm and the second clamping arm are hinged on the upper mounting seat;

an opening and closing structure is arranged between the first clamping arm and the second clamping arm, the opening and closing structure can convert linear motion into rotary motion for driving the first clamping arm and the second clamping arm to open and close, and the opening and closing structure is connected with the upper mounting seat through a spring;

the upper hauling rope is connected with the opening and closing structure.

Furthermore, the first clamping arm and the second clamping arm both comprise a clamping end and a rotating end, a clamping groove for clamping and fixing the puncture needle is formed in the clamping end, and the rotating end is hinged to the upper mounting seat.

Further, the opening and closing structure comprises a pushing seat and a connecting rod assembly, the connecting rod assembly comprises a first connecting rod and a second connecting rod, the first end of the first connecting rod is hinged with the first clamping arm, and the first end of the second connecting rod is hinged with the second clamping arm;

the second ends of the first connecting rod and the second connecting rod are hinged to the pushing seat together, the pushing seat is connected with the upper mounting seat through a spring, and the upper traction rope is connected with the pushing seat.

Furthermore, a first lapping groove is formed in the second end of the first connecting rod, a second lapping groove is formed in the second end of the second connecting rod, the first lapping groove is lapped on the second lapping groove, and the two side faces of the first connecting rod and the two side faces of the second connecting rod are flush.

Furthermore, the pushing seat comprises a connecting lug seat and a guide rod, the guide rod is inserted in the upper mounting seat in a sliding manner, and the spring is sleeved on the guide rod;

the connecting lug seat is arranged at the end part of the guide rod, two ends of the spring respectively abut against the lower end surface of the connecting lug seat and the upper end surface of the upper mounting seat, and the upper traction rope is connected with the guide rod;

and the second ends of the first connecting rod and the second connecting rod are hinged in the connecting lug seat after being lapped.

Furthermore, go up the clamping jaw and still include the gag lever post, the gag lever post set firmly in go up on the mount pad, the gag lever post extends to the exposed core is pressed close to the centre gripping groove.

Furthermore, an arc-shaped groove matched with the needle head part of the puncture needle is formed in one end, extending to the clamping end, of the limiting rod; the clamping groove is an arc-shaped groove matched with the needle head part.

Further, the upper mounting seat comprises a first seat body and a second seat body, wherein the lower end of the first seat body is provided with a sliding bulge, and the upper end of the first seat body is provided with a mounting groove;

the upper end of the second seat body is provided with a sliding groove, and the first seat body is clamped in the sliding groove through the sliding bulge and is fixed through a bolt;

the mounting groove comprises a first groove body and a second groove body, the rotating end of the first clamping arm is hinged in the first groove body, and the rotating end of the second clamping arm is hinged in the second groove body.

Furthermore, partition bulges corresponding to the sliding bulges are arranged in the mounting grooves, and the first groove body and the second groove body are respectively positioned on two sides of the partition bulges;

a guide hole is formed in the partition protrusion, the guide hole penetrates through the sliding protrusion, and the guide rod is slidably arranged in the guide hole.

Furthermore, a through hole corresponding to the guide hole is formed in the second seat body, and the upper traction rope penetrates through the through hole to be connected with the guide rod.

Furthermore, a threading hole is formed in the guide rod, and the traction rope is fixedly arranged in the threading hole.

The force sensor assembly comprises a sensor base, a force sensor, a sensor fixing seat and a holding seat;

the sensor fixing seat is fixedly arranged at the output end of the linear module, the force sensor is fixedly arranged on the sensor fixing seat, the sensor fixing seat is fixedly arranged at the detection end of the force sensor, and the holding seat is fixedly arranged on the sensor fixing seat;

the second base body is fixedly arranged on the holding base.

Furthermore, the holding seat is provided with a mounting groove, the lower end of the second seat body is provided with an inserting part, and the inserting part is inserted into the mounting groove and locked by the locking knob.

Further, the lower clamping jaw comprises a lower connecting piece and a rotary cover, the lower connecting piece is arranged on the installation base, and the rotary cover is connected with the lower traction rope and can be pulled by the lower traction rope to rotate;

the lower connecting piece is provided with a guide pin groove for accommodating a needle body part of the puncture needle, and the rotary cover is hinged to the side surface of the lower connecting piece;

the rotating cover is connected with the lower connecting piece through a torsion spring, a positioning groove corresponding to the guide pin groove is formed in the rotating cover, and the positioning groove can face or be far away from the guide pin groove to move along with the rotation of the rotating cover.

Further, the lower connecting piece comprises a lower connecting rod and a lower mounting seat, wherein the first end of the lower connecting rod is fixedly connected with the mounting foundation, and the second end of the lower connecting rod is connected with the lower mounting seat; the described

The guide pin groove is arranged on the lower mounting seat, and the rotary cover is hinged to the side face of the lower mounting seat through a torsion spring.

Furthermore, the lower connecting piece also comprises a limiting block, and a second needle penetrating hole for penetrating a puncture needle is formed in the limiting block;

the limiting block is clamped in the guide pin groove, and the end part of the limiting block extends out of the guide pin groove and corresponds to the positioning groove.

Furthermore, the limiting block comprises a large cylindrical part and small cylindrical parts positioned at two ends of the large cylindrical part, and a notch corresponding to the large cylindrical part is formed in the guide pin groove;

the large column part is clamped in the notch, and two side walls of the notch are in surface contact with the outer end face of the small column part.

Furthermore, the stopper includes first spacing body and second spacing body, first spacing body with the second spacing body can be followed the radial butt joint in guide pin groove, has seted up in first spacing body and the second spacing body and has worn the needle groove, forms after the butt joint the second wears the pinhole.

Further, the rotating cover comprises two cover bodies and a connecting body connected between the two cover bodies;

the two cover bodies are distributed along the axial direction of the guide pin groove, the two cover bodies are respectively positioned at two ends of the guide pin groove, the positioning grooves are formed in the cover bodies, and two ends of the limiting block extend out of the guide pin groove and correspond to the positioning grooves at two ends;

the cover body is hinged to the rotating shaft, and the connecting body is connected with the lower traction rope.

Furthermore, the locating slot is arranged to be an arc-shaped slot corresponding to the small column part, and the depth of the locating slot is more than or equal to the opening width of the guide pin slot.

Furthermore, the lower extreme of installation basis sets firmly the installation arm, seted up the spread groove on the installation arm, the first end of lower connecting rod is pegged graft in the spread groove and is locked through the bolt.

Furthermore, the upper connecting piece is arranged at the output end of the linear module, the upper connecting piece and the lower connecting piece both comprise two connecting lug plates, and the transmission shaft penetrates through the connecting lug plates;

go up the reel and be located between two connecting lug plates of last connecting piece, down the reel is located between two connecting lug plates of lower connecting piece.

Furthermore, a transmission shaft mounting seat is arranged on the mounting base, and the transmission shaft penetrates through the transmission shaft mounting seat and is connected in a rotating mode.

Furthermore, the cross section of the transmission shaft is non-full circle, mounting holes matched with the cross section of the transmission shaft are formed in the upper reel and the lower reel, and the transmission shaft penetrates through the mounting holes.

Furthermore, the upper end of the installation foundation is provided with a driving motor, the output end of the driving motor is provided with a driving gear, a driven gear is arranged on the transmission shaft, the driving gear is meshed with the driven gear, and the diameter of the driving gear is larger than that of the driven gear.

Further, the linear module comprises a slide rail, a screw rod, a slide block and a screw rod motor;

the slide rail is arranged on the installation basis, the screw rod is arranged in the slide rail, the slide block is clamped on the slide rail and is in threaded connection with the screw rod, and the screw rod motor is fixedly arranged at the end part of the slide rail and is in transmission connection with the screw rod.

According to another aspect of the present application, a surgical navigation positioning robot is provided, comprising the above-described motorized end effector.

In the embodiment of the application, the needle head and the needle tail part of the puncture needle are respectively clamped by the upper clamping jaw and the lower clamping jaw, wherein the upper clamping jaw is used for fixedly clamping the puncture needle, the lower clamping jaw is used for movably clamping, and the lower clamping jaw is used as a guide device for the puncture needle to enter the needle. The upper clamping jaw is driven by the linear module to move linearly after clamping the puncture needle, so that the operation of needle insertion is realized. The upper clamping jaw and the lower clamping jaw are of a rope-driven closed structure, and are both in an open state when the puncture needle is not clamped. When the puncture needle is clamped, the needle head part of the puncture needle can be arranged in the upper clamping jaw, the needle tail part is arranged in the lower clamping jaw, the upper clamping jaw is pulled to be closed by the upper traction rope, and the lower clamping jaw is pulled to be closed by the lower traction rope. When the puncture needle is released, the upper traction rope and the lower traction rope are released, the upper clamping jaw and the lower clamping jaw are opened under the traction of the elastic piece, and the puncture needle can be separated from the upper clamping jaw and the lower clamping jaw at the moment.

The core of the application lies in that the upper clamping jaw and the lower clamping jaw can be synchronously controlled to clamp and release while the needle inserting operation of the puncture needle is kept. When carrying out the centre gripping action, rotatory through control transmission shaft for install on the transmission shaft last reel and lower reel synchronous revolution, draw the haulage rope by last reel and make the clamping jaw closure, draw down the haulage rope by lower reel and make the clamping jaw closure down, release then the same reason. And through the structural design of the upper reel and the transmission shaft, the upper reel can linearly move on the transmission shaft along with the linear movement of the upper clamping jaw, so that the technical effects of clamping and releasing the upper clamping jaw and the lower clamping jaw can be quickly realized while the needle inserting operation of the puncture needle is kept, and the problems that the operation is complex and the puncture needle cannot be quickly released when the puncture needle is clamped and released by an end effector with a needle head clamping jaw and a needle tail clamping jaw in the related technology are solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic view of an assembly structure according to an embodiment of the present application;

FIG. 2 is a schematic view of an assembled structure according to another perspective in an embodiment of the present application;

FIG. 3 is a schematic diagram of an exploded structure of an upper jaw according to an embodiment of the present application;

FIG. 4 is a schematic view of an assembly structure of an upper jaw according to an embodiment of the present application;

FIG. 5 is a schematic top view of an upper jaw according to an embodiment of the present application;

FIG. 6 is a schematic bottom view of an upper jaw according to an embodiment of the present application;

FIG. 7 isbase:Sub>A schematic cross-sectional view A-A of FIG. 6;

FIG. 8 is a schematic view of the assembled structure of the lower jaw according to an embodiment of the present application;

FIG. 9 is a schematic cross-sectional view of B-B in FIG. 8;

FIG. 10 is a schematic diagram of a stopper according to an embodiment of the present application;

the device comprises a mounting base 1, a lower connecting piece 2, a lower reel 3, a lower connecting rod 4, a lower clamping jaw 5, a lower mounting seat 51, a rotary cover 52, a positioning groove 53, a guide pin groove 54, a torsion spring 55, a lower traction rope 6, a puncture needle 7, an upper clamping jaw 8, an upper mounting seat 81, a first seat 811, a sliding bulge 812, a second seat 813, a chute 814, a through hole 815, an insertion part 816, a guide hole 817, a locking knob 818, a mounting groove 819, a partition bulge 820, a spring 821, a first clamping arm 82, a second clamping arm 83, a clamping groove 84, a pushing seat 85, a connecting lug seat 851, a guide rod 852 guide rod 86 limiting rod, a first connecting rod 87, a second connecting rod 88, a force sensor assembly 9, a holding seat 91, a sensor fixing seat 92, a force sensor 93, a sensor base 94, an upper traction rope 10, a linear module 11, a tracker 12, a driven gear 13, a limiting block 14, a first limiting block 141, a second limiting block 142, a large circular limiting block 143, a small circular round 144, a transmission shaft mounting seat 15, a connecting piece 16 upper column part, a connecting piece 17, an upper connecting piece 18, a driving shaft plate 20, a driving wheel 20 and a lower driving wheel.

Detailed Description

In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "upper", "lower", and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.

In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

The robot clamps the puncture needle and performs puncture needle insertion operation through the end effector, and the end effector needs to have the functions of clamping the puncture needle and puncturing the needle. In addition, the end effector is also capable of quickly releasing the needle: when the patient mistakenly operates, the puncture needle is quickly released to avoid injuring the patient; and after the puncture is finished, releasing the puncture needle, and carrying out CT scanning on the puncture needle and the patient together to verify whether the puncture is in place.

To solve the above technical problem, as shown in fig. 1 and 2, an embodiment of the present application provides an electric end effector, including: the device comprises an installation foundation 1, a linear module 11, a driving module, an upper clamping jaw 8 and a lower clamping jaw 5; wherein,

the linear module 11 is arranged on the installation foundation 1, and the lower clamping jaw 5 is arranged on the installation foundation 1 through the lower installation seat 51; the upper clamping jaw 8 is arranged at the output end of the linear module 11 through an upper mounting seat 81;

the upper clamping jaw 8 and the lower clamping jaw 5 are respectively used for clamping the needle head part and the needle tail part of the puncture needle 7, the upper clamping jaw 8 clamps the head part of the fixed needle, and the needle tail part can slide in the lower clamping jaw 5 along the axial direction; the upper jaw 8 and the lower jaw 5 can be opened or closed under traction;

the clamping device also comprises an upper connecting piece 16 and a lower connecting piece 2, wherein the upper connecting piece 16 can synchronously and linearly move along with the upper clamping jaw 8, and the lower connecting piece 2 is fixedly arranged on the installation foundation 1;

the driving module comprises a transmission shaft 19, an upper reel 18 and a lower reel 3, the transmission shaft 19 can be driven to rotate, and the axis of the transmission shaft 19 is parallel to the linear output direction of the linear module 11; the transmission shaft 19 sequentially penetrates through the upper connecting piece 16 and the lower connecting piece 2 and is connected in a rotating way;

the upper reel 18 and the lower reel 3 are sleeved on the transmission shaft 19, the upper reel 18 is arranged on the upper connecting piece 16 and can rotate along with the transmission shaft 19 and linearly move along the axis of the transmission shaft 19, and the lower reel 3 is arranged on the lower connecting piece 2 and can rotate along with the rotating shaft;

an upper traction rope 10 and a lower traction rope 6 are respectively wound on the upper reel 18 and the lower reel 3, the upper traction rope 10 is connected with the upper clamping jaw 8, and the lower traction rope 6 is connected with the lower clamping jaw 5.

In the present embodiment, the electric end effector mainly comprises a mounting base 1, a linear module 11, a driving module, an upper jaw 8 and a lower jaw 5. The mounting base 1 serves as a mounting platform for the linear module 11, the drive module and the lower jaw 5 and can be provided as a plate-like structure with a plurality of mounting positions. The linear module 11 is used for realizing the needle inserting operation of the puncture needle 7 by outputting the linear motion, so that the linear module 11 can adopt a mechanism capable of outputting the linear motion, such as a linear motor, a lead screw mechanism, a linear cylinder mechanism, and the like. The upper jaw 8 and the lower jaw 5 are respectively used as clamping mechanisms of a needle head part and a needle tail part of the puncture needle 7. The upper clamping jaw 8 is fixed at the output end of the linear module 11, and the linear module 11 drives the linear movement, so that the puncture needle 7 is clamped by the upper clamping jaw 8 and the lower clamping jaw 5, the puncture needle 7 and the upper clamping jaw 8 are relatively fixed, and the puncture needle 7 and the lower clamping jaw 5 slide relatively, thereby realizing needle insertion. Thus, in this embodiment, the upper jaw 8 serves as the fixed end of the powered tip middle puncture needle 7, and the lower jaw 5 serves as the movable end of the powered tip middle puncture needle 7.

When the upper clamping jaw 8 and the lower clamping jaw 5 actively apply clamping force to the puncture needle 7, the clamping and releasing can be realized by simultaneously controlling the actions of the upper clamping jaw 8 and the lower clamping jaw 5. Since the upper jaw 8 is in a moving state and the lower jaw 5 is in a fixed state, the linear movement of the upper jaw 8 and the synchronous rapid clamping and releasing of the upper jaw 8 and the lower jaw 5 need to be considered during design. Therefore, the structure of the upper clamping jaw 8, the lower clamping jaw 5 and the driving module is improved in the embodiment:

in particular, the upper jaw 8 and the lower jaw 5 can be closed and opened by pulling. The upper clamping jaw 8 and the lower clamping jaw 5 realize clamping and releasing actions in a relative rotation or opposite rotation mode. The relative rotation of the upper clamping jaw 8 and the lower clamping jaw 5 can be realized by active traction of the traction rope, and the reverse rotation can be realized by an elastic piece of the upper clamping jaw and the lower clamping jaw, namely, the elastic force of the elastic piece of the upper clamping jaw and the lower clamping jaw needs to be overcome when the relative rotation is dragged, and the reverse rotation is realized by the elastic force of the elastic piece. The function of the drive module is thus to be able to simultaneously pull the upper jaw 8 and the lower jaw 5 without interfering with the linear movement of the upper jaw 8.

For this purpose, in the present embodiment, an upper connecting member 16 and a lower connecting member 2 are provided, the upper connecting member 16 can move linearly in synchronization with the upper clamping jaw 8, and the upper connecting member 16 is a movable structure, and the specific installation position thereof can be the output end of the linear module 11, or the fixing portion of the upper clamping jaw 8, or the upper installation seat 81. The lower connecting piece 2 as a fixed structure can be directly fixed on the installation foundation 1.

As shown in fig. 1, the drive module, which is a driving portion that performs the clamping and releasing actions, is mainly composed of a transmission shaft 19, an upper reel 18, and a lower reel 3. The transmission shaft 19 sequentially penetrates through the upper connecting piece 16 and the lower connecting piece 2, the transmission shaft 19 can rotate in the upper connecting piece 16 and the lower connecting piece 2, and the rotation of the transmission shaft 19 can be realized by driving of a motor or a steering engine. The upper reel 18 and the lower reel 3 are both sleeved on the transmission shaft 19, the connection relationship between the upper reel 18 and the transmission shaft 19 is that the upper reel 18 can rotate along with the transmission shaft 19, and the upper reel 18 can linearly move on the transmission shaft 19 along the axial direction of the transmission shaft. The hole in the upper reel 18 through the drive shaft 19 cannot therefore be a circular hole, and the radial cross-section of the drive shaft 19 cannot be a full circle. For example, the radial section of the drive shaft 19 is provided in a semicircular shape, and the hole of the upper reel 18 is also provided in a semicircular shape. After the transmission shaft 19 passes through the upper reels 18, the upper reels 18 can rotate along with the transmission shaft 19 and can also linearly move along the axial direction of the transmission shaft 19 under the driving of external force.

Since the output part of the needle inserting operation of the puncture needle 7 in this embodiment is the upper jaw 8, the upper reel 18 should linearly move with the upper jaw 8, and the upper link 16 should linearly move with the upper jaw 8, so the upper reel 18 should linearly move driven by the upper link 16. Therefore, the upper reel 18 and the upper connecting piece 16 have a certain connecting relationship, so that the upper connecting piece 16 can drive the upper reel 18 to move linearly, and the upper reel 18 can also rotate. To achieve this, as shown in fig. 1, two shutters may be provided on the upper attachment 16, the two shutters being located at both ends of the upper reel 18, the upper attachment 16 moving while pushing the upper reel 18 to move synchronously by the two shutters. And the baffle only contacts with the upper reel 18, so that the rotation of the upper reel 18 is not influenced. Or the two ends of the upper reel 18 are clamped in the two baffles and rotatably connected. From the point of view of the construction being as simple as possible. The upper reel 18 and the two fenders should be connected in a contact-only relationship.

And the lower reel 3 only needs to be able to rotate as a structure for controlling the gripping and releasing of the lower jaw 5, so that the lower reel 3 can be positioned on the lower link 2 and can rotate. Two flaps may also be provided on the lower attachment 2, between which the lower reel 3 is mounted.

The upper reel 18 and the lower reel 3 are mounted on the same transmission shaft 19, so that rotation of the transmission shaft 19 will cause the upper reel 18 and the lower reel 3 to rotate synchronously. And the rotation of the upper reel 18 and the lower reel 3 will drive the reeling in and reeling out of the upper traction rope 10 and the lower traction rope 6. When the upper and lower reels 18, 3 are rotated to wind the upper and lower traction ropes 10, 6, the upper and lower jaws 8, 5 are closed to clamp the puncture needle 7. When the upper reel 18 and the lower reel 3 rotate to realize the paying off of the upper traction rope 10 and the lower traction rope 6, the upper clamping jaw 8 and the lower clamping jaw 5 are opened under the traction of the elastic pieces of the upper clamping jaw and the lower clamping jaw, so that the puncture needle 7 is released. The upper hauling rope 10 and the lower hauling rope 6 can adopt steel wire ropes and are sleeved with nylon pipes.

In conclusion, the core of the present application is to control the clamping and releasing actions of the upper jaw 8 and the lower jaw 5 synchronously while maintaining the needle inserting operation of the puncture needle 7. When the clamping operation is performed, the rotation of the transmission shaft 19 is controlled, so that the upper reel 18 and the lower reel 3 mounted on the transmission shaft 19 synchronously rotate, the upper reel 18 pulls the upper drag rope 10 to close the upper jaw 8, and the lower reel 3 pulls the lower drag rope 6 to close the lower jaw 5, and the same applies to the release. And through the structural design of the upper reel 18 and the transmission shaft 19, the upper reel 18 can linearly move on the transmission shaft 19 along with the linear movement of the upper clamping jaw 8, so that the technical effects of keeping the needle inserting operation of the puncture needle 7 and rapidly clamping and releasing the upper clamping jaw 8 and the lower clamping jaw 5 are achieved, and the problems that the operation is complex and the puncture needle 7 cannot be rapidly released when the puncture needle is clamped and released by an end effector with a needle head clamping jaw and a needle tail clamping jaw in the related technology are solved.

In order to improve the use safety, the upper clamping jaw 8 and the lower clamping jaw 5 are in normally open structures and can be closed and clamp the puncture needle 7 under the traction of the upper traction rope 10 and the lower traction rope 6 respectively. Through setting up upper jaw 8 and lower clamping jaw 5 to normally opening the structure for when equipment goes wrong, upper jaw 8 and lower clamping jaw 5 are in the state of opening, thereby guarantee personal safety.

The upper jaw 8 is used as a needle head part clamping structure of the puncture needle 7, and has a function of fixedly clamping the puncture needle 7 and a function of being closed under the traction action of the upper traction rope 10 and being opened when the upper traction rope 10 is released. For this reason, the present embodiment will specifically explain the structure of the upper jaw 8:

as shown in fig. 3 to 7, the upper jaw 8 includes a first arm 82 and a second arm 83, the first arm 82 and the second arm 83 are both hinged to the upper mounting seat 81, the first arm 82 and the second arm 83 are disposed opposite to each other, the first arm 82 and the second arm 83 both include a clamping end and a rotating end, a clamping slot 84 for clamping the fixed puncture needle 7 is disposed in the clamping end, and the rotating end is hinged to the upper mounting seat 81. When the clamping action is performed, the first clamp arm 82 and the second clamp arm 83 rotate relatively, and when the releasing action is performed, the first clamp arm 82 and the second clamp arm 83 rotate back to back. The first and second clipping

arms

82 and 83 can be hinged with the upper mounting seat 81 through a rotating shaft.

The structure for driving the first clamping arm 82 and the second clamping arm 83 to rotate oppositely and reversely is an opening and closing structure arranged between the first clamping arm 82 and the second clamping arm 83, the opening and closing structure can convert linear motion into rotary motion for driving the first clamping arm 82 and the second clamping arm 83 to open and close, and the opening and closing structure is connected with the upper mounting seat 81 through a spring 821; the upper pulling rope 10 is connected to the opening and closing structure, the opening and closing structure is pulled by the upper pulling rope 10, so that the first clamping arm 82 and the second clamping arm 83 are closed against the elastic force of the spring 821, and when the upper pulling rope 10 is released, the first clamping arm 82 and the second clamping arm 83 are opened under the elastic force of the spring 821.

The opening and closing structure is used for controlling the closing of the first clamping arm 82 and the second clamping arm 83, and comprises a pushing seat 85 and a connecting rod assembly, wherein the connecting rod assembly comprises a first connecting rod 87 and a second connecting rod 88, the first end of the first connecting rod 87 is hinged to the first clamping arm 82, and the first end of the second connecting rod 88 is hinged to the second clamping arm 83. The hinge point of the first connecting rod 87 and the first clamping arm 82 is positioned between the clamping end and the rotating end of the first clamping arm 82, and the hinge point of the second connecting rod 88 and the second clamping arm 83 is positioned between the clamping end and the rotating end of the second clamping arm 83; the second ends of the first link 87 and the second link 88 are hinged to the pushing seat 85 together, the pushing seat 85 is connected to the upper mounting seat 81 through a spring 821, and the upper hauling cable 10 is connected to the pushing seat 85.

Specifically, the upper pulling rope 10 can be pulled to pull the pushing seat 85 and compress the spring 821, the pushing seat 85 can synchronously pull the first connecting rod 87 and the second connecting rod 88 after being pulled, and the first connecting rod 87 and the second connecting rod 88 respectively pull the first clamping arm 82 and the second clamping arm 83, so that the first clamping arm 82 and the second clamping arm 83 rotate relatively to realize clamping. At this time, the push base 85, the first link 87 and the second link 88 are formed in a Y-shape as a whole. When the puncture needle 7 is released, the upper traction rope 10 is released, the pushing seat 85 moves reversely under the action of the spring 821 and pushes the first connecting rod 87 and the second connecting rod 88, and the first clamping arm 82 and the second clamping arm 83 are respectively propped open by the first connecting rod 87 and the second connecting rod 88 to realize the release. The angle between the first link 87 and the second link 88 is now larger relative to the angle during clamping.

The first link 87 and the second link 88 can be hinged to two hinge points of the pushing seat 85 respectively, or can be hinged to the same hinge point together. Preferably hinged to the same hinge point for simplicity of construction. When hinging in same pin joint, the second end of first connecting rod 87 and second connecting rod 88 will stack, consequently for reducing the occupation space after stacking, first overlap joint groove has been seted up at the second end of first connecting rod 87 to this embodiment, and second overlap joint groove has been seted up to the second end of second connecting rod 88, and first overlap joint groove overlap joint is on second overlap joint groove, and the both sides face of first connecting rod 87 and second connecting rod 88 is equal parallel and level.

Since the push seat 85 is substantially linearly moved by the upper traction rope 10 and the spring 821, it needs to be positioned and guided for stable movement. Therefore, the pushing seat 85 in this embodiment includes a connecting ear seat 851 and a guide rod 852, the guide rod 852 is slidably inserted into the upper mounting seat 81, the spring 821 is sleeved on the guide rod 852, the guide rod 852 can also move linearly in the upper mounting seat 81 in the process of the linear movement of the pushing seat 85, and the guide rod 852 realizes the precise movement of the pushing seat 85; the connecting lug seat 851 is arranged at the end part of the guide rod 852, two ends of the spring 821 are respectively abutted against the lower end surface of the connecting lug seat 851 and the upper end surface of the upper mounting seat 81, and the upper traction rope 10 is connected with the guide rod 852; the second ends of the first link 87 and the second link 88 are hinged in the connecting ear seat 851 after being overlapped, the connecting ear seat 851 is provided with two connecting ear plates 17, and the connection of the first link 87 and the second link 88 is more stable through the two connecting ear plates 17.

In order to facilitate the needle head of the puncture needle 7 to be accurately placed into the clamping position of the upper clamping jaw 8, the upper clamping jaw 8 in this embodiment further includes a limiting rod 86, the limiting rod 86 is fixedly disposed on the upper mounting seat 81, the limiting rod 86 extends to the clamping end and is close to the clamping groove 84, when the puncture needle 7 is mounted, the limiting rod 86 positions the mounting position of the puncture needle 7 in the clamping groove 84, that is, when the needle head of the puncture needle 7 abuts against the end of the limiting rod 86, the surface puncture needle 7 is located at the clamping position of the clamping groove 84, and at this time, the puncture needle 7 can be stably clamped by controlling the upper clamping jaw 8 to perform clamping action, so that dislocation between the puncture needle 7 and the clamping groove 84 during clamping is avoided.

In order to further facilitate the insertion and the clamping of the puncture needle 7, in this embodiment, an arc-shaped groove matched with the needle head of the puncture needle 7 is formed at one end of the limiting rod 86 extending to the clamping end; the retaining slot 84 is provided as an arcuate slot that partially mates with the needle.

In order to facilitate replacement of parts, the upper mounting seat 81 in this embodiment includes a first seat 811 and a second seat 813, a sliding protrusion 812 is disposed at a lower end of the first seat 811, and a mounting groove 819 is disposed at an upper end of the first seat 811; the upper end of the second seat body 813 is provided with a sliding groove 814, the first seat body 811 is clamped in the sliding groove 814 through the sliding protrusion 812 and is fixed through a bolt, the bolt can penetrate through the side surface of the mounting groove 819, the sliding groove 814 can be a through groove or a groove with one closed end, for convenience of positioning, the groove with one closed end is preferred, and when the sliding protrusion 812 abuts against the closed end, the mounting is in place;

in order to facilitate the installation of the first clamping arm 82 and the second clamping arm 83, the installation slot 819 includes a first slot body and a second slot body, a rotating end of the first clamping arm 82 is hinged in the first slot body, and a rotating end of the second clamping arm 83 is hinged in the second slot body. In order to facilitate the installation of the guide bar 852, a partition protrusion 820 corresponding to the sliding protrusion 812 is arranged in the installation groove 819, and the first slot body and the second slot body are respectively positioned at two sides of the partition protrusion 820; a guide hole 817 is formed in the partition protrusion 820, the guide hole 817 penetrates through the sliding protrusion 812, and the guide rod 852 is slidably disposed in the guide hole 817. The second seat 813 is provided with a through hole 815 corresponding to the guide hole 817, and the upper hauling cable 10 passes through the through hole 815 and is connected with the guide rod 852.

In order to make spring 821 have enough elastic potential energy to open first clamping arm 82 and second clamping arm 83 after compression, spring 821 should have a certain length, and in order to make the whole structure more compact, the installation position of spring 821 needs to be further adjusted. Specifically, as shown in fig. 7, in this embodiment, the guide hole 817 is composed of at least two parts, the first part is a first part with a slightly larger diameter, the second part is a second part with a smaller diameter, the lower end of the guide rod 852 is inserted into the first part, the spring 821 is installed in the first part, the first part extends out towards one end of the connection ear seat 851 and abuts against the connection ear seat 851, and the other end abuts against the inner bottom surface of the first part. The lower pull cord 6 extends through the second portion and into the first portion and is connected to the guide rod 852.

In order to facilitate the connection between the upper hauling cable 10 and the guide bar 852, the guide bar 852 is provided with a threading hole, and the hauling cable is fixedly arranged in the threading hole.

In order to accurately obtain the pressure applied by the puncture needle 7 during puncture, as shown in fig. 3, the end effector in this embodiment further includes a force sensor assembly 9, and the force sensor assembly 9 includes a sensor base 94, a force sensor 93, a sensor fixing base 92, and a holding base 91;

the sensor fixing seat 92 is fixedly arranged at the output end of the linear module 11, the force sensor 93 is fixedly arranged on the sensor fixing seat 92, the sensor fixing seat 92 is fixedly arranged at the detection end of the force sensor 93, and the holding seat 91 is fixedly arranged on the sensor fixing seat 92; the second seat 813 is fixed on the holding seat 91, and the force sensor 93 can obtain the pressure applied to the puncture needle 7 when the upper jaw 8 drives the puncture needle 7 to insert.

In order to facilitate the mounting and dismounting of the second seat 813 and the holding seat 91, a mounting groove 819 is formed on the holding seat 91, an insertion part 816 is arranged at the lower end of the second seat 813, and the insertion part 816 is inserted into the mounting groove 819 and locked by a locking knob 818.

The lower clamping jaw 5 is used as a needle tail clamping structure of the puncture needle 7 and needs to be capable of being rapidly clamped and released synchronously with the upper clamping jaw 8, and the structure of the lower clamping jaw 5 is specifically described in the embodiment:

as shown in fig. 8 and 9, the lower jaw 5 includes a lower connector 21 and a rotary cover 52, the lower connector 21 is disposed on the installation base 1, and the rotary cover 52 is connected to the lower traction rope 6 and can be pulled by the lower traction rope 6 to rotate;

a guide pin groove 54 for accommodating the needle body part of the puncture needle 7 is formed on the lower connecting piece 21, and the rotating cover 52 is hinged on the side surface of the lower connecting piece 21;

the rotating cover 52 is connected to the lower connecting member 21 by a torsion spring 55, and the rotating cover 52 is provided with a positioning slot 53 corresponding to the guide pin slot 54, and the positioning slot 53 can move toward or away from the guide pin slot 54 with the rotation of the rotating cover 52.

In this embodiment, the lower jaw 5 is composed of a lower connecting member 21 and a rotary cover 52, and the lower connecting member 21 is installed at the lower end of the installation base 1 as a fixing member. The lower connecting member 21 is provided with a needle guide groove 54 along the axial direction of the puncture needle 7, the needle guide groove 54 is a through groove structure, and when the rotary cover 52 is in the unlocked state, the needle tail part of the puncture needle 7 can be horizontally clamped into the needle guide groove 54. The rotating cover 52 is hinged on the side surface of the lower connecting piece 21, the rotating cover 52 is connected with the upper connecting piece through a torsion spring 55, a positioning groove 53 is formed in the rotating cover 52, and the opening of the positioning groove 53 faces the puncture needle 7. In a normal state, the rotary cover 52 is located at the unlocking position under the action of the torsion spring 55, the guide groove 54 and the positioning groove 53 are far away, and two ends of the guide groove 54 are opened, so that the needle tail part of the puncture needle 7 can be horizontally placed into the guide groove 54, or the puncture needle 7 can be taken down from the guide groove.

When the rotating cap 52 is rotated to the locking position while holding the puncture needle 7, the rotating cap 52 is returned to the locking position by the torsion spring 55. The rotating cap 52 at this time comes into contact with the puncture needle 7 and applies a pushing force in the horizontal direction to the puncture needle 7, and the puncture needle 7 is held in the needle guide groove 54 by this pushing force without affecting the needle insertion of the puncture needle 7 by the upper jaw 8. It is necessary to reversely rotate the spin cover 52 when releasing the puncture needle 7 so that both ends of the needle guide groove 54 are not interfered with by the spin cover 52 again. At this time, the puncture needle 7 loses the holding force of the rotary cap 52, and the operator can simultaneously remove the puncture needle 7 from the upper jaw 8 and the lower jaw 5 in the horizontal direction.

In the embodiment, the puncture needle 7 is clamped and released by the lower clamping jaw 5 through rotation of the rotating cover 52, namely, the rotating cover 52 rotates forwards to clamp the puncture needle 7, and the reverse rotation realizes release of the puncture needle 7. In this embodiment, the upper pulling rope 10 pulls the rotary cover 52 to rotate for locking, and the torsion spring 55 acts to rotate the rotary cover 52 for unlocking through the release of the upper pulling rope 10.

As shown in fig. 8, the lower connecting member 21 includes a lower connecting rod 4 and a lower mounting seat 51, a first end of the lower connecting rod 4 is fixedly connected with the mounting base 1, and a second end is connected with the lower mounting seat 51; the guide slot 54 is opened on the lower mounting seat 51, and the rotary cover 52 is hinged with the side surface of the lower mounting seat 51 through a torsion spring 55.

As shown in fig. 10, in order to improve interchangeability, the lower connecting member 21 in this embodiment further includes a limiting block 14, a second needle passing hole for the puncture needle 7 to pass through is formed in the limiting block 14, when replacing the puncture needles 7 with different sizes, only different limiting blocks 14 need to be replaced, and the diameters of the second needle passing holes of different limiting blocks 14 are different; the size of guide pin groove 54 matches the size of stopper 14, and stopper 14 is blocked in guide pin groove 54.

In addition, the puncture needle 7 is a slender rod member, and is not easy to directly clamp. Therefore, in this embodiment, the end of the stopper 14 extends out of the needle guide groove 54 and corresponds to the positioning groove 53, and the rotating cover 52 clamps the puncture needle 7 by clamping the stopper 14 during clamping.

In order to stably install the stopper 14 in the guide pin slot 54, the structure of the stopper 14 needs to be further improved, specifically, the stopper 14 in this embodiment includes a large cylindrical portion 143 and small cylindrical portions 144 located at two ends of the large cylindrical portion 143, and a notch corresponding to the large cylindrical portion 143 is formed in the guide pin slot 54;

the large column part 143 is clamped in the notch, two side walls of the notch are in contact with the outer end face of the small column part 144, the movement of the limiting block 14 in the axial direction can be limited through the notch, the deviation generated in the needle inserting process of the puncture needle 7 is avoided, and meanwhile, the concentric limiting effect can be achieved.

In order to improve interchangeability and facilitate the clamping of the puncture needle 7, the limiting block 14 is adopted as an intermediate part. After the puncture needle 7 is released, the problem that the puncture needle 7 is toppled and the like is caused in order to avoid the limit block 14 remaining on the puncture needle 7. The structure of the limiting block 14 is further improved in the embodiment:

the stopper 14 includes a first stopper 141 and a second stopper 142, the first stopper 141 and the second stopper 142 can be butted along the radial direction of the guide pin groove 54, a needle passing groove is formed in the first stopper 141 and the second stopper 142, and a second needle passing hole is formed after the butting.

Specifically, in this embodiment, the limiting block 14 is formed by a first limiting body 141 and a second limiting body 142 which are half-and-half, and the first limiting body 141 and the second limiting body 142 are buckled to form the limiting block 14. After the puncture needle 7 is released, the stopper 14 can be directly detached and can be detached into the first stopper body 141 and the second stopper body 142, so that the intermediate piece is prevented from remaining on the puncture needle 7.

Because the clamping force applied to the puncture needle 7 is mainly provided by the rotating cover 52, in order to make the force applied to the puncture needle 7 uniform, the rotating cover 52 in the embodiment comprises two cover bodies and a connecting body connected between the two cover bodies, and the cover bodies and the connecting body at the two ends can be integrally formed; the two cover bodies are distributed along the axial direction of the guide pin groove 54, and are respectively positioned at two ends of the guide pin groove 54, the positioning grooves 53 are formed in the cover bodies, and two ends of the limiting block 14 extend out of the guide pin groove 54 and correspond to the positioning grooves 53 at the two ends; the cover body is hinged with the rotating shaft, and the connecting body is connected with the traction rope. During clamping, the cover bodies positioned at the two ends of the guide pin groove 54 apply clamping force to the puncture needle 7, so that the puncture needle 7 is uniformly stressed at the two ends of the guide pin groove 54, and the stability of needle insertion of the puncture needle 7 is improved.

Since the positioning groove 53 is required to be clamped with the small cylindrical portion 144 of the limiting block 14 during clamping, the positioning groove 53 is configured as an arc-shaped groove corresponding to the small cylindrical portion 144 in this embodiment. In order to prevent the puncture needle 7 from being separated from the guide pin groove 54 along the opening direction of the guide pin groove 54 during the puncture process, the depth of the positioning groove 53 is greater than or equal to the opening width of the guide pin groove 54.

In order to be convenient for lower connecting rod 4 and installation basic 1's connection and dismantlement, the lower extreme of installation basic 1 has set firmly the installation arm, has seted up the spread groove on the installation arm, and the first end of lower connecting rod 4 is pegged graft in the spread groove and is locked through the bolt.

As shown in fig. 1, the upper connecting piece 16 is arranged at the output end of the linear module 11, the upper connecting piece 16 and the lower connecting piece 2 both comprise two connecting lug plates 17, and the transmission shaft 19 penetrates through the connecting lug plates 17; the upper reel 18 is located between the two connecting lugs 17 of the upper attachment 16, and the lower reel 3 is located between the two connecting lugs 17 of the lower attachment 2.

In order to facilitate the installation and stable rotation of the transmission shaft 19, a transmission shaft mounting seat 15 is arranged on the installation foundation 1, and the transmission shaft 19 penetrates through the transmission shaft mounting seat 15 and is connected in a rotating mode.

As shown in fig. 1, a driving motor is arranged at the upper end of the mounting base 1, a driving gear 20 is arranged at the output end of the driving motor, a driven gear 13 is arranged on the transmission shaft 19, the driving gear 20 is meshed with the driven gear 13, and the diameter of the driving gear 20 is larger than that of the driven gear 13, so that the driving motor can drive the transmission shaft 19 to rotate rapidly, and the rapid release of the puncture needle 7 is realized.

The linear module 11 comprises a slide rail, a screw rod, a slide block and a screw rod motor; on installation basis 1 was located to the slide rail, in the slide rail was located to the lead screw, the slider card was located on the slide rail and with lead screw threaded connection, the lead screw motor set firmly in the tip of slide rail and be connected with the lead screw transmission.

The lead screw motor and the driving motor can be arranged at the upper end of the installation foundation 1, and the installation positions of the lead screw motor and the driving motor are relatively close, so that the arrangement of electronic elements such as circuit boards is facilitated. To facilitate the acquisition of the position of the actuator during the puncture procedure, the mounting base 1 is also provided with a tracker 12.

According to another aspect of the present application, there is provided a surgical navigational positioning robot including the motorized end effector described above.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An electric end effector, comprising: the device comprises an installation foundation, a linear module, a driving module, an upper clamping jaw and a lower clamping jaw; wherein,

the driving module comprises a steering engine, a transmission shaft, an upper reel and a lower reel, the steering engine is fixedly arranged on the installation basis, the steering engine is in transmission connection with the transmission shaft and is used for driving the transmission shaft to rotate, and the axis of the transmission shaft is parallel to the linear output direction of the linear module; the transmission shaft sequentially penetrates through the upper connecting piece and the lower connecting piece and is connected with the upper connecting piece and the lower connecting piece in a rotating mode;

an upper traction rope and a lower traction rope are respectively wound on the upper reel and the lower reel, the upper traction rope is connected with the upper clamping jaw, and the lower traction rope is connected with the lower clamping jaw; the upper clamping jaw and the lower clamping jaw are of normally open structures and can be closed and clamp the puncture needle under the traction of the upper traction rope and the lower traction rope respectively.

2. The electric end effector of claim 1, wherein the upper jaw includes a first clamp arm and a second clamp arm, both of which are hingedly connected to the upper mount;

the upper hauling rope is connected with the opening and closing structure.

3. The electric end effector according to claim 2, wherein each of the first and second clamp arms comprises a clamping end and a rotating end, a clamping groove for clamping a fixed puncture needle is formed in the clamping end, and the rotating end is hinged to the upper mounting base.

4. The electric end effector of claim 3, wherein the opening and closing structure comprises a push base and a linkage assembly, the linkage assembly comprising a first link and a second link, a first end of the first link being hinged to the first clamp arm, a first end of the second link being hinged to the second clamp arm;

5. The electric end effector as claimed in claim 4, wherein the pushing base includes a connecting ear base and a guide rod, the guide rod is slidably inserted into the upper mounting base, and the spring is sleeved on the guide rod;

6. The electric end effector as claimed in claim 3, wherein the upper jaw further comprises a limiting rod fixed to the upper mounting base, the limiting rod extending to the clamping end and being proximate to the clamping groove.

7. The electric end effector as claimed in any one of claims 2 to 6, wherein the upper mounting seat comprises a first seat body and a second seat body, a sliding protrusion is provided at a lower end of the first seat body, and a mounting groove is provided at an upper end of the first seat body;

8. The electric end effector of claim 7, further comprising a force sensor assembly, the force sensor assembly comprising a sensor base, a force sensor, a sensor mount, a grip mount;

the second base body is fixedly arranged on the holding base.

9. The electric end effector as claimed in claim 1, wherein the lower jaw includes a lower link and a rotary cap, the lower link is disposed on the mounting base, and the rotary cap is connected to the lower traction rope and is rotated by being pulled by the lower traction rope;

the rotating cover is connected with the lower connecting piece through a torsion spring, a positioning groove corresponding to the guide pin groove is formed in the rotating cover, and the positioning groove can move towards or away from the guide pin groove along with the rotation of the rotating cover.

10. The electric end effector of claim 9, wherein the lower link includes a lower link and a lower mount, the lower link having a first end fixedly connected to the mounting base and a second end connected to the lower mount;

the guide pin groove is formed in the lower mounting seat, and the rotary cover is hinged to the side face of the lower mounting seat through a torsion spring.

11. The electric end effector as claimed in claim 1, wherein the upper link is provided at an output end of the linear module, the upper link and the lower link each include two connecting lugs, and the transmission shaft passes through the connecting lugs;

the upper reel is positioned between the two connecting lug plates of the upper connecting piece, and the lower reel is positioned between the two connecting lug plates of the lower connecting piece.

12. A surgical navigational positioning robot comprising a motorized end effector as claimed in any one of claims 1 to 11.