CN116898665A - Surgical forceps for surgical robot - Google Patents
Surgical forceps for surgical robot Download PDFInfo
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- CN116898665A CN116898665A CN202310891305.5A CN202310891305A CN116898665A CN 116898665 A CN116898665 A CN 116898665A CN 202310891305 A CN202310891305 A CN 202310891305A CN 116898665 A CN116898665 A CN 116898665A
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- forceps
- transmission rod
- assembly
- working catheter
- surgical
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- 230000005540 biological transmission Effects 0.000 claims abstract description 103
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reaction Methods 0.000 abstract description 5
- 210000003128 head Anatomy 0.000 description 12
- 210000004379 membrane Anatomy 0.000 description 6
- 238000002324 minimally invasive surgery Methods 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 239000012528 membrane Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 3
- 208000035719 Maculopathy Diseases 0.000 description 2
- 210000005252 bulbus oculi Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 208000002780 macular degeneration Diseases 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 238000011277 treatment modality Methods 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001508 eye Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
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- Health & Medical Sciences (AREA)
- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present disclosure relates to the technical field of medical instruments, and in particular, to surgical forceps for a surgical robot, the surgical forceps for a surgical robot including: the device comprises a fixed bracket, a transmission rod, a working catheter assembly and a forceps assembly, wherein the fixed bracket is used for fixing the transmission rod and the working catheter assembly; the working catheter assembly is fixed on the fixed bracket and is used for accommodating the forceps assembly; the forceps assembly passes through the working catheter assembly, a first end of the forceps assembly is connected to the drive rod via a first end of the working catheter assembly, and a second end of the forceps assembly extends from a second end of the working catheter assembly. According to the technical scheme, the transmission rod is directly connected with the forceps assembly, so that two dimensional actions of opening and closing and rotating of forceps can be realized simultaneously, the structural design difficulty of a matched surgical robot is reduced, the coupling degree of the forceps and a control end is reduced, and the forceps are convenient to replace and sterilize.
Description
Technical Field
The disclosure relates to the technical field of medical instruments, in particular to surgical forceps for a surgical robot.
Background
Minimally invasive surgery is a common treatment modality for ophthalmic diseases. For example, maculopathy requires a doctor to peel off the macular membrane through minimally invasive surgery, and because the macular membrane is an extremely thin membrane tissue, the operation process can destroy the macular cell tissue, and has extremely high requirements on the experience and technology of the doctor.
Therefore, the surgical robot is introduced in the minimally invasive surgery, which is helpful for improving the accuracy and safety of the surgery. In the prior art, the following disadvantages exist: firstly, when the forceps are rotated, the forceps need to be rotated together with a control end or other auxiliary devices (such as a fixing frame, an outer sleeve and the like), so that the eye ball group can be damaged, and the operation risk is increased; secondly, the coupling degree of the surgical forceps and the control end (comprising a mechanical arm, a micro-control motor and the like) is high, and the replacement and disinfection of the surgical forceps are inconvenient.
Disclosure of Invention
In order to solve the problems in the related art, the embodiments of the present disclosure provide surgical forceps for a surgical robot.
In a first aspect, embodiments of the present disclosure provide surgical forceps for a surgical robot, including:
the device comprises a fixed bracket, a transmission rod, a working catheter assembly and a forceps assembly;
the first end of the transmission rod extends out of the first end of the fixed support, the second end of the transmission rod is movably arranged in the fixed support and is fixedly connected with the first end of the forceps assembly, and the second end of the fixed support is fixedly connected with the working catheter assembly;
the forceps assembly passes through the working catheter assembly, a first end of the forceps assembly being connected to a second end of the drive rod via a first end of the working catheter assembly, a second end of the forceps assembly extending from the second end of the working catheter assembly;
the forceps assembly can slide relative to the working catheter assembly under the drive of the transmission rod so as to control the opening and closing of the second end of the forceps assembly and simultaneously rotate relative to the working catheter assembly.
Further, the working catheter assembly comprises a working catheter and a working catheter holder, the working catheter holder being disposed at the second end of the fixed holder;
the radial center of the head part of the working catheter support is provided with a first through hole, the tail part of the working catheter support is provided with a first boss, and the first boss is used for limiting the moving range of the transmission rod and fixing the working catheter support on the fixed support;
the working catheter is a hollow catheter and penetrates through and is fixed at the first through hole of the head of the working catheter bracket.
Further, the forceps assembly comprises a forceps head and a long rod, wherein a first end of the long rod extends out of the first end of the working catheter and is connected to the transmission rod, and a second end of the long rod extends out of the second end of the working catheter and is connected with the forceps head.
Further, the fixing bracket is a hollow cylinder and is used for accommodating and fixing the transmission rod, the working catheter assembly and the forceps assembly;
and the inside of the fixed bracket and the transmission rod are provided with limit parts matched with each other, and the limit parts are used for limiting the displacement range of the transmission rod.
Further, the surgical forceps for the surgical robot further comprise an elastic component; the elastic component comprises an elastic component seat and an elastic component, the elastic component seat is arranged at the first end of the fixed support, the first end of the elastic component seat is fixedly connected with the elastic component, the second end of the elastic component seat is provided with a second boss, and the second boss is inserted into the first end of the fixed support and can enable the elastic component seat to rotate relative to the fixed support; the center of the elastic component seat is provided with a second through hole, and the second through hole is matched with a parallel surface arranged on the side surface of the transmission rod, so that the elastic component seat rotates along with the transmission rod; and two ends of the elastic part are fixedly connected with the elastic part seat and the transmission rod respectively.
Further, the transmission rod comprises a first sub transmission rod, a rod sleeve and a second sub transmission rod, wherein the first end of the first sub transmission rod is provided with a parallel end face, the first end of the first sub transmission rod is fixedly connected with the second end of the second sub transmission rod through the rod sleeve, the second end of the first sub transmission rod is fixedly connected with the tweezers assembly, and the rod sleeve is connected with the elastic component.
Further, the first end of the transmission rod is provided with a locking part, and the locking part comprises at least one pair of parallel end surfaces and a groove with the extending direction being non-parallel to the axial direction of the transmission rod.
Further, the surgical forceps for the surgical robot further comprises an outer tube, wherein the outer tube is a columnar hollow tube and is arranged on the outer side of the fixed support.
According to the technical scheme provided by the embodiment of the disclosure, the disclosure provides surgical forceps for a surgical robot, comprising: the device comprises a fixed bracket, a transmission rod, a working catheter assembly and a forceps assembly; the first end of the transmission rod extends out of the first end of the fixed support, the second end of the transmission rod is movably arranged in the fixed support and is fixedly connected with the first end of the forceps assembly, and the second end of the fixed support is fixedly connected with the working catheter assembly; the forceps assembly passes through the working catheter assembly, a first end of the forceps assembly being connected to a second end of the drive rod via a first end of the working catheter assembly, a second end of the forceps assembly extending from the second end of the working catheter assembly; the forceps assembly can slide relative to the working catheter assembly under the drive of the transmission rod so as to control the opening and closing of the second end of the forceps assembly, and can rotate relative to the working catheter assembly. According to the technical scheme, the transmission rod is directly connected with the forceps assembly, so that two dimensional actions of opening and closing and rotating of forceps can be realized simultaneously, the structural design difficulty of a matched surgical robot is reduced, the coupling degree of the forceps and a control end is reduced, and the forceps are convenient to replace and sterilize.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 illustrates a cross-sectional structural view of surgical forceps for a surgical robot according to an embodiment of the present disclosure.
Fig. 2 illustrates an external structural view of surgical forceps for a surgical robot according to an embodiment of the present disclosure.
Fig. 3 illustrates a transmission rod structure diagram of surgical forceps for a surgical robot according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.
In this disclosure, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in this specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, acts, components, portions, or combinations thereof are present or added.
In addition, it should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In the present disclosure, if an operation of acquiring user information or user data or an operation of presenting user information or user data to another person is referred to, the operations are all operations authorized, confirmed, or actively selected by the user.
Minimally invasive surgery is a common treatment modality for ophthalmic diseases. For example, maculopathy requires a doctor to peel off the macular membrane through minimally invasive surgery, and because the macular membrane is an extremely thin membrane tissue, the operation process can destroy the macular cell tissue, and has extremely high requirements on the experience and technology of the doctor.
Therefore, the surgical robot is introduced in the minimally invasive surgery, which is helpful for improving the accuracy and safety of the surgery. In the prior art, the following disadvantages exist: firstly, when the forceps are rotated, the forceps need to be rotated together with a control end or other auxiliary devices (such as a fixing frame, an outer sleeve and the like), so that the eye ball group can be damaged, and the operation risk is increased; secondly, the coupling degree of the surgical forceps and the control end (comprising a mechanical arm, a micro-control motor and the like) is high, and the replacement and disinfection of the surgical forceps are inconvenient.
In order to solve the technical problems, the invention discloses surgical forceps for a surgical robot, which comprises: fixed bolster, transfer line, working catheter subassembly, tweezers subassembly: the first end of the transmission rod extends out of the first end of the fixed support, the second end of the transmission rod is movably arranged in the fixed support and is fixedly connected with the first end of the forceps assembly, and the second end of the fixed support is fixedly connected with the working catheter assembly; the forceps assembly passes through the working catheter assembly, a first end of the forceps assembly being connected to a second end of the drive rod via a first end of the working catheter assembly, a second end of the forceps assembly extending from the second end of the working catheter assembly; the forceps assembly can slide relative to the working catheter assembly under the drive of the transmission rod so as to control the opening and closing of the second end of the forceps assembly, and can rotate relative to the working catheter assembly. According to the technical scheme, the transmission rod is directly connected with the forceps assembly, so that two dimensional actions of opening and closing and rotating of forceps can be realized simultaneously, the structural design difficulty of a matched surgical robot is reduced, the coupling degree of the forceps and a control end is reduced, and the forceps are convenient to replace and sterilize.
Fig. 1 illustrates a cross-sectional structural view of surgical forceps for a surgical robot according to an embodiment of the present disclosure. Fig. 2 illustrates an external structural view of surgical forceps for a surgical robot according to an embodiment of the present disclosure. As shown in fig. 1 and 2, surgical forceps for surgical robots include a fixed bracket 100, a transmission rod 200, a working catheter assembly, and a forceps assembly 400:
the first end of the transmission rod 200 extends out from the first end of the fixed support 100, the second end of the transmission rod 200 is movably arranged in the fixed support 100 and is fixedly connected with the first end of the forceps assembly 400, and the second end of the fixed support 100 is fixedly connected with the working catheter assembly;
the forceps assembly 400 passes through the working catheter assembly, a first end of the forceps assembly 400 is connected to a second end of the transmission rod 200 via the first end of the working catheter assembly, and a second end of the forceps assembly 400 protrudes from the second end of the working catheter assembly;
the forceps assembly 400 can slide relative to the working catheter assembly under the drive of the drive rod 200 to control the opening and closing of the second end of the forceps assembly 400 and can simultaneously rotate relative to the working catheter assembly.
According to the embodiment of the disclosure, when the control end of the surgical robot needs to perform forceps opening operation, the control end drives the transmission rod 200 forwards, the forceps assembly 400 stretches forwards relative to the working catheter assembly to open, and meanwhile, the control end drives the whole surgical forceps to move in the opposite direction for the same distance, so that the position of the forceps assembly 400 relative to a patient is ensured to be unchanged; when the control end of the surgical robot needs to perform forceps closing operation, the control end drives the transmission rod 200 backwards, the forceps assembly 400 moves backwards relative to the working catheter assembly to be closed, and meanwhile, the control end drives the whole surgical forceps to move in the opposite direction for the same distance, so that the position of the forceps assembly 400 relative to a patient is ensured to be unchanged; when the control end of the surgical robot needs to perform the forceps rotation operation, the control end drives the transmission rod 200 to rotate, the forceps assembly 400 is driven by the transmission rod 200 to synchronously rotate, and the fixed support and the working catheter assembly are kept motionless.
According to an embodiment of the present disclosure, the working catheter assembly includes a working catheter and a working catheter holder 320, the working catheter holder 320 being disposed at a second end of the fixed holder 100;
the working catheter support 320 is provided with a first through hole in the radial center of the head portion and a first boss in the tail portion, wherein the first boss is used for limiting the moving range of the transmission rod and fixing the working catheter support on the fixing support.
The working catheter holder 320 has a conical head and a radially central first through hole for passing and securing the working catheter. The tail of the working catheter holder 320 is further provided with a first boss, the outer diameter and the cross-sectional shape of the first boss are consistent with those of the inner diameter and the cross-sectional shape of the fixed holder 100, and the first boss is inserted into one end of the fixed holder 100 and fixedly connected with the fixed holder 100. The first boss may have the same diameter as the second end of the drive rod 200 such that the first boss may contact the drive rod 200 preventing excessive forward displacement of the drive rod 200 from causing forward displacement of the tweezer assembly 400 to damage the patient. The working catheter holder 320 is used to fix the position of the working catheter, preventing displacement of the working catheter from causing a decrease in the accuracy of operation of the forceps assembly 400.
According to an embodiment of the present disclosure, the working catheter is a hollow catheter, and is inserted through and fixed at the first through hole of the head of the working catheter holder 320. The working catheter passes through the first through hole in the radial center of the working catheter holder 320 and is fixedly connected with the working catheter holder 320. The working catheter is used to secure the forceps assembly 400 against patient injury due to misalignment of the forceps assembly 400 caused by shaking of the forceps assembly 400. In addition, the working catheter also serves to protect the tweezer assembly 400 and assist the tweezer assembly 400 in the opening and closing operation.
According to an embodiment of the present disclosure, the forceps assembly 400 includes a forceps head and a long rod, a first end of the long rod extends from a first end of the working catheter to be connected to the transmission rod, and a second end of the long rod extends from a second end of the working catheter to be connected to the forceps head. The forceps head consists of at least 2 forceps sheets made of metal or high polymer materials, and can clamp eye tissues by opening and closing under the pushing of the working catheter. The forceps head is fixed at one end of a long rod, the long rod is arranged in the working catheter and can rotate or reciprocate in the working catheter, and the other end of the long rod is exposed out of the working catheter and is fixedly connected with the center of the end face of the transmission rod 200. Further, the diameter of the elongate shaft should be slightly smaller than or the same as the inner diameter of the working catheter to prevent radial displacement of the forceps assembly 400 relative to the working catheter, resulting in positional misalignment of the forceps heads to injure the patient.
According to an embodiment of the present disclosure, the fixing bracket 100 is a hollow cylinder for accommodating and fixing the transmission rod 200, the working catheter assembly and the forceps assembly 400;
the fixing bracket 100 is internally provided with a limiting component for limiting the displacement range of the transmission rod 200.
In order to prevent the forceps assembly 400 from being excessively retracted backward to damage the forceps heads when the transmission rod 200 drives the forceps assembly 400 in the axial direction, it is necessary to limit the axial movement range of the transmission rod 200. The limiting component can be a limiting ring or a limiting protrusion, and is respectively located at the inner side of the fixed bracket 100 and the outer side of the transmission rod 200, and is matched with the fixed bracket to limit the displacement range of the transmission rod 200. Further, the working catheter support and the fixing support can be in split design, the working catheter support is inserted into the second end of the fixing support to be fixedly connected in an interference fit or welding mode, and the working catheter support and the fixing support can be integrally formed in a punching or milling mode.
According to the embodiment of the disclosure, the transmission rod 200 is disposed in the fixing bracket 100, one end of the transmission rod is connected to the long rod, and the other end of the transmission rod extends out of the fixing bracket 100. The transmission rod 200 is a cylinder and can rotate or axially move in the fixed support 100, and is used for driving the tweezer assembly 400 to rotate or axially move, so as to realize the opening and closing and rotating operation of the tweezer assembly 400.
According to an embodiment of the present disclosure, the surgical forceps for a surgical robot further includes an elastic member; the elastic assembly comprises an elastic component seat 510 and an elastic component 520, wherein the elastic component seat 510 is arranged at a first end of the fixed support 100, the first end of the elastic component seat 510 is fixedly connected with the elastic component 520, a second end of the elastic component seat is provided with a second boss, and the second boss is inserted into the first end of the fixed support 100 and can enable the elastic component seat 510 to rotate relative to the fixed support 100; the elastic component seat 510 is provided with a second through hole in the center, and the second through hole is matched with a parallel surface arranged on the side surface of the transmission rod 200, so that the elastic component seat rotates along with the transmission rod; the two ends of the elastic member 520 are fixedly connected with the elastic member seat 510 and the transmission rod 200, respectively. When the forceps need to be closed, the elastic component can utilize the elastic force of the elastic component 520 to drive the transmission rod 200 to move towards the first end of the transmission rod, a motor and the like are not needed to provide power for the transmission rod 200, and the forceps component 400 can be kept in a closed state all the time when the forceps are in an unpowered state, so that deformation and damage of the forceps component 400 caused by external force are prevented. Further, the elastic member seat 510 can freely rotate along with the elastic member 520 and the driving rod 200; the elastic member 520 may be a spring, a spring steel plate, or other elastic member, and the present disclosure is not limited thereto.
Fig. 3 illustrates a transmission rod structure diagram of surgical forceps for a surgical robot according to an embodiment of the present disclosure. As shown in fig. 3, the transmission rod 200 includes a first sub transmission rod 230, a rod sleeve 240 and a second sub transmission rod 250, wherein a first end of the first sub transmission rod 230 has a parallel end surface and is fixedly connected with a second end of the second sub transmission rod 250 through the rod sleeve 240, a second end of the first sub transmission rod 230 is fixedly connected with the tweezer assembly 400, and one end of the rod sleeve 240 is connected with an elastic component. The transmission rod is set to be the first sub transmission rod 230 and the second sub transmission rod 250, which is beneficial to reducing the assembly difficulty during the manufacture of surgical forceps, namely, the first sub transmission rod 230 passes through the fixing support and is fixedly connected with the second sub transmission rod 250, the diameter of the rod sleeve 240 is larger than that of the first sub transmission rod 230 and the second sub transmission rod 250, and the rod sleeve can be connected with an elastic part and matched with the elastic part to drive the transmission rod.
According to an embodiment of the present disclosure, the first end of the transmission rod 200 is provided with a locking member comprising at least one pair of parallel end surfaces 210, and a groove 220 extending in a direction non-parallel to the axial direction of the transmission rod 200. The locking component is used for fixing the forceps and the self-locking device of the surgical robot, and further fixing the forceps and the control end of the surgical robot, so that the forceps cannot be controlled due to the fact that the forceps transmission rod 200 is separated from the surgical robot in the surgical process is prevented, and the control precision of the forceps is improved. At least one pair of parallel end surfaces 210 of the locking member are used to prevent relative displacement with the self-locking device of the surgical robot when the forceps are rotated, resulting in an actual rotation speed of the forceps that does not correspond to the desired speed of the control end. The width of each pair of parallel end surfaces 210 may be non-uniform and match the shape of the insertion location of the forceps transmission rod in the self-locking device. The groove 220 in the locking part is matched with the clamping spring at the insertion position of the forceps transmission rod in the self-locking device, the clamping spring is embedded into the groove and used for fixing the forceps, and the forceps are prevented from being out of control due to the fact that the forceps are separated from the control end when the transmission rod 200 is driven to open and close the forceps. The grooves of the locking member may also be circular-arc, saw-tooth or other shapes.
According to an embodiment of the present disclosure, as shown in fig. 2, the surgical forceps for a surgical robot further includes an outer tube 600, wherein the outer tube 600 is a cylindrical hollow tube, and is disposed outside the assembly of the fixing bracket 100. The outer tube 600 is used to connect with a fixture at the control end to stably fix forceps to the surgical robot. The outer side of the outer tube 600 may be provided with a corresponding interface or shape to mate with a fixture of the control end to enhance the stability of the fixture with the control end.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention referred to in this disclosure is not limited to the specific combination of features described above, but encompasses other embodiments in which any combination of features described above or their equivalents is contemplated without departing from the inventive concepts described. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Claims (8)
1. Surgical forceps for surgical robots, characterized by comprising: the device comprises a fixed bracket, a transmission rod, a working catheter assembly and a forceps assembly;
the first end of the transmission rod extends out of the first end of the fixed support, the second end of the transmission rod is movably arranged in the fixed support and is fixedly connected with the first end of the forceps assembly, and the second end of the fixed support is fixedly connected with the working catheter assembly;
the forceps assembly passes through the working catheter assembly, a first end of the forceps assembly being connected to a second end of the drive rod via a first end of the working catheter assembly, a second end of the forceps assembly extending from the second end of the working catheter assembly;
the forceps assembly can slide relative to the working catheter assembly under the drive of the transmission rod so as to control the opening and closing of the second end of the forceps assembly, and can rotate relative to the working catheter assembly.
2. Surgical forceps for surgical robots according to claim 1, characterized in that:
the working catheter assembly comprises a working catheter and a working catheter bracket, and the working catheter bracket is arranged at the second end of the fixed bracket;
the radial center of the head part of the working catheter support is provided with a first through hole, the tail part of the working catheter support is provided with a first boss, and the first boss is used for limiting the moving range of the transmission rod and fixing the working catheter support on the fixed support;
the working catheter is a hollow catheter and penetrates through and is fixed at the first through hole of the head of the working catheter bracket.
3. Surgical forceps for surgical robots according to claim 2, characterized in that:
the forceps assembly comprises a forceps head and a long rod, wherein a first end of the long rod extends out of the first end of the working catheter and is connected to the transmission rod, and a second end of the long rod extends out of the second end of the working catheter and is connected with the forceps head.
4. Surgical forceps for surgical robots according to claim 3, characterized in that:
the fixing support is a hollow cylinder and is used for accommodating and fixing the transmission rod, the working catheter assembly and the forceps assembly;
and the inside of the fixed bracket and the transmission rod are provided with limit parts matched with each other, and the limit parts are used for limiting the displacement range of the transmission rod.
5. Surgical forceps for surgical robots according to claim 1, characterized in that: the surgical forceps for the surgical robot further comprise an elastic component;
the elastic component comprises an elastic component seat and an elastic component, the elastic component seat is arranged at the first end of the fixed support, the first end of the elastic component seat is fixedly connected with the elastic component, the second end of the elastic component seat is provided with a second boss, and the second boss is inserted into the first end of the fixed support and can enable the elastic component seat to rotate relative to the fixed support;
the center of the elastic component seat is provided with a second through hole, and the second through hole is matched with a parallel surface arranged on the side surface of the transmission rod, so that the elastic component seat rotates along with the transmission rod;
and two ends of the elastic part are fixedly connected with the elastic part seat and the transmission rod respectively.
6. Surgical forceps for surgical robots according to claim 5, characterized in that: the transmission rod comprises a first sub transmission rod, a rod sleeve and a second sub transmission rod, wherein the first end of the first sub transmission rod is provided with a parallel end face, the first end of the first sub transmission rod is fixedly connected with the second end of the second sub transmission rod through the rod sleeve, the second end of the first sub transmission rod is fixedly connected with the tweezers assembly, and the rod sleeve is connected with the elastic component.
7. Surgical forceps for surgical robots according to claim 1, characterized in that: the first end of the transmission rod is provided with a locking part, and the locking part comprises at least one pair of parallel end surfaces and a groove with the extending direction being non-parallel to the axial direction of the transmission rod.
8. Surgical forceps for surgical robots according to claim 1, characterized in that: surgical forceps for surgical robot still includes the outer tube, the outer tube is the column hollow tube, sets up the outside of fixed bolster.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310891305.5A CN116898665A (en) | 2023-07-19 | 2023-07-19 | Surgical forceps for surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310891305.5A CN116898665A (en) | 2023-07-19 | 2023-07-19 | Surgical forceps for surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116898665A true CN116898665A (en) | 2023-10-20 |
Family
ID=88356133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310891305.5A Pending CN116898665A (en) | 2023-07-19 | 2023-07-19 | Surgical forceps for surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116898665A (en) |
-
2023
- 2023-07-19 CN CN202310891305.5A patent/CN116898665A/en active Pending
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