CN117398192B - A terminal anchor clamps for puncture surgical robot - Google Patents
A terminal anchor clamps for puncture surgical robot Download PDFInfo
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- CN117398192B CN117398192B CN202311710951.3A CN202311710951A CN117398192B CN 117398192 B CN117398192 B CN 117398192B CN 202311710951 A CN202311710951 A CN 202311710951A CN 117398192 B CN117398192 B CN 117398192B
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- 230000035515 penetration Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 description 7
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010517 secondary reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Pathology (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
- Surgical Instruments (AREA)
Abstract
The application provides a tip fixture for a puncture surgical robot, comprising: the clamp comprises a base, an actuating piece, an actuating sleeve, a limiting sleeve and a clamp head; the base is provided with an actuating groove, the actuating piece is arranged in the actuating groove in a sliding mode, the actuating piece is provided with a locking position and an unlocking position, and in the locking position, the actuating piece and the actuating groove form a locking structure. The actuating member has a locking position and an unlocking position, and in the locking position, the actuating member and the actuating member form a locking structure for preventing the actuating sleeve and the limit sleeve from sliding away from the binding clip. When an operator needs to clamp the puncture sleeve or the puncture needle, the locking and the opening of the clamp head can be realized by controlling the actuating piece to slide in the actuating groove to switch the locking position and the unlocking position, the operation is simple and convenient, and meanwhile, the actuating piece can be locked after sliding to the locking position, and the actuating piece or the actuating sleeve is not required to be locked and positioned by using an additional locking structure.
Description
Technical Field
The application relates to the technical field of puncture medical instruments, in particular to a tail end clamp for a puncture surgical robot.
Background
In the process of clinically adopting robot to assist puncture, the terminal fixture can be influenced by multiple factors such as receptor position, puncture needle stop device and the like, so that the puncture needle can not be safely and rapidly recycled after the puncture is completed, therefore, the prior art provides the terminal fixture, the clamp head is locked by the sleeve, and the relative position is fixed through the bolt, so that the clamp head is kept in a locked state, the clamp head clamps the puncture sleeve in such a way, two-step operation is needed, the position of the sleeve is kept unchanged when the clamp head is locked through the bolt, the puncture sleeve can be fixed after the bolt is screwed into the threaded hole, the puncture sleeve is required to be operated through rotating the bolt for medical staff, the relative position of the sleeve is required to be kept, the operation is complicated, the operation time is long, and the treatment on a patient is unfavorable.
Disclosure of Invention
The utility model provides an aim at provides a terminal anchor clamps for puncture surgical robot, aims at solving among the related art and adopts the bolt to carry out the relative position of sleeve and binding clip, and complex operation and operating time are longer problem.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
According to a first aspect of the present application, there is provided an end clamp for a penetration surgical robot, comprising: the clamp comprises a base, an actuating piece, an actuating sleeve, a limiting sleeve and a clamp head; the forceps head is connected to the first end of the base and used for clamping the puncture sleeve or the puncture needle; the limiting sleeve and the actuating sleeve are sequentially sleeved on the base in a sliding manner along the direction of approaching the clamp head; the base is provided with an actuating groove which extends from one side far away from the clamp head to one side close to the clamp head, the actuating piece is arranged in the actuating groove in a sliding mode, the actuating piece is provided with a locking position which slides towards the clamp head direction and drives the actuating sleeve and the limiting sleeve to slide together so as to push the clamp head to be closed, and an unlocking position which slides towards the direction far away from the clamp head so as to enable the clamp head to be opened, and in the locking position, the actuating piece and the actuating groove are provided with a locking structure which is used for preventing the actuating sleeve and the limiting sleeve from sliding towards the direction far away from the clamp head.
In an exemplary embodiment of the present application, the actuating groove includes a locking section near the jaw side and a sliding section far away from the jaw side, and the actuating member enters the locking section after sliding along the sliding section to the locking position, and in the locking section, the actuating member and the actuating groove form the locking structure.
In one exemplary embodiment of the present application, the slip segment is a first helical flute segment extending helically from a side remote from the head to a side near the head, and the lock segment is a second helical flute segment in communication with the first helical flute segment having a thread lead less than the first helical flute segment;
the actuating sleeve is a rotary sleeve, the actuating piece can drive the rotary sleeve to rotate and advance towards the direction of the clamp head when sliding along the first spiral groove section from the side far away from the clamp head to the side close to the clamp head, the rotary sleeve pushes the limiting sleeve to slide together, and the limiting sleeve simultaneously pushes the clamp head to be closed; after the actuating piece slides into the second spiral groove section from the first spiral groove section, one side, away from the clamp head, of the actuating piece is abutted against the inner wall of the second spiral groove section to form the locking structure.
In an exemplary embodiment of the present application, the thread lead of the second helical flute section is no greater than 20mm.
In an exemplary embodiment of the present application, the base forms a spacing structure between an end proximate the binding clip and the spacing sleeve for preventing rotation of the spacing sleeve.
In an exemplary embodiment of the present application, the limiting structure includes a U-shaped groove formed in a side edge of the limiting sleeve facing the clamp head and extending axially along the limiting sleeve, and a pin shaft for connecting the U-shaped groove and the base.
In an exemplary embodiment of the present application, the actuating member is integrally provided with or fixedly connected to the actuating sleeve.
In an exemplary embodiment of the present application, the actuating member is integrally provided with or fixedly connected to the actuating sleeve.
In one exemplary embodiment of the present application, the device further comprises an automatic reset structure comprising an elastic reset member connected between the clamp head and the limit sleeve or the actuating sleeve, and an axial linkage structure;
the elastic reset piece applies elastic force to the limit sleeve or the actuating sleeve to reset the limit sleeve and the actuating sleeve when the actuating piece is switched from the locking position to the unlocking position;
and the limit sleeve drives the clamp head to automatically open through the axial linkage structure when in resetting movement.
In an exemplary embodiment of the present application, the elastic restoring member is a compression spring, one end of which is connected to the clamp head, and the other end of which is connected to the limit sleeve;
the axial linkage structure comprises a hole groove which is formed in the limit sleeve and extends along the axial direction, and a convex column which is arranged on the clamp head and is used for being matched with the hole groove.
Exemplary embodiments of the present application may have some or all of the following benefits:
according to the tail end clamp for the puncture surgical robot, the actuating groove is formed in the base, the actuating piece is arranged in the actuating groove in a sliding mode, the actuating piece is provided with the locking position capable of driving the actuating sleeve and the limiting sleeve to slide together to push the clamp head to be closed when sliding towards the clamp head, the actuating piece is also provided with the unlocking position capable of driving the actuating sleeve and the limiting sleeve to slide away from the clamp head to enable the clamp head to be opened when sliding towards the direction away from the clamp head, and in the locking position, the actuating piece and the actuating groove are provided with the locking structure for preventing the actuating sleeve and the limiting sleeve from sliding towards the direction away from the clamp head. When an operator needs to clamp the puncture sleeve or the puncture needle, the locking and the unlocking of the clamp head can be realized by controlling the actuating piece to slide in the actuating groove to switch the locking position and the unlocking position, the operation is simple and convenient, the one-key locking or unlocking of the clamp head is realized, meanwhile, the actuating piece can be locked after sliding to the locking position, and the actuating piece or the actuating sleeve is not required to be locked and positioned by using an additional locking structure.
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 application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 illustrates a schematic view of an end clamp for a penetration surgical robot in an embodiment of the present application;
FIG. 2 illustrates an exploded view of a tip holder for a penetration surgical robot in an embodiment of the present application;
FIG. 3 illustrates a top enlarged view of an end clamp for a penetration surgical robot in an embodiment of the present application;
FIG. 4 illustrates a front view of an enlarged view of an end clamp for a penetration surgical robot in an embodiment of the present application;
FIG. 5 shows a cross-sectional view at A-A in FIG. 4;
FIG. 6 shows a schematic structural view of a base in an embodiment of the present application;
FIG. 7 illustrates a schematic view of a tip clamp for a penetration surgical robot in an unlocked position in an embodiment of the present application;
FIG. 8 shows a cross-sectional view at B-B in FIG. 7;
fig. 9 shows a schematic structural diagram of a limiting structure in an embodiment of the present application.
Reference numerals illustrate:
1. a connecting rod; 2. a base; 21. an actuation slot; 211. a first helical flute section; 212. a second helical flute section; 3. a knob; 31. an actuator; 4. an elastic reset piece; 5. an actuating sleeve; 6. a limit sleeve; 61. a hole groove; 62. a U-shaped groove; 7. a clamp head; 71. a protruding column; 8. a pin shaft; 9. clamping springs; 10. a puncture sleeve; 11. a puncture needle; 12. a rotating shaft.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus detailed descriptions thereof will be omitted. Furthermore, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale.
Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification for convenience only, such as in terms of the orientation of the examples in the drawings. It will be appreciated that if the device of the icon is flipped upside down, the recited "up" component will become the "down" component. When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.
The terms "a," "an," "the," and "at least one" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. in addition to the listed elements/components/etc.; the terms "first" and "second" are used merely as labels, and do not limit the number of their objects.
Examples
The present embodiments provide a specific implementation of an end clamp for a penetrating surgical robot, as shown in fig. 1, 2, 3 and 4, comprising a base 2, an actuator 31, an actuation sleeve 5, a limit sleeve 6 and a binding clip 7; wherein, the two ends of the base 2 are a first end and a second end respectively, the clamp head 7 is connected to the first end of the base 2, and the clamp head 7 is used for clamping the puncture sleeve 10 or the puncture needle 11. The limiting sleeve 6 and the actuating sleeve 5 are sequentially sleeved on the base 2 in a sliding way, the limiting sleeve 6 is positioned close to the clamp head 7, and the actuating sleeve 5 is positioned far away from the clamp head 7; the base 2 is provided with an actuating groove 21 extending from one side far away from the binding clip 7 to one side close to the binding clip 7, and the actuating piece 31 is slidably arranged in the actuating groove 21, wherein the actuating piece 31 is provided with a locking position for sliding towards the binding clip 7 and driving the actuating sleeve 5 and the limiting sleeve 6 to slide together so as to push the binding clip 7 to be closed, the actuating piece 31 is also provided with an unlocking position for sliding towards the direction far away from the binding clip 7 so as to open the binding clip 7, and when the actuating piece 31 slides towards the direction far away from the binding clip 7, the locking of the actuating sleeve 5 and the limiting sleeve 6 can be released, and the actuating sleeve 5 and the limiting sleeve 6 can also slide towards the direction far away from the binding clip 7 so as to release the locking of the limiting sleeve 6 to the binding clip 7, so that the binding clip 7 can be opened.
The actuator 31 is required to be moved by driving force, which may be a force applied by manual operation of an operator, or may be a force applied to the actuator 31 by an electric driving force such as a motor, a cylinder, an electric cylinder, or the like provided on the actuating sleeve 5 or the base 2. In this embodiment, the driving force is a force manually applied by an operator, specifically, the operator may directly operate the actuator 31 to apply a force to move the actuator 31, or may operate the actuating sleeve 5 fixedly connected or integrally provided with the actuator 31, and drive the actuating sleeve 5 to further drive the actuator 31 to move in the actuating slot 21. It will be appreciated that this is not limiting.
As shown in fig. 4 and 5, when the actuator 31 is in the locking position, the actuator 31 and the actuating groove 21 may form a locking structure for preventing the actuating sleeve 5 and the limiting sleeve 6 from sliding away from the binding clip 7, so that the limiting sleeve 6 maintains the locking state of the binding clip 7, preventing the limiting sleeve 6 and the actuating sleeve 5 from sliding away from the binding clip 7, and further preventing the binding clip 7 holding the puncture sleeve 10 or the puncture needle 11 from loosening. In other words, the locking structure formed by the actuator 31 and the actuation groove 21 also locks the binding clip 7, and locks the binding clip 7 in a position where the puncture sleeve 10 or the puncture needle 11 is clamped.
In this embodiment, the actuating slot 21 includes a locking section formed on the base 2 on the side closer to the binding clip 7 and a sliding section on the side farther from the binding clip 7, and the actuating member 31 slides along the sliding section to the locking section and then enters the locking position, and in the locking section, the actuating member 31 and the actuating slot 21 form a locking structure. When the sliding section slides towards the locking section, the actuating member 31 drives the actuating sleeve 5 and the limiting sleeve 6 to move in the axial direction of the base 2 so as to push the clamp head 7 to be closed.
Specifically, as shown in fig. 6, the sliding section is a first spiral groove section 211 spirally extending from a side far away from the binding clip 7 to a side close to the binding clip 7, and the locking section is a second spiral groove section communicated with the first spiral groove section 211 and having a smaller thread lead than the first spiral groove section 211; the actuating sleeve 5 is a rotary sleeve and can rotate on the base 2, the actuating piece 31 drives the rotary sleeve to rotate and advance towards the direction of the clamp head 7 when sliding along the first spiral groove section 211 from the side far away from the clamp head 7 to the side close to the clamp head 7, the rotary sleeve pushes the limit sleeve 6 to slide together, the limit sleeve 6 pushes the clamp head 7 to be closed at the same time, after the actuating piece 31 slides into the second spiral groove section 212 from the first spiral groove section 211, one side of the actuating piece 31 far away from the clamp head 7 is abutted against the inner wall of the second spiral groove section 212 to form a locking structure, and along with the sliding of the actuating piece 31 in the second spiral groove section 212, the friction force between the actuating piece 31 and the inner wall of the second spiral groove section 212 is larger. After the actuating member 31 slides into the second spiral groove section 212, the binding clip 7 starts to clamp the puncture sleeve 10 or the puncture needle 11, when the actuating member 31 continues to slide in the second spiral groove section 212, the binding clip 7 clamps more and more tightly, so that the reaction force of the binding clip 7 to the limit sleeve 6 and the actuating sleeve 5 is the force along the axial direction of the base 2, the reaction force is also larger and larger, the actuating sleeve 5 transmits the reaction force to the actuating member 31, so that the side, away from the binding clip 7, of the actuating member 31 abuts against the inner wall of the second spiral groove section 212, and as the actuating member 31 slides, the friction force between the actuating member 31 and the inner wall of the second spiral groove section 212 is larger and larger, and finally a locking structure is formed.
As a result of this clamping, the jaw 7 can be adapted to different sizes of the puncture sleeve 10 or the puncture needle 11, and the actuating element 31 can continue to advance helically, since the actuating element 31 continues to advance helically after sliding into the second helical groove section 212, even if the puncture sleeve 10 or the puncture needle 11 is small in size, so that the locking effect is finally achieved.
As an alternative embodiment, the locking section may also be a horizontal slot perpendicular to the axial direction of the base 2, communicating with the first helical slot section 211; the actuating sleeve 5 is a rotary sleeve and can rotate on the base 2, when the actuating piece 31 slides along the first spiral groove section 211 from the side far away from the clamp head 7 to the side close to the clamp head 7, the rotary sleeve is driven to rotate and advance towards the clamp head 7, the rotary sleeve pushes the limiting sleeve 6 to slide together, the limiting sleeve 6 simultaneously pushes the clamp head 7 to be closed, and after the actuating piece 31 slides into the horizontal groove from the first spiral groove section 211, the two sides of the actuating piece 31 are abutted against the inner wall of the horizontal groove to form a locking structure. After the actuating member 31 slides into the second spiral groove section 212, the reaction force of the clamp head 7 to the limit sleeve 6 and the actuating sleeve 5 is the force along the axial direction of the base 2, so that the actuating member 31 can be abutted against the side wall of the horizontal groove, the actuating member 31 is prevented from sideslip, and the locking of the actuating sleeve 5 and the limit sleeve 6 when the actuating member 31 is positioned in the horizontal groove is ensured.
In this way, the size of the puncture sleeve 10 or the puncture needle 11 to be clamped is fixed, and since the locking section is a horizontal groove perpendicular to the axial direction of the base 2, the actuating member 31 is in a locking position after sliding into the horizontal groove, and the actuating member 31 continues to slide in the horizontal groove and does not advance helically, so that the puncture sleeve 10 or the puncture needle 11 with fixed size can be clamped only.
When the operator applies a driving force to drive the actuating member 31 to slide in the sliding section, the actuating member 31 receives a reaction force transmitted from the clamp head 7 through the limit sleeve 6 and the rotary sleeve, and when the operator drives the actuating member 31 to stop at a certain position in the sliding section, the first spiral groove section 211 applies a secondary reaction force opposite to the reaction force to the actuating member 31 to offset a part of the reaction force from the clamp head 7, so that the operating pressure of the operator can be relieved.
As an alternative embodiment, the sliding section may also be a chute extending linearly from a side far away from the clamp head 7 to a side close to the clamp head 7, the locking section is a clamping groove with a chute end extending radially towards the inside of the base 2, the end of the actuating member 31 is provided with a clamping block matched with the clamping groove, the actuating member 31 is driven by an operator to slide along the chute extending linearly, the actuating member 31 pushes or drives the actuating sleeve 5 and the limiting sleeve 6 to move towards the clamp head 7, when the limiting sleeve 6 pushes the clamp head 7 to close, the actuating member 31 just moves to the clamping groove position, and the clamping block of the actuating member 31 slides into the clamping groove and the clamping groove to form a locking structure for preventing the actuating sleeve 5 and the limiting sleeve 6 from sliding towards the direction far away from the clamp head 7.
In this embodiment, the thread lead of the first helical groove segment 211 is greater than the thread lead of the second helical groove segment 212. The greater thread lead of the first helical groove segment 211 may allow for smoother and faster sliding of the actuator 31 within the first helical groove segment 211. Specifically, the thread lead of the second helical groove segment 212 is not greater than 20mm, the thread lead of the first helical groove segment 211 is greater than 20mm, and in this embodiment, the thread lead of the first helical groove segment 211 is preferably 30mm, and the thread lead of the second helical groove segment 212 is preferably 10mm.
It should be noted that the embodiment of the actuation groove 21 is only an exemplary embodiment of the present application, and is not a limitation of the present application.
Further, in this embodiment, the base 2 forms a limiting structure between one end close to the clamp head 7 and the limiting sleeve 6 for preventing the limiting sleeve 6 from rotating, so that the limiting sleeve 6 is prevented from rotating during the moving process of the actuating sleeve 5 for rotating and advancing to push the limiting sleeve 6, the abutting position of the limiting sleeve 6 to the clamp head 7 is ensured, and the repeated positioning accuracy is high.
Specifically, as shown in fig. 9, the limiting structure includes a U-shaped groove 62 formed at an edge of the side of the limiting sleeve 6 facing the clamp head 7 and extending axially along the limiting sleeve 6, and a pin shaft 8 for connecting the U-shaped groove 62 with the base 2. The base 2 is provided with a slot, the pin shaft 8 can be inserted into the slot, when the base 2 is installed, the limit sleeve 6 can be sleeved on the base 2, then the limit sleeve 6 is rotated, the U-shaped groove 62 corresponds to the slot, and finally the pin shaft 8 is inserted into the slot, so that the rotation limit of the limit sleeve 6 and the base 2 is completed.
As an alternative embodiment, the pin 8 may also be fixedly connected to the base 2, and the limiting sleeve 6 is sleeved on the base 2 with the U-shaped groove 62 aligned with the pin 8 during installation.
As an alternative implementation manner, the limiting structure may also be a sliding rod that is provided with an axial bar-shaped groove on the base 2 and radially extends out from the inner wall of the limiting sleeve 6, and the sliding rod is slidably disposed in the bar-shaped groove, so that the relative rotation between the limiting sleeve 6 and the base 2 may also be realized.
In this embodiment, the actuating member 31 is integrally provided with or fixedly connected to the actuating sleeve 5. Specifically, when the actuating member 31 is integrally provided with the actuating sleeve 5, the end of the actuating sleeve 5 radially extends out of the sliding block, the sliding block is the actuating member 31, and the sliding block is slidably mounted in the actuating groove 21; when the actuating member 31 is fixedly connected with the actuating sleeve 5, a threaded hole may be formed in the actuating sleeve 5, and the actuating member 31 is in threaded connection with the actuating sleeve 5.
In this embodiment, the operation part is integrally provided with or fixedly connected to the actuator 31, and the operation part can be used for facilitating the operation of an operator. Specifically, when the actuator 31 is integrally provided with the operation portion, the actuator 31 and the operation portion may be integrally provided with the actuation sleeve 5, or the actuation sleeve 5 and the operation portion may be fixedly connected to the actuation sleeve 5; when the actuator 31 and the operation portion are fixedly connected, the actuator 31 and the actuation sleeve 5 may be integrally provided, the operation portion may be fixedly connected to the actuator 31, or the actuator 31 may be fixedly connected to the actuation sleeve 5, and the operation portion may be fixedly connected to the actuator 31. Specifically, the operation part is a knob 3, and an operator can complete the rotary forward and backward movement of the actuation sleeve 5 by driving the knob 3.
In this embodiment, the device further comprises an automatic resetting structure, wherein the automatic resetting structure comprises an elastic resetting piece 4 connected between the clamp head 7 and the limit sleeve 6 or the actuating sleeve 5, and an axial linkage structure; when the actuating piece 31 is switched from the locking position to the unlocking position, the elastic resetting piece 4 applies elastic force to the limit sleeve 6 or the actuating sleeve 5 to reset the limit sleeve 6 and the actuating sleeve 5, and the limit sleeve 6 drives the clamp head 7 to be automatically opened through the axial linkage structure during resetting movement.
Specifically, when the elastic reset piece 4 is arranged between the clamp head 7 and the limit sleeve 6, the actuating sleeve 5 and the limit sleeve 6 can be in abutting relation, when the actuating sleeve 5 rotates forwards, the limit sleeve 6 is pushed to squeeze the elastic reset piece 4, so that the elastic reset piece 4 has elastic force, and when the actuating sleeve 5 rotates backwards, the limit sleeve 6 slides in a direction away from the clamp head 7 under the action of the elastic force of the elastic reset piece 4; when the elastic reset piece 4 is arranged between the clamp head 7 and the actuating sleeve 5, the actuating sleeve 5 and the limiting sleeve 6 are in sleeved connection, the actuating sleeve 5 and the limiting sleeve 6 can rotate relatively and cannot slide relatively, when the actuating sleeve 5 rotates forwards, the limiting sleeve 6 is driven to slide towards the clamp head 7, the actuating sleeve 5 extrudes the elastic reset piece 4, the elastic reset piece 4 has elastic force, when the actuating sleeve 5 rotates backwards, the limiting sleeve 6 is driven to slide towards a direction far away from the clamp head 7, the elastic force of the elastic reset piece 4 assists the actuating sleeve 5 to rotate backwards, acting force of an operator when the actuating sleeve 5 resets can be relieved, and the operation of the operator is facilitated.
Specifically, the elastic restoring member 4 is a compression spring, one end of which is connected to the clamp head 7, and the other end of which is connected to the limit sleeve 6. As an alternative embodiment, the elastic restoring element 4 may also be a compression spring, which is connected at one end to the jaw 7 and at the other end to the actuating sleeve 5.
As shown in fig. 7 and 8, the axial linkage structure includes a hole slot 61 formed in the limit sleeve 6 and extending in the axial direction, and a protruding post 71 provided on the clamp head 7 and configured to cooperate with the hole slot 61, specifically, the protruding post 71 may be integrally formed on the clamp head 7, or may be an insertion slot started on the clamp head 7, and the protruding post 71 is inserted into the insertion slot. When the limit sleeve 6 slides towards the direction far away from the clamp head 7, the inner wall of the hole groove 61 drives the convex column 71 to synchronously move, and the clamp head 7 is rotatably arranged at the first end of the base 2, so that the convex column 71 is in rigid contact with the inner wall of the hole groove 61, and the convex column 71 drives the clamp head 7 to rotate under the action of the inner wall of the hole groove 61, so that the clamp head 7 is automatically opened.
In this embodiment, the clamp head 7 is rotatably mounted at a first end of the base 2 through a rotating shaft 12, a second end of the base 2 is connected with the connecting rod 1, and the connecting rod 1 is fixedly connected with the tail end of the mechanical arm. The rotating shaft 12 is a pin, and a clamp spring 9 is arranged between the pin and the clamp head 7, and the clamp spring 9 can limit the pin to avoid the pin from falling off.
In this embodiment, the limiting sleeve 6 includes a necking end sleeved with the clamp head 7, wherein the inside of the necking end is fitted with the clamp head 7, so as to improve the smoothness of the clamp head 7 moving relative to the limiting sleeve 6.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
Claims (8)
1. An end clamp for a penetration surgical robot, comprising: the clamp comprises a base (2), an actuating piece (31), an actuating sleeve (5), a limiting sleeve (6) and a clamp head (7); wherein,
the clamp head (7) is connected to the first end of the base (2) and is used for clamping the puncture sleeve (10) or the puncture needle (11);
the limiting sleeve (6) and the actuating sleeve (5) are sequentially sleeved on the base (2) in a sliding manner along the direction approaching to the clamp head (7); the base (2) is provided with an actuating groove (21) extending from one side far away from the clamp head (7) to one side close to the clamp head (7), the actuating piece (31) is arranged in the actuating groove (21) in a sliding mode, the actuating piece (31) is provided with a locking position which slides towards the clamp head (7) and drives the actuating sleeve (5) and the limiting sleeve (6) to slide together so as to push the clamp head (7) to be closed, and an unlocking position which slides towards the direction far away from the clamp head (7) so as to enable the clamp head (7) to be opened, and in the locking position, the actuating piece (31) and the actuating groove (21) form a locking structure for preventing the actuating sleeve (5) and the limiting sleeve (6) from sliding towards the direction far away from the clamp head (7);
the limiting sleeve (6) comprises a necking end sleeved with the clamp head (7), and the inner wall of the necking end is attached to the clamp head (7);
the actuating groove (21) comprises a locking section close to one side of the clamp head (7) and a sliding section far away from one side of the clamp head (7), the actuating piece (31) slides to the locking section along the sliding section and then enters the locking position, and the actuating piece (31) and the actuating groove (21) form the locking structure in the locking section;
the sliding section is a first spiral groove section (211) spirally extending from one side far away from the clamp head (7) to one side close to the clamp head (7), and the locking section is a second spiral groove section (212) communicated with the first spiral groove section (211) and with a thread lead smaller than that of the first spiral groove section (211);
the actuating sleeve (5) is a rotary sleeve, the actuating piece (31) can drive the rotary sleeve to rotationally advance towards the clamp head (7) when sliding along the first spiral groove section (211) from the side far away from the clamp head (7) to the side close to the clamp head (7), the rotary sleeve pushes the limit sleeve (6) to slide together, and the limit sleeve (6) simultaneously pushes the clamp head (7) to be closed; after the actuating piece (31) slides into the second spiral groove section (212) from the first spiral groove section (211), one side of the actuating piece (31) away from the clamp head is abutted against the inner wall of the second spiral groove section (212) to form the locking structure.
2. The end clamp for a penetrating surgical robot of claim 1, wherein the thread lead of the second helical groove segment (212) is no greater than 20mm.
3. End clamp for a penetration surgical robot according to claim 1, characterized in that the base (2) forms a limit structure between the limit sleeve (6) and an end near the binding clip (7) for preventing rotation of the limit sleeve (6).
4. A distal clamp for a puncture surgical robot according to claim 3, characterized in that the limit structure comprises a U-shaped groove (62) provided at an edge of the limit sleeve (6) on a side facing the forceps head (7) and extending axially along the limit sleeve (6), and a pin shaft (8) for connecting the U-shaped groove (62) with the base (2).
5. End clamp for a puncture surgical robot according to any of claims 1-4, characterized in that the actuation member (31) is provided integrally or fixedly connected with the actuation sleeve (5).
6. The end clamp for a penetrating surgical robot according to claim 5, further comprising an operating part integrally provided with or fixedly connected to the actuating member (31).
7. The end clamp for a piercing surgical robot according to any one of claims 1-4, characterized by further comprising an automatic reset structure comprising a resilient reset member (4) connected between the binding clip (7) and the limit sleeve (6) or the actuation sleeve (5), and an axial linkage structure;
the elastic resetting piece (4) applies elastic force to the limit sleeve (6) or the actuating sleeve (5) to reset the limit sleeve (6) and the actuating sleeve (5) when the actuating piece (31) is switched from the locking position to the unlocking position;
and the limit sleeve (6) drives the clamp head (7) to automatically open through the axial linkage structure during resetting movement.
8. The end clamp for a puncture surgical robot according to claim 7, characterized in that the elastic restoring member (4) is a compression spring with one end connected to the binding clip (7) and the other end connected to the limit sleeve (6);
the axial linkage structure comprises a hole groove (61) formed in the limit sleeve (6) and extending along the axial direction, and a protruding column (71) which is arranged on the clamp head (7) and is used for being matched with the hole groove (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311710951.3A CN117398192B (en) | 2023-12-13 | 2023-12-13 | A terminal anchor clamps for puncture surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311710951.3A CN117398192B (en) | 2023-12-13 | 2023-12-13 | A terminal anchor clamps for puncture surgical robot |
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| CN117398192A CN117398192A (en) | 2024-01-16 |
| CN117398192B true CN117398192B (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311710951.3A Active CN117398192B (en) | 2023-12-13 | 2023-12-13 | A terminal anchor clamps for puncture surgical robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274056A (en) * | 2006-10-05 | 2011-12-14 | Tyco医疗健康集团 | Flexible endoscopic stitching devices |
| CN114176737A (en) * | 2022-02-16 | 2022-03-15 | 真健康（北京）医疗科技有限公司 | End sleeve clamp and puncture robot |
| CN217611296U (en) * | 2022-02-16 | 2022-10-21 | 真健康（北京）医疗科技有限公司 | Clamp for puncture and puncture robot |
| CN218606769U (en) * | 2022-02-16 | 2023-03-14 | 真健康（北京）医疗科技有限公司 | Terminal jig and puncture device |
| CN116407206A (en) * | 2021-12-31 | 2023-07-11 | 江苏风和医疗器材股份有限公司 | Clip applier |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140135821A1 (en) * | 2012-11-12 | 2014-05-15 | Wake Forest University Health Sciences | Surgical needle locks that cooperate with laparoscopic forceps and related methods |
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2023
- 2023-12-13 CN CN202311710951.3A patent/CN117398192B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274056A (en) * | 2006-10-05 | 2011-12-14 | Tyco医疗健康集团 | Flexible endoscopic stitching devices |
| CN116407206A (en) * | 2021-12-31 | 2023-07-11 | 江苏风和医疗器材股份有限公司 | Clip applier |
| CN114176737A (en) * | 2022-02-16 | 2022-03-15 | 真健康（北京）医疗科技有限公司 | End sleeve clamp and puncture robot |
| CN217611296U (en) * | 2022-02-16 | 2022-10-21 | 真健康（北京）医疗科技有限公司 | Clamp for puncture and puncture robot |
| CN218606769U (en) * | 2022-02-16 | 2023-03-14 | 真健康（北京）医疗科技有限公司 | Terminal jig and puncture device |
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| Publication number | Publication date |
|---|---|
| CN117398192A (en) | 2024-01-16 |
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