CN117536958A - Clamping device, slave hand and surgical robot - Google Patents

Abstract

The application discloses clamping device, follow hand and surgical robot, wherein, clamping device includes the fixing base, adapter and fixed the block subassembly of setting on the fixing base, in this application embodiment, adopt foretell clamping device, follow hand and surgical robot, the open and shut state through driving piece control lock arm subassembly, improve the installation convenience of adapter, the angle setting of pendulum rod can realize the auto-lock in the lock arm subassembly, make the adapter can't use external force to force with the separation of block subassembly, the joint firmness of device to the adapter has been improved, guarantee the apparatus stability and holistic security of operation in-process, realize the detachable connection of isolator on the fixing base through the butt cooperation of spacing splint and location lock clamp simultaneously in the lock arm subassembly, make isolator and the lock of location lock clamp and isolator can synchronous execution, connection efficiency has been guaranteed when improving whole joint strength.

Description

Clamping device, slave hand and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a clamping device, a slave hand and a surgical robot.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and the minimally invasive instrument becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.

A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and passes the input to a patient surgical platform connected to a teleoperated surgical instrument. The patient operation platform (from the hand) comprises operation instruments, the operation instruments extend into the human body through the sleeve to perform operation, and the sleeve is detachably connected with the patient operation platform (from the hand) through the clamping device.

The chinese patent application No. 202111625607.5 discloses a gripper and a gripping system for a surgical robot, wherein when an operator presses a handle, a crank slider mechanism drives a movable block to move, and a gripping locking action of a gripper arm is realized through a collision guide of the surface of the movable block to the gripper arm. In the above scheme, the open-close driving assembly of the clamping arm is more complicated in structure, and when the clamping main body is subjected to larger break-off force relative to the clamping arm, the open-close driving assembly cannot lock the break-off of the clamping main body, so that hidden danger of the break-off of the clamping main body exists, and the stability and safety of the operation process are affected.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a clamping device, a slave hand and a surgical robot which are convenient to clamp and have a self-locking function.

In order to achieve the above object, the present invention is achieved by the following technical scheme.

The application provides a clamping device, which comprises a fixed seat, a clamping assembly fixedly arranged on the fixed seat and an adapter part detachably arranged on the fixed seat through the clamping assembly, wherein the clamping assembly comprises a driven seat, a driving part and a locking arm assembly, wherein the driven seat is elastically arranged on the fixed seat in a sliding manner, the driving part is used for driving the driven seat to move, and the locking arm assembly is opened and closed through the movement of the driven seat;

the locking arm component comprises two swing rods hinged on the driven seat and two limiting clamping plates hinged with the two swing rods respectively, the two swing rods and the limiting clamping plates are symmetrically arranged, the first end of each swing rod is hinged with the driven seat, the first end of each limiting clamping plate is hinged with the second end of each swing rod, and the middle of each limiting clamping plate is hinged with the fixing seat;

the driven seat is provided with a limit at the first end of the sliding stroke, and the included angle between one side of the two swing rods, which is far away from the limit clamping plates, is not more than 180 degrees at the first end of the sliding stroke when the two limit clamping plates are in a tightening state; when the two limiting clamping plates are in an open state, the driven seat is close to the second end of the sliding stroke and has elastic potential energy moving towards the first end of the sliding stroke.

Further limited, in the above-mentioned fastening device, a cavity for accommodating the fastening component is provided in the fixing seat, and a fastening opening penetrating the cavity is provided on the fixing seat;

the clamping part of the adapter can extend into the clamping opening and be clamped with the clamping assembly.

Further limited, the above-mentioned clamping device, wherein, the said clamping assembly also includes the slide block fixedly set up on driven seat, fixedly set up the slide rail with slide connection of slide block on the cavity bottom wall of the said fixed seat;

and under the sliding connection state of the sliding rail and the sliding block, the sliding rail can limit the relative displacement of the sliding block in the non-length direction.

Further limited, in the above-mentioned fastening device, a protruding portion is fixedly disposed on a bottom wall of the cavity of the fixing base, and an elastic member is fixedly connected between the protruding portion and the driven base.

Further limited, the above-mentioned fastening device, wherein the driving member includes a driving rod hinged on the fixing base, and a link rod hinged with the driven base is hinged on the driving rod.

Further limited, the above-mentioned fastener, wherein, be equipped with the travel groove that link up with the cavity on the fixing base, the actuating lever of driving piece is kept away from driven seat one end and is passed the travel groove and with travel groove sliding connection.

Further limited, the above-mentioned clamping device, wherein still include the spacer that the cover was established on adapter joint part, the spacer can inlay and establish in the block mouth of fixing base and with the joint of block subassembly.

Further limited, in the above-mentioned fastening device, two positioning locking clips are symmetrically and elastically hinged at the corresponding positions of the fastening openings on the fixing base, and a fastening slot capable of being fastened with the positioning locking clip at the corresponding position is formed in the spacer;

in the tightening state of the locking arm component, one end, close to the adapting piece, of the positioning locking clamp can be clamped with the isolation piece under the action of self-hinging elasticity; and in the open state of the lock arm component, the limiting clamp plate can be abutted against the positioning lock clamp and drive the positioning lock clamp to rotate to release the clamping connection with the isolating piece.

The application also provides a follow hand, its characterized in that includes base, lift stand, davit, arm and operating device, still includes the block device of arbitrary above-mentioned.

The application also provides a surgical robot which is characterized by comprising a master hand and the slave hand.

The invention has at least the following beneficial effects:

1. the position state of the driven seat is adjusted through the driving piece, so that the opening and closing state of the locking arm assembly is controlled, the quick clamping of the clamping assembly and the adapting piece is realized, the installation efficiency and convenience of the apparatus are improved, meanwhile, the self-locking is realized through the angle setting of the swinging rod in the locking arm assembly, the adapting piece is limited to be separated in a locking state, the adapting piece cannot be forcibly separated from the clamping assembly by using external force, the clamping firmness of the device to the adapting piece is greatly improved, and the stability of the apparatus and the overall safety and reliability in the operation process are ensured;

2. the connection between the adapter and the clamping assembly can be reinforced through the isolating piece, so that the connection between the adapter and the clamping assembly is more stable, and the safety and the overall reliability of the instrument in the operation process are further improved;

3. when the locking arm component is in an open state, the detachable connection of the isolation piece on the fixed seat is realized through the abutting and matching of the limiting clamping plate and the positioning locking clamp, so that the clamping connection of the isolation piece and the positioning locking clamp and the locking connection of the locking arm component and the isolation piece can be synchronously executed, the integral connection strength is improved, and the connection efficiency is ensured;

4. the adapter can be connected with the isolation piece and then clamped with the clamping assembly, and the adapter can be installed on the isolation piece after the isolation piece is clamped with the clamping assembly, so that the assembly and disassembly modes are more flexible, the installation requirements under various conditions are met, and the assembly and disassembly efficiency of the clamping device is further improved.

Drawings

Fig. 1 is a schematic structural diagram of a locking device according to an embodiment of the present application;

FIG. 2 is an exploded view of the structure of the engaging device according to the embodiment of the present application;

fig. 3 is a cross-sectional view of the fastening device according to the embodiment of the present application, in which the "fixing base 100" partially conceals the "top cover 120";

fig. 4 is a schematic structural diagram of a portion of the "base 110" of the engaging device according to the embodiment of the present application;

FIG. 5 is a schematic structural view of a portion of a "engaging component 400" of the engaging device according to the embodiment of the present application;

FIG. 6 is an exploded view of the "snap assembly 400" part of the snap device according to the embodiment of the present application;

fig. 7 is a schematic structural diagram of an "adapter 200" in the fastening device according to the embodiment of the present application;

fig. 8 is a schematic structural view of a "spacer 300" in the engaging device according to the embodiment of the present application;

fig. 9 is an angular schematic view of the "swing rod 470" of the locking device in the locked state.

Reference numerals

The device comprises a fixed seat-100, a base-110, a protruding part-111, a hinge lug-112, a sliding groove-113, a sliding rail-114, a swinging groove-115, a top cover-120, a travel groove-121, a positioning lock clamp-130, a fixed rod-131, a torsion spring-132, an adapter-200, a sleeve body-210, a limiting insert-220, a first lock groove-221, a spacer-300, a spacer sleeve body-310, a clamping groove-320, an embedding cavity-330, a protruding embedding part-341, a second lock groove-342, a clamping assembly-400, a driving rod-410, a rod body-411, a connecting frame-412, an elastic piece-420, a connecting rod-430, a limiting clamp plate-440, a positioning shaft-441, a driven seat-450, a hinge seat-451, a sliding block-460 and a swinging rod-470.

Detailed Description

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The following describes in detail the engaging device, the slave hand, and the surgical robot provided in the embodiments of the present application through specific embodiments and application scenarios thereof with reference to the accompanying drawings.

As shown in fig. 1 to 9, the embodiment of the present application provides a locking device, which includes a fixing base 100, an adapter 200, and a locking assembly 400 fixedly disposed on the fixing base 100, wherein the locking assembly 400 can perform or release locking with the adapter 200.

The locking assembly 400 comprises a driven seat 450 arranged on the fixed seat 100 in an elastic sliding manner, a driving piece connected with the driven seat 450 and used for driving the driven seat 450 to linearly move, and a locking arm assembly arranged on the driven seat 450 and used for clamping the adapter 200.

The locking arm assembly comprises two swing rods 470 which are hinged on the driven seat 450 and two limiting clamping plates 440 which are respectively hinged with the two swing rods 470, the two swing rods 470 and the limiting clamping plates 440 are symmetrically arranged, the first end of each swing rod 470 is hinged with the driven seat 450, the first end of each limiting clamping plate 440 is hinged with the second end of each swing rod 470, and the middle part of each limiting clamping plate is hinged with the fixing seat 100.

The driven seat 450 is provided with a limit at the first end (or both ends) of the sliding stroke, when the driven seat 450 is positioned at the first end of the sliding stroke, elastic potential energy is not accumulated (or the driven seat has elastic potential energy moving towards the second end far away from the sliding stroke), and one end, far away from the swing rod 470, of the two limit clamping plates 440 is in a tightening state; the driven seat 450 has elastic potential energy moving towards the first end of the sliding stroke when being positioned at the second end of the sliding stroke, and one end of the two limiting clamping plates 440, which is far away from the swing rod 470, is in an open state.

As shown in fig. 9, in the state where the two limiting clamping plates 440 are in the tightened state, the included angle α of the side of the two swing rods 470 away from the limiting clamping plates 440 is not greater than 180 °.

Initially, the driven seat 450 is at the first end of the sliding stroke, and the locking arm assembly is in a tightened state; when an operator drives the driven seat 450 to move from the first end to the second end of the sliding stroke to limit through the driving piece, the driven seat 450 accumulates elastic potential energy of a reset trend, the driven seat 450 drives the swing rod 470 to swing, so that one end, close to the swing rod 470, of the limiting clamping plate 440 is driven to retract towards the symmetry axis, and further one end, far away from the swing rod 470, of the two limiting clamping plates 440 is outwards opened, and at the moment, the locking arm assembly is in an open state; when the locking arm assembly is in an open state, an operator can place the clamping part of the adapter 200 between the two limiting clamping plates 440, after the operator releases the acting force of the driving piece on the driven seat 450, the driven seat 450 can reset under the action of self elastic potential energy, the locking arm assembly returns to a tightening and locking state, and at the moment, one end, far away from the swing rod 470, of the two limiting clamping plates 440 can clamp the clamping part of the adapter 200 relatively, so that the adapter 200 is clamped.

It can be understood that when the adapter 200 is clamped with the clamping assembly 400 and the adapter 200 tends to be separated from the clamping assembly 400 (for example, the adapter 200 is forcibly pulled or rocked by a person or the adapter 200 is rocked under the action of movement of a surgical instrument during operation), the limiting clamp 440 tends to open under the separating force of the adapter 200, at this time, one ends of the two limiting clamp 440, which are close to the swing rods 470, respectively generate forces close to one side of the symmetry axis, and the two swing rods 470 are respectively subjected to forces of the limiting clamp 440 at corresponding positions, and because the included angle between the two swing rods 470 and one side of the limiting clamp 440 is not greater than 180 °, the resultant force direction of the forces applied by the two swing rods 470 is the direction close to one side of the adapter 200, the driven seat 450 tends to move towards one side of the adapter 200, and because the driven seat 450 is already located at the end of the sliding stroke under the locking state of the locking arm assembly, the driven seat 450 cannot move further towards one side close to the adapter 200 under the sliding stroke limiting effect, that is unable to open the limiting clamp 440 under the separating force of the adapter 200, thereby realizing self-locking of the adapter 200.

In this embodiment of the application, adopt foretell a clamping device, position state through driving piece adjustment driven seat 450, and then the open and shut state of control lock arm subassembly has realized the quick joint of clamping subassembly 400 and adapter 200, improved apparatus installation effectiveness and convenience, realize the auto-lock through the angle setting of pendulum rod 470 in the lock arm subassembly simultaneously, restrict the breaking away from of adapter 200 under the locking state for adapter 200 can not use external force to force and clamping subassembly 400 separation, improved the joint firmness of device to adapter 200 greatly, guaranteed apparatus stability and holistic safety, the reliability in the operation process.

In a preferred embodiment, as shown in fig. 1 to 4, a cavity for accommodating the locking assembly 400 is disposed in the fixing base 100, a locking opening penetrating through the cavity is disposed on the fixing base 100, and the locking portion of the adapter 200 can extend into the locking opening and be locked with the locking assembly 400.

In a preferred embodiment, as shown in fig. 1 to 4, the fixing base 100 includes a base 110 and a top cover 120 that are fastened and fixedly connected to each other.

In a preferred embodiment, as shown in fig. 3 to 6, the engaging assembly 400 further includes a slider 460 fixedly disposed on the driven seat 450, and a sliding rail 114 slidably connected to the slider 460 is fixedly disposed on a bottom wall of the cavity of the fixing seat 100.

In the sliding connection state of the sliding rail 114 and the sliding block 460, the sliding rail 114 can limit the relative displacement of the sliding block 460 in the non-self length direction.

It can be appreciated that the sliding rail 114 can be configured in an "i" shape, and the limit clamping plate 440 is provided with a matching groove matching the shape of the sliding rail 114, so that the relative movement restriction of the sliding block 460 in other directions can be realized.

Of course, the sliding fit and the limiting structure between the sliding rail 114 and the sliding block 460 are not limited to the above-mentioned one, so long as the limiting and the travel guiding of the sliding block 460 can be ensured, and the details are not repeated here.

In a preferred embodiment, as shown in fig. 3 and 4, a sliding groove 113 slidably connected to a sliding block 460 is disposed on the bottom wall of the cavity of the fixing base 100, and the sliding rail 114 is fixedly disposed on the bottom wall of the sliding groove 113.

It will be appreciated that the sliding groove 113 can guide the sliding block 460 further in stroke, and the sliding groove 113 can reduce the height of the sliding rail 114, so that the integral matching structure with the clamping assembly 400 is more compact.

In a preferred embodiment, as shown in fig. 3 to 6 and 9, a protrusion 111 is fixedly disposed on the bottom wall of the cavity of the fixing base 100 at a position of the chute 113 away from one end of the adapter 200, and an elastic member 420 is fixedly connected between the protrusion 111 and the driven base 450.

When the driven seat 450 is positioned at the distal end of the boss 111, the elastic member 420 does not accumulate elastic potential energy, the locking arm assembly is in a closed state, and when the driven seat 450 is positioned at the proximal end of the boss 111, the driven seat 450 accumulates elastic potential energy, and the locking arm assembly is in an open state.

The elastic member 420 can be configured as an elastic structure such as a spring or elastic rubber, and it can be appreciated that the elastic sliding structure of the driven seat 450 is not limited to the above-mentioned one, for example, the elastic member 420 can be directly disposed between the inner wall of the chute 113 and the driven seat 450, so long as the driven seat 450 can be automatically reset in the opened state of the locking arm assembly, which is not described herein.

In a preferred embodiment, as shown in fig. 1 to 6, the driving member includes a driving lever 410 hinged to the fixed base 100, and a link 430 hinged to the driven base 450 is hinged to the driving lever 410.

When an operator pulls the driving lever 410, the angle of the driving lever 410 is changed and the driven seat 450 can be pulled by the link rod 430, so that the position of the driven seat 450 is adjusted, and further, the opening and closing control of the locking arm assembly is realized.

In a preferred embodiment, as shown in fig. 1 to 6, the driving rod 410 includes a rod 411 and an engagement frame 412 fixedly connected to the rod 411.

The connecting frame 412 is hinged to the connecting rod 430 and the fixing base 100, and the rod 411 is used for handheld manipulation of an operator.

In a preferred embodiment, as shown in fig. 3 and 4, the bottom wall of the cavity of the fixing base 100 is fixedly provided with a hinge lug 112, and the connecting frame 412 is hinged on the hinge lug 112.

In a preferred embodiment, as shown in fig. 3 to 6, a hinge base 451 is fixedly disposed on the driven base 450, and one end of the link 430 is hinged to the link frame 412, and the other end is hinged to the hinge base 451.

In a preferred embodiment, as shown in fig. 1 and 2, the top cover 120 is provided with a travel slot 121 penetrating the cavity, and one end of the rod 411 away from the connecting frame 412 passes through the travel slot 121 and is slidably connected to the travel slot 121.

It can be appreciated that the travel slot 121 is mainly used for swing guiding of the rod 411, and the rod 411 extends to the outside of the fixing base 100 through the engagement frame 412, so as to facilitate manual operation of an operator.

In a preferred embodiment, as shown in fig. 3 to 6, two positioning shafts 441 are fixedly disposed on the inner wall of the cavity of the fixing base 100 corresponding to the two limiting clamping plates 440, and the limiting clamping plates 440 are rotatably disposed on the positioning shafts 441.

It can be understood that the positioning shaft 441 can realize the swinging and the limiting of the limiting clamp plate 440 relative to the fixed seat 100, and the positioning shaft 441 can realize the synchronous swinging of two ends of the limiting clamp plate 440, thereby realizing the open/close state control of the swing rod 470 to the limiting clamp plate 440.

It is understood that the hinge fit between the limiting clamp plate 440 and the fixing base 100 is not limited to the above-mentioned one, for example, the positioning shaft 441 can be fixedly connected with the limiting clamp plate 440 and rotatably connected with the inner wall of the cavity of the fixing base 100, so long as the relative swing and limitation between the limiting clamp plate 440 and the fixing base 100 can be realized, and the details are not repeated herein.

In a preferred embodiment, as shown in fig. 1 and 2, the device further includes a spacer 300 sleeved on the clamping portion of the adapter 200, where the spacer 300 can be embedded in the clamping opening of the fixing base 100 and can be clamped with the clamping assembly 400.

In this embodiment of the present application, the above-mentioned clamping device is adopted, and the connection between the adapter 200 and the clamping assembly 400 can be reinforced through the spacer 300, so that the connection between the adapter 200 and the clamping assembly 400 is more stable, and the safety and the overall reliability of the instrument in the operation process are further improved.

In a preferred embodiment, as shown in fig. 1 to 6, two positioning locking clips 130 are symmetrically disposed on the fixing base 100 at positions corresponding to the clamping openings.

As shown in fig. 8, the spacer 300 is provided with a clamping groove 320 that can be clamped with the corresponding position locking clamp 130.

In this embodiment, with the above-mentioned locking device, when the spacer 300 is embedded in the locking opening of the fixing base 100, the two positioning lock clips 130 are locked with the locking slots 320 at the corresponding positions on the spacer 300, so as to limit the spacer 300.

It should be understood that the number and arrangement of the positioning locking clips 130 are not limited to the above-mentioned one, so long as the force applied to the spacer 300 can be uniformly distributed, and will not be described herein.

In a preferred embodiment, as shown in fig. 1 to 5, two swing grooves 115 communicating with the cavity are symmetrically disposed at positions corresponding to the engagement openings on the base 110, and two positioning lock clips 130 are respectively and elastically hinged in the two swing grooves 115.

Wherein, when the locking arm assembly is in a closed state, one end of the positioning locking clip 130, which is close to the adapter 200, can be clamped with the clamping groove 320 at a position corresponding to the spacer 300 under the action of self-hinging elasticity; when the locking arm assembly is in an open state, the limiting clamp plate 440 can abut against one end of the positioning lock clamp 130 away from the adapter 200 and drive the positioning lock clamp 130 to rotate to release the clamping connection with the clamping groove 320 at the corresponding position.

It can be understood that, during the installation of the spacer 300, the driving member controls the locking arm assembly to be in an open state, the positioning locking clamp 130 is opened under the interference action of the limiting clamp 440, and the spacer 300 is embedded in the clamping opening without being interfered by the positioning locking clamp 130, and after the locking arm assembly is closed, the positioning locking clamp 130 can be reset under the action of self-hinging elastic force, so as to realize the clamping of the clamping groove 320 on the spacer 300.

In this embodiment of the present application, the above-mentioned locking device is adopted, under the lock arm assembly is in the open state, through the butt cooperation of spacing splint 440 and location lock clamp 130 realize the detachable connection of isolation piece 300 on fixing base 100 for isolation piece 300 and the joint of location lock clamp 130 and the locking of lock arm assembly and isolation piece 300 can be synchronous execution, have guaranteed connecting efficiency when improving bulk connection intensity.

In a preferred embodiment, as shown in fig. 5, a fixing rod 131 is fixedly arranged on the inner wall of the swing groove 115, and a positioning lock clip 130 is rotatably arranged on the fixing rod 131 and fixedly provided with a torsion spring 132 between the positioning lock clip and the fixing rod 131.

It is to be understood that the elastic hinge structure of the positioning locking clamp 130 is not limited to the above one, so long as the automatic resetting of the positioning locking clamp 130 under the abutting swing of the limiting clamp plate 440 can be achieved, and details thereof will not be repeated herein.

In a preferred embodiment, as shown in fig. 7, the adapter 200 includes a sleeve body 210 for threading a surgical instrument and a limiting insert 220 fixedly disposed on the sleeve body 210, wherein two first locking grooves 221 engaged with the limiting clamp plate 440 are symmetrically disposed on the limiting insert 220.

In a preferred embodiment, as shown in fig. 8, the spacer 300 includes a spacer sleeve 310, the spacer sleeve 310 is provided with an embedding cavity 330 for accommodating the limiting insert 220, a protruding embedding part 341 capable of being in fit engagement with the first locking groove 221 is disposed on an inner wall of the embedding cavity 330 corresponding to the first locking groove 221, and a second locking groove 342 capable of being in fit engagement with the limiting clamp plate 440 is disposed on an outer surface of the spacer sleeve 310 corresponding to the protruding embedding part 341.

In this embodiment of the application, with the adoption of the clamping device, the adapting piece 200 can be connected with the spacer 300 and then clamped with the clamping component 400, and the adapting piece 200 can be installed on the spacer 300 after the spacer 300 is clamped with the clamping component 400, so that the loading and unloading mode is more flexible, the installation requirements under various conditions are met, and the loading and unloading efficiency of the clamping device is further improved.

In a preferred embodiment, the spacer 300 is configured as an integrally formed housing, and the protruding embedded portion 341 and the second locking groove 342 are configured as corresponding protruding and protruding structures on two sides of the housing.

The embodiment of the application provides a follow hand, including base, lift stand, davit, arm and operating device, still include foretell block device.

The adapter 200 of the clip and the device is specifically a sleeve member, through which the operation device extends into the human body for performing the operation, and the sleeve member is detachably connected with the slave hand through the clip assembly 400.

The embodiment of the application provides a surgical robot, which comprises a master hand and the slave hand.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims (10)

1. The clamping device is characterized by comprising a fixed seat, a clamping assembly fixedly arranged on the fixed seat and an adapter part detachably arranged on the fixed seat through the clamping assembly, wherein the clamping assembly comprises a driven seat, a driving part and a locking arm assembly, the driven seat is elastically and slidably arranged on the fixed seat, the driving part is used for driving the driven seat to move, and the locking arm assembly is opened and closed through the movement of the driven seat;

the locking arm component comprises two swing rods hinged on the driven seat and two limiting clamping plates hinged with the two swing rods respectively, the two swing rods and the limiting clamping plates are symmetrically arranged, the first end of each swing rod is hinged with the driven seat, the first end of each limiting clamping plate is hinged with the second end of each swing rod, and the middle of each limiting clamping plate is hinged with the fixing seat;

the driven seat is provided with a limit at the first end of the sliding stroke, and the included angle between one side of the two swing rods, which is far away from the limit clamping plates, is not more than 180 degrees at the first end of the sliding stroke when the two limit clamping plates are in a tightening state; when the two limiting clamping plates are in an open state, the driven seat is close to the second end of the sliding stroke and has elastic potential energy moving towards the first end of the sliding stroke.

2. The clamping device according to claim 1, wherein a cavity for accommodating the clamping component is formed in the fixing seat, and a clamping opening communicated with the cavity is formed in the fixing seat;

the clamping part of the adapter can extend into the clamping opening and be clamped with the clamping assembly.

3. The clamping device according to claim 1 or 2, wherein the clamping assembly further comprises a sliding block fixedly arranged on the driven seat, and a sliding rail which is in sliding connection with the sliding block is fixedly arranged on the bottom wall of the cavity of the fixed seat;

and under the sliding connection state of the sliding rail and the sliding block, the sliding rail can limit the relative displacement of the sliding block in the non-length direction.

4. The clamping device according to claim 1 or 2, wherein a protruding portion is fixedly arranged on the bottom wall of the cavity of the fixing seat, and an elastic member is fixedly connected between the protruding portion and the driven seat.

5. The clamping device according to claim 1, wherein the driving member comprises a driving rod hinged on the fixing seat, and a link rod hinged with the driven seat is hinged on the driving rod.

6. The fastening device according to claim 2 or 5, wherein the fixing base is provided with a travel groove penetrating the cavity, and one end of the driving rod of the driving member, which is far away from the driven base, passes through the travel groove and is slidably connected with the travel groove.

7. The clamping device according to claim 1 or 2, further comprising a spacer sleeved on the clamping portion of the adapter, wherein the spacer can be embedded in the clamping opening of the fixing seat and clamped with the clamping assembly.

8. The clamping device according to claim 7, wherein two positioning locking clamps are symmetrically and elastically hinged at corresponding positions of the clamping opening on the fixing base, and clamping grooves capable of being clamped with the positioning locking clamps at corresponding positions are formed in the isolating piece;

in the tightening state of the locking arm component, one end, close to the adapting piece, of the positioning locking clamp can be clamped with the isolation piece under the action of self-hinging elasticity; and in the open state of the lock arm component, the limiting clamp plate can be abutted against the positioning lock clamp and drive the positioning lock clamp to rotate to release the clamping connection with the isolating piece.

9. A slave hand comprising a base, a lifting column, a boom, a robot arm and an operating device, and further comprising a fastening device according to any one of claims 1 to 8.

10. A surgical robot comprising a master hand and a slave hand as claimed in claim 9.