CN210124818U

CN210124818U - Separating forceps and flexible surgical robot

Info

Publication number: CN210124818U
Application number: CN201822214495.4U
Authority: CN
Inventors: 徐凯; 赵江然
Original assignee: Beijing Surgerii Technology Co Ltd
Current assignee: Beijing Surgerii Robot Co Ltd
Priority date: 2018-12-27
Filing date: 2018-12-27
Publication date: 2020-03-06
Anticipated expiration: 2028-12-27

Abstract

The utility model relates to a separating forceps and flexible surgical robot, this separating forceps includes: the first tong head and the second tong head are hinged together through a first hinge shaft; the far end of the first connecting rod is hinged to the near end of the first tong head through a second hinged shaft; the far end of the second connecting rod is hinged to the near end of the second tong head through a third hinge shaft; the near ends of the first connecting rod and the second connecting rod are hinged to the sliding body through a fourth hinged shaft, and the sliding body can move towards the direction close to or far away from the first hinged shaft; the flexible surgical robot comprises a robot main body and the separating forceps, wherein a forceps base of the separating forceps is connected to a flexible arm of the robot main body, and a driving mechanism of the robot main body is connected with an input end of a driving wire. The utility model discloses a separation pincers drives the binding clip based on the sliding body of two connecting rods and accomplishes the motion of opening and shutting, can directly be connected with flexible operation instrument to can realize the enlargeing to the input force in the working angle within range.

Description

Separating forceps and flexible surgical robot

Technical Field

The utility model relates to a medical instrument especially relates to a separation pincers and flexible surgical robot.

Background

The driving structure of the existing separating forceps is generally a link mechanism, but the link mechanism is commonly used on a common laparoscopic surgical tool with a rigid arm body. Since the input force of the separating forceps of the general laparoscopic surgical tool is transmitted by the rigid rod having a large diameter, the input force of the separating forceps of the flexible surgical tool is transmitted by the wire having a small diameter, and the flexible surgical tool cannot provide the same recoil as that of the rigid surgical tool, the separating forceps driven by the link mechanism cannot provide a satisfactory gripping force on the flexible surgical tool, and thus it is necessary to redesign a separating forceps compatible with the flexible surgical tool.

In addition, because the outer diameter of the surgical tool head of the flexible surgical tool is relatively small, generally from several millimeters to ten and several millimeters, the length of the connecting rod mechanism and the angle formed by the connecting rods are required to be in an optimal range to ensure that the separating forceps can output enough clamping force, and the length of the connecting rod of the existing separating forceps and the angle formed by the connecting rods are not optimal and are difficult to meet the use requirements.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, the present invention is to provide a pair of separating forceps and a flexible surgical robot.

In order to achieve the purpose, the utility model adopts the following technical proposal: a release clamp, comprising: the first tong head and the second tong head are hinged together through a first hinge shaft; the far end of the first connecting rod is hinged to the near end of the first tong head through a second hinged shaft; the far end of the second connecting rod is hinged to the near end of the second tong head through a third hinge shaft; and the near ends of the first connecting rod and the second connecting rod are hinged on the sliding body through a fourth hinged shaft, and the sliding body can move towards the direction close to or far away from the first hinged shaft.

The separating pliers preferably further comprise a pliers seat, a sliding hole is formed in the pliers seat, and the sliding body is arranged in the sliding hole of the pliers seat in a sliding mode.

The separating pliers preferably further comprise a driving wire, and an output end of the driving wire is connected with the sliding body and used for driving the sliding body to reciprocate along the sliding hole of the pliers seat.

Preferably, the separating pliers are characterized in that the sliding body is of a cylindrical structure, a U-shaped groove is formed at the far end of the sliding body, a mounting hole for connecting the driving wire is formed at the near end of the sliding body, the fourth hinge shaft is fixed on the U-shaped groove of the sliding body, and the near ends of the first connecting rod and the second connecting rod are rotatably connected to the fourth hinge shaft.

In the release clamp, preferably, when the first clamp head and the second clamp head are completely closed, an included angle α between two central connecting lines formed by the first hinge shaft and the second hinge shaft and the third hinge shaft is 55 ± 10 °.

In the separating pliers, the included angle α is preferably 55 °.

In the release pliers, preferably, when the first and second pliers heads are completely closed, the distance a between the second hinge shaft and the center point of the third hinge shaft is smaller than the outer diameter b of the release pliers, and the value of a is better as the value of a is closer to the value of b.

Preferably, the distance a between the second hinge shaft and the center point of the third hinge shaft is 4.2mm, and the outer diameter b of the separating pliers is 6 mm.

Preferably, the center connecting line of the first articulated shaft (18) and the fourth articulated shaft coincides with the central axis of the sliding body.

A flexible surgical robot comprises a robot main body and the separating forceps, wherein a forceps base of the separating forceps is connected to a flexible arm of the robot main body, and a driving mechanism of the robot main body is connected with an input end of a driving wire.

The utility model discloses owing to take above technical scheme, it has following advantage: the utility model discloses a separation pincers drives the binding clip and accomplishes the motion of opening and shutting based on the sliding body of two connecting rods, can directly be connected with flexible operation instrument to can realize the enlargeing to the input force in the working angle within range.

Drawings

FIG. 1 is a schematic structural view of the separating pliers of the present invention in an open state;

FIG. 2 is a schematic structural view of the separating clamp of the present invention in a closed state;

FIG. 3 is the intention of included angle of the head of the separating pliers of the present invention;

FIG. 4 is a schematic diagram of the ratio of the outer diameter of the binding clip to the node of the connecting rod of the separating clamp of the present invention;

fig. 5 is a schematic structural view of the sliding body of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended as limitations on the scope of the invention, but are merely illustrative of the true spirit of the technical solution of the invention.

As shown in fig. 1 and 2, the separating pliers provided by the embodiment of the present invention comprise a first pliers head 11 and a second pliers head 12, wherein the first pliers head 11 and the second pliers head 12 are hinged together by a first hinge shaft 18; a first connecting rod 13, wherein the far end of the first connecting rod 13 is hinged at the near end of the first tong head 11 through a second hinge shaft 19; a second connecting rod 14, wherein the distal end of the second connecting rod 14 is hinged at the proximal end of the second forceps head 12 through a third hinge shaft 20; the proximal ends of the sliding body 15, the first link 13 and the second link 14 are hinged to the sliding body 15 through a fourth hinge shaft 21, and the sliding body 15 is movable toward or away from the first hinge shaft 18.

When the separation pliers provided by the embodiment are used, when the sliding body 15 is driven to move towards the direction close to the hinge shaft 18, the sliding body 15 drives the distal ends of the first connecting rod 13 and the second connecting rod 14 to depart from each other, so that the first pliers head 11 and the second pliers head 12 are opened (as shown in fig. 1); on the contrary, when the sliding body 15 is driven to move away from the hinge shaft 18, the sliding body 15 drives the distal ends of the first connecting rod 13 and the second connecting rod 14 to relatively close, so as to close the first tong head 11 and the second tong head 12 (as shown in fig. 2).

In the above embodiment, the separating forceps preferably further includes a forceps base 17, a sliding hole is formed in the forceps base 17, and the sliding body 15 is slidably disposed in the sliding hole of the forceps base 17. Thus, the caliper mount 17 can guide the slider 15, and the slider 15 can smoothly slide in the slide hole of the caliper mount 17.

In the above embodiment, the separating forceps preferably further includes a driving wire 16, and an output end of the driving wire 16 is connected to the sliding body 15 for driving the sliding body 15 to reciprocate along the sliding hole of the forceps holder 17.

In the above embodiment, preferably, as shown in fig. 5, the sliding body 15 is a cylindrical structure, the distal end of the sliding body 15 is formed with a U-shaped groove 151, the proximal end of the sliding body 15 is formed with a mounting hole 152 for connecting the driving wire 16, the fourth hinge shaft 21 is fixed on the U-shaped groove 151 of the sliding body 15, and the proximal ends of the first link 13 and the second link 14 are rotatably connected to the fourth hinge shaft 21.

In the above embodiment, it is preferable that the angle α between the first hinge shaft 18 and the line connecting the centers of the second hinge shaft 19 and the third hinge shaft 20 is 55 ± 10 ° when the first jaw 11 and the second jaw 12 are completely closed as shown in fig. 3.α is preferably 55 ° in the present embodiment.

In the above embodiment, preferably, as shown in fig. 4, when the first and

second bits

11 and 12 are completely closed, the distance a between the second hinge shaft 19 and the center point of the third hinge shaft 20 is smaller than the outer diameter b of the separation jaw, and the value of a is more preferable as closer to b.

In the above embodiment, it is preferable that the distance a between the second hinge shaft 19 and the center point of the third hinge shaft 20 is 4.2mm and the outer diameter b of the separating jaw is 6 mm.

In the above embodiment, it is preferable that a center-connecting line of the first hinge shaft 18 and the fourth hinge shaft 21 coincides with the central axis of the sliding body 15.

The utility model also provides a flexible operation robot, this flexible operation robot include the separation pincers in robot main part and the above-mentioned arbitrary embodiment, and the separation pincers pass through pincers seat 17 and connect on the flexible arm of robot main part, and the actuating mechanism of robot main part connects the input of drive silk 15 to realize the power input of this separation pincers.

Above-mentioned each embodiment only is used for explaining the utility model discloses, wherein structure, connected mode and the preparation technology etc. of each part all can change to some extent, all are in the utility model discloses equal transform and improvement of going on technical scheme's the basis all should not exclude outside the protection scope of the utility model.

Claims

1. Separating forceps, characterized in that it comprises:

the first tong head (11) and the second tong head (12) are hinged together through a first hinge shaft (18);

a first connecting rod (13), wherein the far end of the first connecting rod (13) is hinged at the near end of the first tong head (11) through a second hinge shaft (19);

a second connecting rod (14), wherein the distal end of the second connecting rod (14) is hinged at the proximal end of the second tong head (12) through a third hinge shaft (20);

and the near ends of the first connecting rod (13) and the second connecting rod (14) are hinged on the sliding body (15) through a fourth hinging shaft (21), and the sliding body (15) can move towards or away from the first hinging shaft (18).

2. Separating forceps according to claim 1, characterized in that the separating forceps further comprise a forceps holder (17), in which forceps holder (17) a slide hole is formed, in which forceps holder (17) the slide body (15) is slidably arranged.

3. Separating forceps according to claim 2, characterized in that the separating forceps further comprise a driving wire (16), the output end of the driving wire (16) being connected to the sliding body (15) for driving the sliding body (15) to reciprocate along the slide hole of the forceps holder (17).

4. Separating forceps according to claim 3, characterized in that the sliding body (15) is of a cylindrical structure, the distal end of the sliding body (15) is formed with a U-shaped groove (151), the proximal end of the sliding body (15) is formed with a mounting hole (152) for connecting the driving wire (16), the fourth articulated shaft (21) is fixed on the U-shaped groove (151) of the sliding body (15), and the proximal ends of the first link (13) and the second link (14) are rotatably connected on the fourth articulated shaft (21).

5. Separating jaw according to any one of claims 1 to 4, characterized in that the angle α between the first articulation axis (18) and the line joining the centers of the second articulation axis (19) and the third articulation axis (20) is 55 ± 10 ° when the first jaw (11) and the second jaw (12) are completely closed.

6. Separating forceps as claimed in claim 5, characterized in that the angle α is 55 °.

7. Separating clamp according to any one of claims 1 to 4, characterized in that the distance a between the second articulation axis (19) and the centre point of the third articulation axis (20) is smaller than the outer diameter b of the separating clamp when the first jaw (11) and the second jaw (12) are fully closed, and the value of a is better the closer to b.

8. Separating clamp according to claim 7, characterized in that the distance a between the second articulation axis (19) and the centre point of the third articulation axis (20) is 4.2mm and the outer diameter b of the separating clamp is 6 mm.

9. Separating jaw according to any one of claims 1 to 4, characterized in that the line between the centres of the first articulation axis (18) and the fourth articulation axis (21) coincides with the central axis of the sliding body (15).

10. A flexible surgical robot, characterized by comprising a robot body and a separator clamp according to any one of claims 1 to 9, the clamp shoe (17) of which is connected to a flexible arm of the robot body, the drive mechanism of which is connected to the input of a drive wire (16).