CN210124819U

CN210124819U - Double-open noninvasive clamp and flexible surgical robot

Info

Publication number: CN210124819U
Application number: CN201822224018.6U
Authority: CN
Inventors: 徐凯; 张兆宇
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 discloses a two divisions do not have clamp and flexible surgical robot, this clamp include the binding clip module, and the binding clip module includes: the pliers head seat is provided with two first sliding slot holes which are arranged in parallel; the two forceps heads are hinged on the forceps head seat in a mutually crossed manner, and the tail parts of the two forceps heads are provided with second sliding slot holes; the first ends of the sliding bodies are respectively arranged in the two first sliding groove holes in a sliding mode, the second ends of the sliding bodies are respectively arranged in the two second sliding groove holes in a sliding mode, and the sliding bodies move in the first sliding groove holes and the second sliding groove holes simultaneously to realize opening and closing movement of the two tong heads; the robot comprises a robot main body and the clamp, wherein a clamp head seat 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 drive silk and slide body based on the sliding groove hole come the drive binding clip to accomplish to open and close the motion, can directly be connected with flexible operation instrument to can be in the working angle within range, realize the enlargeing to the input force.

Description

Double-open noninvasive clamp and flexible surgical robot

Technical Field

The utility model relates to a medical instrument especially relates to a two divisions of noninvasive clamp and flexible operation robot.

Background

The driving structure of the existing noninvasive clamp is a four-bar linkage mechanism, but the four-bar linkage mechanism is commonly used on a laparoscopic surgical tool with a rigid arm body. Since the flexible surgical tool cannot provide the same recoil as the rigid surgical tool, the noninvasive clamp driven by the four-bar linkage mechanism cannot provide the required clamping force on the flexible surgical tool, so that the noninvasive clamp adaptive to the flexible surgical tool needs to be redesigned.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides a double-open non-invasive clamp and a flexible surgical robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a double-open noninvasive forceps comprising a forceps head module, the forceps head module comprising: the pliers head seat is provided with two first sliding slot holes which are arranged in parallel; the pliers heads are hinged to the pliers head seats in an intersecting mode, and the tail portions of the pliers heads are provided with second sliding slot holes; the sliding body is provided with two sliding parts, the first ends of the two sliding parts are respectively arranged in the two first sliding groove holes in a sliding manner, and the second ends of the two sliding parts are respectively arranged in the second sliding groove holes of the binding clip in a sliding manner; when the first ends of the two sliding parts slide from one end of the first sliding groove hole to the other end of the first sliding groove hole, the second ends of the two sliding parts simultaneously move in the second sliding groove hole, so that the tong heads rotate around the hinge shaft, and the opening of the tong heads is realized; and otherwise, the closing of the forceps head is realized.

The double-open noninvasive clamp is preferable, the double-open noninvasive clamp further comprises a driving wire, and the output end of the driving wire is connected with the sliding body and used for driving the sliding body to move back and forth along the first sliding groove hole.

Preferably, the central lines of the first sliding groove holes in the length direction are straight lines, and the central lines of the second sliding groove holes in the length direction are two cubic spline curves deviating from each other.

Two divisions of noninvasive clamp, it is preferred, the sliding part is the connecting pin, the connecting pin sets up on the sliding body, the first end of connecting pin slides and sets up first spout is downthehole, the second end of connecting pin slides and sets up in the second spout is downthehole.

Two divisions of noninvasive clamp, it is preferred, still include the bath module, the bath module includes: the first sleeve is connected to the forceps head seat, and the driving wire is connected with the sliding body through the interior of the first sleeve; the second sleeve is sleeved outside the first sleeve and connected to the forceps head seat; the spiral sleeve is arranged in an annular space between the first sleeve and the second sleeve, so that the annular space forms a spiral flushing channel.

Two divisions do not have wound clamp, preferred, the module of washing by water still includes lock cap and connection pad, the binding clip module passes through with the module of washing by water the connection pad detachably connects and uses the lock cap locks fixedly.

The utility model provides a flexible surgical robot, includes robot main part and foretell two open and do not have the wound clamp, two open and do not have the wound clamp and pass through the binding clip seat is connected on the flexible arm of robot main part, the actuating mechanism of robot main part connects the input of drive silk.

The utility model discloses owing to take above technical scheme, it has following advantage: the utility model discloses a two divisions of noninvasive clamp adopt drive silk and come the drive binding clip to accomplish to open and close the motion based on the sliding body of slotted eye, can directly be connected with flexible operation instrument to can be in the working angle within range, realize the enlargements to the input force.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic structural view of the binding clip 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 fig. 2, the embodiment of the present invention provides a pair of open noninvasive forceps, which includes a forceps head module 10, the forceps head module 10 includes: the pliers head seat 12, the pliers head seat 12 has two parallel arranged first sliding slot holes 18; the first binding clip 16 and the second binding clip 17 are hinged on the binding clip seat 12 in a mutually crossed manner, and the tail parts of the first binding clip 16 and the second binding clip 17 are provided with second sliding slot holes 19; the sliding body 15 is provided with two sliding portions, first ends of the two sliding portions are respectively arranged in the two first sliding slot holes 18 in a sliding manner, and second ends of the two sliding portions are respectively arranged in the second sliding slot holes 19 of the first binding clip 16 and the second binding clip 17 in a sliding manner. When the first ends of the two sliding parts slide from one end of the first sliding slot hole 18 to the other end of the first sliding slot hole 18, the second ends of the two sliding parts simultaneously move in the second sliding slot hole 18, so that the second tong head 17 rotates around the hinge shaft 13 relative to the first tong head 16, and the opening of the first tong head 16 and the second tong head 17 is realized; conversely, the first jaw 16 and the second jaw 17 are closed.

In the above embodiment, it is preferable that the double-open atraumatic forceps further include a driving wire 11, and an output end of the driving wire 11 is connected to the sliding body 15 for driving the sliding body 15 to reciprocate along the first sliding slot hole 18 of the forceps head holder 12.

In the above embodiment, preferably, the central lines of the two first sliding slot holes 18 in the length direction are both straight lines, and the central lines of the two second sliding slot holes 19 in the length direction are two cubic spline curves which are deviated from each other, and the second sliding slot holes 19 in the design form can ensure that the double-open noninvasive clamp can output a larger clamping force within the working angle range.

In the above embodiment, preferably, the sliding part is a connecting pin 14, the connecting pin 14 is disposed on the sliding body 15, a first end of the connecting pin 14 is slidably disposed in the first sliding slot hole 18, and a second end of the connecting pin 14 is slidably disposed in the second sliding slot hole 19. Therefore, the driving wire 11 drives the sliding body 15 to move, while the first end of the connecting pin 14 moves linearly along the first sliding slot hole 18, the second end of the connecting pin 14 moves along the second sliding slot holes 19 of the first forceps head 16 and the second forceps head 17, so that the first forceps head 16 and the second forceps head 17 rotate around the hinge shaft 13, namely, the opening and closing movement of the double-open atraumatic forceps is realized.

In the above embodiment, preferably, the double-open atraumatic forceps further comprises a flushing module 20, and the flushing module 20 comprises: a first sleeve 23 connected to the chuck base 12, and the drive wire 11 is connected to the slider 15 through the inside of the first sleeve 23; the second sleeve 25 is sleeved outside the first sleeve 23 and connected to the pliers head seat 12; and a spiral sleeve 24 disposed in an annular space between the first sleeve 23 and the second sleeve 25 such that the annular space forms a spiral flushing channel. Therefore, the cleaning liquid can continuously rotate along the spiral flushing channel, and the water mist forming rotational flow at the outlet of the flushing channel is sprayed out, so that the tong head is thoroughly cleaned.

In the above embodiment, it is preferable that the flushing module 20 further includes a locking cap 21 and a connecting disc 22, and the binding clip module 10 and the flushing module 20 are detachably connected through the connecting disc 22 and locked and fixed by the locking cap 21.

The utility model also provides a flexible surgical robot, this flexible surgical robot include the two divisions of woundless clamps in robot main part and the arbitrary embodiment of the aforesaid, two divisions of woundless clamps pass through the flexible arm of the connection of pincers head seat 12 in robot main part, and the input of drive silk 11 is connected to the actuating mechanism of robot main part to realize this two divisions of woundless clamp's power input.

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. A double-open noninvasive forceps comprising a forceps head module (10), characterized in that the forceps head module (10) comprises:

the pliers head seat (12), the pliers head seat (12) is provided with two first sliding slot holes (18) which are arranged in parallel;

the pliers heads (16,17) are hinged on the pliers head seat (12) in a mutually crossed mode, and the tail portions of the pliers heads (16,17) are provided with second sliding slot holes (19);

the sliding body (15) is provided with two sliding parts, first ends of the two sliding parts are respectively arranged in the two first sliding groove holes (18) in a sliding mode, and second ends of the two sliding parts are respectively arranged in the second sliding groove holes (19) of the forceps heads (16,17) in a sliding mode;

when the first ends of the two sliding parts slide from one end of the first sliding groove hole (18) to the other end of the first sliding groove hole (18), the second ends of the two sliding parts simultaneously move in the second sliding groove hole (19), so that the tong heads (16,17) rotate around a hinge shaft (13), and the opening of the tong heads (16,17) is realized; otherwise, the closing of the pliers heads (16,17) is realized.

2. The double open noninvasive clamp of claim 1, characterized by further comprising a driving wire (11), wherein an output end of the driving wire (11) is connected to the sliding body (15) for driving the sliding body (15) to reciprocate along the first slotted hole (18).

3. The double open noninvasive clamp of claim 2, characterized in that the center lines of the first slide groove holes (18) in the length direction are both straight lines, and the center lines of the second slide groove holes (19) in the length direction are two cubic spline curves which are deviated from each other.

4. The double open noninvasive clamp of claim 2, characterized in that the sliding part is a connecting pin (14), the connecting pin (14) is disposed on the sliding body (15), a first end of the connecting pin (14) is slidably disposed in the first sliding slot hole (18), and a second end of the connecting pin (14) is slidably disposed in the second sliding slot hole (19).

5. The double open atraumatic forceps of claim 4, further comprising a flush module (20), the flush module (20) comprising:

a first sleeve (23) connected to the jaw seat (12), the drive wire (11) being connected to the slider (15) via the interior of the first sleeve (23);

the second sleeve (25) is sleeved outside the first sleeve (23) and is connected to the pliers head seat (12);

a helical sleeve (24) disposed in an annular space between the first sleeve (23) and the second sleeve (25) such that the annular space forms a helical flushing channel.

6. The double-open noninvasive clamp according to claim 5, characterized in that the flushing module (20) further comprises a locking cap (21) and a connecting disc (22), and the clamp head module (10) and the flushing module (20) are detachably connected through the connecting disc (22) and are locked and fixed by the locking cap (21).

7. A flexible surgical robot, comprising a robot body and the double-open noninvasive clamp of any one of claims 2 to 6, wherein the double-open noninvasive clamp is connected to the flexible arm of the robot body through the clamp head seat (12), and the driving mechanism of the robot body is connected to the input end of the driving wire (11).