CN218075212U - Adaptive clamping system and medical robot - Google Patents

Abstract

The utility model relates to an adaptation clamping system and medical robot. This adaptation clamping system is used for installing localization tracking array and surgical instruments, the adaptation clamping system includes: an outer sleeve having an outer wall with a mounting tube extending in a radial direction for mounting the localization tracking array; the inner sleeve is arranged in the outer sleeve and can move relative to the outer sleeve; and the clamping assembly is rotatably arranged in the inner sleeve and is provided with a clamping space for clamping the surgical instrument, and the size of the clamping space can be adjusted when the clamping assembly rotates relative to the inner sleeve. Through the motion of centre gripping subassembly for the inner skleeve, adjust the size in centre gripping space, and then make the surgical instruments of centre gripping subassembly can the centre gripping unidimensional not, improve adaptation clamping system's suitability, guarantee the accuracy of operation in-process localization tracking array navigation, improve the success rate of operation.

Description

Adaptive clamping system and medical robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to an adaptation clamping system and medical robot.

Background

With the development of the medical industry, the technology of assisting a doctor to perform an operation by using a surgical robot is gradually improved. The auxiliary positioning technology in the surgical robot is particularly important, and the positioning accuracy directly influences the success rate of the surgery, and is one of the key components in the surgical robot.

In some operation processes, a tail end instrument needs to be positioned and tracked, for example, in a thoracolumbar spine posterior screw rod internal fixation operation of a spine operation, the traditional operation mainly depends on the experience of a doctor to tap and feed screws for vertebral pedicle, and after the auxiliary positioning of an operation robot is introduced, the burden of the doctor can be greatly reduced, the success rate of the operation is improved, the recovery time of a patient is shortened, and other effects are achieved.

Generally, the end instruments used in the traditional surgical process are often formed by combining traditional surgical instruments and positioning devices, however, most of the current end positioning instrument products have no adaptability, namely, one type of surgical instrument is specially provided with one set of positioning device, and the surgical instrument cannot be adapted to the existing traditional surgical instrument, so that the application range of the positioning device is narrow.

SUMMERY OF THE UTILITY MODEL

Accordingly, there is a need to provide an adaptive clamping system and a medical robot capable of increasing an application range, in order to solve the problem that the application range of the positioning device of the current surgical instrument is narrow.

An adaptive clamping system for mounting a localization tracking array with a surgical instrument, the adaptive clamping system comprising:

an outer sleeve having an outer wall with a mounting tube extending in a radial direction for mounting the localization tracking array;

the inner sleeve is arranged in the outer sleeve and can move relative to the outer sleeve; and

the clamping assembly is rotatably arranged in the inner sleeve and provided with a clamping space for clamping the surgical instrument, and the size of the clamping space can be adjusted when the clamping assembly rotates relative to the inner sleeve.

In one of them embodiment, the centre gripping subassembly includes chuck and clamping ring, the top of clamping ring at least part install in the inner skleeve, and, the chuck is located in the clamping ring, the centre gripping space has in the chuck for the centre gripping surgical instruments, the outer wall of clamping ring has the external screw thread, the inner wall of inner skleeve has the internal thread, the clamping ring through the external screw thread with the internal thread is followed the inner skleeve motion to the extrusion or release the chuck is in order to adjust the size in centre gripping space.

In one embodiment, the chuck comprises a supporting frame and a plurality of clamping jaws, the top of the supporting frame is connected with an inner sleeve, the plurality of clamping jaws are located at the supporting frame at intervals, one end of each clamping jaw is connected with the supporting frame, the other end of each clamping jaw faces the top of the supporting frame and tilts towards the direction of the pressing ring, the outer side of each clamping jaw abuts against the pressing ring, and the inner sides of the plurality of clamping jaws enclose the clamping space; the clamping jaws can be squeezed or released when the pressing ring rotates.

In one embodiment, the clamping jaw comprises a first end, a second end, a first surface and a second surface, the first end is connected with the support frame, the cross-sectional dimension of the first end perpendicular to the axial direction of the inner sleeve is smaller than the cross-sectional dimension of the second end perpendicular to the axial direction of the inner sleeve, the first surface is arranged opposite to the second surface and smoothly connects the first end and the second end, the first surface faces the inner part of the support frame, and a part of the second surface abuts against the inner wall of the compression ring;

the first surfaces of the plurality of jaws enclose the clamping space.

In one embodiment, the first surface and the second surface are arranged in an arc shape or are plane surfaces or curved surfaces.

In one embodiment, the pressing ring comprises an annular main body, the outer wall of the annular main body is provided with the external thread, and the inner wall of the annular main body abuts against the clamping jaws.

In one embodiment, the jaws are arranged in multiple layers, the multiple layers of jaws are arranged along the axial direction of the surgical instrument, and each layer is provided with a plurality of jaws at intervals around the axial direction of the surgical instrument;

the clamping ring further comprises at least one annular body and a plurality of stand columns, the annular main body and the at least one annular body are arranged at intervals along the axial direction of the surgical instrument, a plurality of stand columns are arranged between the annular main body and the annular body and between the annular main body and the annular body, the stand columns are adjacent to the annular main body, and the annular main body and the annular body are in one-to-one correspondence with the clamping jaws respectively.

In one embodiment, the pressing ring further comprises at least one rotating handle, the at least one rotating handle is arranged on the annular main body, and when the pressing ring is matched with the inner sleeve, the rotating handle is at least partially exposed out of the inner sleeve.

In one embodiment, the adaptive clamping system further comprises a limiting component, the inner sleeve is provided with a limiting hole, the limiting component is arranged in the limiting hole of the inner sleeve and can extend out of or retract into the limiting hole, and after the outer sleeve is arranged on the inner sleeve, the limiting component limits the outer sleeve to rotate along the axial direction of the inner sleeve.

In one embodiment, the limiting assembly includes an elastic member and a limiting member, and the elastic member connects the inner wall of the inner sleeve and the limiting member, so that the limiting member has a tendency to extend out of the limiting hole.

A medical robot comprising a robot, a localization tracking array and an adaptive clamping system as described in any of the above features;

the adaptive clamping system is arranged at the tail end of the robot and is used for installing the positioning tracking array and the surgical instrument.

After the technical scheme is adopted, the utility model discloses following technological effect has at least:

the utility model discloses an adaptation clamping system and medical robot, this adaptation clamping system pass through outer sleeve fixed mounting localization tracking array, the movable installation outer sleeve of inner skleeve to, the centre gripping subassembly rotates in the sleeve including setting up, and, the centre gripping subassembly has the centre gripping space, and this centre gripping space is used for centre gripping surgical instruments, can accurately track surgical instruments's position in order to guarantee the localization tracking array. When the clamping assembly rotates relative to the inner sleeve, the clamping assembly can move out of or into the inner sleeve, the inner sleeve can release or press the clamping assembly, and therefore the size of the clamping space can be increased or reduced. The utility model discloses an adaptation clamping system passes through the centre gripping subassembly for the motion of inner skleeve, adjusts the size in centre gripping space, and then makes the not unidimensional surgical instruments of centre gripping subassembly can centre gripping, when improving adaptation nature of adaptation clamping system, during the inner skleeve motion, the outer sleeve is static, and then makes the localization tracking array motionless to the position of accurate pursuit localization tracking array guarantees the accuracy of operation in-process localization tracking array navigation, improves the success rate of operation.

Drawings

Fig. 1 is a perspective view of an adaptive clamping system mounting localization tracking array and a surgical instrument in accordance with an embodiment of the present invention;

FIG. 2 is an exploded view of the adaptive clamping system shown in FIG. 1;

FIG. 3 is a perspective view of a chuck in the adaptive clamping system of FIG. 2;

figure 4 is a perspective view of a pressure ring in the adaptive clamping system shown in figure 2.

Wherein: 100. adapting the clamping system; 110. an outer sleeve; 111. installing a pipe; 120. an inner sleeve; 121. a limiting hole; 122. a limiting edge; 130. a clamping assembly; 131. a chuck; 1311. a support frame; 13111. a frame body; 13112. a connecting disc; 1312. a claw; 13121. a second surface; 13122. a first layer; 13123, a second layer; 132. pressing a ring; 1321. an annular body; 1322. an annular body; 1323. a column; 1324. rotating the handle; 140. a limiting component; 141. an elastic member; 142. a limiting member; 1421. a limiting plate; 1422. A limiting block; 200. a localization tracking array; 300. a surgical instrument.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms different from those described herein and similar modifications may be made by those skilled in the art without departing from the spirit and scope of the invention and, therefore, the invention is not to be limited to the specific embodiments disclosed below.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1-4, the present invention provides an adaptive clamping system 100. The adaptive clamping system 100 is applied to a medical robot, is used for installing the positioning tracking array 200 and the surgical instrument 300, is used for realizing auxiliary positioning in an operation, ensures the positioning precision in the operation process, and further improves the success rate of the operation. Of course, in other embodiments of the present invention, the adaptive clamping system 100 can be applied to other fields for clamping other components to be positioned. In the present invention, the application of the adaptive clamping system 100 to a medical robot is exemplified.

The traditional surgical process needs to position and track the terminal instruments, the terminal instruments are often formed by combining the traditional surgical instruments and a positioning device, however, most of the current terminal positioning instrument products do not have adaptability, namely, one type of surgical instrument is specially provided with one set of positioning device, and the surgical instrument cannot be adapted to the existing traditional surgical instrument, so that the application range of the positioning device is narrow.

Therefore, the utility model provides a novel adaptation clamping system 100, this adaptation clamping system 100 are used for centre gripping localization tracking array 200 and surgical instruments 300, can accurately track surgical instruments 300 through localization tracking array 200, improve the precision of location, and simultaneously, this adaptation clamping system 100 can also the not unidimensional surgical instruments 300 of centre gripping, increases adaptation clamping system 100's application range. The specific structure of the adaptive clamping system 100 is described below.

Referring to fig. 1-4, in one embodiment, the adaptive clamping system 100 includes an outer sleeve 110, an inner sleeve 120, and a clamping assembly 130. The outer wall of outer sleeve 110 has a mounting tube 111 extending in a radial direction, mounting tube 111 being for mounting localization tracking array 200; inner sleeve 120 is disposed within outer sleeve 110 and is movable relative to outer sleeve 110; clamping assembly 130 is rotatably disposed within inner sleeve 120, clamping assembly 130 having a clamping space for clamping surgical instrument 300, clamping assembly 130 being adjustable in size when rotated relative to inner sleeve 120.

The inner sleeve 120 is disposed inside the outer sleeve 110 and is movable relative to the inner sleeve 120. By movement is meant that inner sleeve 120 is able to move or rotate relative to outer sleeve 110. The outer wall of outer sleeve 110 has a mounting tube 111 extending in a radial direction, the mounting tube 111 being used to mount the localization tracking array 200. It will be appreciated that outer sleeve 110 is circular in cross-section with the radius of the circle being the radial direction and, accordingly, the axial direction of outer sleeve 110 coincides with the axial direction of surgical instrument 300. Hereinafter, the structure of the adaptive clamp system 100 will be described by taking the vertical and horizontal directions shown in fig. 2 as an example.

After outer sleeve 110 is installed into inner sleeve 120, localization tracking array 200 is installed into installation tube 111. As inner sleeve 120 rotates relative to localization tracking array 200, outer sleeve 110 and localization tracking array 200 remain stationary, identifying the location of localization tracking array 200 by the localization system of the medical robot. Optionally, the localization tracking array 200 is secured to the mounting tube 111 by a threaded, snap-fit, or the like connection.

The clamping assembly 130 is rotatably disposed in the inner sleeve 120, and the clamping assembly 130 has a clamping space therein for clamping the surgical instrument 300, so as to fix the surgical instrument 300. Clamping assembly 130 clamps surgical instrument 300 and then fits within inner sleeve 120, and outer sleeve 110 fits within inner sleeve 120. At this time, the position between the localization tracking array 200 and the surgical instrument 300 is fixed, and the position of the surgical instrument 300 can be accurately located by the localization tracking array 200, thereby realizing accurate localization of the surgical instrument 300.

Furthermore, the clamping assembly 130 is rotatably disposed in the inner sleeve 120, and when the clamping assembly 130 rotates relative to the inner sleeve 120, the inner sleeve 120 presses or releases the clamping assembly 130 to adjust the clamping space of the clamping assembly 130. When clamping assembly 130 moves axially upward, inner sleeve 120 compresses clamping assembly 130 to reduce the size of the clamping space, at which time clamping assembly 130 is able to clamp smaller sized surgical instrument 300. When clamping assembly 130 moves axially downward, inner sleeve 120 releases clamping assembly 130 to increase the size of the clamping space, at which time clamping assembly 130 is able to clamp larger size surgical instrument 300.

That is, when clamping assembly 130 is rotated relative to inner sleeve 120, inner sleeve 120 can adjust the clamping space within clamping assembly 130 by squeezing or releasing to clamp different sizes of surgical instruments 300. I.e., the size of the clamping space is adjustable, and clamping of different sizes of surgical instruments 300 can be achieved. Optionally, the surgical instrument 300 herein is a tap; of course, in other embodiments of the present invention, the surgical instrument 300 may also be used in other transmission surgeries.

The adaptive clamping system 100 of the above embodiment adjusts the size of the clamping space through the movement of the clamping assembly 130 relative to the inner sleeve 120, so that the clamping assembly 130 can clamp surgical instruments 300 with different sizes, and the adaptability of the adaptive clamping system 100 is improved. Meanwhile, when the inner sleeve 120 moves, the outer sleeve 110 is still, so that the localization tracking array 200 does not move, the position of the localization tracking array 200 is accurately tracked, the navigation accuracy of the localization tracking array 200 in the operation process is ensured, and the success rate of the operation is improved.

Referring to fig. 1 to 4, in one embodiment, the clamping assembly 130 includes a chuck 131 and a pressing ring 132, a top portion of the pressing ring 132 is at least partially installed to the inner sleeve 120, and the chuck 131 is located in the pressing ring 132, the chuck 131 has a clamping space therein for clamping the surgical instrument 300, an outer wall of the pressing ring 132 has an external thread, an inner wall of the inner sleeve 120 has an internal thread, the pressing ring 132 moves along the inner sleeve 120 by the external thread and the internal thread, and presses or releases the chuck 131 to adjust a size of the clamping space.

The chuck 131 and compression ring 132 cooperate to form a clamping assembly 130 for clamping the surgical instrument 300. Specifically, the pressing ring 132 is a hollow structure, the chuck 131 is installed inside the pressing ring 132, and the top of the chuck 131 is at least partially installed on the inner sleeve 120, so that the top of the chuck 131 is fixedly connected with the top of the inner sleeve 120. That is, the top of the chuck 131 is fixedly installed at the top of the inner sleeve 120, and the pressing ring 132 is fitted over the outer side of the chuck 131. The outer side of the pressing ring 132 is screw-fitted with the inner sleeve 120.

The outer wall of the pressing ring 132 is provided with external threads, and the inner wall of the inner sleeve 120 is provided with internal threads. The compression ring 132 is rotatably mounted in the inner sleeve 120 by the threaded engagement of the external thread with the internal thread. After the surgical instrument 300 is held in the chuck 131 and the chuck 131 is attached to the pressing ring 132, the pressing ring 132 can be brought into abutment with the chuck 131 so that the chuck 131 holds the surgical instrument 300.

Before installing the surgical instrument 300, the top of the chuck 131 is fixed to the top of the inside of the inner sleeve 120, and the pressing ring 132 is screwed with the inner sleeve 120 and is sleeved outside the chuck 131. When it is desired to install the surgical instrument 300, the pressing ring 132 releases the inner sleeve 120, at which time the clamping space in the chuck 131 is increased, the surgical instrument 300 is inserted into the clamping space, and then the pressing ring 132 is rotated, and the pressing ring 132 presses the chuck 131 so that the chuck 131 clamps the surgical instrument 300.

When the pressing ring 132 is rotated upward, the pressing ring 132 can press the chuck 131 to reduce the size of the clamping space, and can clamp the surgical instrument 300 while accommodating the small-sized surgical instrument 300. When the pressing ring 132 is rotated downward, the pressing ring 132 can release the chuck 131, and at this time, the chuck 131 is released to increase the size of the clamping space, so that the large-sized surgical instrument 300 can be accommodated, and the mounting and dismounting of the surgical instrument 300 can be facilitated.

Referring to fig. 1 to 4, in an embodiment, the chuck 131 includes a supporting frame 1311 and a plurality of jaws 1312, the top of the supporting frame 1311 is connected to the top of the inside of the inner sleeve 120, the plurality of jaws 1312 are spaced apart from the supporting frame 1311, the supporting frame 1311 and the jaws 1312 are located in the inner sleeve 120, one end of each jaw 1312 is connected to the supporting frame 1311, the other end of each jaw 1312 faces the top of the supporting frame 1311 and is tilted in the direction of the pressing ring 132, the outer side of each jaw 1312 abuts against the pressing ring 132, and the inner side of each jaw 1312 is enclosed to form a clamping space; the pressing ring 132 can press or release the pawl 1312 when rotated.

The chuck 131 supports a plurality of jaws 1312 through a support frame 1311 and is connected to the top of the inner sleeve 120. Specifically, the top of the support frame 1311 is connected to the inner sleeve 120, and the pressing ring 132 is sleeved outside the support frame 1311 and spaced from the support frame 1311. A plurality of jaws 1312 are spaced apart on the support frame 1311. Also, for each jaw 1312, one end of jaw 1312 is mounted to support frame 1311 and the other end of jaw 1312 is a free end that tips away from the connected end to support frame 1311, as in fig. 2 or 3, the free end of jaw 1312 is located above and the connection of jaw 1312 to support frame 1311 is located below.

That is, in fig. 2, a plurality of jaws 1312 forms an upwardly flared structure, and fig. 3 is a schematic view of the chuck 131 in fig. 2. When the pressing ring 132 is in contact with the chuck 131, the inner wall of the pressing ring 132 abuts against the outer wall of the jaws 1312, because the free ends of the jaws 1312 are located above, the pressing ring 132 first abuts against the joint between the jaws 1312 and the support frame 1311, and then gradually moves to the free end position of the jaws 1312; and also downwardly from the body portion of the pawl 1312.

As compression ring 132 moves upwardly within inner sleeve 120, compression ring 132 will progressively increase the compression on the body portions of jaws 1312, at which point jaws 1312 will move inwardly of support frame 1311 to reduce the clamping space so that the clamping space can clamp a small size surgical instrument 300. As the press ring 132 continues to be screwed, the jaws 1312 continue to move into the clamping space to clamp the surgical instrument 300. As the press ring 132 moves downwardly within the inner sleeve 120, the press ring 132 is gradually lowered along the main body portion of the jaws 1312, gradually reducing the urging of the multiple jaws 1312, and the jaws 1312 will move outwardly to increase the size of the clamping space, allowing the clamping space to clamp larger hand-held instruments. Moreover, the increased clamping space of the press ring 132 moving downward in the inner sleeve 120 can also facilitate the installation and removal of the surgical instrument 300.

Optionally, the support frame 1311 comprises a connecting disc 13112 and a frame body 13111, the top of the frame body 13111 is mounted to the connecting disc 13112, the top of the connecting disc 13112 is connected with the top of the inner part of the inner sleeve 120, and the support frame 1311 is connected and fixed with the inner sleeve 120. Also, the jaws are provided on the frame body 13111. Optionally, the connecting plate 13112 is connected to the top of the inner sleeve 120 by screws, which facilitates mounting and dismounting. It is noted that the top of inner sleeve 120 has an end cap with a through hole in the middle for passing surgical instrument 300, and connecting plate 13112 can be connected to the end cap.

In an embodiment, the catch 1312 comprises a first end connected to the support frame 131, a second end having a smaller cross-sectional dimension perpendicular to the axial direction of the inner sleeve 120 than that of the second end perpendicular to the axial direction of the inner sleeve 120, a first surface opposite to the second surface 13121 and smoothly connecting the first end and the second end, the first surface facing the inner side of the support frame 1311, a portion of the second surface 13121 abutting against the inner wall of the pressing ring 132; the first surfaces of the plurality of jaws 1312 enclose a clamping space.

As shown in fig. 2, the end of jaw 1312 connected to support frame 1311 is a first end and the free end of jaw 1312 is a second end. Pawl 1312 is mounted to support frame 1311 by a first end and a second end of pawl 1312 extends upward and is tilted outward. Also, the first end of the pawl 1312 is a small-sized end, and the second end of the pawl 1312 is a large-sized end. That is, the cross-sectional dimension of the pawl 1312 gradually increases from the first end to the second end. In this way, clamping of the surgical instrument 300 by the compression ring 132 in cooperation with the jaws 1312 can be facilitated. When jaws 1312 grip surgical instrument 300, the second ends of jaws 1312 abut surgical instrument 300.

Pawl 1312 has four surfaces, only two important surfaces being illustrated here. First surfaces of jaws 1312 are disposed opposite second surfaces 13121, and first surfaces of jaws 1312 are disposed toward an inner side of support frame 1311 and are part of an outer wall of the clamping space. The first surfaces of the plurality of jaws 1312 enclose a gripping space for gripping the surgical instrument 300. The second surface 13121 of the catch 1312 faces the outside of the support frame 1311, i.e., is the inner wall of the press ring 132.

The inner wall of the press ring 132 can abut against the second surface 13121 of the pawl 1312. When the inner wall of the pressing ring 132 is gradually raised along the second surface 13121 of the jaws 1312, the pressing ring 132 presses the jaws 1312 such that the jaws 1312 move toward the inside of the support frame 1311 to reduce the size of the clamping space. As the inner wall of the pressing ring 132 is gradually lowered along the second surface 13121 of the jaws 1312, the pressing ring 132 releases the jaws 1312, and the jaws 1312 move toward the outside of the support frame 1311 to increase the size of the clamping space.

In one embodiment, the first and second surfaces 13121 are curved or planar. Illustratively, as shown in FIG. 2, the first surface of the pawl 1312 is arcuate with the second surface 13121 so that the first surface better engages the pressure ring 132 and the second surface 13121 better engages the surgical instrument 300.

Of course, in other embodiments of the present invention, the first and second surfaces 13121 may also be shaped as a plane, a curved surface, or other surface capable of mating with the compression ring 132 and the surgical device 300. Alternatively, the first and second surfaces 13121 may be the same or different in shape.

Alternatively, the catch 1312 is made of an elastically deformable material. The jaws 1312 may grip the instrument 300 inwardly when pressed by the compression force of the compression ring 132. When the compression ring 132 releases the jaws 1312, the jaws 1312 can snap back out of engagement with the surgical instrument 300. Alternatively, the support frame 1311 is made of a more malleable plastic.

Referring to fig. 1-4, in one embodiment, the compression ring 132 includes an annular body 1321, an outer wall of the annular body 1321 having external threads, and an inner wall of the annular body 1321 abutting the jaws 1312. The annular main body 1321 is a main structure of the pressing ring 132, the outer wall of the annular main body 1321 has an external thread, and when the annular main body 1321 of the pressing ring 132 is mounted on the inner sleeve 120, the annular main body 1321 is screwed with the internal thread of the inner sleeve 120 through the external thread of the outer wall, so that the pressing ring 132 is connected with the inner sleeve 120.

Also, the inner wall of the annular body 1321 can abut the outer wall of the pawl 1312. When the annular body 1321 moves upward in the inner sleeve 120, the inner wall of the annular body 1321 can press the jaws 1312 to reduce the size of the clamping space; as the annular body 1321 moves downward in the inner sleeve 120, the inner wall of the annular body 1321 can disengage the jaws 1312 so that the jaws 1312 are released to increase the size of the clamping space.

In one embodiment, jaws 1312 are arranged in multiple tiers, with multiple tiers 1312 being arranged along an axial direction of surgical instrument 300, and with multiple jaws 1312 being provided in each tier spaced about the axial direction of surgical instrument 300. The compression ring 132 further includes at least one annular body 1322 and a plurality of columns 1323, the annular main body 1321 is spaced apart from the at least one annular body 1322, the plurality of columns 1323 are respectively disposed between the annular main body 1321 and the annular body 1322 and between adjacent annular bodies 1322, and the annular main body 1321 and the annular body 1322 are respectively in one-to-one correspondence with the plurality of layers of clamping jaws 1312.

That is, by the multi-layer jaws 1312 being arranged along the axial direction of the surgical instrument 300 (i.e., the axial direction of the inner sleeve 120). When the multi-layer jaws 1312 clamp the surgical instrument 300, the multi-layer jaws 1312 clamp the surgical instrument 300 in the axial direction of the surgical instrument 300, so that the reliability of clamping the surgical instrument 300 can be ensured. Accordingly, the jaws 1312 are engaged with the ring body 1321, the clamping or releasing of the jaws 1312 is controlled by the ring body 1321, and when the jaws 1312 are multi-layered, the ring body 1322 is disposed to correspond to the remaining number of layers of the jaws 1312.

That is, the ring body 1321 is engaged with one layer of the jaws 1312 at the bottom, the number of layers of the ring body 1322 is the same as the number of layers of the remaining jaws, and each layer of the ring body 1322 is engaged with each layer of the jaws 1312. The adjacent two ring-shaped bodies 1322 are supported by the plurality of columns 1323, and the ring-shaped bodies 1322 and the ring-shaped main body 1321 are also supported by the plurality of columns 1323. The spacing between adjacent annular bodies 1322, the annular body 1321 and the annular bodies 1322 corresponds to the spacing between each layer of jaws 1312. In this way, the ring-shaped main body 1321 and the ring-shaped main body 1322 can be ensured to be accurately in contact with the corresponding jaws 1312, and the pressing amount of the multi-layer jaws 1312 by the pressing ring 132 is kept consistent in the process of screwing the pressing ring 132, so that the multi-layer jaws 1312 can hold the surgical instrument 300 tightly, and the surgical instrument 300 can be clamped well.

For example, as shown in fig. 3, the present invention is illustrated by taking the number of layers of the claw 1312 as two layers, and correspondingly, the number of the ring-shaped bodies 1322 is one layer. The annular body 1322 is connected to the annular main body 1321 by a plurality of columns 1323. That is, the pressing ring 132 has a double-layered structure. The jaws 1312 are a first layer 13122 and a second layer 13123, respectively, the first layer 13122 being located at the bottom of the chuck 131, the second layer 13123 being located above the chuck 131, the jaws 1312 of the first layer 13122 being in contact with the annular body 1321, and the jaws 1312 of the second layer 13123 being in contact with the annular body 1322. The orientation here is based on the vertical and horizontal directions shown in fig. 2.

The distance between the jaws 1312 of the first layer 13122 and the jaws 1312 of the second layer 13123 is the same as the distance between the annular body 1321 and the annular body 1322. In the process of screwing the compression ring 132, the annular main body 1321 and the annular main body 1322 are pressed to the jaws 1312 on the corresponding layers in the same amount, so that the two layers of jaws 1312 are clamped at the same time, and the surgical instrument 300 is clamped better.

Referring to fig. 1-4, in one embodiment, the press ring 132 further includes at least one rotation knob 1324, the at least one rotation knob 1324 is disposed on the annular body 1321, and the rotation knob 1324 at least partially exposes the inner sleeve 120 when the press ring 132 is engaged with the inner sleeve 120.

The rotating knob 1324 is provided at the bottom of the ring-shaped main body 1321 and extends in a direction away from the ring-shaped body 1322. When the press ring 132 is mounted to the inner sleeve 120, the annular body 1321 is threadably connected to the inner sleeve 120, with the knob 1324 extending at least partially beyond the inner sleeve 120. The operator holds the rotating handle 1324 to drive the pressing ring 132 to rotate, so that the pressing ring 132 can be conveniently screwed in and out through the matching of the external threads and the internal threads.

Optionally, the number of the rotating handles 1324 is multiple, which is convenient for the operator to hold and operate. As shown in fig. 4, the number of the rotation handles 1324 is exemplarily four, and four rotation handles 1324 are uniformly distributed. Of course, in other embodiments of the present invention, the number of the rotating handles 1324 may be two, three or other numbers, and preferably more than two.

Referring to fig. 1 to 4, in an embodiment, the adaptive clamping system 100 further includes a limiting assembly 140, the inner sleeve 120 has a limiting hole 121, the limiting assembly 140 is disposed in the limiting hole 121 of the inner sleeve 120 and can extend out of or retract into the limiting hole 121, and after the outer sleeve 110 is mounted on the inner sleeve 120, the limiting assembly 140 limits the outer sleeve 110 to rotate along the axial direction of the inner sleeve 120. After outer sleeve 110 is installed within inner sleeve 120, stop assembly 140 is positioned on top of outer sleeve 110. Stop assembly 140 is used to achieve axial stop of outer sleeve 110, preventing outer sleeve 110 from dislodging from the top of inner sleeve 120.

Specifically, the inner sleeve 120 has a limiting hole 121 disposed therethrough, the limiting assembly 140 is installed in the limiting hole 121 of the inner sleeve 120, and the limiting assembly 140 can extend out of the limiting hole 121 or retract into the limiting hole 121. After outer sleeve 110 is installed on inner sleeve 120, stop assembly 140 extends through stop hole 121 and is positioned at the top of outer sleeve 110. Thus, with a tendency for outer sleeve 110 to move upward relative to inner sleeve 120, stop assembly 140 limits the position of outer sleeve 110, thereby ensuring that the position of localization tracking array 200 on outer sleeve 110 is accurately located so that the position of localization tracking array 200 does not shift.

When outer sleeve 110 is not mounted to inner sleeve 120, stop assembly 140 extends through stop hole 121. When it is desired to install outer sleeve 110, stop assembly 140 is depressed such that stop assembly 140 retracts into inner sleeve 120, and then outer sleeve 110 is fitted over inner sleeve 120 and stop assembly 140 is squeezed. When outer sleeve 110 is in place, stop assembly 140 extends through stop hole 121, and stop assembly 140 is positioned at the top of outer sleeve 110 to axially stop outer sleeve 110. When it is desired to remove outer sleeve 110, stop assembly 140 is depressed to retract stop assembly 140, at which point outer sleeve 110 may be removed from inner sleeve 120.

Referring to FIGS. 1-4, in one embodiment, the bottom of inner sleeve 120 has a stop edge 122, and the bottom of outer sleeve 110 is capable of contacting stop edge 122 after outer sleeve 110 is installed on inner sleeve 120. The cooperation of limiting edge 122 and limiting assembly 140 realizes the limiting of outer sleeve 110 in two directions, namely, limiting edge 122 and limiting assembly 140 axially limit outer sleeve 110, and with regard to the structure of limiting assembly 140, it will be mentioned later herein that how limiting edge 122 and limiting assembly 140 cooperate to limit outer sleeve 110 is explained.

It will be appreciated that the axial length of inner sleeve 120 is greater than the axial length of outer sleeve 110, such that stop assembly 140 and stop edge 122 on inner sleeve 120 act to stop outer sleeve 110 after inner sleeve 120 is installed on outer sleeve 110. The limiting edge 122 is disposed at the bottom edge of the inner sleeve 120 and protrudes from the outer wall of the inner sleeve 120 in the radial direction. When outer sleeve 110 is mounted to inner sleeve 120, the bottom of outer sleeve 110 contacts retaining rim 122, while retaining assembly 140 extends through retaining hole 121 and rests on the top of outer sleeve 110.

The limiting assembly 140 and the limiting edge 122 respectively axially limit the top and the bottom of the outer sleeve 110, so as to limit the upward or downward movement of the outer sleeve 110, ensure that the position of the outer sleeve 110 is fixed, and further ensure that the position of the localization tracking array 200 does not change, so that the localization tracking array 200 can accurately identify the position of the surgical instrument 300. As shown in fig. 1, the limiting assembly 140 and the limiting edge 122 limit the outer sleeve 110.

Referring to fig. 1 to 4, in an embodiment, the limiting component 140 includes an elastic member 141 and a limiting member 142, and the elastic member 141 connects the inner wall of the inner sleeve 120 and the limiting member 142, so that the limiting member 142 tends to extend out of the limiting hole 121.

One end of the elastic element 141 is connected to the inner wall of the inner sleeve 120, the other end of the elastic element 141 is connected to the limiting element 142, and the elastic element 141 can drive the limiting element 142 to extend or retract, so that the limiting element 142 can extend or retract into the limiting hole 121. The elastic force of the elastic member 141 can always make the stopper 142 protrude to the stopper hole 121. When it is desired to install outer sleeve 110, outer sleeve 110 presses against retaining member 142 such that retaining member 142 compresses elastic member 141 and moves into retaining hole 121, and outer sleeve 110 can be installed to inner sleeve 120 and contact retaining rim 122.

When the outer sleeve 110 is separated from the limiting member 142, the elastic force of the elastic member 141 drives the limiting member 142 to reset, so that the limiting member 142 is located at the top of the outer sleeve 110 to limit the outer sleeve 110. Alternatively, the elastic member 141 is a spring, an elastic column, a bellows, or the like.

In an embodiment, the limiting member 142 includes a limiting member 1422 and a limiting member 1421, the limiting member 1422 is mounted on the limiting member 1421, the limiting member 1421 protrudes from a sidewall of the limiting member 1422, and the elastic member 141 is connected to the limiting member 1421; when the limiting member 142 extends out of the limiting hole 121, the limiting block 1422 extends out of the limiting hole 121, and the limiting plate 1421 abuts against the inner wall of the inner sleeve 120.

The elastic member 141 has one end abutting the stopper plate 1421 and the other end abutting the inner sleeve 120. The sectional area of the stopper plate 1421 in the axial direction is larger than the sectional area of the stopper hole 121 in the axial direction. The limiting plate 1421 is mounted on the surface of the elastic member 141 away from the limiting block 1422. The cross-sectional area of the stop block 1422 is smaller than the cross-sectional area of the stop hole 121. That is to say, the limiting plate 1421 protrudes from the sidewall of the limiting block 1422. When the limiting member 142 extends out of the limiting hole 121, the limiting plate 1421 abuts against the inner wall of the inner sleeve 120, the limiting block 1422 extends out through the limiting hole 121, and the limiting block 1422 can be located at the top of the outer sleeve 110 to limit the outer sleeve 110.

In one embodiment, the stop 1422 has a guiding slope, which is inclined from top to bottom left as shown in fig. 2. When the outer sleeve 110 is mounted, the bottom of the outer sleeve 110 contacts the top of the stopper 1422, can gradually move downward by the guide slope, and pushes the stopper 1422 to compress the elastic member 141.

In one embodiment, inner sleeve 120 is formed from a plastic material and outer sleeve 110 is formed from a metal material. This enables low friction between inner sleeve 120 and outer sleeve 110. It will be appreciated that when surgical instrument 300 is a tap, after chuck 131 is mounted with the tap, compression ring 132 is rotated relative to inner sleeve 120 to grip the tap.

The tap is rotated to drive the chuck 131 and the pressing ring 132 to drive the inner sleeve 120 to move, and at the moment, the inner sleeve 120 can slide with low friction with the outer sleeve 110, so that the outer sleeve 110 cannot be driven to rotate when the inner sleeve 120 rotates.

That is, the low friction sliding arrangement between inner sleeve 120 and outer sleeve 110 ensures that inner sleeve 120 and surgical instrument 300 rotate during tapping, and outer sleeve 110 and localization tracking array 200 do not rotate, so as to ensure that the localization system of the medical robot can identify the location of localization tracking array 200 at any time.

In one embodiment, the adaptive clamping system 100 further comprises wear resistant slides provided on the outer wall of the inner sleeve 120 and/or the inner wall of the outer sleeve 110. The wear resistant slide can increase the rotational friction between the inner sleeve 120 and the outer sleeve 110. Optionally, the wear resistant slide is a wear resistant smooth coating. Optionally, a wear resistant lubricious coating is provided on the outside of the inner sleeve 120.

In one embodiment, the adaptive clamping system 100 further comprises a torque limiter, and the press ring 132 comprises a press ring body and an external threaded section, the external threaded section is located outside the press ring body, and the torque limiter is disposed between the press ring body and the external threaded section for enabling a torque of the press ring 132 to reach a threshold value, so that the press ring body and the external threaded section can slide relative to each other, thereby limiting tightening of the press ring 132.

When the torque or pressure of the pressing ring 132 during screwing reaches a preset value, the torque limiter breaks the connection between the pressing ring main body and the external thread segment, so that the pressing ring main body and the external thread segment can rotate relatively. In order to increase the operation feeling, a torque limiter is provided between the pressing ring main body and the male screw section, and when the tightening force of the pressing ring 132 reaches a certain torque or a certain pressure, the torque limiter is automatically unlocked to disconnect the connection between the pressing ring main body and the male screw section, and at this time, the pressing ring main body does not rise along the inner sleeve 120 no matter how the pressing ring 132 is rotated. This prevents over-tightening or unscrewing of the pressure ring 132.

It is worth noting that the torque limiter has a structure similar to that of a torque wrench. One possible form of torque limiter is described below. Optionally, the external thread section is annularly arranged and sleeved outside the pressure ring main body, and the contact surface of the external thread section and the pressure ring main body is in concave-convex or tooth-shaped fit in arc combination. When the torque of the pressure ring main body is too large, the external thread segment is in sliding connection with the pressure ring main body. Optionally, the male and female or toothed structure is a plastic spring structure.

Referring to fig. 1 to 4, when the adaptive clamping system 100 of the present invention is in use, the limiting member 142 is pressed first, the outer sleeve 110 is taken out, the surgical instrument 300 is inserted into the chuck 131 after that, the pressing ring 132 is screwed, the outer sleeve 110 is installed in the inner sleeve 120, the outer sleeve 110 is limited by the limiting edge 122 and the limiting member 142, and the positioning tracking array 200 is installed on the outer sleeve 110, so as to complete the assembly. When the surgical instrument 300 is to be removed or replaced, the stopper 142 is pressed first to remove the outer sleeve 110, and then the pressing ring 132 is rotated to remove the surgical instrument 300.

The adaptive clamping system 100 of the utility model can clamp surgical instruments 300 of different models, and can ensure that the relative position between the axis and the positioning and tracking array 200 is unchanged when clamping the instruments each time, thereby ensuring the positioning and navigation accuracy to a certain extent; the adaptive clamping system 100 can realize the relative sliding of the inner sleeve 120 and the outer sleeve 110, and can be applied to the navigation positioning of the surgical instrument 300 requiring rotation operation, and the application range is wider, and the tracking and localization tracking array 200 can be tracked by the positioning system of the medical robot. When the surgical instrument 300 is displaced in the axial direction, the outer sleeve 110 can be driven by the chuck 131, the pressing ring 132 and the inner sleeve 120 to move axially synchronously, so as to achieve the purpose of synchronously tracking the surgical instrument 300. The adaptive clamping system 100 is compact in structure, convenient to use, disassemble and assemble and convenient to clean.

The utility model also provides a medical robot, which comprises a robot, a positioning system, a positioning and tracking array 200 and an adaptive clamping system 100 according to the above embodiment; the adaptive gripper system 100 is disposed at the end of the robot and mounts the localization tracking array 200 and the surgical instrument 300. The localization system is capable of tracking the location of the localization tracking array 200. The utility model discloses a medical robot adopts behind the adaptation clamping system 100 of above-mentioned embodiment, can the different model sizes's of centre gripping surgical instruments 300, increases the range of application, satisfies the operation demand.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (11)

1. An adaptive clamp system (100) for mounting a localization tracking array (200) with a surgical instrument (300), the adaptive clamp system (100) comprising:

an outer sleeve (110), an outer wall of said outer sleeve (110) having a mounting tube (111) extending in a radial direction, said mounting tube (111) for mounting said localization tracking array (200);

an inner sleeve (120) disposed within the outer sleeve (110) and movable relative to the outer sleeve (110); and

the clamping assembly (130) is rotatably arranged in the inner sleeve (120), the clamping assembly (130) is provided with a clamping space used for clamping the surgical instrument (300), and the size of the clamping space can be adjusted when the clamping assembly (130) rotates relative to the inner sleeve (120).

2. The adaptive clamping system (100) of claim 1, wherein the clamping assembly (130) comprises a chuck (131) and a clamping ring (132), wherein the top of the clamping ring (132) is at least partially mounted to the inner sleeve (120), the chuck (131) is located in the clamping ring (132), the chuck (131) has a clamping space therein for clamping the surgical instrument (300), the outer wall of the clamping ring (132) has an external thread, the inner wall of the inner sleeve (120) has an internal thread, the clamping ring (132) moves along the inner sleeve (120) through the external thread and the internal thread, and presses or releases the chuck (131) to adjust the size of the clamping space.

3. The adaptive clamping system (100) according to claim 2, wherein the chuck (131) comprises a supporting frame (1311) and a plurality of clamping jaws (1312), the top of the supporting frame (1311) is connected with the inner sleeve (120), the plurality of clamping jaws (1312) are spaced apart from the supporting frame (1311), one end of each clamping jaw (1312) is connected with the supporting frame (1311), the other end of each clamping jaw (1312) faces the top of the supporting frame (1311) and is tilted towards the pressing ring (132), the outer side of each clamping jaw (1312) abuts against the pressing ring (132), and the inner sides of the plurality of clamping jaws (1312) enclose the clamping space; the clamping jaw (1312) can be pressed or released when the pressing ring (132) rotates.

4. An adaptive clamping system (100) according to claim 3, characterized in that the jaws (1312) comprise a first end connected to the support frame (1311), a second end having a smaller cross-section perpendicular to the axial direction of the inner sleeve (120) than the second end (13121), a first surface facing the inside of the support frame (1311) and a second surface (13121), a portion of the second surface (13121) abutting against the inner wall of the clamping ring (132);

the first surfaces of the plurality of jaws (1312) enclose the clamping space.

5. The adaptive clamping system (100) of claim 4, wherein the first and second surfaces (13121) are arcuate or planar, curvilinear.

6. The adapting clamping system (100) according to claim 4, wherein the compression ring (132) comprises an annular body (1321), an outer wall of the annular body (1321) having the external thread, an inner wall of the annular body (1321) abutting the pawl (1312).

7. The adaptive clamp system (100) of claim 6, wherein the jaws (1312) are arranged in multiple layers, the multiple layers of the jaws (1312) being arranged along an axial direction of the surgical instrument (300), and wherein each layer is provided with a plurality of the jaws (1312) at intervals about the axial direction of the surgical instrument;

the compression ring (132) further comprises at least one annular body (1322) and a plurality of columns (1323), the annular main body (1321) and the at least one annular body (1322) are arranged at intervals along the axial direction of the surgical instrument, the columns (1323) are respectively arranged between the annular main body (1321) and the annular body (1322) and between the adjacent annular bodies (1322), and the annular main body (1321) and the annular body (1322) respectively correspond to the plurality of layers of jaws (1312) one by one.

8. The adapting clamping system (100) according to claim 6, wherein the compression ring (132) further comprises at least one rotation knob (1324), the at least one rotation knob (1324) being disposed on the annular body (1321), the rotation knob (1324) at least partially exposing the inner sleeve (120) when the compression ring (132) is mated with the inner sleeve (120).

9. The adaptive clamping system (100) according to any one of claims 1 to 8, wherein the adaptive clamping system (100) further comprises a limiting component (140), the inner sleeve (120) has a limiting hole (121), the limiting component (140) is disposed in the limiting hole of the inner sleeve (120) and can extend out of or retract into the limiting hole (121), the limiting component (140) limits the axial rotation of the outer sleeve (110) along the inner sleeve (120) after the outer sleeve (110) is mounted on the inner sleeve (120).

10. The adaptive clamping system (100) according to claim 9, wherein the limiting assembly (140) comprises an elastic member (141) and a limiting member (142), the elastic member (141) connecting the inner wall of the inner sleeve (120) and the limiting member (142) such that the limiting member (142) has a tendency to protrude out of the limiting hole (121).

11. A medical robot, characterized by comprising a robot, a localization tracking array (200) and an adaptive gripper system (100) according to any of claims 1 to 10;

the adaptive clamping system (100) is arranged at the end of the robot and mounts the localization tracking array (200) and a surgical instrument (300).

Images