CN219250419U - Surgical instrument clamp and surgical robot - Google Patents

Abstract

The utility model relates to a surgical instrument clamp and a surgical robot. The structure comprises a main body, a clamp head assembly and a driving assembly; the clamp head assembly comprises a first clamp head and a second clamp head which are oppositely arranged and are connected with the main body; the driving assembly comprises gears and racks which are meshed with each other, at least one of the first clamp head and the second clamp head is provided with the racks, the gears are connected to the main body in a rotating mode around the axial direction of the gears, the number of the gears corresponds to that of the racks, and the gears are configured to drive the corresponding racks to move along a first direction in the rotating process so that the first clamp head and the second clamp head are relatively close to each other to clamp the body to be clamped. Through gear rotation, drive the rack translation that corresponds along first direction to drive first binding clip and second binding clip relative translation and be close to, make clamping force between first binding clip and the second binding clip keep even stable with the clamping state, thereby make each contact atress of waiting to press from both sides the body and the contact of binding clip subassembly the same, reduced the damage of waiting to press from both sides the body, and the risk that drops.

Description

Surgical instrument clamp and surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a surgical instrument clamp and a surgical robot.

Background

With the development of robotics, surgical robots are being widely used in medical contexts. The surgical instruments used by the surgical robot are required to be smart and convenient, and can replace hands to complete a plurality of precise and complex operations. The main current surgical robot matched instrument is driven by rope transmission, and the jaw clamping function is realized by opening a certain angle. The clamp head of the opening angle type structure is simple in structure and convenient to use, but uneven clamping force is easy to cause different stress of each contact point, so that clamped tissues are wounded, even the clamped tools possibly fall into a human body during operation, and great potential safety hazards exist.

Disclosure of Invention

Based on this, it is necessary to provide a surgical instrument clamp, which aims at the technical problems that the clamping force of the clamp head of the existing opening angle structure is uneven, the stress of each contact point is easy to be different, the clamped tissue is wounded, and even the clamped tool possibly falls into the human body during the operation, and a great potential safety hazard exists.

A surgical instrument clamp comprising:

a main body;

the clamp head assembly comprises a first clamp head and a second clamp head which are oppositely arranged, and the first clamp head and the second clamp head are connected with the main body;

the driving assembly comprises gears and racks which are meshed with each other, at least one of the first clamp head and the second clamp head is provided with the racks, the gears are connected with the main body in a rotating mode around the axial direction of the gears, the number of the gears corresponds to that of the racks, and the gears are configured to drive the corresponding racks to move along a first direction in the rotating process so that the first clamp head and the second clamp head are relatively close to each other along the first direction to clamp a body to be clamped, and the first direction is perpendicular to the axial direction of the gears.

In one embodiment, the first binding clip comprises a first jaw and a first jaw, the first jaw being connected to the body along a first edge, the first jaw being connected to an end of the first jaw remote from the body; the second clamp head comprises a second clamp mouth and a second clamp handle, the second clamp handle is connected with the main body, and the second clamp mouth is connected with one end of the second clamp handle far away from the main body;

the first clamp mouth and the second clamp mouth are arranged at intervals along the first direction, and the projections of the first clamp handle and the second clamp handle on the axial direction of the gear are at least partially overlapped.

In one embodiment, the first and second handles are spaced apart along an axial direction of the gear, and the gear is disposed between the first and second handles.

In one embodiment, the number of racks is two, set up respectively in first pincers handle with the opposite one side of second pincers handle, first pincers handle with the second pincers handle is all followed first direction sliding connection in the main part, surgical instrument clamp still including connect in the connecting rod of main part, the connecting rod wear to locate first pincers handle, second pincers handle and two the gear, two the gear looks butt each other, and by first pincers handle with the second pincers handle presss from both sides tightly.

In one embodiment, the driving assembly further comprises a pull rope group corresponding to the number of the gears, the pull rope group comprises two ropes connected to one gear, and two ropes in one group of the pull rope group are connected with an external power source so as to drive the corresponding gears to rotate around different directions under the driving of the external power source.

In one embodiment, one side of the gear is provided with a matching block, the matching block is provided with a limiting groove circumferentially arranged around the gear, and the rope part is accommodated in the limiting groove and connected with the groove wall of the limiting groove so as to apply a pulling force along the radial direction of the gear to the corresponding gear.

In one embodiment, the surgical instrument clamp further comprises two groups of guide wheel assemblies connected to the main body, the guide wheel assemblies comprise first guide wheels and second guide wheels which are arranged at intervals, two ropes in one group of pull rope groups are respectively arranged in gaps between the first guide wheels and the second guide wheels in the two groups of guide wheel assemblies in a penetrating mode, and the ropes are partially wound on the wheel surfaces of the corresponding first guide wheels and second guide wheels.

In one embodiment, the wheel surfaces of the first guide wheel and the second guide wheel are respectively provided with a mounting groove which is arranged around the circumferential direction, the ropes wound on the wheel surfaces of the first guide wheel and the second guide wheel are contained in the mounting grooves, the main body is provided with first channels which correspond to the mounting grooves and are used for the ropes to penetrate, and the mounting grooves and the first channels are used for guiding the ropes to move under the driving of an external power source.

In one embodiment, the main body includes a base and a support, the first and second jaws are connected to the support, the first and second guide wheels are rotatably connected to the support about the first direction, and the second guide wheel is located at a side of the first guide wheel near the base and rotatably connected to the base about the first direction.

In one embodiment, the surgical instrument clamp further comprises two adjusting ropes, each of the adjusting ropes is connected to one end of the support piece in the axial direction of the gear and used for being connected to the external power source, and the adjusting ropes are used for adjusting the rotation angle of the support piece around the first direction under the driving of the external power source.

In one embodiment, the support member is provided with guide grooves along two axial ends of the gear, the base is provided with a second channel corresponding to the guide grooves, the adjusting rope is partially accommodated in the guide grooves, the end part of the adjusting rope, which extends out of the guide grooves, penetrates through the second channel to be connected with an external power source, and the guide grooves are used for guiding movement of the adjusting rope under the driving of the external power source.

The utility model also provides a surgical robot which can solve at least one technical problem.

A surgical robot comprising the surgical instrument clamp.

The beneficial effects are that:

the utility model provides a surgical instrument clamp which comprises a main body, a clamp head assembly and a driving assembly, wherein the clamp head assembly is arranged on the main body; the clamp head assembly comprises a first clamp head and a second clamp head, and the first clamp head and the second clamp head are oppositely arranged and are connected with the main body; the driving assembly comprises gears and racks which are meshed with each other, at least one of the first clamp head and the second clamp head is provided with the racks, the gears are connected to the main body in a rotating mode around the axial direction of the gears, the number of the gears corresponds to that of the racks, the gears are configured to drive the corresponding racks to move along a first direction in the rotating process, so that the first clamp head and the second clamp head are relatively close to each other along the first direction to clamp the body to be clamped, and the first direction is perpendicular to the axial direction of the gears. This application gear and rack meshing, at gear pivoted in-process, through the meshing transmission, can drive the rack that corresponds along first direction translation, and at least one of first binding clip and second binding clip is equipped with the rack, make first binding clip and second binding clip can follow the relative translation of first direction and be close to, will treat the clamp body and press from both sides tightly, and first binding clip and second binding clip are through the relative translation realization and are close to, make clamping force and clamping state keep evenly stable, thereby the atress that makes each contact that treats clamp body and binding clip subassembly contact is the same, and then reduced the damage of treating the clamp body, and the risk of dropping, surgical instrument clamp's adaptability has been improved.

The surgical robot comprises the surgical instrument clamp. The surgical robot can achieve at least one of the above technical effects.

Drawings

FIG. 1 is a schematic view of a surgical instrument clamp provided in an embodiment of the present utility model;

FIG. 2 is a schematic view of a portion of a jaw assembly of a surgical instrument clamp in cooperation with a drive assembly according to an embodiment of the present utility model;

FIG. 3 is a partial exploded view of a surgical instrument clamp according to an embodiment of the present utility model;

FIG. 4 is a front view of a surgical instrument clamp provided in an embodiment of the present utility model;

FIG. 5 is a right side view of a surgical instrument clamp provided in an embodiment of the present utility model;

fig. 6 is a schematic view of gears in a surgical instrument clamp according to an embodiment of the present utility model.

Reference numerals:

100-clamp head assembly; 110-a first binding clip; 120-second binding clip; 130-a first grip; 140-a second grip; 150-a first slide hole; 160-a second slide hole; 170-a first jaw; 180-second jaw; 200-a main body; 210-a base; 220-a support; 230-a guide groove; 300-a drive assembly; 310-gear; 311-grooves; 312-mating blocks; 313-limit groove; 320-rack; 330-rope; 340-connecting rods; -400-guide wheel assembly; 410-a first guide wheel; 420-a second guide wheel; -450-mounting slots; 510-adjusting the rope.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should 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", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

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

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" 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 are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1, 2 and 3, fig. 1 is a schematic view of a surgical instrument clamp according to an embodiment of the present utility model; FIG. 2 is a schematic illustration of a portion of a binding clip assembly 100 of a surgical instrument clamp in cooperation with a drive assembly 300 according to an embodiment of the present utility model; fig. 3 is a partial exploded view of a surgical instrument clamp according to an embodiment of the present utility model. The utility model provides a surgical instrument clamp, which comprises a main body 200, a clamp head assembly 100 and a driving assembly 300; the clamp head assembly 100 includes a first clamp head 110 and a second clamp head 120 disposed opposite to each other, the first clamp head 110 and the second clamp head 120 being connected to the main body 200; the driving assembly 300 includes a gear 310 and a rack 320 engaged with each other, at least one of the first and second jaws 110 and 120 is provided with the rack 320, the gear 310 is rotatably connected to the main body 200 around its own axis, and the number of the gears 310 corresponds to that of the racks 320, and the gears 310 are configured to drive the corresponding racks 320 to move along a first direction during rotation, so that the first and second jaws 110 and 120 are relatively close along the first direction to clamp the body to be clamped, wherein the first direction is perpendicular to the axial direction of the gear 310.

Specifically, rack 320 extends along a first direction, gear 310 and rack 320 mesh, and in the process of gear 310 rotation, through meshing transmission, corresponding rack 320 can be driven to translate along the first direction, and at least one of first binding clip 110 and second binding clip 120 is provided with rack 320, so that first binding clip 110 and second binding clip 120 can translate relatively along the first direction to be close, the body to be clamped is clamped, and first binding clip 110 and second binding clip 120 translate relatively to be close, so that clamping force and clamping state keep uniform and stable, and accordingly stress of each contact point of the body to be clamped and binding clip assembly 100 is the same, damage to the body to be clamped and dropping risk are reduced, and adaptability of surgical instrument clamp is improved.

The surgical instrument clamp is applied to a surgical robot, is used for extending into the human body, and replaces a human hand to finish a plurality of precise and complex operations in the human body.

Referring to fig. 1, 2 and 3, in one embodiment, the first clamp head 110 includes a first clamp mouth 170 and a first clamp handle 130, the first clamp handle 130 is connected to the main body 200, the first clamp mouth 170 is connected to an end of the first clamp handle 130 away from the main body 200, the second clamp head 120 includes a second clamp mouth 180 and a second clamp handle 140, the second clamp handle 140 is connected to the main body 200, and the second clamp mouth 180 is connected to an end of the second clamp handle 140 away from the main body 200; the first and second jaws 170, 180 are spaced apart along the first direction and the projections of the first and second handles 130, 140 in the axial direction of the gear 310 at least partially overlap.

Specifically, the first jaw 170 and the second jaw 180 are disposed at intervals along the first direction, and in the process that the gear 310 drives the corresponding rack 320 to move along the first direction, the first jaw 170 and the second jaw 180 can relatively translate along the first direction to approach or depart from each other under the driving of the first jaw handle 130 and/or the second jaw handle 140, so as to achieve the clamping of the body to be clamped. The arrangement that the projections of the first forceps handle 130 and the second forceps handle 140 in the axial direction of the gear 310 are at least partially overlapped can reduce the size of the surgical instrument forceps in the first direction, thereby reducing the interference of the surgical instrument forceps on other tissues in the human body and improving the comfort of the human body.

Referring to fig. 1, in one embodiment, the first grip handle 130 and the second grip handle 140 are disposed at intervals along an axial direction of the gear 310, and the gear 310 is disposed between the first grip handle 130 and the second grip handle 140.

Specifically, the first forceps handle 130 and the second forceps handle 140 can keep partially overlapping in the axial direction of the gear 310 all the time in the process of moving along the first direction, so that the size of the surgical instrument forceps in the first direction can be further reduced, meanwhile, the size of the surgical instrument forceps in the axial direction of the gear 310 is reduced due to the arrangement that the gear 310 is positioned between the first forceps handle 130 and the second forceps handle 140, in addition, the gear 310 can be protected, the interference of other components on the rotation of the gear 310 is avoided, and the adaptability of the surgical instrument forceps is improved.

With continued reference to fig. 1, 2 and 3, in one embodiment, the number of racks 320 is two, and the racks are respectively disposed on opposite sides of the first forceps handle 130 and the second forceps handle 140, the first forceps handle 130 and the second forceps handle 140 are both slidably connected to the main body 200 along the first direction, the surgical instrument forceps further include a connecting rod 340 connected to the main body 200, the connecting rod 340 is disposed through the first forceps handle 130, the second forceps handle 140 and the two gears 310, and the two gears 310 are abutted against each other and clamped by the first forceps handle 130 and the second forceps handle 140.

Specifically, for convenience of description, the two gears 310 are defined as a first gear and a second gear, respectively, the two racks 320 are defined as a first rack and a second rack, respectively, the first rack is disposed on the first jaw handle 130, the first gear is engaged with the first rack, the second rack is disposed on the second jaw handle 140, and the second gear is engaged with the second rack. In the process of rotating the first gear and the second gear, the first rack and the second rack can be driven to translate along the first direction, the first rack is connected to the first clamp handle 130, the second rack is connected to the second clamp handle 140, so that the first clamp handle 130 and the second clamp handle 140 can drive the first clamp nozzle 170 and the second clamp nozzle 180 to translate along the first direction, and the first clamp handle and the second clamp handle are close to or far away from each other, so that the body to be clamped is clamped. The two gears 310 are abutted to each other and clamped by the first clamp handle 130 and the second clamp handle 140, so that the stability of the first clamp handle 130 and the second clamp handle 140 in the axial direction of the gears 310 is improved, and the first clamp handle 130 and the second clamp handle 140 can stably drive the first clamp nozzle 170 and the second clamp nozzle 180 to translate along the first direction. In addition, both the first and second binding heads 110, 120 can be controlled, improving the efficiency and convenience of controlling the operation of the surgical instrument clamp, and at the same time, when one of the first and second binding heads 110, 120 fails, the use can be continued, thereby improving the reliability of the surgical instrument clamp.

Further, the first gear and the second gear are the same in size, so that the size of the surgical instrument clamp in the arrangement direction of the gear 310 and the corresponding rack 320 can be reduced.

Further, the first grip 130 is provided with a first sliding hole 150 extending along a first direction, the second grip 140 is provided with a second sliding hole 160 extending along the first direction, the first sliding hole 150 and the second sliding hole 160 penetrate through the connecting rod 340, and the hole wall of the first sliding hole 150 and the hole wall of the second sliding hole 160 are slidably connected to the connecting rod 340.

Referring to fig. 1, 2 and 4, fig. 4 is a front view of a surgical instrument clamp according to an embodiment of the present utility model. In one embodiment, the driving assembly 300 further includes a pulling rope set corresponding to the number of the gears 310, where the pulling rope set includes two ropes 330 connected to one gear 310, and the two ropes 330 in one pulling rope set are all used to connect with an external power source, so as to drive the corresponding gears 310 to rotate around different directions under the driving of the external power source.

Specifically, the number of the pull rope sets is two, and the two pull rope sets are respectively connected to the two gears 310. The two ropes 330 in the pull rope group are connected to the gear 310, so that opposite acting force can be applied to the gear 310, the gear 310 can rotate around the axial direction of the gear, the first clamp head 110 and the second clamp head 120 can be controlled to be relatively close to and far away from each other, the first clamp head 110 and the second clamp head 120 can be relatively close to clamp a workpiece to be clamped, and the workpiece to be clamped can be relatively far away from the clamp head to be released, so that the clamp is ready for the next clamping, and the adaptability of the surgical instrument clamp is improved.

Further, the first gear is disposed on a side of the first rack adjacent to the first jaw 170, and the second rack is disposed on a side of the second rack adjacent to the second jaw 180, so that the rope 330 can pull the corresponding gear 310 to rotate.

Referring to fig. 1, 5 and 6, fig. 5 is a right side view of a surgical instrument clamp according to an embodiment of the present utility model; fig. 6 is a schematic view of a gear 310 in a surgical instrument clamp according to an embodiment of the present utility model. In one embodiment, one side of the gear 310 is provided with a matching block 312, the matching block 312 is provided with a limiting groove 313 circumferentially arranged around the gear 310, and the rope 330 is partially accommodated in the limiting groove 313 and connected to the groove wall of the limiting groove 313 so as to apply a pulling force along the radial direction of the gear 310 to the corresponding gear 310.

Specifically, the matching block 312 is disposed on one side of the two gears 310, and the rope 330 is partially accommodated in the limiting groove 313, so that the rope 330 is limited, interference between the ropes 330 is avoided, meanwhile, the rope 330 can apply a pulling force along the radial direction of the gears 310 to the corresponding gears 310 under the driving of an external power source, so that the rope 330 is conveniently pulled to rotate, the rotating efficiency of the gears 310 is improved, and the relative translation of the first clamp head 110 and the second clamp head 120 is convenient.

Referring to fig. 5 and 6, in one embodiment, a groove 311 is formed on a groove wall of the limiting groove 313, the driving assembly 300 further includes a terminal, the terminal is in clamping fit with the groove 311, and two ropes 330 in a group of pull ropes are connected with the terminal.

Specifically, the rope 330 is connected with the terminal, and the terminal is clamped and matched with the groove 311, so that the rope 330 is stably connected with the matching block 312. Meanwhile, when the rope 330 is worn and needs to be replaced, the terminal can be conveniently taken out to replace the pull rope, so that the adaptability of the surgical instrument clamp is improved.

It should be noted that, the two ropes 330 in the pull string set may also be two ropes 330 formed by one rope 330 penetrating the terminal.

Referring to fig. 1 and 4, in one embodiment, the surgical instrument clamp further includes two sets of guide wheel assemblies 400 connected to the main body 200, the guide wheel assemblies 400 include a first guide wheel 410 and a second guide wheel 420 that are disposed at intervals, two ropes 330 in one set of pull ropes are respectively threaded into gaps between the first guide wheel 410 and the second guide wheel 420 in the two sets of guide wheel assemblies 400, and the ropes 330 are partially wound on the wheel surfaces of the corresponding first guide wheel 410 and second guide wheel 420.

Specifically, the two ropes 330 of the group of stay cords are respectively threaded in the gaps between the first guide wheel 410 and the second guide wheel 420 in the two groups of guide wheel assemblies 400, and the stay cords are partially wound on the wheel surfaces of the first guide wheel 410 and the second guide wheel 420, so that the positions of the two ropes 330 of the group of stay cords are not affected by the rotation of the corresponding gear 310, and meanwhile, the mutual winding between the ropes 330 can be avoided, and the reliability of the surgical instrument clamp is improved.

Further, in the first direction, the two sets of guide wheel assemblies 400 are respectively disposed on two sides of the rotating shaft and are located on one side of the rack 320 away from the corresponding gear 310, so that two pull ropes led out from one gear 310 can respectively extend into the gap between the first guide wheel 410 and the second guide wheel 420 in the two sets of guide wheel assemblies 400, so as to apply opposite acting force to one gear 310.

Further, the first guide wheel 410 and the second guide wheel 420 in the guide wheel assembly 400 are arranged along the arrangement direction of the gear 310 and the corresponding rack 320 at intervals, so that the rope 330 led out from the gear 310 can be wound on the wheel surfaces of the first guide wheel 410 and the second guide wheel 420 at least partially, the rope 330 is tensioned, and the movement of the rope 330 is guided, thereby facilitating the stable transmission of the pulling force through the rope 330 under the driving of an external power source and improving the reliability of the surgical instrument clamp.

Preferably, the first guide wheel 410 and the second guide wheel 420 rotate the connection body 200 about the first direction.

Referring to fig. 1 and 4, in one embodiment, the wheel surfaces of the first guide wheel 410 and the second guide wheel 420 are respectively provided with a mounting groove 450 arranged around the circumferential direction, the ropes 330 wound on the wheel surfaces of the first guide wheel 410 and the second guide wheel 420 are accommodated in the mounting grooves 450, the main body 200 is provided with a first channel corresponding to the mounting grooves 450 and allowing each rope 330 to pass through, and the mounting grooves 450 and the first channels are used for guiding the movement of the ropes 330 under the drive of an external power source.

Specifically, the rope 330 is guided by the arrangement of the mounting grooves 450 on the first guide wheel 410 and the second guide wheel 420, and the main body 200 is provided with the first channel corresponding to the mounting groove 450, so that the rope 330 can stably pull the corresponding gear 310 under the action of an external power source, and the first clamp head 110 and the second clamp head 120 can stably translate, thereby improving the reliability of the surgical instrument clamp.

Further, the number of the mounting grooves 450 on the first guide wheel 410 and the second guide wheel 420 is two, so that the two ropes 330 on the two gears 310 can be accommodated in different mounting grooves 450, interference between the two ropes is avoided, and the reliability of the surgical instrument clamp is improved. Preferably, the first channel coincides with the corresponding mounting slot 450 in the direction of the surgical instrument clamp extending into the body.

Referring to fig. 1 and 4, in one embodiment, the main body 200 includes a base 210 and a supporting member 220, the first and second binding heads 110 and 120 are connected to the supporting member 220, the first and second guide wheels 410 and 420 are rotatably connected to the supporting member 220 about a first direction, the second guide wheel 420 is located at a side of the first guide wheel 410 near the base 210, and the second guide wheel 420 is rotatably connected to the base 210 about the first direction.

Specifically, the supporting member 220 is rotatably connected with the base 210 through the second guide wheel 420, so that the supporting member 220 can drive the clamp head assembly 100 to rotate around the first direction relative to the base 210, thereby expanding the range of the first clamp head 110 and the second clamp head 120 for clamping the body to be clamped, and improving the adaptability of the surgical instrument clamp. In addition, the position of the second guide wheel 420 is not changed during the rotation of the support 220 relative to the base 210, so that the rope 330 extending from the second guide wheel 420 can stably pass through the first channel to be connected with an external power source, thereby improving the reliability of the surgical instrument clamp.

Further, the supporting member 220 is in a "U" shape, the first clamp head 110 and the second clamp head 120 are disposed in the "U" shaped supporting member 220, and two ends of the rotating rod are respectively connected to the supporting member 220, so that the stability of connection between the first clamp head 110 and the second clamp head 120 and the supporting member 220 is improved.

With continued reference to fig. 1 and 4, in one embodiment, the surgical instrument clamp further includes two adjustment cables 510, each adjustment cable 510 being connected to one end of the support member 220 in the axial direction of the gear 310 and being configured to be connected to an external power source, the adjustment cables 510 being configured to adjust the angle at which the support member 220 is rotated about the first direction under the drive of the external power source.

Specifically, the adjusting ropes 510 apply force to the supporting member 220 along the axial direction of the gear 310, so that the supporting member 220 can rotate relative to the base 210, thereby adjusting the angles of the first and second binding clip 110, 120, so that the first and second binding clip 110, 120 can accurately clamp the body to be clamped, and simultaneously, the supporting member 220 can be restricted from rotating relative to the base 210 by tightening the two adjusting ropes 510, so that the first and second binding clip 110, 120 can stably translate along the first direction to clamp the body to be clamped.

Referring to fig. 1 and 4, in one embodiment, guide grooves 230 are formed at two ends of the support member 220 along the axial direction of the gear 310, a second channel corresponding to the guide grooves 230 is formed on the base 210, the adjusting rope 510 is partially accommodated in the guide grooves 230, and the end portion of the adjusting rope 510 extending out of the guide grooves 230 passes through the second channel to be connected with an external power source, and the guide grooves 230 are used for guiding the movement of the adjusting rope 510 driven by the external power source.

Specifically, the guide groove 230 plays a guiding role in the movement of the adjusting rope 510, and the base 210 is provided with a second channel corresponding to the guide groove 230, so that the adjusting rope 510 can stably pull the supporting member 220 to rotate relative to the base 210 under the action of an external power source, and meanwhile, when the acting forces of the two adjusting ropes 510 on the supporting member 220 are the same, the position of the supporting member 220 relative to the base 210 can be ensured to be limited, thereby improving the reliability of the surgical instrument clamp.

Preferably, the second channel coincides with the corresponding guide slot 230 in the direction of the surgical instrument clamp extending into the body.

Referring to fig. 1, 2 and 4, the surgical robot provided by the utility model comprises the surgical instrument clamp. This application is rotated through gear 310, drives rack 320 that corresponds along first direction translation, thereby drive first binding clip 110 and second binding clip 120 along first direction relative translation be close to, it is tight to treat the clamp body, and first binding clip 110 and second binding clip 120 are close to through relative translation realization, make clamping force and clamping state keep evenly stable, thereby the atress that makes each contact that treats clamp body and binding clip subassembly 100 contact is the same, and then the damage of treating the clamp body has been reduced, and the risk of dropping has improved surgical robot's adaptability.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (12)

1. A surgical instrument clamp, comprising:

a main body (200);

the clamp head assembly (100) comprises a first clamp head (110) and a second clamp head (120) which are oppositely arranged, wherein the first clamp head (110) and the second clamp head (120) are connected to the main body (200);

the driving assembly (300) comprises gears (310) and racks (320) which are meshed with each other, at least one of the first clamp head (110) and the second clamp head (120) is provided with the racks (320), the gears (310) are connected to the main body (200) in a rotating mode around the axial direction of the gears (310), the number of the gears (310) corresponds to that of the racks (320), and the gears (310) are configured to drive the corresponding racks (320) to move along a first direction in the rotating process so that the first clamp head (110) and the second clamp head (120) are relatively close to each other along the first direction to clamp a to-be-clamped body, and the first direction is perpendicular to the axial direction of the gears (310).

2. The surgical instrument clamp of claim 1, wherein the first clamp head (110) includes a first clamp mouth (170) and a first clamp handle (130), the first clamp handle (130) being connected to the body (200) along a first edge, the first clamp mouth (170) being connected to an end of the first clamp handle (130) remote from the body (200); the second clamp head (120) comprises a second clamp mouth (180) and a second clamp handle (140), the second clamp handle (140) is connected to the main body (200), and the second clamp mouth (180) is connected to one end of the second clamp handle (140) far away from the main body (200);

the first and second jaws (170, 180) are spaced apart along the first direction, and the first and second handles (130, 140) are at least partially overlapping in projection in an axial direction of the gear (310).

3. The surgical instrument clamp of claim 2, wherein the first clamp handle (130) and the second clamp handle (140) are disposed at intervals along an axial direction of the gear (310), the gear (310) being disposed between the first clamp handle (130) and the second clamp handle (140).

4. A surgical instrument clamp according to claim 3, wherein the number of racks (320) is two, the racks are respectively disposed on opposite sides of the first clamp handle (130) and the second clamp handle (140), the first clamp handle (130) and the second clamp handle (140) are both slidably connected to the main body (200) along the first direction, the surgical instrument clamp further comprises a connecting rod (340) connected to the main body (200), the connecting rod (340) is arranged on the first clamp handle (130), the second clamp handle (140) and the two gears (310) in a penetrating manner, and the two gears (310) are mutually abutted and clamped by the first clamp handle (130) and the second clamp handle (140).

5. The surgical instrument clamp of any one of claims 1-4, wherein the drive assembly (300) further comprises a plurality of pull cord sets corresponding to the plurality of gears (310), the pull cord sets including two cords (330) coupled to one of the gears (310), each of the two cords (330) of a set of pull cord sets being configured to couple to an external power source to rotate the corresponding gear (310) in a different direction under the drive of the external power source.

6. The surgical instrument clamp according to claim 5, wherein one side of the gear (310) is provided with a mating block (312), the mating block (312) is provided with a limiting groove (313) circumferentially arranged around the gear (310), and the rope (330) is partially accommodated in the limiting groove (313) and is connected to a groove wall of the limiting groove (313) so as to apply a tensile force to the corresponding gear (310) along a radial direction of the gear (310).

7. The surgical instrument clamp of claim 5, further comprising two sets of guide wheel assemblies (400) connected to the main body (200), the guide wheel assemblies (400) including first guide wheels (410) and second guide wheels (420) disposed at intervals, two ropes (330) of one set of the pull rope sets being respectively threaded into gaps between the first guide wheels (410) and the second guide wheels (420) of the two sets of guide wheel assemblies (400), and the ropes (330) being partially wound around the corresponding tread surfaces of the first guide wheels (410) and the second guide wheels (420).

8. The surgical instrument clamp according to claim 7, wherein the first guide wheel (410) and the second guide wheel (420) are each provided with a mounting groove (450) arranged around the circumference, the ropes (330) wound on the wheel surfaces of the first guide wheel (410) and the second guide wheel (420) are accommodated in the mounting grooves (450), the main body (200) is provided with first channels corresponding to the mounting grooves (450) and through which the ropes (330) are inserted, and the mounting grooves (450) and the first channels are used for guiding the movement of the ropes (330) under the drive of the external power source.

9. The surgical instrument clamp of claim 7, wherein the body (200) includes a base (210) and a support (220), the first clamp head (110) and the second clamp head (120) are coupled to the support (220), the first guide wheel (410) and the second guide wheel (420) are rotatably coupled to the support (220) about the first direction, and the second guide wheel (420) is positioned on a side of the first guide wheel (410) adjacent to the base (210) and rotatably coupled to the base (210) about the first direction.

10. The surgical instrument clamp according to claim 9, further comprising two adjustment strings (510), each adjustment string (510) being connected to one end of the support member (220) in the axial direction of the gear (310) and being configured to be connected to the external power source, the adjustment string (510) being configured to adjust an angle of rotation of the support member (220) about the first direction under the drive of the external power source.

11. The surgical instrument clamp according to claim 10, wherein the support member (220) is provided with guide grooves (230) along both ends of the gear (310) in the axial direction, the base (210) is provided with second passages corresponding to the guide grooves (230), the adjusting rope (510) is partially accommodated in the guide grooves (230), and the end portions of the adjusting rope (510) extending out of the guide grooves (230) penetrate through the second passages to be connected with the external power source, and the guide grooves (230) are used for guiding movement of the adjusting rope (510) under the drive of the external power source.

12. A surgical robot comprising a surgical instrument clamp according to any one of claims 1 to 11.

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