CN220001913U - Clamping device and slave end equipment - Google Patents

Abstract

The utility model discloses a clamping device and slave end equipment, wherein the clamping device comprises a clamping mechanism and a first driving mechanism, the clamping mechanism comprises a first clamping jaw and a second clamping jaw, a clamping space for the long and thin medical instrument to pass through is formed between the first clamping jaw and the second clamping jaw, the first clamping jaw and the second clamping jaw can relatively move to enable the clamping space to be reduced or enlarged, the first clamping jaw and the second clamping jaw clamp the long and thin medical instrument when the clamping space is reduced, and the first clamping jaw and the second clamping jaw release the long and thin medical instrument when the clamping space is enlarged. The first driving mechanism is used for driving the first clamping jaw and the second clamping jaw to move relatively so as to clamp or unclamp the elongated medical instrument, the elongated medical instrument can be clamped through the arrangement of the first clamping jaw and the second clamping jaw, acting force between the first clamping jaw and the elongated medical instrument is lifted, the slipping problem is avoided, and the auxiliary end equipment can be used for effectively overcoming resistance to realize rotation or delivery operation of the elongated medical instrument.

Description

Clamping device and slave end equipment

Technical Field

The utility model relates to the technical field of medical equipment, in particular to a clamping device and slave equipment.

Background

The interventional therapy is a minimally invasive therapy by using modern high-tech means, namely, under the guidance of medical imaging equipment, special slender medical instruments such as precise instruments of catheters, guide wires and the like are introduced into a human body to diagnose and treat the internal pathological condition locally.

The interventional therapy adopts a digital technology, so that the visual field of doctors is enlarged, the hands of the doctors are prolonged by means of the catheter and the guide wire, and the incision (puncture point) of the interventional therapy can treat a plurality of diseases which cannot be treated in the past and have poor curative effects, such as tumors, hemangiomas, various bleeding and the like, without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect, and is a development trend of future medicine.

For the vascular intervention operation, the traditional Chinese medicine needs to receive X-ray radiation for a long time, so that a master-slave vascular intervention operation robot with remote operation is developed in engineering. The master-slave vascular interventional operation robot can work in a strong radiation environment, so that a doctor can control the master-slave vascular interventional operation robot outside a ray environment.

In the process of executing the rotation or delivery of the guide wire (or the catheter), the interventional operation robot needs to be driven by a corresponding transmission mechanism, however, as the surface of the guide wire (or the catheter) is provided with a hydrophilic coating, the friction coefficient of the surface after being soaked with water is extremely low, so that the transmission mechanism contacted with the guide wire (or the catheter) cannot effectively overcome the resistance to realize the rotation or delivery operation of the guide wire (or the catheter).

Disclosure of Invention

In view of the above, the present utility model provides a clamping device and a slave device.

A first aspect of the present utility model proposes a clamping device to be mounted on a slave device of an interventional surgical robot for achieving clamping of an elongated medical instrument, the clamping device comprising:

the clamping mechanism comprises a first clamping jaw and a second clamping jaw, a clamping space for the elongated medical instrument to pass through is formed between the first clamping jaw and the second clamping jaw, the first clamping jaw and the second clamping jaw can move relatively to enable the clamping space to be reduced or enlarged, the first clamping jaw and the second clamping jaw clamp the elongated medical instrument when the clamping space is reduced, and the first clamping jaw and the second clamping jaw loosen the elongated medical instrument when the clamping space is enlarged;

a first drive mechanism for driving the first jaw and the second jaw in relative motion to clamp or unclamp the elongate medical instrument.

A second aspect of the present utility model proposes a slave device for use in an interventional surgical robot, comprising:

a main body;

the clamping device is arranged on the main body;

the advancing device is arranged on the main body and used for driving the main body to advance or retreat so as to drive the slender medical instrument clamped by the clamping device to carry out delivery operation.

The clamping device provided by the utility model is arranged on the slave end equipment of the interventional operation robot and is used for clamping the slender medical instrument, the slender medical instrument can be clamped through the arrangement of the first clamping jaw and the second clamping jaw, the acting force between the first clamping jaw and the slender medical instrument is improved, the slipping problem is avoided, and the slave end equipment can effectively overcome the resistance to realize the rotation or delivery operation of the slender medical instrument.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained by those skilled in the art without the inventive effort.

Fig. 1 is a schematic structural diagram of a slave device according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a hidden top shell of a slave device according to an embodiment of the present utility model;

FIG. 3 is a schematic structural diagram of a main body according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a clamping device according to an embodiment of the present utility model;

fig. 5 is a schematic connection diagram of a clamping mechanism and a first driving mechanism according to an embodiment of the present utility model;

FIG. 6 is a schematic illustration of a clamping mechanism according to an embodiment of the present utility model releasing an elongate medical instrument;

FIG. 7 is a schematic view of a clamping mechanism according to an embodiment of the present utility model clamping an elongate medical instrument;

fig. 8 is a schematic view of a first view structure of a clamping mechanism according to an embodiment of the present utility model;

fig. 9 is a schematic view of a second view structure of a clamping mechanism according to an embodiment of the present utility model;

fig. 10 is a schematic cross-sectional view of a clamping mechanism according to an embodiment of the present utility model.

The reference numerals are as follows:

100. a clamping device;

10. a clamping mechanism; 10a, a first clamping jaw; 10b, a second clamping jaw; 11a, a first clamping part; 11b, a second clamping part; 11c, a first extension; 11d, a second extension; 111. a first clamping position; 112. a second clamping position; 113. a boss; 114. a recessed portion; 115. a bump; 12. a clamping space; 13. a rotating shaft; 14. a first position; 15. a second position; 16. a housing; 161. a movable space; 162. a limit structure; 1621. a first barrier wall; 1622. a second barrier wall;

20. a first driving mechanism; 21. a first drive assembly; 21a, a transmission member; 211. a push rod; 212. a pushing seat; 2121. a first baffle; 2122. a second baffle; 2123. a connection part; 213. a connecting shaft; 22. a cam structure;

30. a second driving mechanism; 30a, a rotating assembly; 31. a first rotating member; 311. a fixing protrusion; 32. a second rotating member; 40. a first movable shaft; 50. a second movable shaft;

1000. a slave device; 200. a main body; 210. a mounting groove; 220. a first sidewall; 230. a second sidewall; 240. a clamping groove; 250. a top shell; 2000. an elongate medical device; alpha, a first distance; beta, second distance.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It is also to be understood that the terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Referring to fig. 1 and 4, an embodiment of the present utility model provides a clamping device 100, which is installed on a slave device 1000 of an interventional surgical robot, for clamping an elongated medical device 2000.

As shown in fig. 4-6, the clamping device 100 includes a clamping mechanism 10 and a first drive mechanism 20. The clamping mechanism 10 includes a first jaw 10a and a second jaw 10b, a clamping space 12 for the elongated medical device 2000 to be threaded is formed between the first jaw 10a and the second jaw 10b, the first jaw 10a and the second jaw 10b are relatively movable to narrow or expand the clamping space 12, the first jaw 10a and the second jaw 10b clamp the elongated medical device 2000 when the clamping space 12 is narrowed, and the first jaw 10a and the second jaw 10b unclamp the elongated medical device 2000 when the clamping space 12 is expanded. The first drive mechanism 20 is used to drive the first jaw 10a and the second jaw 10b in relative motion to clamp the elongate medical instrument 2000 or unclamp the elongate medical instrument 2000. The elongate medical device 2000 may be a precision device such as a catheter or a guidewire.

The clamping device 100 according to the embodiment of the present utility model forms the clamping space 12 for the elongated medical device 2000 to pass through by the first clamping jaw 10a and the second clamping jaw 10b, and controls the relative movement of the first clamping jaw 10a and the second clamping jaw 10b to shrink or enlarge the clamping space 12, so that the elongated medical device 2000 can be clamped when the clamping space 12 is shrunk, the acting force between the elongated medical device 2000 and the clamping device is lifted, the slipping problem is avoided, and the rotation or delivery operation of the elongated medical device 2000 can be realized by effectively overcoming the resistance of the slave device 1000.

In some embodiments, as shown in fig. 8 and 9, the first clamping jaw 10a includes at least one first clamping portion 11a arranged along a first direction, the second clamping jaw 10b includes at least one second clamping portion 11b arranged along the first direction, a clamping space 12 is formed between the first clamping portion 11a and the second clamping portion 11b, and the first clamping portion 11a and the second clamping portion 11b are used for clamping the elongated medical device 2000 relatively, and the first direction is a penetrating direction of the elongated medical device 2000. In this embodiment, one or more first clamping portions 11a and one or more second clamping portions 11b may be disposed correspondingly, and at least one first clamping portion 11a and one or more second clamping portions 11b may be disposed along the penetrating direction of the elongated medical device 2000, so as to disperse the force and improve the clamping stability.

In some embodiments, as shown in fig. 8 and 9, the first jaw 10a includes a plurality of first clamping portions 11a disposed side by side, and the second jaw 10b includes a plurality of second clamping portions 11b disposed side by side. In this embodiment, the plurality of first clamping portions 11a and the plurality of second clamping portions 11b are arranged along the penetrating direction of the elongated medical device 2000, so that a plurality of stress points can be formed, and the acting force for clamping the elongated medical device 2000 is uniformly dispersed to more stress points, so as to improve the clamping stability.

In some embodiments, as shown in fig. 8, the first clamping portion 11a and the second clamping portion 11b are staggered, the first clamping portion 11a is recessed or bent inward to form a first clamping position 111 for clamping the elongated medical device 2000, the second clamping portion 11b is recessed or bent inward to form a second clamping position 112 for clamping the elongated medical device 2000, and the first clamping position 111 and the second clamping position 112 enclose a clamping space 12.

Illustratively, the first clamping portion 11a may be provided with an inwardly recessed groove to form the first clamping position 111, or may be bent at the staggered position to form the recessed first clamping position 111 (as shown in fig. 8). Similarly, the second clamping portion 11b may be provided with an inwardly recessed groove to form the second clamping portion 112, or may be bent at the staggered portion to form the recessed second clamping portion 112 (as shown in fig. 8). The first clamping position 111 and the second clamping position 112 are correspondingly enclosed to form a clamping space 12, and the first clamping position 111 and the second clamping position 112 can be controlled to be relatively close to or far away from each other by controlling the relative movement of the first clamping part 11a and the second clamping part, so that the clamping space 12 is contracted or expanded.

In some embodiments, as shown in fig. 6-8, the first jaw 10a further includes a first extension 11c connected to the first clamping portion 11a, and the second jaw 10b further includes a second extension 11d connected to the second clamping portion 11b. When the first extending portion 11c and the second extending portion 11d are disposed relatively far apart, the first clamping portion 11a and the second clamping portion 11b are relatively close to each other to narrow the clamping space 12. When the first extending portion 11c and the second extending portion 11d are arranged relatively close, the first clamping portion 11a and the second clamping portion 11b are relatively far apart to expand the clamping space 12. The first driving mechanism 20 is configured to drive the first extension 11c relatively far from the first extension 11c, and the first extension 11c and the second extension 11d are configured to return to relatively close when no force is applied to the first driving mechanism 20. In this embodiment, by the above arrangement, the first driving mechanism 20 can conveniently act on the first extending portion 11c and the second extending portion 11d, and due to the staggered arrangement of the first clamping portion 11a and the second clamping portion 11b, when the first extending portion 11c is driven to be relatively far away from the first extending portion 11c, the first clamping portion 11a and the second clamping portion 11b can be driven to be relatively close to each other, so as to clamp the elongated medical device 2000.

In some embodiments, as shown in fig. 6-8, the first jaw 10a and the second jaw 10b are rotatably connected by the rotation shaft 13, and when the elongated medical device 2000 is clamped in the clamping space 12, the distance between the rotation shaft 13 and the center of the elongated medical device 2000 is a first distance α, and the distance between the contact positions of the first extension 11c and the second extension 11d with the first driving mechanism 20 and the center of the elongated medical device 2000 is a second distance β, that is, when the first driving mechanism 20 abuts against the first extension 11c and the second extension 11d, the distance between the center of the first driving mechanism 20 and the center of the elongated medical device 2000 is a second distance β (as shown in fig. 6). Wherein the first distance α is smaller than the second distance β. In this embodiment, the first distance α is smaller than the second distance β, and the force of the arm holding the elongated medical device 2000 is amplified by the principle of leverage ratio, thereby acting to increase the holding force.

In some use scenarios, the first clamping portions 11a and the second clamping portions 11b are dispersed to clamp the elongated medical device 2000 together, and the lever arm amplification principle is applied simultaneously, so that the clamping stability can be better improved, and the problem of slipping of the guide wire is solved.

Of course, in other embodiments, the first distance α may be equal to the second distance β, or the first distance α may be greater than the second distance β.

In some embodiments, as shown in fig. 4 and 5, the first drive mechanism 20 includes a first drive assembly 21 and a cam structure 22, the first drive assembly 21 being coupled to the cam structure 22 for driving the cam structure 22 between the first position 14 and the second position 15. The cam structure 22 is configured to abut the first and second extensions 11c, 11d when moved to the first position 14 to drive the first and second extensions 11c, 11d relatively far apart to bring the first and second clamping portions 11a, 11b relatively close together to clamp the elongate medical instrument 2000. The cam structure 22 is configured to, upon movement to the second position 15, have no force with the first and second extensions 11c, 11d to return the first and second clamping portions 11a, 11b to unclamp the elongate medical device 2000.

In this embodiment, the cam structure 22 is disposed to be able to conveniently act between the first extension portion 11c and the second extension portion 11d, so that the first extension portion 11c and the second extension portion 11d are driven to be relatively far away by pressing, and the first clamping portion 11a and the second clamping portion 11b are driven to be relatively close to each other to clamp the elongated medical device 2000.

As an embodiment, the first clamping jaw 10a and the second clamping jaw 10b may be made of elastic materials, for example, the first clamping jaw 10a and the second clamping jaw 10b are made of elastic plastics, and rebound through plastic deformation of the first clamping jaw 10a and the second clamping jaw 10b to provide elastic restoring force when no force exists between the cam structure 22 and the first extension portion 11c and the second extension portion 11d, so as to drive the first clamping portion 11a and the second clamping portion 11b to return to the expanded clamping space 12, so as to release the elongated medical device 2000.

In some use scenarios, the materials of the first jaw 10a and the second jaw 10b include, but are not limited to, engineering thermoplastic thermosets, and silicone, rubber, etc.

As another embodiment, the first clamping jaw 10a and the second clamping jaw 10b may be acted by an elastic restoring member, such as a torsion spring, to provide an elastic restoring force when there is no acting force between the cam structure 22 and the first extension portion 11c and the second extension portion 11d, so as to drive the first clamping portion 11a and the second clamping portion 11b to restore to the enlarged clamping space 12, so as to release the elongated medical device 2000.

In some embodiments, as shown in fig. 9, the first extension portion 11c and the second extension portion 11d are each provided with a protruding portion 113 corresponding to the cam structure 22, and when the cam structure 22 is driven to move to the first position 14 by the first driving component 21, the protruding portion 113 abuts against the cam structure 22. In the present embodiment, the cam structure 22 can act on the first extending portion 11c and the second extending portion 11d by virtue of the protruding portion 113, so as to drive the first extending portion 11c relatively far away from the second extending portion 11d.

As an embodiment, as shown in fig. 9, the first position 14 and the second position 15 may be disposed between the first extension portion 11c and the second extension portion 11d, and the first driving component 21 is configured to drive the cam structure 22 to reciprocate between the first position 14 and the second position 15. The first position 14 is located between the bosses 113 of both the first and second extensions 11c, 11d, i.e., the distance between the first and second extensions 11c, 11d at the first position 14 is less than the distance between the two at the second position 15, such that the cam structure 22 can abut and press the first and second extensions 11c, 11d relatively far apart when moved to the first position 14, and such that no force is exerted between the first and second extensions 11c, 11d when the cam structure 22 is moved to the second position 15.

Alternatively, as shown in fig. 9, the first extension 11c and the second extension 11d may be formed with a recess 114 at the second position 15, thereby increasing the distance between the first extension 11c and the second extension 11d at the second position 15 to fit the diameter of the cam structure 22.

As another embodiment, the first position 14 may be disposed between the first extension portion 11c and the second extension portion 11d, and the second position 15 may be disposed outside the first extension portion 11c and the second extension portion 11d, and the first driving component 21 drives the cam structure 22 to be inserted between the first extension portion 11c and the second extension portion 11d from outside in a translational manner so as to prop the first extension portion 11c and the second extension portion 11d apart from each other.

In other embodiments, the cam structure 22 includes a protruding end that abuts the first extension 11c and/or the second extension 11d when the first drive assembly 21 drives the cam structure 22 to rotate to the first position 14. In the present embodiment, the first position 14 is disposed between the first extending portion 11c and the second extending portion 11d, the second position 15 is disposed outside the first extending portion 11c and the second extending portion 11d, and when the first driving component 21 drives the protruding end of the cam structure 22 to rotate to the first position 14, the protruding end abuts against the first extending portion 11c and/or the second extending portion 11d, so as to drive the first extending portion 11c and the second extending portion 11d relatively far away. When the first driving assembly 21 drives the cam structure 22 to rotate so that the protruding part rotates to the second position 15, no force acts between the first extending part 11c and the second extending part 11d.

Illustratively, the angle of rotation of the cam structure 22 may be in the range of 30 ° -180 °. The diameter of the rest of the cam structure 22 except the protruding end is smaller than or equal to the distance between the first extension 11c and the second extension 11d at the first position 14, or the diameter of the part of the cam structure 22 except the protruding end that can pass through the first position 14 in the rotation range is smaller than or equal to the distance between the first extension 11c and the second extension 11d at the first position 14, so that the rest of the cam structure 22 will not exert a force on the first extension 11c and the second extension 11d when the protruding end of the cam structure 22 rotates from the first position 14 to the second position 15.

In some embodiments, as shown in fig. 4, the first driving assembly 21 includes a first driving member (not shown) and a transmission member 21a, where the transmission member 21a is connected to the cam structure 22 and the first driving member, and the first driving member is configured to drive the transmission member 21a to reciprocate or rotate, so as to drive the transmission member 21a to reciprocate or rotate the cam structure 22 between the first position 14 and the second position 15. In this embodiment, the first driving member may use a driving device such as a motor to provide a driving force, and the driving transmission member 21a drives the cam structure 22 to reciprocate or rotate.

As an embodiment, as shown in fig. 4 and 5, the first driving member includes a linear motor, the transmission member 21a includes a push rod 211 and a push seat 212, the push seat 212 is connected to the cam structure 22 through a connecting shaft 213, the linear motor is connected to the push rod 211 to drive the push rod 211 to reciprocate along an axial direction of the connecting shaft 213, and the push rod 211 abuts against the push seat 212 to drive the connecting shaft 213 to move through the push seat 212, so as to drive the cam structure 22 to reciprocate between the first position 14 and the second position 15.

Alternatively, as shown in fig. 5, the connecting shaft 213 may be partially inserted between the first extension 11c and the second extension 11d, so that the starting position of the cam structure 22 connected to the connecting shaft 213 is located at the second position 15 between the first extension 11c and the second extension 11d, and the cam structure 22 is convenient to move between the first position 14 and the second position 15.

Optionally, the pushing base 212 is connected to the clamping mechanism 10, and the pushing base 212 may be provided with a through slot extending along the penetrating direction of the elongated medical device 2000, so that the elongated medical device 2000 is clamped in the clamping space 12 of the clamping mechanism 10 after penetrating the through slot of the pushing base 212, which is compact in structure and reduces the volume of the device.

Optionally, the pushing seat 212 includes a first baffle 2121, a second baffle 2122, and a connecting portion 2123, where the first baffle 2121 and the second baffle 2122 are disposed at intervals along a penetrating direction of the elongated medical device 2000, the connecting portion 2123 is connected between the first baffle 2121 and the second baffle 2122, a penetrating groove penetrates through the first baffle 2121, the connecting portion 2123, and the second baffle 2122, the pushing seat 212 is disposed at the connecting portion 2123 in a concave manner from outside to inside to form an i-shaped structure, and the push rod 211 can traverse the concave portion of the pushing seat 212 at the periphery of the connecting portion 2123 along a direction perpendicular to the elongated medical device 2000 so as to abut between the first baffle 2121 and the second baffle 2122, thereby pushing the first baffle 2121 and the second baffle 2122 to realize the reciprocating movement of the pushing seat 212.

Optionally, the first baffle 2121 is located between the clamping mechanism 10 and the second baffle 2122, the connecting shaft 213 connects a side of the first baffle 2121 near the clamping mechanism 10, and the connecting shaft 213 is perpendicular to the first baffle 2121. Thereby facilitating the push rod 211 to drive the connecting shaft 213 and the cam structure 22 to reciprocate through the pushing seat 212.

Illustratively, push rod 211 moves horizontally in the direction of penetration of elongate medical instrument 2000, i.e., in the fore-and-aft direction in fig. 5, to move cam structure 22 back and forth via push base 212 and connecting shaft 213.

Of course, the manner in which the cam structure 22 is driven to reciprocate is not limited to the above arrangement. For example, in other embodiments, the reciprocating motion may be driven by a motor driven lead screw nut drive or a motor timing belt, or the like.

In some embodiments, as shown in fig. 4, the clamping device 100 further includes a second driving mechanism 30, where the second driving mechanism 30 includes a second driving member (not shown) and a rotating assembly 30a, and the rotating assembly 30a is connected to the second driving member and the clamping mechanism 10, and the second driving member is used to drive the rotating assembly 30a to rotate so as to drive the clamping mechanism 10 and the clamped elongated medical device 2000 to rotate. In the present embodiment, by providing the second driving mechanism 30 to achieve rotation of the clamping mechanism 10 and the elongated medical device 2000, the clamping and rotation functions are integrated, and the efficiency of rotation and delivery of the elongated medical device 2000 is improved.

Illustratively, the second driving mechanism 30 may employ a driving device such as a motor to provide a driving force, and drive the rotating assembly 30a to rotate the clamping mechanism 10 and the clamped elongated medical device 2000, so as to implement a rotating operation of the elongated medical device 2000.

As an embodiment, the second driving member includes a driving motor, as shown in fig. 4, the rotating assembly 30a includes a first rotating member 31 and a second rotating member 32, the rotating assembly 30a is connected to the first rotating member 31, the first rotating member 31 is in transmission fit with the second rotating member 32, the clamping mechanism 10 is connected to the second rotating member 32, and the driving force of the driving motor drives the first rotating member 31 to rotate the second rotating member 32, so as to drive the clamping mechanism 10 and the clamped elongated medical device 2000 to rotate.

Alternatively, as shown in fig. 4, the first rotating member 31 and the second rotating member 32 may be gear structures that mesh with each other to achieve a driving engagement. Of course, in other embodiments, the first rotating member 31 and the second rotating member 32 may be driven by magnetic wheels, friction rollers, belts, synchronous belts, or the like.

Alternatively, as shown in fig. 5, the clamping mechanism 10 and the pushing seat 212 are respectively mounted on two opposite sides of the second rotating member 32, so that the first rotating member 31 can drive the clamping mechanism 10, the pushing seat 212 and the second rotating member 32 to rotate synchronously, which is simple and compact in structure and convenient to assemble.

In some embodiments, as shown in fig. 4 and 10, the clamping mechanism 10 further includes a housing 16, where the housing 16 covers the outer sides of the first clamping jaw 10a and the second clamping jaw 10b, and a movable space 161 is provided in the housing 16 to avoid affecting the relative movement between the first clamping jaw 10a and the second clamping jaw 10b. In the present embodiment, the first jaw 10a and the second jaw 10b can be protected by the provision of the cover 16.

In some embodiments, as shown in fig. 10, a limiting structure 162 is disposed inside the housing 16, and protruding points 115 are disposed on outer sides of the first extending portion 11c and the second extending portion 11d, so that when the first extending portion 11c and the second extending portion 11d are relatively far away, and the first clamping portion 11a and the second clamping portion 11b are relatively close to each other to clamp the elongated medical device 2000, the protruding points 115 can abut against the limiting structure 162, so as to limit a relative movement range of the first extending portion 11c and the second extending portion 11d, and avoid excessive clamping of the elongated medical device 2000.

Illustratively, the limiting structure 162 may include a first blocking wall 1621 and a second blocking wall 1622 disposed opposite to each other, the first clamping jaw 10a and the second clamping jaw 10b are located between the first blocking wall 1621 and the second blocking wall 1622, and when the first extending portion 11c and the second extending portion 11d are relatively far apart, such that the first clamping portion 11a and the second clamping portion 11b are relatively close to each other to clamp the elongated medical device 2000, the protruding point 115 of the first extending portion 11c abuts against the first blocking wall 1621, and the protruding point 115 of the second extending portion 11d abuts against the second blocking wall 1622, so as to achieve the limiting effect.

Alternatively, the first rotating member 31 and the casing 16 may be connected by a snap structure, a magnetic attraction structure, a threaded connection structure, or the like. For example, a fixing protrusion 311 (as shown in fig. 5-7) engaged with the casing 16 is disposed on a side of the first rotating member 31 opposite to the clamping mechanism 10, and the casing 16 may be assembled to the first rotating member 31 through the fixing protrusion 311 to facilitate assembly and disassembly.

Referring to fig. 1, the embodiment of the utility model further provides a slave device 1000, which is applied to an interventional operation robot, wherein the slave device 1000 includes a main body 200, a traveling device and the above-mentioned clamping device 100, and the clamping device 100 is mounted on the main body 200. The advancing device is mounted on the main body 200 and is used for driving the main body 200 to advance or retreat so as to drive the elongated medical device 2000 clamped by the clamping device 100 to perform a delivery operation.

In some embodiments, as shown in fig. 2 and 3, a mounting groove 210 may be provided on the body 200 to secure the clamping device 100, and the clamping device 100 may be capable of rotating within the mounting groove 210.

In some embodiments, as shown in fig. 3, two opposite sides of the mounting groove 210 include a first side wall 220 and a second side wall 230, two opposite sides of the clamping device 100 include a first movable shaft 40 and a second movable shaft 50, the first side wall 220 and the second side wall 230 are respectively provided with a clamping groove 240, the first movable shaft 40 is movably clamped in the clamping groove 240 of the first side wall 220, and the second movable shaft 50 is movably clamped in the clamping groove 240 of the second side wall 230, so that the clamping device 100 can rotate in the mounting groove 210. In the present embodiment, after the elongate medical device 2000 is inserted into the holding device 100, the body 200 is moved forward and backward along the insertion direction of the elongate medical device 2000 as a whole.

In some embodiments, the main body 200 further includes a top case 250 covering the mounting groove 210 to cover the clamping device 100, and the top case 250 can protect the clamping device 100, and can make the whole outer surface of the main body 200 more attractive.

In some embodiments, as shown in fig. 2, the housing 16, the first rotating member 31, the first baffle 2121 and the second baffle 2122 are coaxially disposed, so as to facilitate synchronous rotation, the first movable shaft 40 is disposed on a side of the housing 16 opposite to the first rotating member 31, the second movable shaft 50 is disposed on a side of the second baffle 2122 opposite to the first baffle 2121, and when the elongated medical device 2000 is installed, the elongated medical device 2000 is inserted into the clamping device 100, and the clamping device 100 is integrally installed at the mounting slot 210, so that the overall structure is compact and convenient to assemble.

In some embodiments, the main body 200 may be disposed on a track, and the traveling device may include a driving motor for driving the main body 200 to reciprocate along the track, where the driving motor may implement driving the main body 200 to reciprocate along the track by means of a screw drive, a belt drive, a chain drive, or a rack and pinion drive.

The structure and function of the clamping device 100 in the slave device 1000 according to the embodiment of the present utility model are the same as those of the foregoing embodiment, and specific reference may be made to the description of the foregoing embodiment, which is not repeated.

Those skilled in the art may combine and combine the features of the different embodiments or examples described in this specification and of the different embodiments or examples without contradiction.

While the utility model has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims (10)

1. A clamping device, installed on a slave end device of an interventional operation robot, for realizing clamping of an elongated medical instrument, the clamping device comprising:

the clamping mechanism comprises a first clamping jaw and a second clamping jaw, a clamping space for the elongated medical instrument to pass through is formed between the first clamping jaw and the second clamping jaw, the first clamping jaw and the second clamping jaw can move relatively to enable the clamping space to be reduced or enlarged, the first clamping jaw and the second clamping jaw clamp the elongated medical instrument when the clamping space is reduced, and the first clamping jaw and the second clamping jaw loosen the elongated medical instrument when the clamping space is enlarged;

a first drive mechanism for driving the first jaw and the second jaw in relative motion to clamp or unclamp the elongate medical instrument.

2. The clamping device of claim 1, wherein the first clamping jaw comprises at least one first clamping portion arranged along a first direction, the second clamping jaw comprises at least one second clamping portion arranged along the first direction, the first clamping portion and the second clamping portion form the clamping space therebetween, the first clamping portion and the second clamping portion are used for clamping the elongated medical device relatively, and the first direction is a penetrating direction of the elongated medical device.

3. The clamping device of claim 2, wherein the first clamping jaw comprises a plurality of first clamping portions arranged side by side and the second clamping jaw comprises a plurality of second clamping portions arranged side by side; and/or the number of the groups of groups,

the first clamping parts and the second clamping parts are arranged in a staggered mode, the first clamping parts are inwards sunken or bent to form first clamping positions for clamping the slender medical instrument, the second clamping parts are inwards sunken or bent to form second clamping positions for clamping the slender medical instrument, and the first clamping positions and the second clamping positions enclose to form the clamping space.

4. The clamping device of claim 2, wherein the first jaw further comprises a first extension connected to the first clamping portion, and the second jaw further comprises a second extension connected to the second clamping portion;

when the first extending part and the second extending part are configured to be relatively far away, the first clamping part and the second clamping part are relatively close to each other so as to reduce the clamping space; when the first extension portion and the second extension portion are configured to be relatively close, the first clamping portion and the second clamping portion are relatively far apart to expand the clamping space;

the first drive mechanism is configured to drive the first extension relatively far from the first extension, the first extension and the second extension being configured to return to relatively close when no force is applied to the first drive mechanism.

5. The clamping device as recited in claim 4, wherein said first jaw is rotatably connected to said second jaw by a shaft, a distance between said shaft and a center of said elongated medical device being a first distance and a distance between a contact position of said first extension, said second extension and said first drive mechanism and a center of said elongated medical device being a second distance when said elongated medical device is clamped in said clamping space;

wherein the first distance is less than the second distance.

6. The clamping device of claim 4 wherein said first drive mechanism comprises a first drive assembly and a cam structure, said first drive assembly being coupled to said cam structure for driving said cam structure between a first position and a second position;

the cam structure is configured to abut the first extension and the second extension upon movement to the first position to drive the first extension and the second extension relatively far apart to bring the first clamp portion and the second clamp portion relatively close to each other to clamp the elongate medical instrument;

the cam structure is configured to, upon movement to the second position, exert no force with the first extension and the second extension to return the first clamp and the second clamp to unclamp the elongate medical instrument.

7. The clamping device as recited in claim 6, wherein each of said first and second extensions has a protrusion corresponding to said cam structure, said protrusions being in abutment with said cam structure when said first drive assembly drives said cam structure to said first position; alternatively, the cam structure includes a protruding end, and when the first driving component drives the cam structure to rotate to the first position, the protruding end abuts against the first extension portion and/or the second extension portion.

8. The clamping device of claim 6 wherein said first drive assembly comprises:

a first driving member;

the driving piece is connected with the cam structure and the first driving piece, and the first driving piece is used for driving the driving piece to reciprocate or rotate so as to drive the driving piece to drive the cam structure to reciprocate or rotate between the first position and the second position.

9. The clamping device of claim 1, further comprising a second drive mechanism, the second drive mechanism comprising:

a second driving member;

the rotating assembly is connected with the second driving piece and the clamping mechanism, and the second driving piece is used for driving the rotating assembly to rotate so as to drive the clamping mechanism and the clamped slender medical instrument to rotate.

10. A slave device for use with an interventional surgical robot, comprising:

a main body;

the clamping device of any of claims 1-9 mounted to the body;

the advancing device is arranged on the main body and used for driving the main body to advance or retreat so as to drive the slender medical instrument clamped by the clamping device to carry out delivery operation.