WO2021036973A1

WO2021036973A1 - Surgical robot execution device and connection system

Info

Publication number: WO2021036973A1
Application number: PCT/CN2020/110744
Authority: WO
Inventors: 吴皓; 贾欢
Original assignee: 上海交通大学医学院附属第九人民医院
Priority date: 2019-08-23
Filing date: 2020-08-24
Publication date: 2021-03-04

Abstract

A clamping device, comprising a support rod (1). The support rod (1) has an internal hollow structure. A transmission rod (2) is provided in the support rod (1). The distal end of the transmission rod (2) is provided with a first caliper body (3). The distal end of the support rod (1) is provided with a second caliper body (4) matching the first caliper body (3). An insertion rod (5) penetrating through the transmission rod (2) is provided in the radial direction of the transmission rod (2). A first rail (6) and a second rail (7) matching the movement of the insertion rod (5) are provided on the sidewall of the support rod (1). The first rail (6) extends in the circumferential direction of the support rod (1), and is gradually close to the distal end of the support rod (1) in the extension direction thereof. The first rail (6) and the second rail (7) are symmetrically distributed. A cavity (10) is formed in the support rod (1). An elastic reset member (8) driving the transmission rod (2) to reciprocate in the axial direction thereof. The transmission rod (2) carries out the reciprocating motion with respect to the support rod (1) to drive the first caliper body (3) and the second caliper body (4) to open and close. The clamping device, a connection fixing assembly, and a tail extending device of a mechanical arm are used for solving the problem in the prior art that the clamping device does not match with a mechanical arm end pushing device of the robot, the operation is simple, and the use is convenient.

Description

Execution device and connection system of surgical robot

Technical field

The present invention relates to the field of medical equipment, in particular to a surgical robot execution device and a connection system.

Background technique

The realization of the clamping function is very important for the smooth implementation of the operation. In current clinical practice, doctors mainly use different types of surgical forceps to achieve clamping operations on different organs and tissues at different surgical sites. The clinician realizes the opening and closing of the jaws by controlling the opening and closing of the handle to assist the operation. After repeated opening and closing of the handle for a long time, the doctor's operating hand will inevitably experience fatigue and tremor, which will cause the precision of the operation to decrease. Therefore, some surgical operations with extremely high precision are not easy to carry out at this time, or the operation will be carried out at this time. It is more likely to cause complications. At present, in clinical practice, physicians often use robot-assisted operations to overcome the limitations of manual operations. At present, most of the robotic manipulator arms that can be used clinically have a device similar to a push rod, but lack of a clamping device that matches this type of end effector, and it is difficult for many surgical operations to be performed smoothly with a robot.

The current surgical clamping instruments (various types of clamping devices such as surgical forceps, etc.) are designed for manual operation, and the opening and closing of the handle is controlled by human hands to control the opening and closing of the jaws. The instrument handle cannot be matched with the end effector of the robot arm.

Summary of the invention

The present invention provides a clamping device, comprising a support rod, the support rod is an internal hollow structure, the support rod is provided with a transmission rod, the distal end of the transmission rod is provided with a first pliers body, and the support rod The distal end of the support rod is provided with a second pliers body that cooperates with the first pliers body, the transmission rod is provided with an insertion rod penetrating the transmission rod in the radial direction, and the side wall of the support rod is provided with a movement phase with the insertion rod. The first track and the second track are matched, the first track extends around the circumferential direction of the support rod and gradually approaches the distal end of the support rod according to its extension direction, and the first track and the second track are distributed symmetrically in the center, The support rod is provided with a cavity, and the cavity is provided with an elastic reset member that can drive the transmission rod to reciprocate along its axial direction. The transmission rod reciprocates relative to the support rod to drive the first pliers body and The second clamp body opens and closes.

The invention provides a clamping mechanism, which includes a hollow outer rod, a transmission rod, a clamping piece, and a support rod; the outer rod penetrates along its axial direction; the transmission rod is located in the outer rod and extends in the same direction as the outer rod , The transmission rod can reciprocate in the axial direction of the outer rod; the clamping member includes a clamping portion at the first end of the outer rod, and the clamping portion includes a first clamping piece and a second clamping piece that are arranged oppositely, The first clip piece and the second clip piece respectively extend along the radial direction of the outer rod, and are connected to form a connecting end at a position deviating from the axis of the outer rod. On the contact surface of the first clip piece and the second clip piece There is a first groove matched with the first end of the transmission rod, the extension direction of the first groove is consistent with the extension direction of the transmission rod, and the first end of the transmission rod can reciprocate along the first groove Move on the clamping part; the first end of the support rod is connected with the outer rod, and the second end of the support rod is connected with the connection end of the clamping piece.

An opening and closing device of the present invention includes a hollow support rod, a transmission rod, a first pliers body, a second pliers body, and a connecting piece; the support rod penetrates along its axial direction; the transmission rod is located in the support rod and extends The direction is consistent with the support rod, the transmission rod can reciprocate axially along the support rod; the first pliers body is provided at the first end of the support rod, and the second pliers body is provided at the first end of the transmission rod. The second pliers body is hinged with the transmission rod, and the second pliers body is hinged with the first pliers body; the connecting piece includes a cavity penetrating in the axial direction, and the connecting piece is used to connect the second end of the support rod and A propulsion device, the propulsion rod of the propulsion device can push the second end of the transmission rod to move through the connecting piece.

The present invention provides a connecting and fixing assembly for a surgical robot, which includes a first connecting piece and a second connecting piece that are detachably connected; the first connecting piece is provided with a second connecting piece accommodating cavity and a fixing rod. At least one side of the connecting member accommodating cavity is open, and the inner wall of the second connecting member accommodating cavity is provided with a movable ball groove, the movable ball groove contains movable balls, and the movable ball part protrudes from the movable ball groove, so A sliding rail and a fixed through hole are provided on the side of the second connector accommodating cavity opposite to the movable ball groove, and the end of the fixed rod can penetrate the fixed through hole to reach the second connector accommodating cavity; The second connecting piece can be embedded in the second connecting piece accommodating cavity, the second connecting piece is provided with a ball catch groove and a sliding block, the ball catch groove can accommodate the protruding part of the movable ball, the The sliding block is matched with the sliding rail, can slide in the sliding rail, and ensures the good fixation of the two connecting pieces.

The present invention provides a robotic arm distal expansion device, the expansion device comprising: a connector, a telescopic part, and a swinging part; the connector is used to connect the expansion device to the distal end of the robotic arm; the telescopic part It comprises: a first housing, a first telescopic motor arranged in the first housing, a second housing, and a horizontal swing motor arranged in the second housing; the first housing is connected to the connector; The second housing is connected to the first telescopic motor, and the horizontal swing motor is connected to the swing part; when the first telescopic motor telescopically moves, it drives the second housing and the The swing part telescopically moves; the swing part includes: a transmission component and a replaceable component detachably connected to the transmission component; the transmission component is connected to the horizontal swing motor, and the replaceable component is in the horizontal swing motor It can swing when driven; the replaceable component is a first replaceable component or a second replaceable component, and the first replaceable component includes: a second telescopic motor and a connecting rod connected to the second telescopic motor; The connecting rod can be detachably connected with a replaceable tool, the replaceable tool is provided with a connecting end for connecting with the connecting rod, and the second telescopic motor drives the replaceable tool through the connecting rod The second replaceable component includes: a rotating electric machine and a connecting rod connected to the rotating electric machine; the connecting rod can be detachably connected with a replaceable tool, and the replaceable tool is provided with At the connecting end of the rod connection, the rotating motor drives the replaceable tool to rotate through the connecting rod.

Description of the drawings

Figure 1 is a schematic structural view of the clamping device of the present invention in a closed state.

Figure 2 is a schematic structural view of the clamping device of the present invention in an open state.

Fig. 3 is a schematic diagram of the structure of the clamping device of the present invention.

Fig. 4 is a schematic diagram of a partial enlarged structure of the clamping device of the present invention.

Fig. 5 is a schematic structural diagram of an embodiment of the transmission rod of the present invention.

Fig. 6 is a schematic structural diagram of an embodiment of the first track and the second track of the present invention.

Fig. 7 is a schematic diagram of the structure of the clamping mechanism of the present invention.

Figure 8 is a front view of the clamping mechanism of the present invention.

Fig. 9 is a schematic diagram of the structure of the clamping member of the present invention.

Fig. 10 is a structural schematic diagram of the opening and closing device of the present invention in an open state.

Figure 11 is a schematic view of the closed structure of the opening and closing device of the present invention.

Figure 12 is a schematic structural view of an embodiment of the support rod and the transmission rod of the present invention.

Fig. 13 is a schematic structural view of another embodiment of the support rod and the transmission rod of the present invention before being pushed forward.

Fig. 14 is a schematic diagram of the structure of another embodiment of the support rod and the transmission rod of the present invention after being advanced.

Fig. 15 is a structural diagram of the first connecting member of the connecting and fixing assembly for the surgical robot of the present invention.

Fig. 16 is a front view of the first connecting member of the connecting and fixing assembly for the surgical robot of the present invention.

Fig. 17 is a top view of the first connecting member of the connecting and fixing assembly for the surgical robot of the present invention.

Fig. 18 is a right side view of the first connecting member of the connecting and fixing assembly for the surgical robot of the present invention.

Fig. 19 is a structural diagram of the connecting and fixing assembly for the surgical robot of the present invention.

Fig. 20 is a top view of the second connecting member of the connecting and fixing assembly for the surgical robot of the present invention.

Fig. 21 is a right side view of the second connecting member of the connecting and fixing assembly for the surgical robot of the present invention.

Fig. 22 is a front view of the second connecting member of the connecting and fixing assembly for the surgical robot of the present invention.

Fig. 23 is a perspective view of the distal expansion device of the robot arm of the present invention.

Fig. 24 is a front view of the distal extension device of the robot arm of the present invention.

Fig. 25 is a bottom view of the robot arm distal expansion device shown in Fig. 24.

Fig. 26 is a schematic diagram of the structure of the transmission assembly (the limit rod is not shown).

Figure 27a is a schematic view of the structure of a connector used in an embodiment.

Fig. 27b is a schematic diagram of the distal expansion device of the mechanical arm after being connected to the mechanical arm in an embodiment.

detailed description

The specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings. These embodiments are only used to illustrate the present invention, but not to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "vertical", "horizontal", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing and simplifying the present invention. The description does not indicate or imply that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that the terms "installed", "connected", and "connected" should be understood in a broad sense unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.

In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

Example one

As shown in Figures 1 to 3, an embodiment of the clamping device of the present invention. The clamping device includes a support rod 1, the support rod 1 is an internal hollow structure, the support rod 1 is provided with a transmission rod 2, and the distal end of the transmission rod 2 is provided with a first pliers body 3, the The distal end of the support rod 1 is provided with a second pliers body 4 which is matched with the first pliers body 3. The transmission rod 2 is provided with an insertion rod 5 passing through the transmission rod 2 in the radial direction. The side wall is provided with a first track 6 and a second track 7 that cooperate with the movement of the insertion rod 5, the first track 6 extends around the circumferential direction of the support rod 1, and is close to the distal end of the support rod 1 according to its extension direction, The first rail 6 and the second rail 7 are distributed symmetrically at the center, the support rod 1 is provided with a cavity 10, and the cavity 10 is provided with an elastic reset member 8 which is close to the insertion rod 5. The reciprocating movement of the transmission rod 2 relative to the support rod 1 drives the first pliers body 3 and the second pliers body 4 to open and close. The distal end of the transmission rod 2 is the end connected to the first pliers body 3, the proximal end of the transmission rod 2 refers to the end away from the first pliers body 3, and the distal end of the support rod 1 is connected to the second pliers body 3. The end of the forceps body 4 is connected, and the proximal end of the support rod 1 refers to the end away from the second forceps body 4. In the clamping device of the present invention, in the initial state, the first pliers body 3 and the second pliers body 4 are opened. When an object needs to be clamped, the external force pushes the proximal end of the transmission rod 2 so that the transmission rod 2 faces the first pliers body 3. The insertion rod 5 moves along the extension direction of the first track 6 and the second track 7, and the insertion rod 5 drives the transmission rod 2 to rotate about the axis of the support rod 1 relative to the support rod 1. The rod 2 drives the first pliers body 3 and the second pliers body 4 to close. After the clamping, the elastic reset member 8 drives the insertion rod 5 to move away from the distal end of the support rod 1 along the first track 6 and the second track 7 during the reset process, and the insertion rod 5 drives the transmission rod 2 relative to The shaft of the support rod 1 rotates, so that the transmission rod 2 drives the first pliers body 3 and the second pliers body 4 to open. During the opening and unfolding process of the first pliers body 3 and the second pliers body 4, since the second pliers body 4 is connected to the support rod 1, the second pliers body 4 does not move relative to the support rod 1, and the first pliers body 3 The transmission rod 2 moves relative to the support rod 1.

In the clamping device provided by the present invention, the clamping unit includes a support rod 1, the support rod 1 has an internal hollow structure, the support rod 1 is cylindrical, and the length of the support rod 1 is 130-150 mm, In a specific embodiment, the length of the support rod 1 is 140 mm, the inner diameter of the support rod 1 is 0.81 mm, and the outer diameter is 2 mm.

In the clamping device provided by the present invention, the clamping unit further includes a transmission rod 2. The transmission rod 2 is provided in the support rod 1 and is consistent with the extension direction of the support rod 1. In one embodiment, the transmission rod 2 The outer diameter of the rod is 0.8 mm.

In the clamping device provided by the present invention, the clamping unit further includes a first pliers body 3 and a second pliers body 4, the first pliers body 3 is provided at the distal end of the transmission rod 2, and the second pliers body 4 is located at the distal end of the support rod 1. The first pliers body and the second pliers body may be pliers, scissors, or the like. The contact side of the first pliers body 3 and the second pliers body 4 are respectively provided with matching biting and cutting edges.

In the clamping device provided by the present invention, the clamping unit further includes an insertion rod 5 which is arranged in the radial direction of the transmission rod 2 and penetrates the transmission rod 2. As shown in FIG. 5, the transmission rod 2 is provided with a through hole matched with the insertion rod 5 in the radial direction. The length of the insertion rod 5 is 3-10 mm. In a specific embodiment, the length of the insertion rod 5 is 3 mm. The length direction of the insertion rod 5 refers to a direction consistent with the axial extension direction of the insertion rod 5.

The clamping device provided by the present invention, as shown in Figures 3 and 4, the clamping unit further includes a first track 6 and a second track 7, the side wall of the support rod 1 is provided with a movement phase with the insertion rod 5 The first rail 6 and the second rail 7 are matched. The first rail 6 extends around the circumferential direction of the support rod 1, and the extension direction of the first rail 6 is close to the distal end of the support rod 1. 6 and the second track 7 are centrally symmetrically distributed. The two ends of the insertion rod 5 respectively extend from the first track 6 and the second track 7 and rotate around the axis of the support rod 1 in the first track 6 and the second track 7 and move with the transmission rod 2 in its axial direction. . In a preferred embodiment, as shown in FIG. 6, the proximal ends of the first rail 6 and the second rail 7 are further provided with a first rail extension 61 and a second rail extension 71, respectively. 6 and the second rail 7 extend around the circumference and gradually approach the distal end of the support rod 1 according to their extension direction. The proximal end of the first rail 6 and the second rail 7 refers to the initial state, the first clamp body 3 and the second pliers body 4 are opened, the first rail 6 and the second rail 7 extension start position. The first rail extension 61 and the second rail extension 71 are consistent with the axial direction of the support rod 1. In the initial state, the first pliers body 3 and the second pliers body 4 are opened, and the insertion rod 5 is located between the first rail extension 61 and the second rail extension 71. When an external force pushes the proximal end of the transmission rod 2, the insertion rod 5 moves in the first track 6 and the second track 7 toward the first track 6 and the second track 7 near the extension direction of the distal end of the support rod 1, and the insertion rod 5 The drive rod 2 is driven to rotate relative to the axis of the support rod 1, so that the first pliers body 3 and the second pliers body 4 are closed.

The clamping device provided by the present invention further includes a connector (not shown), the connector includes a cavity penetrating in the axial direction, and the connector can be used to directly connect the proximal end of the support rod 1 and the propulsion device, The propulsion rod of the propulsion device can push the second end of the transmission rod 2 to move through the connecting member. The connecting member in this embodiment may be various structures suitable for connecting the propulsion device and the support rod 1 known to those skilled in the art.

In a preferred embodiment, the clamping device further includes a pushing block 9 connected to the proximal end of the transmission rod 2, and the pushing block 9 can be movably arranged in the cavity 10 along the axial direction. In this case, the pushing block 9 is fixed radially in the cavity 10 and moves axially, and the diameter of the pushing block 9 is slightly smaller than the diameter of the cavity, so that the pushing block 9 can move axially in the cavity 10. The connecting member can be used to connect the cavity 10 and the propelling device, and the propelling rod of the propelling device can pass through the connecting member to push the propelling block 9 and drive the transmission rod 2 to move. Furthermore, in some embodiments, the proximal end of the transmission rod 2 can be embedded in the push block 9, and the fixation of the transmission rod 2 and the push block 9 is completed by welding.

Further, the cavity 10 is provided with a pushing block limiting member 11 for restricting the pushing block 9 from moving in a direction away from the support rod 2, and the pushing block limiting member 9 may be a plurality of blocks arranged along the inner wall of the cavity. A boss structure, the side of the pushing block 9 away from the support rod 1 is matched with the pushing block limiting member 8 to realize the limiting of the pushing block 9.

The clamping device provided by the present invention further includes an elastic reset member 8 which is arranged in the cavity 10 of the support rod 1, and the elastic reset member 8 can drive the transmission rod 2 along the axis of the transmission rod 2. To reciprocate. The elastic return member 8 may be a spring, for example. In an embodiment, as shown in FIG. 1, an insertion rod 5 is penetrated in the radial direction of the support rod 1, and an elastic reset member 8 and a pushing block 9 are provided in the cavity 10, and the elastic reset One end of the piece 8 abuts the pushing block 9, and the other end of the elastic reset piece 8 is close to the insertion rod 5. Between the proximal ends of the support rod 1 is provided a pushing block limiting member 11 for limiting the pushing block 9. The elastic reset member 8 drives the insertion rod 5 to move away from the distal end of the support rod 1 along the first track 6 and the second track 7 during the reset process, and the insertion rod 5 drives the transmission rod 2 relative to the support rod 1 The shaft rotates, so that the transmission rod 2 drives the first pliers body 3 and the second pliers body 4 to open. The elastic resetting member 8 can be arranged close to the insertion rod 5 and between the insertion rod 5 and the distal end of the transmission rod 2. The elastic resetting member 8 pulls the insertion rod 5 to move along the track during the resetting process, and the insertion rod 5 The transmission rod 2 is driven to rotate relative to the axis of the support rod 1, so that the transmission rod 2 drives the first pliers body 3 and the second pliers body 4 to open.

The invention also provides a clamping system. It includes a propulsion device and the clamping device of the present invention, and the propulsion device is used for propelling the movement of the clamping device. The propulsion device includes a propulsion rod, and the propulsion rod is used for propelling the transmission rod 2 to move. In a preferred embodiment, the push rod is used to push the push block 9 into motion. The propulsion device may be a robotic arm propulsion device, the robotic arm propulsion device may specifically be a robotic arm propulsion rod, located at the end of the robotic arm, and the robotic arm propulsion unit can control the advancement of the robotic arm through the push button of the robotic arm. When retracted, the robotic arm can be a variety of robotic arms with push rods known in the art, and the robotic arm can be a RobOtol ear robot RBT1000 robotic arm from collin company.

The working principle of the clamping system of the present invention:

When an object needs to be clamped, the propulsion device pushes the transmission rod 2 toward the direction of the first pliers body 3 and moves the insertion rod 5 along the extension direction of the first rail 6 and the second rail 7, and drives the transmission The rod 2 rotates relative to the support rod 1, and the transmission rod 2 drives the first pliers body 3 to move in the direction of the second pliers body 4 to close with the second pliers body 4. Since the first track 6 extends around the circumferential direction of the support rod 1, and the extension direction of the first track 6 is close to the distal end of the support rod 1, the transmission rod 2 also moves along the support rod when it rotates relative to the support rod 1. The axial direction of 1 moves toward the direction of the first forceps body 3.

After clamping and putting down the object, the pushing device is separated from the clamping unit, and the elastic reset member drives the insertion rod 5 in the first track 6 and the second track 7 to move away from the distal end of the support rod 1 and drive the transmission The rod 2 rotates relative to the support rod 1, so that the transmission rod 2 drives the first pliers body 3 and the second pliers body 4 to open. Since the first track 6 extends around the circumferential direction of the support rod 1, and the extension direction of the first track 6 is close to the distal end of the support rod 1, the transmission rod 2 also moves along the support rod when it rotates relative to the support rod 1. The axial direction of 1 moves away from the first pliers body 3.

The clamping device of the present invention realizes the clamping of the object after the first clamp body 3 and the second clamp body 4 are closed. The problem that the clamping device cannot be matched with the end-propelling device of the robot arm in the prior art is solved, and the operation is simple and the use is convenient.

Example two

As shown in Figures 7 and 8, another embodiment of the clamping mechanism of the present invention. The clamping mechanism includes an outer rod 101, a transmission rod 201, a clamping member 301, and a support rod 401. The outer rod 101 penetrates along its axial direction; the transmission rod 201 is located in the outer rod 101 and extends in the same direction as the outer rod. 101, the transmission rod 201 can reciprocate along the axial direction of the outer rod 101; the clamping member 301 includes a clamping portion 3301 at the first end of the outer rod 101, and the clamping portion 3301 includes a first The first clip 3101 and the second clip 3201 respectively extend along the radial direction of the outer rod 101, and are connected to form a connecting end 3401 at a position deviating from the axis of the outer rod 101. The contact surface of the first clip 3101 and the second clip 3201 is provided with a first groove 3501 matching the first end of the transmission rod 201, and the extension direction of the first groove 3501 is the same as that of the transmission rod 201. The extension direction of the transmission rod 201 is the same, and the first end of the transmission rod 201 can reciprocate along the first groove 3501 at the clamping portion 3301; the first end of the support rod 401 is connected to the outer rod 101, and the support rod 401 The second end of is connected to the connecting end 3401 of the clamping member 301. The clamping mechanism of the present invention, the clamping mechanism of the present invention can be used in conjunction with a propulsion device. In a natural state, the first clamping piece 3101 and the second clamping piece 3201 are in a closed state at the clamping portion 3301 formed by the transmission rod. 201 is outside the first groove 3501. When the object needs to be clamped, the push rod of the propulsion device pushes the transmission rod 201 so that the transmission rod 201 moves toward the clamping member 301 along the axial direction of the outer rod 101. The first end of the transmission rod 201 It can be inserted into the first groove 3501 to open the first clip 3101 and the second clip 3201, and the clamped object can be put into the clamping portion 3301, and then the transmission rod 201 can be moved away from the clamping along the axial direction of the outer rod 101 The direction movement of the member 301 causes the transmission rod 201 to leave the first groove 3501. At this time, the first clamping piece 3101 and the second clamping piece 3201 are in a closed state to realize the clamping of the clamping object (electrode). When the clamping object needs to be released, the pushing rod of the propulsion device continues to push the transmission rod 201 so that the transmission rod 201 moves toward the clamping member 301 along the axial direction of the outer rod 101, and the first end of the transmission rod 201 can be inserted into the first groove 3501 , So that the first clip 3101 and the second clip 3201 are opened to complete the release of the clamped object.

Further, as a preferred embodiment, as shown in FIGS. 8 and 9, a second groove 3601 for accommodating the clamped object is further provided on the contact surface of the first clamp piece 3101 and the second clamp piece 3201. The second groove 3601 penetrates along the contact surface of the first clip 3101 and the second clip 3201, so that the electrode can be conveniently placed in the second groove 3601 and the clamping effect is improved. Preferably, the extending direction of the second groove 3601 is consistent with the direction in which the transmission rod 201 is inserted into the first groove 3501.

Further, as shown in FIGS. 8 and 9, the diameter of the first end of the transmission rod 201 gradually decreases in the direction toward the clamping portion 3301. In this way, the end of the transmission rod 201 with the smaller diameter can be inserted into the first groove 3501 first, and then the larger diameter part gradually penetrates into the groove, so that the first clip 3101 and the second clip 3201 can be opened more smoothly. Preferably, the outer diameter of the first end of the transmission rod 201 (the end that first contacts the first groove) has the same outer diameter as the inner diameter of the first groove 3501.

Further, the clamping mechanism further includes a pushing block 501 connected to the second end of the transmission rod 201, and the pushing rod of the pushing device can pass through the connecting piece to push the pushing block 501 and The drive rod 201 is driven to move, and the pushing block 501 is fixedly connected to the second end of the drive rod 201. Furthermore, the second end of the drive rod 201 can be embedded in the pushing block 501, and the drive rod is completed by welding 201 and the push block 501 are fixed.

Further, the second end of the outer rod 101 is provided with a receiving chamber 601, the receiving chamber 601 is fixedly connected to the outer rod 101, and the receiving cavity 6101 of the pushing block 501 is accommodated, and the pushing block 501 can be movably arranged in the axial direction. In the accommodating cavity 6101. The pushing block 501 is fixed radially in the receiving cavity 6101 and moves axially. The diameter of the pushing block 501 is slightly smaller than the diameter of the receiving cavity 6101, so that the pushing block 501 can move axially in the receiving cavity 6101.

Further, the clamping mechanism further includes a connecting piece (not shown), the connecting piece includes a cavity penetrating in the axial direction, and the connecting piece can be used to directly connect the second end of the outer rod 101 and the propulsion device, The propulsion rod of the propulsion device can push the second end of the transmission rod 201 to move through the connecting member. In a preferred embodiment, the connecting member can be used to connect the receiving chamber 601 and the propelling device, the receiving chamber 601 is fixedly connected to the second end of the outer rod 101, and the propelling rod of the propelling device can pass through the connecting member to push the The pushing block 501 moves. The connecting member in this embodiment may be various structures known to those skilled in the art that are suitable for connecting the propulsion device and the outer rod 101. The connecting member may be RobOtol RBT1000, for example.

Preferably, the side of the accommodating cavity 6101 away from the outer rod 101 is provided with a pushing block stopper 801 for restricting the pushing block 501 from moving in a direction away from the outer rod 101. The pushing block stopper 801 may be along the A plurality of boss structures are provided on the side of the receiving cavity 6101 away from the outer rod 101, and the side of the pushing block 501 away from the outer rod 101 cooperates with the pushing block limiting member 801 to realize the limiting of the pushing block 501.

Further, the clamping mechanism further includes an elastic resetting member 701, the elastic resetting member 701 is provided in the accommodating cavity 6101, one end of the elastic resetting member 701 abuts the pushing block 501, and the other of the elastic resetting member 701 One end is close to the second end of the outer rod 101, and the elastic return member 701 may be a spring. Preferably, the elastic resetting member 701 is fixedly connected to the pushing block 501. When the object needs to be clamped, the pushing rod of the pushing device pushes the pushing block 501, and the pushing block 501 drives the elastic resetting member 701 to compress, and the clamped object is placed in the second recess. After the groove 3601, the pushing rod retracts back to the pushing device. During the resetting process of the elastic reset member 701, the pushing block 501 is driven to move away from the outer rod 101, and then the transmission rod 201 connected with the pushing block 501 is moved along the axial direction of the outer rod 101. The closing of the first clip 3101 and the second clip 3201 completes the clamping of the object.

Further, the support rod 401 is located in the middle of the transmission rod 201, and the extension direction of the support rod 401 toward the connecting end 3401 of the clamp 301 and the extension direction of the transmission rod 201 toward the clamp 301 are at an acute angle. The connecting end 3401 of the supporting rod 401 and the clamping member 301 is fixedly connected, for example, by welding.

The working process of the clamping mechanism of this embodiment is specifically as follows.

The clamping mechanism of the present invention can be used in conjunction with a propulsion device.

In a natural state, the propulsion device and the clamping mechanism are not connected, the first clamping piece 3101 and the second clamping piece 3201 at the clamping portion 3301 are in a closed state, and the transmission rod 201 is outside the first groove 3501.

When clamping an object, after connecting the second end of the outer rod 101 and the propelling device through a connecting piece, press the propulsion button on the propelling device, and the propelling rod contacts the pushing block 501 of the clamping mechanism and pushes the pushing block 501 drives the transmission rod 201 so that the transmission rod 201 moves toward the clamping member 301 along the axial direction of the outer rod 101, and pushes the first end of the transmission rod 201 into the first groove 3501, so that the first clip 3101 and the second clip The piece 3201 is opened, and then the clamping object such as the electrode is put into the second groove 3601, and then the clamping mechanism and the pushing device are separated. During the resetting process of the elastic reset member 701, the pushing block 501 is driven to move away from the clamping member 301, so that The first clamping piece 3101 and the second clamping piece 3201 are closed to complete the clamping of the clamping object.

After the clamping is completed, when the clamping object needs to be released, press the push button on the pushing device again. The pushing rod contacts the pushing block 501 of the clamping mechanism, and pushes the pushing block 501 to drive the transmission rod 201 so that the transmission rod 201 Moving toward the clamping member 301 in the axial direction of the outer rod 101, the first end of the transmission rod 201 can be inserted into the first groove 3501, so that the first clamping piece 3101 and the second clamping piece 3201 are opened, and the clamping object can be released.

The present invention also provides a clamping system, including a propulsion device and the clamping mechanism of the present invention, and the propulsion device cooperates with the clamping mechanism and is used for propelling the movement of the clamping mechanism. The propulsion device may be a robotic arm propulsion device, for example, the model of the robotic arm propulsion device is RBT 1000, and the manufacturer is collin.

In summary, in the clamping mechanism and clamping system of the present invention, the transmission rod 201 reciprocates along the axial direction of the outer rod 101 and pushes the first clamping piece 3101 and the second clamping piece 3201 to open and close. The clamping mechanism is compatible with the end of the propulsion rod of the existing propulsion device, and can be well applied to the robot manipulator arm.

Example three

As shown in Figures 10-11, an embodiment of the opening and closing device of the present invention. The opening and closing device includes a hollow support rod 102, a transmission rod 202, a first pliers body 302, a second pliers body 402, and a connecting piece (not shown). The support rod 102 penetrates along its axial direction; The rod 202 is located in the support rod 102 and extends in the same direction as the support rod 102. The transmission rod 202 can reciprocate in the axial direction of the support rod 102; the first pliers body 302 is provided at the first end of the support rod 102. The second pliers body 402 is provided at the first end of the transmission rod 202, the second pliers body 402 is hinged with the transmission rod 202, and the second pliers body 402 is hinged with the first pliers body 302; To the through cavity, the connector is used to connect the second end of the support rod 102 and the propulsion device, and the propulsion rod of the propulsion device can pass through the connector to push the second end of the transmission rod 202 to move. The opening and closing device of the present invention can be used in conjunction with a propulsion device. In a natural state, the first pliers body 302 and the second pliers body 402 are in an open state. When objects need to be clamped and clamped, the propulsion rod of the propulsion device pushes and drives The rod 202 makes the transmission rod 202 move toward the second pliers body 402 along the axial direction of the support rod 102, and the transmission rod 202 can drive the second pliers body 402 to rotate relative to the first pliers body 302 in the direction of the first pliers body 302. When the first pliers body 302 and the second pliers body 402 are in a closed state, the object can be clamped, clamped or cut; when the transmission rod 202 moves away from the second pliers body 402 along the axial direction of the support rod 102, the transmission rod 202 can drive the second pliers body 402 to rotate relative to the first pliers body 302 in a direction away from the first pliers body 302. At this time, the first pliers body 302 and the second pliers body 402 are in an open state.

Further, the opening and closing device further includes a pushing block 502 connected to the second end of the transmission rod 202, and the pushing rod of the pushing device can pass through the connecting piece to push the pushing block 502 and The drive rod 202 is driven to move, and the push block 502 is fixedly connected to the second end of the drive rod 202. Furthermore, the second end of the drive rod 202 can be embedded in the push block 502, and the drive rod is completed by welding 202 and the fixing of the pushing block 502.

Further, the second end of the support rod 102 is provided with a receiving chamber 602, the receiving chamber 602 is fixedly connected to the support rod, and the receiving cavity 6102 of the pushing block 502 is accommodated. The pushing block 502 can be movably arranged in the axial direction. In the accommodating cavity 6102. The pushing block 502 is fixed radially in the receiving cavity 6102 and moves axially. The diameter of the pushing block 502 is slightly smaller than the diameter of the receiving cavity 6102, so that the pushing block 502 can move axially in the receiving cavity 6102.

Further, the connecting member can be used to connect the receiving chamber 602 and the propelling device, and the propelling rod of the propelling device can pass through the connecting member to push the propelling block to move.

Preferably, the side of the accommodating cavity 6102 away from the support rod 102 is provided with a push block stopper 802 for restricting the push block 502 from moving in a direction away from the support rod 102. The push block stopper 802 may be along the A plurality of boss structures are provided on the side of the receiving cavity 6102 away from the support rod 102, and the side of the pushing block 502 away from the support rod 102 cooperates with the pushing block limiting member 802 to realize the limiting of the pushing block 502.

Further, the opening and closing device further includes an elastic resetting member 702, the elastic resetting member 702 is disposed in the accommodating cavity 6102, one end of the elastic resetting member 702 abuts the pushing block 502, and the other of the elastic resetting member 702 One end is close to the second end of the support rod 102, and the elastic return member 702 may be a spring. Preferably, the elastic reset member 702 is fixedly connected to the push block 502. When the object needs to be clamped, the push rod pushes the push block 502, and the push block 502 drives the elastic reset part 702 to compress. After the clamping is completed, the push rod retracts back to the pushing device. During the resetting process of the elastic reset member 702, the pushing block 502 is driven to move away from the support rod 102, and then the transmission rod 202 connected with the pushing block 502 is driven to move along the axial direction of the support rod 102 to realize the first pliers body 302 and the second pliers body The opening of 402 completes the release of the object.

Further, the first forceps body 302 and the second forceps body 402 can be toothless forceps, toothed forceps, polyp forceps, scissors, or the aforementioned instruments with a curvature.

Further, the first pliers body 302 is fixedly connected to the first end of the support rod 102, the first pliers body 302 is provided with a biting and cutting edge, and the biting and cutting edge of the first pliers body 302 is set at the same position as the first end of the supporting rod 102. The side that the second pliers body 402 touches when closed, and is matched with the bite and cutting edge of the second pliers body 402.

Furthermore, the second pliers body 402 is hinged with the transmission rod 202, and the transmission rod 202 can drive the second pliers body 402 to move, and the second pliers body 402 and the first pliers body 302 are hinged through the pliers body rotating shaft. The second pliers body 402 can rotate relative to the first pliers body 302 along the rotation axis of the pliers body to realize the opening and closing of the first pliers body and the second pliers body.

The connecting member in this embodiment may be any structure suitable for connecting the propulsion device and the support rod 102 known to those skilled in the art. The connecting member is a structure that penetrates in the axial direction, and can be used to directly connect the second end of the support rod and the propulsion device. In a preferred embodiment, the connecting rod is used to connect the receiving chamber 602 and the propulsion device, The receiving chamber 602 is fixedly connected to the second end of the support rod. The connecting member may be RobOtol RBT1000, for example.

In the present invention, the structure of the support rod 102 and the transmission rod 202 can have a variety of options, for example, the structure shown in FIG. 12, or as shown in FIG. 13, the support rod 102 includes a first connected in sequence. The support rod 1102 and the second support rod 3102 and the support rod transition part 2102 connecting the first support rod 1102 and the second support rod 3102, the support rod transition part 2102 and the first support rod 1102 facing the second support rod 3102 form a certain distance A certain angle is formed between the second support rod 3102 and the support rod transition portion 2102. The support rod transition portion 2102 makes the axial direction of the first support rod 1102 and the axial direction of the second support rod 3102 form a certain angle. The height difference. The transmission rod 202 includes a first transmission rod 1202, a transmission rod transition portion 2202, and a second transmission rod 3202 that are sequentially connected. The first transmission rod 1202 is located in the first support rod 1102 and extends in the same direction as the first support rod 1102. The transmission rod transition portion 2202 is located in the support rod transition portion 2102 and the extension direction is consistent with the support rod transition portion 2102, and the second transmission rod 3202 is located in the second support rod 3102 and the extension direction is consistent with the second support rod 3102. As shown in FIG. 14, the transmission rod 202 can move within the support rod 102. In the structure of the support rod 102 and the transmission rod 202 in FIGS. 13 and 14, the second support rod 3102 is provided with a receiving chamber 602 outside the second transmission rod 3202. Connected to the propulsion block 502, the first support rod 1102 and the second support rod 1302 are connected to form a certain angle through the transition part of the support rod 1202. After being connected with the propulsion device during the operation, it will not hinder the operation field of vision.

The working process of the opening and closing device of this embodiment is specifically as follows.

The opening and closing device of the present invention can be used in conjunction with a propulsion device.

In a natural state, the propulsion device and the opening and closing device are not connected, and the first pliers body 302 and the second pliers body 402 are in an open state.

When in use, after connecting the second end of the support rod 102 and the propulsion device through the connecting piece, press the push button on the propulsion device, the propulsion rod contacts the pushing block 502 of the opening and closing device, and pushes the pushing block 502 to drive it. The transmission rod 202 moves toward the second pliers body 402, the second pliers body 402 and the transmission rod 202 are hinged, the transmission rod 202 drives the second pliers body 402 to rotate relative to the first pliers body 302, the first pliers body 302 and the second pliers body 302 The clamp body 402 is closed to complete the clamping, clamping, or cutting of the object.

After the clamping is completed, the opening and closing device and the pushing device are separated. During the resetting process of the elastic reset member 702, the pushing block 502 is moved away from the second pliers body 402, and the transmission rod 202 moves with the pushing block 502 and drives the second pliers body The 402 rotates relative to the first pliers body 302, so that the first pliers body 302 and the second pliers body 402 are in an open state.

The present invention also provides an opening and closing system, including a propulsion device and the opening and closing device of the present invention, and the propulsion device cooperates with the opening and closing device and is used for propelling the movement of the opening and closing device. The propulsion device may be a robotic arm propulsion device, for example, the model of the robotic arm propulsion device is RBT 1000, and the manufacturer is collin.

In summary, in the opening and closing device and opening and closing system of the present invention, the transmission rod 202 reciprocates along the axial direction of the support rod 102 and drives the first pliers body 302 and the second pliers body 402 to open and close. It overcomes the defect that the existing bite-cutting pliers cannot be well adapted to the existing end effector of the manipulator arm with a push rod, and cannot be directly applied on the manipulator arm of the robot.

Example four

The present invention provides a connecting and fixing assembly for a surgical robot, including a first connecting piece 103 and a second connecting piece 403 that are detachably connected;

As shown in Figures 15-18, the first connector 1 is provided with a second connector accommodating cavity 1103 and a fixing rod 303, the second connector accommodating cavity 1103 is open on at least one side, and the second connector accommodating The inner wall of the cavity 1103 is provided with a movable ball groove 1303, the movable ball groove 1303 contains movable balls, the movable ball part protrudes from the movable ball groove 1303, and the second connecting member accommodating cavity 1103 is connected to the movable ball groove 1303. The opposite side of the ball groove is provided with a sliding rail 1403 and a fixed through hole 1203, and the end of the fixed rod 303 can penetrate the fixed through hole 1203 to reach the second connecting member accommodating cavity 1103;

As shown in FIG. 19, the second connecting member 403 can be inserted into the second connecting member accommodating cavity 1103. As shown in FIG. 21, the second connecting member 403 is provided with a ball slot 4103 and a slider 4303, The ball slot 4103 can accommodate the protruding part of the movable ball, and the slider 4303 is matched with the slide rail 1403 and can slide in the slide rail 1403.

The second connecting member accommodating cavity 1103 is used for accommodating the second connecting member 403. The sliding rail 1403 can enable the second connector 403 to slide in the second connector accommodating cavity 1103, and the ball design can enhance the sliding effect and reduce the sliding time. The fixing through hole 1203 and the fixing rod 303 cooperate with each other, so that the second connecting member 403 can be fixed after sliding into the second connecting member accommodating cavity 1103 to prevent the second connecting member 403 from loosening or falling off. The fixing through hole 1203 is on the same side as the sliding rail 1403. Enhance the fixing effect.

The second connecting piece is connected with the surgical instrument. As shown in Fig. 20 and Fig. 21, the second connecting member can be welded to the surgical instrument 503, and the execution instrument 503 is a prior art and varies according to different operations.

Preferably, the extension direction of the execution instrument 503 is perpendicular to the extension direction of the slider. The fixing effect is better.

Optionally, the radius of the ball is 1-3 mm.

Optionally, the radius of the fixed through hole 1203 is 1-5 mm.

Further, the fixing through hole 1203 and the side wall of the fixing rod 303 are provided with threads that match each other. Enhance the fixing effect.

In one embodiment, a rotating handle 3103 is provided at one end of the fixed rod 303. It is convenient for the operator to hold and rotate.

The volume of the second connector accommodating cavity 1103 is 27-8000 mm ³ .

The second connecting member accommodating cavity and the second connecting member can have any shape, as long as the two can be matched. Preferably, it is a sphere or a rectangular parallelepiped cavity. It is convenient to insert and fix the second connecting piece.

Further, the second connecting member accommodating cavity 1103 is a cube cavity. The side length of the second connector accommodating cavity 1103 is 3mm-20mm.

The number of the slide rail 1403 is 1-6. Enhance the fixing effect. It is preferably two, which not only guarantees the fixing effect, but also prevents too many slide rails, which is inconvenient to operate.

The sliding rail can be a rectangular parallelepiped groove or a dovetail groove.

An operating mechanism interface 203 is provided on the cavity wall of the second connector accommodating cavity 1103.

The operating mechanism interface is used to connect with the operating mechanism of the surgical robot. In one embodiment, the operating mechanism interface may be connected to the operating mechanism through a screw and a screw hole. Other prior art connection methods can also be used, as long as it can be connected to the operating mechanism of the surgical robot.

Preferably, as shown in FIG. 15, the second connector accommodating cavity 1103 is open on three sides. It is convenient to insert the second connecting piece.

As shown in FIG. 21, in one embodiment, the second connecting member is further provided with a fixing blind hole 4203 for fixing the end of the fixing rod 303. In the assembled state of the connection and fixing assembly, the fixing blind hole 4203 It is coaxial with the fixed through hole 1203.

The fixed blind hole 1203 is provided with a thread matching the fixed rod 303. Used to connect the fixed rod 303.

The ball slot can be used for positioning.

The radius of the fixed blind hole 4203 is the same as the radius of the fixed through hole 1203.

Optionally, the radius of the fixed blind hole 4203 is 1-5 mm.

The radius of the ball slot 4103 is 1-3 mm.

The sliding block may be a rectangular parallelepiped or dovetail sliding block matched with the sliding rail.

When in use, align the slider of the second connector 403 with the slide rail of the second connector accommodating cavity 1103, so that the slider slides in the slide rail, and at the same time accelerates sliding into the second connector housing under the action of the movable ball In the cavity, at this time, the movable ball is clamped into the ball slot 4103, the fixed blind hole 4203 is coaxial with the fixed through hole 1203, and the fixed rod is inserted, and the end of the fixed rod is inserted into the fixed blind hole 4203 to fix the second connector .

Example five

The present invention provides a distal extension device of a mechanical arm, as shown in FIG. 23. The robot arm distal expansion device includes: a connecting piece 104, a telescopic part 204, and a swing part 304. The connecting piece 1 is used to connect the extension device to the tip of the robot arm.

The invention is based on the characteristics of the robotic arm of the otology surgery robot (the RobOtol otology robot RBT1000 robotic arm of Collin), based on the actual needs of clinical practice, the design of the tip extension device of the robot arm can further expand the operation space of the robot arm and increase the freedom of the robot arm ,Improve work efficiency. At present, otology surgical robots used in clinical practice usually have a box body with an extended platform on the box body, and a mechanical arm is connected to the end of the extended platform. Robotic arms are usually smaller and shorter in length. The extended platform is usually larger than the robotic arm. When operating the robotic arm, the extended platform is easy to touch other instruments, causing the problem of poor coordination of the machine position and affecting the operation of medical staff. Adding an extension device at the end of the existing robotic arm can extend the length of the robotic arm and make the placement position of the ear surgery robot more flexible. In addition, the extension device also increases the degree of freedom of the robotic arm and improves work efficiency.

Fig. 24 is a front view of the distal extension device of the robot arm of the present invention. Figure 25 is a bottom view of the robot arm distal extension device of the present invention. As shown in FIGS. 23-25, the telescopic part 204 includes a first housing 2404, a first telescopic motor 2104 fixed in the first housing 2404, a second housing 2504, and a second housing 2504. Inside the horizontal swing motor 2204. The first housing 2404 is fixedly connected to the connecting member 104, thereby connecting the expansion device to the tip of the robot arm. The second housing 2504 is connected to the first telescopic motor 2104, and the horizontal swing motor 2204 in the second housing 2504 is connected to the swing part 304. Therefore, when the first telescopic motor 2104 telescopically moves, it will drive the second housing 2504 to telescopically move , Thereby driving the swinging part 304 to expand and contract. The telescopic part 204 is the main body of the horizontal section of the expansion device.

In some embodiments, both the first housing 2404 and the second housing 2504 are cylindrical and have a sleeve structure. The wall thickness of the first shell 2404 is about 0.25 cm, the diameter of the circular cross section is about 4 cm, the wall thickness of the second shell 2504 is about 0.25 cm, and the diameter of the circular cross section is about 3 cm. The inner diameter of the first housing 2404 is larger than the outer diameter of the second housing 2504, and the second housing 2504 is partially sleeved in the first housing 2404.

In some embodiments, the first telescopic motor 2104 is provided with two sliding blocks 2304 and a limiting block (not shown in the figure), one end of the second housing 2504 is welded and fixed to the sliding block 2304 of the first telescopic motor 2104, and the first The telescopic motor 2104 drives the second housing 2504 by controlling the movement of the slider 2304 in the cavity of the first housing 2404 to realize the telescopic function of the horizontal section. When the horizontal section is fully retracted, the total length of the horizontal section of the extension device is 9cm. When the horizontal section is fully extended (the slider 2304 is restricted by the stop block and cannot advance forward), the total length of the horizontal section is 15 cm.

Please refer to FIGS. 24 to 26. The swing portion 304 includes a transmission component 3104 and a replaceable component 3204 detachably connected to the transmission component 3104. The horizontal swing motor 2204 is provided with a motor gear 22104, and the transmission assembly 3104 includes: a transmission gear 31104 adapted to the motor gear 22104 (see FIG. 16). The horizontal swing motor 2204 located in the second housing 2504 is moved by a geared motor to drive the swing part 304 to produce a swing effect. The replaceable component 3204 can be disassembled and replaced.

In some embodiments, the swing range of the replaceable component 3204 driven by the horizontal swing motor 2204 is 60° on the left and right in the extension plane of the expansion device.

Please continue to refer to FIGS. 24 to 26, the transmission assembly 3104 further includes: a limit rod 31204 and a sleeve 31304. The first end of the sleeve 313 is connected with the transmission gear 31104; the wall of the sleeve 31304 is provided with two through holes 313104 (about 1 cm in diameter) arranged oppositely. The shell of the replaceable component 3204 can be a cylindrical sleeve structure (about 12 cm in total length and about 1 cm in diameter), which is inserted and passed through the two through holes 313104 of the sleeve 31304. The shell of the replaceable component 3204 is provided with a limiting hole (3 cm away from the top of the shell of the replaceable component 3204) matching with the limiting rod 31204. The specific method for installing the replaceable component 3204 to the transmission component 3104 is as follows: the replaceable component 3204 is inserted into and passes through the two through holes 313104 of the sleeve 31304, and the limit rod 31204 extends through the sleeve opening 313204 at the second end of the sleeve 31304. The sleeve 31304 is inserted into the limiting hole provided on the replaceable component 3204, so that the replaceable component 3204 is limited and fixed on the sleeve 31304. The limit rod 31204 has a diameter of about 0.5 cm and a length of about 4 cm.

As shown in FIG. 24, the third motor of the expansion device is installed in the shell of the replaceable component 3204 to further increase the degree of freedom of the expansion device. The motor 32104 of the replaceable component 3204 is a micro motor. The motor 32104 is located at the lower part of the replaceable component 3204. The present invention provides two replaceable components 3204, which are the first replaceable component or the second replaceable component, respectively, and medical personnel can select a suitable replaceable component 3204 according to their needs. The first replaceable component includes: a second telescopic motor, and a connecting rod 32204 connected to the second telescopic motor; the connecting rod 32204 can be detachably connected with a replaceable tool, and the replaceable tool may be a clinical surgical tool. The replaceable tool is provided with a connecting end for connecting with the connecting rod 32204, and the second telescopic motor drives the replaceable tool to make a telescopic movement through the connecting rod 32204. The second telescopic motor is initially in a shortened state, and can extend up to 3cm. The second replaceable component includes: a rotating electric machine and a connecting rod 32204 connected to the rotating electric machine; the connecting rod 32204 can be detachably connected with a replaceable tool, the replaceable tool is provided with a connecting end for connecting with the connecting rod 32204, The rod 32204 drives the replaceable tool to rotate. The rotating motor can realize 360° rotation. The connecting rod 32204 is located below the motor 32104.

In some embodiments, the connecting rod 32204 has a diameter of 0.5 cm and a length of 4 cm.

In some embodiments, the connecting rod 32204 and the replaceable tool are connected in a manner that the upper end of the connecting rod 32204 is arranged in the lumen of the shell of the replaceable component 3204, and the lower end of the connecting rod 32204 protrudes from the shell by 1 cm, and protrudes from the connecting rod of the shell. The surface of 32204 is provided with an approximately "L"-shaped groove. The inner wall surface of the connecting end of the replaceable tool used to connect with the connecting rod 32204 is provided with a protrusion that matches the "L"-shaped groove to connect the replaceable tool The end sleeve is placed on the outer side of the connecting rod 32204, and the protruding part is clamped into the groove, and slides and moves along the shape of the groove, so that the replaceable tool can be fixed to the connecting rod 32204. This connection end is the same end as the original device of the Robtotol robot. The connecting rod 32204 and the replaceable tool can also be connected in other ways. The replaceable tool can be a clinical surgical tool, or can be connected to various other instruments designed based on the connecting rod 32204 and the end can be directly adapted.

In some embodiments, the expansion device is detachably connected to the tip of the robotic arm. The extension device is detachable, and the arm of the existing ear surgery robot is usually used for clinical operation, and the extension device is connected to the end of the arm when needed to meet clinical needs. The detachable expansion device is equipped with a dedicated computer host and power cord to supply power and control the expansion device.

In some embodiments, for example, when it is fixed to the mechanical arm of the ear surgery robot of collin company, since the casing of this mechanical arm is plastic, the plastic casing can be drilled by fastening screws to fix the expansion device to On the plastic shell of the robotic arm. You can also use other detachable ways to fix the extension device to the end of the robotic arm.

In some embodiments, the connecting member 104 selects the L-shaped fixing plate shown in FIG. 17a (the L-shaped fixing plate is about 3 cm in length, 5 cm in width, about 10 cm in height, and about 0.5 cm in thickness). The L-shaped fixing plate is provided with a plurality of side wall mounting holes 1104 and a plurality of bottom wall mounting holes 1204, and the diameter of the mounting holes is about 0.5 cm. As shown in Figure 27b, the robot arm 10004 is mounted on the L-shaped fixing plate through the fastening screws and the side wall mounting holes 1104, and the first housing 2404 is also mounted on the L-shaped fixing plate through the fastening screws and the bottom wall mounting holes 1204. , So that the robot arm 10004 is fixedly connected with the extension device. By selecting the side wall mounting holes 1104 in different positions, the position of the mechanical arm 10004 installed on the L-shaped fixed plate can be adjusted.

The above-mentioned embodiments only exemplarily illustrate the principles and effects of the present invention, but are not used to limit the present invention. Anyone familiar with this technology can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in the present invention should still be covered by the claims of the present invention.

Claims

A clamping device, characterized in that it comprises a support rod (1), the support rod (1) is an internal hollow structure, the support rod (1) is provided with a transmission rod (2), and the transmission rod (1) is provided with a transmission rod (2). The distal end of 2) is provided with a first pliers body (3), the distal end of the support rod (1) is provided with a second pliers body (4) that is matched with the first pliers body (3), and the transmission rod (2) An insertion rod (5) is provided in the radial direction through the transmission rod (2), and the side wall of the support rod (1) is provided with a first track (6) that matches the movement of the insertion rod (5). ) And a second track (7), the first track (6) extends around the circumferential direction of the support rod (1) and gradually approaches the distal end of the support rod (1) according to its extension direction, the first track ( 6) and the second track (7) are symmetrically distributed in the center, the support rod (1) is provided with a cavity (10), and the cavity is provided with a drive rod (2) to reciprocate along its axial direction The reciprocating movement of the transmission rod (2) relative to the support rod (1) drives the first pliers body (3) and the second pliers body (4) to open and close.
The clamping device according to claim 1, characterized in that the clamping device further comprises a connecting piece, the connecting piece comprises a cavity penetrating in the axial direction, and the connecting piece is used to connect the support rod (1) The proximal end of the propulsion device and the propulsion device, the propulsion rod of the propulsion device can push the proximal end of the transmission rod (2) to move through the connecting piece.
The clamping device according to claim 1, characterized in that the clamping device further comprises a pushing block (9), and the pushing block (9) can be movably arranged in the cavity (10) along the axial direction. The propulsion block (9) is connected with the proximal end of the transmission rod (2), and the propulsion rod of the propulsion device can push the propulsion block (9) through the connecting piece and drive the transmission rod (2) to move.
The clamping device according to claim 1, wherein the proximal ends of the first rail (6) and the second rail (7) are further provided with a first rail extension (61) and a second rail extension, respectively. Section (71), the first rail extension section (61) and the second rail extension section (71) are consistent with the axial direction of the support rod (1).
The clamping device according to claim 1, characterized in that the contact side of the first pliers body (3) and the second pliers body (4) are respectively provided with matching biting and cutting edges.
The clamping device according to claim 1, wherein one end of the elastic reset member (8) abuts the pushing block (9), and the other end of the elastic reset member (8) is close to the insertion rod (5) .
The clamping device according to claim 1, wherein the elastic return member (8) is a spring.
The clamping device according to claim 1, wherein the cavity (10) is provided with a pushing block limiting member (11) for limiting the position of the pushing block (5).
A clamping system, characterized in that it comprises a propulsion device and the clamping device according to any one of claims 1 to 8, and the propulsion device is used for propelling the movement of the clamping device.
The clamping system according to claim 9, characterized in that the propulsion device comprises a propulsion rod, and the propulsion rod is used for the movement of the transmission rod (2).
A clamping mechanism, characterized by comprising a hollow outer rod (101), a transmission rod (201), a clamping piece (301) and a support rod (401);

The outer rod (101) penetrates along its axial direction;

The transmission rod (201) is located in the outer rod (101) and extends in the same direction as the outer rod (101), and the transmission rod (201) can reciprocate axially along the outer rod (101);

The clamping member (301) includes a clamping portion (3301) located at the first end of the outer rod (101), and the clamping portion (3301) includes a first clamping piece (3101) and a second clamping piece which are arranged oppositely (3201), the first clip (3101) and the second clip (3201) respectively extend along the radial direction of the outer rod (101), and are connected to form a connecting end ( 3401), on the contact surface of the first clip (3101) and the second clip (3201) is provided with a first groove (3501) matching the first end of the transmission rod (201), the The extension direction of the first groove (3501) is consistent with the extension direction of the transmission rod (201), and the first end of the transmission rod (201) can reciprocate along the first groove (3501) in the clamping portion (3301) );

The first end of the support rod (401) is connected with the outer rod (101), and the second end of the support rod (401) is connected with the connection end (3401) of the clamp (301).
The clamping mechanism according to claim 11, characterized in that, on the contact surface of the first clamping piece (3101) and the second clamping piece (3201) is also provided with a second groove ( 3601), the second groove (3601) penetrates along the contact surface of the first clip (3101) and the second clip (3201).
The clamping mechanism according to claim 11, characterized in that the diameter of the first end of the transmission rod (201) gradually decreases in the direction toward the clamping portion (3301).
The clamping mechanism according to claim 11, characterized in that the clamping mechanism further comprises a connecting piece, the connecting piece comprises a cavity penetrating in the axial direction, and the connecting piece is used to connect the outer rod (101) The second end of the propulsion device and the propulsion device, the propulsion rod of the propulsion device can push the second end of the transmission rod (201) to move through the connecting piece.
The clamping mechanism according to claim 11, wherein the clamping mechanism further comprises a pushing block (501), the pushing block (501) is connected with the second end of the transmission rod (201), so The propulsion rod of the propulsion device can penetrate the connecting piece to push the propulsion block (501) and drive the transmission rod (201) to move.
The clamping mechanism according to claims 11 and 15, characterized in that the second end of the outer rod (101) is provided with a containing chamber (601), and the containing chamber (601) is fixed to the outer rod (101) In connection, the accommodating chamber (601) includes a accommodating cavity (6101) for accommodating a pushing block (501), and the pushing block (501) can be movably arranged in the accommodating cavity (6101) along the axial direction.
The clamping mechanism according to claim 16, characterized in that, the clamping mechanism further comprises an elastic resetting member (701), and the elastic resetting member (701) is arranged in the accommodating cavity (6101).
The clamping mechanism of claim 16, further comprising one or more of the following technical features:

1) The elastic return piece (701) is a spring;

2) The elastic reset member (701) is fixedly connected with the pushing block (501);

3) The pushing block (501) is fixedly connected with the transmission rod (201).
The clamping mechanism according to claim 15, characterized in that the side of the accommodation chamber (601) away from the outer rod (101) is provided with a pushing block limiting member (801) for limiting the position of the pushing block (501). ).
A clamping system, characterized in that it comprises a propulsion device and the clamping mechanism according to any one of claims 11-19, and the propulsion device is used for propelling the movement of the clamping mechanism.
An opening and closing device, characterized by comprising a hollow support rod (102), a transmission rod (202), a first pliers body (302), a second pliers body (402) and a connecting piece;

The support rod (102) penetrates along its axial direction;

The transmission rod (202) is located in the support rod (102) and extends in the same direction as the support rod (102), and the transmission rod (202) can reciprocate axially along the support rod (102);

The first pliers body (302) is provided at the first end of the support rod (102), the second pliers body (402) is provided at the first end of the transmission rod (202), and the second pliers body (402) ) Is hinged with the transmission rod (202), and the second pliers body (402) is hinged with the first pliers body (302);

The connecting member includes a cavity penetrating in the axial direction, and the connecting member is used to connect the second end of the support rod (102) and the propulsion device, and the propulsion rod of the propulsion device can pass through the connecting member to push the transmission rod The second end of (202) moves.
The opening and closing device of claim 21, wherein the opening and closing device further comprises a push block (502), the push block (502) is connected with the second end of the transmission rod (202), so The propulsion rod of the propulsion device can push the propulsion block (502) through the connecting piece and drive the transmission rod (202) to move.
The opening and closing device according to claim 22, characterized in that the second end of the support rod (102) is provided with a receiving chamber (602), and the receiving chamber (602) is fixedly connected to the support rod (102), The accommodating chamber (602) includes a accommodating cavity (6102) for accommodating a pushing block (502), and the pushing block (502) can be movably arranged in the accommodating cavity (6102) along the axial direction.
The opening and closing device according to claim 23, characterized in that the opening and closing device further comprises an elastic resetting member (702), and the elastic resetting member (702) is arranged in the containing cavity (6102).
The opening and closing device according to claim 24, wherein one end of the elastic reset member (7) abuts the push block (502), and the other end of the elastic reset member (702) is close to the support rod (102) The second end.
The opening and closing device according to claim 24, wherein the elastic return member (702) is a spring.
The opening and closing device according to claim 24, wherein the elastic reset member (702) is fixedly connected to the pushing block (502).
The opening and closing device according to claim 22, characterized in that the pushing block (502) is fixedly connected with the transmission rod (202).
The opening and closing device according to claim 23, characterized in that the side of the receiving cavity (6102) away from the support rod (102) is provided with a pushing block limiting member (802) for limiting the position of the pushing block (502). ).
An opening and closing system, characterized by comprising a propulsion device and the opening and closing device according to any one of claims 21 to 29, the propulsion device being used for propelling the movement of the opening and closing device.
A connecting and fixing assembly for a surgical robot, which is characterized in:

The connecting and fixing assembly includes a first connecting piece (103) and a second connecting piece (403) that are detachably connected;

The first connecting member (103) is provided with a second connecting member accommodating cavity (1103) and a fixing rod (3) 03, the second connecting member accommodating cavity (1103) is open on at least one side, and the second connecting member The inner wall of the accommodating cavity (1103) is provided with a movable ball groove (1303), the movable ball groove (1303) contains movable balls, the movable ball part protrudes from the movable ball groove (1303), the second A sliding rail (1403) and a fixed through hole (1203) are provided on the side of the connecting member accommodating cavity (1103) opposite to the movable ball groove, and the end of the fixed rod (303) can penetrate the fixed through hole (1203) ) Arrive in the second connecting member accommodating cavity (1103);

The second connecting piece (403) can be embedded in the second connecting piece accommodating cavity (1103), and the second connecting piece (403) is provided with a ball slot (4103) and a sliding block (4303). The ball card slot (4103) can accommodate the protruding part of the movable ball, and the slider (4303) is matched with the slide rail (1403) and can slide in the slide rail (1403).
The connecting and fixing assembly for a surgical robot according to claim 31, characterized in that an operating mechanism interface (203) is provided on the cavity wall of the second connecting member accommodating cavity (1103).
The connecting and fixing assembly for a surgical robot according to claim 31, wherein the fixing through hole (1203) and the side wall of the fixing rod (303) are provided with mutually matching threads.
The connecting and fixing assembly for a surgical robot according to claim 31, wherein a rotating handle (3103) is provided at one end of the fixing rod (303).
The connecting and fixing assembly for a surgical robot according to claim 31, wherein the second connecting member accommodating cavity (1103) is a sphere or a rectangular parallelepiped cavity.
The connecting and fixing assembly for a surgical robot according to claim 35, wherein the second connecting member accommodating cavity (1103) is a cube cavity.
The connecting and fixing assembly for a surgical robot according to claim 31, wherein the number of the sliding rails (1403) is 1 to 6 pieces.
The connecting and fixing assembly for a surgical robot according to claim 31, wherein the second connecting piece (403) is further provided with a fixing blind hole (4203) for receiving the end of the fixing rod (303), In the connected state of the first connecting member (103) and the second connecting member (403), the fixed blind hole (4203) is coaxial with the fixed through hole (1203).
The connection and fixing assembly for a surgical robot according to claim 38, characterized in that the fixed blind hole (4203) is provided with a thread matching the fixing rod (303).
The connecting and fixing assembly for a surgical robot according to claim 31, wherein the second connecting member (403) is connected to a surgical instrument.
A robot arm distal expansion device, characterized in that the expansion device comprises: a connecting piece (104), a telescopic part (204), and a swinging part (304);

The connecting piece (104) is used to connect the expansion device to the end of the mechanical arm;

The telescopic part (204) includes: a first housing (2404), a first telescopic motor (2104) arranged in the first housing (2404), a second housing (2504), and a first housing (2404) arranged in the second housing The horizontal swing motor (2204) in the body (2504); the first housing (2404) is connected to the connecting piece (104); the second housing (2504) is connected to the first telescopic The motor (2104) is connected, and the horizontal swing motor (2204) is connected with the swing part (304); when the first telescopic motor (2104) telescopically moves, it drives the second housing (2504) and the The swing part (304) telescopic movement;

The swing part (304) includes: a transmission component (3104) and a replaceable component (3204) detachably connected to the transmission component (31); the transmission component (3104) and the horizontal swing motor (2204) ) Connection, the replaceable component (3204) can swing driven by the horizontal swing motor (2204);

The replaceable component (3204) is a first replaceable component or a second replaceable component, and the first replaceable component includes: a second telescopic motor, and a connecting rod (32204) connected to the second telescopic motor; The connecting rod (32204) can be detachably connected with the replaceable tool, the replaceable tool is provided with a connecting end for connecting with the connecting rod (32204), and the second telescopic motor passes through the connecting rod (32204) Drive the replaceable tool to make a telescopic movement; the second replaceable component includes: a rotating electric machine, a connecting rod (32204) connected with the rotating electric machine; the connecting rod (32204) can be replaced with The tool can be detachably connected, the replaceable tool is provided with a connecting end for connecting with a connecting rod (32204), and the rotating motor drives the replaceable tool to rotate through the connecting rod (32204).
The distal extension device of the robotic arm according to claim 41, wherein the extension device is detachably connected to the distal end of the robotic arm.
The robotic arm distal expansion device according to claim 2, wherein the connecting member (104) comprises a bolt.
The manipulator tip expansion device according to claim 41, wherein the horizontal swing motor (2204) is provided with a motor gear, and the transmission assembly (3104) comprises: a transmission adapted to the motor gear Gear (31104).
The robot arm distal expansion device according to claim 44, wherein:

The transmission assembly (3104) further includes: a limit rod (31204) and a sleeve (31304);

The first end of the sleeve (31304) is connected with the transmission gear (31104); the wall of the sleeve (31304) is provided with two through holes (313104) arranged oppositely;

The first replaceable component further includes: a first replaceable component housing provided with a limiting hole, and the second telescopic motor is provided in the first replaceable component housing; or, the second replaceable component housing The component further includes: a second replaceable component housing provided with a limiting hole, and the rotating electric machine is arranged in the second replaceable component housing;

The first replaceable component housing or the second replaceable component housing passes through the two through holes (313104) on the wall of the sleeve (31304), and the limit rod (31204) ) Extends into the sleeve (31304) through the sleeve opening (313204) at the second end of the sleeve (31304), and inserts the first replaceable component housing or the second replaceable component Limit hole of the shell.
The robotic arm distal expansion device according to claim 41, wherein the first telescopic motor (2104) is provided with a slider (2304), and the second housing (2504) is connected to the first telescopic motor (2104). A sliding block (2304) of a telescopic motor (2104).
The robotic arm distal expansion device according to claim 41, wherein the inner diameter of the first housing (2404) is greater than the outer diameter of the second housing (2504), and the second housing ( 2504) is partially sleeved in the first housing (2404).
The robotic arm distal expansion device according to claim 41, wherein the first housing (2404) and the second housing (2504) are both cylindrical.
The robotic arm distal expansion device according to claim 41, characterized in that the swing range of the replaceable component (3204) driven by the horizontal swing motor (2204) is: 60 left and right in the extension plane of the expansion device. °.
The mechanical arm distal expansion device according to claim 41, characterized in that the rotating motor drives the replaceable tool to rotate through the connecting rod (32204) with an amplitude of 360°.