WO2021239140A1 - 一种手术机器人用器械戳卡夹 - Google Patents

一种手术机器人用器械戳卡夹 Download PDF

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Publication number
WO2021239140A1
WO2021239140A1 PCT/CN2021/096984 CN2021096984W WO2021239140A1 WO 2021239140 A1 WO2021239140 A1 WO 2021239140A1 CN 2021096984 W CN2021096984 W CN 2021096984W WO 2021239140 A1 WO2021239140 A1 WO 2021239140A1
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WO
WIPO (PCT)
Prior art keywords
pull rod
chuck
base
control device
instrument
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Application number
PCT/CN2021/096984
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English (en)
French (fr)
Inventor
王建国
王晓伟
Original Assignee
苏州康多机器人有限公司
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Publication date
Application filed by 苏州康多机器人有限公司 filed Critical 苏州康多机器人有限公司
Publication of WO2021239140A1 publication Critical patent/WO2021239140A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0801—Prevention of accidental cutting or pricking
    • A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs

Definitions

  • the present invention relates to a medical device, in particular, to an instrument poking clip for a surgical robot.
  • the present invention provides an instrument poking clip for a surgical robot, which includes a base, a first chuck and a second chuck that are arranged oppositely, and the first chuck and the second chuck are both Connected to the base, the first chuck and the second chuck are adapted to rotate relative to the base,
  • the pull rod device is connected with the first chuck and the second chuck, and is used to drive the first chuck and the second chuck to clamp or loosen each other,
  • the pull rod control device cooperates with the pull rod device, and the pull rod device is locked or loosened when the first chuck and the second chuck are clamped to each other.
  • the tie rod device includes a connecting plate and a tie rod, one end of the tie rod is a hinged end, the other end of the tie rod is a mounting end, and the mounting end of the tie rod is mounted on the base,
  • One ends of the first chuck and the second chuck are free ends, the other ends of the first chuck and the second chuck are connecting ends, and the first chuck and the second chuck are connected ends.
  • the connection points of the chuck and the base are located between the respective free ends and the connection ends,
  • One end of the connecting plate is hinged to the connecting ends of the first chuck and the second chuck, and the other end of the connecting plate is hinged to the hinged end of the pull rod,
  • the pull rod control device is used to lock or release the pull rod.
  • a first automatic reset device is provided between the installation end of the pull rod and the base.
  • a baffle is provided on one side of the pull rod, and the baffle protrudes from the side,
  • the pull rod control device is a rod-shaped component, the pull rod control device is provided with a pull rod accommodating groove and a baffle accommodating groove, the width of the pull rod accommodating groove is greater than the width of the pull rod, and the pull rod control device is provided Between the opposite sides of the base, and the pull rod control device and the pull rod are perpendicular to each other, the pull rod control device is adapted to move between the opposite sides of the base,
  • the pull rod is clamped between the pull rod control device and the base, and the pull rod passes through the accommodating groove, and the baffle is suitable for being received in the baffle accommodating groove.
  • the side wall of the baffle accommodating groove blocks.
  • a second automatic reset device is provided between the pull rod control device and the base.
  • the first automatic reset device and the second automatic reset device are both springs.
  • a limit block is provided on the base, and an installation space for the pull rod to pass through is provided on the limit block,
  • the pull rod passes through the installation space, and the pull rod is adapted to slide closer to or away from the first chuck and the second chuck relative to the limiting block.
  • a mounting groove is opened in the middle of one side of the base, a left side wall is formed on the left side of the base, a right side wall is formed on the right side of the base, and a bottom wall is formed on the bottom of the base,
  • the pull rod, the limiting block, and the pull rod control device are all arranged in the installation groove.
  • one end of the pull rod control device is a control end
  • a mounting hole is opened on the left side wall
  • the control end extends out of the base through the mounting hole.
  • the other end of the pull rod control device is an installation end
  • the installation end of the pull rod control device is provided on the right side wall
  • a guide groove is provided on the right side wall, and the guide groove is suitable for receiving
  • the second automatic reset device is arranged in the guide groove.
  • the beneficial effects of the present invention are: because the pull rod device is connected with the first chuck and the second chuck and can drive the first chuck and the second chuck to clamp or loosen, and the clamp In the tight state, the tie rod control device can lock the tie rod device to ensure that the clamping state of the first chuck and the second chuck remains stable, avoiding accidental injury to the patient, and pulling the tie rod device can make the first chuck and the second chuck The head is clamped or loosened for easy operation.
  • Fig. 1 is an axial view of an instrument poking clip for a surgical robot of the present invention
  • Figure 2 is a front view of the clamping state of the instrument poking clip of the surgical robot of the present invention
  • Figure 3 is the front view of the released state of the instrument poking clip of the surgical robot of the present invention
  • Fig. 4 is a structural diagram of the lever in the clip of the surgical robot used in the surgical robot according to the present invention.
  • Fig. 5 is a structural diagram of a lever control device in an instrument poking clip of a surgical robot according to the present invention.
  • an instrument poking clip for a surgical robot includes a base 11, a first chuck 12, a second chuck, a tie rod device, and a tie rod control device.
  • the chuck 12 and the second chuck are both connected to the base 11, the first chuck 12 and the second chuck are arranged oppositely, and the first chuck 12 and the second chuck are adapted to rotate relative to the base 11, and the tie rod device is connected to the second chuck.
  • the first chuck 12 and the second chuck are connected to each other.
  • the tie rod device can drive the first chuck 12 and the second chuck to clamp or loosen each other.
  • the tie rod control device cooperates with the tie rod device, and the first chuck 12, When the second chucks are clamped to each other, the pull rod device is locked or the pull rod device is loosened.
  • the surgical robot of the present invention uses the instrument to poke the clamp, because the pull rod device can drive the first chuck 12 and the second chuck to clamp or loosen, and in the clamped state, the pull rod control device can lock the pull rod device to ensure the first clamp
  • the clamping state of the head 12 and the second chuck are kept stable, which prevents accidental injury to the patient and is easy to operate.
  • the tie rod device includes a connecting plate 13 and a tie rod 14.
  • One end of the tie rod 14 is a hinged end, the other end of the tie rod 14 is a mounting end, and the mounting end of the tie rod 14 is mounted on the base 11,
  • One end of the first chuck 12 and the second chuck is a free end
  • the other end of the first chuck 12 and the second chuck is a connection end
  • the connection point of the first chuck 12 and the second chuck and the base 11 is located Between the respective free end and the connecting end
  • One end of the connecting plate 13 is hinged to the connecting ends of the first chuck 12 and the second chuck, and the other end of the connecting plate 13 is hinged to the hinged end of the tie rod 14.
  • the direction of the chuck moves, the pull rod 14 drives the first chuck 12 and the second chuck to rotate relative to the base 11 through the connecting plate 13, and the free ends of the first chuck 12 and the second chuck move closer to each other, and the first chuck 12,
  • the second chuck is clamped; the pull rod 14 is pulled to move closer to the first chuck 12 and the second chuck.
  • the pull rod 14 drives the first chuck 12 and the second chuck to rotate relative to the base 11 through the connecting plate 13.
  • the free ends of the chuck 12 and the second chuck are far away from each other, and the first chuck 12 and the second chuck are loosened;
  • the draw rod control device 15 cooperates with the draw rod 14, and the draw rod control device 15 is used to lock or release the draw rod 14.
  • the surgical robot of the present invention uses the instrument to poke the clamp, because the pull rod can drive the first clamp and the second clamp to clamp or loosen, and in the clamped state, the pull rod control device can lock the pull rod to ensure the first and second clamps.
  • the clamping state of the two chucks is kept stable to avoid accidental injury to the patient and is easy to operate.
  • a first automatic reset device 141 is provided between the installation end of the pull rod 14 and the base 11, specifically, the first automatic reset device 141 adopts a spring. After the pull rod control device 15 releases the pull rod 14, the pull rod 14 can be automatically reset, which makes the operation more convenient.
  • the base 11 is a plate-shaped member, and the left side and the right side of the base 11 correspond to each other.
  • a baffle 142 is provided on one side of the tie rod 14.
  • the tie rod control device 15 is a rod-shaped component
  • one end of the tie rod control device 15 is the mounting end
  • the other end of the tie rod control device 15 is the control end
  • the mounting end and the control end of the tie rod control device 15 They are respectively arranged on two sides of the base 11 corresponding to each other, and the pull rod control device 15 and the pull rod 14 are perpendicular to each other
  • the pull rod control device 15 can move between the two sides corresponding to each other relative to the base 11, and the pull rod control device 15 is provided
  • the width of the tie rod accommodating groove 152 is greater than the width of the tie rod 14.
  • the width refers to the dimension along the coordinate axis X axis.
  • the tie rod accommodating groove 151 and the baffle accommodating groove 152 In communication with each other, the tie rod 14 is clamped between the tie rod control device 15 and the base 11, and the tie rod 14 passes through the tie rod accommodating groove 151. Move in the direction or away from the first chuck 12 and the second chuck.
  • the lever control device 15 is located at the left end, the baffle 142 is accommodated in the baffle accommodating groove 152 and is moved by the side wall of the baffle accommodating groove 152 Blocked, the pull rod 14 is locked.
  • the pull rod control device 15 is located at the right end, the baffle 142 comes out of the baffle accommodating groove 152, and the pull rod 14 is released.
  • a second automatic reset device 153 is provided between the installation end of the tie rod control device 15 and the base 11, specifically, the second automatic reset device 153 adopts a spring. Due to the setting of the second automatic reset device 153, when the force acting on the control end of the lever control device 15 disappears, the lever control device 15 can automatically reset, making the operation more convenient.
  • a limit block 16 is provided on the base 11, and the limit block 16 is located on the side of the tie rod control device 15 close to the installation end of the tie rod 14, and the limit block 16 is provided with an installation space for the tie rod 14 to pass through.
  • the limit block 16 and the base 11 are connected by bolts, and the installation space can be a through hole provided on the limit block 16, or a recess provided on the side surface of the limit block 16 facing the base 11. Groove; the pull rod 14 passes through the installation space on the limit block 16, and the pull rod 14 is suitable for sliding relative to the limit block 16 toward or away from the first chuck 12 and the second chuck.
  • the pull rod 14 can only move in the direction close to the first chuck 12 and the second chuck or away from the first chuck 12 and the second chuck.
  • the direction shaking makes the surgical robot more stable when poking the clip with the instrument in the clamped state, and avoiding injury to the patient during the operation.
  • the first chuck 12 and the second chuck are both in the shape of a semi-circular arc
  • a mounting groove 111 is opened in the middle of one side of the base 11
  • a left side wall 112 is formed on the left side of the base 11
  • a right side wall 112 is formed on the right side of the base 11.
  • the side wall 113 forms a bottom wall 114 at the bottom of the base 11.
  • the draw rod 14, the limit block 16, and the draw rod control device 15 are all arranged in the installation groove 111.
  • the control end and the installation end of the draw rod control device 15 are respectively arranged on the base 11 On the left side wall 112 and the right side wall 113, the installation end of the pull rod 14 is installed on the bottom wall 114.
  • the left side wall 112 is provided with a mounting hole
  • the control end of the tie rod control device 15 passes through the mounting hole to extend out of the base 11
  • the right side wall 113 is provided with a guide groove 115
  • the spring is provided in the guide groove 115
  • the guide groove 115 is suitable for accommodating the mounting end of the tie rod control device 15 so that the tie rod control device 15 can move left and right relative to the base 11. Since the control end extends out of the base 11, the control is more convenient; and the setting of the guide groove 115 restricts the movement direction of the pull rod control device 15 to a direction perpendicular to the pull rod 14, so that the surgical robot can be clamped in a clamped state with instruments Time is more stable.
  • the instrument poking clamp for the surgical robot of the present invention is suitable for poking cards.
  • the poking card is inserted into the patient's body, the mechanical arm is swung to a suitable position, and the first chuck 12 and the second chuck of the surgical robot's instrument poking clamp are opened.
  • the chuck which is placed on the poke card, presses the first chuck 12 and the second chuck with your fingers, pulls the lever 14, and the lever 14 moves downward and makes the first automatic reset device 141 in a compressed state, and the second automatic reset device 153 pops out, the baffle 142 on the pull rod 14 is placed in the baffle accommodating groove 152 on the pull rod control device 15, the first chuck 12 and the second chuck are locked on the poke card; when the machine needs to be evacuated at the end of the operation, Press the control end of the pull rod control device 15, the second automatic reset device 153 is compressed, the push rod control device 15 moves to the right, and the baffle 142 on the pull rod 14 escapes from the baffle accommodating groove 152 on the pull rod control device 15.
  • An automatic reset device 141 pops up, pushes the pull rod 14 to move up, and the first chuck 12 and the second chuck are released from the poke card, so that the poke card is released.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
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  • General Health & Medical Sciences (AREA)
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  • Heart & Thoracic Surgery (AREA)
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Abstract

一种手术机器人用器械戳卡夹，包括底座（11）、第一夹头（12）及第二夹头，第一夹头（12）、第二夹头均连接于底座（11）上，第一夹头（12）、第二夹头适于相对底座（11）转动，还包括拉杆装置及拉杆控制装置（15），拉杆装置与第一夹头（12）、第二夹头相连接，并带动第一夹头（12）、第二夹头相互夹紧或松开，拉杆控制装置（15）与拉杆装置相配合，在第一夹头（12）、第二夹头相互夹紧时将拉杆装置锁紧或放松。由于拉杆装置能带动第一夹头（12）、第二夹头夹紧或松开，并且拉杆控制装置（15）能锁定拉杆装置，保证第一夹头（12）、第二夹头的夹紧状态保持稳定，避免患者受到意外伤害，且操作方便。

Description

一种手术机器人用器械戳卡夹 技术领域
本发明涉及一种医疗器械，具体而言，涉及一种手术机器人用器械戳卡夹。
背景技术
现代外科手术已进入微创化时代，戳卡是常用的微创手术用具。在机器人操纵戳卡夹持手术器械进行手术时，机器人的机械手臂摆动的同时要求戳卡也要跟随机械手臂一同摆动，而且机械手臂与戳卡之间不能有晃动，对戳卡的夹持工具具有很高的要求，既要求戳卡的夹持工具操作简单，可打开、关闭，又需要在使用时保持稳定。现有的夹持工具无法满足上述要求。
发明内容
为解决上述问题之一，本发明提供一种手术机器人用器械戳卡夹，包括底座、相对设置的第一夹头及第二夹头，所述第一夹头、所述第二夹头均连接于所述底座上，所述第一夹头、所述第二夹头适于相对所述底座转动，
还包括拉杆装置及拉杆控制装置，
所述拉杆装置与所述第一夹头、所述第二夹头相连接，并用于带动所述第一夹头、所述第二夹头相互夹紧或松开，
所述拉杆控制装置与所述拉杆装置相配合，在所述第一夹头、所述第二夹头相互夹紧时将所述拉杆装置锁紧或放松。
可选地，所述拉杆装置包括连接板、拉杆，所述拉杆的一端为铰接端，所述拉杆的另一端为安装端，所述拉杆的安装端安装于所述底座上，
所述第一夹头、所述第二夹头的一端为自由端，所述第一夹头、所述第二夹头的另一端为连接端，所述第一夹头、所述第二夹头与所述底座的连接点均位于各自的所述自由端与所述连接端之间，
所述连接板一端分别与所述第一夹头、所述第二夹头的连接端相铰接，所述连接板的另一端与所述拉杆的铰接端相铰接，
所述拉杆控制装置用于锁定或放开所述拉杆。
可选地，所述拉杆的安装端与所述底座之间设置有第一自动复位装置。
可选地，所述拉杆的一侧边上设置有挡板，所述挡板凸出所述侧边，
所述拉杆控制装置为杆状部件，所述拉杆控制装置上开设有拉杆容置槽及挡板容置槽，所述拉杆容置槽的宽度大于所述拉杆的宽度，所述拉杆控制装置设置于所述底座的相对的两侧边之间，并且所述拉杆控制装置与所述拉杆相互垂直，所述拉杆控制装置适于相对所述底座在所述相对的两侧边之间移动，
所述拉杆夹持于所述拉杆控制装置与所述底座之间，并且所述拉杆穿过所述容置槽，所述挡板适于容置于所述挡板容置槽内被所述挡板容置槽的侧壁阻挡。
可选地，所述拉杆控制装置与所述底座之间设置有第二自动复位装置。
可选地，所述第一自动复位装置、所述第二自动复位装置均为弹簧。
可选地，所述底座上设置有限位块，所述限位块上设置有供所述拉杆穿过的安装空间，
所述拉杆从所述安装空间穿过，所述拉杆适于相对所述限位块向靠近或远离所述第一夹头、所述第二夹头的方向滑动。
可选地，所述底座的一侧面中部开设有安装槽，在所述底座的左侧形成左侧壁，在所述底座的右侧形成右侧壁，在所述底座的底部形成底壁，所述拉杆、所述限位块、所述拉杆控制装置均设置于所述安装槽内。
可选地，所述拉杆控制装置的一端为操控端，所述左侧壁上开设有安装孔，所述操控端穿过所述安装孔伸出所述底座外。
可选地，所述拉杆控制装置的另一端为安装端，所述拉杆控制装置的安装端设置于所述右侧壁上，所述右侧壁上设置导向槽，所述导向槽适于容纳所述拉杆控制装置的安装端，所述第二自动复位装置设置于所述导向槽内。
与现有技术相比较，本发明的有益效果在于：由于拉杆装置与第一夹头、第二夹头相连接并能带动第一夹头、第二夹头夹紧或松开，并且在夹紧状态时，拉杆控制装置能锁定拉杆装置，保证第一夹头、第二夹头的夹紧状态保持稳定，避免患者受到意外伤害，并且拉动拉杆装置即可使第一夹头、第二夹头夹紧或松开，操作方便。
附图说明
图1为本发明手术机器人用器械戳卡夹的轴视图；
图2为本发明手术机器人用器械戳卡夹夹紧状态的主视图；
图3为本发明手术机器人用器械戳卡夹松开状态的主视图
图4为本发明手术机器人用器械戳卡夹中拉杆的结构图；
图5为本发明手术机器人用器械戳卡夹中拉杆控制装置的结构图。
附图标记说明：
11-底座；111-安装槽；112-左侧壁、113-右侧壁；114-底壁；115-导向槽；12-第一夹头；13-连接板；14-拉杆；141-第一自动复位装置；142-挡板；15-拉杆控制装置；151-拉杆容置槽；152-挡板容置槽；153-第二自动复位装置；16-限位块。
具体实施方式
以下结合附图，对本发明上述的和另外的技术特征和优点作更详细的说明。
另外，在本发明的描述中需要理解的是，附图中“X”的正向代表左方，相应地，“X”的反向代表右方；“Y”的正向代表前面，相应地，“Y”的反向代表后面；“Z”的正向代表上方，相应地，“Z”的反向代表下方，术语“X”、“Y”、“Z”等指示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。
如图1、图2、图3所示，本发明实施例一种手术机器人用器械戳卡夹，包括底座11、第一夹头12、第二夹头、拉杆装置及拉杆控制装置，第一夹头12、第二夹头均连接于底座11上，第一夹头12与第二夹头相对设置，并且第一夹头12、第二夹头适于相对底座11转动，拉杆装置与第一夹头12、 第二夹头均相互连接，拉杆装置能带动第一夹头12、第二夹头相互夹紧或松开，拉杆控制装置与拉杆装置相配合，在第一夹头12、第二夹头相互夹紧时将拉杆装置锁紧或将拉杆装置放松。
本发明手术机器人用器械戳卡夹，由于拉杆装置能带动第一夹头12、第二夹头夹紧或松开，并且在夹紧状态时，拉杆控制装置能锁定拉杆装置，保证第一夹头12、第二夹头的夹紧状态保持稳定，避免患者受到意外伤害，并且便于操作。
具体地，拉杆装置包括连接板13、拉杆14，拉杆14的一端为铰接端，拉杆14的另一端为安装端，拉杆14的安装端安装于底座11上，
第一夹头12、第二夹头的一端为自由端，第一夹头12、第二夹头的另一端为连接端，第一夹头12及第二夹头与底座11的连接点位于各自的自由端与连接端之间，
连接板13一端分别与第一夹头12、第二夹头的连接端相铰接，连接板13的另一端与拉杆14的铰接端相铰接，拉动拉杆14向远离第一夹头12、第二夹头的方向移动，拉杆14通过连接板13带动第一夹头12、第二夹头相对底座11转动，第一夹头12、第二夹头的自由端相互靠拢，第一夹头12、第二夹头夹紧；拉动拉杆14向靠近第一夹头12、第二夹头的方向移动，拉杆14通过连接板13带动第一夹头12、第二夹头相对底座11转动，第一夹头12、第二夹头的自由端相互远离，第一夹头12、第二夹头松开；
拉杆控制装置15与拉杆14相配合，拉杆控制装置15用于锁定或放开拉杆14。
本发明手术机器人用器械戳卡夹，由于拉杆能带动第一夹头、第二夹头夹紧或松开，并且在夹紧状态时，拉杆控制装置能锁定拉杆，保证第一夹头、第二夹头的夹紧状态保持稳定，避免患者受到意外伤害，并且便于操作。
在一些实施例中，拉杆14的安装端与底座11之间设置有第一自动复位装置141，具体地，第一自动复位装置141采用弹簧。在拉杆控制装置15放开拉杆14后，拉杆14能够自动复位，使操作更方便。
具体地，如图1所示，底座11为板状部件，底座11的左侧边、右侧边相互对应，如图4、图5所示，拉杆14的一侧边上设置有挡板142，挡板 142凸出该侧边，拉杆控制装置15为杆状部件，拉杆控制装置15的一端为安装端，拉杆控制装置15的另一端为操控端，拉杆控制装置15的安装端及操控端分别设置于底座11的相互对应的两侧边上，并且拉杆控制装置15与拉杆14相互垂直，拉杆控制装置15可相对底座11在相互对应的两侧边之间移动，拉杆控制装置15上开设有拉杆容置槽151及挡板容置槽152，拉杆容置槽152的宽度大于拉杆14的宽度，宽度指沿坐标轴X轴方向的尺寸，拉杆容置槽151与挡板容置槽152相互连通，拉杆14夹持于拉杆控制装置15与底座11之间并且拉杆14穿过拉杆容置槽151，拉杆14适于相对拉杆控制装置15在靠近第一夹头12、第二夹头的方向或远离第一夹头12、第二夹头的方向移动，当拉杆控制装置15位于左端时，挡板142容置于挡板容置槽152内并被挡板容置槽152的侧壁阻挡，拉杆14被锁定，当拉杆控制装置15位于右端时，挡板142从挡板容置槽152内脱出，拉杆14被放开。
在一些实施例中，拉杆控制装置15的安装端与底座11之间设置有第二自动复位装置153，具体地，第二自动复位装置153采用弹簧。由于第二自动复位装置153的设置，当作用在拉杆控制装置15操控端的作用力消失后，拉杆控制装置15能够自动复位，使操作更方便。
在一些实施例中，底座11上设置有限位块16，限位块16位于拉杆控制装置15的靠近拉杆14的安装端的一侧，限位块16上设置有供拉杆14穿过的安装空间，具体地，限位块16与底座11之间通过螺栓连接，安装空间可以是设置于限位块16上的通孔，还可以是设置在限位块16的朝向底座11的一侧面上的凹槽；拉杆14穿过限位块16上的安装空间，并且拉杆14适于相对限位块16向靠近或远离第一夹头12、所述第二夹头的方向滑动。由于限位块16的设置，限制了拉杆14仅能在靠近第一夹头12、第二夹头的方向或远离第一夹头12、第二夹头的方向上移动，避免拉杆14在左右方向晃动，使手术机器人用器械戳卡夹在夹紧状态时更稳定，避免手术过程中患者受伤。
具体地，第一夹头12及第二夹头均为半圆弧状，底座11的一侧面中部开设有安装槽111，在底座11的左侧形成左侧壁112，在底座11的右侧形 成右侧壁113，在底座11的底部形成底壁114，拉杆14、限位块16、拉杆控制装置15均设置于安装槽111内，拉杆控制装置15的操控端及安装端分别设置于底座11的左侧壁112、右侧壁113上，拉杆14的安装端安装于底壁114上。如图1所示，其中左侧壁112上开设有安装孔，拉杆控制装置15的操控端穿过安装孔伸出底座11外，右侧壁113上设置导向槽115，弹簧设置于导向槽115内，导向槽115适于容纳拉杆控制装置15的安装端，使拉杆控制装置15能够相对底座11左右移动。由于操控端伸出底座11外，操控更方便；而导向槽115的设置，将拉杆控制装置15的移动方向限制在与拉杆14相垂直的方向，使手术机器人用器械戳卡夹在夹紧状态时更稳定。
本发明手术机器人用器械戳卡夹适用于戳卡，手术时，先将戳卡插入患者身体，将机械手臂摆动到合适位置，打开手术机器人用器械戳卡夹的第一夹头12、第二夹头，套在戳卡上，用手指按压第一夹头12、第二夹头，拉动拉杆14，拉杆14向下移动并使得第一自动复位装置141处于压紧状态，第二自动复位装置153弹出，拉杆14上的挡板142置于拉杆控制装置15上的挡板容置槽152内，第一夹头12、第二夹头锁紧在戳卡上；手术结束需要撤离机器时，按压拉杆控制装置15的操控端，第二自动复位装置153压缩，按压拉杆控制装置15向右移动，拉杆14上的挡板142从拉杆控制装置15上的挡板容置槽152内脱出，第一自动复位装置141弹出，推动拉杆14上移，第一夹头12、第二夹头从戳卡上松开，从而使得戳卡被释放。
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。

Claims (10)

  1. 一种手术机器人用器械戳卡夹，包括底座(11)、相对设置的第一夹头(12)及第二夹头，所述第一夹头(12)、所述第二夹头均连接于所述底座(11)上，所述第一夹头(12)、所述第二夹头适于相对所述底座(11)转动，其中，
    还包括拉杆装置及拉杆控制装置(15)，
    所述拉杆装置与所述第一夹头(12)、所述第二夹头相连接，并用于带动所述第一夹头(12)、所述第二夹头相互夹紧或松开，
    所述拉杆控制装置(15)与所述拉杆装置相配合，在所述第一夹头(12)、所述第二夹头相互夹紧时将所述拉杆装置锁紧或放松。
  2. 根据权利要求1所述的手术机器人用器械戳卡夹，其中，
    所述拉杆装置包括连接板(13)、拉杆(14)，所述拉杆(14)的一端为铰接端，所述拉杆(14)的另一端为安装端，所述拉杆(14)的安装端安装于所述底座(11)上，
    所述第一夹头(12)、所述第二夹头的一端为自由端，所述第一夹头(12)、第二夹头的另一端为连接端，所述第一夹头(12)、所述第二夹头与所述底座(11)的连接点均位于各自的所述自由端与所述连接端之间，
    所述连接板(13)一端分别与所述第一夹头(12)、所述第二夹头的连接端相铰接，所述连接板(13)的另一端与所述拉杆(14)的铰接端相铰接，
    所述拉杆控制装置(15)用于锁定或放开所述拉杆(14)。
  3. 根据权利要求2所述的手术机器人用器械戳卡夹，其中，
    所述拉杆(14)的安装端与所述底座(11)之间设置有第一自动复位装置(141)。
  4. 根据权利要求3所述的手术机器人用器械戳卡夹，其中，
    所述拉杆(14)的一侧边上设置有挡板(142)，所述挡板(142)凸出所述侧边，
    所述拉杆控制装置(15)为杆状部件，所述拉杆控制装置(15)上开设有拉杆容置槽(151)及挡板容置槽(152)，所述拉杆容置槽(151)的宽度大于所述拉杆(14)的宽度，所述拉杆控制装置(15)设置于所述底座(11) 的相对的两侧边之间，并且所述拉杆控制装置(15)与所述拉杆(14)相互垂直，所述拉杆控制装置(15)适于相对所述底座(11)在所述相对的两侧边之间移动，
    所述拉杆(14)夹持于所述拉杆控制装置(15)与所述底座(11)之间，并且所述拉杆(14)穿过所述拉杆容置槽(151)，所述挡板(142)适于容置于所述挡板容置槽(152)内并被所述挡板容置槽(152)的侧壁阻挡。
  5. 根据权利要求4所述的手术机器人用器械戳卡夹，其中，所述拉杆控制装置(15)与所述底座(11)之间设置有第二自动复位装置(153)。
  6. 根据权利要求5所述的手术机器人用器械戳卡夹，其中，所述第一自动复位装置(141)、所述第二自动复位装置(153)均为弹簧。
  7. 根据权利要求5所述的手术机器人用器械戳卡夹，其中，
    所述底座(11)上设置有限位块(16)，所述限位块(16)上设置有供所述拉杆(14)穿过的安装空间，
    所述拉杆(14)从所述安装空间穿过，所述拉杆(14)适于相对所述限位块(16)向靠近或远离所述第一夹头(12)、所述第二夹头的方向滑动。
  8. 根据权利要求7所述的手术机器人用器械戳卡夹，其中，
    所述底座(11)的一侧面中部开设有安装槽(111)，在所述底座(11)的左侧形成所述安装槽(111)的左侧壁(112)，在所述底座(11)的右侧形成所述安装槽(111)的右侧壁(113)，在所述底座(11)的底部形成所述安装槽(111)的底壁(114)，所述拉杆(14)、所述限位块(16)、所述拉杆控制装置(15)均设置于所述安装槽(111)内。
  9. 根据权利要求8所述的手术机器人用器械戳卡夹，其中，
    所述拉杆控制装置(15)的一端为操控端，所述左侧壁(112)上开设有安装孔，所述操控端穿过所述安装孔伸出所述底座(11)外。
  10. 根据权利要求9所述的手术机器人用器械戳卡夹，其中，
    所述拉杆控制装置(15)的另一端为安装端，所述拉杆控制装置(15)的安装端设置于所述右侧壁(113)上，所述右侧壁(113)上设置导向槽(115)，所述导向槽(115)适于容纳所述拉杆控制装置(15)的安装端，所述第二自动复位装置(153)设置于所述导向槽(115)内。
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