Opening and closing clamp and surgical robot

Abstract

The embodiment of the present application provides an open-close clamp and a surgical robot, the open-close clamp comprising an open-close assembly, a control assembly and a control member, the open-close assembly being adapted to be linked with a surgical instrument end, the open-close assembly comprising an open-close member, the open-close member being used for being held by a finger to control the movement of the surgical instrument end by the open-close assembly, the control assembly being adapted to connect or disconnect the linkage between the open-close assembly and the surgical instrument end, the control member being arranged on the open-close member, the control member being signal-connected to the control assembly, the control member being adapted to detect whether the finger contacts the open-close member, when the finger is separated from the open-close member, the control member transmits detection information to the control assembly, and the control assembly disconnects the linkage between the open-close assembly and the surgical instrument end according to the detection information. The open-close clamp of the present application can avoid accidental touch and increase safety.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an opening and closing clamp and a surgical robot. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming its shortcomings while inheriting its advantages.

[0003] The minimally invasive surgical robot based on this technology consists of a surgeon's console (master hand), a patient surgical platform (slave hand), and a display device. The surgeon operates the input device on the surgeon's console and transmits the input to the patient surgical platform, which is connected to remotely operated surgical instruments. The surgeon's console (master hand) includes a robotic arm and an opening and closing clamp connected to the end of the robotic arm. By controlling the opening and closing of the clamp, the opening and closing angle of the clamp is synchronized with the opening and closing of the end-effector's gripping forceps, thus realizing the surgical execution action of the surgical instrument's end.

[0004] When doctors use clips for surgical procedures, they may need to remove the clips for a short break or leave the room briefly. If the clips are accidentally touched during the removal process, it may cause movement of the instruments held in the hand, resulting in medical risks. Utility Model Content

[0005] This application provides an opening and closing clamp and a surgical robot, which can avoid accidental contact and increase safety.

[0006] In a first aspect, embodiments of this application provide an opening and closing clamp, including an opening and closing component, a control component, and a control element. The opening and closing component is adapted to be linked with the end of a surgical instrument. The opening and closing component includes an opening and closing element for gripping by a finger, so as to control the movement of the end of the surgical instrument using the opening and closing component. The control component is adapted to connect or disconnect the linkage between the opening and closing component and the end of the surgical instrument. The control element is disposed on the opening and closing element and is signal-connected to the control component. The control element is adapted to detect whether a finger is in contact with the opening and closing element. When the finger is removed from the opening and closing element, the control element transmits the detection information to the control component. The control component disconnects the linkage between the opening and closing component and the end of the surgical instrument according to the detection information.

[0007] This application incorporates a control component that can detect in real time whether a finger is gripping or detaching from the opening / closing mechanism. The control component generates two different detection signals depending on whether the finger is gripping or detaching. This detection signal is transmitted to a control assembly. The control assembly maintains the connection between the opening / closing mechanism and the surgical instrument tip based on the finger gripping signal, and disconnects the connection based on the finger detaching signal. In this way, when the doctor's finger leaves the opening / closing mechanism, the control component and control assembly work together to disconnect the connection between the mechanism and the surgical instrument tip. Even if the finger accidentally touches the mechanism during the process from the moment it leaves the contact surface until it is completely detached, the surgical instrument tip will not move, ensuring safety during the detachment process and avoiding medical risks.

[0008] In one possible implementation, the control element includes a microswitch embedded in the opening / closing element. The trigger end of the microswitch protrudes from the end face of the opening / closing element for contact with the finger. When the finger leaves the opening / closing element, the microswitch closes, causing the control component to disconnect the linkage between the opening / closing element and the end of the surgical instrument.

[0009] In this application, the control element is set as a microswitch. The microswitch is a contact-type control element, meaning that it can be turned on by touching and pressing the microswitch with a finger, and when the finger is removed from the microswitch, the trigger end of the microswitch returns to its original position, and the microswitch is turned off. In this way, when the finger is holding the opening and closing part and when it is not holding the opening and closing part, two states can be formed by pressing or releasing the microswitch. The opening and closing of the microswitch in these two states can be used to determine whether the finger has been removed from the opening and closing part.

[0010] In one possible implementation, the control element includes an infrared temperature sensor positioned at the opening / closing element for finger gripping.

[0011] In this application, the control element can also be configured as a non-contact structure, such as an infrared temperature sensor, which uses the sensing of finger thermal radiation to determine whether the finger has detached from the detachment, making the control element's detection of finger information more accurate.

[0012] In one possible implementation, the control element includes a temperature sensing chip disposed at the position of the opening / closing element for finger gripping.

[0013] In this application, the control element can also be a temperature sensing chip, used to measure the temperature of the opening and closing element. It is understood that the temperature of the opening and closing element when the fingers hold the opening and closing element is higher than the temperature when the fingers leave the opening and closing element. No pressing is required, and the measurement is more convenient and faster.

[0014] In one possible implementation, the opening and closing assembly includes a housing, and the opening and closing element includes an opening and closing body and a gripping part. One end of the opening and closing body is rotatably disposed on the housing, and the other end is adapted to connect to the gripping part. The gripping part is adapted to be gripped by fingers, and a control element is disposed on the end face of the gripping part for contact with the fingers.

[0015] In this application, the opening and closing component is rotatably mounted on the housing via the opening and closing body, and the gripping part is used to install the control component. When the finger controls the opening and closing component, it grips the gripping part.

[0016] In one possible implementation, the end face of the grip portion that comes into contact with the fingers is a concave curved surface.

[0017] In this application, the end face of the grip is set as a concave surface, which better conforms to the curve of the finger surface and increases the comfort when the fingers are gripping.

[0018] In one possible implementation, the opening and closing assembly further includes a binding part connected to the opening and closing body and / or the gripping part, wherein the end faces of the binding part and the gripping part that are in contact with the fingers form an insertion space for finger insertion.

[0019] In this application, by setting a binding part, the fingers can be stabilized on the opening and closing parts, so that when the fingers hold the opening and closing parts, their position relative to the opening and closing parts is more stable, and they are less likely to deviate when controlling the opening and closing parts, thus ensuring control accuracy.

[0020] In one possible implementation, the opening and closing assembly includes two opening and closing parts, both of which are rotatably disposed on the housing. The axes of rotation of the two opening and closing parts are parallel, and an elastic element is connected between the two opening and closing parts. When the two opening and closing parts rotate, the elastic element can be stretched or compressed.

[0021] In this application, the two opening and closing parts generate operation information simultaneously, making the operation information more accurate. An elastic element is provided between the two opening and closing parts. When a finger squeezes the opening and closing parts to drive them to move towards each other, the elastic element generates an elastic force. When the finger removes the force on the opening and closing parts, the elastic force can force the two opening and closing parts to return to their original positions.

[0022] In one possible implementation, the end of the opening and closing body used for rotation is also provided with an engaging part, and when the two opening and closing parts are rotatably disposed in the housing, the engaging parts of the two opening and closing parts engage with each other.

[0023] In this application, the rotating positions of the two opening and closing parts can be engaged by the meshing part, thereby ensuring that the two opening and closing parts rotate synchronously and that the rotation amplitude of the two parts is consistent.

[0024] Secondly, embodiments of this application provide a surgical robot, including the opening and closing clamps mentioned above. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0026] Figure 1 A schematic diagram of the opening and closing clip provided in this application;

[0027] Figure 2 A cross-sectional view of the opening and closing clip provided in this application;

[0028] Figure 3 An exploded view of the opening and closing components provided in this application.

[0029] Explanation of reference numerals in the attached figures:

[0030] 10. Drive assembly; 11. Drive shaft; 12. Drive body; 13. Drive component; 14. Fixed end; 20. Control assembly; 21. Control board; 22. Electrical connector; 30. Opening and closing assembly; 31. Housing; 311. Receiving cavity; 312. Perforation; 32. Connecting part; 33. Opening and closing component; 331. Grip part; 3311. Grip end face; 332. Opening and closing body; 333. Binding part; 334. Engaging part; 34. Connecting frame; 341. Receiving groove; 342. Receiving groove; 343. Connecting shaft; 35. Elastic element; 40. Control component. Detailed Implementation

[0031] As described in the background section above, a physician control console controls the opening and closing of the surgical instruments' ends on a patient surgical platform to perform surgical procedures. Existing physician control consoles include a robotic arm and an opening / closing clamp connected to the robotic arm's end effector. The clamp includes an opening / closing element that can be opened and closed, which can be held to control the movement of the surgical instrument's end effector. The operation of the physician control platform mainly includes master hand operation, motion capture, and signal generation. Specifically, the physician sits at the control console, holding their fingers on the opening / closing element. The clamp integrates high-precision sensors (such as optical encoders, potentiometers, or torque sensors). When the physician performs a "pinching" or "opening" motion with their fingers on the opening / closing element, these sensors detect changes in finger position and posture in real time and at high speed. The sensor data is immediately converted into digital signals, which include the direction, speed, and amplitude of the physician's hand movements. These command signals are processed and transmitted from the physician control console to the surgical instrument's end effector at the operating table via a high-speed data cable or wireless network.

[0032] During surgery, surgeons sometimes need to release the opening mechanism, for example, due to hand fatigue from holding it for a long time. However, as the surgeon removes their fingers from the opening mechanism, they may accidentally touch it, causing it to move and potentially injuring the end of the surgical instrument. This accidental movement of the instrument's end can easily pose a medical risk and threaten the patient's health.

[0033] To address the aforementioned issues, this application provides an opening and closing clip that improves upon traditional opening and closing clips. The improved clip can sense whether a finger has detached. When a finger leaves the clip, the connection between the clip and the end of the surgical instrument is broken, and the clip's movement will not control the movement of the instrument's end. Even if a finger accidentally touches the clip, it will not cause movement of the instrument's end, thus avoiding medical risks.

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] See Figure 1 and Figure 2 As shown, this application provides an opening and closing clamp and a surgical robot using the opening and closing clamp. The opening and closing clamp of this application includes an opening and closing component 30, a control component 20, and a control element 40. The opening and closing component 30 is the operating structure of the opening and closing clamp. The opening and closing component 30 is adapted to be linked with the end effector of a surgical instrument. The opening and closing component 30 is used to capture the movement of a finger. The opening and closing component 30 includes an opening and closing element 33, which is used for gripping by a finger. The opening and closing element 33 is movably set. When a finger grips the opening and closing element 33, the movement of the opening and closing element 33 can be controlled by the action of "gripping" or "opening". By capturing the movement of the opening and closing element 33, the movement of the end effector of the surgical instrument can be controlled.

[0036] As an intermediate connection structure, the control component 20 can transmit the activity information of the opening and closing component 33 to the end of the surgical instrument. In other words, the control component 20 can be used to connect or disconnect the linkage between the opening and closing component 30 and the end of the surgical instrument.

[0037] A control element 40 is disposed on the opening / closing component 33 and is signal-connected to the control assembly 20. The control element 40 is adapted to detect whether a finger is in contact with the opening / closing component 33. It can be understood that the control element 40 detects two states of the finger: when the finger is in contact with the opening / closing component 33 and when the finger is removed from the opening / closing component 33. Based on these two states, the control element 40 can generate two different signals. The control element 40 can cooperate with the control assembly 20, transmitting the detected signal to the control assembly 20. The control assembly 20 then controls the connection and disconnection between the opening / closing component 30 and the end of the surgical instrument based on the signal transmitted by the control element 40. For example, when a finger grasps the opening / closing component 33, the control element 40 transmits detection information to the control assembly 20, which ensures the linkage between the opening / closing component 30 and the end of the surgical instrument based on the detection information. When the finger leaves the opening / closing component 33, the control element 40 transmits detection information to the control assembly 20, which then disconnects the linkage between the opening / closing component 30 and the end of the surgical instrument based on the detection information.

[0038] This application incorporates a control element 40 that can detect in real time whether a finger is gripping or detaching from the opening / closing component 33. The control element 40 generates two different detection signals depending on whether the finger is gripping or detaching from the component 33. This detection information is transmitted to a control component 20. The control component 20 maintains the connection between the opening / closing component 30 and the surgical instrument tip based on the finger gripping the component 33, and disconnects the connection based on the finger detaching from the component 33. In this way, when the doctor's finger leaves the opening / closing component 33, the connection between the component 30 and the surgical instrument tip can be broken through the cooperation of the control element 40 and the control component 20. Even if the finger accidentally touches the opening / closing component 33 during the process from the moment the finger leaves its contact surface until it is completely detached, the surgical instrument tip will not move, ensuring safety during the finger detachment process and avoiding medical risks.

[0039] In some feasible implementations, the control element 40 of this application is divided into contact type and non-contact type. The contact type control element 40 requires the finger to contact the control end of the control element 40 when holding the opening / closing component 33, thus ensuring the connection between the opening / closing component 30 and the end of the surgical instrument. When the finger leaves the opening / closing component 33, the finger and the control element 40 lose contact. At this time, the control element 40 detects that the finger has detached from the opening / closing component 33 and transmits the detection information to the control component 20, which then disconnects the transmission of operation information of the opening / closing component 33.

[0040] In this application, the contact-type control component 40 includes a microswitch embedded in the opening / closing component 33. The trigger end of the microswitch protrudes from the end face of the opening / closing component 33 for contact with the finger. When the finger grips the opening / closing component 33, the finger presses the trigger end of the microswitch, causing the microswitch to open. At this time, the opening / closing component 33 can control the movement of the surgical instrument tip. When the finger leaves the opening / closing component 33, the trigger end of the microswitch springs back, and the microswitch closes, thus cutting off the linkage between the opening / closing component 30 and the surgical instrument tip.

[0041] It should be noted that the contact-type control element 40 may also include a capacitive touch sensor, which can determine whether a finger is in contact with the opening / closing element 33 by detecting changes in capacitance. When a finger contacts the opening / closing element 33, the finger also contacts the capacitive touch sensor; when the finger leaves the opening / closing element 33, the finger also leaves the capacitive touch sensor. The capacitance value detected by the capacitive touch sensor is different in the two cases. By observing the change in capacitance value, it can be determined whether the finger has left the opening / closing element 33.

[0042] In some embodiments, the non-contact control component 40 includes an infrared temperature sensor, which is a non-contact temperature measurement device based on the principle of thermal radiation from an object. It receives infrared light in the 0.75-100μm band, converts thermal radiation energy into an electrical signal using the thermopile effect, and achieves accurate temperature measurement by combining an emissivity compensation algorithm. The infrared temperature sensor is embedded in the opening / closing component 33 at the finger gripping position. The sensing end of the infrared temperature sensor is flush with the finger-contacting end face of the opening / closing component 33, or it is directly embedded inside the opening / closing component 33. When a finger contacts the opening / closing component 33, the finger covers the infrared temperature sensor. At this time, the infrared temperature sensor can detect the finger's thermal radiation, indicating that the finger is gripping the opening / closing component 33. The control component 20 ensures that the operation signal of the opening / closing component 30 can be transmitted to the end of the surgical instrument. When the finger leaves the opening / closing component 33, the amount of thermal radiation detected by the infrared temperature sensor decreases, indicating that the finger has left the opening / closing component 33. The control component 20 then disconnects the transmission of the operation signal of the opening / closing component 30.

[0043] It should be noted that the non-contact control element 40 can also be a temperature sensing chip. This temperature sensing chip includes, but is not limited to, a thermistor. Unlike infrared temperature sensors that detect heat radiation from the finger, the temperature sensing chip can directly detect temperature. When a finger is held in the opening / closing element 33, the temperature sensing chip detects the finger's temperature. When the finger leaves the opening / closing element 33, the temperature detected by the temperature sensing chip decreases. Therefore, the temperature sensing chip can be used to determine whether the finger has left the opening / closing element 33 based on the temperature level it transmits. It can be understood that the temperature sensing chip is embedded in the opening / closing element 33 at the position where the finger holds the finger, and the end face of the temperature sensing chip can be flush with the end face of the opening / closing element 33 used for contact with the finger, or the temperature sensing chip can be directly embedded inside the opening / closing element 33.

[0044] The contact-type control element 40 allows for information changes to be achieved through mechanical pressing, enabling the control component 20 to distinguish whether to transmit operation information to the opening / closing component 30. The non-contact control element 40 eliminates the need for mechanical pressing; it detects whether a finger has detached from the opening / closing component 33 based on the finger's temperature characteristics.

[0045] See Figure 1 and Figure 2 As shown, in some embodiments, the control component 20 includes a control board 21 and an electrical connector 22. The control board 21 is the starting point and key hub of the signal transmission link; it is responsible for processing and forwarding signals but is not directly connected to the end of the surgical instrument. The core function of the control board 21 is similar to a "local collection and preprocessing structure." As mentioned above, the sensors inside the opening and closing component 30 generate raw electrical signals (usually analog signals), which are first connected to the control board 21. The control board 21 can act as a wiring center, bringing together all the dispersed sensor signals. The control board 21 integrates analog-to-digital converters and other signal conditioning chips, responsible for filtering (removing noise), amplifying, and then converting these collected analog signals into digital signals (0s and 1s). This process is equivalent to translating the raw, coarse "sensory information" into a "standard language" that a computer can understand. The control board 21 also has processing elements such as a microprocessor, which can perform some preliminary calculations that require a fast response, such as converting sensor data into meaningful spatial coordinates to ensure that the data is accurate before leaving the operator's hand. The control board 21 packages all the data from the fingers, wrists, and arms into one or more standard format data streams. The control board 21 is connected to the main computer of the main console via cables and connectors to realize data transmission.

[0046] See Figure 1 and Figure 2 As shown, in some possible implementations, the opening and closing assembly 30 includes a housing 31, which serves as the overall structure of the opening and closing assembly 30. The opening and closing member 33 can be directly or indirectly connected to the housing 31. The housing 31 can also be directly or indirectly connected to the robotic arm of the doctor's control platform, with the opening and closing clamp connected to the robotic arm.

[0047] Specifically, the opening / closing component 33 includes an opening / closing body 332 and a gripping part 331. One end of the opening / closing body 332 is rotatably mounted on the housing 31, and the other end is adapted to connect to the gripping part 331, which is suitable for finger gripping. A control component 40 is disposed on the end face of the gripping part 331 for contact with the fingers. The opening / closing body 332 of this application can be made of a metal material or a non-metal material with high bending strength. For example, when the opening / closing body 332 is made of a metal material, alloy steel or stainless steel can be used; when the opening / closing body 332 is made of a non-metal material, ceramic materials or composite materials such as carbon fiber can be used. No special limitation is made here, as long as the strength of the opening / closing body 332 is guaranteed.

[0048] The gripping part 331 of this application is suitable for finger gripping. The gripping part 331 is configured to have a gripping end surface 3311 that fits with the finger. The area of ​​the gripping end surface 3311 is larger than the area of ​​the finger to ensure that the squeezing area between the gripping part 331 and the finger is large enough, which can avoid the finger from being squeezed and also ensure the stability when the finger is gripping.

[0049] It should be noted that the gripping end face 3311 can be configured in various shapes, such as circular or square, depending on the actual processing requirements. Furthermore, the gripping end face 3311 can be a flat surface, a convex surface, or a concave surface. In this application, the gripping end face 3311 is a concave curved surface, which allows it to conform to the convex curved surface of the fingers, ensuring comfort during gripping.

[0050] It is understandable that the gripping part 331 and the opening and closing body 332 can be integrally formed or separately set. When the gripping part 331 and the opening and closing body 332 are separately set, the gripping part 331 can be detachably connected to the opening and closing body 332 through a snap-fit ​​structure, fastening structure or screws.

[0051] In some embodiments, to ensure the stability of the grip between the finger and the opening / closing member 33 and to ensure the accuracy when operating the opening / closing member 33, the opening / closing assembly 30 of this application further includes a binding part 333. The binding part 333 is used to cooperate with the gripping part 331 to stabilize the position of the finger relative to the opening / closing member 33. Specifically, the binding part 333 is a strip or band structure. The binding part 333 can be glued to the opening / closing body 332, or fixed to the opening / closing body 332 by a screw or other structure. Alternatively, the binding part 333 can also be connected to the gripping part 331, or part of the binding part 333 can be connected to the opening / closing body 332 and another part can be connected to the gripping part 331. This application uses the example of the binding part 333 being connected between the opening / closing body 332 and the gripping part 331 for illustration. When the binding part 333 is connected between the opening / closing body 332 and the gripping part 331, the binding part 333 is bent, and the bent binding part 333 and the gripping end face 3311 of the gripping part 331 form an insertion space for finger insertion. The finger can be directly inserted into this insertion space so that the binding part 333 can be used to fix the finger to the opening / closing member 33.

[0052] It should be noted that the binding part 333 of this application can be made of elastic material or non-elastic material. The insertion space between the binding part 333 and the gripping end face 3311 can be slightly smaller than the size of the finger, so as to ensure that when the finger is inserted into the insertion space, the binding part 333 is tightly bound to the finger.

[0053] When the binding part 333 is made of elastic material, the insertion space can be designed to be slightly smaller. Because the binding part 333 of elastic material can be stretched, the insertion space can expand as the binding part 333 is stretched and can also recover as the binding part 333 contracts. Therefore, when the binding part 333 is made of elastic material, it can be adapted to fingers of different thicknesses.

[0054] See Figures 1 to 3 As shown, in some embodiments, a connecting frame 34 is fixedly connected inside the housing 31, and the opening / closing member 33 is rotatably connected to the connecting frame 34. Specifically, the end of the opening / closing body 332 away from the gripping part 331 can be rotatably connected to the connecting frame 34. A receiving cavity 311 is provided inside the housing 31, the connecting frame 34 is located in the receiving cavity 311, and the connecting frame 34 is fixedly connected to the housing 31 by screws. A receiving groove 342 is provided on the connecting frame 34 along the rotation axis perpendicular to the opening / closing member 33, and the receiving groove 342 passes through the connecting frame 34. A connecting shaft 343 is also provided on the connecting frame 34, the connecting shaft 343 is located in the receiving groove 342, and the end of the opening / closing body 332 away from the gripping part 331 is rotatably connected to the connecting shaft 343.

[0055] It should be noted that the housing 31 is provided with a through hole 312, which is connected to the receiving cavity 311 and the receiving groove 342. The end of the opening and closing body 332 away from the gripping part 331 can extend into the receiving groove 342 through the through hole 312 and be rotatably connected to the connecting shaft 343 in the receiving groove 342.

[0056] In some embodiments, the opening and closing assembly 30 includes two opening and closing members 33 with identical structures. Both opening and closing members 33 are rotatably connected to the connecting frame 34, and their rotation axes are parallel, allowing them to rotate relative to or away from each other. An elastic member 35 is connected between the two opening and closing members 33, which can stretch or compress the elastic member 35 when the two opening and closing members 33 rotate. In the initial state, when the fingers are not holding the opening and closing members 33, the elastic member 35 is neither stretched nor contracted. When the two opening and closing members 33 are held by two fingers respectively, and the fingers drive the two opening and closing members 33 to rotate relative to each other, the two opening and closing members 33 squeeze the elastic member 35, causing the elastic member 35 to compress and deform. At this time, the elastic member 35 provides elastic force to the two opening and closing members 33. This elastic force forms a feedback force to the user's fingers, so that the user can get clear force feedback when applying small or large forces to the two opening and closing members 33, thereby allowing the user to more accurately control the two opening and closing members 33 to move towards each other.

[0057] It should be noted that the two opening and closing parts 33 are located on opposite sides of the connecting frame 34. When the elastic element 35 is connected to the two opening and closing parts 33, it will inevitably pass through the connecting frame 34. Therefore, a receiving groove 341 is also provided on the connecting frame 34. The receiving groove 341 is provided through the connecting frame 34, and the elastic element 35 can be accommodated in the receiving groove 341 so as to pass through the connecting frame 34 and connect between the two opening and closing parts 33.

[0058] In some embodiments, the rotating end of the opening and closing body 332 is further provided with a meshing part 334, which is a gear structure. When the two opening and closing members 33 are rotatably disposed on the housing 31, the meshing parts 334 of the two opening and closing members 33 mesh together. By providing a meshing part 334 at the end of the opening and closing body 332, the rotating ends of the two opening and closing bodies 332 can be meshed together, thus ensuring that the rotation amplitude of the two opening and closing members 33 is consistent and the rotation is synchronized.

[0059] In some embodiments, the opening and closing clamp further includes a drive assembly 10, which includes a drive body 12 and a fixed end 14. The fixed end 14 is connected to one end of the drive body 12 and is used to connect to the robotic arm of the doctor's console. A drive element 13 is provided inside the drive body 12, which can be a drive motor. The opening and closing assembly 30 also includes a connecting part 32, which is connected to one end of the housing 31 and rotatably connected to the drive body 12. A drive shaft 11 is provided inside the drive body 12 and is driveably connected to the drive element 13. The drive shaft 11 is rotatably connected to the drive body 12, and the drive element 13 can drive the drive shaft 11 to rotate. The drive shaft 11 is fixedly connected to the connecting part 32, so that the drive element 13 can drive the connecting part 32 to rotate through the drive shaft 11, thereby driving the opening and closing assembly 30 to rotate.

[0060] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A type of opening and closing clip, characterized in that, include: An opening and closing assembly is adapted to be linked with the end of a surgical instrument. The opening and closing assembly includes an opening and closing element for gripping with fingers, so as to control the movement of the end of the surgical instrument using the opening and closing assembly. A control component, adapted to connect or disconnect the linkage between the opening / closing component and the end of the surgical instrument; as well as A control element is disposed on the opening and closing component and is signal-connected to the control assembly. The control element is adapted to detect whether a finger is in contact with the opening and closing component. When the finger leaves the opening and closing component, the control element transmits the detection information to the control assembly. The control assembly disconnects the linkage between the opening and closing component and the end of the surgical instrument based on the detection information.

2. The opening and closing clamp according to claim 1, characterized in that, The control component includes a micro switch embedded in the opening and closing component. The trigger end of the micro switch protrudes from the end face of the opening and closing component for contact with the finger. When the finger leaves the opening and closing component, the micro switch closes, causing the control component to cut off the linkage between the opening and closing component and the end of the surgical instrument.

3. The opening and closing clamp according to claim 1, characterized in that, The control component includes an infrared temperature sensor, which is positioned at the opening / closing component for finger gripping.

4. The opening and closing clamp according to claim 1, characterized in that, The control component includes a temperature sensing chip, which is disposed at the position of the opening and closing component for finger gripping.

5. The opening and closing clamp according to any one of claims 1-4, characterized in that, The opening and closing assembly includes a housing, and the opening and closing component includes an opening and closing body and a gripping part. One end of the opening and closing body is rotatably disposed on the housing, and the other end is adapted to connect to the gripping part. The gripping part is adapted to be gripped by fingers, and the control component is disposed on the end face of the gripping part for contact with fingers.

6. The opening and closing clamp according to claim 5, characterized in that, The end face of the grip portion that comes into contact with the fingers is a concave curved surface.

7. The opening and closing clamp according to claim 5, characterized in that, The opening and closing assembly further includes a binding part, which is connected to the opening and closing body and / or the gripping part. The end faces of the binding part and the gripping part that are in contact with the fingers form an insertion space for finger insertion.

8. The opening and closing clamp according to claim 5, characterized in that, The opening and closing assembly includes two opening and closing parts, both of which are rotatably mounted on the housing. The rotation axes of the two opening and closing parts are parallel, and an elastic element is connected between the two opening and closing parts. When the two opening and closing parts rotate, the elastic element can be stretched or compressed.

9. The opening and closing clamp according to claim 8, characterized in that, The opening and closing body is provided with a meshing part at one end for rotation. When the two opening and closing parts are rotatably disposed on the housing, the meshing parts of the two opening and closing parts mesh with each other.

10. A surgical robot, characterized in that, Includes the opening and closing clamp as described in any one of claims 1-9.

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