Instrument grippers, robotic arms, and surgical robots

Abstract

The present invention discloses an instrument clamping device, a mechanical arm and a surgical robot, wherein the instrument clamping device comprises: a base; two clamping members arranged opposite to each other, comprising a clamping portion with a free end, wherein the clamping portion is used to clamp the instrument; an operating assembly, comprising a first rotating portion with a first end and a second end arranged opposite to each other, and an operating portion connected to the first rotating portion, wherein the first end is pivotally connected to the base, and the first rotating portion is used for the second end to resist the clamping portion to open outward when the operating portion rotates outward, thereby driving the free ends of the two clamping portions to move away from each other, thereby converting the two clamping portions from a clamping state to an open state. The present invention can enable the instrument to be quickly disassembled and assembled, thereby improving the efficiency of disassembly and installation of the instrument, thereby improving the efficiency of surgical operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an instrument clamping device, a mechanical arm and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] Surgical robots involve various instrument structures, which need to be able to be quickly installed and removed during the operation. For example, a poke card is a common tool used by surgical robots in abdominal or thoracic surgery. The function of the poke card is to guide the surgical instruments to the surgical area in the abdominal or thoracic cavity during the operation. Before the operation, the poke card needs to be quickly installed on the operating arm of the surgical robot, and after the operation is over or when the poke card needs to be replaced, the poke card must be able to be easily and quickly removed from the operating arm.

[0004] The existing stamping card is generally fixed to the mechanical arm by screws, which is time-consuming when installing and removing the stamping card. Summary of the invention

[0005] The main purpose of the present invention is to provide an instrument clamping device, a robotic arm and a surgical robot, aiming to enable the instruments of the surgical robot to be quickly disassembled and assembled, so as to improve the installation and disassembly efficiency of the instruments.

[0006] To achieve the above object, the present invention provides an instrument clamping device, comprising:

[0007] Pedestal;

[0008] Two clamping members arranged opposite to each other, including a clamping portion having a free end, wherein the clamping portion is used to clamp the instrument;

[0009] The operating component includes a first rotating part having a first end and a second end arranged opposite to each other, and an operating part connected to the second end, wherein the first end is pivotally connected to the base, and the first rotating part is used for causing the second end to resist the clamping part and open outward when the operating part rotates outward, thereby driving the free ends of the two clamping parts to move away from each other, thereby converting the two clamping parts from a clamping state to an open state.

[0010] Preferably, the clamping member further comprises a rotationally fitting portion connected to the clamping portion, the rotationally fitting portion being concavely provided with a receiving groove matching the shape of the first rotating portion so as to receive the first rotating portion; the receiving groove comprises an arc-shaped wall for receiving the second end and an extending wall extending from the arc-shaped wall toward the clamping portion;

[0011] The first rotating portion is used to rotate along the first direction when the operating portion rotates outward so that the second end abuts against the extension wall and drives the free ends of the two clamping portions away from each other, thereby converting the two clamping portions from a clamping state to an open state to release the instrument; the first rotating portion is also used to rotate the operating portion inward so that the second end abuts against the arc-shaped wall and drives the free ends of the two clamping portions to approach each other, thereby converting the two clamping portions from an open state to a clamping state to clamp the instrument.

[0012] Preferably, a positioning groove matching the shape of the operating part is recessed on the base, and the operating part is used to transform the two clamping parts from an open state to a clamping state to clamp the instrument when it is rotated inward and rotated into the positioning groove; the operating part is also used to transform the two clamping parts from a clamping state to an open state to release the instrument when it is rotated outward and moved out of the positioning groove.

[0013] Preferably, the positioning groove has a contact wall, and the operating part is used to keep the clamping part in a clamping state by interfering with the contact wall when it is rotated inwardly into the positioning groove; the operating part is also used to convert the clamping part from a clamping state to an open state by separating from the contact wall when it is rotated outwardly to outside the positioning groove.

[0014] Preferably, the abutment wall is an arc with the first end as the center.

[0015] Preferably, the positioning groove further comprises a positioning wall connected to the abutment wall, and the operating portion is further configured to rotate inwardly into the positioning groove and stop rotating when contacting the positioning wall, thereby converting the two clamping portions from an open state to a clamping state to clamp the instrument.

[0016] Preferably, the base comprises a base body and at least one wall body extending from the base body toward the clamping portion, and the cross-sectional shape of the positioning wall and the abutting wall on a plane parallel to the wall body is V-shaped.

[0017] Preferably, the rotating fitting portion has a pivot end pivotally connected to the base, and the clamping member also includes a second rotating portion connected to the rotating fitting portion, the second rotating portion includes a mounting end and a connecting end arranged opposite to each other, the mounting end is connected to the pivot end, and the two connecting ends of the second rotating portions are movably connected.

[0018] Preferably, the clamping member further comprises an elastic portion connected to the second rotating portion, the elastic portion being used to elastically deform when the two clamping portions are in an open state, and to drive the two clamping portions to reset the two clamping portions to a clamping state during elastic recovery.

[0019] Preferably, the elastic portion is connected to the connecting end.

[0020] Preferably, a rotating shaft is provided on one of the second rotating parts, and a movable groove is correspondingly provided on the other second rotating part, and the rotating shaft is movably connected in the movable groove.

[0021] Preferably, the instrument clamping device further comprises a connecting body extending from the base in a direction away from the clamping portion, and the elastic portion comprises an elastic body having one end connected to the second rotating portion and the other end connected to the connecting body.

[0022] Preferably, one end of the elastic body is fixed on the rotating shaft.

[0023] Preferably, the clamping member further comprises a connecting member having one end connected to the second rotating portion and the other end connected to the elastic body.

[0024] Preferably, one end of the connecting member is fixed on the rotating shaft.

[0025] Preferably, the elastic part further includes a connecting rod connected to the other end of the elastic body and connected to the connecting body.

[0026] Preferably, the connecting body includes an extension groove arranged on a side away from the clamping portion for accommodating the connecting rod, and a channel extending from the extension groove toward the clamping portion and connected to the base, and the channel is used to accommodate the elastic body.

[0027] Preferably, the clamping member further comprises a rotationally fitting portion connected to the clamping portion, and the rotationally fitting portion comprises an abutting wall abutting against the first rotating portion;

[0028] The first rotating portion is used to rotate along the first direction when the operating portion rotates outwards so that the second end abuts against the clamping portion and drives the free ends of the two clamping portions away from each other, thereby converting the two clamping portions from a clamping state to an open state.

[0029] Preferably, the instrument clamping device further comprises an elastic element connecting the two clamping members, wherein the elastic element is used to elastically deform when the two clamping parts are in an open state, and to reset the two clamping parts to a clamping state during elastic recovery.

[0030] Preferably, a through groove is formed in the rotational fitting portion, and the through groove is used for allowing the first rotational portion to pass through, so that the first rotational portion and the operating portion are respectively located on two sides of the rotational fitting portion.

[0031] Preferably, the instrument clamping device is a poking card clamping device.

[0032] To achieve the above-mentioned object, the present invention further provides a robotic arm, which comprises the instrument clamping device as described above and an instrument, wherein the instrument clamping device is used to clamp the instrument.

[0033] To achieve the above objective, the present invention further provides a surgical robot, which comprises the robotic arm as described above.

[0034] The instrument clamping device, robotic arm and surgical robot provided by the present invention are provided with a clamping part having a free end and used to clamp the instrument, and a first rotating part having a first end and a second end arranged opposite to each other. By pivoting the first end to the base, when the operating part is rotated outward, the second end abuts against the clamping part to open outward and drive the free ends of the two clamping parts away from each other, thereby converting the two clamping parts from a clamping state to an open state, thereby conveniently and quickly disassembling and installing the instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0036] Figure 2 for Figure 1 A schematic structural diagram of an embodiment of an instrument clamping assembly;

[0037] Figure 3 for Figure 2 A schematic structural diagram of the clamping portion of the instrument clamping device in a clamping state;

[0038] Figure 4 for Figure 2 A schematic diagram of the structure of the clamping part of the instrument clamping device in the open state;

[0039] Figure 5 for Figure 2 A structural diagram of the middle base from one perspective;

[0040] Figure 6 for Figure 2 A structural diagram of the middle base from another perspective;

[0041] Figure 7 for Figure 2 A schematic structural diagram of the first embodiment of the middle clamping member when the clamping portion is in a clamping state;

[0042] Figure 8 for Figure 2 A schematic structural diagram of the first embodiment of the middle clamping member when the clamping portion is in an open state;

[0043] Fig. 9 for Figure 2 A schematic structural diagram of the second embodiment of the middle clamping member when the clamping portion is in a clamping state;

[0044] Fig.10 for Figure 2 A schematic structural diagram of the second embodiment of the middle clamping member when the clamping portion is in an open state.

[0045] Description of Figure Numbers:

[0046]

[0047]

[0048] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] like Figure 1 As shown, the present invention provides a surgical robot 1000, and the surgical robot 1000 includes a main operating table 200 and a slave operating device 300. The main operating table 200 is used to send control commands to the slave operating device 300 according to the doctor's operation to control the slave operating device 300; the slave operating device 300 is used to respond to the control commands sent by the main operating table 200 and perform corresponding surgical operations. The slave operating device 300 includes a robotic arm 310, a power mechanism (not shown in the figure) provided on the robotic arm 310, and an operating arm (not shown in the figure). The operating arm is used to extend into the body under the driving action of the power mechanism to perform corresponding surgical operations. The surgical robot 1000 involves various instruments 400, and these instruments 400 need to be able to be quickly installed and disassembled during the operation. As Figure 1 As shown, the end of the mechanical arm 310 is also provided with an instrument clamping device 100 (such as a stamping card clamping device) so that the stamping card can be quickly installed on the mechanical arm 310 before surgery, and the stamping card can be easily and quickly removed from the mechanical arm 310 after the surgery or when the stamping card needs to be replaced. Figure 2 As shown, the instrument clamping device 100 and the instrument 400 form an instrument clamping assembly 500 .

[0054] The following text takes the punch card clamping device as an example for explanation. It is understandable that the instrument clamping device 100 is not limited to the punch card clamping device, but can also be a clamping device corresponding to other surgical accessory instruments.

[0055] like Figure 3 and Figure 4 As shown, the instrument clamping device 100 comprises: a base 1, two clamping members 2 arranged opposite to each other and having free ends 20, an operating assembly 3, and a connecting body 4 connected to the base 1. The base 1 is used to be fixed on the mechanical arm 310; the operating assembly 3 is pivotally connected to the base 1 and is rotatably connected to the two clamping members 2. The clamping members 2 can be pivotally connected to the base 1, or there can be no pivotal relationship between the clamping members 2 and the base 1.

[0056] Specifically, Figure 5 As shown, the base 1 includes a base body 11, at least one wall extending from the base body 11 toward the free end 20, and a fixing member 14 extending from the wall in a direction parallel to the base body 11. In this embodiment, the wall body includes a first wall body 12 and a second wall body 13 that are arranged opposite to each other, and the fixing member 14 connects the first wall body 12 and the second wall body 13 to improve the overall strength of the base body 11.

[0057] like Figure 5 and Figure 6 As shown, the connecting body 4 is formed by the base 1 extending in a direction away from the free end 20, and the connecting body 4 includes an extension groove 41 arranged on a side away from the free end 20, and a channel 42 extending from the extension groove 41 to the free end 20 and connecting to the base 1. The extension groove 41 can be parallel to the direction of the fixing member 14, or can be perpendicular to the direction of the fixing member 14. The channel 42 extends from the extension groove 41 to the base 1 and connects to the base 1. The channel 42 can be perpendicular to the extension groove 41 and the direction of the fixing member 14.

[0058] like Figure 7 As shown, the operating assembly 3 includes a first rotating portion 31 having a first end 311 and a second end 312 disposed opposite to each other, and an operating portion 32 connected to the first rotating portion 31. Figure 4 As shown, the base 1 is provided with a positioning groove 18 matching the shape of the operating part 32 to accommodate the operating part 32. The positioning groove 18 has a contact wall 181 and a positioning wall 182 connected to the contact wall 181. In addition, the operating part 32 has a contact wall 320 that is interference-fitted with the contact wall 181, an inner side wall 321 and an outer side wall 322 that extend from both ends of the contact wall 320 away from the free end 20, and the ends of the inner side wall 321 and the outer side wall 322 are connected. Optionally, the contact wall 181 is an arc with the first end 311 as the center. The contact wall 320, the inner side wall 321 and the outer side wall 322 together form a shape that is approximately triangular. In order to facilitate the operator to operate the operating part 32, the outer side wall 322 can further be an arc shape. Optionally, the cross-sectional shape of the positioning wall 182 and the contact wall 181 on a plane parallel to the wall body is V-shaped. It is understandable that the shape formed by the positioning wall 182 and the abutting wall 181 is not limited to a V-shape, and may also be an L-shape or other shapes.

[0059] Take the first rotating part 31 on the left side as an example for explanation. Figure 7 As shown, the first rotating portion 31 can rotate along the first direction a. Figure 8As shown, the first rotating part 31 can also rotate in a second direction b opposite to the first direction a. It can be understood that the first rotating part on the right side is in a mirror image relationship with the first rotating part on the left side. Therefore, the first direction a corresponding to the first rotating part on the right side is the second direction b of the first rotating part on the left side, and the second direction b corresponding to the first rotating part on the right side is the first direction a of the first rotating part on the left side. For the convenience of description, the first rotating part on the left side is used as an example for explanation throughout the present invention.

[0060] Furthermore, the first end 311 is pivotally connected to the base 1, and the first rotating portion 31 is used to rotate along the first direction a when the operating portion 32 rotates outward so that the second end 312 abuts against the rotating matching portion 22 to convert the two clamping members 2 from the clamping state to the open state.

[0061] When the operating portion 32 rotates inwardly into the positioning groove 18, the inner side wall 321 stops rotating when it contacts the positioning wall 182, so that the two clamping members 2 are converted from the open state to the clamping state to clamp the instrument 400. When the operating portion 32 rotates outwardly to the outside of the positioning groove 18, the clamping members 2 are converted from the clamping state to the open state by separating from the abutting wall 181, so that the instrument 400 is released.

[0062] like Figure 7 As shown, the clamping member 2 includes a clamping portion 21 having the free end 20 and used to clamp the instrument 400, a rotationally fitting portion 22 connected to the clamping portion 21, and a second rotating portion 23 connected to the rotationally fitting portion 22. The rotationally fitting portion 22 has a pivot end 222 pivotally connected to the base 1, and the second rotating portion 23 includes a mounting end 231 and a connecting end 232 arranged opposite to each other, and the mounting end 231 is connected to the pivot end 222. The connecting ends 232 of the two second rotating portions 23 are movably connected, wherein a rotating shaft 233 is provided on one of the second rotating portions 23, and a movable groove 234 is correspondingly provided on the other second rotating portion 23 to provide space for the rotating shaft 233 to move. In addition, as Figure 3 and Figure 4 As shown, a through slot 221 is provided in the rotational matching portion 22, and the through slot 221 is used for the first rotational portion 31 to pass through, so that the first rotational portion 31 and the operating portion 32 are respectively located on both sides of the rotational matching portion 22. It is understandable that a through slot 221 may also be provided in the first rotational portion 31 for the rotational matching portion 22 to pass through. The specific configuration may be reasonable according to actual needs.

[0063] The rotational engagement portion 22 may be in two different forms, as follows:

[0064] In the first embodiment, if Figure 7 As shown, the rotating matching portion 22 has a top wall 228 that abuts against the first rotating portion 31, and the instrument clamping device may also include an elastic element 5 connecting the two clamping members 2. When the operating portion 32 rotates outward, the first rotating portion 31 rotates along the first direction a, so that the second end 312 abuts against the top wall 228 and drives the free ends 20 of the two clamping portions 21 away from each other, so that the two clamping portions 21 are converted from the clamping state to the open state. Figure 8 As shown, the elastic element 5 is elastically deformed when the two clamping parts 21 are in the open state. When the operator releases the operating part 32, the elastic element 5 resets the two clamping parts 21 due to elastic recovery, and drives the first rotating part 31 to rotate along the second direction b, so that the two clamping parts 21 are in the clamping state to clamp the instrument 400. Of course, in other cases, when the operating part 32 rotates inward, the first rotating part 31 rotates along the second direction b, driving the free ends 20 of the two clamping parts 21 to approach each other, so that the two clamping parts 21 are converted from the open state to the clamping state to clamp the instrument 400. That is, the operator can first hold the two operating parts 32 to reset the two operating parts 32, and then reset the two clamping parts 21 under the elastic recovery action of the elastic element 5.

[0065] It is understandable that the elastic element 5 can be connected to the two clamping parts 21, the two rotational matching parts 22, or the two second rotational parts 23. In addition, one end of the elastic element 5 can be fixed to the base 1, and the other end can be fixed to a clamping member 2 away from the base 1. The position of the elastic element 5 can be reasonably set according to actual needs, and is not specifically limited here.

[0066] In the second embodiment, if Fig. 9 As shown, the rotational matching portion 22 is provided with a receiving groove 223 whose shape matches that of the first rotating portion 31 to receive the first rotating portion 31. Fig.10 As shown, the receiving groove 223 has an arc-shaped wall 224 for receiving the second end 312 and an extension wall 225 extending from the arc-shaped wall 224 toward the clamping portion 21. The clamping member 2 also includes an elastic portion 24 connected to the second rotating portion 23, and the elastic portion 24 is used to elastically deform when the two clamping portions 21 are in an open state, and to reset the two clamping portions 21 to a clamping state when elastic recovery occurs, so as to clamp the instrument 400. Specifically, the elastic portion 24 can be connected to the connecting end 232. Further, as Fig. 9As shown, the elastic part 24 includes a connecting piece 241 connected to the rotating shaft 233, an elastic body 242 connected to the connecting piece 241, and a connecting rod 243 connected to the elastic body 242. The connecting piece 241 is a sheet-like structure, and a through hole 246 is provided on the connecting piece 241. One end of the elastic body 242 is fixed in the tube through hole, and the other end is fixed on the connecting rod 243. The connecting rod 243 is accommodated in the extension groove 41, and the elastic body 242 is accommodated in the channel 42.

[0067] It is understandable that, in other embodiments, the connecting member 241 is not limited to being connected to the rotating shaft 233, and may also be connected to other structures of the second rotating portion 23. The connecting body 4 may not be provided with the extending groove 41, and the connecting rod 243 may be provided on the side of the connecting body 4 away from the clamping portion 21, and abut against the connecting body 4 on the outside of the connecting body 4. The elastic portion 24 may not be provided with the connecting member 241, and the elastic body 242 may be directly connected to the second rotating portion 23. Optionally, one end of the elastic body 242 is fixed to the rotating shaft 233, and the other end is connected to the connecting body 4. Of course, the connecting rod 243 may not be provided, and the elastic body 242 may be directly fixed in the connecting body 4.

[0068] like Fig. 9 and Fig.10 As shown, when the operating portion 32 rotates outward, the first rotating portion 31 rotates along the first direction a, so that the second end 312 contacts the force-bearing area A of the extension wall 225 and the rotating matching portion 22 rotates accordingly, thereby driving the free ends 20 of the two clamping portions 21 to move away from each other, and then the two clamping portions 21 are converted from the clamping state to the open state to release the instrument 400; when the operator releases the operating portion 32, the elastic body 242 drives the rotating shaft 233 to move in the direction of the connecting rod 243 through the connecting member 241 due to elastic recovery, so that the two clamping portions 21 are reset, and the first rotating portion 31 is driven to rotate along the second direction b, so that the two clamping portions 21 are in a clamping state to clamp the instrument 400. Of course, in other cases, when the operating portion 32 rotates inward, the first rotating portion 31 rotates along the second direction b, so that the second end 312 contacts the force-bearing area B of the arc-shaped wall 224 and the rotating matching portion 22 rotates accordingly, so that the free ends 20 of the two clamping portions 21 approach each other, and then the two clamping portions 21 are converted from the open state to the clamping state to clamp the instrument 400. That is, the operator can first hold the two operating portions 32 to reset the two operating portions 32, and then reset the two clamping portions 21 under the elastic recovery action of the elastic body 242.

[0069] It is understandable that the elastic element 5 in the first embodiment can be replaced by the elastic body 242 in the second embodiment, and similarly, the elastic body 242 in the second embodiment can be replaced by the elastic element 5 in the first embodiment. By providing the elastic element 5 or the elastic body 242, the two clamping parts 21 can be in a clamping state, and at the same time, the clamping parts 21 can be prevented from being opened by mistake, thereby preventing the instrument 400 from slipping off the instrument clamping device, thereby improving the safety during the operation.

[0070] The present invention provides a clamping portion 21 having a free end 20 and used to clamp the instrument 400, and a first rotating portion 31 having a first end 311 and a second end 312 that are relatively arranged. By pivoting the first end 311 to the base 1, when the operating portion 32 is rotated outward, the first rotating portion 31 is rotated along the first direction a to make the second end 312 contact the clamping portion 21 and drive the free ends 20 of the two clamping portions 21 away from each other, thereby converting the two clamping portions 21 from a clamping state to an open state, thereby conveniently and quickly disassembling and installing the instrument 400.

[0071] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An instrument clamping device, characterized in that: The instrument clamping device is a card clamping device, and the instrument clamping device comprises: Pedestal; Two clamping members arranged opposite to each other, including a clamping portion having a free end, wherein the clamping portion is used to clamp the instrument; The operating assembly comprises a first rotating part having a first end and a second end arranged opposite to each other, and an operating part connected to the second end, wherein the first end is pivotally connected to the base, and the first rotating part is used for causing the second end to contact the clamping member and open outward when the operating part rotates outward, thereby driving the free ends of the two clamping parts to move away from each other, thereby converting the two clamping parts from a clamping state to an open state; The clamping member further comprises a rotationally fitting portion connected to the clamping portion, wherein the rotationally fitting portion is provided with a recessed receiving groove matching the shape of the first rotating portion so as to receive the first rotating portion; the receiving groove comprises an arc-shaped wall for receiving the second end and an extending wall extending from the arc-shaped wall toward the clamping portion; The first rotating portion is used to rotate along the first direction when the operating portion rotates outward so that the second end abuts against the extension wall and drives the free ends of the two clamping portions away from each other, thereby converting the two clamping portions from a clamping state to an open state to release the instrument; the first rotating portion is also used to rotate the operating portion inward so that the second end abuts against the arc-shaped wall and drives the free ends of the two clamping portions to approach each other, thereby converting the two clamping portions from an open state to a clamping state to clamp the instrument.

2. The instrument holding device according to claim 1, characterized in that: The base is provided with a positioning groove matching the shape of the operating part. When the operating part is rotated inward and rotated into the positioning groove, the two clamping parts are converted from an open state to a clamping state to clamp the instrument; the operating part is also used to rotate outward and move out of the positioning groove, so that the two clamping parts are converted from a clamping state to an open state to release the instrument.

3. The instrument holding device according to claim 2, characterized in that: The positioning groove has a contact wall, and when the operating part is rotated inwardly into the positioning groove, the clamping part maintains the clamping state by contacting the contact wall; the operating part is also used to rotate outwardly outside the positioning groove, and when the operating part is separated from the contact wall, the clamping part is converted from the clamping state to the open state.

4. The instrument holding device according to claim 3, characterized in that: The abutment wall is an arc with the first end as the center.

5. The instrument holding device according to claim 3, characterized in that: The positioning groove also includes a positioning wall connected to the abutment wall. The operating part is also used to rotate inwardly into the positioning groove and stop rotating when it contacts the positioning wall, so that the two clamping parts are converted from an open state to a clamping state to clamp the instrument.

6. The instrument holding device according to claim 5, characterized in that: The base includes a base body and at least one wall body extending from the base body toward the clamping portion, and the cross-sectional shape of the positioning wall and the abutting wall on a plane parallel to the wall body is V-shaped.

7. The instrument holding device according to claim 1, characterized in that: The rotating matching part has a pivot end pivotally connected to the base, and the clamping member also includes a second rotating part connected to the rotating matching part, the second rotating part includes a mounting end and a connecting end arranged opposite to each other, the mounting end is connected to the pivot end, and the two connecting ends of the second rotating parts are movably connected.

8. The instrument holding device according to claim 7, characterized in that: The clamping member further comprises an elastic portion connected to the second rotating portion, wherein the elastic portion is used to elastically deform when the two clamping portions are in an open state, and to drive the two clamping portions to reset the two clamping portions to a clamping state during elastic recovery.

9. The instrument holding device according to claim 8, characterized in that: The elastic portion is connected to the connecting end.

10. The instrument holding device according to claim 8, characterized in that: A rotating shaft is provided on one of the second rotating parts, and a movable groove is correspondingly provided on the other second rotating part, and the rotating shaft is movably connected in the movable groove.

11. The instrument holding device according to claim 10, characterized in that: The instrument clamping device further includes a connecting body extending from the base in a direction away from the clamping portion, and the elastic portion includes an elastic body with one end connected to the second rotating portion and the other end connected to the connecting body.

12. The instrument holding device according to claim 11, characterized in that: One end of the elastic body is fixed on the rotating shaft.

13. The instrument holding device according to claim 11, characterized in that: The clamping member further includes a connecting member having one end connected to the second rotating portion and the other end connected to the elastic body.

14. The instrument holding device according to claim 13, characterized in that: One end of the connecting member is fixed on the rotating shaft.

15. The instrument holding device according to claim 11, characterized in that: The elastic part further includes a connecting rod connected to the other end of the elastic body and to the connecting body.

16. The instrument holding device according to claim 15, characterized in that: The connecting body includes an extension groove arranged on a side away from the clamping portion for accommodating the connecting rod, and a channel extending from the extension groove toward the clamping portion and connected to the base, and the channel is used to accommodate the elastic body.

17. The instrument holding device according to claim 1, characterized in that: The clamping member further comprises a rotationally fitting portion connected to the clamping portion, wherein the rotationally fitting portion comprises an abutting wall abutting against the first rotating portion; The first rotating portion is used to rotate along the first direction when the operating portion rotates outwards so that the second end abuts against the clamping member and drives the free ends of the two clamping portions away from each other, thereby converting the two clamping portions from a clamping state to an open state.

18. The instrument holding device according to claim 17, characterized in that: The instrument clamping device also includes an elastic element connecting the two clamping members, wherein the elastic element is used to elastically deform when the two clamping parts are in an open state, and to reset the two clamping parts to a clamping state when elastic recovery occurs.

19. The instrument holding device according to claim 1 or 17, characterized in that: A through slot is formed in the rotational matching portion, and the through slot is used for allowing the first rotational portion to pass through, so that the first rotational portion and the operating portion are respectively located on two sides of the rotational matching portion.

20. A robotic arm, characterized in that: The robot arm comprises an instrument holding device as claimed in any one of claims 1 to 19.

21. A surgical robot, characterized in that: The surgical robot comprises the robotic arm as described in claim 20.

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