Instrument grippers, robotic arms, and surgical robots

Abstract

The present invention discloses an instrument clamping device, a mechanical arm and a surgical robot, comprising: a base; two clamping members arranged opposite to each other, comprising a clamping part with a free end, the clamping part being used to clamp the instrument; an operating assembly, comprising a first rotating part having a first end and a second end arranged opposite to each other, the first end being pivotally connected to the base, the first rotating part being used to rotate along a first direction so that the second end abuts against the clamping part and drives 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. The present invention can enable the instrument to be quickly disassembled and assembled, so as to improve the efficiency of disassembly and assembly 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, wherein the first end is pivotally connected to the base, and the first rotating part is used to rotate along a first direction so that the second end abuts against the clamping part and drives 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.

[0010] Preferably, the clamping member comprises a rotationally fitting portion connected to the clamping portion, the rotationally fitting portion is provided with a recessed receiving groove matching the shape of the first rotating portion 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 part is used to rotate along the first direction so that the second end abuts against the extension wall and drives 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 to release the instrument; the first rotating part is also used to rotate along a second direction opposite to the first direction so that the second end abuts against the arc-shaped wall and drives the free ends of the two clamping parts closer to each other, thereby converting the two clamping parts from an open state to a clamping state to clamp the instrument.

[0012] Preferably, the operating component also includes a connecting member rotatably connected to the first rotating part, and a push rod rotatably connected to the connecting member, the push rod is used to drive the first rotating part to rotate along the first direction by driving the connecting member to rotate when moving in a direction close to the clamping part, so that the second end abuts against the extending wall and drives 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 to release the instrument; the push rod is also used to drive the first rotating part to rotate in a second direction opposite to the first direction by driving the connecting member to rotate when moving in a direction away from the clamping part, so that the second end abuts against the arc wall and drives the free ends of the two clamping parts close to each other, thereby converting the two clamping parts from an open state to a clamping state to clamp the instrument.

[0013] Preferably, the operating assembly further comprises a positioning member connected to the first rotating part and the connecting member, and the base is provided with a positioning member, and the positioning member is used to cooperate with the positioning member when the two clamping parts are in a clamping state;

[0014] The push rod is used to disengage the positioning member from the positioning portion when moving in a direction approaching the clamping portion, drive the connecting member to rotate, and drive the first rotating portion to rotate along the first direction, so that the second end abuts against the extending wall and drives 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 push rod is also used to drive the connecting member to rotate when moving in a direction away from the clamping portion, thereby driving the first rotating portion to rotate along the second direction, so that the second end abuts against the arc wall and drives the free ends of the two clamping portions to approach each other until the positioning member cooperates with the positioning portion, thereby converting the two clamping portions from an open state to a clamping state to clamp the instrument.

[0015] Preferably, one end of the positioning member away from the first rotating portion is provided with a notch in a direction away from the positioning portion;

[0016] The positioning portion is an elastic body, and the elastic body is used to cooperate with the recess when the two clamping portions are in a clamping state.

[0017] Preferably, the elastic body includes an elastic portion provided on the base and a marble portion fixed on the elastic portion, and the marble portion is elastically matched with the recess.

[0018] Preferably, a first magnet is provided at one end of the positioning member away from the first rotating part;

[0019] The positioning portion is a second magnet disposed on the base and having magnetic properties opposite to those of the first magnet, and the second magnet is used to be magnetically attracted to the first magnet when the two clamping portions are in a clamping state.

[0020] Preferably, the portion where the first end is pivotally connected to the base is a pivot point, the portion where the connecting member is rotatably connected to the positioning member is a first active point, and the portion where the connecting member is rotatably connected to the push rod is a second active point;

[0021] When the push rod moves toward the direction approaching the clamping portion, the positioning member is separated from the positioning portion, the first active point moves toward the direction away from the push rod, and the second active point moves toward the direction approaching the clamping portion.

[0022] Preferably, the push rod includes a force-applying end and a resisting end that are relatively arranged, and the force-applying end is used for, when moving in a direction close to the clamping part, driving the connecting member to rotate, thereby driving the first rotating part to rotate along the first direction, so that the second end resists the clamping part and drives 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 to release the instrument; the force-applying end is also used for, when moving in a direction away from the clamping part, driving the first rotating part to rotate along the second direction by driving the connecting member to rotate, so that the second end resists the arc-shaped wall and drives the free ends of the two clamping parts to approach each other, thereby converting the two clamping parts from an open state to a clamping state to clamp the instrument; the resisting end is used for, after the force-applying end is subjected to force, to push the instrument out of the clamping part by resisting with the instrument.

[0023] Preferably, the operating assembly also includes a push rod elastic member having one end fixed on the base and the other end connected to the push rod, the push rod elastic member being used to elastically deform when the push rod moves toward the clamping portion, and to move the push rod away from the clamping portion during elastic recovery, thereby resetting the first rotating portion, and further resetting the two clamping portions to be in a clamping state, so as to clamp the instrument.

[0024] Preferably, a limiting portion is further provided on the base, and a through hole is provided in the limiting portion for the push rod to pass through, and the through hole is used to enable the push rod to move linearly along the length direction of the push rod.

[0025] Preferably, the base includes a seat body, at least one wall extending from the seat body toward the clamping portion, and a fixing member extending from the wall body in a direction parallel to the seat body; the seat body is provided with a through hole, and the fixing member is provided with a through hole corresponding to the position of the through hole, so that the push rod can pass through the through hole and the through hole and move toward or away from the clamping portion.

[0026] 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.

[0027] 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.

[0028] Preferably, a through groove is formed in the rotating fitting portion, and the through groove is used for allowing the first rotating portion to pass through and be accommodated in the accommodating groove, thereby providing a space for the positioning member to rotate.

[0029] Preferably, the clamping member 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;

[0030] The first rotating portion is used to rotate along the first direction so that the second end abuts against the clamping portion and drives 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.

[0031] Preferably, the instrument clamping device further comprises a clamping elastic member connecting the two clamping members, wherein the clamping elastic member 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 to clamp the instrument.

[0032] Preferably, the instrument clamping device is a poking card clamping device.

[0033] To achieve the above objectives, the present invention further provides a robotic arm, which includes the instrument clamping device as described above.

[0034] To achieve the above objective, the present invention further provides a surgical robot, which comprises the robotic arm as described above.

[0035] The instrument clamping device, mechanical 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, and the first end is pivotally connected to the base, and the first rotating part is used to rotate along a first direction so that the second end abuts against the clamping part and the free ends of the two clamping parts are driven away from each other, so that the two clamping parts are converted from a clamping state to an open state. In this way, the instrument can be quickly disassembled and assembled, so as to improve the efficiency of disassembly and installation of the instrument, thereby improving the efficiency of surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0037] Figure 2 for Figure 1 A schematic structural diagram of an embodiment of an instrument clamping assembly;

[0038] Figure 3 for Figure 2 A schematic structural diagram of the clamping portion of the instrument clamping device in a clamping state;

[0039] Figure 4 for Figure 2 A schematic diagram of the structure of the clamping part of the instrument clamping device in the open state;

[0040] Figure 5 for Figure 2 A structural diagram of the middle base from one perspective;

[0041] Figure 6 for Figure 2 A structural diagram of the middle base from another perspective;

[0042] Figure 7 for Figure 2 A schematic diagram of the structure of the middle operating component when the clamping portion is in a clamping state;

[0043] Figure 8 for Figure 2 A schematic diagram of the structure of the middle operating assembly when the clamping portion is in an open state;

[0044] Fig. 9 for Figure 1 A schematic structural diagram of the first embodiment of the middle clamping member when the clamping portion is in a clamping state;

[0045] Fig.10 for Figure 1 A schematic structural diagram of the first embodiment of the middle clamping member when the clamping portion is in an open state;

[0046] Fig.11 for Figure 1 A schematic structural diagram of the second embodiment of the middle clamping member when the clamping portion is in a clamping state;

[0047] Fig.12 for Figure 1 A schematic structural diagram of the second embodiment of the middle clamping member when the clamping portion is in an open state;

[0048] Fig.13 for Figure 1 A schematic structural diagram of the third embodiment of the middle clamping member when the clamping portion is in a clamping state;

[0049] Fig.14 for Figure 1 A schematic structural diagram of the third embodiment of the middle clamping member when the clamping portion is in an open state;

[0050] Fig.15 for Figure 1 A schematic structural diagram of the fourth embodiment of the middle clamping member when the clamping portion is in a clamping state;

[0051] Fig.16 for Figure 1 A schematic structural diagram of the fourth embodiment of the middle clamping member when the clamping portion is in an open state;

[0052] Fig.17 for Fig.13 A schematic diagram of the structure of the operation components in FIG.

[0053] Fig.18 for Fig.14 A schematic diagram of the structure of the operation component in FIG.

[0054] Fig.19 for Figure 1 A schematic structural diagram of the fifth embodiment of the middle clamping member when the clamping portion is in an open state;

[0055] Fig. 20 For relative Figure 7 A schematic structural diagram of another embodiment of the present invention.

[0056] Description of Figure Numbers:

[0057]

[0058] 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

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] like Figure 1As 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 .

[0064] 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.

[0065] like Figure 3 and Figure 4 As shown, the card stamping and clamping device 100 comprises: a base 1, two clamping members 2 arranged opposite to each other, and an operating assembly 3. 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 member 2 can be pivotally connected to the base 1, or there can be no pivotal relationship between the clamping member 2 and the base 1.

[0066] Specifically, Figure 5 and Figure 6 As shown, the base 1 includes a base body 11, at least one wall extending from the base body 11 toward the clamping portion, and a fixing member 14 extending from the wall along 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 arranged opposite to each other, and the fixing member 14 connects the first wall body 12 and the second wall body 13. A limiting portion (not shown in the figure) is provided on the base body 11, and a through hole 15 is provided in the limiting portion, and a through hole 16 corresponding to the position of the through hole is provided on the fixing member 14. In other embodiments, the fixing member 14 and the through hole may not be provided.

[0067] like Figure 7 As shown, in one embodiment, the operating assembly 3 includes a first rotating portion 31 having a first end 301 and a second end 302 arranged opposite to each other, a connecting member 32 rotatably connected to the first rotating portion 31, a push rod 33 rotatably connected to the connecting member 32, and a positioning member 34 connected to the first rotating portion 31 and the connecting member 32. The push rod 33 passes through the through hole 15 and the through hole 16 in sequence and is installed on the base 1. The aperture size of the through hole 15 is equal to the diameter size of the push rod 33, or the aperture size of the through hole 15 is slightly larger than the diameter size of the push rod 33. The through hole 15 and the through hole 16 are used to make the push rod 33 move linearly along the length direction of the push rod 33 to prevent the push rod 33 from shaking during the movement or moving in a direction that deviates from the length direction.

[0068] Furthermore, the base 1 is provided with a positioning portion 17, and the positioning portion 17 is used to cooperate with the positioning member 34 when the two clamping portions are in the clamping state. Figure 7 As shown, the first rotating portion 31 can rotate along the first direction a. Figure 8 As 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.

[0069] Furthermore, the first end 301 is pivotally connected to the base 1, and the first rotating portion 31 is used to rotate along the first direction a so that the second end 302 contacts 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.

[0070] like Fig. 9As shown, the clamping member 2 includes a clamping portion 21 having a 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 214 pivotally connected to the base 1, and the second rotating portion 23 includes a mounting end 221 and a connecting end 222 that are oppositely arranged, and the mounting end 221 is connected to the pivot end 214. The connecting ends 222 of the two second rotating portions 23 are movably connected, wherein a rotating shaft 223 is provided on one of the second rotating portions 23, and a movable groove 224 is correspondingly provided on the other second rotating portion 23 to provide space for the rotating shaft 223 to move. In addition, as Figure 3 As shown, a through slot 210 is provided in the rotational matching portion 22, and the through slot 210 is used for the first rotational portion 31 to pass through and be received in the receiving groove, and provides a rotation space for the positioning member 34. It is understandable that a through slot 210 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.

[0071] The present invention provides a clamping portion 21 having a free end 20 and used for clamping the instrument 400, and a first rotating portion 31 having a first end 301 and a second end 302 arranged opposite to each other. The first end 301 is pivotally connected to the base 1, and the first rotating portion 31 is rotated along the first direction a to make the second end 302 contact the clamping portion 21 and drive the free ends 20 of the two clamping portions 21 away from each other, so that the two clamping portions 21 are converted from a clamping state to an open state, thereby conveniently and quickly disassembling and installing the instrument 400.

[0072] In one embodiment, if Fig. 9 and Fig.10 As shown, the rotating matching portion 22 has abutting wall 211 against the first rotating portion 31, and the first rotating portion 31 rotates along the first direction a so that the second end 302 abuts against the clamping portion 21 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. In this embodiment, the two clamping portions 21 can be converted from the open state to the clamping state manually; Fig.11 and Fig.12 As shown, a clamping elastic member 24 may also be provided between the two clamping members 2, the clamping elastic member 24 being 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 elastically recovering, so as to clamp the instrument 400; one end of the clamping elastic member 24 may also be fixed to the base 1, and the other end may be fixed to a clamping member 2 on a side away from the base 1. In another embodiment, as Figures 13 to 16 As shown, the rotational matching portion 22 is provided with a receiving groove 212 matching the shape of the first rotating portion 31 to receive the first rotating portion 31. Specifically, the receiving groove 212 has an arcuate wall 215 for receiving the second end 302 and an extending wall 216 extending from the arcuate wall 215 away from the positioning portion 17.

[0073] In this embodiment, the push rod 33 is used to disengage the positioning member 34 from the positioning portion 17 when moving in the direction approaching the clamping portion 21, and drive the first rotating portion 31 to rotate along the first direction a by driving the connecting member 32 to rotate, so that the second end 302 abuts against the extending wall 216 and drives the free ends 20 of the two clamping portions 21 away from each other, thereby converting the two clamping portions 21 from the clamping state to the open state; the push rod 33 is also used to drive the first rotating portion 31 to rotate along the second direction b by driving the connecting member 32 to rotate when moving in the direction away from the clamping portion 21, so that the second end 302 abuts against the arc wall 215 and drives the free ends 20 of the two clamping portions 21 close to each other until the positioning member 34 cooperates with the positioning portion 17, thereby converting the two clamping portions 21 from the open state to the clamping state to clamp the instrument 400.

[0074] like Figure 8 and Fig.16As shown, the portion where the first end 301 is pivotally connected to the base 1 is the pivot point X, the portion where the connecting member 32 is rotatably connected to the positioning member 34 is the first active point Y, and the portion where the connecting member 32 is rotatably connected to the push rod 33 is the second active point Z. When the push rod 33 moves toward the direction close to the clamping portion 21, the push rod 33 drives the second active point Z to move toward the direction close to the pivot point X, so that the positioning member 34 is separated from the positioning portion 17, and then because the pivot point X is a fixed point, the first active point Y moves toward the direction away from the push rod 33, so that the first rotating portion 31 rotates around the first end 301, and the second end 302 abuts against the force-bearing area A of the extension wall 216, so that the rotating matching portion 22 rotates accordingly, so that the free ends 20 of the two clamping portions 21 are away from each other. On the contrary, when the push rod 33 moves toward the direction approaching the positioning portion 17, the push rod 33 drives the second active point Z to move in the direction away from the pivot point X, so that the positioning member 34 moves toward the positioning portion 17, and then because the pivot point X is a fixed point, the first active point Y moves toward the direction approaching the push rod 33, so that the first rotating portion 31 rotates around the first end 301, and the second end 302 contacts the force area B of the arc wall 215 to make the rotating matching portion 22 rotate accordingly, so that the free ends 20 of the two clamping portions 21 are close to each other.

[0075] like Fig.16 As shown, in one embodiment, a notch 170 is provided at one end of the positioning member 34 away from the first rotating portion 31 in a direction away from the positioning portion 17, and the positioning portion 17 is an elastic body 171. The elastic body 171 includes an elastic part 172 provided on the base 1 and a marble part 173 fixed on the elastic part 172, and the marble part 173 elastically cooperates with the notch 170. The elastic body 171 is used to cooperate with the notch 170 when the two clamping parts 21 are in a clamping state. The elastic part 172 and the marble part 173 may both have elasticity, or only the elastic part 172 may have elasticity, or only the marble part 173 may have elasticity. When the marble part 173 has elasticity, the elastic part 172 may not be provided and the marble part 173 may be directly protruded on the seat body 11; when the elastic part 172 has elasticity, the elastic part 172 may be a spring or other structure provided in the seat body 11.

[0076] like Fig.16As shown, the push rod 33 includes a force-applying end 341 and a contact end 342 that are arranged opposite to each other. The force-applying end 341 is used to drive the connecting member 32 to rotate when moving in the direction close to the clamping portion 21, thereby driving the first rotating portion 31 to rotate along the first direction a, so that the second end 302 contacts the clamping portion 21 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 to release the instrument 400; the force-applying end 341 is also used to When moving in the direction away from the clamping part 21, the first rotating part 31 is driven to rotate along the second direction b by driving the connecting member 32 to rotate, so that the second end 302 abuts against the arc wall 215 and drives 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; the abutting end 342 is used to push the instrument 400 out of the clamping part 21 by abutting against the instrument 400 after the force-applying end 341 is subjected to force. In this way, the situation that the two clamping parts 21 are not fully opened and need manual auxiliary operation can be avoided.

[0077] The operating component 3 also includes a push rod elastic member (not shown in the figure) with one end fixed on the base 1 and the other end connected to the push rod 33. The push rod elastic member is used to elastically deform when the push rod 33 moves in a direction close to the clamping portion 21, and to move the push rod 33 in a direction away from the clamping portion 21 during elastic recovery, and to reset the first rotating portion 31, thereby resetting the two clamping portions 21 to be in a clamping state to clamp the instrument 400.

[0078] like Fig.17 and Fig.18 As shown, in another embodiment, the operating assembly 3 may only include the first rotating part 31, the connecting member 32 and the push rod 33, and the first rotating part 31 is driven to rotate by the push and pull action of the push rod 33. In this embodiment, the clamping elastic member 24 may be arranged between the two clamping members 2, and the clamping elastic member 24 is used to elastically deform when the two clamping members 21 are in the open state, and to reset the two clamping members 21 to the clamping state when elastically restoring, so as to clamp the instrument 400.

[0079] It can be understood that the setting of the push rod elastic member or the clamping elastic member 24 can put the two clamping parts 21 in a clamping state, and at the same time prevent the two clamping parts 21 from being accidentally opened, thereby preventing the instrument 400 from slipping off the instrument clamping device 100, thereby improving the safety during the operation.

[0080] like Fig.19As shown, in another embodiment, the operating assembly 3 may only include the first rotating part 31, the connecting member 32 and the positioning member 34. In this case, the first rotating part 31 is driven to rotate by toggling the positioning member 34. In this embodiment, the positioning member 17 is used to cooperate with the positioning member 34 when the two clamping parts 21 are in the clamping state. When the positioning member 34 is separated from the positioning member 17 after being subjected to force, the positioning member 34 drives the first rotating part 31 to rotate along the first direction a, and the second end 302 abuts against the force area A of the extension wall 216 to make the rotating matching part 22 rotate accordingly, so that the free ends 20 of the two clamping parts 21 are separated from each other; on the contrary, when the positioning member 34 is reset under force, the positioning member 34 drives the first rotating part 31 to rotate along the second direction b, and the second end 302 abuts against the force area B of the arc wall 215 to make the rotating matching part 22 rotate accordingly, so that the free ends 20 of the two clamping parts 21 are close to each other. That is, in this embodiment, the positioning member 34 may be driven to rotate by the force of the push rod 33 and the connecting member 32 , but the positioning member 34 may be directly acted on.

[0081] like Fig. 20 As shown, in another embodiment, the end of the positioning member 34 away from the first rotating part 31 is provided with a first magnet 310, and the positioning part 17 is a second magnet 175 with opposite magnetic properties to the first magnet 310, and the second magnet 175 is used to magnetically attract the first magnet 310 when the two clamping parts 21 are in a clamping state. At this time, the second magnet 175 can be directly arranged on the seat body 11. Of course, in other embodiments, an elastic part 172 can also be arranged in the seat body 11, and the second magnet 175 is arranged on the elastic part 172. When the first magnet 310 and the second magnet 175 are attracted and matched in position, the first magnet 310 and the second magnet 175 are elastically pressed against each other, so that the clamping part 21 can be placed in a clamping state to prevent the clamping part 21 from being opened by mistake due to insufficient fixing strength.

[0082] 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, the first end being pivotally connected to the base, the first rotating part being used to rotate along a first direction so that the second end abuts against the clamping part and drives 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; The clamping member comprises a rotationally fitting portion connected to the clamping portion, the rotationally fitting portion is provided with a recessed receiving groove matching the shape of the first rotating portion 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 part is used to rotate along the first direction so that the second end abuts against the extension wall and drives the free ends of the two clamping parts away from each other, so that the two clamping parts are converted from a clamping state to an open state to release the instrument; the first rotating part is also used to rotate along a second direction opposite to the first direction so that the second end abuts against the arc-shaped wall and drives the free ends of the two clamping parts to approach each other, so that the two clamping parts are converted from an open state to a clamping state to clamp the instrument; The operating assembly also includes a connecting member rotatably connected to the first rotating part, and a positioning member connected to the first rotating part and the connecting member. A positioning member is provided on the base, and the positioning member is used to cooperate with the positioning member when the two clamping parts are in a clamping state.

2. The instrument holding device according to claim 1, characterized in that: The operating assembly also includes a push rod rotatably connected to the connecting member, and the push rod is used to drive the first rotating part to rotate along the first direction by driving the connecting member to rotate when moving in the direction approaching the clamping part, so that the second end abuts against the extending wall and drives 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 to release the instrument; the push rod is also used to drive the first rotating part to rotate in a second direction opposite to the first direction by driving the connecting member to rotate when moving in the direction away from the clamping part, so that the second end abuts against the arc-shaped wall and drives the free ends of the two clamping parts close to each other, thereby converting the two clamping parts from an open state to a clamping state to clamp the instrument.

3. The instrument holding device according to claim 2, characterized in that: The push rod is used to disengage the positioning member from the positioning portion when moving in a direction approaching the clamping portion, drive the connecting member to rotate, and then drive the first rotating portion to rotate along the first direction, so that the second end abuts against the extending wall and drives 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 push rod is also used to drive the first rotating portion to rotate along the second direction by driving the connecting member to rotate when moving in a direction away from the clamping portion, so that the second end abuts against the arc wall and drives the free ends of the two clamping portions to approach each other until the positioning member cooperates with the positioning portion, thereby converting the two clamping portions from an open state to a clamping state to clamp the instrument.

4. The instrument holding device according to claim 1, characterized in that: One end of the positioning member away from the first rotating portion is provided with a notch in a direction away from the positioning portion; The positioning portion is an elastic body, and the elastic body is used to cooperate with the recess when the two clamping portions are in a clamping state.

5. The instrument holding device according to claim 4, characterized in that: The elastic body comprises an elastic part arranged on the base and a marble part fixed on the elastic part, and the marble part is elastically matched with the notch.

6. The instrument holding device according to claim 1, characterized in that: A first magnet is disposed at one end of the positioning member away from the first rotating part; The positioning portion is a second magnet disposed on the base and having magnetic properties opposite to those of the first magnet, and the second magnet is used to be magnetically attracted to the first magnet when the two clamping portions are in a clamping state.

7. The instrument holding device according to claim 2, characterized in that: The portion where the first end is pivotally connected to the base is a pivot point, the portion where the connecting member is rotatably connected to the positioning member is a first active point, and the portion where the connecting member is rotatably connected to the push rod is a second active point; When the push rod moves toward the direction approaching the clamping portion, the positioning member is separated from the positioning portion, the first active point moves toward the direction away from the push rod, and the second active point moves toward the direction approaching the clamping portion.

8. The instrument holding device according to claim 2, characterized in that: The push rod includes a force-applying end and a resisting end that are relatively arranged, and the force-applying end is used to drive the first rotating part to rotate along the first direction by driving the connecting member to rotate when moving in the direction approaching the clamping part, so that the second end resists the clamping part and drives 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 to release the instrument; the force-applying end is also used to drive the first rotating part to rotate along the second direction by driving the connecting member to rotate when moving in the direction away from the clamping part, so that the second end resists the arc-shaped wall and drives the free ends of the two clamping parts to approach each other, thereby converting the two clamping parts from an open state to a clamping state to clamp the instrument; the resisting end is used to push the instrument out of the clamping part by resisting with the instrument after the force-applying end is subjected to force.

9. The instrument holding device according to claim 2, characterized in that: The operating assembly also includes a push rod elastic member with one end fixed on the base and the other end connected to the push rod. The push rod elastic member is used to elastically deform when the push rod moves in a direction close to the clamping part, and to move the push rod in a direction away from the clamping part during elastic recovery, thereby resetting the first rotating part, and further resetting the two clamping parts to be in a clamping state to clamp the instrument.

10. The instrument holding device according to claim 2, characterized in that: The base is also provided with a limiting portion, and a through hole is provided in the limiting portion for the push rod to pass through, and the through hole is used to enable the push rod to move linearly along the length direction of the push rod.

11. The instrument holding device according to claim 2, characterized in that: The base includes a seat body, at least one wall extending from the seat body toward the clamping portion, and a fixing member extending from the wall body in a direction parallel to the seat body; the seat body is provided with a through hole, and the fixing member is provided with a through hole corresponding to the position of the through hole, so that the push rod can pass through the through hole and the through hole and move toward or away from the clamping portion.

12. 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.

13. The instrument holding device according to claim 12, 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.

14. The instrument holding device according to claim 1, 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 and be accommodated in the accommodating slot, thereby providing a rotation space for the positioning member.

15. The instrument holding device according to claim 1, characterized in that: The clamping member 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 so that the second end abuts against the clamping portion and drives 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.

16. The instrument holding device according to claim 15, characterized in that: The instrument clamping device also includes a clamping elastic member connecting the two clamping members, the clamping elastic member 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 to clamp the instrument.

17. A robotic arm, characterized in that: The robot arm comprises an instrument holding device as claimed in any one of claims 1 to 16.

18. A surgical robot, characterized in that: The surgical robot comprises the robotic arm as described in claim 17.

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