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 is used to clamp an instrument, and the instrument clamping device comprises a base, two clamping members arranged opposite to each other and pivoted on the base, the clamping member comprises a rotating part pivoted on the base and having a first end and a second end opposite to each other, and a clamping part movably connected to the first end of the rotating part and arranged in the base, the second end is used to move when subjected to an applied force and drive the first end to move outward, thereby driving the clamping part to move outward relative to the base, so that the clamping part is converted from a clamping state to an open state and separated from the instrument. The present invention can enable the instrument to be quickly disassembled and assembled, so as to improve 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, which is used to clamp instruments. The instrument clamping device comprises a base, two clamping members which are pivotally connected to the base and are arranged opposite to each other.

[0007] The clamping member includes a rotating part pivotally connected to the base and having a first end and a second end opposite to each other, and a clamping part movably connected to the first end of the rotating part and arranged in the base.

[0008] The second end is used to move when subjected to a force to drive the first end to move outward, thereby driving the clamping portion to move outward relative to the base, so that the clamping portion is converted from a clamping state to an open state and separated from the instrument.

[0009] Preferably, the first end is provided with a first movable groove, the clamping portion is provided with a first rotating shaft, the first rotating shaft is movably connected in the first movable groove, and has a first initial position before movement and a first terminal position after movement in the first movable groove.

[0010] When the first rotating shaft is in the first initial position, the two clamping parts are in a clamping state; when the first rotating shaft is in the first terminal position, the two clamping parts are in an open state.

[0011] Preferably, the clamping portion includes a rotating body provided with the first rotating shaft and a chuck body provided in the base and connected to the rotating body, wherein the chuck body is used to clamp the instrument and when the first end moves outward, it translates outward relative to the base to release the instrument.

[0012] Preferably, the rotating body is recessed with a positioning groove, the positioning groove separates the rotating body into a first body and a second body arranged opposite to each other, the first rotating shaft is arranged in the positioning groove and connects the first body and the second body, and the positioning groove is used to accommodate the first end.

[0013] Preferably, the base comprises a shell and a seat body disposed in the shell and used for pivotally connecting the rotating part. The seat body is provided with sliding grooves on two opposite side surfaces so that the clamping part can slide along the sliding grooves.

[0014] Preferably, the sliding path of the clamping portion along the sliding groove is a straight line.

[0015] Preferably, the clamping member further comprises a pressing member connecting the two rotating parts, wherein the pressing member is used for contacting the second end to move the second end when subjected to a pressing force, thereby causing the first end to move outward and driving the clamping part to move outward relative to the base.

[0016] Preferably, the second end is movably connected to the pressing member, and the first end is movably connected to the clamping portion.

[0017] Preferably, the pressing member is provided with a second rotating shaft, the second end is provided with a second movable groove, the second rotating shaft is movably connected in the second movable groove, and has a second initial position before movement and a second terminal position after movement in the second movable groove.

[0018] When the second rotating shaft is in the second initial position, the two clamping parts are in a clamping state; when the first rotating shaft is in the second terminal position, the two clamping parts are in an open state.

[0019] Preferably, the second movable grooves of the two rotating parts are arranged adjacent to each other.

[0020] Preferably, the instrument clamping device also includes a driving member fixed on the base, the driving member includes a connecting portion fixed on the base and a driving portion movably connected to the connecting portion, and the driving portion is used to move toward the base when subjected to pressing force to press the pressing member so that the pressing member contacts the second end.

[0021] Preferably, the connecting portion comprises a connecting body connected to the base and a stopper extending from the connecting body in a direction away from the instrument, wherein the stopper is provided with a positioning hole and has a stopper wall on a side close to the base;

[0022] The pressing member includes a main body and a pressing portion extending from the main body toward the instrument direction, the pressing portion is used to connect the two rotating portions, the pressing portion is located between the driving portion and the connecting portion, and when the pressing portion contacts the stop wall, the two clamping portions are in an open state.

[0023] Preferably, the driving part comprises a cover body fixedly connected to the pressing member, and the cover body is used to make the pressing member contact the second end when subjected to a pressing force.

[0024] Preferably, the driving part further comprises a plurality of guide posts extending from the cover body toward the base;

[0025] The connector is provided with a plurality of through holes corresponding to the positions of the plurality of guide posts and used to accommodate the guide posts, and the base is provided with a plurality of conducting holes corresponding to the positions of the plurality of through holes;

[0026] The guide post is used to move along the conducting hole in a direction away from the cover body when the cover body is subjected to a pressing force.

[0027] Preferably, the guide column includes a first column fixed on the cover body and a second column extending from the first column toward the base, the through hole is used for the first column to pass through, and the conductive hole is used for the second column to pass through; the diameter of the first column is larger than the diameter of the conductive hole.

[0028] Preferably, the driving part further comprises an elastic part sleeved on the guide column, and the elastic part is located between the cover body and the connecting body;

[0029] The elastic part is used for elastically deforming when the cover body is subjected to a pressing force, and elastically recovering when the pressing force applied to the cover body disappears to reset the cover body.

[0030] Preferably, the connecting part includes a connecting body connected to the base; the driving part includes a cover body fixedly connected to the pressing member, and the driving part also includes an elastic part located between the cover body and the connecting body, and the elastic part is used to elastically deform when the cover body is subjected to pressing force, and elastically restore the cover body when the pressing force applied to the cover body disappears to reset the cover body.

[0031] Preferably, the driving part also includes a cover body fixedly connected to the pressing piece, and a positioning part extending from the cover body toward the base, the connecting part includes a connecting body connected to the base, and the positioning part is used to prevent the cover body from moving toward the base when in contact with the connecting body.

[0032] Preferably, an identification device for sending information is provided in the mating portion, and the instrument clamping device also includes a reader fixed on the base, and the reader is used to prompt that the instrument has been installed on the instrument clamping device when receiving the information sent by the identification device.

[0033] Preferably, the instrument clamping device is a poking card clamping device.

[0034] To achieve the above-mentioned object, the present invention further provides a robotic arm, which comprises an instrument and the instrument clamping device as described above, wherein the instrument clamping device is used to clamp the instrument.

[0035] Preferably, the device includes a main body and a mating portion protruding from the main body; the base includes a shell and a seat body arranged in the shell and used to pivotally connect the rotating part, and two oppositely arranged side surfaces of the seat body are recessed with sliding grooves for the clamping part to slide along the sliding grooves, and the seat body is recessed with a receiving groove from a side close to the mating portion to a direction away from the mating portion, and the receiving groove is connected to the sliding groove to accommodate the mating portion when the clamping portion and the mating portion are mated.

[0036] Preferably, the device comprises a body and a matching portion convexly provided on the body and used for detachably connecting with the clamping portion, and a receiving groove concavely provided on the matching portion for contacting with the clamping portion.

[0037] The clamping portion is used to separate from the receiving groove when it moves outwardly relative to the base, so that the two clamping portions are converted from a clamping state to an open state.

[0038] Preferably, the clamping portion further comprises an abutment wall for connecting with the receiving groove;

[0039] The matching portion has a pushing wall on the side away from the main body. The matching portion is used to move toward the base and make the free ends of the two clamping portions move away from each other when the matching portion contacts the abutting wall through the pushing wall, and the free ends of the clamping portions are snapped into the accommodating groove after the pushing wall passes the abutting wall, thereby fixing the instrument on the instrument clamping device.

[0040] Preferably, the receiving groove is in a U-shape or a V-shape.

[0041] Preferably, the instrument clamping device further comprises a limiting portion fixed on the base, the body is provided with a protrusion cooperating with the limiting portion, and the limiting portion is used to fix the instrument on the instrument clamping device when cooperating with the protrusion.

[0042] Preferably, the device also includes a tube body connected to the main body, the raised portion includes a convex ridge protruding from the main body, the limiting portion is provided with a groove corresponding to the convex ridge, and the convex ridge is used to cooperate with the groove to limit the movement of the base along the central axis direction of the tube body.

[0043] To achieve the above objective, the present invention further provides a surgical robot, which comprises the robotic arm as described above.

[0044] The present invention provides an instrument clamping device, a mechanical arm and a surgical robot, wherein a base is provided on the instrument clamping device, two clamping members are pivotally connected to the base and are arranged opposite to each other, and the clamping member further comprises a rotating part pivotally connected to the base and having a first end and a second end opposite to each other, and a clamping part movably connected to the first end of the rotating part and arranged in the base, and the second end moves when subjected to a force to drive the first end to move outward, thereby driving the clamping part to move outward relative to the base, so that the clamping part is converted from a clamping state to an open state and separated from the instrument. In this way, the instrument can be disassembled and installed conveniently and quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0046] Figure 2 for Figure 1 A schematic structural diagram of an embodiment of an instrument clamping assembly;

[0047] Figure 3 for Figure 2 Schematic diagram of the explosion structure from one perspective;

[0048] Figure 4 for Figure 2 A schematic diagram of a portion of the structure when the middle clamp is in an open state;

[0049] Figure 5 for Figure 2 A schematic diagram of a portion of the structure when the middle clamping member is in a clamping state;

[0050] Figure 6 for Figure 2 A schematic diagram of the exploded structure of the middle clamp from one perspective;

[0051] Figure 7 for Figure 2 Schematic diagram of position change of the first rotating shaft of the middle clamping member before and after movement;

[0052] Figure 8 for Figure 2 A schematic diagram of the structure from another perspective;

[0053] Fig. 9 for Figure 6 A schematic diagram of the structure of the middle pressing member;

[0054] Fig.10 for Figure 2 Schematic diagram of the position change of the second rotating shaft of the middle clamping member before and after movement.

[0055] 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

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] like Figure 1 As shown, the present invention provides a surgical robot 1000, 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 a control command 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 command sent by the main operating table 200 and perform corresponding surgical operations. The slave operating device 300 includes a mechanical arm 310, a power mechanism (not shown in the figure) provided on the mechanical arm 310, and an operating arm (not shown in the figure), and the operating arm is used to extend into the body under the driving action of the power mechanism to perform corresponding surgical operations. The mechanical arm 310 includes an instrument clamping device 100 (such as a card clamping device) fixed to the end and an instrument 400 detachably connected to the instrument clamping device 100. The surgical robot 1000 involves various instruments 400, which need to be able to be quickly installed and disassembled during the operation. The instrument clamping device 100 is used to quickly install the stamp card on the mechanical arm 310 before surgery, and can easily and quickly remove the stamp card from the mechanical arm 310 after surgery or when the stamp card needs to be replaced. Figure 2 As shown, the instrument clamping device 100 and the instrument 400 form an instrument clamping assembly 500 .

[0061] 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.

[0062] like Figure 3As shown, the instrument clamping device 100 comprises: a base 1, two clamping members 2 arranged opposite to each other and having free ends 20, a limiting portion 3 fixed to the base 1, and a driving member 4 fixed to the base 1. The instrument 400 comprises a body 5, a tube 8 connected to the body 5 and having a central axis, a matching portion 6 convexly provided on the body 5, and a protruding portion 51 provided on the body 5 and matched with the limiting portion 3. The clamping member 2 and the matching portion 6 are detachably connected.

[0063] The limiting portion 3 is used to fix the instrument 400 on the instrument clamping device 100 when cooperating with the protruding portion. The limiting portion 3 may be a groove structure, and the protruding portion may be a protruding structure matching the groove structure; in other embodiments, the limiting portion 3 may be a protruding structure, and the protruding portion may be a groove structure matching the protruding structure. For example, when the protruding portion is a protruding structure and the limiting portion 3 is a groove structure, the protruding portion may include a first convex rib 511 and a second convex rib 512 protruding from the body 5, and the limiting portion 3 is concavely provided with a first groove 31 and a second groove 32 at positions corresponding to the first convex rib 511 and the second convex rib 512, the first convex rib 511 is used to cooperate with the first groove, and the second convex rib 512 is used to cooperate with the second groove 32. Specifically, the first convex rib 511 may be a convex rib structure at the edge of the body 5, the second convex rib 512 is a convex rib structure parallel to the first convex rib 511, and the length of the second convex rib 512 is less than the length of the second convex rib 512. By making the first convex rib 511 cooperate with the first groove 31 and making the second convex rib 512 cooperate with the second groove 32 , the base 1 can be restricted from moving along the central axis direction of the body 5 .

[0064] Of course, in other embodiments, the protrusion may be provided with only one protrusion, and the limiting portion 3 is correspondingly provided with a groove. In this case, the protrusion of the protrusion may be located in the middle position of the main body 5.

[0065] Reference Figure 3 The matching portion 6 may be provided with a receiving groove 60 to accommodate the free end 20 of the clamping member 2, so that the clamping member 2 can clamp the matching portion 6; the matching portion 6 may also be provided with no groove, and the free end 20 of the clamping member 2 directly abuts against the matching portion 6, so that the clamping member 2 clamps the matching portion 6. When the clamping member 2 is subjected to a force, the two free ends 20 are driven away from each other, so that the two clamping members 2 are converted from a clamping state to an open state, and the two clamping members 2 are separated from the matching portion 6.

[0066] like Figure 4 and Figure 5As shown, the shape of the receiving groove 60 can be U-shaped or V-shaped. Specifically, the receiving groove 60 includes a top wall 611 and a connecting wall 612 connecting the top wall 611. Figure 6 As shown, the clamping member 2 includes a rotating portion 22 pivotally connected to the base 1, a clamping portion 23 rotatably connected to one end of the rotating portion 22 and disposed in the base 1, and a pressing member 24 connecting the other ends of the two rotating portions 22. The clamping portion 23 includes an abutting wall 237 and an abutting wall 238 connected to the abutting wall 237. The abutting wall 238 is used to abut against the connecting wall 237 to increase the clamping strength of the clamping portion 23 on the matching portion 6. In one embodiment, the abutting wall 238 is in an arc or inclined shape. The clamping portion 23 is used to move the free end 20 into the receiving groove 60 when the rotating portion 22 rotates, and the abutting wall 237 abuts against the top wall 611, so that the two free ends 20 are close to each other and converted from an open state to a clamping state.

[0067] The matching portion 6 is provided with a pushing wall 63 on the side away from the body 5, and the pushing wall 63 is an arc or inclined surface shape adapted to the shape of the abutting wall 238. The matching portion 6 is used to move toward the base 1 and abut against the abutting wall 238 through the pushing wall 63, so that the free ends 20 of the two clamping portions 23 are separated from each other, and the free ends 20 are snapped into the receiving groove 60 after the pushing wall 63 passes through the abutting wall 238, thereby fixing the instrument 400 on the instrument clamping device 100. In this way, when installing the stamp card, there is no need to press a button, and the instrument 400 can be directly held by hand to make the matching portion 6 abut against the abutting wall 238 of the clamping portion 23, so that the instrument 400 can be installed on the instrument clamping device 100, making the operation simple and convenient.

[0068] The free end 20 is located at the end of the clamping portion 23. The clamping portion 23 is used to make the two clamping members 2 in a clamping state when the free end 20 contacts the matching portion 6. When the pressing member 24 is pressed toward the matching portion 6, it moves toward the matching portion 6, driving the rotating portion 22 to rotate so that the free ends 20 of the two clamping portions 23 are separated from each other, and the two clamping portions 23 are converted from the clamping state to the open state. By vertically pressing the pressing member 24 and horizontally opening the clamping portion 23, the vertical action is converted into the horizontal action, which is simple to operate.

[0069] It is understandable that in other embodiments, the pressing member 24 may not be provided, but other structures may be used to move the two free ends 20 away from each other. For example, a force may be directly applied to the clamping portion 23 or the rotating portion 22 to move the free ends 20 of the two clamping portions 23 away from each other.

[0070] Specifically, Figure 6 As shown, the rotating part 22 includes a pivot end 221 pivotally connected to the base 1, a first end 222 and a second end 223 arranged opposite to the pivot end 221. The first end 222 is movably connected to the clamping part 23, and the second end 223 is movably connected to the pressing member 24.

[0071] A first movable groove 224 is recessed on the first end 222, and a second movable groove 225 is recessed on the second end 223. Optionally, the opening directions of the first movable groove 224 and the second movable groove 225 are different. The first end 222, the pivot end 221 and the second end 223 are not located on the same straight line. Optionally, the pivot end 221 is located on the side of the line connecting the first end 222 and the second end 223 away from the matching portion 6. Of course, in other embodiments, the first end 222, the pivot end 221 and the second end 223 may also be located on the same straight line.

[0072] The first movable groove 224 and / or the second movable groove 225 may be a U-shaped groove or an elliptical hole. Of course, in other embodiments, the first movable groove 224 and / or the second movable groove 225 may be in the shape of a strip or other shapes. It is understood that the U-shaped groove or the elliptical hole may be provided only at the first end 222, or only at the second end 223, or at both the first end 222 and the second end 223.

[0073] like Figure 6 As shown, the clamping part 23 includes a rotating body 231, a chuck body 232 connected to the rotating body 231, and a first rotating shaft 233 provided on the rotating body 231, wherein the first rotating shaft 233 is used to be movably connected in the first movable groove 224. Specifically, the rotating body 231 is provided with a positioning groove 234 in a direction away from the rotating part 22, wherein the positioning groove 234 separates the rotating body 231 into a first body 235 and a second body 236 which are arranged opposite to each other, wherein the first rotating shaft 233 is provided in the positioning groove 234 and connects the first body 235 and the second body 236, wherein the positioning groove 234 is used to receive the first end 222. When the pressing member 24 is subjected to a pressing force, it contacts the second end 223 and causes the second end 223 to move toward the direction of the device 400, thereby causing the first end 222 to move outwards, and at this time, the chuck body 232 translates outwards relative to the base 1 to release the device 400.

[0074] like Figure 7As shown, the first rotating shaft 233 has a first initial position A before movement and a first terminal position B after movement in the first movable groove 224. When the first rotating shaft 233 is at the first initial position A, the two clamping members 2 are in a clamping state; when the first rotating shaft 233 is at the first terminal position B, the two clamping members 2 are in an open state. That is, the first rotating shaft 233 moves from the first initial position A on the X1 line to the first terminal position B on the X2 line.

[0075] like Figure 3 As shown, the base 1 may include a shell 11, a seat 12 disposed in the shell 11 for pivotally connecting the rotating portion 22, and a conducting hole 13 disposed on the shell 11. The seat 12 is provided with a receiving groove (not shown in the figure) from a side close to the matching portion 6 to a direction away from the matching portion 6 to accommodate the matching portion 6. In one embodiment, the receiving groove may accommodate part of the matching portion 6, such as the part that matches with the chuck body 232. The limiting portion 3 is fixedly connected to the seat 12 by a thread, and specifically may be fixedly connected to the edge of the seat 12.

[0076] like Figure 3 As shown, the seat body 12 is provided with a sliding groove 121 on two oppositely arranged side surfaces, and the sliding groove 121 has a groove wall 122 for the clamping portion 23 to slide along the groove wall 122. When the clamping portion 23 slides inwardly along the groove wall 122, the two clamping portions 23 are converted from an open state to a clamping state; when the clamping portion 23 slides outwardly along the groove wall 122, the two clamping portions 23 are converted from a clamping state to an open state. Optionally, the path along which the clamping portion 23 slides along the groove wall 122 is a straight line. Assuming that the direction perpendicular to the length direction of the body 5 is the width direction, the straight line can be parallel to the width direction or at an angle to the width direction. Of course, in other embodiments, the path along which the clamping portion 23 slides along the groove wall 122 is an arc or other shape. Specifically, the chuck body 232 of the clamping portion 23 is slidably connected to the groove wall 122.

[0077] It is understandable that the base body 12 is also provided with a rotating shaft (not marked in the figure) to pivotally connect the rotating part 22. At the same time, the base body 12 is also provided with a mounting groove (not marked in the figure) to accommodate the part of the rotating part 22 structure connected to the clamping part 23.

[0078] like Fig. 9As shown, the pressing member 24 includes a main body 241, a pressing portion 242 extending from the main body 241 toward the matching portion 6, and a second rotating shaft 243 provided on the pressing portion 242. The second rotating shaft 243 is used to be movably connected in the second movable groove 225. The second movable grooves 225 of the two rotating portions 22 are adjacently arranged on the second rotating shaft 243, and the opening directions of the two are opposite. It can be understood that the pressing portion 242 can be provided with a groove in a direction away from the matching portion 6 to accommodate the second rotating shaft 243; or the second rotating shaft 243 can be directly passed through the pressing portion 242 and protrude from the pressing portion 242. Specifically, the second rotating shaft 243 can protrude from one side of the pressing portion 242, or can protrude from both sides of the pressing portion 242. When the second rotating shaft 243 protrudes from one side of the pressing part 242, the second movable grooves 225 of the two rotating parts 22 are located on the same side of the pressing part 242; when the second rotating shaft 243 protrudes from both sides of the pressing part 242, the second movable grooves 225 of the two rotating parts 22 are located on both sides of the pressing part 242. The specific arrangement can be reasonable according to actual needs.

[0079] like Fig.10 As shown, the second rotating shaft 243 has a second initial position C before movement and a second terminal position D after movement in the second movable groove 225. When the second rotating shaft 243 is at the second initial position C, the two clamping members 2 are in a clamping state; when the second rotating shaft 243 is at the second terminal position D, the two clamping members 2 are in an open state. That is, the second rotating shaft moves from the second initial position C on the X3 line to the second terminal position D on the X4 line.

[0080] like Figure 3 As shown, the driving member 4 includes a connecting portion 41 fixedly arranged on the base 1 and a driving portion 42 movably connected to the connecting portion 41. Further, the driving portion 42 includes a cover body 421 fixedly connected to the pressing member 24, a plurality of guide posts 422 extending from the cover body 421 toward the base 1, an elastic portion 423 sleeved on the guide posts 422, and a positioning portion 424 extending from the cover body 421 toward the base 1. Among them, the elastic portion 423 is used to elastically contract when the two clamping portions 23 are in an open state, and elastically restore when the clamping portions 23 are in a clamping state. Optionally, the positioning portion 424 is located at the edge of the cover body 421. Of course, in other embodiments, the positioning portion 424 may not be arranged at the edge of the cover body 421, but may be a structure protruding from any position of the cover body 421. Optionally, the plurality of guide posts 422 are arranged in a circular pattern on the cover body 421 , or may be arranged in other regular or irregular patterns.

[0081] When the cover 421 is pressed, the guide column 422 enters the base 1. At the same time, when the cover 421 is pressed, the pressing member 24 is driven to move toward the base 1. At this time, the second end 223 of the rotating part 22 is abutted by the second rotating shaft 243 to move the second end 223, so that the first end 222 moves outward, thereby driving the free end 20 of the clamping part 23 to move outside the receiving groove 60, so that the two free ends 20 are separated from each other. At this time, the two clamping parts 23 are converted from the clamping state to the open state.

[0082] In this embodiment, there may be a plurality of guide posts 422, and correspondingly, there may also be a plurality of elastic parts 423. The number of elastic parts 423 may be increased or decreased according to actual needs, so that the elastic force is controllable. In addition, under the same compression stroke, the elastic force is greater. In this embodiment, a plurality of elastic parts 423 are sleeved on a plurality of guide posts 422. Optionally, the elastic part 423 may be a spring. The spring may be a long spring, and by sleeved on the guide post 422, the long spring will not deviate, so that when a pressing force is applied to the drive member 4, the cover body 421 will not get stuck.

[0083] In another embodiment, the guide column 422 may not be provided, and an elastic part (not shown in the figure) may be sleeved on the main body 241, and the elastic part is located between the cover body 421 and the connector. The elastic part is used to elastically contract when the two clamping parts 23 are in the open state, and elastically restore when the clamping parts 23 are in the clamping state.

[0084] In this way, the structure can be made relatively simple while reducing the overall weight of the instrument clamping device 100 .

[0085] like Figure 3 As shown, the connecting portion 41 includes a connecting body 411 connected to the base 1 and a stopper 412 extending from the connecting body 411 in a direction away from the matching portion 6. The stopper 412 is provided with a positioning hole 413 and has a stopper wall 414 (such as Figure 8 shown).

[0086] like Figure 8As shown, the connector 411 is provided with a plurality of through holes 410 corresponding to the positions of the plurality of guide posts 422, and the through holes 13 on the housing 11 correspond to the positions and the number of the through holes 410. The guide posts 422 may further include a first post 480 fixed on the cover 421 and a second post 490 extending from the first post 480 toward the base 1. The through hole 410 is used for the first post 480 to pass through, and the through hole 13 is used for the second post 490 to pass through. The diameter of the through hole 410 is greater than the diameter of the through hole 13, the diameter of the first post 480 is greater than the diameter of the second post 490, and the diameter of the first post 480 is greater than the diameter of the through hole 13. When the cover 421 is pressed and moves toward the base 1, the guide posts 422 move in the through hole 410 and the through hole 13, and stop moving when the first post 480 hits the through hole 13. It is understandable that, in this case, the positioning portion 424 may not be required, and the first column 480 plays the same positioning role as the positioning portion 424. In other embodiments, the positioning portion 424 may also be retained. In this case, the positioning portion 424 is engaged with the connecting portion 41 to form a receiving space to accommodate the guide column 422, the elastic portion and other structures. The width of the positioning portion 424 is smaller than the length of the first column 480, and the first column 480 plays the role of positioning.

[0087] When the main body 241 passes through the positioning hole 413 from the side of the connecting portion 41 close to the base 1, the pressing portion 242 moves toward the cover body 421, and stops moving when the pressing portion 242 contacts the stop wall 414. At this time, the clamping portion 23 is converted from the open state to the clamping state. When the cover body 421 is subjected to the pressing force, it moves toward the connecting body 411. When the positioning portion 424 contacts the connecting body 411, it prevents the cover body 421 from moving toward the base 1. At this time, the clamping portion 23 is converted from the clamping state to the open state. By setting the two limit points of the stop wall 414 and the positioning portion 424, the opening and closing stroke of the clamping member 2 can be controlled, which can not only avoid unnecessary stroke waste, but also avoid the structure from becoming larger.

[0088] like Figure 5 As shown, the matching portion 6 is provided with an identification device 62, such as Figure 3As shown, the instrument holding device 100 further includes a reader 7 fixed on the base 1, and the reader 7 is used to receive information from the identification device 62 to prompt whether the instrument 400 is installed on the instrument holding device 100. The identification device 62 may be a magnet that can be sensed by the reader 7. The reader 7 may be a magnetic switch, a proximity sensor, a micro switch or other structures.

[0089] The instrument clamping device 100 provided in this embodiment includes a base 1, two clamping members 2 arranged opposite to each other pivotally connected to the base 1, and the clamping member 2 further includes a rotating part 22 pivotally connected to the base 1 and having a first end 222 and a second end 223 opposite to each other, and a clamping part 23 movably connected to the first end 222 of the rotating part 22 and arranged in the base 1, and the second end 223 moves when subjected to a force to drive the first end 222 to move outward, thereby driving the clamping part 23 to move outward relative to the base 1, so that the clamping part 23 is converted from a clamping state to an open state and separated from the instrument 400. In this way, the instrument can be disassembled and installed conveniently and quickly. Furthermore, for the existing knob-type instrument clamping device, when the sterile cover is put on the mechanical arm 310, the operation is very inconvenient. The present invention adopts a press-type clamping, which can effectively solve this problem.

[0090] 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, the instrument clamping device is used to clamp an instrument, the instrument clamping device is a poking clamping device, characterized in that: The instrument clamping device comprises a base, and two clamping members which are pivotally connected to the base and arranged opposite to each other. The clamping member includes a rotating part pivotally connected to the base and having a first end and a second end opposite to each other, and a clamping part movably connected to the first end of the rotating part and arranged in the base. The second end is used to move when subjected to a force and drive the first end to move outward, thereby driving the clamping portion to move outward relative to the base, so that the clamping portion is converted from a clamping state to an open state and separated from the device; The first end is provided with a first movable groove, and the clamping part is provided with a first rotating shaft. The first rotating shaft is movably connected in the first movable groove, and has a first initial position before movement and a first terminal position after movement in the first movable groove. When the first rotating shaft is in the first initial position, the two clamping parts are in a clamping state; when the first rotating shaft is in the first terminal position, the two clamping parts are in an open state.

2. The instrument holding device according to claim 1, characterized in that: The clamping portion includes a rotating body provided with the first rotating shaft and a chuck body provided in the base and connected to the rotating body, wherein the chuck body is used to clamp the instrument and when the first end moves outward, the chuck body translates outward relative to the base to release the instrument.

3. The instrument holding device according to claim 2, characterized in that: The rotating body is recessed with a positioning groove, and the positioning groove separates the rotating body into a first body and a second body that are oppositely arranged. The first rotating shaft is arranged in the positioning groove and connects the first body and the second body. The positioning groove is used to accommodate the first end.

4. The instrument holding device according to claim 1, characterized in that: The base includes a shell and a seat body arranged in the shell and used for pivoting the rotating part. The seat body is provided with sliding grooves on two opposite side surfaces so that the clamping part can slide along the sliding grooves.

5. The instrument holding device according to claim 4, characterized in that: The path along which the clamping portion slides along the sliding groove is a straight line.

6. The instrument holding device according to claim 1, characterized in that: The clamping member further comprises a pressing member connecting the two rotating parts, wherein the pressing member is used to contact the second end to move the second end when subjected to a pressing force, thereby causing the first end to move outward and driving the clamping part to move outward relative to the base.

7. The instrument holding device according to claim 6, characterized in that: The second end is movably connected to the pressing member, and the first end is movably connected to the clamping portion.

8. The instrument holding device according to claim 7, characterized in that: The pressing member is provided with a second rotating shaft, and the second end is provided with a second movable groove. The second rotating shaft is movably connected in the second movable groove, and has a second initial position before movement and a second terminal position after movement in the second movable groove. When the second rotating shaft is in the second initial position, the two clamping parts are in a clamping state; when the second rotating shaft is in the second terminal position, the two clamping parts are in an open state.

9. The instrument holding device according to claim 8, characterized in that: The second movable grooves of the two rotating parts are arranged adjacent to each other.

10. The instrument holding device according to claim 6, characterized in that: The instrument clamping device also includes a driving member fixed on the base, the driving member includes a connecting portion fixed on the base and a driving portion movably connected to the connecting portion, and the driving portion is used to move toward the base when subjected to pressing force to press the pressing member so that the pressing member contacts the second end.

11. The instrument holding device according to claim 10, characterized in that: The connecting portion includes a connecting body connected to the base and a stop portion extending from the connecting body in a direction away from the instrument, the stop portion is provided with a positioning hole, and has a stop wall on a side close to the base; the pressing member includes a main body and a pressing portion extending from the main body in a direction of the instrument, the pressing portion is used to connect the two rotating parts, the pressing portion is located between the driving portion and the connecting portion, and when the pressing portion contacts the stop wall, the two clamping portions are in an open state.

12. The instrument holding device according to claim 11, characterized in that: The driving part comprises a cover body fixedly connected to the pressing member, and the cover body is used to make the pressing member contact the second end when subjected to a pressing force.

13. The instrument holding device according to claim 12, characterized in that: The driving part also includes a plurality of guide posts extending from the cover body toward the base; the connecting body is provided with a plurality of through holes corresponding to the positions of the plurality of guide posts and used to accommodate the guide posts, and the base is provided with a plurality of conducting holes corresponding to the positions of the plurality of through holes; the guide posts are used to move along the conducting holes in a direction away from the cover body when the cover body is subjected to pressing force.

14. The instrument holding device according to claim 13, characterized in that: The guide column includes a first column fixed on the cover body and a second column extending from the first column toward the base, the through hole is used for the first column to pass through, and the conductive hole is used for the second column to pass through; the diameter of the first column is larger than the diameter of the conductive hole.

15. The instrument holding device according to claim 13, characterized in that: The driving part also includes an elastic part sleeved on the guide column, and the elastic part is located between the cover body and the connecting body; the elastic part is used to elastically deform when the cover body is subjected to a pressing force, and elastically restore the cover body when the pressing force applied to the cover body disappears to reset the cover body.

16. The instrument holding device according to claim 10, characterized in that: The connecting part includes a connecting body connected to the base; the driving part includes a cover body fixedly connected to the pressing member, and the driving part also includes an elastic part located between the cover body and the connecting body, the elastic part is used to elastically deform when the cover body is subjected to pressing force, and elastically restore the cover body when the pressing force applied to the cover body disappears to reset the cover body.

17. The instrument holding device according to claim 10, characterized in that: The driving part also includes a cover body fixedly connected to the pressing member, and a positioning part extending from the cover body toward the base. The connecting part includes a connecting body connected to the base, and the positioning part is used to prevent the cover body from moving toward the base when in contact with the connecting body.

18. The instrument holding device according to claim 1, characterized in that: The instrument is provided with an identification device for sending information, and the instrument clamping device also includes a reader fixed on the base, and the reader is used to prompt that the instrument has been installed on the instrument clamping device when receiving the information sent by the identification device.

19. A robotic arm, characterized in that: The robot arm comprises an instrument and an instrument holding device according to any one of claims 1 to 18, wherein the instrument holding device is used to hold the instrument.

20. The mechanical arm according to claim 19, characterized in that: The device includes a main body and a matching portion protruding from the main body; the base includes a shell and a seat body arranged in the shell and used to pivotally connect the rotating part, and two oppositely arranged side surfaces of the seat body are recessed with sliding grooves for the clamping part to slide along the sliding grooves. The seat body is recessed with a receiving groove from a side close to the matching portion to a direction away from the matching portion, and the receiving groove is connected to the sliding groove to accommodate the matching portion when the clamping portion and the matching portion are matched.

21. The mechanical arm according to claim 19, characterized in that: The instrument includes a main body and a matching portion protruding from the main body and used for detachably connecting with the clamping portion. The matching portion is recessed with a receiving groove used to interfere with the clamping portion. The clamping portion is used to separate from the receiving groove when it is translated outward relative to the base, so that the two clamping portions are converted from a clamping state to an open state.

22. The mechanical arm according to claim 21, characterized in that: The clamping portion also includes a resistance wall for connecting with the accommodating groove; the matching portion has a pushing wall on the side away from the main body, and the matching portion is used to move toward the base and contact the resistance wall through the pushing wall, so that the free ends of the two clamping portions are separated from each other, and the free ends of the clamping portions are snapped into the accommodating groove after the pushing wall passes through the resistance wall, thereby fixing the instrument on the instrument clamping device.

23. The mechanical arm according to claim 22, characterized in that: The shape of the accommodating groove is U-shaped or V-shaped.

24. The mechanical arm according to claim 20 or 21, characterized in that: The instrument clamping device also includes a limiting portion fixed on the base, and the body is provided with a protrusion that cooperates with the limiting portion. The limiting portion is used to fix the instrument on the instrument clamping device when cooperating with the protrusion.

25. The mechanical arm according to claim 24, characterized in that: The device also includes a tube body connected to the main body, the raised portion includes a convex ridge protruding from the main body, the limiting portion is provided with a groove corresponding to the convex ridge, and the convex ridge is used to cooperate with the groove to limit the base from moving along the central axis direction of the tube body.

26. A surgical robot, characterized in that: The surgical robot comprises a robotic arm as claimed in any one of claims 19 to 25.

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