Instrument gripping devices, operating equipment and surgical robots

Abstract

The present invention provides an instrument clamping device, a slave operating device having the instrument clamping device, and a surgical robot including the slave operating device, wherein the device for clamping the instrument includes a clamping arm, a driving block, an elastic member, and an operating mechanism. The driving block is driven by the elastic member and the operating mechanism to move. During the movement of the driving block, the end of the clamping arm contacts different parts of the driving block to achieve the opening of the clamping arm and clamping of the instrument. The direction of the elastic force provided by the elastic member of the present invention is the same as the direction of movement of the driving block, so that the driving block can be subjected to a larger elastic force when the clamping arm clamps the instrument, so that the clamping arm can firmly clamp the instrument.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to an instrument clamping device for clamping surgical equipment, a slave operating device having the instrument clamping device, and a surgical robot having the device. Background Art

[0002] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robotics have gradually matured and are widely used. Minimally invasive surgical robots typically include a master console and a slave console. The master console sends control commands to the slave console based on the surgeon's operations, controlling the slave console. The slave console responds to the control commands sent by the master console and performs the corresponding surgical operation. The instrument support arm of the slave console's robotic arm drives the movement of the surgical instrument to perform a surgical operation on the human body. An incision is made near the lesion to allow the surgical instrument to enter the body. An instrument, such as a trocar (also known as a puncture device), is placed at the incision to guide the surgeon into the body. The trocar supports the incision, allowing the distal end of the surgical instrument to pass through the trocar into the body and allowing gas to enter the body through the trocar to expand and support the body cavity. Once the trocar is positioned at the incision, the instrument support arm is manipulated to mate with the trocar, allowing the instrument support arm to drive the trocar, achieving multi-freedom movement of the surgical instrument passing through the trocar. Generally, a clamping device is used to connect the instrument support arm and the poking card. However, the existing instrument clamping device does not clamp the poking card firmly enough, which causes the risk of the poking card detaching from the clamping device during the operation. There is currently no better solution for how to firmly connect the poking card and the instrument support arm. Summary of the Invention

[0004] Based on this, in order to solve the above technical problems, the present invention provides an instrument clamping device, a slave operating device having the instrument clamping device, and a surgical robot including the slave operating device. The instrument clamping device includes:

[0005] case;

[0006] two clamping arms, each of which is pivotally connected to the housing, and each of which comprises a supporting portion located inside the housing and a clamping portion located outside the housing for clamping an instrument;

[0007] a driving block, the driving block comprising a wedge-shaped portion and a base, one end of the wedge-shaped portion being fixedly connected to the base, the two clamping portions being configured to be in a clamping state when the wedge-shaped portion is in a first position, and the wedge-shaped portion being configured to move from the first position to a second position and abut against the support portion, thereby driving the two clamping portions to open outward to be in an open state;

[0008] a first elastic member, one end of which abuts against the base, the first elastic member being configured to elastically deform when the wedge portion is located at the second position and to drive the wedge block to move from the second position to the first position when elastically restoring;

[0009] An operating mechanism is connected to the base and is used to drive the wedge-shaped portion to move from the first position to the second position.

[0010] Preferably, the device further comprises a second elastic member, wherein the second elastic member is arranged between the support portion and the housing and is in an elastically deformed state, or the second elastic member is arranged between the two support portions and is in an elastically deformed state.

[0011] Preferably, a rotating member is further provided at the end of the supporting portion, and the wedge-shaped portion is used to contact the rotating member and drive the rotating member to rotate when moving between the first position and the second position.

[0012] Preferably, the second elastic member is configured to elastically contact the support portion so that the rotating member is in close contact with the wedge-shaped portion.

[0013] Preferably, the device also includes one or more pins and a mounting base arranged in the shell, one end of the pin is fixedly connected to the base, and the mounting base also has a guide hole for accommodating the other end of the pin, and the other end of the pin is used to slide in the guide hole during the movement of the drive block.

[0014] Preferably, there are two latches, and the other ends of the two latches are respectively received in two different guide holes.

[0015] Preferably, the device further comprises a mounting seat provided in the housing, one end of the first elastic member is sleeved on the latch, and the other end of the first elastic member is mounted in the mounting seat.

[0016] Preferably, the operating mechanism includes an operating handle, a first connecting rod and a second connecting rod, the first end of the first connecting rod is pivotally connected to the shell, the second end of the first connecting rod is fixedly connected to the operating handle and pivotally connected to one end of the second connecting rod, the other end of the second connecting rod is pivotally connected to the driving block, the operating handle and the first connecting rod together rotate in a first direction around the pivot axis of the first end of the first connecting rod and the shell to drive the second connecting rod to push the driving block to move from the first position to the second position.

[0017] Preferably, the operating handle and the first connecting rod are configured to rotate together around the pivot axis between the first end of the first connecting rod and the housing in a second direction opposite to the first direction when the first elastic member drives the driving block to move from the second position to the first position.

[0018] Preferably, the first end of the first connecting rod is connected to the housing via a first pivot, the second end of the first connecting rod is connected to one end of the second connecting rod via a second pivot, and the other end of the second connecting rod is connected to the driving block via a third pivot.

[0019] Preferably, the first end of the first link is connected to the proximal side surface of the housing via the first pivot.

[0020] Preferably, the first link is located on the central plane of the device.

[0021] Preferably, the operating handle and the first link are configured to rotate together about the first pivot in the first direction to drive the second pivot to move toward the proximal end of the device.

[0022] Preferably, the operating handle and the first link are configured to rotate together about the first pivot in the first direction to drive the third pivot to move in a direction away from the clamping arm.

[0023] Preferably, the second connecting rod is in an arc shape and the center of the arc-shaped second connecting rod is located at the proximal end of the device.

[0024] Preferably, the base includes a receiving groove for receiving the second connecting rod.

[0025] Preferably, the operating mechanism includes an operating handle and a first connecting rod, the first end of the first connecting rod is fixedly connected to the operating handle, the second end of the first connecting rod is fixedly connected to the driving block, and the operating handle is used to push the driving block to move through the first connecting rod.

[0026] Preferably, the wedge-shaped portion includes a first side surface and a second side surface, and a distance from the first side surface to a center line of the wedge-shaped portion is smaller than a distance from the second side surface to the center line of the wedge-shaped portion.

[0027] Preferably, the side surface of the wedge-shaped portion also includes a first transition surface in a slope shape and a second transition surface in an arc shape, the first transition surface is smoothly connected to the first side surface, the second transition surface is smoothly connected to the second side surface, and the first transition surface is smoothly connected to the second transition surface.

[0028] Preferably, the included angle between the first transition surface and the center line is greater than the included angle between the first side surface or the second side surface and the center line.

[0029] Preferably, the included angle between the second transition surface and the center line is greater than 30° and less than 50°.

[0030] Preferably, the angle between the second side surface and the center line is less than 10°.

[0031] Preferably, the base further includes a blocking portion extending in a direction substantially perpendicular to the second side surface, and the blocking portion is configured to interfere with a distal end of the supporting portion when the driving block moves toward the clamping arm to the first position.

[0032] A slave operating device comprises a mechanical arm, wherein the distal end of the mechanical arm is provided with the above-mentioned instrument clamping device.

[0033] A surgical robot comprises a main operating console and the above-mentioned slave operating device, wherein the main operating console is used to send control commands to the slave operating device to control the robotic arm to perform corresponding operations.

[0034] The elastic force direction of the elastic member for driving the clamping arm to clamp the instrument provided by the present invention is the same as the movement direction of the driving block, so that the driving block can be subjected to a larger elastic force applied by the elastic member when the clamping arm clamps the instrument, so that the clamping arm can firmly clamp the instrument. In addition, the present invention can save effort and facilitate the release of the clamping device by pushing the driving block to move through the operating mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a main operation console according to an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of a slave operating device according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic structural diagram of an apparatus support arm according to an embodiment of the present invention;

[0038] Figures 4A-4C A schematic diagram of an instrument clamping device according to an embodiment of the present invention showing a clamping arm in an open state;

[0039] Figure 5A 4A is a schematic structural diagram of the operating mechanism and the driving block in the embodiment;

[0040] Figure 5B for Figure 5A A schematic diagram of the structure of the driving block in the embodiment shown;

[0041] Figures 6A-6C for Figure 4A A schematic diagram of a clamping state of a clamping arm of an instrument clamping device according to the embodiment shown;

[0042] Figure 7 A schematic structural diagram of an instrument clamping device according to another embodiment of the present invention;

[0043] Figure 8 Schematic diagram of the structure of the operating mechanism and the driving block in another embodiment of the present invention. DETAILED DESCRIPTION

[0044] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0045] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments. The terms "distal" and "proximal" as used herein are directional terms, which are commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during surgery and "proximal" refers to the end closer to the operator during surgery. As used herein, "fully coupled" can be broadly understood to mean any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together without relative movement in at least one direction, such as the coupling of a protrusion and a groove. In the specification and claims, the terms "coupled," "joined," and "coupled" are used interchangeably. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0046] like Figure 1 、 Figure 2 As shown, the surgical robot includes a slave operating device 10 and a master operating console 20. The master operating console 20 is used to send control commands to the slave operating device 10 based on the doctor's operations to control the slave operating device 10. It is also used to display images captured by the slave device 10. The slave operating device 10 is used to respond to the control commands sent by the master operating console 20 and perform corresponding operations. The slave operating device 10 is also used to capture images inside the body.

[0047] The operating device 10 includes multiple robotic arms 11, which include multiple connecting rods and joints. The connecting rods are located between two joints. An instrument support arm 13 is provided at the distal end of the robotic arm 11. The surgical instrument 14 is slidably mounted on the instrument support arm 13. The surgical instrument 14 can move on the instrument support arm 13 toward the distal end or proximal end of the instrument support arm 13 to enable the distal end of the surgical instrument 14 to enter or be withdrawn from the human body. The surgical instrument 14 includes a driving device 15, a long axis 16 and an end effector 17 located at the distal end of the long axis 16. The driving device 15 is connected to the actuator 130 on the instrument support arm 13. The actuator 130 is slidably set on the instrument support arm 13. The surgical instrument 14 can move along the proximal and distal ends of the instrument support arm 13 under the drive of the actuator 130. A plurality of actuators (not shown in the figure) are arranged in the actuator 130. The plurality of actuators are engaged with the transmission mechanism in the driving device 15. The end effector 17 located at the distal end of the long axis 16 passes through the instrument into the human body. The actuator drives the end effector 17 at the distal end of the surgical instrument 14 through the transmission mechanism to perform surgical operations in the human body.

[0048] An instrument clamping device 100 is provided at the distal end of the instrument support arm 13. The instrument 12 (such as a poking card) is docked with the instrument support arm 13 through the instrument clamping device 100, so that the instrument can be driven to move together through the robotic arm 11. Since the instrument is docked on the instrument support arm 13, the robotic arm 11 can drive the instrument to rotate around a remote fixed point. At this time, the surgical instrument 14 passing through the instrument also rotates around the remote fixed point, so that the surgical instrument has a larger range of motion inside the human body.

[0049] See Figures 4A-4C ,like Figure 4A As shown, the instrument clamping device 100 is arranged at the distal end of the instrument support arm 13. The external structure of the instrument clamping device 100 includes a shell 110, a clamping arm for clamping the instrument and an operating mechanism 120. The clamping arm includes a first clamping arm 131 and a second clamping arm 132 with basically the same structure. The first clamping arm 131 and the second clamping arm 132 are pivotally connected to the shell 110. Parts of the first clamping arm 131 and the second clamping arm 132 are located outside the shell 110, and part are located inside the shell 110. The parts of the first clamping arm 131 and the second clamping arm 132 for clamping the instrument 12 are located outside the shell 110, which allows the operator to more intuitively observe the docking process of the instrument and the instrument clamping device 100.

[0050] Figure 4B and Figure 4C is a cross-sectional view of the clamping arm in the open state, Figure 5A is a schematic diagram of the connection structure between the operating mechanism 120 and the driving block 140, as shown in Figures 4B-5AAs shown, the operating mechanism 120 includes an operating handle 121 located outside the housing 110 for operator use, a first connecting rod 122, and a second connecting rod 124. The proximal side surface 111 of the housing 110 has an operating hole 112, and the distal end of the operating handle 121 passes through the operating hole 112 and is connected to the first connecting rod 122. In this embodiment, the first connecting rod 122 and the operating handle 121 are integrally formed. The first connecting rod 122 is in the shape of a straight rod. The first end 122a of the first connecting rod 122 is fixedly connected to the operating handle 121, and the second end 122b of the first connecting rod 122 is rotatably connected to the fixed seat 112 located inside the proximal side surface 111 via a first pivot 123. Therefore, the operating handle 121 and the first connecting rod 122 can rotate together about the first pivot 123. In other embodiments, the operating handle 121 and the first connecting rod 122 may not be integrally formed, but the first end 122a of the first connecting rod 122 is still fixedly connected to the operating handle 121.

[0051] One end of the second link 124 is rotationally connected to the first end 122a of the first link 122 via a second pivot 125, and the other end of the second link 124 is rotationally connected to the drive block 140 of the instrument clamping device 100 via a third pivot 126. The drive block 140 is used to directly contact the part of the clamping arm located inside the shell 110 and drive the clamping arm to open or clamp.

[0052] like Figure 4A and Figure 4B As shown, when the operator presses the operating handle 121, the first link 122 and the operating handle 121 rotate counterclockwise around the first pivot 123, and the first end 122a of the first link 122 drives the second pivot 125 to move along the distal end of the instrument clamping device 100 and in the direction away from the instrument 12, and then the second link 124 is driven by the second pivot 125 to move along the distal end of the instrument clamping device 100 and in the direction away from the instrument, causing the driving block 140 to be driven by the second link 124 to move in the direction away from the clamping arm.

[0053] like Figure 5A As shown, the driving block 140 includes a wedge-shaped portion 141 and a base 142. The wedge-shaped portion 141 and the base 142 are integrally formed or fixedly connected. The second connecting rod 124 of the operating mechanism 120 is rotatably connected to the base 142 via the third pivot 126. The first clamping arm 131 and the second clamping arm 132 are rotatably mounted on the housing 110 via the pivots A1 and A2, as shown in FIG. Figure 4B and Figure 4CAs shown, the structure of the clamping arm is illustrated using the second clamping arm 132 as an example. The second clamping arm 132 includes a clamping portion 1321 located outside the housing 110 for clamping the instrument, and a second support portion 1322 located inside the housing 110. A rotating member 1324 is provided at the free end of the second support portion 1322. The free end of the support portion 1322 includes an upper second support portion 1322a and a lower second support portion 1322b. The rotating member 1324 is disposed between the second support portion 1322a and the lower second support portion 1322b. The instrument clamping device 100 also includes a base 150, which includes a mounting seat 152 and a first elastic member 151 disposed within the mounting seat 152. The base 142 of the driving block 140 abuts against the first spring 151. A latch 153 is fixedly provided on the base 152, and the base 150 is also provided with a guide hole for accommodating the latch 153, so that the latch 153 can move in the guide hole to provide guidance for the movement of the driving block 140. The first elastic member 151 can be accommodated in the same guide hole as the latch 153, or can be respectively arranged in different guide holes.

[0054] The driving block 140 is actuated to move between a first position and a second position. When the driving block 140 is in the first position, it is in a clamping state of the clamping arm. When the driving block 140 is used to move from the first position to the second position, the wedge 141 contacts the support portion of the clamping arm, driving the two clamping portions to open outward, thereby opening the clamping arm.

[0055] Second elastic members 1313 and 1323 are further disposed between the first support portion 1312 of the first clamping arm 131 and the second support portion 1322 of the second clamping arm 132, and the housing 110. When the driving block 140 is driven by the operating mechanism 120 to move away from or toward the clamping arm, the driving block 140 compresses the first elastic member 151 to varying degrees. In turn, the first support portion 1312 and the second support portion 1322 of the clamping arm compress the second elastic members 1313 and 1323 to varying degrees, causing the rotating members 1314 and 1324 to roll against the side surface 141.

[0056] In some other embodiments, the second elastic member may also be arranged between the first support portion 1312 of the first clamping arm 131 and the second support portion 1322 of the second clamping arm 132, that is, one end of the second elastic member is fixed to the first support portion 1312 of the first clamping arm 131, and the other end is fixed to the second support portion 1322 of the second clamping arm 132. In this embodiment, during the movement of the driving block 140, the second elastic member is always in a stretched state.

[0057] like Figure 5BAs shown, the wedge-shaped portion 141 includes a top surface 148 and a side surface 143, and the side surface 143 is symmetrical about the center line X of the wedge-shaped portion 141. The side surface 143 includes a tip portion 147 away from the base 142, a first side surface 146 connected to the tip portion 147, and a second side surface 144 close to the base 142. The distance from the side surface 143 to the center line X gradually decreases from the second side surface 144 to the tip portion 146. Therefore, when the operator presses the operating handle 121 of the operating mechanism 120, the operating handle 121 and the first connecting rod 122 rotate together in the first direction (counterclockwise) around the axis of the first pivot 123, and the driving block 140 is driven by the second connecting rod 124 of the operating mechanism 120 to move to the second position in the direction away from the clamping arm. Since the second elastic members 1313 and 1323 are always in a compressed state, during the movement of the driving block 140, the first rotating member 1314 of the first clamping arm 131 and the second rotating member 1324 of the second clamping arm 132 are tightly attached to the side surface 143 of the wedge-shaped portion 141 and gradually roll from the second side surface 144 to the first side surface 146 near the tip portion 147. During this process, the first supporting portion 1312 of the first clamping arm 131 and the second supporting portion 1322 of the second clamping arm approach each other, thereby driving the first clamping arm 131 and the second clamping arm 132 to rotate around the axes A1 and A2, and the first clamping portion 1311 and the second clamping portion 1321 of the first clamping arm 131 move away from each other, so that the clamping arm is in a Figure 4C Shown in the open state.

[0058] like Figures 6A-6CAs shown, when the operator releases the operating handle 121 of the operating mechanism 120, the compressed first elastic member 151 will push the driving block 140 to move in the direction close to the clamping arm from the second position to the first position. During this movement, on the one hand, the third pivot 126 and the driving block 140 move together in the direction close to the clamping arm, and the second link 124 rotates counterclockwise around the third pivot 126 and moves together with the third pivot 126 in the direction close to the clamping arm, so that the second pivot 125 is driven by the second link 124 to move along the proximal end of the instrument clamping device 100, and the first link 122 and the operating handle 121 are driven by the second link 124 to rotate in the second direction (clockwise) around the axis of the first pivot 123, thereby causing the operating 121 to rotate in the second direction (clockwise) around the axis of the first pivot 123. Restore to a state where pressing is not necessarily required; on the other hand, the first rotating member 1314 of the first clamping arm 131 and the second rotating member 1324 of the second clamping arm 132 will roll the side 143 of the wedge-shaped portion 141 from the first side 146 through the transition portion 145 to the second side 144, thereby driving the first support portion 1312 of the first clamping arm 131 and the second support portion 1322 of the second clamping arm 132 to move away from each other, so that the first clamping portion 1311 and the second clamping portion 1321 rotate around the axes A1 and A2 in a direction approaching each other, thereby causing the first clamp 131 and the second clamping arm 132 to clamp the instrument 6.

[0059] The second pivot 125 is closer to the proximal end of the instrument holding device than the first pivot 123 and the third pivot 126. The first connecting rod 122 is located on the center plane of the instrument holding device 100. Figure 4B The cross-section of the instrument holding device 100 is such that the first pivot 123 is located between the first clamping arm 131 and the second clamping arm 132. The first pivot 123, the second pivot 125, and the third pivot 126 are all distributed on the center plane of the instrument holding device 100. The length of the second pivot 125 can be approximately equal to the width of the first link 122 or the second link 124. After the operator releases the operating handle 121, the second pivot 125 may need to pass through the operating hole 112 to move along the proximal end of the instrument holding device 100. Since the length of the second pivot 125 is approximately equal to the width of the first link 122 or the second link 124, the width of the operating hole 112 to allow the second pivot 125 to pass through only needs to be greater than the length of the second pivot 125. This allows the operating hole 112 to be relatively small, preventing other foreign matter from entering the interior of the instrument holding device 100 through the operating hole 112.

[0060] like Figure 5A and Figure 6BAs shown, the second link 124 is an arc-shaped link, and the center of the arc-shaped second link 124 is toward the proximal end of the instrument clamping device 100. When the driving block 140 moves from the second position to the first position, the proximal end of the second link 124 will move toward the proximal end of the instrument clamping device 100 along with the second pivot 125 and pass through the operating hole 112. In the case of a smaller operating hole 112, the arc-shaped second link 124 can extend the length of the second link 124 extending out of the operating hole 112 to a greater extent than the straight second link. Therefore, when the operating hole 122 is smaller, the second link 124 can also move a longer distance along the proximal end of the instrument clamping device 100, so that the driving block 140 can fully reach the first position, thereby enabling the clamping arm to firmly clamp the instrument.

[0061] Further, if Figure 5B As shown, the first side surface 146 and the second side surface 144 of the wedge-shaped portion 141 are smoothly connected via the transition portion 145. Therefore, when the driving block 140 moves, the first rolling wheel member 1314 and the second rotating member 1324 of the clamping arm can roll smoothly on the side surface 143 of the wedge-shaped portion 141. Specifically, the transition portion 145 includes a first transition surface 145a and a second transition surface 145b. The first side surface 146 is an arcuate surface, the first transition surface 145a and the second side surface 144 are inclined surfaces, and the second transition surface 145b is an arcuate surface. The arcuate first side surface 1416 is smoothly connected to the inclined first transition surface 145a without a sudden change. The first transition surface 145a and the second side surface 144 are smoothly connected via the second transition surface 145b without a sudden change, so that the rotating members 1314 and 1324 can roll smoothly between the first side surface 146 and the second side surface 144. In other embodiments, the first side surface 146 and the first transition surface 145a may both be arcuate structures, or the first tip portion 1411 and the second tip portion 1412 may both be inclined surfaces, or the first tip portion 1411 may be an inclined surface structure and the second tip portion 1412 may be an arcuate surface structure.

[0062] The included angle between the first transition surface 145a and the center line X of the wedge-shaped portion 141 ( Figure 5BThe angle between the center line D and the center line X is greater than the angle between the tangent line of any of the first side surface 146, the second side surface 144, and the second transition surface 145a and the center line X. In other words, the slope of the first transition surface 145a is greater than the slope of any of the first side surface 146, the second side surface 144, and the second transition surface 145a. Therefore, when the first rotating member 1314 and the second rotating member 1324 of the clamping arm roll between the second side surface 144 and the first side surface 146, the first rotating member 1314 and the second rotating member 1324 can quickly pass through the first transition surface 145a and reach the first side surface 146 or the second side surface 144, allowing the clamping arm to quickly open or close. In one embodiment, the angle between the first transition surface 145a and the center line X of the wedge-shaped portion 141 is between 50° and 50°. Within this range, the clamping arm can quickly open or close, and the first elastic portion 151 can smoothly push the driving block 140 from the second position to the first position.

[0063] As described above, when the operator releases the operating mechanism 120, the first elastic portion 151 pushes the driver block 140 from the second position to the first position. At this point, it is necessary for the clamping arm to maintain a stable clamping position on the instrument 12 during the surgical procedure. Therefore, the angle between the second side surface 144 and the centerline X of the wedge-shaped portion 141 of the present invention is less than 10 degrees. Within this angle range, the friction force applied by the instrument to the driver block 240 during the surgical procedure is less than the elastic force applied by the first elastic portion 151 to the driver block 140, thereby maintaining the driver block in the first position.

[0064] The base 142 and wedge-shaped portion 141 of the driving block 140 are generally T-shaped. A blocking portion 142a extends from the base 142 in a direction generally perpendicular to the second side surface 144 of the wedge-shaped portion 141. When the driving block 140 is driven by the first elastic member 151 toward the clamping arm and reaches the first position or exceeds the first position, the blocking portion 142a intersects with the first rotating member 1314 and the second rotating member 1324, thereby blocking the driving block 140 from further movement toward the clamping arm and preventing the first rotating member 1314 and the second rotating member 1324 from separating from the driving block 140. A receiving groove 149 is formed in the middle region of the base 142. As the second pivot 125 moves toward the distal end of the instrument clamping device 100, the second connecting rod 124 can be received in the receiving groove 149, thereby preventing the second connecting rod 124 from interfering with other parts of the driving block 140 during operation of the operating mechanism 120.

[0065] In one embodiment, the end of the support portion of the clamping arm of the instrument clamping device is not provided with a rotating member, but the end of the support portion is in direct contact with the side of the wedge. Figure 7As shown, the end of the first support portion 2312 of the first clamping arm 231 of the instrument clamping device has a first interference surface 231', and the end of the second support portion 2322 of the second clamping arm 232 has a second interference surface 232'. The first interference surface 231' and the second interference surface 232' directly interfere with the side surface 243 of the wedge-shaped portion 241 of the driving block 240. When the operator operates the operating mechanism to move the driving block, the first interference surface 231' and the second interference surface 232' of the clamping arm slide on the side surface 243 of the driving block 240, causing the clamping arm to rotate around the pivots A1 and A2, thereby achieving the opening or clamping of the clamping arm. However, the effect of this embodiment is not as good as that of the previous embodiment using a rotating member. Specifically, the first contact surface 231' and the second contact surface 232' of the clamping arm slide directly on the side surface 243 of the wedge-shaped portion 241. Due to the large sliding friction between the contact surface and the side surface, the end of the clamping arm will be worn after long-term use, so that the clamping arm will not clamp the instrument 12 firmly enough.

[0066] In addition, during the process of the driving portion 240 moving from the second position to the first position, that is, the wedge-shaped portion 240 moves along the Figure 7 During the movement in the direction shown in FIG. 2B , the first and second contact surfaces 231 ′, 232 ′ of the clamping arm slide from the first side surface 246 of the wedge-shaped portion 241 to the second side surface 244. Since there is sliding friction between the first and second contact surfaces 231 ′, 232 ′ and the side surface 243 of the wedge-shaped portion 241, and sliding friction is much greater than rolling friction, the first elastic portion 251 may not have sufficient elastic force due to excessive friction, resulting in the first and second contact surfaces 231 ′, 232 ′ not being able to slide smoothly from the first side surface 246 of the wedge-shaped portion 241 to the second side surface 244, thereby causing the clamping arm to be unable to clamp the instrument 12. In contrast, Figure 4A In the illustrated embodiment, a rotating member is used to provide rolling friction between the clamping arm and the drive block. Since rolling friction is much smaller than sliding friction, the rotating member can smoothly roll back and forth on the side of the wedge-shaped portion. Furthermore, the elastic force required to propel the drive block from the second position to the first position is also required to be much smaller, thereby enabling a first elastic member with a smaller elastic coefficient to propel the drive block from the second position to the first position. The use of a first elastic member with a smaller elastic force allows an operator to operate the operating mechanism with less force to achieve the movement of the drive block from the second position to the first position. In other embodiments, the side of the wedge-shaped portion and / or the support portion of the clamping arm are made of a material with a low friction coefficient, such as a composite material, or the contact surface with the side of the wedge-shaped portion and / or the support portion of the clamping arm is coated with a friction-reducing material, such as polytetrafluoroethylene (PTFE), parylene, etc., thereby reducing the direct sliding friction between the clamping arm and the drive block.

[0067] Figure 5A The operating mechanism 120 shown in the figure is connected to the driving block 140 using a connecting rod mechanism. Although this connection saves the operator more effort, it also increases the complexity of the operating mechanism. The operating mechanism and driving block of another embodiment of the present invention are as follows: Figure 8 As shown, the operating mechanism 320 only includes an operating handle 321 and a first connecting rod 322. The proximal end of the first connecting rod 322 is fixedly connected to the operating handle 321, or the first connecting rod 322 and the operating handle 321 are integrally formed. A fixing groove 343 is provided on the top 343 of the wedge-shaped portion 341 of the driving block 340. The end of the first connecting rod 322 is directly fixed in the fixing groove 341. The base 342 of the driving block 340 is connected to the first elastic portion 351. When the operator pushes the operating handle 321, the first connecting rod 322 pushes the driving block 340 to move between the first position and the second position and compresses the first elastic portion 351. The other components of the instrument clamping device of this embodiment are the same as those of the embodiment. Figure 4A The embodiment shown is basically the same and will not be described in detail here. Figure 4A The illustrated embodiment has a simpler structure, but requires the operator to use a greater force to push the driving block 340 to move.

[0068] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An instrument clamping device, characterized in that: The instrument holding device comprises: case; two clamping arms, each of which is pivotally connected to the housing, and each of which comprises a supporting portion located inside the housing and a clamping portion located outside the housing for clamping an instrument; a driving block, the driving block comprising a wedge-shaped portion and a base, one end of the wedge-shaped portion being fixedly connected to the base, the two clamping portions being configured to be in a clamping state when the wedge-shaped portion is in a first position, and the wedge-shaped portion being configured to move from the first position to a second position and abut against the support portion, thereby driving the two clamping portions to open outward to be in an open state; a first elastic member, one end of which abuts against the base, the first elastic member being configured to elastically deform when the wedge-shaped portion is located at the second position and to drive the wedge-shaped portion to move from the second position to the first position when elastically restoring; an operating mechanism connected to the base and used to drive the wedge-shaped portion to move from the first position to the second position, the operating mechanism comprising an operating handle, a first connecting rod and a second connecting rod, a first end of the first connecting rod being fixedly connected to the operating handle, a second end of the first connecting rod being rotatably connected to the housing, one end of the second connecting rod being rotatably connected to the first end, and the other end of the second connecting rod being rotatably connected to the driving block, the operating handle and the first connecting rod rotating together in a first direction around a pivot axis between the first end and the housing to drive the second connecting rod to push the driving block to move from the first position to the second position; The wedge-shaped portion includes a first side surface and a second side surface, the distance from the first side surface to the center line of the wedge-shaped portion is smaller than the distance from the second side surface to the center line of the wedge-shaped portion, the side surface of the wedge-shaped portion further includes a first transition surface in the shape of an inclined surface and a second transition surface in the shape of an arc, the first transition surface is smoothly connected to the first side surface, the second transition surface is smoothly connected to the second side surface, the first transition surface is smoothly connected to the second transition surface, and the angle between the first transition surface and the center line is greater than the angle between the first side surface or the second side surface and the center line.

2. The instrument holding device according to claim 1, wherein: The device further includes a second elastic member, which is arranged between the support portion and the housing and is in an elastically deformed state, or the second elastic member is arranged between the two support portions and is in an elastically deformed state.

3. The instrument holding device according to claim 2, wherein: A rotating member is further provided at the end of the support portion, and the wedge-shaped portion is used to contact the rotating member and drive the rotating member to rotate when moving between the first position and the second position.

4. The instrument holding device according to claim 3, wherein: The second elastic member is configured to elastically contact the support portion so that the rotating member is in close contact with the wedge-shaped portion.

5. The instrument holding device according to claim 1, wherein: The device also includes one or more latches and a mounting base arranged in the shell, one end of the latch is fixedly connected to the base, and the mounting base also has a guide hole for accommodating the other end of the latch, and the other end of the latch is used to slide in the guide hole during the movement of the drive block.

6. The instrument holding device according to claim 5, wherein: There are two latches, and the other ends of the two latches are respectively received in two different guide holes.

7. The instrument holding device according to claim 5, wherein: The device further comprises a mounting seat arranged in the housing, one end of the first elastic member is sleeved on the latch, and the other end of the first elastic member is mounted in the mounting seat.

8. The instrument holding device according to claim 1, wherein: The operating handle and the first connecting rod are configured to rotate together around the pivot axis between the first end of the first connecting rod and the housing in a second direction opposite to the first direction when the first elastic member drives the driving block to move from the second position to the first position.

9. The instrument clamping device as described in claim 8, wherein the first end of the first connecting rod is connected to the housing through a first pivot, the second end of the first connecting rod is connected to one end of the second connecting rod through a second pivot, and the other end of the second connecting rod is connected to the driving block through a third pivot.

10. The instrument holding device according to claim 9, wherein: The first end of the first connecting rod is connected to the proximal side surface of the housing through the first pivot.

11. The instrument holding device according to claim 10, wherein: The first link is located on the center plane of the device.

12. The instrument holding device according to claim 10, wherein: The operating handle and the first link are configured to rotate together about the first pivot in the first direction to drive the second pivot toward the proximal end of the device.

13. The instrument holding device according to claim 10, wherein: The operating handle and the first link are configured to rotate together about the first pivot in the first direction to drive the third pivot to move in a direction away from the clamping arm.

14. The instrument holding device according to claim 1, wherein: The second connecting rod is in an arc shape, and the center of the arc-shaped second connecting rod is located at the proximal end of the device.

15. The instrument holding device according to claim 14, wherein: The base includes a receiving groove for receiving the second connecting rod.

16. The instrument holding device according to claim 1, wherein: The operating mechanism includes an operating handle and a first connecting rod, wherein the first end of the first connecting rod is fixedly connected to the operating handle, and the second end of the first connecting rod is fixedly connected to the driving block. The operating handle is used to push the driving block to move through the first connecting rod.

17. The instrument holding device according to claim 1, wherein: The included angle between the second transition surface and the center line is greater than 30° and less than 50°.

18. The instrument holding device according to claim 17, wherein: The included angle between the second side surface and the center line is less than 10°.

19. The instrument holding device according to claim 1, wherein: The base further includes a blocking portion extending in a direction substantially perpendicular to the second side surface, and the blocking portion is configured to interfere with a distal end of the supporting portion when the driving block moves toward the clamping arm to the first position.

20. A slave operating device, characterized in that: The slave operating device comprises a robotic arm, and the distal end of the robotic arm is provided with the instrument clamping device according to any one of claims 1 to 19.

21. A surgical robot, characterized in that: The surgical robot includes a main operating console and a slave operating device as described in claim 20, wherein the main operating console is used to send control commands to the slave operating device to control the robotic arm to perform corresponding operations.

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