Medical execution element holding device and robot arm

Abstract

This application relates to the field of medical device clamping accessories technology, and particularly to a medical actuator clamping device and robotic arm. An embodiment of this application provides a medical actuator clamping device, including an endoscope clamping component and a support base. The endoscope clamping component includes a first clamping component and a second clamping component, one end of the first clamping component being rotatably connected to the end of the second clamping component. The support base has a receiving space for accommodating the endoscope clamping component. During use, the first or second clamping component can be rotated to move them apart, allowing the endoscope to be installed into the open clamping space. Closing the clamping space then secures the endoscope. The endoscope clamping component, along with the endoscope, is then placed into the receiving space of the support base, further ensuring the stability of the endoscope clamping. Because the first and second clamping components can rotate relative to each other and change the size of the clamping space, endoscopes of different sizes can be clamped.

Description

Technical Field

[0001] This application relates to the field of medical device clamping accessories technology, and in particular to a medical actuator clamping device and robotic arm. Background Technology

[0002] Minimally invasive surgery refers to surgery performed using modern medical instruments and equipment such as laparoscopes and thoracoscopes. It has the advantages of less trauma, less pain, and faster recovery. It is an inevitable trend in the future development of surgical methods. Based on traditional surgery, minimally invasive surgery results in smaller postoperative scars and meets aesthetic requirements, making it more acceptable to young patients. Minimally invasive surgery is the general trend and goal of surgical development.

[0003] Currently, robot-assisted minimally invasive surgery is gradually becoming a development trend in minimally invasive surgery. However, due to the inherent characteristics of minimally invasive surgery, the robot's operational space is severely limited, preventing it from moving freely. Furthermore, the complex structure and large size of the surgical instruments further restrict the robot's movement. While providing surgeons with real-time, high-definition images during surgery is crucial, the variety of endoscopes available is insufficient, and existing clamping structures cannot accommodate all types. This limits the types of endoscopes that can be mounted on current surgical robots. Additionally, the shapes of endoscopes on the market are not uniformly cylindrical, meaning traditional clamping structures cannot securely hold endoscopes of different shapes. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a medical actuator clamping device, which can effectively solve the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a medical actuator clamping device, including an endoscope clamping member and a support base; the endoscope clamping member includes a first clamping member, a second clamping member, and a clamping space formed by the first clamping member and the second clamping member, one end of the first clamping member is rotatably connected to the end of the second clamping member to change the size of the clamping space; the support base has a receiving space for accommodating the endoscope clamping member.

[0006] In an optional embodiment according to the first aspect, the first clamping member has a first end and an opposite second end, and the second clamping member has a third end and an opposite fourth end; the first end and the third end are connected by a pin; and the second end and the fourth end are optionally connected.

[0007] In an optional embodiment according to the first aspect, the second end is provided with a connecting buckle, and the fourth end is provided with at least two locking teeth that cooperate with the buckle.

[0008] In an alternative embodiment according to the first aspect, at least two of the teeth are arranged in a direction along the fourth end toward the second end.

[0009] In an alternative embodiment according to the first aspect, at least two of the grommets are arranged at equal intervals.

[0010] In an alternative embodiment according to the first aspect, the side of the first clamping member opposite to the second clamping member is configured to conform to the outer wall of the endoscope.

[0011] In an alternative embodiment according to the first aspect, the endoscope holder further includes a connecting collar for connecting a positioning protrusion of the endoscope.

[0012] In an alternative embodiment according to the first aspect, the support includes a resilient assembly and a resilient button, the resilient assembly having the receiving space with an opening at one end; the resilient button is disposed at the opening; the support is configured such that the size of the receiving space can be selectively changed by pressing the resilient button.

[0013] In an optional embodiment according to the first aspect, the inner wall of the receiving space is provided with a positioning groove, and the outer wall of the endoscope holder is provided with a positioning boss that mates with the positioning groove.

[0014] Secondly, embodiments of this application also provide a robotic arm, which includes the aforementioned medical actuator clamping device.

[0015] The medical actuator clamping device provided in this application has at least the following advantages compared with the prior art:

[0016] This application provides a medical actuator clamping device, including an endoscope clamping member and a support base; the endoscope clamping member includes a first clamping member, a second clamping member, and a clamping space formed by the first clamping member and the second clamping member, one end of the first clamping member is rotatably connected to the end of the second clamping member to change the size of the clamping space; the support base has a receiving space for accommodating the endoscope clamping member. During use, because the ends of the first clamping member and the second clamping member are rotatably connected, during installation, the first clamping member or the second clamping member can be rotated to move them apart, that is, to open the clamping space. The endoscope to be installed can then be installed into the open clamping space. By rotating the first clamping member or the second clamping member, they can be moved closer to each other, that is, to close the clamping space and thus securely connect the endoscope. Then, the endoscope clamping member and the endoscope are placed together into the receiving space of the support base, further ensuring the stability of the endoscope clamping. At the same time, since the first clamping member and the second clamping member can rotate relative to each other and change the size of the clamping space, endoscopes of different sizes can be clamped.

[0017] The robotic arm provided in this application, since it includes the aforementioned medical actuator gripping device, also possesses the aforementioned beneficial effects. Attached Figure Description

[0018] The present application will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0019] Figure 1 This is a schematic diagram of the overall structure of the medical actuator clamping device according to an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the endoscope clamping member of the medical actuator clamping device according to an embodiment of this application in the first state;

[0021] Figure 3 This is a schematic diagram of the endoscope clamping member of the medical actuator clamping device according to an embodiment of this application in a second state;

[0022] Figure 4 This is a schematic diagram of the support base of the medical actuator clamping device according to an embodiment of this application.

[0023] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not drawn to scale.

[0024] Figure label:

[0025] 10-Medical actuator clamping device; 11-Endoscope clamping component; 111-First clamping component; 111a-First end; 111b-Second end; 111c-Connecting buckle; 112-Clamping space; 113-Second clamping component; 113a-Third end; 113b-Fourth end; 113c-Clamping tooth; 115-Connecting collar; 117-Positioning boss; 13-Support base; 131-Elastic kit; 133-Elastic button; 137-Accommodation space; 1371-Opening; 1373-Positioning groove. Detailed Implementation

[0026] The present application will be further described below with reference to specific embodiments. It should be understood that these specific embodiments are for illustrative purposes only and are not intended to limit the scope of the present application.

[0027] For the sake of brevity, this article only discloses a few specific numerical ranges. However, any lower limit can be combined with any upper limit to form an unspecified range; and any lower limit can be combined with other lower limits to form an unspecified range, just as any upper limit can be combined with any other upper limit to form an unspecified range. Furthermore, each individually disclosed point or single value can itself serve as a lower or upper limit and be combined with any other point or single value or with other lower or upper limits to form an unspecified range.

[0028] In the description of this article, it should be noted that, unless otherwise stated, "above" and "below" include the number itself, and "several" in "one or more" means two or more.

[0029] Unless otherwise stated, the terms used in this application have their common meanings as commonly understood by those skilled in the art. Unless otherwise stated, the values ​​of the parameters mentioned in this application can be measured using various measurement methods commonly used in the art (e.g., they can be tested according to the methods given in the embodiments of this application).

[0030] Please refer to Figures 1 to 4 This application provides a medical actuator clamping device 10, including an endoscope clamping member 11 and a support base 13; the endoscope clamping member 11 includes a first clamping member 111, a second clamping member 113, and a clamping space 112 formed by the first clamping member 111 and the second clamping member 113, one end of the first clamping member 111 is rotatably connected to the end of the second clamping member 113 to change the size of the clamping space 112; the support base 13 has a receiving space 137 for accommodating the endoscope clamping member 11.

[0031] This application provides a medical actuator clamping device 10, including an endoscope clamping member 11 and a support base 13; the endoscope clamping member 11 includes a first clamping member 111, a second clamping member 113, and a clamping space 112 formed by the first clamping member 111 and the second clamping member 113, one end of the first clamping member 111 is rotatably connected to the end of the second clamping member 113 to change the size of the clamping space 112; the support base 13 has a receiving space 137 for accommodating the endoscope clamping member 11. During use, because the ends of the first clamping member 111 and the second clamping member 113 are rotatably connected, during installation, the first clamping member 111 or the second clamping member 113 can be rotated to move them away from each other, that is, to open the clamping space 112. The endoscope to be installed can be installed into the clamping space 112 of the opening 1371. By rotating the first clamping member 111 or the second clamping member 113, the two can be moved closer to each other, that is, to close the clamping space 112 and thus securely connect the endoscope. Then, the endoscope clamping member 11 and the endoscope are placed together into the receiving space 137 of the support base 13, further ensuring the stability of the endoscope clamping. At the same time, since the first clamping member 111 and the second clamping member 113 can rotate relative to each other and change the size of the clamping space 112, endoscopes of different sizes can be clamped.

[0032] It should be noted that the medical actuator in this embodiment can be described using an endoscope as an example, but in actual operation, the medical actuator includes, but is not limited to, an endoscope.

[0033] In an optional exemplary embodiment, the first clamping member 111 has a first end 111a and an opposite second end 111b, and the second clamping member 113 has a third end 113a and an opposite fourth end 113b; the first end 111a and the third end 113a are connected by a pin; the second end 111b and the fourth end 113b are optionally connected. It should be noted that in this embodiment, connecting the first end 111a of the first clamping member 111 and the third end 113a of the second clamping member 113 by a pin facilitates mutual rotation between the first clamping member 111 and the second clamping member 113, thereby changing the size of the clamping space 112 and facilitating the clamping of endoscopes of different sizes. It is understood that the connection relationship between the first clamping member 111 and the second clamping member 113 is not limited here. In other specific embodiments, the first clamping member 111 and the second clamping member 113 can be rotatably connected in other ways, such as hinge connection, according to the actual needs of the user.

[0034] In an optional exemplary embodiment, the second end 111b is provided with a connecting buckle 111c, and the fourth end 113b is provided with at least two locking teeth 113c that cooperate with the buckle. It should be noted that in this embodiment, the second end 111b is provided with a connecting buckle 111c, and the fourth end 113b is provided with at least two locking teeth 113c that cooperate with the buckle. During endoscope installation, after opening the clamping space 112 and placing the endoscope into it, the first clamping member 111 or the second clamping member 113 is rotated to close the clamping space 112. At this time, depending on the size of the endoscope, the connecting buckle 111c can connect to different locking teeth 113c, thereby making the connection between the first clamping member 111 and the second clamping member more secure when the clamping space 112 is closed. This also makes the clamping space 112 fit more closely to the outer wall of the endoscope, resulting in a more stable connection.

[0035] In an optional exemplary embodiment, at least two of the locking teeth 113c are arranged along the direction from the fourth end 113b toward the second end 111b. It should be noted that arranging at least two locking teeth 113c along the direction from the fourth end 113b toward the second end 111b means that the connecting latch 111c can travel along a direction close to the second end 111b, thus enabling the closed clamping space 112 to be adjusted according to the size of the endoscope, further facilitating the secure clamping of the endoscope.

[0036] In an optional exemplary embodiment, at least two of the locking teeth 113c are equally spaced. It should be noted that equally spaced locking teeth 113c ensures that the distance traveled by the connecting latch 111c each time is equal, minimizing the distance traveled each time. This reduces the magnitude of the single reduction in the clamping space 112, thus enabling more suitable clamping of endoscopes with similar dimensions.

[0037] In an optional exemplary embodiment, the side of the first clamping member 111 opposite to the second clamping member 113 is configured to conform to the outer wall of the endoscope. It should be noted that configuring the side of the first clamping member 111 opposite to the second clamping member 113 to conform to the outer wall of the endoscope facilitates better clamping of the endoscope during operation, thereby further enhancing the stability of the endoscope connection and preventing the endoscope from detaching from the clamping space 112 during surgery, which could lead to a medical accident.

[0038] In an optional exemplary embodiment, the endoscope holder 11 further includes a connecting collar 115 for connecting to the positioning protrusion of the endoscope. It should be noted that the connecting collar 115 is provided so that, during clamping, it can be fitted onto the positioning protrusion of the endoscope, thereby limiting the endoscope's position and preventing rotation of the endoscope within the clamping space 112 during surgery, which would affect the procedure.

[0039] In an optional exemplary embodiment, the support base 13 includes an elastic element 131 and an elastic button 133. The elastic element 131 has a receiving space 137 with an opening 1371 at one end. The elastic button 133 is disposed at the opening 1371. The support base 13 is configured such that the size of the receiving space 137 can be selectively changed by pressing the elastic button 133. It should be noted that the support base 13 is configured to include an elastic component 131 and an elastic button 133. The elastic component 131 has a receiving space 137 with an opening 1371 at one end. The elastic button 133 is disposed at the opening 1371. The support base 13 is configured such that the size of the receiving space 137 can be selectively changed by pressing the elastic button 133. During installation, after the endoscope is placed into the endoscope holder 11 and secured with the connecting buckle 111c and the locking teeth 113c, pressing the elastic button 133 increases the opening 1371, thereby increasing the receiving space 137. The endoscope holder 11, together with the endoscope, is then inserted from the opening 1371 into the receiving space 137. Releasing the elastic button 133 causes the receiving space 137 to decrease under the elastic restoring force of the elastic component 131, thus tightening it against the outer wall of the endoscope holder 11. When it is necessary to remove the endoscope, press the elastic button 133 to enlarge the receiving space 137 and the opening 1371, then remove the endoscope holder 11 and take the endoscope out of the endoscope holder 11.

[0040] In an optional exemplary embodiment, the inner wall of the receiving space 137 is provided with a positioning groove 1373, and the outer wall of the endoscope holder 11 is provided with a positioning boss 117 that mates with the positioning groove 1373. It should be noted that the positioning groove 1373 on the inner wall of the receiving space 137 and the positioning boss 117 on the outer wall of the endoscope holder 11, which mates with the positioning groove 1373, prevent the endoscope holder 11 from falling out of the receiving space 137 of the support base 13 by the limiting effect of the positioning groove 1373 and the positioning boss 117.

[0041] This application also provides a robotic arm, which includes the medical actuator clamping device 10 described above.

[0042] The robotic arm provided in this application also has the aforementioned beneficial effects because it includes the medical actuator gripping device 10 described above.

[0043] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A medical actuator clamping device, characterized in that, The utility model relates to a medical endoscope clamping device, comprising: an endoscope clamping member, which comprises a first clamping member, a second clamping member, and a clamping space formed by the first clamping member and the second clamping member, one end of the first clamping member being rotatably connected to an end of the second clamping member to change the size of the clamping space; and a support seat, which has a receiving space for accommodating the endoscope clamping member; the first clamping member has a first end and a second end opposite to the first end, and the second clamping member has a third end and a fourth end opposite to the third end; the first end and the third end are connected by a shaft pin; and the second end and the fourth end are selectively connected; the second end is provided with a connecting buckle, and the fourth end is provided with at least two clamping teeth matched with the buckle; the endoscope clamping member further comprises a connecting sleeve ring for connecting a positioning protrusion of an endoscope; the support seat comprises a resilient sleeve and a resilient button, and the resilient sleeve has the receiving space with an open end; the resilient button is arranged at the opening; and the support seat is configured to selectively change the size of the receiving space by pressing the resilient button; an inner side wall of the receiving space is provided with a positioning groove, and an outer side wall of the endoscope clamping member is provided with a positioning boss matched with the positioning groove.

2. The medical implement holder according to claim 1, wherein The at least two clamping teeth are arranged along the fourth end in a direction towards the second end.

3. The medical implement holder according to claim 2, wherein The at least two clamping teeth are arranged at equal intervals.

4. The medical implement holder according to claim 1, wherein The side opposite to the first clamping member and the second clamping member is arranged in a shape matched with an outer side wall of an endoscope.

5. A robot arm, characterized in that, The mechanical arm comprises the medical execution element clamping device according to any one of claims 1 to 4.

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