A gripper and a gripping system for a surgical robot

Abstract

An embodiment of this specification discloses a gripper and a gripping system for a surgical robot. The gripper includes a jaw assembly, an opening and closing drive assembly, a gripper body, and an adapter; the adapter is installed in the jaw assembly and is used to dock with a gripping target; the jaw assembly is installed in the gripper body and is used to grip the adapter and the gripping target; the opening and closing drive assembly drives the jaw assembly to perform an opening and closing action to realize the gripping and releasing of the adapter and the gripping target. This gripper can achieve rapid docking and disconnection of the gripping target.

Description

Technical Field

[0001] This specification relates to the technical field of medical devices, and more particularly, to a gripper and a gripping system for a surgical robot. Background Art

[0002] Modern minimally invasive medical surgeries involve the use of remotely controlled surgical instruments (such as surgical robots) and manually operated surgical instruments (such as laparoscopes and thoracoscopes). During the surgery, the remotely controlled or manually operated surgical instruments are inserted into the patient's body through cannulas or disposable trocars to perform surgery at the surgical site. In a robotic remote control surgery system, the cannula needs to be installed on the robotic manipulator arm before the surgery begins and is remotely operated through the surgeon's console.

[0003] In the preoperative preparation stage, the cannula is manually inserted into the incision site of the patient, positioned and then docked to the robotic manipulator arm, and moves along with the robotic manipulator arm. It is required that the docking and disconnection of the cannula be quick and simple, and safe and reliable after docking. Therefore, a good cannula gripper and gripping system are necessary. Summary of the Invention

[0004] One aspect of the embodiments of this specification discloses a gripper for a surgical robot, including an adapter, a jaw assembly, an opening and closing drive assembly, and a gripper body; the adapter is installed in the gripper body and is used for docking and gripping the target; the jaw assembly is installed in the gripper body and is used for gripping the adapter and the gripping target; the opening and closing drive assembly drives the jaw assembly to perform opening and closing actions to achieve gripping and releasing of the adapter and the gripping target.

[0005] In some embodiments, the jaw assembly includes a first jaw and a second jaw; the first ends of the first jaw and the second jaw are jointly used for gripping the adapter; the second ends of the first jaw and the second jaw approach or move away from each other under the drive of the opening and closing drive assembly, thereby realizing the opening and closing actions of the jaw assembly.

[0006] In some embodiments, the first jaw is installed in the gripper body through a first rotating shaft, and the second jaw is installed in the gripper body through a second rotating shaft; when the second ends of the first jaw and the second jaw approach each other, the opening action of the jaw assembly is realized; when the second ends of the first jaw and the second jaw move away from each other, the closing action of the jaw assembly is realized.

[0007] In some embodiments, the opening and closing drive assembly includes a driving body and a control part for controlling the movement of the driving body; when the driving body moves, it drives the jaw assembly to perform opening and closing actions.

[0008] In some embodiments, the driving body includes a spring and a movable block. The movable block is connected to the gripper body by the spring. The control unit can control the movement of the movable block, and the movable block can drive the jaw assembly to open and close during the movement.

[0009] In some embodiments, the surface of the movable block includes an inclined surface or a curved surface. During the movement of the movable block, the contact points between the inclined surface or the curved surface of the movable block and the first jaw and the second jaw of the jaw assembly will change, resulting in the second ends of the first jaw and the second jaw approaching or separating from each other.

[0010] In some embodiments, the control unit and the movable block form an eccentric crank-slider mechanism. The control unit includes a crank and a connecting rod. One end of the crank is hinged to the gripper body, the other end of the crank extends as a handle, one end of the connecting rod is hinged to the crank, and the other end of the connecting rod is hinged to the movable block.

[0011] In some embodiments, the adapter includes an adapter body and a connecting block connected to each other. The inner surface of the adapter body includes a receiving cavity and a first engaging structure that match the connecting portion of the clamping target. The outer surface of the adapter body includes a second engaging structure that matches the first ends of the first jaw and the second jaw of the jaw assembly.

[0012] In some embodiments, the connecting block is provided with a third engaging structure, and the gripper body includes a fourth engaging structure that matches the third engaging structure; the fourth engaging structure is installed on the gripper body through an elastic member, and when the elastic member is pressed, the fourth engaging structure can be separated from the third engaging structure.

[0013] In some embodiments, at least one position sensor for collecting the position state of the opening and closing driver is provided on the gripper body; a trigger rod is provided on the opening and closing driver, and when the trigger rod touches the position sensor during the movement following the opening and closing driver, the position sensor will be triggered.

[0014] Another aspect of the embodiments of this specification discloses a clamping system for a surgical robot, including: a base; a lifting column installed on the base; a positioning arm installed on the lifting column; at least one operating arm installed on the positioning arm; and a gripper as described in any of the foregoing embodiments installed on the positioning arm.

[0015] In some embodiments, the clamping system further includes: a surgical instrument mounted on the positioning arm; and an instrument driving assembly for driving the surgical instrument to perform surgical operations.

[0016] The embodiments of the present specification provide a cannula gripper that can be quickly docked and severed, is easy to operate, and has a reliable docking, improving the operation efficiency of cannula docking before the start of robotic surgery, ensuring the reliability of the cannula after docking, and providing real-time information feedback to the user. Description of the Drawings

[0017] Figure 1 is an exemplary structural diagram of a clamping system 100 for a surgical robot shown in some embodiments of the present specification.

[0018] Figure 2 is an exemplary structural diagram of a mating structure 200 between a gripper and a gripping target for a surgical robot shown in some embodiments of the present specification.

[0019] Figure 3 is an exemplary structural diagram of a jaw assembly 300 shown in some embodiments of the present specification.

[0020] Figure 4 is an exemplary structural diagram of a driving body 400 shown in some embodiments of the present specification.

[0021] Figure 5 is an exemplary structural diagram of a control unit 500 shown in some embodiments of the present specification.

[0022] Figure 6 is a schematic block diagram of an electrical system 600 related to sensors and buttons shown in some embodiments of the present specification.

[0023] Figure 7A 、 7B 、7C is an exemplary structural diagram of a clamping structure 700 shown in some embodiments of the present specification.

[0024] Figure 1 Explanation of the reference numerals in : 101 is the base; 102 is the lifting column; 103 is the positioning arm; 104, 105, 106, 107 are the operating arms; 108 is the surgical instrument; 109 is the instrument driving assembly; 110 is the gripper.

[0025] Figure 2 Explanation of the reference numerals in : 201 is the guiding tube; 202 is the base; 203 is the adapter; 204 is the gripper body; 205 is the signal lamp.

[0026] Figure 3Explanation of reference numerals in the figures: 301 is the gripper body; 302 is the first clamping arm; 303 is the first rotating shaft; 304 is the second clamping arm; 305 is the second rotating shaft; 306 is the first end of the first clamping arm; 307 is the second end of the first clamping arm; 308 is the first end of the second clamping arm; 309 is the second end of the second clamping arm; 310 is the opening and closing drive assembly.

[0027] Figure 4 Explanation of reference numerals in the figures: 401 is the first clamping arm; 402 is the first rotating shaft; 403 is the second end of the first clamping arm; 404 is the second clamping arm; 405 is the second rotating shaft; 406 is the second end of the second clamping arm; 407 is the movable block; 408 is the fixed block; 409 is the spring; 410 is the gripper body; 411 is the curved surface.

[0028] Figure 5 Explanation of reference numerals in the figures: 501 is the movable block; 502 is the first sensor; 503 is the first trigger rod; 504 is the second trigger rod; 505 is the spring; 506 is the second sensor; 507 is the fixed block; 508 is the button; 509 is the guide; 510 is the connecting rod; 511 is the crank; 512 is the gripper body, 513 is the fourth rotating shaft.

[0029] Figure 6 Explanation of reference numerals in the figures: 601 is the button; 602 is the first sensor; 603 is the second sensor; 604 is the drive control board; 605 is the RGB light; 606 is the host computer.

[0030] Figure 7A 、 7B Explanation of reference numerals in 7C: 701 is the object to be gripped; 702 is the connecting part; 703 is the first pit; 704 is the adapter; 704a is the adapter body; 704b is the connecting block; 705 is the third engaging structure; 706 is the receiving cavity; 707 is the first engaging structure; 708 is the second engaging structure; 709 is the fourth engaging structure; 710 is the first end of the second clamping arm; 711 is the second clamping arm; 712 is the first end of the first clamping arm; 713 is the first clamping arm; 714 is the gripper body. Detailed implementation manners

[0031] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. It should be understood that these exemplary embodiments are given only to enable technicians in related fields to better understand and implement this specification, and do not limit the scope of this specification in any way. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0032] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural, unless the context clearly indicates an exception. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment".

[0033] In the description of this specification, it should be understood that the terms "upper end", "lower end", "horizontal", "vertical", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this specification and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this specification.

[0034] In this specification, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral 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 it can indicate that there is an interactive relationship between the two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in this specification according to specific circumstances.

[0035] Surgical robotically steerable surgical instruments can be inserted through small, minimally invasive surgical orifices to manipulate tissue at a surgical site within a patient's body, avoiding the trauma associated with access for open surgery. These surgical robots are able to move the working ends of surgical instruments deftly enough to perform complex surgical tasks, typically by pivoting the shaft of the instrument at the minimally invasive orifice, sliding the shaft axially through the orifice, rotating the shaft within the orifice, and / or other similar actions.

[0036] During the surgical procedure, surgical instruments are inserted into the patient's body through a cannula in order to perform surgery at the surgical site. In a robotic remote-controlled surgical system, before the surgery begins, the cannula needs to be installed on the manipulator arm of the surgical robot, and then remotely operated by the surgeon at the console. Therefore, the surgical robot needs a clamping system for clamping objects such as cannulas.

[0037] Figure 1 It is an exemplary structural diagram of a clamping system 100 for a surgical robot shown in some embodiments of this specification. In some embodiments, the clamping system 100 may include a base 101, a lifting column 102, a positioning arm 103, at least one manipulator arm (such as 104, 105, 106, 107), and a gripper 110.

[0038] The base 101 is used to support the entire clamping system 100.

[0039] The lifting column 102 is installed on the base 101 and is used to adjust the height of the positioning arm 103 installed thereon by lifting.

[0040] The positioning arm 103 is installed on the lifting column 102. In some embodiments, the positioning arm 103 can be telescopic.

[0041] At least one manipulator arm (such as 104, 105, 106, 107) is installed on the positioning arm 103. Each manipulator arm can be formed by linkages coupled together through actuatable joints and capable of being manipulated.

[0042] The gripper 110 is installed on the positioning arm 103 and is used to quickly clamp and remove the clamping object. For the specific structure of the gripper 110, see the description of each figure later. In some embodiments, the clamping object can be a cannula.

[0043] In some embodiments, the clamping system 100 may further include a surgical instrument 108 and an instrument drive assembly 109.

[0044] The surgical instrument 108 is installed on the positioning arm 103 and is used to perform surgical operations.

[0045] The instrument drive assembly 109 is installed on the positioning arm 103 and is used to drive the surgical instrument 108 to perform surgical operations.

[0046] Figure 2 It is an exemplary structural diagram of the mating structure 200 between the gripper and the clamping object of a surgical robot in some embodiments of this specification.

[0047] In some embodiments, the clamping target can be a cannula. In some embodiments, the cannula can include a guide tube 201 and a base 202 as shown in Figure 2 . The guide tube 201 has a certain length and is used to guide the surgical instrument to be inserted into the patient's body in the proximal-to-distal direction (see the direction indicated by the double-headed arrow in Figure 2 ).

[0048] In some embodiments, the gripper can include an adapter 203, a jaw assembly ( Figure 2 , not shown in the figure), an opening and closing drive assembly ( Figure 2 , not shown) and a gripper body 204.

[0049] The adapter 203 can be installed inside the jaw assembly and is used to dock with the clamping target. In some embodiments, the adapter 203 can be a sterile adapter, and there is a barrier on the surface of the adapter 203 to isolate the sterile area (not shown in the figure). Through the sterile barrier of the adapter, the clamping target and the gripper body can be effectively isolated, thereby reducing the risk of infection during the operation. For the specific structure of the adapter, reference can be made to the description of Figure 7A , 7B , 7C.

[0050] The jaw assembly can be installed inside the gripper body 204 and is used to grip the adapter 203 and the clamping target. For the specific structure of the jaw assembly, reference can be made to the description of Figure 3 and related descriptions.

[0051] The opening and closing drive assembly can drive the jaw assembly to open and close to achieve the clamping and releasing of the adapter 203 and the clamping target. For the specific structure of the opening and closing drive assembly, reference can be made to the description of Figure 4 and related descriptions.

[0052] In some embodiments, before the clamping target is installed on the gripper, the adapter 203 can be installed on the gripper body 204 of the gripper first, and then the clamping target can be quickly installed on the adapter 203. In some embodiments, a signal lamp 205 can also be provided on the gripper body 204 to display the clamping state of the gripper (such as the clamping target is not clamped, the clamping target is ready to be clamped, the clamping target is clamped in place), which can give the user an intuitive feedback. In some embodiments, the signal lamp 205 can display different clamping states in different colors (such as red, yellow, green, etc.), so as to give the user an intuitive feedback.

[0053] The above description about Figure 2The various embodiments related to the description can achieve at least the following beneficial effects: rapid docking and disconnection between the clamping target and the gripper, and different clamping targets can have different adapters, and the adaptability of the gripper body 204 is strong.

[0054] Figure 3 It is an exemplary structural diagram of the clamping arm assembly 300 of some embodiments of this specification. In some embodiments, the clamping arm assembly 300 may include a first clamping arm 302, a first rotating shaft 303, a second clamping arm 304, and a second rotating shaft 305.

[0055] In some embodiments, the clamping arm assembly 300 includes a first clamping arm 302 and a second clamping arm 304. The first ends 306 of the first clamping arm and 308 of the second clamping arm are jointly used to clamp the adapter and the clamping target; the second ends 307 of the first clamping arm and 309 of the second clamping arm approach or move away from each other under the drive of the opening and closing drive assembly 310, so as to realize the opening and closing actions of the clamping arm assembly 300.

[0056] In some embodiments, the first clamping arm 302 is installed in the gripper body 301 through the first rotating shaft 303, and the second clamping arm 304 is installed in the gripper body 301 through the second rotating shaft 305; when the second ends 307 of the first clamping arm and 309 of the second clamping arm approach each other, the opening action of the clamping arm assembly 300 is realized; when the second ends 307 of the first clamping arm and 309 of the second clamping arm move away from each other, the closing action of the clamping arm assembly 300 is realized.

[0057] In some alternative embodiments, the first clamping arm 302 and the second clamping arm 304 are installed in the gripper body 301 through a third rotating shaft (not shown in the figure), forming an X-shaped structure. When the second ends of the first clamping arm and 309 of the second clamping arm approach each other, the closing action of the clamping arm assembly is realized; when the second ends of the first clamping arm and 309 of the second clamping arm move away from each other, the opening action of the clamping arm assembly is realized.

[0058] In some embodiments, the center of gravity of the first clamping arm 302 is between the first rotating shaft 303 and the first end 306 of the first clamping arm, and the center of gravity of the second clamping arm 304 is between the second rotating shaft 305 and the first end 308 of the second clamping arm, and the center of gravity lines of the first clamping arm 302 and the second clamping arm 304 respectively intersect with the extension lines of the connecting lines between the first rotating shaft 303 and the second rotating shaft 305. The center of gravity line refers to an invisible line passing through the center of gravity of an object in the vertical direction. When the second ends of the first clamping arm and 309 of the second clamping arm are not blocked by the opening and closing drive assembly 310, they will automatically approach each other under the action of gravity. Correspondingly, the first ends 306 of the first clamping arm and 308 of the second clamping arm will automatically move away from each other, so as to realize the opening action of the clamping arm assembly 300.

[0059] In the above-mentioned Figure 3 and related descriptions of various embodiments, the beneficial effects that the clamping arm assembly can achieve at least include: under the driving action of the opening and closing driving assembly, it can perform opening and closing actions to realize the clamping and loosening of the adapter and the clamping target.

[0060] Figure 4 It is an exemplary structural diagram of the driving body 400 in some embodiments of this specification.

[0061] In some embodiments, the opening and closing driving assembly includes a driving body 400 and a control part for controlling the movement of the driving body. When the driving body 400 moves, it drives the clamping arm assembly to perform opening and closing actions. Among them, for the specific structure of the control part, reference can be made to the description about Figure 5 the relevant content.

[0062] In some embodiments, the driving body 400 may include a movable block 407 and a spring 409. The movable block 407 is connected to the gripper body 410 through the spring 409. The control part can control the movement of the movable block 407, and the movable block 407 can drive the clamping arm assembly to perform opening and closing actions during the movement process.

[0063] In some embodiments, one end of the spring 409 is connected to the movable block 407, and the other end of the spring 409 is connected to a fixed block 408 inside the gripper body 410. In some embodiments, the spring 409 may be a sleeved spring. The sleeved spring is sleeved on the fixed block 408, one end of the sleeved spring is connected to the fixed block 408, and the other end of the sleeved spring is connected to the movable block 407. In some embodiments, there is a sleeved relationship between the movable block 407 and the fixed block 408, and the spring 409 is arranged inside the sleeved cavity of the movable block 407. One end of the spring 409 is connected to the fixed block 408, and the other end of the spring 409 is connected to the movable block 407.

[0064] In some embodiments, when the driving body 400 moves, it drives the second end 403 of the first clamping arm and the second end 406 of the second clamping arm to approach or move away from each other, thereby driving the first clamping arm 401 to rotate around the first rotating shaft 402 and driving the second clamping arm 404 to rotate around the second rotating shaft 405, realizing the opening and closing actions of the clamping arm assembly.

[0065] In some alternative embodiments, the opening and closing driving assembly may include a first connecting rod, a second connecting rod, a rack and pinion mechanism, and a motor. This alternative structure is described in Figure 4It is not shown in the figure. One end of the first link is hinged to the second end 403 of the first clamping arm, the other end of the first link is hinged to the rack of the rack and pinion mechanism, one end of the second link is hinged to the second end 406 of the second clamping arm, the other end of the second link is hinged to the rack of the rack and pinion mechanism, and the pinion of the rack and pinion mechanism is driven by a motor. The motor and the rack and pinion mechanism are installed in the gripper body 410.

[0066] In some alternative embodiments, one end of the driving body can be hinged to the second end 403 of the first clamping arm, and the other end of the driving body can be hinged to the second end 406 of the second clamping arm. In some embodiments, the driving body can be a hydraulic cylinder, a pneumatic cylinder, etc. with adjustable length.

[0067] In some embodiments, the surface of the movable block 407 includes an inclined surface or a curved surface. During the movement of the movable block 407, the contact points between the inclined surface or the curved surface of the movable block 407 and the first clamping arm 401 and the second clamping arm 404 of the clamping arm assembly will change, resulting in the mutual approach or separation between the second end 403 of the first clamping arm and the second end 406 of the second clamping arm. Among them, the curved surface of the movable block 407 can refer to the part pointed to by the mark 411 in Figure 4 The surface 411 of the curved surface, where the movable block 407 contacts the second end 403 of the first clamping arm and the second end 406 of the second clamping arm.

[0068] In some alternative embodiments, the driving body 400 can include a third link (not shown in Figure 4 and a fourth link (not shown in Figure 4 ). One end of the third link is hinged to the second end 403 of the first clamping arm, the other end of the third link is hinged to the movable block 407, one end of the fourth link is hinged to the second end 406 of the second clamping arm, and the other end of the fourth link is hinged to the movable block 407. When the driving body 400 moves, the clamping arm assembly is driven to open and close through the third link and the fourth link.

[0069] The above-mentioned various embodiments regarding Figure 4 and related descriptions can achieve at least the beneficial effects including: driving the clamping arm assembly to open and close by moving the driving body.

[0070] Figure 5 is an exemplary structural diagram of the control unit 500 in some embodiments of the present specification. In some embodiments, the control unit 500 can include a link 510 and a crank 511. In some embodiments, the control unit 500 can further include a guide member 509.

[0071] In some embodiments, the control unit 500 and the movable block 501 form an eccentric crank-slider mechanism. The control unit 500 may include a crank 511 and a connecting rod 510. One end of the crank 511 is hingedly mounted on the gripper body 512, and the other end of the crank 511 extends as a handle. One end of the connecting rod 510 is hinged to the crank 511, and the other end of the connecting rod 510 is hinged to the movable block 501.

[0072] In some embodiments, the guide member 509 may be fixedly mounted on the gripper body 512 to guide the movement of the movable block 501. In some embodiments, the guide member 509 may be a sleeve 509 sleeved on the outer surface of the straight section of the movable block 501. In some embodiments, the guide member 509 may be a structure such as a guide rail or a chute. By providing the guide member 509, it is possible to prevent the movable block 501 from shifting or wobbling during movement, thereby improving the clamping stability of the gripper.

[0073] In some embodiments, the connecting rod 510, the crank 511, and the movable block 501 together form an eccentric crank-slider mechanism. When the user presses down (see Figure 5 the direction indicated by the double-sided arc arrows in) the handle to rotate the crank 511 around the fourth rotating shaft 513, the connecting rod 510 drives the movable block 501 to compress the spring 505 and move towards the fixed block 507. After releasing the handle, the spring 505 resumes its shape and drives the movable block 501 to move away from the fixed block 507.

[0074] In some embodiments, at least one position sensor for collecting the position state of the opening and closing drive assembly is provided on the gripper body 512. In some embodiments, two position sensors are provided on the gripper body 512, such as Figure 5 the first sensor 502 and the second sensor 506 shown in.

[0075] In some embodiments, the first sensor 502 is used to collect the position signal of the movable block 501 of the opening and closing drive assembly in the un-docked state. The un-docked state refers to the state where the movable block 501 moves to the uppermost position, the clamping arm assembly is closed, and the clamping target has not been docked. In some embodiments, in the un-docked state, the handle is not pressed, and the spring 505 of the opening and closing drive assembly is in the longest state.

[0076] In some embodiments, the second sensor 506 is used to collect the position signal of the movable block 501 of the opening and closing drive assembly in the ready-to-dock state. The ready-to-dock state refers to the state where the handle is pressed down, the movable block 501 moves to the lowermost position, and the clamping arm assembly is opened.

[0077] In some embodiments, the first sensor 502 and the second sensor 506 do not collect the position signals of the movable block 501 when the driving assembly is in the clamped-in place state. The clamped-in place state means that the movable block 501 moves upward, driving the clamping arm assembly to close, and clamping the adapter and the clamping target to achieve docking. In some embodiments, when in the docked-in place state, the handle is not pressed, the movable block 501 moves upward about three-quarters of its travel, the clamping arm assembly closes, and the adapter and the clamping target are clamped. The travel refers to the displacement of the movable block 501 from its uppermost position in the non-docked state to its lowermost position in the ready-to-dock state.

[0078] In some embodiments, trigger rods (such as the first trigger rod 503 and the second trigger rod 504) can be provided on the opening and closing driving assembly. When the trigger rods touch the position sensors (such as the first sensor 502 and the second sensor 506) during the process of following the movement of the opening and closing driving assembly, the position sensors will be triggered to collect signals to confirm the position state of the opening and closing driving assembly.

[0079] In some embodiments, a button 508 is further provided on the gripper body 512. In some embodiments, after the button 508 is pressed, the corresponding manipulator arm shown in Figure 1 can be manually dragged. In some embodiments, the handle and the button 508 can be pressed simultaneously. At this time, the second sensor 506 and the button 508 are triggered simultaneously, indicating readiness to dock the clamping target (such as a sleeve). When the handle and the button 508 are pressed simultaneously, the manipulator arm can be dragged, and the user can drag the manipulator arm to align the adapter of the gripper with the clamping target, so as to dock the clamping target into the adapter. Then the user can release the handle, and the opening and closing driving assembly can drive the clamping arm assembly to close to achieve clamping of the clamping target.

[0080] The above-mentioned various embodiments regarding Figure 5 and related descriptions can achieve at least the following beneficial effects: Through the structure of the crank and the connecting rod, the movement control of the movable block can be realized.

[0081] Figure 6 is a schematic block diagram of the electrical system 600 related to the sensors and buttons in some embodiments of this specification. In some embodiments, the electrical system 600 may include a button 601, a first sensor 602, a second sensor 603, a drive control board 604, an RGB light 605, and a host computer 606.

[0082] After the button 601 is pressed, a signal is transmitted to the host computer 606 through the drive control board 604 to release the control of the manipulator arm, so as to achieve manual dragging of Figure 1The corresponding robotic arm shown in [figure]. In some embodiments, the button 601 can be pressed while the second sensor 506 is triggered.

[0083] After the trigger rod touches the first sensor 602 or the second sensor 603 during the movement following the opening and closing drive assembly, the drive control board 604 controls the RGB light to display the corresponding color according to the signals collected from the first sensor 602 or the second sensor 603. For example, after the first sensor 602 is triggered, the RGB light displays red, indicating that the adapter is not installed. For another example, after the second sensor 603 is triggered, the RGB light displays yellow, indicating that the adapter is ready for docking. For yet another example, when neither the first sensor 602 nor the second sensor 603 is triggered, the RGB light displays green, indicating that the adapter is docked in place.

[0084] The host computer 606 is used to issue control instructions to the lifting column 102, the positioning arm 103, at least one robotic arm (such as 104, 105, 106, 107), and the gripper 110. In some embodiments, after the host computer 606 receives the signal that the button 601 is pressed, it issues an instruction to release the control of the robotic arm (such as 104, 105, 106, 107), so that the robotic arm can be manually dragged.

[0085] The control drive board 604 is used to collect the signals of the button 601, the first sensor 602, and / or the second sensor 603, and then transmit the signals to the host computer 606 or control the RGB display to show the corresponding color.

[0086] The above-mentioned Figure 6 and the related descriptions of each embodiment can achieve at least the following beneficial effects: According to the position of the opening and closing drive assembly, control the RGB light to display the corresponding color to prompt the state of the clamping system.

[0087] Figure 7A 、 7B 7C is an exemplary structural diagram of the engagement structure 700 in some embodiments of this specification. In some embodiments, the engagement structure 700 may include a first engagement structure 707, a second engagement structure 708, a third engagement structure 705, and a fourth engagement structure 709.

[0088] In some embodiments, the adapter 704 may include an adapter body 704a and a connection block 704b connected to each other. The inner surface of the adapter body 704a may include a receiving cavity 706 and a first engagement structure 707 that match the connection part 702 of the clamping target 701. The connection block 704b is used to connect the adapter 704 to the gripper body. In some embodiments, the first engagement structure 707 may be an elastic protrusion.

[0089] In some embodiments, both sides of the connecting portion 702 of the clamping target 701 may be inclined surfaces that match the inclined inner walls of the accommodating cavity 706 of the adapter body 704a, and first pits 703 that match the first engaging structure 707 are provided on the inclined surfaces. In some embodiments, both sides of the connecting portion 702 of the clamping target 701 are provided with outer inclined surfaces, and the accommodating cavity 706 of the adapter body 704a includes inner inclined surfaces. The outer inclined surfaces and the inner inclined surfaces have the same inclination angle, so that the clamping target 701 can be easily placed into the adapter. After the connecting portion 702 is inserted into the accommodating cavity 706, the first engaging structure 707 is stuck in the first pit 703, realizing the connection between the clamping target 701 and the adapter body 704a, as Figure 7B .

[0090] In some embodiments, the adapter body 704a can be made of a flexible material, such as thermoplastic elastomer material (abbreviated as TPE), thermoplastic polyurethane elastomer material (abbreviated as TPU), etc. The inner side wall of the adapter body 704a has a smooth and low-friction property for the easy insertion and removal of the clamping target 701. In some embodiments, the connecting block 704b can be made of a rigid material, such as acrylonitrile-butadiene-styrene copolymer material (abbreviated as ABS), polyurethane and other materials.

[0091] In some embodiments, outside the adapter body 704a, there is a second engaging structure 708 that matches the first end 712 of the first clamping arm and the first end 710 of the second clamping arm of the clamping arm assembly. When the user presses the handle as Figure 5 shown, the opening and closing drive assembly moves downward, driving the clamping arm assembly to be in an open state. At this time, the clamping target can be placed into the clamping body 714, as Figure 7B shown. Then, the user releases the handle, and the movable block 501 of the opening and closing drive assembly moves upward, driving the clamping arm assembly to close. The first end 712 of the first clamping arm and the first end 710 of the second clamping arm clamp the second engaging structure 708 on the adapter body 704a, thereby clamping the first pit 703 on the clamping target 701. As Figure 7C shown, at this time, Figure 5 neither the first sensor 502 nor the second sensor 506 shown is triggered.

[0092] In some embodiments, the second engaging structure 708 may be a second pit that matches the positions and sizes of the first end 712 of the first clamping arm and the first end 710 of the second clamping arm. When the clamping arm assembly is closed, the first end 712 of the first clamping arm and the first end 710 of the second clamping arm are clamped in the second pit to realize the fixation of the clamping target.

[0093] In some embodiments, the first engaging structure 707 and the second engaging structure 708 may be in the same position, asFigure 7A As shown, that is, the inclined inner wall of the accommodation cavity 706 of the adapter body 704a is partially concave inward, the protrusion formed on the inner wall surface is the first engaging structure, and the second pit formed on the outer wall surface is the second engaging structure 708.

[0094] In some embodiments, the connecting block 704b may include a third engaging structure 705, and the gripper body 714 may include a fourth engaging structure 709 that matches the third engaging structure 705. After the adapter body 704a is placed into the gripper body, the third engaging structure 705 engages with the fourth engaging structure 709 to achieve a fixed connection between the gripper body 714 and the adapter, as Figure 7B shown.

[0095] In some embodiments, the fourth engaging structure 709 is mounted on the gripper body 714 through an elastic member. During disassembly, by pressing the release buttons on both sides of the elastic member, the fourth engaging structure 709 can be separated from the third engaging structure 705, so that the adapter 704 can be quickly removed from the gripper body 714.

[0096] Regarding the above Figure 7A , 7B , 7C and the various embodiments related to the relevant descriptions, the beneficial effects that can be achieved at least include: through the first engaging structure, the adapter can be quickly docked with the clamping target; through the second engaging structure on the adapter, the adapter and the clamping target can be safely and quickly clamped or loosened by the clamping arm assembly; through the third engaging structure on the adapter and the fourth engaging structure on the gripper body, the connection between the adapter and the gripper body can be achieved to improve the safety and stability of clamping.

[0097] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this specification.

[0098] At the same time, this specification uses specific terms to describe the embodiments of this specification. Such as "one embodiment", "an embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0099] Similarly, it should be noted that, in order to simplify the description disclosed in this specification and thus assist in the understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of this specification, sometimes multiple features are combined into one embodiment, drawing, or description thereof. However, this method of disclosure does not mean that the features required by the subject matter of this specification are more than those mentioned in the claims. In fact, the features of the embodiments are fewer than all the features of the individual embodiments disclosed above.

[0100] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be regarded as consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A gripper for a surgical robot, characterized in that, It includes an adapter, a clamping arm assembly, an opening and closing drive assembly, and a gripper body; The adapter is installed inside the gripper body and is used to dock with the clamping target; The clamping arm assembly is installed inside the gripper body and is used to clamp the adapter and the clamping target; The opening and closing drive assembly drives the clamping arm assembly to perform opening and closing actions to achieve clamping and releasing of the adapter and the clamping target; The clamping arm assembly includes a first clamping arm and a second clamping arm; the first clamping arm is installed inside the gripper body through a first rotating shaft, and the second clamping arm is installed inside the gripper body through a second rotating shaft; the first ends of the first clamping arm and the second clamping arm are jointly used to clamp the adapter; The second ends of the first clamping arm and the second clamping arm approach or move away from each other under the drive of the opening and closing drive assembly, thereby realizing the opening and closing actions of the clamping arm assembly; when the second ends of the first clamping arm and the second clamping arm approach each other, the opening action of the clamping arm assembly is realized; when the second ends of the first clamping arm and the second clamping arm move away from each other, the closing action of the clamping arm assembly is realized; The center of gravity of the first clamping arm is between the first rotating shaft and the first end of the first clamping arm, the center of gravity of the second clamping arm is between the second rotating shaft and the first end of the second clamping arm, and the center of gravity lines of the first clamping arm and the second clamping arm respectively intersect with the extension lines of the connecting lines between the first rotating shaft and the second rotating shaft.

2. The gripper according to claim 1, characterized in that, The opening and closing drive assembly includes a drive body and a control part for controlling the movement of the drive body; when the drive body moves, it drives the clamping arm assembly to perform opening and closing actions.

3. The holder according to claim 2, wherein, The drive body includes a spring and a movable block, the movable block is connected to the gripper body through the spring, the control part can control the movement of the movable block, and the movable block can drive the clamping arm assembly to perform opening and closing actions during the movement.

4. The holder according to claim 3, characterized in that The surface of the movable block includes an inclined surface or a curved surface. During the movement of the movable block, the contact points between the inclined surface or the curved surface of the movable block and the first clamping arm and the second clamping arm of the clamping arm assembly will change, resulting in the second ends of the first clamping arm and the second clamping arm approaching or moving away from each other.

5. The gripper according to claim 3, characterized in that, The control part and the movable block form an eccentric crank-slider mechanism. The control part includes a crank and a connecting rod. One end of the crank is hinged and installed on the gripper body, the other end of the crank extends as a handle, one end of the connecting rod is hinged to the crank, and the other end of the connecting rod is hinged to the movable block.

6. The holder according to claim 1, characterized in that The adapter includes an adapter body and a connecting block connected to each other; The inner surface of the adapter body includes a receiving cavity and a first engaging structure that matches the connecting part of the clamping target, and the outer surface of the adapter body includes a second engaging structure that matches the first end of the first clamping arm and the first end of the second clamping arm of the clamping arm assembly; The connecting block is used to connect the adapter to the gripper body.

7. The holder according to claim 6, wherein The connecting block is provided with a third engaging structure, and the gripper body includes a fourth engaging structure matching the third engaging structure; The fourth engaging structure is installed on the gripper body through an elastic member. When the elastic member is pressed, the fourth engaging structure can be separated from the third engaging structure.

8. The gripper according to claim 1, wherein, At least one position sensor for collecting the position state of the opening and closing drive assembly is arranged on the gripper body; a trigger rod is arranged on the opening and closing drive assembly. When the trigger rod touches the position sensor during the movement following the opening and closing drive assembly, the position sensor will be triggered.

9. A clamping system for a surgical robot, characterized in that, Comprising: A base; A lifting column installed on the base; A positioning arm installed on the lifting column; At least one operating arm installed on the positioning arm; And The gripper according to any one of claims 1 to 8, installed on the positioning arm.

10. The clamping system according to claim 9, wherein, Further comprising: A surgical instrument installed on the positioning arm; And An instrument drive assembly for driving the surgical instrument to perform a surgical operation.

Images