A clamping and twisting device and an interventional surgery robot

Abstract

The present invention relates to the field of medical device technology, and discloses a clamping and twisting device and an interventional surgical robot. The interventional surgical robot includes a clamping and twisting device, which includes a support, two chuck assemblies, a first drive assembly, a second drive assembly, and two linkage members. The two chuck assemblies are movably connected to the support, respectively. The first drive assembly can drive the two chuck assemblies to move closer to or away from each other in a first direction. The second drive assembly has two output ends, and the two output ends can respectively output opposite movements in a second direction. The two ends of each linkage member are respectively hinged to an output end and a chuck assembly, and the second drive assembly can drive the two chuck assemblies to move in opposite directions in the second direction. The clamping and twisting device and the interventional surgical robot have fewer drive components, and the clamping and twisting actions do not interfere with each other. Instruments of different specifications can be twisted under appropriate clamping force without slippage and with high execution accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a clamping and twisting device and an interventional surgical robot. Background Art

[0002] In recent years, vascular interventional therapy technology has developed rapidly. Under the guidance of medical imaging, doctors insert specially made precision medical devices into the human body to precisely treat internal pathologies. Vascular interventional therapy technology has opened up new treatment avenues for many diseases that were previously considered intractable, with the characteristics of no surgery, minimal trauma, rapid recovery, and good treatment. However, there are also certain problems with current vascular interventional treatment methods. Doctors are exposed to radioactive radiation such as X-rays and CT scans for a long time, which harms their health. The limitations of their hands and the need to accurately grasp surgical tools for a long time can make doctors feel very tired. Fatigue and unstable manual operation can seriously affect the quality of the operation. Only experienced doctors can perform this operation. Therefore, interventional surgery assisted by interventional surgery robots has become an important direction for the development of vascular interventional therapy.

[0003] Interventional surgical robots include a clamping and twisting device that is required to clamp instruments (including guidewires, catheters, etc.) and twist and rotate them to enable them to perform designated actions within the human body. However, existing clamping and twisting devices either require multiple drive sources to separately clamp and twist each chuck assembly, resulting in a complex and costly structure; or the clamping and twisting drives are coupled, requiring twisting to be activated only after the two chuck assemblies have reached a preset position. This results in poor flexibility and makes it difficult to meet the needs of frequent replacement of instruments of different sizes during interventional surgery.

[0004] Therefore, there is an urgent need for a clamping and twisting device and an interventional surgical robot to solve the above technical problems. Summary of the Invention

[0005] One purpose of the present invention is to provide a clamping and twisting device with fewer drive components, and the clamping and twisting actions do not interfere with each other. Instruments of different specifications can be twisted under appropriate clamping force without slippage and with high execution accuracy.

[0006] Another object of the present invention is to provide an interventional surgical robot that has low cost and high execution accuracy by providing the above-mentioned clamping and twisting device.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] A clamping and twisting device, comprising:

[0009] Support members;

[0010] Two chuck assemblies, both capable of moving relative to the support member;

[0011] a first driving assembly capable of driving the two chuck assemblies toward or away from each other along a first direction;

[0012] The second drive assembly includes two output ends and two linkage parts. The two output ends can respectively output opposite movements along the second direction. The two ends of each linkage part are respectively hinged to one output end and one chuck assembly. The second drive assembly can drive the two chuck assemblies to move in opposite directions in the second direction. The first direction and the second direction are perpendicular.

[0013] Optionally, the first driving component includes:

[0014] a transmission plate, slidingly engaged with the support member along the second direction, wherein the transmission plate is provided with two inclined sliding grooves, and the two inclined sliding grooves are symmetrical about an axis parallel to the second direction;

[0015] Two moving parts, slidingly engaged with the support member along the first direction, each of the moving parts comprising a mating member, each mating member correspondingly and slidingly engaged with one of the inclined slide grooves, and each of the chuck assemblies being connected to one of the moving parts;

[0016] The first driving source can drive the transmission plate to move along the second direction, so as to drive the two chuck assemblies to move closer to or away from each other along the first direction.

[0017] Optionally, the clamping and twisting device further includes:

[0018] a first guide rail, disposed on the support member and extending along the second direction, the transmission plate being in sliding engagement with the first guide rail;

[0019] A second guide rail is provided on the support member and extends along the first direction, and both of the two moving parts are in sliding cooperation with the second guide rail.

[0020] Optionally, the moving part further includes a third guide rail extending along the second direction, and each of the clamping head assemblies is slidingly engaged with the third guide rail of a corresponding one of the moving parts.

[0021] Optionally, the second driving component includes:

[0022] Two transmission wheels are rotatably disposed on the support member, and the two transmission wheels are arranged along the second direction;

[0023] a transmission belt wound around the two transmission wheels and having two straight segments extending along the second direction, one end of each linkage member being hinged to one of the straight segments;

[0024] The second driving source can drive any one of the transmission wheels to rotate, so that the two straight segments respectively drive the corresponding chuck assembly to move in the opposite direction along the second direction.

[0025] Optionally, the second drive assembly further includes two connecting blocks, each of the connecting blocks is correspondingly fixed on one of the straight line segments to form the output end, and each of the linkage members is correspondingly hinged to one of the connecting blocks.

[0026] Optionally, the chuck assembly includes a main body portion and a chuck portion, the main body portion is used to connect with the first drive assembly and the linkage member, and the chuck portion is detachably connected to the main body portion.

[0027] Optionally, the main body includes a guide sleeve extending axially along the second direction, and an inner wall of the guide sleeve is provided with a radially extending groove;

[0028] The chuck portion includes a guide post and a latch elastically connected to the guide post. The guide post can be plugged into the guide sleeve. One end of the latch is located in the guide post, and the other end can extend radially out of the guide post and be inserted into the slot.

[0029] Optionally, the chuck portion further comprises:

[0030] a button, wherein a first end of the button is located outside the guide post, and a second end of the button extends into the guide post along the axial direction of the guide post, a first inclined surface is provided on the second end of the button, and a second inclined surface is provided on the portion of the latch located within the guide post, and when the button is pressed along the axial direction of the guide post, the first inclined surface and the second inclined surface slide and abut, thereby driving the latch to retract into the guide post;

[0031] The second elastic member has two ends connected to the guide column and the button respectively, and the second elastic member can drive the button to reset.

[0032] An interventional surgical robot comprises the clamping and twisting device.

[0033] The beneficial effects of the present invention are:

[0034] The clamping and twisting device of the present invention is capable of driving two chuck assemblies to move relative to each other in a first direction, thereby clamping an instrument. A linkage is provided, allowing the second drive assembly to drive the two chuck assemblies to move in opposite directions in a second direction, thereby twisting the instrument. The linkage is hinged at both ends of the linkage assembly to the output ends of the chuck assembly and the second drive assembly, thereby decoupling the drive of the chuck assembly by the first drive assembly and the drive of the chuck assembly by the second drive assembly. Even if the drive of the chuck assembly by the first drive assembly and the drive of the chuck assembly by the second drive assembly do not interfere with each other, when the two chuck assemblies clamp instruments of different diameters (i.e., the distance between the two chuck assemblies changes), the second drive assembly can drive the two chuck assemblies to move in opposite directions in the second direction to twist the instrument. The clamping and twisting device of this embodiment has fewer drive assemblies, and the clamping and twisting actions do not interfere with each other. Instruments of different specifications can be twisted under appropriate clamping force without slippage and with high execution accuracy.

[0035] The interventional surgical robot of the present invention has low cost and high execution accuracy by being provided with the above-mentioned clamping and twisting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic diagram from a frontal perspective of a clamping and twisting device provided in a specific embodiment of the present invention;

[0037] Figure 2 is a schematic diagram of a clamping and twisting device provided by a specific embodiment of the present invention, with the support member removed, viewed from the rear;

[0038] Figure 3 It is a structural schematic diagram of a chuck assembly provided by a specific embodiment of the present invention;

[0039] Figure 4 is a longitudinal sectional view of a chuck portion provided by a specific embodiment of the present invention;

[0040] Figure 5 It is an exploded view of the chuck portion provided in a specific embodiment of the present invention.

[0041] In the picture:

[0042] 100-instrument;

[0043] 1- support member;

[0044] 2-chuck assembly;

[0045] 21-main body; 211-slide seat; 212-guide sleeve; 2121-slot;

[0046] 22 - chuck portion; 221 - guide post; 2211 - first mounting hole; 2212 - second mounting hole; 2213 - receiving groove; 222 - first elastic member; 223 - latch; 2231 - second inclined surface; 2232 - third inclined surface; 2233 - notch; 224 - button; 2241 - first inclined surface; 225 - second elastic member; 226 - connecting plate; 2261 - through hole; 227 - clamping plate assembly; 228 - limit cover;

[0047] 3-first drive assembly;

[0048] 31- transmission plate; 311- inclined chute;

[0049] 32-moving part; 321-matching member; 322-moving carrier plate; 323-third guide rail; 33-first driving source;

[0050] 4-second drive assembly; 41-transmission wheel; 42-transmission belt; 421-straight segment; 43-second drive source; 44-connecting block;

[0051] 5- linkage;

[0052] 61-first guide rail; 62-second guide rail;

[0053] 71 - first slider; 72 - second slider; 73 - third slider. DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0055] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0056] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0057] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0058] This embodiment provides a clamping and twisting device and an interventional surgical robot. The interventional surgical robot includes a clamping and twisting device that can clamp an instrument 100 used in an interventional procedure and twist and twist the instrument 100 to enable the instrument 100 to perform a specified action. Specifically, the instrument 100 can be a catheter or guidewire used for imaging (e.g., an IVUS catheter) or for actual surgical procedures (e.g., a shock wave balloon catheter, a drug balloon catheter, etc.) within the human body.

[0059] Figure 1 This is a schematic diagram of the structure of the clamping and twisting device provided in this embodiment. In the figure, the X direction represents the first direction, the first direction is the horizontal direction, the Z direction is the second direction, the second direction is the vertical direction, and the Y direction is another horizontal direction, wherein the X direction, Y direction, and Z direction are perpendicular to each other. Figure 1 As shown, the clamping and twisting device includes a support member 1, two chuck assemblies 2, a first drive assembly 3, and a second drive assembly 4. The support member 1 is L-shaped and includes a vertical plate and a horizontal plate connected vertically. The vertical plate is located in the XZ plane, and the horizontal plate is located in the XY plane. The two chuck assemblies 2 are both arranged on the same side of the vertical plate and arranged along the X direction. The two chuck assemblies 2 are movably connected to the support member 1. The first drive assembly 3 can drive the two chuck assemblies 2 to move closer to or away from each other along the first direction. The second drive assembly 4 has two output ends and two linkage members 5. The two output ends can respectively output opposite movements along the second direction. The two ends of each linkage member 5 are respectively hinged to an output end and a chuck assembly 2. The second drive assembly 4 can drive the two chuck assemblies 2 to move in opposite directions in the second direction.

[0060] In the clamping and twisting device of this embodiment, the first drive assembly 3 is capable of driving the two chuck assemblies 2 to move relative to each other in a first direction, thereby clamping the instrument 100. By providing a linkage member 5, the second drive assembly 4 is capable of driving the two chuck assemblies 2 to move in opposite directions in a second direction, thereby twisting the instrument 100. Furthermore, the two ends of the linkage member 5 are respectively hingedly connected to the output ends of the chuck assemblies 2 and the second drive assembly 4, thereby achieving decoupling between the drive of the chuck assemblies 2 by the first drive assembly 3 and the drive of the chuck assemblies 2 by the second drive assembly 4. Even if the drive of the chuck assemblies 2 by the first drive assembly 3 and the drive of the chuck assemblies 2 by the second drive assembly 4 do not interfere with each other, when the two chuck assemblies 2 clamp instruments 100 of different diameters (i.e., the distance between the two chuck assemblies 2 changes), the second drive assembly 4 can drive the two chuck assemblies 2 to move in opposite directions in the second direction to twist the instrument 100. The clamping and twisting device of this embodiment has fewer drive components, and the clamping and twisting actions do not interfere with each other. Instruments 100 of different specifications can be twisted with appropriate clamping force without slippage and with high execution precision. The interventional surgical robot of this embodiment is equipped with the above-mentioned clamping and twisting device, which is low-cost and high-precision.

[0061] Preferably, if Figure 1 and Figure 2As shown, the first drive assembly 3 includes a transmission plate 31, two moving parts 32 and a first drive source 33. The transmission plate 31 is set on one side of the vertical plate and slides with the support member 1 along the second direction. The transmission plate 31 extends along the first direction and is provided with two inclined grooves 311. The two inclined grooves 311 are symmetrical about an axis parallel to the second direction. The two moving parts 32 slide with the support member 1 along the first direction. Each moving part 32 includes a matching piece 321. Each matching piece 321 slides with a corresponding inclined groove 311. Each chuck assembly 2 is connected to a moving part 32. The first drive source 33 is provided with a first driving source 33. The source 33 can drive the transmission plate 31 to move in the second direction. During this process, the mating member 321 on the moving portion 32 slides with the inclined slot 311 on the transmission plate 31. Under the guidance of the inclined slot 311, the mating member 321 (i.e., the moving portion 32) generates a motion component in the first direction. Since the two inclined slots 311 are symmetrically arranged about the axis of the second direction, the two moving portions 32 move relative to each other or toward each other, thereby enabling the two chuck assemblies 2 to clamp or release the instrument 100. The first drive assembly 3 can achieve the goal of driving the movement of the two chuck assemblies 2 using a single drive source. The driving principle is to convert the movement in the second direction into the movement in the first direction, thereby making the entire clamping and twisting device more compact in the first direction. In addition, the two symmetrically arranged inclined slots 311 ensure the synchronization of the movement of the two chuck assemblies 2, improving the driving accuracy. It should be noted that in this embodiment, the inclination of the inclined slots 311 means that the extension direction of the slots has a certain angle with both the first direction (horizontal direction) and the second direction (vertical direction).

[0062] Specifically, in this embodiment, the fitting 321 can be a cam bearing follower, so that the friction force on the moving part 32 can be reduced, making the process of clamping or releasing the device 100 smoother. Figure 1 As shown, the first driving source 33 may be a cylinder, which is fixed to the support member 1 and located on one side of the moving portion 32. The output end of the cylinder extends in the second direction and is connected to the transmission plate 31, thereby driving the transmission plate 31 to move in the second direction. In other embodiments, the specific structure of the first driving source 33 is not limited to this, and may be any component or assembly in the prior art that can output linear motion.

[0063] Preferably, if Figure 1 and Figure 2As shown, the clamping and twisting device further includes a first guide rail 61 and a second guide rail 62. The first guide rail 61 is provided on the support member 1 and extends along the second direction. A first slider 71 is connected to the transmission plate 31. The transmission plate 31 slidably engages with the first guide rail 61 via the first slider 71. The second guide rail 62 is provided on the support member 1 and extends along the first direction. The moving portion 32 includes a moving carrier plate 322. A mating member 321 is provided on the side of the moving carrier plate 322 facing the transmission plate 31. A second slider 72 is further provided on the side of the moving carrier plate 322 facing the transmission plate 31. The moving carrier plate 322 slidably engages with the second guide rail 62 via the second slider 72. By providing the first guide rail 61 and the second guide rail 62, the movement directions of the transmission plate 31 and the moving portion 32 can be restricted and guided respectively, thereby ensuring the accuracy of the movement trajectory of the transmission plate 31 and the moving portion 32.

[0064] Specifically, in this embodiment, Figure 2 As shown, the clamping and twisting device includes two first guide rails 61, which are spaced apart along the first direction. The two ends of the transmission plate 31 along the first direction are respectively slidably engaged with a corresponding first guide rail 61 via a first slider 71, thereby further improving the movement accuracy of the transmission plate 31. Furthermore, the moving carrier 322 is a strip-shaped structure extending along the second direction. The clamping and twisting device includes four second guide rails 62, wherein two second guide rails 62 form a group, and the two second guide rails 62 of the same group are spaced apart along the second direction. The two ends of the moving carrier 322 along the second direction are respectively slidably engaged with the two second guide rails 62 of the same group via a second slider 72. The provision of four second guide rails 62 makes the movement of the moving portion 32 smoother and more precise.

[0065] Preferably, if Figure 1 As shown, the moving portion 32 further includes a third guide rail 323 disposed along the second direction. The third guide rail 323 is disposed on the side of the moving carrier plate 322 facing away from the transmission plate 31. Each chuck assembly 2 slidably engages with the corresponding third guide rail 323 of the moving portion 32 via a third slider 73, thereby ensuring that the second drive assembly 4 can drive the chuck assembly 2 to reciprocate along the second direction to twist the device 100. Furthermore, during the process of the first drive assembly 3 driving the two chuck assemblies 2 to move along the first direction, the two ends of the linkage member 5 rotate relative to the output ends of the chuck assembly 2 and the second drive assembly 4, respectively, thereby adaptively adjusting the position change between the chuck assembly 2 and the corresponding output end of the second drive assembly 4 along the first direction, thereby preventing the second drive assembly 4 from interfering with the drive of the first drive assembly 3.

[0066] Preferably, if Figure 1As shown, the second drive assembly 4 includes two transmission wheels 41, a transmission belt 42, and a second drive source 43. The two transmission wheels 41 are rotatably mounted on the support member 1, and are arranged along the second direction. The transmission belt 42 is wound around the two transmission wheels 41 and has two straight segments 421 extending along the second direction. One end of each linkage member 5 is hinged to a corresponding straight segment 421. The second drive source 43 can drive any of the transmission wheels 41 to rotate, thereby rotating the transmission belt 42, and further causing the two straight segments 421 to drive the corresponding chuck assembly 2 to move in opposite directions along the second direction. The second drive assembly 4 of this embodiment can achieve the goal of driving the two chuck assemblies 2 in the second direction through a single drive source, and the speed of the two straight segments 421 on the transmission belt 42 is the same, thereby ensuring the consistency of the relative motion speed of the two chuck assemblies 2, thereby ensuring the accuracy of the twisting of the instrument 100.

[0067] Specifically, in this embodiment, Figure 1 As shown, the two transmission wheels 41 and the transmission belt 42 are disposed between the two moving parts 32, thereby making the structure of the entire clamping and twisting device more compact. Optionally, the second drive source 43 is a motor fixed to the support member 1, and the output end of the motor is connected to the transmission wheel 41 below and can drive the transmission wheel 41 to rotate. In other embodiments, the output end of the motor can also be connected to the second transmission wheel 41, which is not specifically limited here.

[0068] Preferably, if Figure 1 As shown, the second drive assembly 4 also includes two connecting blocks 44, each connecting block 44 is correspondingly fixed on a straight line segment 421 to form an output end, and each linkage member 5 is correspondingly hinged to a connecting block 44. By setting the connecting block 44, it is convenient to realize the hinge between the output end of the second drive assembly 4 and the linkage member 5.

[0069] Preferably, in this embodiment, Figure 1 and Figure 3 As shown, the chuck assembly 2 includes a main body portion 21 and a chuck portion 22. The main body portion 21 is used to connect with the first drive assembly 3 and the linkage 5. The chuck portion 22 is detachably connected to the main body portion 21, so that the chuck assembly 2 can be flexibly replaced according to actual needs, or the chuck assembly 2 can be conveniently removed for disinfection, making the use of the clamping and twisting device more flexible.

[0070] Specifically, if Figure 1 、 Figure 3 and Figure 4As shown, the main body 21 includes a slide 211 and a guide sleeve 212. The slide 211 is connected to the third slider 73. Because the third slider 73 is disposed on the moving portion 32, the first drive assembly 3 can drive the chuck assembly 2 to move in the first direction. The linkage member 5 is hingedly connected to the slide 211, thereby enabling the second drive assembly 4 to drive the chuck assembly 2 to move in the second direction. The guide sleeve 212 is disposed at the upper end of the slide 211. The axial direction of the guide sleeve 212 extends in the second direction. The inner wall of the guide sleeve 212 is provided with a radially extending groove 2121.

[0071] The chuck section 22 includes a connecting plate 226, a clamping plate assembly 227, and a guide post 221. The clamping plate assembly 227 is connected to the connecting plate 226. The clamping plate assemblies 227 of the two chuck assemblies 2 are arranged opposite each other. The clamping plate assembly 227 has a surface parallel to the YZ plane, which is used to clamp the instrument 100. The guide post 221 is disposed below the connecting plate 226 and can be inserted into the guide sleeve 212. The chuck section 22 also includes a latch 223 elastically connected to the guide post 221. One end of the latch 223 is located within the guide post 221, and the other end can extend radially out of the guide post 221 and insert into the retaining slot 2121. When connecting the body 21 and the chuck portion 22, the latch 223 is first pressed into the guide post 221 by an external force, and then the guide post 221 is inserted into the guide sleeve 212. When the latch 223 moves to face the slot 2121 on the guide sleeve 212, the latch 223 loses the external radial pressure. At this time, the latch 223 is elastically extended radially out of the guide post 221 and into the slot 2121, thereby connecting the chuck portion 22 to the body 21. When disassembling the chuck portion 22, the guide post 221 can be removed from the guide sleeve 212 by simply driving the latch 223 back into the guide post 221. In this embodiment, a first elastic member 222 is provided in the guide post 221. The two ends of the first elastic member 222 are respectively connected to the guide post 221 and the latch 223. The first elastic member 222 is used to drive the latch 223 to extend radially out of the guide post 221. Specifically, the first elastic member 222 is a spring.

[0072] Preferably, if Figure 4 As shown, the latch 223 can extend out of one end of the guide post 221, and a third inclined surface 2232 is provided on the side away from the connecting plate 226. The third inclined surface 2232 serves as a guide during the insertion of the guide post 221 into the guide sleeve 212, thereby facilitating the pressing of the latch 223 into the guide post 221, and further facilitating the insertion of the guide post 221 into the guide sleeve 212. Optionally, the first elastic member 222 can be a spring. Furthermore, the latch 223 can extend out of one end of the guide post 221, and a notch 2233 is provided on the side close to the connecting plate 226. The notch 2233 has a surface perpendicular to the radial direction, which can abut against the inner wall of the guide sleeve 212, thereby limiting the length of the latch 223 extending out of the guide post 221.

[0073] Preferably, if Figure 5 As shown, guide post 221 is constructed from two semi-cylinders joined together, facilitating installation of latch 223 and first elastic member 222 within guide post 221. Specifically, each semi-cylinder is provided with a receiving groove 2213 that radially extends through the semi-cylinder, with first elastic member 222 and latch 223 disposed within the groove. Furthermore, each semi-cylinder is provided with a first mounting hole 2211, facilitating fastener connection of the two semi-cylinders. A second mounting hole 2212 is also provided on the semi-cylinder for connecting guide post 221 to connecting plate 226.

[0074] Preferably, in this embodiment, Figure 3 As shown, the inner wall of the guide sleeve 212 is provided with two slots 2121, corresponding to Figure 5 As shown, two groups of first elastic members 222 and latches 223 are provided in the guide column 221 . The two latches 223 cooperate with the two slots 2121 respectively, so that the connection between the main body 21 and the clamping part 22 is more reliable.

[0075] Preferably, if Figure 3-Figure 5 As shown, the chuck portion 22 further includes a button 224 and a second elastic member 225. The first end of the button 224 is located outside the guide post 221, and the second end of the button 224 extends through the connecting plate 226 along the axial direction of the guide post 221 and into the guide post 221. The second end of the button 224 is provided with a first inclined surface 2241, and the portion of the latch 223 located within the guide post 221 is provided with a second inclined surface 2231. When the button 224 is pressed along the axial direction of the guide post 221, the first inclined surface 2241 and the second inclined surface 2231 slide and abut against each other, driving the latch 223 to retract axially into the guide post 221. The two ends of the second elastic member 225 are respectively connected to the guide post 221 (i.e., the connecting plate 226) and the button 224, and the second elastic member 225 can drive the button 224 to reset. When removing the chuck portion 22, the button 224 is pressed, and one end of the button 224 extending into the guide column 221 presses the latch 223. With the cooperation of the first inclined surface 2241 and the second inclined surface 2231, the latch 223 retracts into the guide column 221, so that the chuck portion 22 can be removed from the main body 21, which is easy to operate. After the chuck portion 22 is removed, the button 224 is released. At this time, the second elastic member 225 drives the button 224 to reset for the next use.

[0076] In this embodiment, Figure 5As shown, the second elastic member 225 can be a spring, and multiple second elastic members 225 can be provided, with no specific limitation herein. Furthermore, the second end of the button 224 includes two columns, each of which is provided with a second inclined surface 2231, and each column is used to press a corresponding latch 223. Furthermore, the connecting plate 226 is provided with two through-holes 2261, each of which is configured to allow a column at the second end of the button 224 to pass through, allowing the column to extend into the receiving groove 2213 of the guide column 221 and abut against the latch 223.

[0077] Preferably, in this embodiment, Figure 4 and Figure 5 As shown, the clamping part 22 also includes a limit cover 228, which is connected to the connecting plate 226 and is sleeved on the outside of the button 224. The first end of the button 224 can extend from the limit cover 228, and the first end of the button 224 protrudes from the limit cover 228 by at least one stroke so that it can be effectively pressed. The limit cover 228 can protect and limit the button 224.

[0078] The above embodiments of the present invention are merely examples for the purpose of illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will readily appreciate variations in the specific embodiments and scope of application based on the principles of the present invention, and this specification should not be construed as limiting the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the claims.

Claims

1. A clamping and twisting device, characterized in that: include: Support member (1); Two chuck assemblies (2), both capable of moving relative to the support member (1); a first driving assembly (3) capable of driving the two chuck assemblies (2) toward or away from each other along a first direction; A second drive assembly (4) comprises two output ends and two linkage members (5), wherein the two output ends can respectively output opposite motions along a second direction, and the two ends of each linkage member (5) are respectively hinged to one output end and one chuck assembly (2), and the second drive assembly (4) can drive the two chuck assemblies (2) to move in opposite directions in the second direction, and the first direction and the second direction are perpendicular to each other; In the process of the first driving assembly (3) driving the two chuck assemblies (2) to move along the first direction, the two ends of the linkage member (5) rotate relative to the chuck assemblies (2) and the output ends of the second driving assembly (4), respectively.

2. The clamping and twisting device according to claim 1, characterized in that: The first driving component (3) comprises: A transmission plate (31) is slidably engaged with the support member (1) along the second direction, and two inclined sliding grooves (311) are provided on the transmission plate (31), and the two inclined sliding grooves (311) are symmetrical about an axis parallel to the second direction; Two moving parts (32) are slidably engaged with the support member (1) along the first direction, each moving part (32) comprises a mating part (321), each mating part (321) is slidably engaged with a corresponding inclined slide groove (311), and each chuck assembly (2) is connected to a moving part (32); The first driving source (33) can drive the transmission plate (31) to move along the second direction, so as to drive the two chuck assemblies (2) to move closer to or farther from each other along the first direction.

3. The clamping and twisting device according to claim 2, characterized in that: The clamping and twisting device also includes: a first guide rail (61) provided on the support member (1) and extending along the second direction, the transmission plate (31) being in sliding engagement with the first guide rail (61); A second guide rail (62) is provided on the support member (1) and extends along the first direction, and both of the moving parts (32) are in sliding engagement with the second guide rail (62).

4. The clamping and twisting device according to claim 2, characterized in that: The moving part (32) further comprises a third guide rail (323) extending along the second direction, and each of the clamping head assemblies (2) is slidably engaged with the third guide rail (323) of a corresponding moving part (32).

5. The clamping and twisting device according to any one of claims 1 to 4, characterized in that: The second drive assembly (4) comprises: Two transmission wheels (41) are rotatably disposed on the support member (1), and the two transmission wheels (41) are arranged along the second direction; A transmission belt (42) is wound around the two transmission wheels (41) and has two straight segments (421) extending along the second direction, and one end of each linkage member (5) is hinged to a corresponding straight segment (421); The second driving source (43) can drive any one of the transmission wheels (41) to rotate, so that the two straight segments (421) respectively drive the corresponding chuck assembly (2) to move in the opposite direction along the second direction.

6. The clamping and twisting device according to claim 5, characterized in that: The second drive assembly (4) further includes two connecting blocks (44), each of the connecting blocks (44) being fixed on one of the straight segments (421) to form the output end, and each of the linkage members (5) being hinged to one of the connecting blocks (44).

7. The clamping and twisting device according to any one of claims 1 to 4, characterized in that: The chuck assembly (2) comprises a main body (21) and a chuck portion (22), wherein the main body (21) is used to connect with the first drive assembly (3) and the linkage member (5), and the chuck portion (22) is detachably connected to the main body (21).

8. The clamping and twisting device according to claim 7, characterized in that: The main body (21) comprises a guide sleeve (212) extending axially along the second direction, and a radially extending groove (2121) is provided on the inner wall of the guide sleeve (212); The clamping portion (22) comprises a guide post (221) and a latch (223) elastically connected to the guide post (221); the guide post (221) can be plugged into the guide sleeve (212); one end of the latch (223) is located inside the guide post (221), and the other end can extend out of the guide post (221) along the radial direction of the guide post (221) and be inserted into the slot (2121).

9. The clamping and twisting device according to claim 8, characterized in that: The chuck portion (22) further includes: A button (224), wherein a first end of the button (224) is located outside the guide column (221), and a second end of the button (224) extends into the guide column (221) along the axial direction of the guide column (221); a first inclined surface (2241) is provided at the second end of the button (224); a second inclined surface (2231) is provided at a portion of the latch (223) located inside the guide column (221); when the button (224) is pressed along the axial direction of the guide column (221), the first inclined surface (2241) and the second inclined surface (2231) slide and abut against each other, and drive the latch (223) to retract into the guide column (221); The second elastic member (225) has two ends connected to the guide column (221) and the button (224) respectively, and the second elastic member (225) can drive the button (224) to reset.

10. An interventional surgical robot, characterized in that: It comprises the clamping and twisting device according to any one of claims 1 to 9.

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