Multi-degree-of-freedom surgical clamp

Abstract

The invention discloses a multi-degree-of-freedom surgical clamp, comprising a base rod, a clamp mechanism and a parallel mechanism. The clamp mechanism comprises a clamp assembly, a distal clamp, a proximal clamp and a plurality of control ropes. The clamp assembly is rotatably connected to the distal clamp, and the distal clamp is provided with a rotating part for connecting the proximal clamp. The parallel mechanism is connected to the proximal clamp, and the proximal clamp is provided with a tensioning wheel. The distal end of the control rope is connected to the clamp assembly, and the proximal end is separated by staggered layers in a first slot and then rewound in a second slot, and is extended to the base rod through a parallel mechanism to control the movement of the clamp assembly and the distal clamp relative to the proximal clamp. The parallel mechanism is used to drive the clamp mechanism to deviate to one side in a parallel state relative to the base rod. The length of the surgical clamp provided by the invention entering the cavity during surgery is effectively shortened, and the dexterous working space of the surgical clamp can be effectively expanded, so that it can meet the operational requirements of performing complex surgeries after entering the internal space through a narrow cavity.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, in particular to a multi-degree-of-freedom surgical clamp. Background Art

[0002] The end effectors of existing surgical robot-specific instruments generally have three degrees of freedom in posture and one degree of freedom in operation (such as opening and closing clamps). In conventional multi-hole laparoscopic surgery, the end effector of the robotic instrument enters the human body and cooperates with the three degrees of freedom of movement provided by the robot's external operating arm. The incision on the cavity wall can be used as a fixed point to perform full-degree-of-freedom surgical operations on the target lesion located in the patient's cavity.

[0003] However, with the rapid development of surgical medicine, reduced-hole and single-port laparoscopic surgery has been rapidly promoted due to its significant clinical advantages such as less invasiveness and faster postoperative recovery. The special needs for surgical robots that meet the needs of reduced-hole and single-port laparoscopic procedures are becoming increasingly clear. The current robots used for multi-port laparoscopic surgery have obvious problems such as small dexterity workspace, too long entry space, and freedom degradation caused by interference from external arm movement when dealing with deep and narrow access routes and high operational dexterity requirements, which cannot meet clinical needs.

[0004] Therefore, how to improve the technical defects existing in the prior art has always been a problem that ordinary technicians in this field need to solve urgently. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-degree-of-freedom surgical clamp, which can effectively shorten the length of the surgical clamp entering the cavity during the operation, and effectively expand the flexible working space of the surgical clamp, so that it can meet the operational requirements of complex operations after entering the internal space through a narrow cavity. In addition, the surgical clamp can complete the posture adjustment of multiple degrees of freedom, and the parallel mechanism can drive the clamp mechanism to maintain parallelism with the base rod relative to the base rod so that the clamp mechanism has three positional degrees of freedom after passing through the cavity and entering the internal space. There is no need for an external mechanical arm to provide positional freedom compensation for the surgical clamp through movement. In principle, a new solution is provided, which can greatly improve the application scenarios of surgery.

[0006] The technical solution provided by the present invention is as follows:

[0007] A multi-degree-of-freedom surgical clamp, comprising:

[0008] A base rod, a clamp mechanism, and a parallel mechanism connected to the base rod and the clamp mechanism;

[0009] The clamp mechanism includes a clamp assembly, a distal clamp, a proximal clamp and a plurality of control ropes;

[0010] The clamp assembly is rotatably connected to the distal clamp, and the distal clamp is provided with a rotating portion for connecting to the proximal clamp; the parallel mechanism is connected to the proximal clamp, and the proximal clamp is provided with a tensioning wheel adjacent to the rotating portion;

[0011] The rotating part is provided with a plurality of first slots at intervals, the tensioning wheel is provided with a plurality of second slots corresponding to the first slots at intervals, the distal end of the control rope is connected to the clamp assembly, the proximal end is separated by the first slots and then rewound in the second slots, and passes through the parallel mechanism to extend to the base rod, so as to control the movement of the clamp assembly and the distal clamp relative to the proximal clamp; and

[0012] The parallel mechanism is used to drive the clamp mechanism to deviate to one side in a parallel state relative to the base rod.

[0013] In some embodiments, the clamp assembly includes a first clamp, a second clamp, a first drive pulley, and a second drive pulley;

[0014] The first clamp has a first pin hole and a first arc-shaped groove with the same center at the proximal end;

[0015] The proximal end of the second clamp is provided with a second pin hole and a second arc-shaped groove having the same center;

[0016] A first pin for docking with the first pin hole is provided on one side of the first driving pulley;

[0017] A second pin for docking with the second pin hole is provided on one side of the second driving pulley; and

[0018] A rotating hole is provided at the distal end of the first clamp, and a protruding column for docking with the rotating hole is provided at the distal end of the second clamp; and

[0019] The distal clamp is provided with a first rotating rod, which is sequentially penetrated by a first driving pulley, a first arc-shaped groove of the first clamp, a second arc-shaped groove of the second clamp and a second driving pulley. A plurality of control ropes are connected to the first driving pulley and the second driving pulley to control the opening, closing and pitching movements between the first clamp and the second clamp.

[0020] In some embodiments, the rotating portion is semi-cylindrical in structure and is disposed at a middle position on one side of the distal clamp;

[0021] The rotating part is provided with a first axial hole along its axial direction, and a second rotating rod is passed through the first axial hole to approach the end clamp;

[0022] Wherein, the rotation axis of the first rotating rod and the rotation axis of the second rotating rod are arranged alternately;

[0023] The first slot is arranged around the arc surface of the rotating part, so that two ends of the first slot correspond to the first driving pulley and the second driving pulley respectively.

[0024] In some embodiments, the tension wheel includes a third rotating rod, a plurality of first wheel discs, and a plurality of second wheel discs;

[0025] The third rotating rod is fixed inside the proximal clamp and is arranged parallel to the second rotating rod;

[0026] A plurality of the first wheel discs and a plurality of the second wheel discs are alternately sleeved on the second rotating rod;

[0027] The diameter of the first wheel disc is greater than the diameter of the second wheel disc, so that a second slot is formed between the second wheel disc and two adjacent first wheel discs.

[0028] In some embodiments, the number of the first slots and the second slots are both four; and

[0029] The plurality of control ropes include a first control rope and a second control rope;

[0030] The first control rope is connected to the first driving pulley through a first fixing member;

[0031] The second control rope is connected to the second driving pulley through a second fixing member;

[0032] Wherein, two mutually spaced first slots corresponding to one end of the first driving pulley are each provided with a first wiring hole for passing the first control rope; and two mutually spaced first slots corresponding to one end of the second driving pulley are each provided with a second wiring hole for passing the second control rope;

[0033] The two ends of the first control rope are respectively coiled around two corresponding first slots through two first routing holes, and are reversely coiled around two corresponding second slots after being staggered through the two first slots to achieve tensioning; and

[0034] The two ends of the second control rope are respectively coiled around two corresponding first slots through two second wiring holes, and are reversely coiled around two corresponding second slots after being staggered through the two first slots to achieve tensioning.

[0035] In some embodiments, the parallel mechanism includes a connecting rod segment, a distal rotation assembly, and a proximal rotation assembly;

[0036] The distal end rotating assembly and the proximal end rotating assembly are respectively rotatably connected to the two ends of the connecting rod segment, the distal end rotating assembly is used to connect the proximal end clamp, and the proximal end rotating assembly is used to connect the base rod;

[0037] Wherein, the distal end rotating assembly and the proximal end rotating assembly drive the clamp mechanism to deviate to one side in a parallel state relative to the base rod during the rotation process.

[0038] In some embodiments, the distal rotation assembly includes a distal parallel flange, a distal Hooke's flange, and a distal node flange;

[0039] The distal Hooke's flange is rotatably connected to the distal parallel flange around a first rotation axis, and is rotatably connected to the distal node flange around a second rotation axis, the first rotation axis and the second rotation axis are staggered, the distal parallel flange is connected to the proximal clamp, and the distal node flange is connected to the connecting rod segment; and

[0040] The proximal rotating assembly includes a proximal parallel flange, a proximal Hooke's flange and a proximal node flange;

[0041] The proximal Hooke's flange is rotatably connected to the proximal parallel flange around the third rotation axis, and is rotatably connected to the proximal node flange around the fourth rotation axis. The third rotation axis and the fourth rotation axis are staggered, the proximal parallel flange is connected to the base rod, and the proximal node flange is connected to the connecting rod segment.

[0042] In some embodiments, the distal parallel flange is provided with an inserting protrusion; and

[0043] The proximal clamp is provided with a plug-in groove for the plug-in convex portion to engage with the socket; and

[0044] The plug-in protrusion is provided with an avoidance groove at a position corresponding to the tensioning wheel;

[0045] When the plug-in protrusion is inserted into the plug-in groove, the proximal clamp and the plug-in protrusion are locked together by a pin shaft.

[0046] In some embodiments, the parallel mechanism further comprises a first drive rope and a second drive rope; and

[0047] The opposite sides of the plug-in protrusion are respectively provided with a first buckle groove and a second buckle groove;

[0048] The distal end of the first driving rope is fixed to the first buckle groove through a third fixing member, and the proximal end of the first driving rope passes through the distal rotating assembly, the connecting rod section and the proximal rotating assembly in sequence, and extends toward the base rod; and

[0049] The distal end of the second driving rope is fixed to the second buckle groove through a fourth fixing member, and the proximal end of the second driving rope passes through the distal rotating assembly, the connecting rod section and the proximal rotating assembly in sequence, and extends toward the base rod;

[0050] Wherein, the first driving rope and the second driving rope are evenly coiled around the connecting rod segment.

[0051] In some embodiments, the connecting rod segment includes a sleeve rod and a sleeve shell sleeved on the sleeve rod; wherein,

[0052] The end of the distal node flange away from the distal Hook flange is provided with a first socket for inserting one end of the sleeve rod, the first socket is provided with a plurality of first wiring grooves at intervals, and the groove edge of the first wiring groove is in an arc or slope transition; and

[0053] The end of the proximal node flange away from the proximal Hook's flange is provided with a second socket for inserting the other end of the sleeve rod, and the second socket is provided with a plurality of second wiring grooves at intervals, and the groove edges of the second wiring grooves are arc-shaped or sloped.

[0054] The technical effects of the present invention are:

[0055] 1. In this patent, by setting the tensioning wheel in the proximal clamp close to the rotating part of the distal clamp, the winding and tensioning method of the rope can be controlled more compactly without affecting the transmission effect, and the length of the projected axis between the clamp mechanism and the base rod can be effectively shortened, so that the length of the surgical clamp entering the cavity during the operation can be effectively shortened, thereby expanding the dexterous working space and improving the surgical effect. In addition, the surgical clamp can complete multi-degree-of-freedom posture adjustment, and the parallel mechanism can drive the clamp mechanism to maintain parallelism with the base rod so that the clamp mechanism has three positional degrees of freedom relative to the base rod after passing through the cavity and entering the internal space. There is no need for the external mechanical arm to provide positional freedom compensation for the clamp mechanism through movement. In principle, a new solution is provided, which can greatly improve the surgical application scenario.

[0056] 2. In this patent, compared with the traditional method of achieving the staggering and tensioning of the control rope through the transmission cooperation of several rotating wheel groups, this patent directly sets a plurality of first slots on the rotating part and a plurality of second slots on the tensioning wheel. The control rope is staggered in the first slots and then rewound in the second slots to achieve tensioning. This can greatly simplify the winding and tensioning steps of the control rope, save costs, simplify the operating steps, and effectively shorten the axial length of the projection between the clamp mechanism and the base rod, so that the length of the surgical clamp entering the cavity during the operation is effectively shortened.

[0057] 3. In this patent, by inserting the first pin of the first driving pulley into the first pin hole of the first clamp, and inserting the second pin of the second driving pulley into the second pin hole of the second clamp, and by setting a first rotating rod to sequentially pass through the first driving pulley, the first arc groove of the first clamp, the second arc groove of the second clamp and the second driving pulley, the control rope can be used to control the opening, closing and pitching of the first clamp and the second clamp. The transmission stability between the first clamp and the second clamp is stronger, and a sufficiently large opening, closing and pitching amplitude can be achieved.

[0058] 4. In this patent, in order to prevent the tension wheel from excessively occupying the internal space of the proximal clamp, the tension wheel is required to have a relatively small volume and a high structural strength. The tension wheel of this patent is formed by a plurality of first wheels and a plurality of second wheels staggered and sleeved on the second rotating rod. Compared with the integrated structure, it can reduce the difficulty of processing and realize partial replacement of accessories, which greatly saves costs.

[0059] 5. In this patent, the distal parallel flange is provided with a plug-in protrusion for the proximal clamp, and the plug-in protrusion is directly plugged into the plug-in groove of the proximal clamp. While improving the structural strength of the connection between the distal parallel flange and the proximal clamp, it can also effectively shorten the axial length of the projection between the clamp mechanism and the base rod, so that the length of the surgical clamp entering the cavity during the operation is effectively shortened, thereby expanding the working space and improving the surgical effect.

[0060] 6. In this patent, the first wiring groove and the second wiring groove can guide the first driving rope and the second driving rope to avoid the first driving rope and the second driving rope from getting tangled during the winding process. By setting the notch edges of the first wiring groove and the second wiring groove to be arc-shaped or slope-shaped, on the one hand, the smoothness of the sliding of the first driving rope and the second driving rope can be improved; on the other hand, the first driving rope and the second driving rope can be effectively prevented from rubbing against the notch edges of the first wiring groove and the second wiring groove during the transmission process, thereby greatly improving the service life of the first wiring groove and the second wiring groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0062] Figure 1 It is a schematic diagram of the structure of the multi-degree-of-freedom surgical clamp provided by the patent of the present invention;

[0063] Figure 2 yes Figure 1 A schematic structural diagram of the clamp mechanism shown;

[0064] Figure 3 yes Figure 2 An exploded perspective view of the clamp mechanism shown;

[0065] Figure 4 yes Figure 2 A schematic diagram of the structure in which the rotating part of the distal clamp, the first control rope, the second control rope and the tensioning wheel are assembled;

[0066] Figure 5 yes Figure 3 A schematic diagram of the structure of the distal clamp shown;

[0067] Figure 6 yes Figure 3 A schematic diagram of the structure of the first control rope and the second control rope shown;

[0068] Figure 7 yes Figure 1 The structural schematic diagram of the parallel mechanism shown;

[0069] Figure 8 yes Figure 7 The schematic diagram of the structure inside the parallel mechanism shown;

[0070] Fig. 9 yes Figure 1 A schematic diagram of the structure of the proximal clamp shown;

[0071] Fig.10 yes Figure 8 A schematic structural diagram of a first driving rope and a second driving rope shown;

[0072] Fig.11 yes Figure 1 The schematic diagram of the structure of the first clamp and the second clamp of the surgical clamp in the closed state;

[0073] Fig.12 yes Figure 1 The schematic diagram of the structure of the first clamp and the second clamp of the surgical clamp in the open state;

[0074] Fig.13 yes Figure 1 A schematic diagram of the structure of the distal clamp of the surgical clamp driving the clamp assembly to deflect laterally relative to the proximal clamp;

[0075] Fig.14 yes Figure 1 The schematic structural diagram of the parallel mechanism of the surgical clamp driving the clamp mechanism to shift longitudinally along the base rod in a state where the clamp mechanism remains parallel to the base rod;

[0076] Fig.15 yes Figure 1 The schematic diagram of the structure of the parallel mechanism of the surgical clamp drives the clamp mechanism to shift laterally along the base rod in a state where the clamp mechanism remains parallel to the base rod.

[0077] Description of Figure Numbers:

[0078] Clamp mechanism 1; clamp assembly 11; first clamp 111; first pin hole 1111; first arc groove 1112; rotating hole 1113; second clamp 112; second pin hole 1121; second arc groove 1122; boss 1123; first driving pulley 113; first pin 1131; first notch 1132; second driving pulley 114; second pin 1141; second notch 1142; opening angle 115; distal clamp 12; rotating portion 121; first slot 1 211; first shaft hole 1212; first wiring hole 1213; second wiring hole 1214; first rotating rod 122; second rotating rod 123; first mounting ear 124; proximal clamp 13; tension wheel 131; second slot 1311; third rotating rod 1312; first wheel disc 1313; second wheel disc 1314; plug-in slot 132; second mounting ear 133; first control rope 14; first fixing member 141; second control rope 15; second fixing member 151; deflection angle 16; first swing angle 17; second swing angle 18; parallel mechanism 2; connecting rod section 21; sleeve rod 211; sleeve shell 212; distal rotating assembly 22; distal parallel flange 221; plug-in convex portion 2211; avoidance groove 2212; pin 2213; first buckle groove 2214; distal parallel flange axis 2215; distal Hook's flange 222; distal Hook's flange axis 2221; distal node flange 223; first socket 2231; first wiring groove 2232; first Rotating shaft 224; second rotating shaft 225; proximal rotating assembly 23; proximal parallel flange 231; proximal fixing portion 2311; proximal parallel flange axis 2312; proximal Hook's flange 232; proximal Hook's flange axis 2321; proximal node flange 233; second socket 2331; second wiring groove 2332; third rotating shaft 234; fourth rotating shaft 235; first driving rope 24; third fixing member 241; second driving rope 25; fourth fixing member 251; base rod 3. DETAILED DESCRIPTION

[0079] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0080] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0081] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0082] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0083] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0084] According to a specific embodiment provided by the present invention, Figures 1 to 15 As shown, the present invention provides a multi-degree-of-freedom surgical clamp, which may specifically include a base rod 3, a clamp mechanism 1, and a parallel mechanism 2 connected to the base rod 3 and the clamp mechanism 1. The clamp mechanism 1 includes a clamp assembly 11, a distal clamp 12, a proximal clamp 13, and a plurality of control ropes. The clamp assembly 11 is rotatably connected to the distal clamp 12, and the distal clamp 12 is provided with a rotating portion 121 for connecting the proximal clamp 13. The parallel mechanism 2 is connected to the proximal clamp 13, and the proximal clamp 13 is provided with a tensioning wheel 131 adjacent to the rotating portion 121. The rotating part 121 is provided with a plurality of first slots 1211 at intervals, and the tensioning wheel 131 is provided with a plurality of second slots 1311 corresponding to the first slots 1211 at intervals. The distal end of the control rope is connected to the clamp assembly 11, and the proximal end is separated by the first slots 1211 and then rewound in the second slots 1311, and passes through the parallel mechanism 2 to extend to the base rod 3 to control the movement of the clamp assembly 11 and the distal clamp 12 relative to the proximal clamp 13. The parallel mechanism 2 is used to drive the clamp mechanism 1 to deviate to one side in a parallel state relative to the base rod 3.

[0085] In this embodiment, by arranging the tensioning wheel 131 in the proximal clamp 13 close to the rotating part 121 of the distal clamp 12, the winding and tensioning method of the rope can be controlled more compactly without affecting the transmission effect, and the length of the axis projected between the clamp mechanism 1 and the base rod 3 can be effectively shortened, so that the length of the surgical clamp entering the cavity during the operation is effectively shortened, thereby expanding the dexterous working space and improving the surgical effect. In addition, the surgical clamp can complete the posture adjustment of multiple degrees of freedom, and the parallel mechanism 2 can drive the clamp mechanism 1 to maintain a parallel state with the base rod 3 so that the clamp mechanism 1 has three positional degrees of freedom relative to the base rod 3 after passing through the cavity and entering the internal space, without the need for the external mechanical arm to provide positional degrees of freedom compensation for the clamp mechanism 1 through movement, which provides a new solution in principle and can greatly improve the surgical application scene.

[0086] Furthermore, compared with the conventional method of staggering and tensioning the control rope by transmission cooperation of a plurality of rotating wheel groups, the present invention directly sets a plurality of first slots 1211 on the rotating part 121 and a plurality of second slots 1311 on the tensioning wheel 131, and the control rope is staggered and separated by the first slots 1211 and then rewound in the second slots 1311 to achieve tensioning. The rotating part 121 can stagger and separate the control rope while achieving the rotation function, which can greatly simplify the tensioning steps of the control rope, save costs, simplify the operation steps, and effectively save space, thereby shortening the axial length of the projection between the clamp mechanism 1 and the base rod 3, so that the length of the surgical clamp entering the cavity during the operation is effectively shortened.

[0087] It is worth mentioning that in the present embodiment, the rotation direction of the clamp assembly 11 relative to the distal clamp 12 and the rotation direction of the distal clamp 12 relative to the proximal clamp 13 are arranged vertically and staggered with each other. In this way, the control rope can be manipulated to control the clamp assembly 11, the distal clamp 12 and the proximal clamp 13 to perform a synthetic movement including but not limited to one or more degrees of freedom in opening and closing, pitching and offsetting in space.

[0088] Specifically, in this embodiment, see Figures 1 to 3, the clamp assembly 11 may include a first clamp 111, a second clamp 112, a first driving pulley 113 and a second driving pulley 114. As for the specific structure of the first clamp 111 and the second clamp 112, it can be flexibly set according to the specific surgical type and surgical scene. Any clamp structure is within the protection scope of this patent and will not be described in detail here. Among them, a rotating hole 1113 is provided at the distal end of the first clamp 111, and a protruding column 1123 is provided at the distal end of the second clamp 112. Through the insertion and fitting of the protruding column 1123 and the rotating hole 1113, the first clamp 111 and the second clamp 112 can be mutually rotated fulcrums to achieve the rotational cooperation of the first clamp 111 and the second clamp 112. Of course, the distal end of the first clamp 111 may also be provided with a protruding column 1123, and the distal end of the second clamp 112 may also be provided with a rotating hole 1113, or the first clamp 111 and the second clamp 112 may be fixed by rivets. In other words, any method that can achieve the rotational cooperation between the first clamp 111 and the second clamp 112 is within the protection scope of this patent.

[0089] Further, in this embodiment, see Figure 3 , the profiles of the first clamp 111 and the second clamp 112 may be consistent. Among them, the first clamp 111 has a first pin hole 1111 and a first arc groove 1112 with the same center at the proximal end, and the second clamp 112 has a second pin hole 1121 and a second arc groove 1122 with the same center at the proximal end. Preferably, the first pin hole 1111 and the second pin hole 1121 may be arranged toward a corner of the proximal ends of the first clamp 111 and the second clamp 112, and the first arc groove 1112 and the second arc groove 1122 may be preferably arranged at the middle position of the proximal ends of the first clamp 111 and the second clamp 112, but it is not limited thereto.

[0090] Correspondingly, see Figure 3, first mounting ears 124 for fixing the first driving pulley 113 and the second driving pulley 114 are respectively provided on opposite sides of the distal clamp 12, and each first mounting ear 124 is provided with a through hole. Among them, a first pin 1131 for docking with the first pin hole 1111 is provided on one side of the first driving pulley 113, and a second pin 1141 for docking with the second pin hole 1121 is provided on one side of the second driving pulley 114. Further, the distal clamp 12 is provided with a first rotating rod 122, and the first rotating rod 122 is sequentially penetrated by one of the first mounting ears 124, the first driving pulley 113, the first arc groove 1112 of the first clamp 111, the second arc groove 1122 of the second clamp 112, the second driving pulley 114 and another first mounting ear 124, so as to sequentially assemble the first clamp 111, the first driving pulley 113, the second clamp 112 and the second driving pulley 114 on the proximal clamp 13. A plurality of control ropes are connected to the first driving pulley 113 and the second driving pulley 114 to individually control the first driving pulley 113 and the second driving pulley 114 to rotate clockwise or counterclockwise, thereby realizing the opening, closing and pitching action between the first clamp 111 and the second clamp 112 .

[0091] Specifically, in the process of controlling the first driving pulley 113 and the second driving pulley 114 to rotate along their own axes, the first pin 1131 inserted in the first pin hole 1111 and the second pin 1141 inserted in the second pin hole 1121 both make arc motions, and at this time, the first arc groove 1112 and the second arc groove 1122 respectively squeeze the first rotating rod 122, so that the first arc groove 1112 and the second arc groove 1122 swing back and forth relative to the first rotating rod 122, thereby realizing the opening and closing action between the first clamp 111 and the second clamp 112. Of course, the synchronous rotation of the first driving pulley 113 and the second driving pulley 114 can make the first clamp 111 and the second clamp 112 perform pitching action together while maintaining a relatively static state. And the above structure can effectively ensure that the stability of the transmission between the first clamp 111 and the second clamp 112 is stronger, and can achieve a sufficiently large opening and closing and pitching amplitude.

[0092] In this embodiment, see Figure 4 and Figure 5 The rotating portion 121 may preferably be configured to have a semi-cylindrical structure and be disposed in the middle position of one side of the distal clamp 12 and be integrally formed with the two first mounting ears 124 , which can greatly improve the structural stability of the rotating portion 121 during operation, but is not limited thereto.

[0093] Further, see Figure 3The proximal clamp 13 is provided with two second mounting ears 133 for docking with the rotating part 121, and each second mounting ear 133 is provided with a through hole. The rotating part 121 is provided with a first axial hole 1212 along its axial direction. By adding a second rotating rod 123 and sequentially penetrating the through hole and the first axial hole 1212, the rotational coordination of the distal clamp 12 and the proximal clamp 13 can be achieved. Among them, the rotation axis of the first rotating rod 122 and the rotation axis of the second rotating rod 123 are staggered and vertically arranged, so that the control rope can control the clamp assembly 11, the distal clamp 12 and the proximal clamp 13 to perform a synthetic movement including but not limited to one or more degrees of freedom in opening and closing, pitching and offsetting in space.

[0094] In this embodiment, see Figures 2 to 4 Since the overall size of the surgical clamp is relatively small, in order to avoid the tensioning wheel 131 from excessively occupying the internal space of the proximal clamp 13, the tensioning wheel 131 is required to have a relatively small volume and a high structural strength. In the present technical solution, the tensioning wheel 131 can preferably adopt a split design, and specifically can include a third rotating rod 1312, a plurality of first wheels 1313 and a plurality of second wheels 1314. The plurality of first wheels 1313 and the plurality of second wheels 1314 are alternately sleeved on the second rotating rod 123, and the third rotating rod 1312 is fixed inside the proximal clamp 13 and arranged in parallel with the second rotating rod 123. Among them, the diameter of the first wheel 1313 is larger than the diameter of the second wheel 1314. Such a structural design can form a second slot 1311 for winding the control rope between the second wheel 1314 and its two adjacent first wheels 1313. The tensioning wheel 131 of the present patent is formed by a plurality of first wheel discs 1313 and a plurality of second wheel discs 1314 which are alternately sleeved on the second rotating rod 123. Compared with the integrated structure, the processing difficulty can be reduced, and the accessories can be partially replaced without replacing the tensioning wheel 131 as a whole, which can greatly save costs.

[0095] In this embodiment, continue to refer to Figures 4 to 6 The first slot 1211 is disposed around the arc surface of the rotating portion 121 , so that two ends of the first slot 1211 correspond to the first driving pulley 113 and the second driving pulley 114 respectively.

[0096] As a preferred solution of this embodiment, the number of the first slots 1211 and the second slots 1311 are both four, and the plurality of control ropes include a first control rope 14 and a second control rope 15. The edge of the first driving pulley 113 is provided with a first notch 1132, and the first fixing member 141 is engaged in the first notch 1132 and connected to the middle position of the first control rope 14. Correspondingly, the edge of the second driving pulley 114 is provided with a second notch 1142, and the second fixing member 151 is engaged in the second notch 1142 and connected to the middle position of the second control rope 15.

[0097] Among them, two mutually spaced first slots 1211 corresponding to one end of the first driving pulley 113 are respectively provided with first routing holes 1213 for two ends of the first control rope 14 to pass through, and the other two mutually spaced first slots 1211 corresponding to one end of the second driving pulley 114 are respectively provided with second routing holes 1214 for two ends of the second control rope 15 to pass through. The two ends of the first control rope 14 are respectively coiled around the two corresponding first slots 1211 through the two first routing holes 1213, and are reversely coiled around the two corresponding second slots 1311 after being staggered and separated by the two first slots 1211, and are passed through the parallel mechanism 2 to extend toward the base rod 3, so as to be operated by the user to achieve tensioning. The two ends of the second control rope 15 are respectively wound around the two corresponding first slots 1211 through the two second wiring holes 1214, and then reversely wound around the two corresponding second slots 1311 after being separated by the two first slots 1211, and pass through the parallel mechanism 2 to extend toward the base rod 3, so as to be operated by the user to achieve tensioning. Such a setting can effectively avoid the control ropes on both sides of the same driving pulley from rubbing against each other, which can greatly increase the service life of the control ropes and enhance the actual operation experience of the user.

[0098] It is worth mentioning that in this embodiment, since the four first slots 1211 and the four second slots 1311 correspond to each other and are arranged adjacent to each other, the first control rope 14 and the second control rope 15 can control the opening and closing, pitching and offset actions of the clamp assembly 11 after being separated by the first slots 1211, rewound in the second slots 1311 and passing through the parallel mechanism 2. Compared with the traditional method of realizing the staggering and tensioning of the control rope through the transmission cooperation of several rotating wheel groups, the present patent can greatly simplify the winding and tensioning steps of the control rope, so that the control rope can control the movement of the clamp assembly 11 more accurately and quickly, and can effectively shorten the axial length of the projection between the clamp mechanism 1 and the base rod 3 while saving costs and simplifying the operation steps, so that the length of the surgical clamp entering the cavity during the operation is effectively shortened, which can not only effectively alleviate the pain of the patient during the operation, but also meet the more accurate surgical needs of the clinician.

[0099] See also Fig.11 and Fig.12When the first control rope 14 and the second control rope 15 are pulled to make the first driving pulley 113 and the second driving pulley 114 rotate along their own axes, the positions of the first pin 1131 of the first driving pulley 113 and the second pin 1141 of the second driving pulley 114 change, so that the opening angle 115 between the first clamp 111 and the second clamp 112 changes, thereby realizing the adjustment of the opening, closing and opening and closing angles between the first clamp 111 and the second clamp 112. In other words, the opening and closing states of the first clamp 111 and the second clamp 112 in space are determined by the triangular projection shape formed by the first pin 1131, the second pin 1141 and the first rotating rod 122 which are parallel to each other in space on their normal planes. In this embodiment, the maximum opening angle 115 between the first clamp 111 and the second clamp 112 is greater than or equal to 60 degrees, so that the cooperation of the first clamp 111 and the second clamp 112 can meet more types of surgical requirements.

[0100] Further, see Fig.13 , driving the first control rope 14 and the second control rope 15 can also drive the distal clamp 12 to rotate relative to the proximal clamp 13, so as to drive the first clamp 111 and the second clamp 112 to swing back and forth in the lateral direction. It is worth mentioning that in this embodiment, the deflection angle 16 of the distal clamp 12 relative to the proximal clamp 13 should be at least greater than or equal to 90 degrees, so that the application scenarios of the first clamp 111 and the second clamp 112 can be greatly enriched.

[0101] In this embodiment, see Figure 7 and Figure 8 The parallel mechanism 2 may specifically include a connecting rod segment 21, a distal rotating assembly 22 and a proximal rotating assembly 23. The distal rotating assembly 22 and the proximal rotating assembly 23 are respectively rotatably connected to the two ends of the connecting rod segment 21, the distal rotating assembly 22 is used to connect the proximal clamp 13, and the proximal rotating assembly 23 is used to connect the base rod 3. The distal rotating assembly 22 and the proximal rotating assembly 23 drive the clamp mechanism 1 to deviate to one side in a parallel state relative to the base rod 3 during the rotation process.

[0102] As a preferred solution of this embodiment, the distal rotating assembly 22 may specifically include a distal parallel flange 221, a distal Hook's flange 222 and a distal node flange 223. The distal Hook's flange 222 is rotatably connected to the distal parallel flange 221 around a first rotating shaft 224, and is rotatably connected to the distal node flange 223 around a second rotating shaft 225. The first rotating shaft 224 and the second rotating shaft 225 are alternately arranged, and the distal parallel flange 221 is connected to the proximal clamp 13, and the distal node flange 223 is connected to the connecting rod segment 21.

[0103] Further, the proximal rotating assembly 23 may specifically include a proximal parallel flange 231, a proximal Hooke's flange 232 and a proximal node flange 233. The proximal Hooke's flange 232 is rotatably connected to the proximal parallel flange 231 around a third rotating shaft 234, and is rotatably connected to the proximal node flange 233 around a fourth rotating shaft 235. The third rotating shaft 234 and the fourth rotating shaft 235 are arranged alternately, the proximal parallel flange 231 is connected to the base rod 3, and the proximal node flange 233 is connected to the connecting rod segment 21.

[0104] It is worth mentioning that the first rotating shaft 224 and the third rotating shaft 234 are arranged parallel to each other, and the second rotating shaft 225 and the fourth rotating shaft 235 are arranged parallel to each other.

[0105] It is worth mentioning that the distal rotating assembly 22 and the proximal rotating assembly 23 are centrally symmetrically arranged relative to the connecting rod segment 21 .

[0106] In this embodiment, see Figures 7 to 9 The distal parallel flange 221 is provided with a plug-in convex portion 2211 on one side away from the distal Hook flange 222, and correspondingly, the proximal clamp 13 is provided with a plug-in groove 132 for plugging and mating the plug-in convex portion 2211. The plug-in convex portion 2211 is directly plugged into the plug-in groove 132 of the proximal clamp 13, so that the distal parallel flange 221 and the proximal clamp 13 can be assembled and mated, thereby realizing the docking and mating of the clamp mechanism 1 and the parallel mechanism 2. Since the plug-in protrusion 2211 is directly inserted into the plug-in groove 132, the plug-in protrusion 2211 can ensure that there is sufficient structural strength between the distal parallel flange 221 and the proximal clamp 13, and can also effectively ensure that the plug-in protrusion 2211 does not occupy the axial length of the surgical clamp, so that while improving the structural strength of the connection between the distal parallel flange 221 and the proximal clamp 13, it can also effectively shorten the axial length of the projection between the clamp mechanism 1 and the base rod 3, so that the length of the surgical clamp entering the cavity during the operation is effectively shortened, thereby expanding the working space and improving the surgical effect.

[0107] Further, in this embodiment, see Figure 7 and Figure 8 The plug-in protrusion 2211 is provided with an avoidance groove 2212 at a position corresponding to the tensioning wheel 131. The avoidance groove 2212 is in an arc shape that matches the contour of the tensioning wheel 131, so as to ensure that the plug-in protrusion 2211 does not interfere with the tensioning wheel 131.

[0108] Further, in this embodiment, see Figure 1 and Figures 7 to 9The proximal clamp 13 is provided with a through hole at the position corresponding to the plug-in groove 132, and the plug-in protrusion 2211 is also provided with a corresponding through hole. When the plug-in protrusion 2211 is inserted into the plug-in groove 132, the proximal clamp 13 and the plug-in protrusion 2211 are locked together through the cooperation of the pin shaft 2213 and the through hole, which can effectively improve the structural strength of the docking cooperation between the clamp mechanism 1 and the parallel mechanism 2 and reduce the probability of accidents during surgery.

[0109] Further, in this embodiment, see Figure 1 , Figure 7 and Figure 8 The proximal parallel flange 231 has a proximal fixing portion 2311 on a side away from the proximal Hook's flange 232 for docking with the base rod 3.

[0110] In this embodiment, see Figure 7 , Figure 8 and Fig.10 The parallel mechanism 2 further includes a first driving rope 24 and a second driving rope 25. Correspondingly, the first buckle groove 2214 and the second buckle groove are respectively provided on opposite sides of the plug-in protrusion 2211 of the distal parallel flange 221. The distal end of the first driving rope 24 is fixed to the first buckle groove 2214 by the third fixing member 241, and the proximal end thereof is sequentially penetrated through the distal rotating assembly 22, the connecting rod section 21 and the proximal rotating assembly 23, and extends toward the base rod 3. The distal end of the second driving rope 25 is fixed to the second buckle groove by the fourth fixing member 251, and the proximal end thereof is sequentially penetrated through the distal rotating assembly 22, the connecting rod section 21 and the proximal rotating assembly 23, and extends toward the base rod 3. The first driving rope 24 and the second driving rope 25 are evenly coiled around the connecting rod section 21.

[0111] It is worth mentioning that in the present embodiment, in order to prevent the first drive rope 24 and the second drive rope 25 from interfering with each other and becoming entangled with each other during movement, a wiring channel for the first drive rope 24 and the second drive rope 25 to pass through may preferably be provided inside the distal rotation component 22 and the proximal rotation component 23.

[0112] Further, see Figure 7 and Figure 8The connecting rod section 21 includes a sleeve rod 211 and a sleeve shell 212 sleeved on the sleeve rod 211. The proximal ends of the first drive rope 24 and the second drive rope 25 are uniformly coiled on the sleeve rod 211 of the connecting rod section 21 after passing through the distal rotating assembly 22. Among them, the end of the distal node flange 223 away from the distal Hook flange 222 is provided with a first socket 2231 for inserting one end of the sleeve rod 211, and correspondingly, the end of the proximal node flange 233 away from the proximal Hook flange 232 is provided with a second socket 2331 for inserting the other end of the sleeve rod 211. The two ends of the sleeve shell 212 are respectively sleeved on the first socket 2231 and the second socket 2331 to form protection for the first drive rope 24 and the second drive rope 25.

[0113] Further, the first socket 2231 is provided with a plurality of first wiring grooves 2232 at intervals corresponding to the wiring channel of the distal rotating assembly 22, and the second socket 2331 is provided with a plurality of second wiring grooves 2332 at intervals corresponding to the wiring channel of the proximal rotating assembly 23. Preferably, the number of the wiring channels is four, and the number of the first wiring grooves 2232 is four, and they are arranged one by one in correspondence with the four wiring channels. Two of the first wiring grooves 2232 are respectively used for passing through the two ends of the first driving rope 24, and the other two of the first wiring grooves 2232 are respectively used for passing through the two ends of the second driving rope 25. Correspondingly, the number of the second wiring grooves 2332 is also four, and two of the second wiring grooves 2332 are respectively used for passing through the two ends of the first driving rope 24, and the other two of the second wiring grooves 2332 are respectively used for passing through the two ends of the second driving rope 25.

[0114] Preferably, the notch edge of the first wiring groove 2232 is in an arc or slope transition, and the notch edge of the second wiring groove 2332 is in an arc or slope transition. The first wiring groove 2232 and the second wiring groove 2332 can guide the first drive rope 24 and the second drive rope 25 to avoid the first drive rope 24 and the second drive rope 25 from being entangled during the winding process. By setting the notch edge of the first wiring groove 2232 and the second wiring groove 2332 to be in an arc or slope transition, on the one hand, the smoothness of the sliding of the first drive rope 24 and the second drive rope 25 can be improved, thereby improving the actual operation experience of the user; on the other hand, the first drive rope 24 and the second drive rope 25 can be effectively prevented from rubbing against the notch edge of the first wiring groove 2232 and the second wiring groove 2332 during the transmission process, thereby greatly improving the service life of the first wiring groove 2232 and the second wiring groove 2332.

[0115] It is worth mentioning that see Figure 8 and Fig.10 Since the first driving rope 24 and the second driving rope 25 are evenly wound on the sleeve rod 211 of the connecting rod section 21, the routing method is as follows: Figure 8 and Fig.10 The spiral line shown. The following is an example of the first drive rope 24. The distal end of the first drive rope 24 is fixed to the first buckle groove 2214 by the third fixing member 241, and the proximal end thereof is sequentially provided with the routing channels of the distal parallel flange 221, the distal Hook's flange 222 and the distal node flange 223, and then crosses the 180-degree phase counterclockwise, and sequentially passes through the routing channels of the proximal node flange 233, the proximal Hook's flange 232 and the proximal parallel flange 231, and extends toward the base rod 3. The routing method of the second drive rope 25 is consistent with that of the first drive rope 24, and will not be described in detail here.

[0116] See also Fig.14 , the parallel mechanism 2 can drive the clamp mechanism 1 to deflect along the longitudinal direction of the base rod 3 while maintaining parallelism with the base rod 3. Specifically, the proximal actuator pulls the first drive rope 24 and pushes the second drive rope 25, which can cause the distal parallel flange 221 to deflect downward around the first rotating shaft 224. When the pulling stroke is equal to the pushing stroke, the distal parallel flange axis 2215 can be kept parallel to the proximal parallel flange axis 2312. Of course, the proximal actuator pushes the first drive rope 24 and pulls the second drive rope 25, which can cause the distal parallel flange 221 to deflect upward around the first rotating shaft 224. When the pulling stroke is equal to the pushing stroke, the distal parallel flange axis 2215 can be kept parallel to the proximal parallel flange axis 2312. The driving scheme described above is only a typical single-degree-of-freedom driving case. In actual use, the first drive rope 24 and the second drive rope 25 are pulled or pushed according to the length and speed ratio, so that the distal parallel flange axis 2215 can be deflected to any radial direction in space. It should be pointed out that when the distal parallel flange axis 2215 deflects in any radial direction in space, the projection of the clamp mechanism 1 of the instrument on the proximal parallel flange axis 2312 will cause a proximal associated displacement, and this associated displacement needs to be compensated by pushing the entire instrument distally by an equal amount of displacement along the proximal parallel flange axis 2312. It is also worth mentioning that the distal parallel flange axis 2215 always remains parallel to the proximal parallel flange axis 2312 during translational motion, and the accessible working space of the distal parallel flange axis 2215 is determined by the first swing angle 17 and the length of the connecting rod segment 21. For the first swing angle 17, it can swing around the proximal parallel flange axis 2312, and its swing angle is not less than 45 degrees.

[0117] See also Fig.15, the parallel mechanism 2 can also drive the clamp mechanism 1 to deviate in the lateral direction of the base rod 3 while maintaining parallelism with the base rod 3. Specifically, by controlling the first drive rope 24 and the second drive rope 25 through the proximal actuator, the distal Hook's flange 222 can be deflected to the right around the second rotation axis 225, and when the pulling stroke is equal to the pushing stroke, the distal Hook's flange axis 2221 can be kept parallel to the proximal Hook's flange axis 2321. Of course, by operating the proximal actuator in the reverse direction, the distal parallel flange 221 can be deflected upward around the first rotation axis 224, and when the pulling stroke is equal to the pushing stroke, the distal Hook's flange 222 can be deflected to the left around the second rotation axis 225. It is worth mentioning that the distal Hook's flange axis 2221 always remains parallel to the proximal Hook's flange axis 2321 during the translational motion, and the accessible working space of the distal Hook's flange axis 2221 is determined by the second swing angle 18 and the length of the connecting rod segment 21. The second swing angle 18 can swing around the proximal Hook's flange axis 2321, and its swing angle is not less than 45 degrees.

[0118] The surgical clamp provided by the present invention can have six degrees of freedom of movement and one degree of freedom of operation in the cavity without adjusting the posture of the external robotic arm. In this way, when multiple instruments are operated in coordination, the clamp mechanism 1 and the base rod 3 can always remain parallel and pass through the patient's cavity incision together to achieve the clinical purpose of hole reduction or single-hole minimally invasive surgery, solving the problem of conventional multi-hole robotic instruments and robotic arms being unable to be arranged and interfering with each other in movement in hole reduction or single-hole surgery scenarios.

[0119] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom surgical clamp, characterized in that: include: A base rod, a clamp mechanism, and a parallel mechanism connected to the base rod and the clamp mechanism; The clamp mechanism includes a clamp assembly, a distal clamp, a proximal clamp and a plurality of control ropes; The clamp assembly is rotatably connected to the distal clamp, and the distal clamp is provided with a rotating part for connecting the proximal clamp, and the rotating part is semi-cylindrical; the parallel mechanism is connected to the proximal clamp, and the proximal clamp is provided with a tensioning wheel adjacent to the rotating part; The rotating part is provided with a plurality of first slots at intervals, the tensioning wheel is provided with a plurality of second slots corresponding to the first slots at intervals, the distal end of the control rope is connected to the clamp assembly, the proximal end is separated by the first slots and then rewound in the second slots, and passes through the parallel mechanism to extend to the base rod, so as to control the movement of the clamp assembly and the distal clamp relative to the proximal clamp; and The parallel mechanism is used to drive the clamp mechanism to shift to one side in a parallel state relative to the base rod; The clamp assembly includes a first clamp, a second clamp, a first driving pulley and a second driving pulley; the control ropes include a first control rope and a second control rope; The first control rope is connected to the first driving pulley through a first fixing member; The second control rope is connected to the second driving pulley through a second fixing member; Wherein, two mutually spaced first slots corresponding to one end of the first driving pulley are each provided with a first wiring hole for passing the first control rope; and two mutually spaced first slots corresponding to one end of the second driving pulley are each provided with a second wiring hole for passing the second control rope; The two ends of the first control rope are respectively coiled around two corresponding first slots through two first routing holes, and are reversely coiled around two corresponding second slots after being staggered through the two first slots to achieve tensioning; and The two ends of the second control rope are respectively coiled around two corresponding first slots through two second wiring holes, and are reversely coiled around two corresponding second slots after being staggered through the two first slots to achieve tensioning.

2. The multi-degree-of-freedom surgical clamp according to claim 1, characterized in that: The first clamp has a first pin hole and a first arc-shaped groove with the same center at the proximal end; The proximal end of the second clamp is provided with a second pin hole and a second arc-shaped groove having the same center; A first pin for docking with the first pin hole is provided on one side of the first driving pulley; A second pin for docking with the second pin hole is provided on one side of the second driving pulley; and A rotating hole is provided at the distal end of the first clamp, and a protruding column for docking with the rotating hole is provided at the distal end of the second clamp; and The distal clamp is provided with a first rotating rod, which is sequentially penetrated by a first driving pulley, a first arc-shaped groove of the first clamp, a second arc-shaped groove of the second clamp and a second driving pulley. A plurality of control ropes are connected to the first driving pulley and the second driving pulley to control the opening, closing and pitching movements between the first clamp and the second clamp.

3. The multi-degree-of-freedom surgical clamp according to claim 2, characterized in that: The rotating part is in a semi-cylindrical structure and is arranged at a middle position on one side of the distal clamp; The rotating part is provided with a first axial hole along its axial direction, and a second rotating rod is passed through the first axial hole to approach the end clamp; Wherein, the rotation axis of the first rotating rod and the rotation axis of the second rotating rod are arranged alternately; The first slot is arranged around the arc surface of the rotating part, so that two ends of the first slot correspond to the first driving pulley and the second driving pulley respectively.

4. The multi-degree-of-freedom surgical clamp according to claim 3, characterized in that: The tensioning wheel comprises a third rotating rod, a plurality of first wheel discs and a plurality of second wheel discs; The third rotating rod is fixed inside the proximal clamp and is arranged parallel to the second rotating rod; A plurality of the first wheel discs and a plurality of the second wheel discs are alternately sleeved on the second rotating rod; The diameter of the first wheel disc is greater than the diameter of the second wheel disc, so that a second slot is formed between the second wheel disc and two adjacent first wheel discs.

5. The multi-degree-of-freedom surgical clamp according to any one of claims 2 to 4, characterized in that: The number of the first slots and the number of the second slots are both four.

6. The multi-degree-of-freedom surgical clamp according to any one of claims 1 to 4, characterized in that: The parallel mechanism includes a connecting rod segment, a distal rotating assembly and a proximal rotating assembly; The distal end rotating assembly and the proximal end rotating assembly are respectively rotatably connected to the two ends of the connecting rod segment, the distal end rotating assembly is used to connect the proximal end clamp, and the proximal end rotating assembly is used to connect the base rod; Wherein, the distal end rotating assembly and the proximal end rotating assembly drive the clamp mechanism to deviate to one side in a parallel state relative to the base rod during the rotation process.

7. The multi-degree-of-freedom surgical clamp according to claim 6, characterized in that: The distal rotating assembly includes a distal parallel flange, a distal Hooke's flange and a distal node flange; The distal Hooke's flange is rotatably connected to the distal parallel flange around a first rotation axis, and is rotatably connected to the distal node flange around a second rotation axis, the first rotation axis and the second rotation axis are staggered, the distal parallel flange is connected to the proximal clamp, and the distal node flange is connected to the connecting rod segment; and The proximal rotating assembly includes a proximal parallel flange, a proximal Hooke's flange and a proximal node flange; The proximal Hooke's flange is rotatably connected to the proximal parallel flange around the third rotation axis, and is rotatably connected to the proximal node flange around the fourth rotation axis. The third rotation axis and the fourth rotation axis are staggered, the proximal parallel flange is connected to the base rod, and the proximal node flange is connected to the connecting rod segment.

8. The multi-degree-of-freedom surgical clamp according to claim 7, characterized in that: The distal parallel flange is provided with an inserting protrusion; and The proximal clamp is provided with a plug-in groove for the plug-in convex portion to engage with the socket; and The plug-in protrusion is provided with an avoidance groove at a position corresponding to the tensioning wheel; When the plug-in protrusion is inserted into the plug-in groove, the proximal clamp and the plug-in protrusion are locked together by a pin shaft.

9. The multi-degree-of-freedom surgical clamp according to claim 8, characterized in that: The parallel mechanism further comprises a first drive rope and a second drive rope; and The opposite sides of the plug-in protrusion are respectively provided with a first buckle groove and a second buckle groove; The distal end of the first driving rope is fixed to the first buckle groove through a third fixing member, and the proximal end of the first driving rope passes through the distal rotating assembly, the connecting rod section and the proximal rotating assembly in sequence, and extends toward the base rod; and The distal end of the second driving rope is fixed to the second buckle groove through a fourth fixing member, and the proximal end of the second driving rope passes through the distal rotating assembly, the connecting rod section and the proximal rotating assembly in sequence, and extends toward the base rod; Wherein, the first driving rope and the second driving rope are evenly coiled around the connecting rod segment.

10. The multi-degree-of-freedom surgical clamp according to claim 9, characterized in that: The connecting rod section includes a sleeve rod and a sleeve shell sleeved on the sleeve rod; wherein, The end of the distal node flange away from the distal Hook flange is provided with a first socket for inserting one end of the sleeve rod, the first socket is provided with a plurality of first wiring grooves at intervals, and the groove edge of the first wiring groove is in an arc or slope transition; and The end of the proximal node flange away from the proximal Hook's flange is provided with a second socket for inserting the other end of the sleeve rod, and the second socket is provided with a plurality of second wiring grooves at intervals, and the groove edges of the second wiring grooves are arc-shaped or sloped.

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