Surgical robotic arm jaw lock straight mechanism

Abstract

The present application belongs to the technical field of medical apparatus and instruments, and particularly relates to a surgical mechanical arm jaw locking mechanism. The present application comprises an arc-shaped outer shell, a jaw piece, a driving mechanism shell and a handle. The driving mechanism shell is rotationally matched with the arc-shaped outer shell. In the use process, the driving mechanism shell is rotationally matched with the arc-shaped outer shell, the driving mechanism shell and the handle are relatively fixed, and the handle can be rotated. When the instrument needs to be inserted into or out of a puncture device, the locking assembly is clamped and matched with the arc-shaped outer shell, so that the driving mechanism shell cannot be rotated, locking is realized, the jaw piece is locked straight, and the instrument can be inserted into or out of the puncture device by holding the instrument with one hand. During the operation, the locking assembly is separated from the arc-shaped outer shell, unlocking is realized, the jaw piece can be flexibly turned, and the instrument can be inserted into or out of the puncture device without the assistance of the other hand. The locking and unlocking are controlled by the locking control piece, and the control is simple and convenient, which greatly facilitates the use and operation of doctors.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medical devices, and relates to a surgical mechanical arm jaw locking mechanism. BACKGROUND

[0002] The surgical mechanical arm surgical instrument is a medical instrument currently applied to clinical surgery, and is used to clamp human tissues in surgery in the medical field. The surgical mechanical arm surgical instrument using a steel wire rope to control the rotation and opening and closing of the jaw is relatively common. The jaw structure of the existing surgical mechanical arm surgical instrument needs to be kept straight during the puncture surgery process, and the medical staff needs to use the other hand to assist the in-out, lacks the locking function, and the instrument is troublesome and laborious to operate, is prone to errors, and has general practicality.

[0003] In order to overcome the defects of the prior art, people have constantly explored and proposed various solutions. For example, a double-joint surgical instrument is disclosed in Chinese patent [application number: 202011636332.0], which comprises a shell body, a wire passing cavity, a jaw seat, a first operation assembly, a second operation assembly, a jaw assembly, a second control rope connected to the jaw assembly, a rotating assembly provided between the jaw assembly and the jaw seat, and a first control rope connected to the rotating assembly. However, in the puncture surgery process, the medical staff still needs to use the other hand to assist the in-out, so that the jaw structure is kept straight, lacks the locking function, and the instrument is troublesome and laborious to operate, is prone to errors, and has general practicality. SUMMARY

[0004] The purpose of the present application is to provide a surgical mechanical arm jaw locking mechanism to solve the above problems.

[0005] To achieve the above purpose, the following technical scheme is adopted in the present application:

[0006] A surgical mechanical arm jaw locking mechanism, comprising an arc-shaped shell body, a jaw piece, a drive mechanism housing and a handle, the drive mechanism housing is rotationally connected with the arc-shaped shell body, the drive mechanism housing is provided with a toggle seat, the toggle seat is provided with a tension pulley control structure, the tension pulley control structure is connected with the jaw piece, the toggle seat is provided with a locking assembly capable of moving linearly, the locking assembly is clamped and connected with the arc-shaped shell body, and the handle is provided with a locking control piece for driving the locking assembly to move.

[0007] In the surgical mechanical arm jaw locking mechanism, the driving mechanism housing and the toggle seat are provided with a rotating shaft, the locking assembly includes a locking shaft arranged on the toggle seat, the locking shaft penetrates through the rotating shaft and is in sliding fit with the rotating shaft, the locking shaft and the locking control member are connected through a steel wire, the arc-shaped outer housing is provided with a locking abutment portion, and the locking shaft and the locking abutment portion are in clamping fit.

[0008] In the surgical mechanical arm jaw locking mechanism, the locking abutment portion includes a locking fixed block arranged in the arc-shaped outer housing, the locking fixed block is provided with a locking groove, and the locking shaft is arranged opposite to the locking groove.

[0009] In the surgical mechanical arm jaw locking mechanism, the locking fixed block is provided with two symmetrical inclined surfaces, one end of the locking shaft near the locking fixed block is conical, the toggle seat and the locking shaft are provided with a spring, one end of the spring is connected with the toggle seat, and the other end of the spring is connected with the locking shaft.

[0010] In the surgical mechanical arm jaw locking mechanism, the locking control member includes a handle locking petal arranged on the handle, the handle locking petal and the handle are connected through a rotating shaft and a torsional spring, one end of the steel wire is connected with the locking shaft, and the other end of the steel wire is connected with the handle locking petal.

[0011] In the surgical mechanical arm jaw locking mechanism, the steel wire includes a steel wire arranged between the locking shaft and the handle locking petal, one end of the steel wire is connected with the locking shaft, and the other end of the steel wire is connected with the handle locking petal, the driving mechanism housing is provided with a steel wire tube sleeve, the steel wire tube sleeve extends into the handle, and the steel wire penetrates through the steel wire tube sleeve.

[0012] In the surgical mechanical arm jaw locking mechanism, the steel wire tube sleeve includes a flexible sleeve arranged in the driving mechanism housing, the steel wire penetrates through the flexible sleeve, the handle is provided with a plurality of handle steel wire fixing sleeves, the handle steel wire fixing sleeves are located between the flexible sleeve and the handle locking petal, and the steel wire penetrates through the handle steel wire fixing sleeves.

[0013] In the surgical mechanical arm jaw locking mechanism, the handle is provided with a petal locking member which can rotate, the handle locking petal and the petal locking member are in clamping fit.

[0014] In the surgical mechanical arm jaw locking mechanism, the petal locking member includes a handle finger buckle arranged on the handle, the handle finger buckle and the handle are connected through a rotating shaft and a torsional spring, the handle finger buckle is provided with a clamping groove, the handle locking petal is provided with a locking block, and the locking block and the clamping groove are in clamping fit.

[0015] In the surgical mechanical arm jaw locking mechanism, the drive mechanism housing and the handle are connected through the handle fixing sheet and the support sleeve, the support sleeve is provided with a connecting shaft, the connecting shaft is located between the puller fork seat and the handle, and the steel wire and the soft sleeve pipe are respectively penetrated through the handle fixing sheet.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] 1. In the use process, the drive mechanism housing can be rotationally matched with the arc-shaped outer shell, the drive mechanism housing and the handle are relatively fixed, the handle can be rotated, when the instrument needs to be inserted into or out of the puncture device, the locking assembly is clamped and matched with the arc-shaped outer shell, so that the drive mechanism housing cannot be rotated, the locking is realized, the jaw piece is locked straight, and one hand can hold the instrument to complete the insertion and extraction, when the surgical operation is performed, the locking assembly is separated from the arc-shaped outer shell, the unlocking is realized, the jaw piece can be flexibly turned, and the insertion and extraction of the instrument into or out of the puncture device do not need to be assisted by the other hand, the locking and unlocking are controlled through the locking control piece, the control is simple and convenient, and the use and operation of the doctor are greatly facilitated.

[0018] 2. Two inclined surfaces are arranged on the locking fixed block, when locking or unlocking is needed, the locking shaft can enter or separate from the locking groove along the inclined surface track, the locking or unlocking function is realized, the locking shaft is conical at one end close to the locking fixed block, is matched with the inclined surface, the overall locking and unlocking are smooth, the situation that the locking and unlocking are stuck is avoided, the spring provides elastic force for the locking shaft, in the locking process, the spring elastic force is matched to send the locking shaft into the locking groove to realize clamping locking, and when unlocking, the locking shaft is moved out of the locking groove by overcoming the spring elastic force.

[0019] 3. The soft sleeve pipe is arranged to limit and guide the steel wire, so that the steel wire can be pulled and will not be stuck, the soft sleeve pipe is made of soft material, the handle steel wire fixing sleeve is used to guide and fix the steel wire, and the steel wire is connected with the handle locking valve body.

[0020] 4. When the valve body locking piece and the handle are closed, the handle finger buckle is clamped and matched with the clamping groove to clamp and fix the handle locking valve body, so that when the handle locking valve body needs to be in the unlocking state, the handle locking valve body will not be separated from the handle to pull the steel wire, when the handle locking valve body needs to be opened, the handle finger buckle is rotated, the locking block is separated from the clamping groove, the handle locking valve body is driven to restore the open state through the action of the torsional spring at the handle locking valve body, and the operation is simple and convenient.

[0021] Other advantages, objects and features of the present application will be embodied in part by the following description, and will be understood by those skilled in the art through research and practice of the present application. DETAILED DESCRIPTION

[0022] Figure 1 is a structural schematic diagram of the present application.

[0023] Figure 2 is a structural schematic diagram of the internal structure of the present application.

[0024] Figure 3 is a structural schematic diagram of the local structure of the present application.

[0025] Figure 4 is a structural schematic diagram of the locking abutment.

[0026] In the figure: arc-shaped outer shell 1, jaw piece 2, drive mechanism shell 3, handle 4, lever seat 5, tension wheel control structure 6, locking straight component 7, locking control piece 8, rotating shaft 9, locking shaft 10, steel wire piece 11, locking abutment 111, locking fixed block 12, locking groove 13, spring 14, handle lock clavus 15, steel wire 16, steel wire pipe sleeve 17, soft sleeve 18, handle steel wire fixed sleeve 19, clavus locking piece 20, handle finger buckle 21, clamping groove 22, locking clamping block 23, handle fixing piece 24, support sleeve 25, connecting shaft 26. DETAILED DESCRIPTION

[0027] The present application will be further described below in combination with the accompanying drawings.

[0028] As shown in Figures 1-4 , a surgical mechanical arm jaw locking straight mechanism, comprising an arc-shaped outer shell 1, a jaw piece 2, a drive mechanism shell 3 and a handle 4, the drive mechanism shell 3 is rotationally matched with the arc-shaped outer shell 1, the drive mechanism shell 3 is provided with a lever seat 5, the lever seat 5 is provided with a tension wheel control structure 6, the tension wheel control structure 6 is connected with the jaw piece 2, the lever seat 5 is provided with a locking straight component 7 capable of moving linearly back and forth, the locking straight component 7 is clamped and matched with the arc-shaped outer shell 1, and the handle 4 is provided with a locking control piece 8 used to drive the locking straight component 7 to move.

[0029] In the embodiment, in the use process, the drive mechanism shell 3 can be rotationally matched with the arc-shaped outer shell 1, the drive mechanism shell 3 and the handle 4 are relatively fixed, and the handle 4 can be rotated, when it is needed to pass in and out of a puncture device, the locking straight component 7 is clamped and matched with the arc-shaped outer shell 1, so that the drive mechanism shell 3 cannot be rotated, the locking is realized, the jaw piece 2 is locked straight, and the passing in and out can be completed by single-handed holding of the instrument, in the surgical operation, the locking straight component 7 is disengaged from the arc-shaped outer shell 1, the unlocking is realized, and the jaw piece 2 can be flexibly turned, so that the passing in and out of the puncture device can be completed without the assistance of another hand, the locking and unlocking are controlled by the locking control piece 8, the control is simple and convenient, and the use and operation of the doctor are greatly facilitated;

[0030] The tensioner control structure 6 cooperates with the left and right operating handles to control the flexible turning of the jaw piece 2. Those skilled in the art should understand that the tensioner control structure 6 and the jaw piece 2 are upper concepts, and the expanded structures of the lower concepts are all prior art. For reference, please refer to the patent with the patent name Double-joint surgical instrument and the application number CN202011636332.0. Moreover, this structure is not the focus of the present application, and therefore will not be expanded again.

[0031] In combination Figure 1 , Figure 2 As shown in FIGS. 7 and 8, the driving mechanism housing 3 and the prying fork seat 5 are provided with a rotating shaft 9. The locking assembly 7 includes a locking shaft 10 arranged on the prying fork seat 5. The locking shaft 10 penetrates through the rotating shaft 9 and is in sliding fit with the rotating shaft 9. The locking shaft 10 and the locking control piece 8 are connected through a steel wire 11. The arc-shaped outer housing 1 is provided with a locking abutment portion 111. The locking shaft 10 is in clamping fit with the locking abutment portion 111.

[0032] Specifically, the driving mechanism housing 3 and the prying fork seat 5 are provided with the rotating shaft 9, so that the driving mechanism housing 3 can be in rotating fit with the arc-shaped outer housing 1. When it is needed to lock the jaw piece 2, the locking control piece 8 is rotated away from one end of the handle 4 to be V-shaped. The locking shaft 10 is moved to one end close to the locking abutment portion 111 through the steel wire 11, so that the locking shaft 10 is in clamping fit with the locking abutment portion 111. The clamping fit between the locking shaft 10 and the locking abutment portion 111 makes the rotating shaft 9 unable to rotate, realizing the locking function. When it is needed to unlock the jaw piece 2, the locking control piece 8 is rotated to one end close to the handle 4 to be closed. The locking shaft 10 is moved to one end away from the locking abutment portion 111 through the steel wire 11, so that the locking shaft 10 is separated from the locking abutment portion 111, so that the rotating shaft 9 restores the rotatable state, realizing the unlocking function. The jaw piece 2 can be flexibly turned, and the instrument can be put in and out of the puncture device without the assistance of the other hand. The control is simple and convenient, which greatly facilitates the use and operation of the doctor.

[0033] In combination Figures 1-4 As shown in FIGS. 7 and 8, the locking abutment portion 111 includes a locking fixed block 12 arranged in the arc-shaped outer housing 1. The locking fixed block 12 is provided with a locking groove 13. The locking shaft 10 is arranged opposite to the locking groove 13.

[0034] In this embodiment, when the jaw piece 2 needs to be locked, the locking control piece 8 is rotated away from the handle 4 end to form a V shape, the locking shaft 10 is driven by the steel wire piece 11 to move towards the locking fixed block 12 end, so that the locking shaft 10 enters the locking slot 13 and is clamped with the locking fixed block 12, so that the rotating shaft 9 cannot rotate, realizing the locking function, when the jaw piece 2 needs to be unlocked, the locking control piece 8 is rotated towards the handle 4 end to close, the locking shaft 10 is driven by the steel wire piece 11 to move away from the locking fixed block 12 end, so that the locking shaft 10 is separated from the locking slot 13, so that the rotating shaft 9 restores the rotatable state, realizing the unlocking function, the jaw piece 2 can be flexibly turned, and the other hand is not needed to assist in completing the entry and exit of the instrument into the puncture device, the control is simple and convenient, which greatly facilitates the use and operation of the doctor.

[0035] The locking fixed block 12 is provided with two symmetrical inclined surfaces, the locking shaft 10 is conical at the end close to the locking fixed block 12, and the spring 14 is arranged between the prying fork seat 5 and the locking shaft 10.

[0036] In this embodiment, the locking fixed block 12 is provided with two symmetrical inclined surfaces, the locking shaft 10 can enter or separate from the locking slot 13 along the inclined surface track to realize the locking or unlocking function, the locking shaft 10 is conical at the end close to the locking fixed block 12, and cooperates with the inclined surface to realize smooth locking and unlocking, avoiding the situation of being stuck, and the spring 14 provides elastic force to the locking shaft 10, and in the locking process, the spring 14 is used to send the locking shaft 10 into the locking slot 13 to realize clamping locking, and the locking shaft 10 is moved out of the locking slot 13 by overcoming the elastic force of the spring 14.

[0037] In combination with Figure 2 , Figure 3 , the locking control piece 8 includes a handle locking flap body 15 arranged on the handle 4, the handle locking flap body 15 and the handle 4 are connected through a rotating shaft and a torsional spring, one end of the steel wire piece 11 is connected with the locking shaft 10, and the other end is connected with the handle locking flap body 15.

[0038] In this embodiment, the handle locking flap body 15 is rotated to control the pulling of the steel wire piece 11, and then the locking shaft 10 is driven to move, realizing locking or unlocking, the handle locking flap body 15 and the handle 4 are connected through a rotating shaft and a torsional spring, when the handle locking flap body 15 and the handle 4 are closed, the force of the torsional spring is overcome, and when the handle locking flap body 15 and the handle 4 form a V shape, the torsional spring is in the original state.

[0039] The steel wire component 11 includes a steel wire 16 disposed between the locking shaft 10 and the handle locking valve body 15. One end of the steel wire 16 is connected to the locking shaft 10, and the other end is connected to the handle locking valve body 15. The drive mechanism housing 3 is provided with a steel wire tube assembly 17, which extends into the handle 4, and the steel wire 16 passes through the steel wire tube assembly 17.

[0040] In this embodiment, the steel wire 16 is used to connect the locking shaft 10 to the handle locking valve 15. The steel wire 16 passes through the spring 14. During the locking process, the steel wire 16 is pulled towards the end close to the locking shaft 10. The elastic force released by the spring 14 sends the locking shaft 10 into the locking groove 13 to achieve locking. When unlocking, the steel wire 16 is pulled away from the end away from the locking shaft 10. It overcomes the elastic force of the spring 14 and moves the locking shaft 10 out of the locking groove 13. The steel wire tube assembly 17 is used to limit and guide the steel wire 16 to ensure that the steel wire 16 can be pulled.

[0041] The steel wire tube assembly 17 includes a flexible sleeve 18 disposed in the drive mechanism housing 3, through which the steel wire 16 passes. The handle 4 is provided with a plurality of handle steel wire fixing sleeves 19, which are located between the flexible sleeve 18 and the handle locking valve 15, and through which the steel wire 16 passes.

[0042] In this embodiment, the soft sleeve 18 is used to limit and guide the steel wire 16, ensuring that the steel wire 16 can be pulled without getting stuck. The soft sleeve 18 is made of soft material. The handle steel wire fixing sleeve 19 is used to guide and fix the steel wire 16, ensuring that the steel wire 16 is connected to the handle locking valve 15.

[0043] Combination Figure 3 As shown, the handle 4 is provided with a rotatable valve locking member 20, and the handle locking valve 15 is engaged with the valve locking member 20.

[0044] In this embodiment, when the valve locking member 20 is brought close to the handle 4 and closed, the valve locking member 20 is used to lock the handle locking valve 15 and fix it in place, so as to ensure that the handle locking valve 15 will not be separated from the handle 4 and pull the steel wire 16 when it needs to be in the unlocked state.

[0045] Combination Figure 3 As shown, the valve locking component 20 includes a handle finger buckle 21 disposed on the handle 4. The handle finger buckle 21 is connected to the handle 4 through a rotating shaft and a torsion spring. The handle finger buckle 21 is provided with a slot 22. The handle locking valve 15 is provided with a locking block 23. The locking block 23 engages with the slot 22.

[0046] When the handle 4 and the handle locking flap 15 are closed, the handle finger buckle 21 is matched with the clamping groove 22, and the handle locking flap 15 is clamped and fixed, so that the handle locking flap 15 cannot be separated from the handle 4 when it needs to be in an unlocked state, and the steel wire 16 is pulled.

[0047] In combination Figure 3 As shown, the driving mechanism housing 3 and the handle 4 are connected through the handle fixing plate 24 and the support sleeve 25, the support sleeve 25 is provided with a connecting shaft 26, the connecting shaft 26 is located between the handle 4 and the prying fork seat 5, and the steel wire 16 and the soft sleeve 18 pass through the handle fixing plate 24 respectively.

[0048] In the embodiment, the handle fixing plate 24 and the support sleeve 25 cooperate with the connecting shaft 26 to connect and fix the driving mechanism housing 3 and the handle 4, so that the driving mechanism housing 3 and the handle 4 are relatively fixed, and the handle 4 can rotate around the connecting shaft 26.

[0049] The working principle of the present application is as follows:

[0050] In use, the driving mechanism housing 3 can be rotatably matched with the arc-shaped outer housing 1, the handle fixing plate 24 and the support sleeve 25 cooperate with the connecting shaft 26 to connect and fix the driving mechanism housing 3 and the handle 4, so that the driving mechanism housing 3 and the handle 4 are relatively fixed, and the handle 4 can rotate around the connecting shaft 26,

[0051] The driving mechanism housing 3 and the prying fork seat 5 are provided with a rotating shaft 9, so that the driving mechanism housing 3 can be rotatably matched with the arc-shaped outer housing 1, when the jaw piece 2 needs to be locked, the handle locking flap 15 is rotated away from the handle 4, and the V-shaped handle locking flap 15 is closed, the steel wire 16 drives the locking shaft 10 to move towards the locking fixed block 12, so that the locking shaft 10 enters the locking groove 13 and is matched with the locking fixed block 12, so that the rotating shaft 9 cannot rotate, and the locking function is realized, when the jaw piece 2 needs to be unlocked, the handle locking flap 15 is rotated towards the handle 4, and the handle locking flap 15 is closed, the steel wire 16 drives the locking shaft 10 to move away from the locking fixed block 12, so that the locking shaft 10 is separated from the locking groove 13, so that the rotating shaft 9 restores the rotatable state, and the unlocking function is realized, the jaw piece 2 can be flexibly turned, and the other hand is not needed to assist in completing the entry and exit of the instrument into the puncture device, the control is simple and convenient, and the use and operation of the doctor are greatly facilitated,

[0052] The locking fixed block 12 is provided with two symmetrical inclined surfaces. When locking or unlocking is needed, the locking shaft 10 can enter or leave the locking groove 13 along the inclined surface track to realize the locking or unlocking function. The end of the locking shaft 10 close to the locking fixed block 12 is conical, which cooperates with the inclined surface, and the overall locking and unlocking is smooth, avoiding the situation of jamming. The spring 14 provides elastic force to the locking shaft 10. In the locking process, the spring 14 is matched with the elastic force to send the locking shaft 10 into the locking groove 13 to realize clamping locking. When unlocking, the locking shaft 10 is moved out of the locking groove 13 by overcoming the elastic force of the spring 14,

[0053] The handle locking flap 15 is rotated to control the pulling of the steel wire 11, thereby driving the locking shaft 10 to move, realizing locking or unlocking. The handle locking flap 15 and the handle 4 are connected through a rotating shaft and a torsional spring. When the handle locking flap 15 and the handle 4 are closed and close to each other, the force of the torsional spring is overcome. When the handle locking flap 15 and the handle 4 are in V shape, they are in the original state of the torsional spring.

[0054] The steel wire 16 is used to connect the locking shaft 10 and the handle locking flap 15. The steel wire 16 penetrates through the spring 14. In the locking process, the steel wire 16 pulls towards the end close to the locking shaft 10. The spring 14 releases the elastic force to send the locking shaft 10 into the locking groove 13 to realize clamping locking. When unlocking, the steel wire 16 pulls away from the end of the locking shaft 10. The locking shaft 10 is moved out of the locking groove 13 by overcoming the elastic force of the spring 14. The soft sleeve 18 is used to limit and guide the steel wire 16, ensuring that the steel wire 16 can be pulled. The soft sleeve 18 is made of soft material. The handle steel wire fixing sleeve 19 is used to guide and fix the steel wire 16, ensuring that the steel wire 16 is connected with the handle locking flap 15.

[0055] When the flap locking piece 20 and the handle 4 close and close, the handle finger buckle 21 is clamped and matched with the clamping groove 22 to clamp and fix the handle locking flap 15, ensuring that the handle locking flap 15 will not be separated from the handle 4 to pull the steel wire 16 when it needs to be in the unlocked state. When it is needed to open the handle locking flap 15, the handle finger buckle 21 is rotated, so that the locking block 23 is separated from the clamping groove 22. The handle locking flap 15 is driven to restore the open state by the action of the torsional spring at the handle locking flap 15. The operation is simple and convenient.

[0056] The tensioning wheel control structure 6 cooperates with the left and right operation handles to control the flexible turning of the jaw piece 2. Those skilled in the art should understand that the tensioning wheel control structure 6 and the jaw piece 2 are upper concepts, and the development structure of the lower concept is prior art. Please refer to the patent with the patent name Double-joint surgical instrument and the application number CN202011636332.0 for details. This structure is not the focus of this application, so it will not be expanded again.

[0057] The specific embodiments described herein are merely illustrative of the principles of this application. Numerous modifications or adaptations will be readily apparent to those skilled in the art of this application without departing from the spirit of the application.

[0058] Although the terms arc-shaped outer shell 1, jaw piece 2, driving mechanism shell 3, handle 4, lever seat 5, tension wheel control structure 6, locking assembly 7, locking control piece 8, rotating shaft 9, locking shaft 10, steel wire piece 11, locking abutment 111, locking fixing block 12, locking groove 13, spring 14, handle locking petal body 15, steel wire 16, steel wire pipe sleeve 17, soft sleeve 18, handle steel wire fixing sleeve 19, petal locking piece 20, handle finger buckle 21, clamping groove 22, locking block 23, handle fixing piece 24, support sleeve 25, connecting shaft 26, etc. are used more frequently herein, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the application, and any kind of additional limitation resulting from the interpretation of them is contrary to the spirit of the application.

Claims

1. A surgical robotic arm clamp head locking mechanism, comprising an arc-shaped outer shell (1), a clamp head (2), a drive mechanism housing (3), and a handle (4), characterized in that, The drive mechanism housing (3) is rotatably engaged with the arc-shaped outer shell (1). The drive mechanism housing (3) is provided with a fork seat (5). The fork seat (5) is provided with a tension wheel control structure (6). The tension wheel control structure (6) is connected to the pliers (2). The fork seat (5) is provided with a straight locking assembly (7) that can reciprocate along a straight line. The straight locking assembly (7) is engaged with the arc-shaped outer shell (1). The handle (4) is provided with a locking control element (8) for driving the straight locking assembly (7) to move. A rotating shaft (9) is provided between the drive mechanism housing (3) and the fork seat (5). The locking assembly (7) includes a locking shaft (10) provided on the fork seat (5). The locking shaft (10) passes through the rotating shaft (9) and is slidably engaged with the rotating shaft (9). The locking shaft (10) is connected to the locking control component (8) by a steel wire (11). The arc-shaped outer shell (1) is provided with a locking abutment part (111). The locking shaft (10) and the locking abutment part (111) are engaged. The locking abutment (111) includes a locking fixing block (12) disposed in the arc-shaped outer shell (1), the locking fixing block (12) is provided with a locking groove (13), and the locking shaft (10) and the locking groove (13) are arranged opposite each other; The locking block (12) is provided with two symmetrically arranged inclined surfaces. The locking shaft (10) is conical at one end near the locking block (12). A spring (14) is provided between the lever fork seat (5) and the locking shaft (10). One end of the spring (14) is connected to the lever fork seat (5), and the other end is connected to the locking shaft (10). The locking control component (8) includes a handle locking valve (15) disposed on the handle (4). The handle locking valve (15) is connected to the handle (4) by a rotating shaft and a torsion spring. One end of the steel wire (11) is connected to the locking shaft (10), and the other end is connected to the handle locking valve (15). The steel wire component (11) includes a steel wire (16) disposed between the locking shaft (10) and the handle locking valve (15). One end of the steel wire (16) is connected to the locking shaft (10), and the other end is connected to the handle locking valve (15). The drive mechanism housing (3) is provided with a steel wire tube assembly (17). The steel wire tube assembly (17) extends into the handle (4), and the steel wire (16) passes through the steel wire tube assembly (17).

2. The surgical robotic arm clamp head locking mechanism according to claim 1, characterized in that, The steel wire tube kit (17) includes a soft sleeve (18) disposed in the drive mechanism housing (3), the steel wire (16) passes through the soft sleeve (18), the handle (4) is provided with a plurality of handle steel wire fixing sleeves (19), the handle steel wire fixing sleeves (19) are located between the soft sleeve (18) and the handle locking valve (15), and the steel wire (16) passes through the handle steel wire fixing sleeves (19).

3. The surgical robotic arm clamp head locking mechanism according to claim 2, characterized in that, The handle (4) is provided with a rotatable valve locking member (20), and the handle locks the valve (15) and engages with the valve locking member (20).

4. The surgical robotic arm clamp head locking mechanism according to claim 3, characterized in that, The valve locking component (20) includes a handle finger buckle (21) disposed on the handle (4). The handle finger buckle (21) is connected to the handle (4) by a rotating shaft and a torsion spring. The handle finger buckle (21) is provided with a slot (22). The handle locking valve (15) is provided with a locking block (23). The locking block (23) engages with the slot (22).

5. A surgical robotic arm clamp head locking mechanism according to claim 4, characterized in that, The drive mechanism housing (3) and the handle (4) are connected by a handle fixing piece (24) and a support sleeve (25). The support sleeve (25) is provided with a connecting shaft (26). The connecting shaft (26) is located between the fork seat (5) and the handle (4). The steel wire (16) and the soft sleeve (18) pass through the handle fixing piece (24) respectively.

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