A trocar clamping device for a surgical robot

Abstract

The present invention relates to a trocar clamping device for a surgical robot, which includes a trocar adapter, a trocar body and a gripper. The trocar body is installed on the gripper, and the trocar adapter is installed on the trocar body; the gripper includes a housing, a locking base, a first jaw and a second jaw. The locking base is installed in the housing. The first jaw and the second jaw are fixed to the locking base by pins and rotate around the pins respectively. The first jaw and the second jaw are also connected to one end of a first hinge and a second hinge respectively through a second pin. The other ends of the first hinge and the second hinge are connected together through a movable pin. One end of a tension spring is fixed on the locking base, and the other end is fixed on the movable pin. Unlock buttons are installed on the first jaw and the second jaw, and the first jaw and the second jaw are opened or clamped by manually pressing or releasing the unlock buttons; the present invention can conveniently achieve docking and release, and can automatically detect whether the trocar is installed in place, improving the reliability and convenience during use.

Description

[Technical Field]

[0001] The present invention relates to the technical field of medical devices, and more specifically to a trocar clamping device for a surgical robot. [Background Art]

[0002] Currently, laparoscopic minimally invasive surgical robots usually adopt master-slave control, that is, a doctor controls the actions of the slave surgical instruments through teleoperation at the master console. At the beginning of the operation, a trocar is first used to establish a channel into the human body. The position where the trocar penetrates the human skin is called the "fixed point". During the operation, it is necessary to align the fixed point of the mechanism of the slave instrument arm with the fixed point penetrated by the trocar, and fix the trocar on the instrument arm through a gripper, so that the fixed point remains unchanged during the operation. In addition, when moving the instrument arm to dock near the trocar, a single-handed dragging operation method is usually adopted. This requires that the trocar can be firmly and accurately fixed on the gripper, and the clamping process should also be convenient for the doctor to operate with one hand. However, existing general trocar devices usually cannot meet this requirement. [Summary of the Invention]

[0003] The purpose of the present invention is to solve the above deficiencies and provide a trocar clamping device for a surgical robot, which can conveniently achieve docking and release, and can automatically detect whether the trocar is installed in place, so that the trocar can not only be firmly and accurately fixed on the gripper, but also the clamping process is convenient for the doctor to operate with one hand, improving the reliability and convenience during use.

[0004] To achieve the above purpose, a trocar clamping device for a surgical robot is designed, which includes a trocar adapter 1, a trocar body 2 and a gripper 3. The trocar body 2 is installed on the gripper 3, and the trocar adapter 1 is installed on the trocar body 2. The gripper 3 includes a housing 302, a locking base 309, a jaw one 304 and a jaw two 305. The locking base 309 is installed inside the housing 302. The jaw one 304 and the jaw two 305 are fixed to the locking base 309 through a pin 313 and can rotate around the pin 313 respectively. A hinge one 316 and a hinge two 315 are arranged between the jaw one 304 and the jaw two 305. The jaw one 304 and the jaw two 305 are respectively connected to one end of the hinge one 316 and the hinge two 315 through a pin two 314. The other ends of the hinge one 316 and the hinge two 315 are connected together through a moving pin 322. A tension spring 317 is arranged between the moving pin 322 and the locking base 309. One end of the tension spring 317 is fixed on the locking base 309, and the other end of the tension spring 317 is fixed on the moving pin 322. Unlock buttons 308 are installed on the jaw one 304 and the jaw two 305, and by manually pressing or releasing the unlock buttons 308, the jaw one 304 and the jaw two 305 can be opened or tightened, so as to conveniently achieve docking and release.

[0005] Preferably, a ball spline outer cylinder 318 is fixed to the locking base 309 by a set screw 319. A spline shaft 320 is inserted into the ball spline outer cylinder 318. The spline shaft 320 is fixed to the locking bar 306 and axially moves along the ball spline outer cylinder 318. A spring 321 is installed between the locking bar 306 and the outer cylinder 318. A switch base 310 is installed at the rear of the locking base 309, and a microswitch 311 is installed on the switch base 310, thus further realizing the automatic detection of whether the puncture card is installed in place.

[0006] Preferably, a guiding boss 201 is provided at the docking position of the puncture card body 2 and the gripper 3. The guiding boss 201 on the puncture card body 2 is in mating connection with the groove on the locking bar 306. When the locking bar 306 moves backward against the resistance of the spring 321 until the puncture card body 2 is in place, the spline shaft 320 presses the microswitch 311 and sends a signal indicating that the installation is in place.

[0007] Preferably, it further includes a locking pin 303. The locking pin 303 is connected to the housing 302 in a vertically movable manner. When the locking pin 303 drops, it passes through the pin holes on the first jaw 304 and the second jaw 305 and locks the first jaw 304 and the second jaw 305. At this time, the first jaw 304 and the second jaw 305 cannot open under the pressing of the unlocking button 308, thereby preventing accidental loosening during the operation.

[0008] Preferably, the puncture card adapter 1 includes an adapter base body 101. A spring piece 109 is installed on the adapter base body 101. Buttons 110 are installed on the hook claws on both sides of the spring piece 109. Barbs are provided at the ends of the hook claws. The barbs are in mating connection with the stepped surface inside the puncture card body 2. The puncture card adapter 1 is fixed to the puncture card body 2 through the barbs and the stepped surface, and can be pulled outwards when both buttons 110 are pressed simultaneously, making the loading and unloading of the puncture card adapter 1 and the puncture card body 2 more convenient and fast, and facilitating replacement during repeated use.

[0009] Preferably, a sealing joint 105 is installed at the upper part of the adapter base body 101. Upper and lower sealing caps 106 and 107 are respectively installed at the upper and lower ends of the sealing joint 105. An O-ring 108 is installed between the sealing joint 105 and the adapter base body 101, so that gas will not escape from the sealing joint 105 during the operation.

[0010] Preferably, an air injection hole 104 is provided on the side of the adapter base 101. An air injection valve 102 is installed at the air injection hole 104 through a screw 103. The adapter base 101 controls the opening and closing of the gas path by rotating the air injection valve 102. An O-ring II 111 is provided between the air injection valve 102 and the air injection hole 104, and the O-ring II 111 prevents gas from escaping.

[0011] Preferably, an O-ring 112 is provided between the trocar adapter 1 and the trocar body 2. The O-ring 112 is used to prevent gas from escaping through the gap between the trocar adapter 1 and the trocar body 2.

[0012] Preferably, a fixing block 301 is installed on the housing 302. The gripper 3 is installed on the instrument arm through the fixing block 301. The housing 302, the fixing block 301 and the locking base 309 are fixed together.

[0013] Preferably, the trocar adapter 1 is a disposable adapter, and the trocar body 2 can be repeatedly used after being sterilized at high temperature through the trocar adapter 1.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] (1) During the robotic surgery process of the present invention, the trocar body is installed on the gripper, and the disposable trocar adapter is installed on the trocar body, so that the trocar body can be repeatedly used after being sterilized at high temperature;

[0016] (2) The trocar and its gripper of the present invention are used for minimally invasive robotic surgery, which can conveniently achieve docking and release, can automatically detect whether the trocar is installed in place, and can prevent accidental loosening during the surgery;

[0017] (3) The trocar of the present invention can be firmly and accurately fixed on the gripper, and the clamping process is convenient for the doctor to operate with one hand, solving the problem that the existing general trocar device cannot meet this requirement;

[0018] (4) When the gripper of the present invention is in the unclamped state, the jaws and the unlocking button are in the natural state, the locking bar is ejected under the action of the spring, and the locking pin is in the pulled-up state. After the trocar is installed in place, the locking pin drops through the pin hole on the jaw, so that the jaw and the trocar can be locked and cannot move;

[0019] (5) The structure of the present invention is relatively simple, greatly reducing the processing cost, improving the reliability and convenience during use, and is worthy of popularization and application. [Description of the Drawings]

[0020] Figure 1 is the structural schematic diagram of the present invention;

[0021] Figure 2 It is a schematic diagram of the composition of the punching card adapter and the punching card body of the present invention;

[0022] Figure 3 It is an exploded view of the punching card adapter of the present invention;

[0023] Figure 4 It is a schematic structural diagram of the gripper of the present invention in the unclamped state;

[0024] Figure 5 It is a state diagram of the gripper of the present invention during the clamping process;

[0025] Figure 6 It is a state diagram of the punching card fixed on the gripper after being installed in place (the punching card is hidden) of the present invention;

[0026] Figure 7 It is a schematic diagram of the partial internal structure of the gripper of the present invention;

[0027] Figure 8 It is a schematic structural diagram of the bottom view of the gripper of the present invention;

[0028] Figure 9 It is a cross-sectional view of the gripper of the present invention in the clamped state;

[0029] In the figure: 1. Punching card adapter 2. Punching card body 3. Gripper 101. Adapter base 102. Gas injection valve 103. Screw 104. Gas injection hole 105. Sealing joint 106. Upper sealing cap 107. Lower sealing cap 108. O-ring 109. Spring piece 110. Button 111. O-ring two 112. O-ring 201. Guide boss 301. Fixed block 302. Housing 303. Locking pin 304. Claw one 305. Claw two 306. Locking bar 307. Base 308. Unlock button 309. Locking base 310. Switch base 311. Microswitch 312. Rear seat 313. Pin 314. Pin two 315. Hinge two 316. Hinge one 317. Tensile spring 318. Ball spline outer cylinder 319. Set screw 320. Spline shaft 321. Spring 322. Moving pin. [Detailed implementation manner]

[0030] As shown in the attached Figure 1 to the attached Figure 9As shown in the figure, the present invention provides a trocar clamping device for a surgical robot, which can be used in minimally invasive robotic surgery. The trocar clamping device includes a trocar adapter 1, a trocar body 2, and a gripper 3. The trocar body 2 is installed on the gripper 3, and the trocar adapter 1 is installed on the trocar body 2. The gripper 3 includes a housing 302, a locking base 309, a first jaw 304, and a second jaw 305. The locking base 309 is installed inside the housing 302. The first jaw 304 and the second jaw 305 are fixed to the locking base 309 by pins 313 and can rotate around the pins 313 respectively. A first hinge 316 and a second hinge 315 are arranged between the first jaw 304 and the second jaw 305. The first jaw 304 and the second jaw 305 are respectively connected to one end of the first hinge 316 and the second hinge 315 by pins 314. The other ends of the first hinge 316 and the second hinge 315 are connected together by a moving pin 322. A tension spring 317 is arranged between the moving pin 322 and the locking base 309. One end of the tension spring 317 is fixed on the locking base 309, and the other end of the tension spring 317 is fixed on the moving pin 322. Unlock buttons 308 are installed on the first jaw 304 and the second jaw 305. By manually pressing or releasing the unlock buttons 308, the first jaw 304 and the second jaw 305 can be opened or tightened, so as to conveniently achieve docking and release. The trocar clamping device further includes a locking pin 303, which is connected to the housing 302 in a vertically movable manner. When the locking pin 303 drops, it passes through the pin holes on the first jaw 304 and the second jaw 305 and locks the first jaw 304 and the second jaw 305. At this time, the first jaw 304 and the second jaw 305 cannot be opened under the pressing of the unlock button 308, thereby preventing accidental loosening during the operation.

[0031] Among them, a ball spline outer cylinder 318 is fixed on the locking base 309 by a set screw 319. A spline shaft 320 is inserted into the ball spline outer cylinder 318. The spline shaft 320 is fixed to the locking bar 306 and moves axially along the ball spline outer cylinder 318. A spring 321 is installed between the locking bar 306 and the outer cylinder 318. A switch base 310 is installed at the rear of the locking base 309, and a micro switch 311 is installed on the switch base 310, further realizing automatic detection of whether the trocar is installed in place. A guiding boss 201 is arranged at the docking position between the trocar body 2 and the gripper 3. The guiding boss 201 on the trocar body 2 is in mating connection with the groove on the locking bar 306. When the locking bar 306 moves backward against the resistance of the spring 321 until the trocar body 2 is in place, the spline shaft 320 presses the micro switch 311 and sends a signal indicating that the installation is in place. A fixing block 301 is installed on the housing 302. The gripper 3 is installed on the instrument arm through the fixing block 301. The housing 302, the fixing block 301, and the locking base 309 are fixed together.

[0032] The puncture card adapter 1 includes an adapter base body 101. A spring piece 109 is installed on the adapter base body 101. Buttons 110 are installed on the hook claws on both sides of the spring piece 109. Barbs are provided at the ends of the hook claws, and the barbs cooperate with the stepped surface inside the puncture card body 2. The puncture card adapter 1 is fixed on the puncture card body 2 through the barbs and the stepped surface, and can be pulled outwards when pressing the buttons 110 on both sides simultaneously, making the loading and unloading of the puncture card adapter 1 and the puncture card body 2 more convenient and fast, and facilitating replacement during repeated use; A sealing joint 105 is installed on the upper part of the adapter base body 101. An upper sealing cap 106 and a lower sealing cap 107 are respectively installed at the upper and lower ends of the sealing joint 105. An O-ring 108 is installed between the sealing joint 105 and the adapter base body 101, so that gas will not escape from the sealing joint 105 during the operation; An air injection hole 104 is provided on the side of the adapter base body 101. An air injection valve 102 is installed at the air injection hole 104 through a screw 103. The adapter base body 101 controls the opening and closing of the gas path through the rotation of the air injection valve 102. An O-ring II 111 is provided between the air injection valve 102 and the air injection hole 104, and gas leakage is prevented through the O-ring II 111. An O-ring 112 is provided between the puncture card adapter 1 and the puncture card body 2, and the O-ring 112 is used to prevent gas from escaping from the gap between the puncture card adapter 1 and the puncture card body 2.

[0033] The following further describes the present invention with reference to the accompanying drawings and specific embodiments:

[0034] During the robot operation of the present invention, the puncture card body 2 is installed on the gripper 3, and the disposable puncture card adapter 1 is installed on the puncture card body 2, so that the puncture card body 2 can be repeatedly used after being sterilized at high temperature.

[0035] A spring piece 109 is installed on the adapter base body 101. Buttons 110 are installed on the hook claws on both sides of the spring piece 109. The barbs at the ends of the hook claws cooperate with the stepped surface inside the puncture card body 2, so that the puncture card adapter 1 is fixed on the puncture card body 2, and it is necessary to press the buttons 110 on both sides simultaneously to pull it outwards. A sealing joint 105 is installed on the upper part of the adapter base body 101. An upper sealing cap 106 and a lower sealing cap 107 are respectively installed at the upper and lower ends of the sealing joint 105, so that gas will not escape from the sealing joint 105 during the operation; An O-ring 108 is installed between the sealing joint 105 and the adapter base body 101; The air injection valve 102 is installed near the air injection hole 104 through a screw 103, and the opening and closing of the gas path can be controlled through the rotation of the air injection valve 102; The O-ring II 111 is used to prevent gas leakage, and the O-ring 112 is used to prevent gas from escaping from the gap between the puncture card adapter 1 and the puncture card body 2.

[0036] The stamping card gripper 3 is fixedly installed on the instrument arm through the fixing block 301, and the upper housing 302 is fixed together with the fixing block 301 and the locking base 309 at the same time; the first jaw 304 and the second jaw 305 are fixed together with the locking base 309 through the pin 313 and can rotate around the pin 313 respectively; the first jaw 304 and the second jaw 305 are also fixed to the first hinge 316 and the second hinge 315 through the second pin 314 respectively, and the first hinge 316 and the second hinge 315 are fixed together through the moving pin 322; one end of the tension spring 317 is fixed on the locking base 309, and the other end is fixed on the moving pin 322; the unlocking button 308 is installed on the first jaw 304 and the second jaw 305. The ball spline outer cylinder 318 is fixed on the locking base 309 through the set screw 319, the spline shaft 320 is fixed on the locking bar 306 and can move axially along the outer cylinder 318, a spring 321 is installed between the locking bar 306 and the outer cylinder 318, and the switch base 310 is installed at the rear of the locking base 309 and is provided with a micro switch 311.

[0037] When docking the stamping card, the locking pin 303 is in the pulled-up state. Manually press the unlocking button 308 to open the first jaw 304 and the second jaw 305, and then align the guiding boss 201 on the stamping card body 2 with the groove on the locking bar 306 and push it inward, so that the locking bar 306 moves backward against the resistance of the spring 321. When the stamping card body 2 moves in place, the spline shaft 320 presses the micro switch 311, thereby sending a signal that the installation is in place. At this time, release the unlocking button 308, and the first jaw 304 and the second jaw 305 will automatically hold the stamping card body 2 tightly under the action of the tension spring 317. Subsequently, to prevent the jaws from opening accidentally touched during the operation, the locking pin 303 can be lowered to automatically pass through the pin holes on the first jaw 304 and the second jaw 305, so that even if the unlocking button 308 is pressed at this time, the jaws cannot be opened.

[0038] As shown in the Figure 4 accompanying drawings, it is a diagram of the gripper of the present invention in the unclamped state. At this time, the first jaw 304, the second jaw 305 and the unlocking button 308 are all in the natural state, the locking bar 306 is ejected under the action of the spring, and the locking pin 303 is in the pulled-up state. As shown in the Figure 5 accompanying drawings, it is a diagram of the state of the gripper of the present invention during the clamping process. At this time, the unlocking button 308 is pressed, causing the first jaw 304 and the second jaw 305 to open, and the locking bar 306 is gradually pushed inward by the guiding boss 201 on the stamping card. As shown in the Figure 6 accompanying drawings, it is a diagram of the state (the stamping card is hidden) of the stamping card fixed on the gripper after being installed in place according to the present invention. At this time, the locking pin 303 drops through the pin holes on the first jaw 304 and the second jaw 305, thereby locking the jaws and the stamping card so that they cannot move.

[0039] In summary, the trocar and its gripper according to the present invention can be used in minimally invasive robotic surgery, can be conveniently docked and released, can automatically detect whether the trocar is properly installed, and can prevent accidental loosening during the operation; at the same time, the structure of the present invention is relatively simple, greatly reducing the processing cost and improving the reliability and convenience during use.

[0040] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. Standard parts used therein can be purchased from the market. Special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. Machinery, parts, and equipment all adopt conventional models in the prior art. The circuit connection adopts the conventional connection method in the prior art, and will not be elaborated herein.

[0041] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A trocar clamping device for a surgical robot, characterized in that: It includes a punch card adapter (1), a punch card body (2) and a gripper (3). The punch card body (2) is installed on the gripper (3), and the punch card adapter (1) is installed on the punch card body (2). The gripper (3) includes a housing (302), a locking base (309), a first jaw (304) and a second jaw (305). The locking base (309) is installed inside the housing (302). The first jaw (304) and the second jaw (305) are fixed to the locking base (309) by pins (313) and rotate around the pins (313) respectively. A first hinge (316) and a second hinge (315) are arranged between the first jaw (304) and the second jaw (305). The first jaw (304) and the second jaw (305) are respectively connected to one end of the first hinge (316) and the second hinge (315) by pins (314). The other ends of the first hinge (316) and the second hinge (315) are connected together by a moving pin (322). A tension spring (317) is arranged between the moving pin (322) and the locking base (309). One end of the tension spring (317) is fixed on the locking base (309), and the other end of the tension spring (317) is fixed on the moving pin (322). Unlock buttons (308) are installed on the first jaw (304) and the second jaw (305). By manually pressing or releasing the unlock buttons (308), the first jaw (304) and the second jaw (305) can be opened or closed. It also includes a locking pin (303) which is movably connected to the housing (302) up and down. When the locking pin (303) drops, it passes through the pin holes on the first jaw (304) and the second jaw (305) to lock the first jaw (304) and the second jaw (305). At this time, the first jaw (304) and the second jaw (305) cannot be opened under the pressing of the unlock buttons (308). A fixing block (301) is installed on the housing (302). The gripper (3) is installed on the holding arm through the fixing block (301). The housing (302), the fixing block (301) and the locking base (309) are fixed together.

2. The trocar clamping device for a surgical robot according to claim 1, characterized in that: A ball spline outer cylinder (318) is fixed to the locking base (309) by a set screw (319). A spline shaft (320) is inserted into the ball spline outer cylinder (318). The spline shaft (320) is fixed to a locking bar (306) and moves axially along the ball spline outer cylinder (318). A spring (321) is installed between the locking bar (306) and the ball spline outer cylinder (318). A switch base (310) is installed at the rear of the locking base (309), and a microswitch (311) is installed on the switch base (310).

3. The trocar clamping device for a surgical robot according to claim 2, characterized in that: A guiding boss (201) is provided at the docking position between the punching card body (2) and the gripper (3). The guiding boss (201) on the punching card body (2) is connected in a matching manner with the groove on the locking bar (306). When the locking bar (306) moves backward against the resistance of the spring (321) until the punching card body (2) is in place, the spline shaft (320) presses the microswitch (311) and sends out a signal indicating that the installation is in place.

4. The trocar clamping device for a surgical robot according to claim 1, wherein: The punching card adapter (1) includes an adapter base body (101). A spring piece (109) is installed on the adapter base body (101). Buttons (110) are installed on the hook claws on both sides of the spring piece (109). Barbs are provided at the ends of the hook claws. The barbs are matched with the stepped surface inside the punching card body (2). The punching card adapter (1) is fixed on the punching card body (2) through the barbs and the stepped surface, and can be pulled outwards when the buttons (110) on both sides are pressed simultaneously.

5. The trocar clamping device for a surgical robot according to claim 4, characterized in that: A sealing joint (105) is installed on the upper part of the adapter base body (101). An upper sealing cap (106) and a lower sealing cap (107) are respectively installed at the upper and lower ends of the sealing joint (105). An O-ring (108) is installed between the sealing joint (105) and the adapter base body (101).

6. The trocar clamping device for a surgical robot according to claim 4, wherein: An air injection hole (104) is provided on the side surface of the adapter base body (101). An air injection valve (102) is installed at the air injection hole (104) through a screw (103). The adapter base body (101) controls the opening and closing of the gas path through the rotation of the air injection valve (102). An O-ring II (111) is provided between the air injection valve (102) and the air injection hole (104), and the O-ring II (111) is used to prevent gas from escaping.

7. The trocar clamping device for a surgical robot according to claim 6, characterized in that: An O-ring (112) is provided between the punching card adapter (1) and the punching card body (2). The O-ring (112) is used to prevent gas from escaping from the gap between the punching card adapter (1) and the punching card body (2).

8. The trocar clamping device for a surgical robot according to claim 1, wherein: The punching card adapter (1) is a disposable adapter, and the punching card body (2) can be repeatedly used after high-temperature sterilization through the punching card adapter (1).

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