Intraoperative instrument cleaning device for medical robotic surgery

Abstract

This invention discloses an intraoperative instrument cleaning device for robotic surgery, comprising: a clamping part with a first movable arm and a second movable arm capable of opening and closing; at least one of the first and second movable arms is provided with a friction element; a cleaning area is formed between the first and second movable arms, and the friction element is slidable relative to the cleaning area; a first transmission assembly and a second transmission assembly, the first transmission assembly driving the first movable arm and the second transmission assembly driving the second movable arm, causing the first and second movable arms to open or close; a rotating plate and a main support arm, the ends of the first and second transmission assemblies away from the clamping part being disposed on the rotating plate; the main support arm being located on the side of the rotating plate away from the clamping part; the main support arm being rotatably connected to the rotating plate; and a cleaning pipe disposed on at least one side of the clamping part, the cleaning pipe having an outlet facing the cleaning area. This invention effectively solves the problem of difficulty in cleaning surgical instruments within the patient's cavity.

Description

Technical Field

[0001] This invention relates to the field of surgical instrument cleaning, and more particularly to an intraoperative instrument cleaning device for medical robotic surgery. Background Technology

[0002] With the development and progress of science and technology, surgical procedures are moving towards becoming "more minimally invasive" and "safer." In recent years, the widespread use of medical surgical robot systems in clinical practice has opened a new chapter for traditional surgical techniques. Their design philosophy is to perform complex and high-risk surgical procedures by controlling flexible and stable robotic arms, truly achieving minimally invasive open surgery and laying the foundation for rapid patient recovery.

[0003] When bleeding occurs during surgery, the surgical robot's forceps are typically used to electrocoagulate the bleeding point to stop the bleeding. However, repeated electrocoagulation in the bleeding fat or connective tissue can form eschar, which adheres to the surface of instruments such as forceps and electroscissors and cannot be removed from the cavity on its own. This makes it difficult for the surgeon to clean the surgical instruments inside the patient's cavity, and the attached eschar can seriously affect the efficiency of subsequent delicate anatomical operations and electrocoagulation hemostasis. Summary of the Invention

[0004] Therefore, embodiments of the present invention provide an intraoperative instrument cleaning device for medical robotic surgery, which effectively solves the problem of difficulty in cleaning surgical instruments inside the patient's cavity.

[0005] This invention provides an intraoperative instrument cleaning device for robotic surgery, comprising: a clamping part, wherein the clamping part is provided with a first movable arm and a second movable arm capable of opening and closing, at least one of the first movable arm and the second movable arm is provided with a friction element, and a cleaning area is formed between the first movable arm and the second movable arm, wherein the friction element is capable of sliding relative to the cleaning area; a first transmission assembly and a second transmission assembly, wherein the first transmission assembly drives the first movable arm and the second transmission assembly drives the second movable arm, thereby opening or closing the first movable arm and the second movable arm; a rotating plate and a main support arm, wherein one end of the first transmission assembly and the second transmission assembly away from the clamping part is disposed on the rotating plate; the main support arm is located on the side of the rotating plate away from the clamping part; the main support arm is rotatably connected to the rotating plate; and a cleaning pipe, wherein the cleaning pipe is disposed on at least one side of the clamping part, and the cleaning pipe has an outlet facing the cleaning area.

[0006] Compared with existing technologies, the technical effects achieved by adopting this solution are as follows: During intraoperative surgery in a patient's cavity, the intraoperative instrument cleaning device can directly clean the surgical instruments, such as those in the abdominal cavity, thoracic cavity, or joint cavity. Specifically, the cleaning area accommodates surgical instruments with bloodstains and eschar. The first and second movable arms clamp the surgical instruments together, and at this time, friction elements contact the bloodstains and eschar. At least one friction element slides relative to the cleaning area, which can peel off the eschar from the surgical instruments. Then, cleaning fluid, such as water, is sprayed into the cleaning area through the cleaning pipe to wash away the bloodstains and peeled eschar, thereby achieving the desired surgical effect. The automatic removal of instruments improves cleaning efficiency and portability, preventing excessive eschar accumulation from affecting the cauterization effect of subsequent electrocautery instruments. The eschar removed during the operation will not affect the patient after entering the patient's cavity. Therefore, cleaning surgical instruments during the operation facilitates the continuation of the surgery. The rotating plate and the main support arm are rotatably connected, which provides greater freedom of movement, making it easier to align the direction of the clamp and the position of the cleaning area with the surgical instruments. On the other hand, during the friction cleaning of the clamp, the rotating plate, the first transmission component, and the second transmission component can swing laterally along the cleaning area with the clamp, better removing eschar from the surgical instruments through friction.

[0007] Furthermore, the first movable arm includes: a first track, a first track shaft, and two first track arms, wherein the first track is mounted between the two first track arms via the first track shaft, and the friction element is disposed on the first track; and / or, the second movable arm includes: a second track, a second track shaft, and two second track arms, wherein the second track is mounted between the two second track arms via the second track shaft, and the friction element is disposed on the second track.

[0008] The technical effects achieved by adopting this technical solution are as follows: The first track arm is used to fix the first track shaft, and the first track shaft controls the sliding of the first track, so that the friction components on the first track slide relative to the surgical instruments; the second track arm is used to fix the second track shaft, and the second track shaft controls the sliding of the second track, so that the friction components on the second track slide relative to the surgical instruments; the track structure allows the friction components to slide continuously, continuously cleaning the surgical instruments and improving the cleaning effect; the friction components on both sides of the cleaning area rub together, for example, slide in the same direction, which can make the cleaning effect more comprehensive.

[0009] Furthermore, the inner side of the first track is provided with a plurality of first transmission protrusions, and the first track shaft is provided with a first transmission groove. During the rotation of the first track shaft, the first transmission protrusions can intermittently engage with the first transmission groove; and / or, the inner side of the second track is provided with a plurality of second transmission protrusions, and the second track shaft is provided with a second transmission groove. During the rotation of the second track shaft, the second transmission protrusions can intermittently engage with the second transmission groove.

[0010] The technical effects achieved by adopting this technical solution are as follows: the cooperation between the first transmission groove and the first transmission protrusion, as well as the second transmission groove and the second transmission protrusion, can achieve stable transmission, prevent the first track and the second track from slipping, and improve the friction effect of the friction components on the first track and the second track.

[0011] Furthermore, the intraoperative instrument cleaning device also includes: a pipe slot, the pipe slot being disposed on the first track arm and the second track arm, and one end of the cleaning pipe where the liquid outlet is located being secured or rotatably connected to the pipe slot.

[0012] The technical effects achieved by adopting this technical solution are as follows: the pipe clamp is used to fix the cleaning pipe, making the process of spraying cleaning fluid into the cleaning pipe more stable, and the cleaning fluid can be accurately sprayed into the cleaning area.

[0013] Furthermore, the liquid outlet is a fan-shaped nozzle or a jet nozzle.

[0014] The technical effects achieved by adopting this solution are as follows: the fan-shaped nozzle has a larger cleaning range, the jet nozzle has a greater impact force, and different nozzles can be used according to the different bloodstains and eschars on the surgical instruments in different cavities, which can achieve better cleaning results.

[0015] Furthermore, the intraoperative instrument cleaning device also includes: a third conveyor belt having a first transmission end and a second transmission end that are folded together; the first transmission component is tractively connected between the first movable arm and the first transmission end; the second transmission component is tractively connected between the second movable arm and the second transmission end; the movement of the third conveyor belt can control the first transmission component and the second transmission component to rotate in a manner that moves away from or closer to each other.

[0016] The technical effect achieved by adopting this technical solution is as follows: After the first and second transmission ends of the third conveyor belt are folded together, the sliding directions of the first and second transmission ends are opposite. That is, whether the third conveyor belt slides forward or backward, the first and second transmission components can rotate in opposite directions. Thus, the opening and closing control of the first and second transmission components is realized through the third conveyor belt, which further pushes the first and second movable arms to open or close.

[0017] Furthermore, the intraoperative instrument cleaning device also includes: a main rotating shaft, an opening and closing motion driving wheel, and an opening and closing motion driven wheel. The rotating plate is provided with a driving opening, and the main rotating shaft is located at the driving opening and rotatably connected to the side wall of the driving opening. The third conveyor belt is provided with a first curved portion and a second curved portion located between the first transmission end and the second transmission end. The first curved portion is mounted on the main rotating shaft through the opening and closing motion driving wheel, and the second curved portion is mounted on the main rotating shaft through the opening and closing motion driven wheel.

[0018] The technical effects achieved by adopting this technical solution are as follows: the opening and closing motion driving wheel, the opening and closing motion driven wheel, the first transmission component and the second transmission component together fix the third conveyor belt; wherein, the rotation of the opening and closing motion driving wheel can drive the first curved part to slide, thereby driving the entire third conveyor belt to slide, realizing the opening and closing of the first transmission component and the second transmission component, as well as the opening and closing of the first movable arm and the second movable arm.

[0019] Furthermore, the intraoperative instrument cleaning device also includes: a first driven link, one end of which is rotatably connected to the first movable arm, and the other end of which is rotatably connected to the rotating plate; and a second driven link, one end of which is rotatably connected to the second movable arm, and the other end of which is rotatably connected to the rotating plate.

[0020] The technical effects achieved by adopting this technical solution are as follows: When the first transmission end drives the first transmission component to rotate, the first driven connecting rod rotates in a manner parallel to the first transmission component to form a crank connecting rod, which controls the opening or closing of the first movable arm; when the second transmission end drives the second transmission component to rotate, the second driven connecting rod rotates in a manner parallel to the second transmission component to form a crank connecting rod, which controls the opening or closing of the second movable arm.

[0021] Furthermore, the intraoperative instrument cleaning device also includes an opening and closing traction rope, which wraps around the opening and closing drive wheel and extends away from the clamp portion.

[0022] The technical effect achieved by adopting this technical solution is that the opening and closing motion traction rope can drive the opening and closing motion drive wheel at a distance away from the clamping part, that is, away from the surgical cavity, thereby remotely controlling the opening and closing of the first and second movable arms.

[0023] Furthermore, the intraoperative instrument cleaning device further includes: a first end plate, a second end plate, and a first driven shaft, wherein the first end plate and the second end plate are connected to both sides of the rotating plate, and the two ends of the first driven shaft are rotatably connected to the first end plate and the second end plate, respectively; wherein, the first transmission assembly has a first transmission wheel, the first transmission wheel is disposed on the first driven shaft, and the first transmission end of the third conveyor belt surrounds the first transmission wheel; the second transmission assembly has a second transmission wheel, the second transmission wheel is disposed on the first driven shaft, and the second transmission end of the third conveyor belt surrounds the second transmission wheel.

[0024] The technical effects achieved by adopting this technical solution are as follows: the first end plate and the second end plate are used to fix the first driven shaft in a direction perpendicular to the rotating plate, so that the first transmission end and the second transmission end, which are folded, can transmit power on the same axis, saving space; the first transmission end and the second transmission end can respectively pull the first transmission wheel and the second transmission wheel, thereby realizing the opening and closing of the first transmission assembly and the second transmission assembly.

[0025] Furthermore, the intraoperative instrument cleaning device also includes: a fourth conveyor belt, a third drive wheel, and a fourth drive wheel. The third drive wheel and the fourth drive wheel are disposed on the first driven shaft. The fourth conveyor belt has a third drive end and a fourth drive end that are folded together. The third drive end surrounds the third drive wheel, and the fourth drive end surrounds the fourth drive wheel. The third drive wheel sequentially drives at least one conveyor belt and a drive wheel to control the rotation of the first track shaft, and the fourth drive wheel sequentially drives at least one conveyor belt and a drive wheel to control the rotation of the second track shaft.

[0026] The technical effect achieved by adopting this technical solution is as follows: The third and fourth transmission ends of the fourth conveyor belt are folded, so that the rotation directions of the third and fourth transmission ends are opposite. When the third and fourth transmission ends control the rotation of the first and second track shafts respectively through the conveyor belt and the transmission wheel, the rotation directions of the first and second track shafts are also opposite. At this time, the sliding directions of the opposite sides of the first and second tracks are the same, that is, the friction parts on the first and second tracks can peel off the eschar in the same direction, thereby cleaning the surgical instruments.

[0027] Furthermore, the fourth conveyor belt has a third curved portion and a fourth curved portion located between the third transmission end and the fourth transmission end; the intraoperative instrument cleaning device further includes: a track drive wheel and a track driven wheel, the third curved portion being mounted on the main rotating shaft via the track drive wheel, and the fourth curved portion being mounted on the main rotating shaft via the track driven wheel.

[0028] The technical effects achieved by adopting this technical solution are as follows: the track drive wheel, the track driven wheel, the third transmission wheel, and the fourth transmission wheel are used together to fix the fourth conveyor belt; wherein, the rotation of the track drive wheel can drive the third curved part to slide, thereby driving the entire fourth conveyor belt to slide, realizing the rotation of the third transmission wheel and the fourth transmission wheel, and then realizing the sliding of the first track and the second track through at least one conveyor belt and transmission wheel.

[0029] Furthermore, the intraoperative instrument cleaning device also includes: a track traction rope, which wraps around the track drive wheel and extends away from the clamping part.

[0030] The technical effect achieved by adopting this technical solution is that the track movement traction rope can drive the track movement drive wheel at a distance away from the clamping part, that is, away from the surgical cavity, thereby remotely controlling the sliding of the first track and the second track.

[0031] Furthermore, the two ends of the main rotating shaft extend out of the rotating plate and are rotatably connected to the main support arm. The main rotating shaft is also provided with a flipping motion wheel and a flipping motion traction rope. The flipping motion traction rope wraps around the opening and closing motion drive wheel and extends away from the clamping part.

[0032] The technical effects achieved by adopting this technical solution are as follows: the flipping motion traction rope can pull the flipping motion wheel to rotate over a long distance, and the main rotating shaft and rotating plate will rotate together to achieve the flipping of the clamping part, giving the clamping part greater freedom and making it easier to remove eschar from the surgical instruments.

[0033] Furthermore, the friction element includes: a cylindrical friction element and / or a strip friction element and / or a forked friction element; wherein the strip friction element is arranged along its sliding direction; the forked friction element is provided with a first guide surface and a second guide surface forming an included angle, the included angle being toward or away from the sliding direction of the forked friction element.

[0034] The technical effects achieved by adopting this technical solution are as follows: the bifurcated friction element is used to separate and remove large pieces of eschar, the strip-shaped friction element is used to remove medium-sized eschar, and the columnar friction element is used to remove small pieces of eschar; the combination of multiple friction elements can effectively clean surgical instruments.

[0035] In summary, the above embodiments of this application can have one or more of the following advantages or beneficial effects: i) The cleaning area is used to accommodate surgical instruments with blood stains and eschar attached. The first and second movable arms are controlled to open and close by a folded third conveyor belt, which can bring them closer together so that the friction elements contact the blood stains and eschar. The fourth conveyor belt can control the rolling of the first and second tracks, so that the friction elements of the first and second tracks can remove the eschar; ii) The cleaning pipe can spray cleaning fluid, such as water, into the cleaning area to wash away the blood stains and detached eschar, thereby achieving automatic removal of surgical instruments; iii) The cooperation of the first transmission groove and the first transmission protrusion, as well as the second transmission groove and the second transmission protrusion, can achieve stable transmission and prevent the first and second tracks from slipping; iv) The combination of multiple friction elements can effectively clean surgical instruments; v) The flipping motion wheel realizes the flipping of the clamping part, giving the clamping part greater freedom and making it easier to peel off the eschar on the surgical instruments. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of an intraoperative instrument cleaning device for medical robotic surgery, provided as an embodiment of the present invention.

[0038] Figure 2 for Figure 1 A structural diagram from another perspective.

[0039] Figure 3 This is a structural schematic diagram of the first track arm and the first connecting plate.

[0040] Figure 4 for Figure 2 A schematic diagram of the structure of the first track.

[0041] Figure 5 for Figure 2 A schematic diagram of the structure of the second track.

[0042] Figure 6 for Figure 2 A schematic diagram of the structure of the first track axle.

[0043] Figure 7 for Figure 2 A schematic diagram of the structure of the second track axle.

[0044] Figure 8 for Figure 2A schematic diagram of the opening and closing movement of the first and second track arms.

[0045] Figure 9 for Figure 8 A structural diagram from another perspective.

[0046] Figure 10 for Figure 2 A schematic diagram of the structure in which the first and second tracks slide.

[0047] Figure 11 for Figure 10 A structural diagram from another perspective.

[0048] Figure 12 This is a schematic diagram of the rotating plate.

[0049] Explanation of key component symbols:

[0050] 100 is the intraoperative instrument cleaning device; 101 is the clamping part; 102 is the friction element; 102a is the cylindrical friction element; 102b is the strip-shaped friction element; 102c is the forked friction element; 103 is the cleaning area; 104 is the pipe slot; 105 is the cleaning pipe; 106 is the first driven link; 107 is the second driven link; 108 is the opening and closing traction rope; 109 is the track movement traction rope; 110 is the first movable... Arm; 111 is the first track; 111a is the first transmission protrusion; 112 is the first track shaft; 112a is the first transmission groove; 113 is the first track arm; 114 is the first connecting plate; 115 is the extension arm; 120 is the second movable arm; 121 is the second track; 121a is the second transmission protrusion; 122 is the second track shaft; 122a is the second transmission groove; 123 is the second track arm; 130 is the first... Transmission assembly; 131 is the first transmission wheel; 140 is the second transmission assembly; 141 is the second transmission wheel; 150 is the third conveyor belt; 151 is the first transmission end; 152 is the second transmission end; 153 is the first curved section; 154 is the second curved section; 160 is the rotating plate; 161 is the main rotating shaft; 162 is the opening and closing motion driving wheel; 163 is the opening and closing motion driven wheel; 164 is the driving opening; 165 is the first end plate; 166 is the second end plate; 167 is the first driven shaft; 168 is the third transmission wheel; 169 is the fourth transmission wheel; 170 is the fourth conveyor belt; 171 is the third curved section; 172 is the fourth curved section; 173 is the third transmission end; 174 is the fourth transmission end; 175 is the track motion driving wheel; 176 is the track motion driven wheel; 177 is the tilting motion wheel; 178 is the tilting motion traction rope; 180 is the main support arm. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] See Figures 1-2 This invention provides an intraoperative instrument cleaning device 100 for robotic surgery, comprising: a clamping portion 101, the clamping portion 101 having a first movable arm 110 and a second movable arm 120 capable of opening and closing, at least one of the first movable arm 110 and the second movable arm 120 having a friction element 102, a cleaning area 103 between the first movable arm 110 and the second movable arm 120, and the friction element 102 being capable of sliding relative to the cleaning area 103; a first transmission assembly 130 and a second transmission assembly 140, the first transmission assembly 130 driving the first movable arm 110... 0. The second transmission assembly 140 drives the second movable arm 120, causing the first movable arm 110 and the second movable arm 120 to open or close; the rotating plate 160 and the main support arm 180, the first transmission assembly 130 and the second transmission assembly 140 are located at the ends of the rotating plate 160 away from the clamping part 101; the main support arm 180 is located on the side of the rotating plate 160 away from the clamping part 101; the main support arm 180 is rotatably connected to the rotating plate 160; the cleaning pipe 105 is located on at least one side of the clamping part 101, and the cleaning pipe 105 has an outlet facing the cleaning area 103.

[0053] In this embodiment, during surgery within a patient's cavity, the intraoperative instrument cleaning device 100 can directly clean the surgical instruments. The surgical cavity may be, for example, the abdominal cavity, thoracic cavity, or joint cavity. Specifically, the cleaning area 103 is used to accommodate surgical instruments, such as electric forceps, that are covered with blood and eschar. The first movable arm 110 and the second movable arm 120 come together to clamp the surgical instruments. At this time, the friction element 102 contacts the blood and eschar, and at least one friction element 102 slides relative to the cleaning area 103, peeling the eschar off the surgical instruments. Then, cleaning fluid, such as water, is sprayed into the cleaning area 103 through the cleaning pipe 105 to wash away the blood and eschar, thereby achieving automatic removal of the surgical instruments. This improves cleaning efficiency and portability, and prevents excessive eschar accumulation from affecting the subsequent cauterization effect of the electric instruments. The eschar removed during the operation will not affect the patient after entering the patient's cavity. Therefore, cleaning the surgical instruments during the operation facilitates the continuation of the operation. The rotating plate 160 and the main support arm 180 are rotatably connected. On the one hand, it provides a higher degree of freedom, so that the direction of the clamping part 101 and the position of the cleaning area 103 can be aligned with the surgical instruments. On the other hand, during the friction cleaning process of the clamping part 101, the rotating plate 160, the first transmission component 130, and the second transmission component 140 can swing laterally along the cleaning area 103 with the clamping part 101, so as to better remove the eschar on the surgical instruments through friction.

[0054] In one specific embodiment, the first movable arm 110 includes, for example, a first track 111, a first track shaft 112, and two first track arms 113, wherein the first track 111 is mounted between the two first track arms 113 via the first track shaft 112, and a friction element 102 is disposed on the first track 111; and / or, the second movable arm 120 includes a second track 121, a second track shaft 122, and two second track arms 123, wherein the second track 121 is mounted between the two second track arms 123 via the second track shaft 122, and a friction element 102 is disposed on the second track 121. The first track arm 113 is used to fix the first track shaft 112, and the first track shaft 112 controls the sliding of the first track 111, so that the friction element 102 on the first track 111 slides relative to the surgical instrument; the second track arm 123 is used to fix the second track shaft 122, and the second track shaft 122 controls the sliding of the second track 121, so that the friction element 102 on the second track 121 slides relative to the surgical instrument; the track structure allows the friction element 102 to slide continuously, continuously cleaning the surgical instrument and improving the cleaning effect; the friction elements 102 on both sides of the cleaning area 103 rub together, for example, slide in the same direction, so that the cleaning effect is more comprehensive.

[0055] Preferred, see Figure 3The two first tracked arms 113 are connected by a first connecting plate 114, with the first track 111 located on one side of the first connecting plate 114. The first connecting plate 114 enables the two first tracked arms 113 to move synchronously. The two second tracked arms 123 are connected by a second connecting plate, with the second track 121 located on one side of the second connecting plate. The second connecting plate enables the two second tracked arms 123 to move synchronously.

[0056] In one specific embodiment, see Figures 4-7 The first track 111 has multiple first transmission protrusions 111a on its inner side, and the first track shaft 112 has a first transmission groove 112a. During the rotation of the first track shaft 112, the first transmission protrusions 111a can intermittently engage with the first transmission groove 112a. And / or, the second track 121 has multiple second transmission protrusions 121a on its inner side, and the second track shaft 122 has a second transmission groove 122a. During the rotation of the second track shaft 122, the second transmission protrusions 121a can intermittently engage with the second transmission groove 122a. The engagement of the first transmission groove 112a and the first transmission protrusions 111a, as well as the second transmission groove 122a and the second transmission protrusions 121a, can achieve stable transmission, prevent slippage of the first track 111 and the second track 121, and improve the friction effect of the friction components 102 on the first track 111 and the second track 121.

[0057] Preferably, the first transmission groove 112a and the second transmission groove 122a are circular holes, and the first transmission protrusion 111a and the second transmission protrusion 121a are hemispherical protrusions, so that the first transmission groove 112a and the first transmission protrusion 111a, as well as the second transmission groove 122a and the second transmission protrusion 121a, fit together more smoothly.

[0058] In one specific embodiment, see Figures 8-12 The intraoperative instrument cleaning device 100 also includes a pipe clamping groove 104, which is located on the first track arm 113 and the second track arm 123. One end of the cleaning pipe 105, where the liquid outlet is located, is clamped or rotatably connected to the pipe clamping groove 104. The pipe clamping groove 104 is used to fix the cleaning pipe 105, making the process of spraying cleaning fluid from the cleaning pipe 105 more stable, and the cleaning fluid can be accurately sprayed into the cleaning area 103.

[0059] The inner wall of the pipe groove 104 is, for example, a plane, so that it makes line contact with the cleaning pipe 105, which facilitates the adjustment of the direction of the cleaning pipe 105 within the pipe groove 104.

[0060] Preferably, there are two pipe slots 104, respectively located on the first track arm 113 and the second track arm 123 arranged diagonally, so that the liquid outlets of the two pipe slots 104 can spray in a diagonal direction in the cleaning area 103 to achieve uniform cleaning. Of course, there can also be four pipe slots 104, respectively located on each of the first track arm 113 and each of the second track arm 123, which will not be elaborated here.

[0061] Preferably, the outlet is a fan-shaped nozzle or a jet nozzle. A fan-shaped nozzle has a larger cleaning range, while a jet nozzle has a greater impact force. Using different nozzles depending on the type of bloodstains and eschar on the surgical instruments in different cavities can achieve better cleaning results.

[0062] In one specific embodiment, the intraoperative instrument cleaning device 100 may further include, for example, a third conveyor belt 150; wherein the third conveyor belt 150 has a first transmission end 151 and a second transmission end 152 that are folded together, a first transmission assembly 130 is tractively connected between the first movable arm 110 and the first transmission end 151, and a second transmission assembly 140 is tractively connected between the second movable arm 120 and the second transmission end 152; the movement of the third conveyor belt 150 can control the first transmission assembly 130 and the second transmission assembly 140 to rotate in a manner that moves away from or closer to each other. In this case, after the first transmission end 151 and the second transmission end 152 of the third conveyor belt 150 are folded together, the sliding directions of the first transmission end 151 and the second transmission end 152 are opposite. That is, whether the third conveyor belt 150 slides forward or backward, it can cause the first transmission component 130 and the second transmission component 140 to rotate in opposite directions. Thus, the opening and closing control of the first transmission component 130 and the second transmission component 140 is realized through the third conveyor belt 150, which further pushes the first movable arm 110 and the second movable arm 120 to open or close.

[0063] Preferably, the first movable arm 110 further includes two extension arms 115, which are located on the side of the first connecting plate 114 away from the two first track arms 113. The two extension arms 115 are connected by a pivot, and one end of the first transmission assembly 130 is rotatably connected to the pivot. The connection relationship between the second movable arm 120 and the second transmission assembly 140 is the same as that between the first movable arm 110 and the first transmission assembly 130, and will not be described again here.

[0064] In one specific embodiment, the intraoperative instrument cleaning device 100 may further include: a main rotating shaft 161, an opening and closing motion driving wheel 162, and an opening and closing motion driven wheel 163. The rotating plate 160 is provided with a driving opening 164, and the main rotating shaft 161 is located at the driving opening 164 and rotatably connected to the side wall of the driving opening 164. The third conveyor belt 150 is provided with a first curved portion 153 and a second curved portion 154 located between the first transmission end 151 and the second transmission end 152. The first curved portion 153 is mounted on the main rotating shaft 161 through the opening and closing motion driving wheel 162, and the second curved portion 154 is mounted on the main rotating shaft 161 through the opening and closing motion driven wheel 163.

[0065] It should be noted that the opening and closing motion driving wheel 162, the opening and closing motion driven wheel 163, the first transmission assembly 130 and the second transmission assembly 140 together fix the third conveyor belt 150; the rotation of the opening and closing motion driving wheel 162 can drive the first curved part 153 to slide, thereby driving the entire third conveyor belt 150 to slide, realizing the opening and closing of the first transmission assembly 130 and the second transmission assembly 140 as well as the opening and closing of the first movable arm 110 and the second movable arm 120.

[0066] Preferably, the drive opening 164 can be one opening that passes through both sides of the rotating plate 160, or it can be multiple openings. The main rotating shaft 161 passes through the side walls of multiple openings at the same time, so that the main rotating shaft 161 can be supported at multiple positions, resulting in higher bending strength.

[0067] In one specific embodiment, the intraoperative instrument cleaning device 100 further includes: a first driven link 106, one end of which is rotatably connected to the first movable arm 110, and the other end of which is rotatably connected to the rotating plate 160; and a second driven link 107, one end of which is rotatably connected to the second movable arm 120, and the other end of which is rotatably connected to the rotating plate 160. When the first transmission end 151 drives the first transmission assembly 130 to rotate, the first driven link 106 rotates parallel to the first transmission assembly 130, forming a crank-connecting rod to control the opening or closing of the first movable arm 110; when the second transmission end 152 drives the second transmission assembly 140 to rotate, the second driven link 107 rotates parallel to the second transmission assembly 140, forming a crank-connecting rod to control the opening or closing of the second movable arm 120.

[0068] In one specific embodiment, the intraoperative instrument cleaning device 100 may further include, for example, an opening and closing motion traction rope 108, which surrounds the opening and closing motion drive wheel 162 and extends away from the clamping part 101. The opening and closing motion traction rope 108 can drive the opening and closing motion drive wheel 162 away from the clamping part 101, i.e., away from the surgical cavity, thereby remotely controlling the opening and closing of the first movable arm 110 and the second movable arm 120.

[0069] It should be noted that the opening and closing motion drive wheel 162 has two transmission grooves in the circumference, one of which is used to set the opening and closing motion traction rope 108, and the other is used to set the first bending part 153.

[0070] In one specific embodiment, the intraoperative instrument cleaning device 100 may further include: a first end plate 165, a second end plate 166, and a first driven shaft 167. The first end plate 165 and the second end plate 166 are connected to both sides of the rotating plate 160, and the two ends of the first driven shaft 167 are rotatably connected to the first end plate 165 and the second end plate 166, respectively. The first transmission assembly 130 has a first transmission wheel 131, which is disposed on the first driven shaft 167, and the first transmission end 151 of the third conveyor belt 150 surrounds the first transmission wheel 131. The second transmission assembly 140 has a second transmission wheel 141, which is disposed on the first driven shaft 167, and the second transmission end 152 of the third conveyor belt 150 surrounds the second transmission wheel 141. The first end plate 165 and the second end plate 166 are used to fix the first driven shaft 167 in a direction perpendicular to the rotating plate 160, so that the folded first transmission end 151 and the second transmission end 152 can transmit on the same axis, saving space; the first transmission end 151 and the second transmission end 152 can pull the first transmission wheel 131 and the second transmission wheel 141 respectively, thereby realizing the opening and closing of the first transmission assembly 130 and the second transmission assembly 140.

[0071] Preferably, the first driven shaft 167 can also pass through the rotating plate 160, and the rotating plate 160 is provided with a matching hole; the first transmission wheel 131 and the second transmission wheel 141 are located on both sides of the hole; so that the first driven shaft 167 is subjected to balanced forces on both sides and has a longer service life.

[0072] In one specific embodiment, the intraoperative instrument cleaning device 100 may further include, for example, a fourth conveyor belt 170, a third drive wheel 168, and a fourth drive wheel 169, wherein the third drive wheel 168 and the fourth drive wheel 169 are disposed on the first driven shaft 167, the fourth conveyor belt 170 has a mutually folded third drive end 173 and a fourth drive end 174, the third drive end 173 surrounds the third drive wheel 168, and the fourth drive end 174 surrounds the fourth drive wheel 169; wherein the third drive wheel 168 sequentially drives at least one conveyor belt and a drive wheel to control the rotation of the first track shaft 112, and the fourth drive wheel 169 sequentially drives at least one conveyor belt and a drive wheel to control the rotation of the second track shaft 122. In this design, the third transmission end 173 and the fourth transmission end 174 of the fourth conveyor belt 170 are folded so that the rotation directions of the third transmission end 173 and the fourth transmission end 174 are opposite. When the third transmission end 173 and the fourth transmission end 174 control the rotation of the first track shaft 112 and the second track shaft 122 respectively through the conveyor belt and the transmission wheel, the rotation directions of the first track shaft 112 and the second track shaft 122 are also opposite. At this time, the sliding directions of the opposite sides of the first track 111 and the second track 121 are the same, that is, the friction element 102 on the first track 111 and the second track 121 can peel off the eschar in the same direction to achieve cleaning of the surgical instruments.

[0073] Preferably, the third transmission wheel 168 is disposed between the first end plate 165 and the rotating plate 160, and the fourth transmission wheel 169 is disposed between the second end plate 166 and the rotating plate 160.

[0074] Preferably, both the third drive wheel 168 and the fourth drive wheel 169 are provided with two drive grooves. One drive groove of the third drive wheel 168 is used to accommodate the third drive end 173, and the other drive groove is used to accommodate the conveyor belt drive for the next stage of belt drive. Similarly, one drive groove of the fourth drive wheel 169 is used to accommodate the fourth drive end 174, and the other drive groove is used to accommodate the conveyor belt drive for the next stage of belt drive. For example, an intermediate wheel can also be provided on the shaft of the first transmission assembly 130 near the end of the extension arm 115. This intermediate wheel is used to connect the first track shaft 112 and the third drive wheel 168 via belt drive. An intermediate wheel can also be provided on the shaft of the first transmission assembly 130 near the end of the extension arm 115. This intermediate wheel is used to connect the second track shaft 122 and the fourth drive wheel 169 via belt drive.

[0075] In one specific embodiment, the fourth conveyor belt 170 has a third bend 171 and a fourth bend 172 located between the third drive end 173 and the fourth drive end 174; the intraoperative instrument cleaning device 100 further includes: a track drive wheel 175 and a track driven wheel 176, the third bend 171 being mounted on the main rotating shaft 161 via the track drive wheel 175, and the fourth bend 172 being mounted on the main rotating shaft 161 via the track driven wheel 176.

[0076] It should be noted that the track drive wheel 175, the track driven wheel 176, the third transmission wheel 168, and the fourth transmission wheel 169 are together fixed to the fourth conveyor belt 170. The rotation of the track drive wheel 175 can drive the third curved part 171 to slide, thereby driving the entire fourth conveyor belt 170 to slide, realizing the rotation of the third transmission wheel 168 and the fourth transmission wheel 169, and then realizing the sliding of the first track 111 and the second track 121 through at least one conveyor belt and transmission wheel.

[0077] In one specific embodiment, the intraoperative instrument cleaning device 100 further includes a tracked motion traction rope 109, which surrounds the tracked motion drive wheel 175 and extends away from the clamping part 101. The tracked motion traction rope 109 can drive the tracked motion drive wheel 175 away from the clamping part 101, i.e., away from the surgical cavity, thereby remotely controlling the sliding of the first track 111 and the second track 121.

[0078] In one specific embodiment, the main rotating shaft 161 extends out of the rotating plate 160 at both ends and is rotatably connected to the main support arm 180. The main rotating shaft 161 is also provided with a flipping motion wheel 177 and a flipping motion traction rope 178. The flipping motion traction rope 178 surrounds the opening and closing motion drive wheel 162 and extends away from the clamping part 101.

[0079] It should be noted that the flipping motion wheel 177, the main rotating shaft 161, and the rotating plate 160 are fixed to each other. The flipping motion traction rope 178 can pull the flipping motion wheel 177 to rotate from a distance, and the main rotating shaft 161 and the rotating plate 160 will rotate together to achieve the flipping of the clamping part 101, so that the clamping part 101 has greater freedom and it is also easier to peel off the eschar on the surgical instruments.

[0080] In one specific embodiment, the friction element 102 includes, for example, a cylindrical friction element 102a and / or a strip-shaped friction element 102b and / or a forked friction element 102c; wherein the strip-shaped friction element 102b is disposed along its sliding direction; the forked friction element 102c is provided with a first guide surface and a second guide surface forming an included angle, the included angle being towards or away from the sliding direction of the forked friction element 102c. The forked friction element 102c is used to separate and remove large eschar, the strip-shaped friction element 102b is used to remove medium-sized eschar, and the cylindrical friction element 102a is used to remove small eschar; the combination of multiple friction elements 102 can effectively clean surgical instruments.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intraoperative instrument cleaning device for medical robotic surgery, characterized in that, include: The clamping part is provided with a first movable arm and a second movable arm that can open and close. At least one of the first movable arm and the second movable arm is provided with a friction member. The area between the first movable arm and the second movable arm is a cleaning area. The friction member can slide relative to the cleaning area. A first transmission assembly and a second transmission assembly, wherein the first transmission assembly drives the first movable arm and the second transmission assembly drives the second movable arm, causing the first movable arm and the second movable arm to open or close; A rotating plate and a main support arm are provided, with the ends of the first transmission assembly and the second transmission assembly away from the clamping part disposed on the rotating plate; the main support arm is located on the side of the rotating plate away from the clamping part; the main support arm is rotatably connected to the rotating plate; A cleaning pipe is provided on at least one side of the clamp portion, and the cleaning pipe has a liquid outlet facing the cleaning area; The first movable arm includes: a first track, a first track shaft, and two first track arms. The first track is mounted between the two first track arms via the first track shaft, and the friction element is disposed on the first track. And / or, the second movable arm includes: a second track, a second track shaft, and two second track arms, wherein the second track is mounted between the two second track arms via the second track shaft, and the friction element is disposed on the second track.

2. The intraoperative instrument cleaning device according to claim 1, characterized in that, The first track has a plurality of first transmission protrusions on its inner side and a first transmission groove on its first track shaft. During the rotation of the first track shaft, the first transmission protrusions can intermittently engage with the first transmission groove. And / or, the inner side of the second track is provided with a plurality of second transmission protrusions, and the second track shaft is provided with a second transmission groove. During the rotation of the second track shaft, the second transmission protrusions can intermittently engage with the second transmission groove.

3. The intraoperative instrument cleaning device according to claim 1, characterized in that, The intraoperative instrument cleaning device further includes: a pipe slot, which is located on the first track arm and the second track arm, and one end of the cleaning pipe where the liquid outlet is located is locked or rotatably connected to the pipe slot.

4. The intraoperative instrument cleaning device according to claim 1, characterized in that, The liquid outlet is a fan-shaped nozzle or a jet nozzle.

5. The intraoperative instrument cleaning device according to claim 1, characterized in that, The intraoperative instrument cleaning device further includes: a third conveyor belt, the third conveyor belt having a first transmission end and a second transmission end that are folded together, the first transmission assembly being tractively connected between the first movable arm and the first transmission end, and the second transmission assembly being tractively connected between the second movable arm and the second transmission end; The movement of the third conveyor belt can control the rotation of the first transmission component and the second transmission component to move away from or towards each other.

6. The intraoperative instrument cleaning device according to claim 5, characterized in that, The intraoperative instrument cleaning device also includes: a main rotating shaft, an opening and closing motion drive wheel, and an opening and closing motion driven wheel; The rotating plate is provided with a driving opening, and the main rotating shaft is located in the driving opening and rotatably connected to the side wall of the driving opening; The third conveyor belt has a first curved section and a second curved section located between the first transmission end and the second transmission end. The first curved section is mounted on the main rotating shaft via the opening and closing motion driving wheel, and the second curved section is mounted on the main rotating shaft via the opening and closing motion driven wheel.

7. The intraoperative instrument cleaning device according to claim 6, characterized in that, The intraoperative instrument cleaning device further includes: a first driven link, one end of which is rotatably connected to the first movable arm, and the other end of which is rotatably connected to the rotating plate; and a second driven link, one end of which is rotatably connected to the second movable arm, and the other end of which is rotatably connected to the rotating plate.

8. The intraoperative instrument cleaning device according to claim 6, characterized in that, The intraoperative instrument cleaning device further includes: an opening and closing traction rope, which is wrapped around the opening and closing drive wheel and extends away from the clamping part.

9. The intraoperative instrument cleaning device according to claim 6, characterized in that, The intraoperative instrument cleaning device further includes: a first end plate, a second end plate, and a first driven shaft. The first end plate and the second end plate are connected to both sides of the rotating plate, and the two ends of the first driven shaft are rotatably connected to the first end plate and the second end plate, respectively. The first transmission assembly has a first transmission wheel, which is disposed on the first driven shaft, and the first transmission end of the third conveyor belt surrounds the first transmission wheel; the second transmission assembly has a second transmission wheel, which is disposed on the first driven shaft, and the second transmission end of the third conveyor belt surrounds the second transmission wheel.

10. The intraoperative instrument cleaning device according to claim 9, characterized in that, The intraoperative instrument cleaning device further includes: a fourth conveyor belt, a third drive wheel, and a fourth drive wheel. The third drive wheel and the fourth drive wheel are located on the first driven shaft. The fourth conveyor belt has a third drive end and a fourth drive end that are folded together. The third drive end is wrapped around the third drive wheel, and the fourth drive end is wrapped around the fourth drive wheel. The third drive wheel sequentially drives at least one conveyor belt and a drive wheel to control the rotation of the first track shaft, and the fourth drive wheel sequentially drives at least one conveyor belt and a drive wheel to control the rotation of the second track shaft.

11. The intraoperative instrument cleaning device according to claim 10, characterized in that, The fourth conveyor belt has a third bend and a fourth bend located between the third drive end and the fourth drive end; The intraoperative instrument cleaning device further includes: a tracked drive wheel and a tracked driven wheel. The third curved part is mounted on the main rotating shaft via the tracked drive wheel, and the fourth curved part is mounted on the main rotating shaft via the tracked driven wheel.

12. The intraoperative instrument cleaning device according to claim 11, characterized in that, The intraoperative instrument cleaning device further includes: a tracked motion traction rope, which is wrapped around the tracked motion drive wheel and extends away from the clamping part.

13. The intraoperative instrument cleaning device according to claim 6, characterized in that, The main rotating shaft extends out of the rotating plate at both ends and is rotatably connected to the main support arm. The main rotating shaft is also provided with a flipping motion wheel and a flipping motion traction rope. The flipping motion traction rope is wrapped around the opening and closing motion drive wheel and extends away from the clamping part.

14. The intraoperative instrument cleaning device according to any one of claims 1-13, characterized in that, The friction element includes: a cylindrical friction element and / or a strip-shaped friction element and / or a forked friction element; The strip-shaped friction element is arranged along its sliding direction; the forked friction element is provided with a first guide surface and a second guide surface forming an included angle, the included angle being toward or away from the sliding direction of the forked friction element.

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