Surgical forceps control device for a surgical robot

Abstract

The present disclosure relates to the technical field of medical auxiliary devices, in particular to a surgical forceps control device of a surgical robot. The surgical forceps control device comprises a surgical end control mechanism, a connecting structure, a connecting device, a terminal forceps control mechanism, a surgical forceps fixing device and a self-locking device, wherein: the surgical end control mechanism is connected with the connecting structure and is used for driving the connecting structure to move; the terminal forceps control mechanism is connected with the connecting structure and the connecting device and is used for driving the connecting device to move relative to the connecting structure; the self-locking device is connected with the surgical forceps and is used for controlling the terminal forceps of the surgical forceps to move; the self-locking device is arranged on the connecting device, the terminal forceps control mechanism is connected with the self-locking device and is used for driving the self-locking device to move; and the surgical forceps fixing device is arranged on the connecting structure and is used for detachably fixing the surgical forceps. The present disclosure achieves the technical effect of quickly replacing the surgical forceps of the surgical robot.

Description

Technical Field

[0001] This disclosure relates to the field of medical assistive device technology, specifically to a surgical forceps control device for a surgical robot. Background Technology

[0002] The macula is an oval-shaped area near the center of the human retina, where photoreceptor cells are most densely packed. If the macula develops a lesion, patients may experience symptoms such as decreased vision, distorted vision, and the appearance of dark spots or shadows. Epiretinal membrane is one of the most typical and common macular degenerations.

[0003] Currently, the preferred treatment for epiretinal membrane is minimally invasive surgical removal. During the procedure, the surgeon first performs a vitrectomy (making three tiny incisions in the sclera to insert instruments into the eye), then injects a dye into the eye to stain the epiretinal membrane, which is then peeled off using extremely fine forceps. However, because the epiretinal membrane is an extremely thin membrane and may adhere to the photoreceptor cells on the macula, the removal process may damage the macular cells. Therefore, extremely delicate surgical techniques are required, demanding a high level of experience and skill from the ophthalmologist.

[0004] Therefore, introducing surgical robots into surgeries for retinal diseases such as epiretinal membranes can help improve the precision and safety of the surgery. However, the control end (including robotic arms and microcontrollers) of existing ophthalmic surgical robots (such as epiretinal membrane surgery robots) is highly coupled with the surgical end (such as surgical forceps), making it difficult to replace the surgical end and preventing the use of conventional methods to sterilize it. Summary of the Invention

[0005] To address the problems in the related technologies, this disclosure provides a surgical forceps control device for a surgical robot.

[0006] This disclosure provides a surgical forceps control device for a surgical robot, comprising: a surgical end control mechanism, a connecting structure, a connecting device, an end forceps control mechanism, a surgical forceps fixing device, and a self-locking device, wherein:

[0007] The surgical end control mechanism is connected to the connecting structure and is used to drive the movement of the connecting structure;

[0008] The end-tweezers control mechanism is connected to the connecting structure and the connecting device, and is used to drive the connecting device to move relative to the connecting structure;

[0009] The self-locking device is mounted on the connecting device, and the end tweezers control mechanism is connected to the self-locking device to drive the movement of the self-locking device;

[0010] The self-locking device is connected to the surgical forceps and is used to control the movement of the end forceps of the surgical forceps;

[0011] The surgical forceps fixing device is disposed on the connecting structure and is used to detachably fix the surgical forceps.

[0012] According to an embodiment of this disclosure, the surgical forceps fixing device includes a surgical forceps outer tube fixing seat and a clamping fixing device; the clamping fixing device is used to clamp and fix the surgical forceps outer tube of the surgical forceps onto the surgical forceps outer tube fixing seat.

[0013] According to an embodiment of this disclosure, the clamping and fixing device includes a rotatable component and a first elastic component;

[0014] One end of the rotatable component is rotatably connected to the surgical forceps outer tube fixing base;

[0015] The other end of the rotatable component is fixedly connected to the first elastic component;

[0016] The first elastic component is connected to the connecting structure, and together with the rotatable component, clamps and fixes the outer tube of the surgical forceps onto the outer tube fixing seat of the surgical forceps.

[0017] After the rotatable component is opened by rotation, it automatically closes under the elastic force of the first elastic component.

[0018] According to an embodiment of this disclosure, the rotatable component includes a clamping cover and a rotating connecting component;

[0019] One end of the clamping cap is rotatably connected to the surgical forceps outer tube fixing seat via a rotating connecting component;

[0020] The other end of the clamping cap is fixedly connected to the first elastic component;

[0021] The inner wall shape of the clamping cap matches the groove shape of the surgical forceps outer tube limiting groove, and is used to clamp the surgical forceps onto the surgical forceps outer tube fixing seat.

[0022] According to an embodiment of this disclosure, the surgical forceps outer tube fixing base includes a surgical forceps outer tube sleeve, and the inner wall shape of the surgical forceps outer tube sleeve matches the outer wall shape of the surgical forceps outer tube;

[0023] The side wall opening of the outer sleeve of the surgical forceps is shaped to match the inner wall shape of the clamping cap.

[0024] According to an embodiment of this disclosure, the self-locking device includes a self-locking device transmission rod, and one end of the self-locking device transmission rod is provided with a lock hole and a locking mechanism;

[0025] When the surgical forceps drive rod of the surgical forceps is inserted into the lock hole, it is fixed by the locking mechanism relative to the self-locking device drive rod;

[0026] The surgical forceps' drive rod can be directly pulled out from the lock hole;

[0027] The end forceps control mechanism is connected to the self-locking device transmission rod and is used to drive the self-locking device transmission rod to move. The self-locking device transmission rod drives the surgical forceps transmission rod to move synchronously.

[0028] According to an embodiment of this disclosure, the end-tweezers control mechanism includes a linear drive assembly and a rotary drive assembly;

[0029] The linear drive component is fixedly connected to the connection structure;

[0030] The connecting device is fixedly connected to the linear drive assembly, and the linear drive assembly drives the connecting device to move relative to the connecting structure, thereby controlling the forward and backward movement of the transmission rod of the self-locking device.

[0031] The rotary drive assembly is fixedly connected to the connecting device and is used to control the rotation of the transmission rod of the self-locking device.

[0032] According to an embodiment of this disclosure, the connecting device includes:

[0033] Base plate;

[0034] A linear drive assembly fixing part is disposed on the base plate and is fixedly connected to the guide rail slider of the linear drive assembly;

[0035] A rotary drive assembly fixing part is disposed on the base plate and fixedly connected to the drive motor of the rotary drive assembly;

[0036] A transmission rod fixing seat is provided on the base plate for fixing the transmission rod of the self-locking device. The forward and backward movement of the transmission rod of the self-locking device controls the opening and closing of the end forceps of the surgical forceps, and the rotation of the transmission rod of the surgical forceps controls the rotation of the end forceps of the surgical forceps.

[0037] According to an embodiment of this disclosure, the linear drive assembly fixing part includes an inverted L-shaped structure located at one corner of the base plate and protruding from the base plate, and a first protruding surface located in the middle of the base plate and perpendicular to the base plate;

[0038] The rotary drive assembly fixing part includes a second protruding surface that is parallel to the first protruding surface, and is used to fix the drive motor of the rotary drive assembly.

[0039] The position of the transmission rod fixing seat matches one of the synchronous pulleys of the rotary drive assembly, and the self-locking device transmission rod passes through the transmission rod fixing seat and is connected to the synchronous pulley.

[0040] According to an embodiment of this disclosure, the linear drive assembly fixing part includes a third protruding surface located on one side of the base plate and perpendicular to the base plate, for fixing the linear drive assembly;

[0041] The rotary drive assembly fixing part includes a fourth protruding surface arranged parallel to the third protruding surface, which is used to fix the drive motor of the rotary drive assembly.

[0042] The position of the transmission rod fixing seat matches the synchronous wheel of the rotary drive assembly, and the transmission rod of the self-locking device passes through the transmission rod fixing seat and is connected to the synchronous wheel.

[0043] According to embodiments of this disclosure, a self-locking device fixing flange is also included, wherein:

[0044] The self-locking device fixing flange is used to fix the self-locking device in the transmission rod fixing seat.

[0045] According to embodiments of this disclosure, a base is also included;

[0046] The base includes a base bottom surface and a base elevation surface;

[0047] The bottom surface of the base is used for fixed connection with the surgical end control mechanism;

[0048] The base facade is used to connect to a designated part of the surgical robot.

[0049] According to the technical solution provided in the embodiments of this disclosure, a surgical end control mechanism is connected to a connecting structure to drive the connecting structure to move; an end forceps control mechanism is connected to the connecting structure and a connecting device to drive the connecting device to move relative to the connecting structure; a self-locking device is disposed on the connecting device, and the end forceps control mechanism is connected to the self-locking device to drive the self-locking device to move; the self-locking device is connected to the surgical forceps to control the movement of the end forceps of the surgical forceps; and a surgical forceps fixing device is disposed on the connecting structure to detachably fix the surgical forceps. This disclosure utilizes a surgical end control mechanism and an end forceps control mechanism to control a surgical robot. This device considers the coupling problem between the surgical end and the control end. By setting a connecting structure and a connecting device between the surgical end control mechanism and the end forceps control mechanism, and simultaneously setting a self-locking device on the connecting device and a surgical forceps fixing device on the connecting structure, the coupling between the surgical end and the control end is reduced, facilitating rapid disassembly and replacement of the surgical forceps, thereby achieving the technical effect of being able to sterilize the surgical forceps using conventional methods.

[0050] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0051] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0052] Figure 1 A front view showing the overall structure of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure;

[0053] Figure 2 A top view showing the overall structure of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure;

[0054] Figure 3 A top view schematic diagram of the linear motor of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown;

[0055] Figure 4 A bottom view of the linear motor of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown;

[0056] Figure 5 A schematic diagram showing the connection structure of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure and the connection relationship between the surgical forceps outer tube fixing seat;

[0057] Figure 6 A schematic diagram showing the connection relationship between the surgical forceps and the surgical forceps fixing device of a surgical robot according to an embodiment of the present disclosure is provided.

[0058] Figure 7 A schematic diagram showing the connection relationship between the self-locking device, the end-effector control mechanism, and the surgical forceps of a surgical robot according to an embodiment of the present disclosure is provided.

[0059] Figure 8 A bottom view of the connection device of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0060] Figure 9 A top view of the connection device of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0061] Figure 10 A schematic diagram of the overall structure of the rotary drive assembly of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0062] Figure 11A schematic diagram showing the connection device of the surgical forceps control device of a surgical robot according to an embodiment of the present disclosure, and the connection relationship between the surgical forceps and the self-locking device;

[0063] Figure 12 A front view showing the overall structure of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure;

[0064] Figure 13 A top view showing the overall structure of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure;

[0065] Figure 14 A left view showing the connection device of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure;

[0066] Figure 15 A right view of the connection device of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown;

[0067] Figure 16 A top view of a cam mechanism of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown;

[0068] Figure 17 A bottom view of a cam mechanism of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0069] Figure 18 A schematic diagram showing the connection relationship between the cam device and the connecting structure and connecting device of another surgical forceps control device of a surgical robot according to an embodiment of the present disclosure is provided.

[0070] In the diagram: 11. Base bottom surface; 12. Base elevation; 2. Surgical end control mechanism; 21. First linear motor; 22. First guide rail slider; 31. Second linear motor; 32. Stepper motor; 33. Synchronous belt drive device; 331. First synchronous pulley; 332. Second synchronous pulley; 333. Synchronous belt; 34. Cam device; 341. Cam; 342. Cam fixing frame; 343. Transmission worm gear; 344. Transmission worm; 345. Cam motor; 346. Angle sensor; 35. Third guide rail slider; 4. Connecting structure; 51. Surgical forceps outer tube fixing seat; 52. Clamping and fixing device; 5201, clamping cover; 5202, fixing pin; 5203, first spring group; 6, connecting device; 62, second spring group; 63, transmission roller; 64, inverted L-shaped structure; 65, second raised surface; 66, first raised surface; 67, transmission rod fixing seat; 68, third raised surface; 69, fourth raised surface; 7, self-locking device; 71, self-locking device transmission rod; 72, locking hole; 81, surgical forceps transmission rod; 82, end forceps; 83, surgical forceps outer tube; 84, surgical forceps outer tube limiting groove; 85, limiting recess; 9, self-locking device fixing flange. Detailed Implementation

[0071] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0072] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0073] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0074] Existing ophthalmic surgical robots (such as epiretinal membrane surgery robots) have a high degree of coupling between the control end (including robotic arms and microcontrollers) and the surgical end (such as surgical forceps), making it difficult to replace the surgical end and preventing the use of conventional methods for sterilization. This disclosure provides a surgical forceps control device for surgical robots. According to embodiments of this disclosure, a connecting structure 4 and a connecting device 6 are provided between the surgical end control mechanism 2 and the end forceps control mechanism. A self-locking device 7 is provided on the connecting device 6, and a surgical forceps fixing device is provided on the connecting structure 4. This disclosure reduces the coupling between the surgical end control mechanism 2 and the end forceps control mechanism, facilitating rapid disassembly and replacement of the surgical forceps, thereby achieving the technical effect of enabling the use of conventional methods for sterilization of the surgical end.

[0075] Figure 1 This is a front view showing the overall structure of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure. Figure 2 A top view showing the overall structure of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure.

[0076] like Figure 1 and Figure 2 As shown, the surgical forceps control device includes: a surgical end control mechanism 2, a connecting structure 4, a connecting device 6, an end forceps control mechanism, a surgical forceps fixing device, and a self-locking device 7, wherein:

[0077] The surgical end control mechanism 2 is connected to the connecting structure 4 and is used to drive the connecting structure 4 to move;

[0078] The end tweezers control mechanism is connected to the connecting structure 4 and the connecting device 6, and is used to drive the connecting device 6 to move relative to the connecting structure 4;

[0079] The self-locking device 7 is mounted on the connecting device 6, and the end tweezers control mechanism is connected to the self-locking device 7 to drive the movement of the self-locking device 7.

[0080] The self-locking device 7 is connected to the surgical forceps and is used to control the movement of the end forceps 82 of the surgical forceps;

[0081] The surgical forceps fixing device is disposed on the connecting structure 4 and is used to detachably fix the surgical forceps.

[0082] Specifically, the surgical end control mechanism 2 drives the connecting structure 4 to move, i.e., drives relative movement between the connecting mechanism 4 and the surgical end; the end forceps control mechanism drives the connecting device 6 to move relative to the connecting structure 4, and simultaneously drives the self-locking device 7 to move. The self-locking device 7 controls the end forceps 82 of the surgical forceps, and the control may include closing, opening, and rotation. This disclosure utilizes both a surgical forceps fixing device and a self-locking device 7 to detachably fix the surgical forceps. The surgical forceps fixing device also ensures the stability of the surgical forceps and enables quick replacement of the surgical forceps. The self-locking device 7 further reduces the coupling between the surgical end and the control end, making the surgical forceps easy to disassemble, assemble, and sterilize individually.

[0083] Figure 3 A top view schematic diagram of the linear motor of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown. Figure 4 A bottom view of the linear motor of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0084] like Figure 3 and Figure 4 As shown, the surgical end control mechanism 2 includes a first linear motor 21 and a first guide rail slider 22; the first linear motor 21 and the first guide rail slider 22 are slidably connected by a first linear motor push rod. The first guide rail slider 22 is fixedly connected to the connecting structure 4. When the first linear motor 21 pushes the first guide rail slider 22 to move linearly along the slide rail direction, the first guide rail slider 22 drives the connecting structure 4, which is fixedly connected to it, to move synchronously linearly. The fixed connection can be a bolt connection, welding, etc., but is not limited to these. In a specific embodiment, screw holes are provided at corresponding positions on the first guide rail slider 22 and the connecting structure 4, and the first guide rail slider 22 and the connecting structure 4 are bolted together using the screw holes.

[0085] According to embodiments of this disclosure, the connecting structure 4 includes a connecting base plate, but is not limited thereto. Specifically, the surgical end control mechanism 2 is connected to the connecting base plate; the end forceps control mechanism is disposed on the connecting base plate and is used to drive the connecting device 6 to move relative to the connecting base plate; the surgical forceps fixing device is disposed on the connecting base plate and is used to detachably fix the surgical forceps.

[0086] Specifically, a linear motor is used as the controller of the surgical end control mechanism 2 to control the overall movement of the surgical end, thus ensuring the control accuracy of the surgical end.

[0087] Figure 5 This diagram illustrates the connection relationship between the connection structure 4 of the surgical forceps control device of a surgical robot according to an embodiment of the present disclosure and the surgical forceps outer tube fixing base 51. Figure 6 This diagram illustrates the connection relationship between the surgical forceps and the surgical forceps fixing device of a surgical robot according to an embodiment of the present disclosure.

[0088] Such as 5 and Figure 6 As shown, the surgical forceps fixing device includes a surgical forceps outer tube fixing base 51 and a clamping fixing device 52; the clamping fixing device 52 is used to clamp and fix the surgical forceps outer tube 83 of the surgical forceps onto the surgical forceps outer tube fixing base 51.

[0089] According to an embodiment of this disclosure, the clamping and fixing device 52 includes a rotatable component and a first elastic component; one end of the rotatable component is rotatably connected to the surgical forceps outer tube fixing seat 51; the other end of the rotatable component is fixedly connected to the first elastic component; the first elastic component is connected to the connecting structure 4, and together with the rotatable component, clamps and fixes the surgical forceps outer tube 83 on the surgical forceps outer tube fixing seat 51; after the rotatable component is rotated open, it automatically closes under the elastic force of the first elastic component.

[0090] Specifically, when it is necessary to replace the surgical forceps, the rotatable part is opened upwards. After the surgical forceps are taken out, the rotatable part automatically closes under the elastic force of the first elastic component. After the surgical forceps are disinfected, the rotatable part is opened upwards to install the surgical forceps. The rotatable part clamps and fixes the outer tube 83 of the surgical forceps onto the outer tube fixing seat 51 of the surgical forceps under the elastic force of the first elastic component.

[0091] According to an embodiment of this disclosure, the rotatable component includes a clamping cover 5201 and a rotating connecting component; one end of the clamping cover 5201 is rotatably connected to the surgical forceps outer tube fixing seat 51 via the rotating connecting component; the other end of the clamping cover 5201 is fixedly connected to the first elastic component; the inner wall shape of the clamping cover 5201 matches the groove shape of the surgical forceps outer tube limiting groove 84, for pressing the surgical forceps onto the surgical forceps outer tube fixing seat 51. Specifically, the first elastic component can be a first spring assembly 5203. After the rotatable component is rotated open, it automatically closes under the elastic force of the first spring assembly 5203, thereby clamping and fixing the surgical forceps outer tube 83 onto the surgical forceps outer tube fixing seat 51. Specifically, the first spring assembly 5203 can include two or more tension springs, but is not limited thereto.

[0092] Specifically, the rotating connecting component includes a fixing pin 5202, but is not limited thereto. In one specific embodiment, the clamping cover 5201 is hinged to the surgical forceps outer tube fixing seat 51 via the fixing pin 5202, allowing the clamping cover 5201 to rotate around the fixing pin 5202. The inner wall shape of the clamping cover 5201 is arc-shaped, square, or rectangular, etc., and correspondingly, the groove shape of the surgical forceps outer tube limiting groove 84 is arc-shaped, square, or rectangular, etc., but is not limited thereto.

[0093] According to an embodiment of this disclosure, the surgical forceps outer tube fixing base 51 includes a surgical forceps outer tube sleeve, the inner wall shape of which matches the outer wall shape of the surgical forceps outer tube 83; the side wall opening of the surgical forceps outer tube sleeve matches the inner wall shape of the clamping cap 5201, thereby forming a cavity together with the surgical forceps outer tube sleeve and the clamping cap 5201 to accommodate the surgical forceps outer tube 83; a limiting recess 85 is provided on the outer wall of the surgical forceps outer tube 83 for fixing the surgical forceps 8 to prevent relative rotation between it and the surgical forceps outer tube fixing base 51.

[0094] Specifically, the limiting recess 85 may or may not be connected to the limiting groove 84 of the surgical forceps outer tube; the limiting recess 85 may be two or more planes extending in two directions away from the limiting groove 84 of the surgical forceps outer tube, and two or more planes are correspondingly provided on the inner wall of the surgical forceps outer tube sleeve; the two or more planes may be on the same horizontal plane or on different horizontal planes; the shape of the plane may be rectangular, square or circular, etc., but is not limited to these.

[0095] Figure 7 This diagram illustrates the connection relationship between the self-locking device, the end-effector control mechanism, and the surgical forceps of a surgical robot according to an embodiment of the present disclosure.

[0096] like Figure 7 As shown, the self-locking device 7 includes a self-locking device transmission rod 71, and one end of the self-locking device transmission rod 71 is provided with a lock hole 72 and a locking mechanism;

[0097] When the surgical forceps transmission rod 81 of the surgical forceps is inserted into the locking hole 72, it is fixed by the locking mechanism relative to the self-locking device transmission rod 71.

[0098] The surgical forceps drive rod 81 of the surgical forceps can be directly pulled out from the lock hole 72;

[0099] The end forceps control mechanism is connected to the self-locking device transmission rod 71 and is used to drive the self-locking device transmission rod 71 to move. The self-locking device transmission rod 71 drives the surgical forceps transmission rod 81 to move synchronously.

[0100] According to an embodiment of this disclosure, the shape of the keyhole 72 matches the shape of the end of the surgical forceps transmission rod 81.

[0101] The inventors discovered that conventional surgical forceps transmission rods 81 require a spring-back mechanism to return to their initial position after movement. However, surgical forceps typically incorporate components such as force sensors, supports, and catheters to meet their operational precision and functional requirements. Therefore, including a spring-back mechanism would increase the structural complexity of the forceps. By inserting the end of the surgical forceps transmission rod 81 into the locking hole 72 of the self-locking device 7 for fixation, the self-locking device transmission rod 71 replaces the connection between the surgical forceps transmission rod 81 and the end forceps control mechanism. This allows the surgical forceps transmission rod 81 to simultaneously possess both self-locking and transmission functions without needing a spring-back function, further simplifying the structure of the surgical forceps. Simultaneously, the surgical forceps transmission rod 81 can be directly pulled out from the locking hole 72, further reducing the coupling between the surgical end and the control end.

[0102] According to an embodiment of this disclosure, the end-tweezers control mechanism includes a linear drive assembly and a rotary drive assembly; the linear drive assembly is fixedly connected to the connecting structure 4; the connecting device 6 is fixedly connected to the linear drive assembly, and the linear drive assembly drives the connecting device 6 to move relative to the connecting structure 4, for controlling the forward and backward movement of the self-locking device transmission rod 71;

[0103] The rotary drive assembly is fixedly connected to the connecting device 6 and is used to control the rotation of the transmission rod 71 of the self-locking device.

[0104] Specifically, by setting up a linear drive component and a rotary drive component, and connecting the surgical forceps transmission rod 81 to the self-locking device transmission rod 71, the coupling between the surgical end and the control end is reduced, while ensuring the two degrees of freedom of the surgical forceps (axial movement and rotation around the axis). At the same time, the direct force and wear on the rotary drive component are reduced when replacing the surgical forceps, and the design difficulty of its matching end clamping and fixing device and actuation mechanism is reduced.

[0105] According to an embodiment of this disclosure, the connecting device 6 includes: a base plate; a linear drive assembly fixing part disposed on the base plate and fixedly connected to a second guide rail slider of the linear drive assembly; a rotary drive assembly fixing part disposed on the base plate and fixedly connected to a drive motor of the rotary drive assembly; and a transmission rod fixing seat 67 disposed on the base plate for fixing the self-locking device transmission rod 71. The forward and backward movement of the self-locking device transmission rod 71 controls the opening and closing of the end forceps 82 of the surgical forceps, and the rotation of the self-locking device transmission rod 71 controls the rotation of the end forceps 82 of the surgical forceps.

[0106] During operation, the end forceps 82 pass through the working guide of the surgical forceps and are connected to the surgical forceps transmission rod 81 via a transmission mechanism. The movement and rotation of the transmission rod 71 via the self-locking device drive the surgical forceps transmission rod 81 to move synchronously, and the movement of the surgical forceps transmission rod 81 drives the movement and rotation of the end forceps 82. When the surgical forceps transmission rod 81 moves forward, the end forceps 82 also moves forward, and the clamps of the end forceps 82 open under their own elastic force. When the surgical forceps transmission rod 81 moves backward, the end forceps 82 also moves backward, and the working guide forces the clamps of the end forceps 82 to deform inward until they clamp tightly. During the movement of the surgical forceps transmission rod 81, the surgical end control mechanism 2 moves the surgical forceps outer tube 83 in the opposite direction to compensate, so that the clamps of the end forceps 82 remain stationary relative to the site to be operated on (such as the epiretinal membrane).

[0107] Figure 8 A bottom view of the connection device of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown. Figure 9 A top view of the connection device of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0108] like Figure 8 and Figure 9 As shown, the linear drive assembly fixing part includes an inverted L-shaped structure 64 located at one corner of the base plate and protruding from the base plate, and a first protruding surface 66 located in the middle of the base plate and perpendicular to the base plate; the rotary drive assembly fixing part includes a second protruding surface 65 arranged parallel to the first protruding surface 66, used to fix the drive motor of the rotary drive assembly; the position of the transmission rod fixing seat 67 matches one of the synchronous pulleys of the rotary drive assembly, and the self-locking device transmission rod 71 passes through the transmission rod fixing seat 67 and is connected to the synchronous pulley. Specifically, the connecting device 6 is a metal part with an irregular shape.

[0109] According to embodiments of this disclosure, the linear drive assembly includes a second linear motor 31 and a second guide rail slider, but is not limited thereto. The second linear motor 31 and the second guide rail slider are slidably connected by a push rod of the second linear motor 31. The second linear motor 31 is fixedly connected to the connecting structure 4, and the second guide rail slider is fixedly connected to the connecting device 6. The fixed connection can be a bolted connection, welding, etc., but is not limited thereto. In a specific embodiment, screw holes are provided at corresponding positions on the second linear motor 31 and the connecting structure 4, and the second linear motor 31 and the connecting structure 4 are bolted together using the screw holes. Screw holes are also provided at corresponding positions on the second guide rail slider and the connecting device 6, and the second guide rail slider and the connecting device 6 are bolted together using the screw holes.

[0110] Figure 10A schematic diagram of the overall structure of the rotation drive assembly of a surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0111] like Figure 10 As shown, the rotary drive assembly includes a drive motor and a synchronous belt drive device 33. The synchronous belt drive device 33 includes a first synchronous pulley 331, a second synchronous pulley 332, and a synchronous belt 333, wherein the first synchronous pulley 331 and the second synchronous pulley 332 are connected by the synchronous belt 333.

[0112] Specifically, the outer diameter of the first synchronous pulley 331 is smaller than the outer diameter of the second synchronous pulley 332.

[0113] Specifically, the drive motor can be a stepper motor 32, but is not limited to this. In a specific embodiment, the first synchronous pulley 331 is driven to connect with the stepper motor 32, and the second synchronous pulley 332 is driven to connect with the self-locking device transmission rod 71. The stepper motor 32 drives the first synchronous pulley 331 to rotate, and the first synchronous pulley 331 drives the second synchronous pulley 332 to rotate under the action of the synchronous belt 333. The rotation of the second synchronous pulley 332 in turn drives the self-locking device transmission rod 71 to rotate.

[0114] Specifically, the stepper motor 32 rotates at a fixed speed at a constant speed, and its rotation angle is a discrete value.

[0115] The inventors discovered that if a drive motor (such as a stepper motor) is directly used in the rotary drive assembly to drive the transmission rod 71 of the self-locking device, thereby rotating the surgical forceps transmission rod 81 and causing the end forceps 82 to rotate, the rotation speed of the end forceps 82 will be too high, resulting in a significant reduction in the operating accuracy of the surgical forceps. Therefore, a synchronous belt drive device 33 is added to the rotary drive assembly, which includes two synchronous pulleys with different outer diameters. This allows the step angle of the drive motor (such as a stepper motor) to be scaled multiple times, thereby improving the operating accuracy of the surgical forceps.

[0116] Figure 11 This diagram illustrates the connection device of the surgical forceps control device of a surgical robot according to an embodiment of the present disclosure, and the connection relationship between the surgical forceps and the self-locking device.

[0117] like Figure 11 As shown, the surgical forceps control device also includes a self-locking device fixing flange 9, wherein the self-locking device fixing flange 9 is used to fix the self-locking device 7 in the transmission rod fixing seat 67.

[0118] According to an embodiment of this disclosure, the surgical forceps control device further includes a base; the base includes a base bottom surface 11 and a base top surface 12; the base bottom surface 11 is used for fixed connection with the surgical end control mechanism 2; the base top surface 12 is used for connection with a designated part of the surgical robot. The designated part can be other parts of the surgical robot besides the surgical forceps and the surgical forceps control device, but is not limited thereto.

[0119] Specifically, the base is an L-shaped metal plate; the bottom surface 11 of the base is rectangular, and screw holes are provided on the bottom surface 11 of the base for fixing the surgical end control mechanism 2; the vertical surface 12 of the base, which is perpendicular to the bottom surface 11 of the base, is provided with screw holes for fixing other parts of the surgical robot except for the surgical forceps and the surgical forceps control device.

[0120] Specifically, the surgical robot may be a macular epiretinal surgery robot, or other vitreoretinal surgery robots, such as retinal detachment surgery robots, macular hole surgery robots, and diabetic retinopathy surgery robots, but is not limited thereto.

[0121] Figure 12 This is a front view showing the overall structure of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure. Figure 13 A top view showing the overall structure of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure.

[0122] like Figure 12 and Figure 13 As shown, the surgical forceps control device includes: a surgical end control mechanism 2, a connecting structure 4, a connecting device 6, an end forceps control mechanism, a surgical forceps fixing device, and a self-locking device 7, wherein:

[0123] The surgical end control mechanism 2 is connected to the connecting structure 4 and is used to drive the connecting structure 4 to move;

[0124] The end tweezers control mechanism is connected to the connecting structure 4 and the connecting device 6, and is used to drive the connecting device 6 to move relative to the connecting structure 4;

[0125] The self-locking device 7 is mounted on the connecting device 6, and the end tweezers control mechanism is connected to the self-locking device 7 to drive the movement of the self-locking device 7.

[0126] The self-locking device 7 is connected to the surgical forceps and is used to control the movement of the end forceps 82 of the surgical forceps;

[0127] The surgical forceps fixing device is disposed on the connecting structure 4 and is used to detachably fix the surgical forceps.

[0128] Figure 12 and13 The surgical forceps control device shown is Figure 1 and Figure 2 The differences in the surgical forceps control device shown include: connection device 6 and linear drive assembly.

[0129] Figure 14 A left view of the connection device of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown. Figure 15 A right view of the connection device of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0130] like Figure 14 and Figure 15 As shown, another surgical forceps control device connection device 6 includes: a base plate; a linear drive assembly fixing part, disposed on the base plate, and a third guide rail slider 35 fixedly connected to the linear drive assembly; a rotary drive assembly fixing part, disposed on the base plate, and a drive motor fixedly connected to the rotary drive assembly; and a transmission rod fixing seat 67, disposed on the base plate, for fixing the self-locking device transmission rod 71. The forward and backward movement of the self-locking device transmission rod 71 controls the opening and closing of the end forceps 82 of the surgical forceps, and the rotation of the self-locking device transmission rod 71 controls the rotation of the end forceps 82 of the surgical forceps.

[0131] According to embodiments of this disclosure, the linear drive assembly fixing part includes a third protruding surface 68 located on one side of the base plate and perpendicular to the base plate, for fixing the linear drive assembly; the rotary drive assembly fixing part includes a fourth protruding surface 69 arranged parallel to the third protruding surface 68, for fixing the drive motor of the rotary drive assembly; the position of the transmission rod fixing seat 67 matches one of the synchronous pulleys of the rotary drive assembly, and the self-locking device transmission rod 71 passes through the transmission rod fixing seat 67 and is connected to the synchronous pulley. Specifically, the connecting device 6 is a metal part with an irregular shape.

[0132] Figure 12 and 13 The linear drive assembly of the surgical forceps control device shown is... Figure 1 and Figure 2 The differences in the linear drive assembly of the surgical forceps control device shown include: a third guide rail slider 35 and a cam device 34. The cam device 34 is connected to the connecting device 6 via a transmission roller 63; the cam device 34 is fixedly mounted on the connecting structure 4; the third guide rail slider 35 is fixedly connected to the third raised surface 68.

[0133] Figure 16 A top view of a cam mechanism of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown. Figure 17A bottom view of a cam device of another surgical forceps control device for a surgical robot according to an embodiment of the present disclosure is shown.

[0134] like Figure 16 and Figure 17 As shown, the cam device 34 of the other linear drive assembly includes a cam 341, a cam holder 342, a transmission worm gear 343, a transmission worm 344, a cam motor 345, and an angle sensor 346. The cam holder 342 is fixedly mounted on the connecting structure 4. The cam holder 342 has a through hole, and the cam 341 and the transmission worm gear 343 are respectively disposed on both sides of the cam holder 342, and the cam 341 and the transmission worm gear 343 are rigidly connected through the through hole. The angle sensor 346 is fixedly mounted on the cam holder 342 and electrically connected to the transmission worm gear 343. The cam motor 345 is fixedly connected to the cam holder 342 and electrically connected to the transmission worm 344. The transmission worm gear 343 and the transmission worm 344 are connected in a driving manner.

[0135] Figure 18 A schematic diagram showing the connection relationship between the cam device and the connecting structure and connecting device of another surgical forceps control device of a surgical robot according to an embodiment of the present disclosure is provided.

[0136] like Figure 18 As shown, the connecting device 6 connects to the connecting structure 4 via a second elastic component, and abuts against the cam 341 via a transmission roller 63, ensuring that the cam device 34 can work correctly. The second elastic component can be a second spring group 62, which may include two or more tension springs, but is not limited to this.

[0137] During operation, the cam motor 345 starts, causing the transmission worm gear 344 to rotate around its axis, which in turn drives the transmission worm wheel 343 to rotate in the horizontal plane and rotate the cam 341 rigidly connected to it. The rotation of the cam 341 drives the transmission roller 63 on the connecting device 6 to rotate, transmitting the thrust of the cam 341 to the connecting device 6 to move it forward. The movement direction of the connecting device 6 is kept consistent with the axial movement direction of the end tweezers 82 by connecting the third guide rail slider 35 and the connecting device 6. In addition, a second elastic component is used so that the connecting device 6 has a tendency to rebound, ensuring that the cam device 34 can work correctly.

[0138] Specifically, the forward and backward movement of the linear drive assembly drives the forward and backward movement of the self-locking device transmission rod 71. In the linear drive assembly, a control method combining worm gear transmission and cam mechanism control is adopted. That is, the forward and backward movement of the self-locking device transmission rod 71 is controlled by worm gear transmission and cam mechanism control, which in turn drives the forward and backward movement of the surgical forceps transmission rod 81. This control method is matched with the small stroke of the surgical forceps transmission rod 81, so there is no need to use an expensive linear motor, thereby reducing hardware costs.

[0139] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A surgical forceps control device for an ophthalmic surgical robot, characterized in that, include: The surgical end control mechanism, connecting structure, connecting device, end forceps control mechanism, surgical forceps fixing device, and self-locking device, among which: The surgical end control mechanism is connected to the connecting structure and is used to drive the movement of the connecting structure; The end-tweezers control mechanism is connected to the connecting structure and the connecting device, and is used to drive the connecting device to move relative to the connecting structure; The self-locking device is mounted on the connecting device. The self-locking device includes a self-locking device transmission rod, one end of which is provided with a lock hole and a locking mechanism. When the transmission rod of the surgical forceps is inserted into the lock hole, it is fixed relative to the transmission rod of the self-locking device by the locking mechanism. The end-forceps control mechanism is connected to the self-locking device transmission rod. The end-forceps control mechanism includes a linear drive assembly and a rotary drive assembly for driving the self-locking device transmission rod. The self-locking device transmission rod drives the surgical forceps transmission rod of the surgical forceps to move synchronously. The linear drive assembly is fixedly connected to the connecting structure. The connecting device is fixedly connected to the linear drive assembly, and the linear drive assembly drives the connecting device to move relative to the connecting structure, controlling the forward and backward movement of the self-locking device transmission rod. The rotary drive assembly is fixedly connected to the connecting device and controls the rotation of the self-locking device transmission rod. The forward and backward movement of the self-locking device transmission rod controls the opening and closing of the end-forceps: when the surgical forceps transmission rod moves forward, the clamps of the end-forceps open under their own elastic force; when the surgical forceps transmission rod moves backward, the working guide forces the clamps of the end-forceps to deform inward until they clamp tightly. The rotation of the self-locking device transmission rod controls the rotation of the end-forceps. The connecting device includes: a base plate; a linear drive assembly fixing part disposed on the base plate for fixed connection to the linear drive assembly; a rotary drive assembly fixing part disposed on the base plate for fixed connection to the drive motor of the rotary drive assembly; and a transmission rod fixing seat disposed on the base plate for fixing the transmission rod of the self-locking device; the position of the transmission rod fixing seat matches the synchronous wheel of the rotary drive assembly, and the transmission rod of the self-locking device passes through the transmission rod fixing seat and is connected to the synchronous wheel; The surgical forceps fixing device is disposed on the connecting structure and is used to detachably fix the surgical forceps.

2. The surgical forceps control device according to claim 1, characterized in that: The surgical forceps fixing device includes a surgical forceps outer tube fixing seat and a clamping and fixing device; The clamping and fixing device is used to clamp and fix the outer tube of the surgical forceps onto the outer tube fixing seat of the surgical forceps.

3. The surgical forceps control device according to claim 2, characterized in that: The clamping and fixing device includes a rotatable component and a first elastic component; One end of the rotatable component is rotatably connected to the surgical forceps outer tube fixing base; The other end of the rotatable component is fixedly connected to the first elastic component; The first elastic component is connected to the connecting structure, and together with the rotatable component, clamps and fixes the outer tube of the surgical forceps onto the outer tube fixing seat of the surgical forceps. After the rotatable component is opened by rotation, it automatically closes under the elastic force of the first elastic component.

4. The surgical forceps control device according to claim 3, characterized in that: The rotatable component includes a clamping cover and a rotating connecting component; One end of the clamping cap is rotatably connected to the surgical forceps outer tube fixing seat via a rotating connecting component; The other end of the compression cap is fixedly connected to the first elastic component; The inner wall shape of the clamping cap matches the groove shape of the surgical forceps outer tube limiting groove, and is used to clamp the surgical forceps onto the surgical forceps outer tube fixing seat.

5. The surgical forceps control device according to claim 4, characterized in that: The surgical forceps outer tube fixing base includes a surgical forceps outer tube sleeve, and the inner wall shape of the surgical forceps outer tube sleeve matches the outer wall shape of the surgical forceps outer tube; The side wall opening of the outer sleeve of the surgical forceps is shaped to match the inner wall shape of the clamping cap.

6. The surgical forceps control device according to claim 1, characterized in that: The linear drive assembly fixing part includes an inverted L-shaped structure located at one corner of the base plate and protruding from the base plate, and a first protruding surface located in the middle of the base plate and perpendicular to the base plate; The rotating drive assembly fixing part includes a second protruding surface arranged parallel to the first protruding surface, which is used to fix the drive motor of the rotating drive assembly.

7. The surgical forceps control device according to claim 1, characterized in that: The linear drive assembly fixing part includes a third protruding surface located on one side of the base plate and perpendicular to the base plate, for fixing the linear drive assembly; The rotary drive assembly fixing part includes a fourth protruding surface arranged parallel to the third protruding surface, which is used to fix the drive motor of the rotary drive assembly.

8. The surgical forceps control device according to claim 6 or 7, characterized in that, It also includes a self-locking device fixing flange, wherein: The self-locking device fixing flange is used to fix the self-locking device in the transmission rod fixing seat.

9. The surgical forceps control device of claim 1, wherein, It also includes a base; The base includes a base bottom surface and a base elevation surface; The bottom surface of the base is used for fixed connection with the surgical end control mechanism; The base facade is used to connect to a designated part of the ophthalmic surgical robot.

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