A clamping mechanism and end effector for a surgical instrument

Abstract

The application discloses a clamping mechanism and an end effector of a surgical instrument. The clamping mechanism comprises a clamp, a base plate, a linkage, a connecting piece and a positioning mechanism. The clamp comprises two clamping parts which are in sliding connection with the base plate and arranged side by side. The two clamping parts are arranged to be translated towards each other to a closed position to clamp the clamp, and to be translated away from each other to open the clamp. The linkage is in sliding connection with the base plate and connected with the two clamping parts through the connecting piece. The connecting piece is arranged to drive the linkage to move in a first direction to a first position when the two clamping parts are moved towards each other to the closed position, and to drive the linkage to move in the opposite direction of the first direction when the two clamping parts are moved away from each other. The positioning mechanism is arranged to limit the movement of the linkage to keep the clamp clamped when the clamp is clamped, and to release the limitation on the linkage to open the clamp. The clamping mechanism of the surgical instrument disclosed by the application has the advantages of low sterilization cost, high safety, convenient operation, accurate clamping, low sterilization cost and the like.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of medical devices, and in particular to a clamping mechanism and end effector for a surgical instrument. Background Technology

[0002] Currently, navigation-based surgical robots are being used more and more widely. A common approach for navigation-based surgical robots is to use grippers to mount surgical instruments (such as surgical needles) at the end of a robotic arm, and then move the surgical instruments to the planned surgical location by controlling the movement of the robotic arm. Due to the sterile requirements of the surgical environment and the possibility of emergencies such as patient tremors or convulsions during surgery, the medical device industry needs a gripper that can meet both sterility requirements and open quickly.

[0003] Currently, commonly used gripper solutions in the medical field include purely manual grippers, electric cylinder grippers, and cam-driven snap-lock grippers. For purely manual grippers, there are operational inconveniences in scenarios requiring the simultaneous opening of multiple grippers. Electric cylinder-driven grippers are unsuitable for emergency applications due to their difficulty in rapid opening. Cam-driven snap-lock grippers are mostly designed with a single-sided opening and closing mechanism; while they can open quickly, the fixed side still obstructs the free movement of surgical instruments, potentially causing injury to the patient in emergencies. Furthermore, to ensure proper snap-lock engagement, a closing gap must be maintained, resulting in lower gripping precision. Additionally, the snap-lock cannot close after being fitted with a sterile barrier, meaning these grippers can only be used through preoperative sterilization, significantly increasing operating costs. Summary of the Invention

[0004] This application provides a clamping mechanism and end effector for a surgical instrument, which can quickly release the surgical needle, improve safety, and clamp accurately.

[0005] This application provides a clamping mechanism for a surgical instrument. The clamping mechanism includes a clamp, a base plate, a linkage, a connector, and a positioning mechanism. The clamp includes two clamping portions that are slidably connected to the base plate and arranged side by side. The two clamping portions are configured to move towards each other to a closed position to clamp the clamp, and to move away from each other to open the clamp. The linkage is slidably connected to the base plate and is connected to the two clamping portions respectively through the connector. The connector is configured to drive the linkage to move along a first direction to a first position when the two clamping portions move towards each other to the closed position, and to drive the linkage to move in the opposite direction along the first direction when the two clamping portions move away from each other. The positioning mechanism is configured to restrict the movement of the linkage to keep the clamp clamped when the clamp is clamped, and to release the restriction on the linkage to open the clamp.

[0006] Furthermore, the positioning mechanism includes a blocking member, a first elastic member, and a driving device, wherein:

[0007] The blocking member is slidably connected to the substrate, and the movement trajectory of the blocking member intersects with the movement trajectory of the linkage member;

[0008] One end of the first elastic member is fixed to the substrate, and the other end is connected to the blocking member. It is configured to push the blocking member to move along the second direction to the blocking position that contacts the linkage member when the linkage member is in the first position, so as to block the linkage member from moving in the opposite direction to the first direction.

[0009] The driving device is configured to drive the blocking member to move in the opposite direction of the second direction when the blocking member is in the blocking position, so as to release the restriction on the linkage member.

[0010] After the linkage moves in the opposite direction from the first position to the first direction, it prevents the blocking member from moving along the second direction to the blocking position.

[0011] Furthermore, a set of second elastic elements or multiple sets of second elastic elements arranged at intervals are provided between the two clamping parts. The second elastic elements are in a compressed state when the clamp is clamped, and are configured to push the two clamping parts to move in opposite directions to open the clamp when the blocking member releases its restriction on the linkage member.

[0012] Furthermore, the two clamping parts are arranged side by side in the second spatial dimension, and are configured to translate towards each other or backwards in the second spatial dimension;

[0013] The first direction and its opposite direction are located in the first spatial dimension;

[0014] The second direction and its opposite direction are located in the second spatial dimension, which is different from the first spatial dimension.

[0015] Furthermore, when the blocking member is in the blocking position, the contact surface between the blocking member and the linkage member is an inclined surface that intersects the first direction and the second direction.

[0016] Furthermore, the two clamping portions are disposed on the first surface of the substrate, and the linkage, connecting, and positioning mechanisms are disposed on the second surface of the substrate;

[0017] The two clamping parts are two claws extending in a first spatial dimension different from the second spatial dimension. One end of the two claws is slidably connected to the substrate, and the two opposite sides of the other end of the two claws form a clamping structure for clamping surgical instruments.

[0018] Furthermore, the linkage is provided with a guide structure, and the connector cooperates with the guide structure and moves along the guide structure.

[0019] Furthermore, the linkage component is provided with an oblong hole, which serves as the guide structure; or,

[0020] The linkage component is equipped with a guide rail or a guide post, which serves as the guiding structure.

[0021] Furthermore, the driving device includes a hand-drive device, which includes a brake lever, one end of which abuts against the blocking member, and the other end serves as a free end;

[0022] The brake lever pushes the blocking member to overcome the elastic force of the first elastic member and retracts, thereby releasing the blocking member from limiting the linkage member, so that the linkage member moves to the second position under the action of the second elastic member.

[0023] Furthermore, the driving device includes an electric drive device, which includes a power unit and a pusher. The pusher is connected to the output end of the power unit and is configured to push the blocking member to a limit position under the action of the power unit.

[0024] Furthermore, the pushing component is a cam;

[0025] The power unit drives the cam to rotate, thereby pushing the blocking member to overcome the elastic force of the first elastic member and move backward, thereby releasing the blocking member from limiting the linkage member, and causing the linkage member to move to the second position under the action of the second elastic member.

[0026] Furthermore, the electric drive device also includes a position detection device, which is configured to detect the rotational posture of the cam.

[0027] Furthermore, the clamping mechanism of the surgical instrument also includes a first guide rail and a second guide rail, and the two clamping parts slide along the first guide rail and the second guide rail to clamp or open the clamp.

[0028] Furthermore, the clamping mechanism of the surgical instrument also includes a third guide rail and a fourth guide rail, and the linkage slides along the third guide rail and the fourth guide rail.

[0029] Furthermore, the surgical instrument is a surgical needle.

[0030] This application also provides an end effector, which includes the aforementioned surgical needle clamping mechanism.

[0031] Compared to some other technologies, this application has the following advantages:

[0032] The clamping mechanism for surgical instruments provided in this application embodiment can control the opening, closing, and clamping of two clamping parts through a linkage component. This control is simple, convenient, and reliable. Adjusting the position of the linkage component quickly opens the clamping parts, enabling the clamping mechanism to rapidly release the surgical needle and improving its safety. Furthermore, the two clamping parts are designed to clamp by moving towards each other and open by moving away from each other, resulting in high clamping precision and avoiding the problem of clamping center offset caused by changes in the size of the surgical needle in rotational opening and closing methods.

[0033] The positioning mechanism includes a blocking component, a first elastic component, and a driving device. Positioning (limiting) is achieved through the staggered design of the blocking and linkage components. The blocking component ensures reliable positioning, guaranteeing the clamp's reliable closure and preventing automatic opening due to unforeseen circumstances. The blocking component, whose movement trajectory intersects with that of the linkage component, significantly amplifies the spring resistance, thus achieving reliable positioning.

[0034] The two clamping parts are arranged side by side in the second spatial dimension and can be translated towards each other or away from each other in the second spatial dimension, so that the clamping center will not change due to the thickness of the object being clamped, ensuring that it can still be clamped accurately after multiple clamping and opening.

[0035] The contact surface between the blocking member and the linkage member is an inclined plane intersecting the first and second directions to accommodate objects of different thicknesses. When a sterile barrier is fitted onto the clamping part, the blocking member can still position the linkage member, ensuring reliable clamping even after the sterile barrier is fitted onto the clamping part, thus improving the practicality of the clamping mechanism.

[0036] Two clamping parts are set on the first surface of the substrate, and the linkage, connecting parts and positioning mechanism are set on the second surface of the substrate. The structure is compact and reasonable, ensuring that the clamp can be opened and closed reliably without being interfered with by other components.

[0037] The linkage is equipped with a guide structure, and the connecting part cooperates with the guide structure and moves along the guide structure to associate the opening and closing of the gripper with the movement of the linkage, converting the opening and closing of the two clamping parts into the movement of the linkage, which is convenient for control.

[0038] The electric drive device also includes a position detection device for detecting the rotational attitude of the cam, so as to ensure that the cam stops at a position that does not obstruct the clamping of the gripper, avoid the protruding position on the cam from hindering the next normal forward movement of the blocking part for limiting, and ensure the normal operation of the clamping mechanism.

[0039] The drive mechanism includes a manual drive mechanism, meaning that while the grippers can be opened electrically, they also retain a manual opening option. This ensures that even if the electric drive mechanism fails, the grippers can still be opened manually, thus improving the safety of the surgical procedure.

[0040] The end effector provided in this application embodiment has the aforementioned surgical instrument clamping mechanism, which is convenient to operate, highly safe, and has high control precision.

[0041] Other features and advantages of this application will be set forth in the following description. Attached Figure Description

[0042] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0043] Figure 1 This is a schematic diagram of the clamping mechanism of the surgical instrument described in the embodiments of this application. Figure 1 ;

[0044] Figure 2 This is a schematic diagram of the clamping mechanism of the surgical instrument described in the embodiments of this application. Figure 2 ;

[0045] Figure 3 This is a schematic diagram of the clamping mechanism of the surgical instrument described in the embodiments of this application. Figure 3 ;

[0046] Figure 4 for Figure 3 Enlarged view of the structure of section A in the middle;

[0047] Figure 5 for Figure 3 Enlarged view of the structure of section B in the middle;

[0048] Figure 6 This is a schematic diagram of the clamping mechanism of the surgical instrument described in the embodiments of this application. Figure 4 ;

[0049] Figure 7 This is a schematic diagram of the linkage component described in the embodiments of this application;

[0050] Figure 8 This is a schematic diagram of the structure of the blocking member described in the embodiments of this application;

[0051] Figure 9 This is a schematic diagram of the substrate structure described in an embodiment of this application.

[0052] Illustration:

[0053] 1-Baseboard, 2-Linkage component, 21-Oval hole, 22-Protrusion, 3-Connector, 4-Positioning mechanism, 41-First elastic component, 42-Blocking component, 43-Blocking block guide rail, 5-Clamping part, 51-Second elastic component, 6-Inclined surface, 71-Brake lever, 72-Power unit, 73-Cam, 74-Micro switch, 81-First guide rail, 82-Second guide rail, 83-Third guide rail, 84-Fourth guide rail. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be arbitrarily combined with each other.

[0055] This application provides a clamping mechanism for surgical instruments, such as... Figures 1 to 9 As shown, the clamping mechanism of the surgical instrument includes a clamp, a base plate 1, a linkage 2, a connector 3, and a positioning mechanism 4. The clamp includes two clamping parts 5 that are slidably connected to the base plate 1 and arranged side by side. The two clamping parts 5 are configured to move towards each other to a closed position to clamp the clamp, and to move away from each other to open the clamp. The linkage 2 is slidably connected to the base plate 1 and is connected to the two clamping parts 5 respectively through the connector 3. The connector 3 is configured to drive the linkage 2 to move along a first direction to a first position when the two clamping parts 5 move towards each other to the closed position, and to drive the linkage 2 to move in the opposite direction along the first direction when the two clamping parts 5 move away from each other. The positioning mechanism 4 is configured to restrict the movement of the linkage 2 to keep the clamp clamped when the clamp is clamped, and to release the restriction on the linkage 2 to open the clamp. The surgical instrument can be a surgical needle.

[0056] When the two clamping parts 5 are closed, the first position of the linkage 2 can be as follows: Figure 3 The position shown indicates that the linkage 2 is at its highest point; when the two clamping parts 3 open, the linkage 2 moves in the opposite direction to the second position, i.e., Figure 3 The linkage 3 in the middle will move down to the lowest position.

[0057] The base plate 1 serves as the mounting base for mounting components such as clamps, linkages 2, and positioning mechanisms 4.

[0058] The clamp includes two translatably openable and clamping parts 5, each of which can be a gripper. In other words, the surgical needle is clamped or opened by translating the two grippers. The grippers are slidably mounted on the base plate 1.

[0059] The linkage 2 is slidably mounted on the base plate 1, and is connected to the two clamping parts 5 respectively via the connecting part 3. This converts the opening and closing movement of the two clamping parts 5 into the movement of a single linkage 2. The opening and closing of the clamp can be achieved by controlling the single component of the linkage 2, which is convenient for control. When the two clamping parts 5 are in the closed position, the linkage 2 is in the first position; when the two clamping parts 5 are opened, the linkage 2 moves in the opposite direction to the second position.

[0060] When the two clamping parts 5 are clamped, the positioning mechanism 4 restricts the opening of the two clamping parts 5, keeping the clamping parts 5 in a reliable clamping state. When it is necessary to quickly release the surgical needle, the restriction of the positioning mechanism 4 can be released to allow the clamping parts 5 to open quickly.

[0061] When two objects move toward each other, it means that the two objects are moving in opposite directions and are getting closer to each other; when two objects move away from each other, it means that the two objects are moving in opposite directions and are getting further apart.

[0062] The clamping mechanism for surgical instruments provided in this application adopts a translational opening and closing control method with linkage 2. Regardless of whether the size of the clamped surgical instrument increases or decreases, the clamping center will not change, thereby improving the clamping accuracy.

[0063] In one exemplary embodiment, such as Figures 2 to 6 As shown, the positioning mechanism 4 includes a blocking member 42, a first elastic member 41, and a driving device, wherein: the blocking member 42 is slidably connected to the substrate 1, and the movement trajectory of the blocking member 42 intersects with the movement trajectory of the linkage member 2; one end of the first elastic member 41 is fixed to the substrate 1, and the other end is connected to the blocking member 42, and is configured to push the blocking member 42 to move along the second direction to the blocking position that contacts the linkage member 2 when the linkage member 2 is in the first position, so as to block the linkage member 2 from moving in the opposite direction in the first direction; the driving device is configured to drive the blocking member 42 to move in the opposite direction in the second direction when the blocking member 42 is in the blocking position to release the restriction on the linkage member 2; after the linkage member 2 moves in the opposite direction from the first position, the blocking member 42 moves along the second direction to the blocking position.

[0064] The positioning mechanism 4 includes a blocking member 42, a first elastic member 41, and a driving device. The blocking member 42 may be a blocking block, the first elastic member 41 may be a spring, and the driving device may be a motor.

[0065] The blocking member 42 slides along the substrate 1. The movement trajectory of the blocking member 42 intersects with the movement trajectory of the linkage member 2. In other words, the blocking member 42 can move onto the movement trajectory of the linkage member 2 to restrict the movement of the linkage member 2, thereby playing a limiting role and maintaining the clamping state of the clamping part 5.

[0066] Positioning (limiting) is achieved through the staggered design of the blocking element 42 and the linkage element 2. The blocking element 42 provides reliable positioning, ensuring that the clamp closes reliably and will not open automatically due to unexpected circumstances. The blocking element 42, whose movement trajectory intersects with that of the linkage element 2, can significantly amplify the spring resistance to achieve reliable positioning.

[0067] The linkage 2 has a protrusion 22 at one end along its own moving direction, such as Figure 7 As shown; the protrusion 22 cooperates with the blocking member 42 to achieve mutual limiting between the two, as... Figure 4 As shown.

[0068] In one exemplary embodiment, such as Figure 2 As shown, a set of second elastic members 51 or multiple sets of second elastic members 51 arranged at intervals are provided between the two clamping parts 5. The second elastic members 51 are in a compressed state when the clamp is clamped. They are configured to push the two clamping parts 5 to move in opposite directions to open the clamp when the blocking member 42 releases the restriction on the linkage member 2.

[0069] The second elastic element 51 keeps the two clamping parts 5 in an open position. In other words, after the positioning mechanism 4 is released, the two clamping parts 5 can automatically and quickly open under the action of the second elastic element 51 to release the surgical needle and avoid accidents. The second elastic element 51 can be a spring, and three springs can be provided.

[0070] In one exemplary embodiment, such as Figure 2 As shown, the two clamping parts 5 are arranged side by side in the second spatial dimension, and are configured to translate towards each other or backwards in the second spatial dimension; the first direction and the opposite direction of the first direction are located in the first spatial dimension; the second direction and the opposite direction of the second direction are located in the second spatial dimension, and the second spatial dimension is different from the first spatial dimension.

[0071] The second spatial dimension and the first spatial dimension can be perpendicular, that is, the opening and closing direction of the clamping part 5 is perpendicular to the moving direction of the linkage 2.

[0072] In one exemplary embodiment, such as Figure 3 and Figure 4 As shown, when the blocking member 42 is in the blocking position, the contact surface between the blocking member 42 and the linkage member 2 is an inclined surface that intersects the first direction and the second direction.

[0073] The contact surface between the blocking member 42 and the linkage member 2 is an inclined surface 6, so that when a sterile barrier is fitted on the clamping part 5 (i.e., there is a gap between the two clamping parts 5, and the gap is occupied by the sterile barrier), the blocking member 42 can still play a positioning role for the linkage member 2.

[0074] By relying on the inclined surface 6 between the blocking member 42 and the linkage member 2, when the two clamping parts 5 are not completely closed, the blocking member 42 can still abut against the linkage member 2 through the inclined surface 6, providing a pushing force as a restriction, so that the two clamping parts 5 remain reliably closed.

[0075] In other words, by setting up a beveled fit, the first position of the linkage 2 can be finely adjusted, thereby ensuring reliable clamping even after a sterile barrier is fitted onto the clamping part 5.

[0076] In an exemplary embodiment, two clamping parts 5 are disposed on the first surface of the substrate 1, and the linkage 2, the connector 3 and the positioning mechanism 4 are disposed on the second surface of the substrate 1; the two clamping parts 5 are two claws extending in a first spatial dimension different from the second spatial dimension, one end of the two claws is slidably connected to the substrate 1, and the two opposite sides of the other ends of the two claws form a clamping structure for clamping surgical instruments.

[0077] One end of each of the two grippers is slidably connected to the substrate 1, and the other end is provided with a gripping structure for holding the surgical needle. The grippers open and close to open or clamp the surgical needle.

[0078] Two clamping parts 5 are disposed on the first surface of the substrate 1, and the linkage 2, connecting part 3, and positioning mechanism 4 are disposed on the second surface of the substrate 1. In other words, the clamping parts 5 can be connected to the lower surface of the substrate 1, and the linkage 2, connecting part 3, and positioning mechanism 4 can be disposed on the upper surface of the substrate 1. Figure 1 As shown, this ensures that the clamp can open and close reliably without interference from other components.

[0079] In an exemplary embodiment, the linkage 2 is provided with a guide structure, and the connecting member 3 cooperates with the guide structure and moves along the guide structure.

[0080] The connector 3 moves along the guide structure to convert the opening and closing of the two clamping parts 5 into the movement of the linkage 2, which facilitates control.

[0081] In one exemplary embodiment, such as Figure 3 and Figure 7 As shown, the linkage 2 is provided with an oblong hole 2, which serves as a guide structure. The two oblong holes 2 are distributed in a V-shape. Alternatively, the linkage is equipped with a guide rail or guide post, which also serves as a guide structure.

[0082] Two oblong holes 2 can be provided, symmetrically arranged with one end close to each other. The oblong holes 2 serve as a guide structure, and the connector 3 serves as an intermediate guide to convert the opening and closing of the two clamping parts 5 into the movement of the linkage 2, which facilitates control.

[0083] Connector 3 can be a pin.

[0084] The guide structure can also take other forms, such as guide rails and guide posts, and this application does not limit this.

[0085] In one exemplary embodiment, the driving device includes a hand-operated device, such as... Figure 2 As shown, the hand-drive device includes a brake lever 71. One end of the brake lever 71 abuts against the blocking member 42, and the other end serves as a free end. The brake lever 71 pushes the blocking member 42 to overcome the elastic force of the first elastic member 41 and retracts, thereby releasing the blocking member 42 from limiting the linkage member 2, so that the linkage member 2 moves to the second position under the action of the second elastic member 51.

[0086] The clamping parts 5 can be opened and clamped manually. The operator pushes the free end of the brake lever 71, causing the brake lever 71 to push the blocking member 42 backward, thus releasing the restriction on the linkage member 2. The two clamping parts 5 open under the action of the second elastic member 51, and the linkage member 2 moves to the second position through the connecting member 3.

[0087] When the linkage 2 is in the second position, it will limit the blocking part 42 to prevent the blocking part 42 from popping out.

[0088] In one exemplary embodiment, the driving device includes an electric drive device, such as... Figure 2 As shown, the electric drive device includes a power unit 72 and a pusher. The pusher is connected to the output end of the power unit 72 and is configured to push the blocking member 42 to limit the movement under the action of the power unit 72.

[0089] The clamping part 5 can be opened and clamped electrically. Of course, in practical applications, it can also be controlled by a combination of manual and electric operation. The clamping mechanism retains a manual control option to ensure that the grippers can still be opened manually in the event of a failure of the electric drive device, thus improving the safety of the surgical procedure.

[0090] The power unit 72 drives the pusher to move, thereby pushing the blocking member 42 backward, achieving the same effect as "the operator pushes the free end of the brake lever 71 to push the blocking member 42 backward".

[0091] In one exemplary embodiment, such as Figure 3 and Figure 5 As shown, the pushing component is a cam 73; the power unit 72 drives the cam 73 to rotate, so as to push the blocking component 42 to overcome the elastic force of the first elastic component 41 and move backward, so as to release the blocking component 42 from limiting the linkage component 2, and so that the linkage component 2 moves to the second position under the action of the second elastic component 51.

[0092] The cam 73 has a non-circular structure. The protruding part on the cam 73 rotates and pushes the blocking member 42, causing the blocking member 42 to retract.

[0093] In one exemplary embodiment, the electric drive device further includes a position detection device configured to detect the rotational attitude of the cam 73.

[0094] The position detection device can be a micro switch 74 (e.g., Figure 5 (As shown), a photoelectric switch, a proximity switch, or other sensor capable of detecting position. After the cam 73 pushes the stop 42 backward, the cam 73 continues to rotate to a suitable angle to prevent the protruding position on the cam 73 from obstructing the stop 42 from advancing normally and limiting its movement.

[0095] It should be understood that in some cases, a position detection device may not be required, and a power unit 72 with higher control precision may be used, such as a stepper motor, servo motor or other motor with an encoder.

[0096] In one exemplary embodiment, such as Figure 2 As shown, the clamping mechanism of the surgical instrument also includes a first guide rail 81 and a second guide rail 82. The two clamping parts 5 slide along the first guide rail 81 and the second guide rail 82 to clamp or open the clamp.

[0097] Both clamping parts 5 slide along two guide rails to improve sliding accuracy. Furthermore, even if one guide rail fails, the clamping part 5 can still open and close normally. Alternatively, sliders corresponding to the guide rails can be provided to achieve normal sliding.

[0098] In addition, the guide rails and sliders here can be replaced with crossed roller guides, linear bearings, guide pillars or other linearly moving parts.

[0099] In one exemplary embodiment, such as Figure 2 As shown, the clamping mechanism of the surgical instrument also includes a third guide rail 83 and a fourth guide rail 84, and the linkage 2 slides along the third guide rail 83 and the fourth guide rail 84.

[0100] Linkage component 2 slides via two guide rails to improve sliding accuracy. Furthermore, even if one guide rail fails, linkage component 2 can still move normally, thus improving the operational reliability of the clamping mechanism.

[0101] The clamping mechanism for surgical instruments provided in this application embodiment has high clamping accuracy, can be quickly released in emergency situations, and the clamped surgical instruments have a high degree of freedom after release (they will no longer be restricted by the clamping part 5). Even after the clamping part 5 is fitted with a sterile barrier, the surgical instruments can still be clamped.

[0102] This application also provides an end effector, which includes the aforementioned clamping mechanism for surgical instruments.

[0103] The end effector provided in this application embodiment has the aforementioned surgical instrument clamping mechanism, which is convenient to operate, highly safe, and has high control precision.

[0104] In the description of this application, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", "one end", and "one side" is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the structure referred to has a specific orientation, or is constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0105] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the terms "connection," "assembly," and "installation" should be interpreted broadly. For example, the term "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0106] The embodiments described in this application are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with or in lieu of any other feature or element in any other embodiment.

[0107] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form a unique technical solution as defined by the claims. Any feature or element of any embodiment can also be combined with features or elements from other technical solutions to form another unique technical solution as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

Claims

1. A clamping mechanism for a surgical instrument, characterized in that, The device includes a clamp, a base plate, a linkage, a connector, and a positioning mechanism. The clamp includes two clamping portions that are slidably connected to the base plate and arranged side by side. The two clamping portions are configured to move towards each other to a closed position to clamp the clamp, and to move away from each other to open the clamp. The linkage is slidably connected to the base plate and connected to the two clamping portions via the connector. The connector is configured to move the linkage along a first direction to a first position when the two clamping portions move towards each other to the closed position, and to move the linkage in the opposite direction along the first direction when the two clamping portions move away from each other. The positioning mechanism is configured to restrict the movement of the linkage when the clamp is clamped to keep the clamp clamped, and to release the restriction on the linkage to open the clamp. The positioning mechanism includes a blocking member, a first elastic member, and a driving device, wherein: The blocking member is slidably connected to the substrate, and the movement trajectory of the blocking member intersects with the movement trajectory of the linkage member; One end of the first elastic member is fixed to the substrate, and the other end is connected to the blocking member. It is configured to push the blocking member to move along the second direction to the blocking position that contacts the linkage member when the linkage member is in the first position, so as to block the linkage member from moving in the opposite direction to the first direction. The driving device is configured to drive the blocking member to move in the opposite direction of the second direction when the blocking member is in the blocking position, so as to release the restriction on the linkage member. After the linkage moves in the opposite direction from the first position to the first direction, it prevents the blocking member from moving along the second direction to the blocking position. When the blocking member is in the blocking position, the contact surface between the blocking member and the linkage member is an inclined surface that intersects the first direction and the second direction.

2. The clamping mechanism for the surgical instrument according to claim 1, characterized in that, A set of second elastic elements or multiple sets of second elastic elements arranged at intervals are provided between the two clamping parts. The second elastic elements are in a compressed state when the clamp is clamped. They are configured to push the two clamping parts to move in opposite directions to open the clamp when the blocking member releases its restriction on the linkage member.

3. The clamping mechanism for the surgical instrument according to claim 1, characterized in that, The two clamping parts are arranged side by side in the second spatial dimension, and are configured to translate towards each other or away from each other in the second spatial dimension; The first direction and its opposite direction are located in the first spatial dimension; The second direction and its opposite direction are located in the second spatial dimension, which is different from the first spatial dimension.

4. The clamping mechanism for surgical instruments according to claim 3, characterized in that, The two clamping parts are disposed on the first surface of the substrate, and the linkage, connecting parts and positioning mechanism are disposed on the second surface of the substrate. The two clamping parts are two claws extending in a first spatial dimension different from the second spatial dimension. One end of the two claws is slidably connected to the substrate, and the two opposite sides of the other end of the two claws form a clamping structure for clamping surgical instruments.

5. The clamping mechanism for surgical instruments according to claim 1, characterized in that, The linkage component is provided with a guide structure, and the connecting component cooperates with the guide structure and moves along the guide structure.

6. The clamping mechanism for surgical instruments according to claim 5, characterized in that, The linkage component is provided with an oblong hole, which serves as the guide structure; or... The linkage component is equipped with a guide rail or a guide post, which serves as the guiding structure.

7. The clamping mechanism for surgical instruments according to claim 2, characterized in that, The driving device includes a hand drive device, which includes a brake lever. One end of the brake lever abuts against the blocking member, and the other end serves as a free end. The brake lever pushes the blocking member to overcome the elastic force of the first elastic member and retracts, thereby releasing the blocking member from limiting the linkage member, so that the linkage member moves to the second position under the action of the second elastic member.

8. The clamping mechanism for surgical instruments according to claim 2, characterized in that, The driving device includes an electric drive device, which includes a power unit and a pusher. The pusher is connected to the output end of the power unit and is configured to push the blocking member to a limit position under the action of the power unit.

9. The clamping mechanism for surgical instruments according to claim 8, characterized in that, The pushing component is a cam; The power unit drives the cam to rotate, thereby pushing the blocking member to overcome the elastic force of the first elastic member and move backward, thereby releasing the blocking member from limiting the linkage member, and causing the linkage member to move to the second position under the action of the second elastic member.

10. The clamping mechanism for the surgical instrument according to claim 9, characterized in that, The electric drive device also includes a position detection device, which is configured to detect the rotational posture of the cam.

11. The clamping mechanism of the surgical instrument according to any one of claims 1 to 10, characterized in that, It also includes a first guide rail and a second guide rail, and the two clamping parts slide along the first guide rail and the second guide rail to clamp or open the clamp.

12. The clamping mechanism of the surgical instrument according to any one of claims 1 to 10, characterized in that, It also includes a third guide rail and a fourth guide rail, and the linkage slides along the third guide rail and the fourth guide rail.

13. The clamping mechanism of the surgical instrument according to any one of claims 1 to 10, characterized in that, The surgical instrument is a surgical needle.

14. An end effector, characterized in that, Includes a clamping mechanism for surgical instruments as described in any one of claims 1 to 13.

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