A minimally invasive grasping device for a surgical robot

Abstract

This invention discloses a minimally invasive gripping device for a surgical robot, including surgical forceps. The forceps include an inner forceps and an outer tube fitted over the inner forceps. The device also includes a base, a slide connected to the base, a first linear drive for driving the slide to slide on the base, a second linear drive for driving the outer tube to slide along its own axis, and a rotary drive for driving the inner forceps to rotate around its own axis. The surgical forceps are connected to the second linear drive and the rotary drive via a transmission structure. The slide has a mounting base for mounting the transmission structure. The first linear drive allows the entire surgical forceps to move linearly, while the second linear drive allows the outer tube to move linearly relative to the inner forceps, thus achieving gripping of objects. The rotary drive allows the inner forceps to rotate independently, resulting in more precise surgical operations and reduced damage to the surgical target.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more specifically, to a minimally invasive gripping device for a surgical robot. Background Technology

[0002] Ophthalmic surgery demands far greater precision than most other surgeries. During surgery, surgeons are inevitably affected by factors such as physical condition, fatigue, and concentration, which can influence the finesse of their techniques. Therefore, introducing surgical robots into ophthalmic surgery can help improve both accuracy and safety. For example, in minimally invasive surgery for macular degeneration, surgeons first need to perform a vitrectomy, which involves making three tiny incisions in the sclera to insert instruments into the eye. Then, dye is injected into the eye to stain the epiretinal membrane, which is then peeled off using extremely fine surgical forceps. However, because the epiretinal membrane is an extremely thin membrane that may adhere to the photoreceptor cells on the macula, the peeling process can damage the cellular tissue of the macula. Therefore, extremely delicate techniques are required, placing high demands on the experience and skill of ophthalmologists.

[0003] In surgical procedures using surgical robots, the surgical forceps consist of an inner forceps and an outer tube covering the inner forceps. The inner forceps have a clamp at its end. The inner forceps move relative to the outer tube along their axis. When the clamp enters the outer tube, the clamp is squeezed by the outer tube, causing the inner forceps to deform and grasp objects within the eye. After the clamp extends from the outer tube, the clamp opens and releases the object due to its own elasticity. Therefore, the surgical robot end effector needs to allow the outer tube to move along its own axis to enable the inner forceps to grasp the object. Simultaneously, the outer tube and inner forceps must be able to move together to the surgical position, and the inner forceps must be able to rotate around its own axis while the outer tube remains stationary, minimizing damage to ocular tissues. Current surgical robot end effectors struggle to achieve these actions, and the minimally invasive grasping devices of current surgical robots are difficult to disassemble quickly, hindering the replacement and cleaning of the forceps. Summary of the Invention

[0004] The purpose of this invention is to overcome the limitations of existing surgical robot end effectors in meeting the movement requirements of the outer sheath and inner sheath forceps, and to provide a minimally invasive gripping device for surgical robots.

[0005] The objective of this invention can be achieved using the following technical solutions:

[0006] A minimally invasive gripping device for a surgical robot includes surgical forceps, which include an inner forceps and an outer tube fitted over the inner forceps. The device also includes a base, a slide connected to the base, a first linear drive for driving the slide to slide on the base, a second linear drive for driving the outer tube to slide along its own axis, and a rotary drive for driving the inner forceps to rotate around its own axis. The surgical forceps are connected to the second linear drive and the rotary drive via a transmission structure, and the slide is provided with a mounting base for mounting the transmission structure.

[0007] In this invention, the first linear drive device drives the slide to move along the axis of the sleeve, thereby allowing the inner forceps and outer sleeve to extend together into the surgical position. The rotary drive device only drives the inner forceps to rotate around its own axis, while the outer sleeve does not rotate with the inner forceps, thus reducing the movement of the surgical forceps and minimizing damage to the eyeball. The second linear drive device is used to drive the outer sleeve to slide relative to the inner forceps, thereby achieving the gripping of the object.

[0008] Furthermore, the transmission structure includes a tweezers transmission component fixedly connected to the inner tweezers, a sleeve transmission component fixedly connected to the outer sleeve at one end, and an action transmission component. The axes of the inner tweezers, outer sleeve, tweezers transmission component, sleeve transmission component, and action transmission component are all on the same straight line. The other end of the sleeve transmission component is rotatably connected to one end of the action transmission component. The tweezers transmission component is sleeved on the sleeve transmission component and the action transmission component. The tweezers transmission component and the sleeve transmission component can slide and rotate relative to each other. The side wall of the action transmission component has several through grooves along its own axis. The inner side wall of the tweezers transmission component has several sliding parts that are slidably connected to the through grooves. The sliding parts are fixedly connected to one end of the inner tweezers.

[0009] The actuating actuator can rotate relative to the sleeve actuator about its own axis, but the actuating actuator and the sleeve actuator cannot slide relative to each other along the axis of the outer sleeve. Furthermore, the tweezers actuator and the actuating actuator are slidably connected via a sliding part and a through groove. Therefore, when the actuating actuator is pushed along the axis of the inner sleeve, the sleeve actuator can slide relative to the tweezers actuator. When the actuating actuator rotates about the axis of the inner sleeve, the tweezers actuator rotates with the actuating actuator while the sleeve actuator does not rotate. The tweezers actuator is sleeved outside the sleeve actuator and the actuating actuator; therefore, the tweezers actuator is mounted on the mounting base, and the mounting base at least restricts the tweezers actuator from sliding along its own axis. The tweezers actuator and the mounting base are detachably connected.

[0010] Furthermore, the rotary drive device includes a first stepper motor fixedly connected to the slide, a first synchronous pulley with its inner ring fixedly connected to the output shaft of the stepper motor, a second synchronous pulley with its inner ring sleeved on the motion transmission member, and a first synchronous belt disposed on the first and second synchronous pulleys. The second synchronous pulley is slidably connected to the motion transmission member. The inner ring of the second synchronous pulley and the outer wall of the motion transmission member are provided with a matching second sliding groove and a second protrusion. The second sliding groove is disposed at one end of the motion transmission member and is arranged along the axis of the motion transmission member.

[0011] The rotary drive device described in this solution drives the motion transmission component, causing the inner forceps to rotate around its own axis. The sliding connection between the second synchronous wheel and the motion transmission component facilitates the removal of the inner forceps from the second synchronous wheel, thus enabling quick disassembly between the rotary drive device and the transmission structure, facilitating the disassembly and replacement of the surgical forceps. Furthermore, the second synchronous wheel and the motion transmission component are provided with a second groove and a second protrusion, allowing the rotation of the second synchronous wheel to drive the motion transmission component to rotate synchronously around its own axis.

[0012] Furthermore, the tweezers transmission component includes a rotating inner cylinder and an outer sleeve sleeved on the rotating inner cylinder. The sliding part is provided on the inner side wall of the rotating inner cylinder. The rotating inner cylinder and the outer sleeve are rotatably connected, and the outer sleeve is slidably connected to the sleeve transmission component.

[0013] The mounting base includes a first support on the slide and a first locking cover on the first support. The first support has a first through hole for inserting the outer sleeve. A positioning groove is provided on the outer peripheral side wall of one end of the outer sleeve. A positioning block for inserting into the positioning groove is provided on the inner side of the locking cover.

[0014] The rotating inner cylinder and the outer cylinder are rotatable relative to each other, the rotating inner cylinder and the actuating transmission component are slidable relative to each other, and the outer cylinder and the sleeve transmission component are slidable relative to each other. The mounting base provided in this solution simultaneously restricts the rotation and sliding of the outer cylinder, ensuring a fixed connection between the outer cylinder and the mounting base when the first locking cover is closed, and allowing the outer cylinder to be directly pulled out of the mounting base when the first locking cover is open. When the rotating drive device drives the actuating transmission component to rotate, it causes the rotating inner cylinder and the inner sleeve tweezers to rotate together, while the sleeve transmission component, along with the outer cylinder, is restricted by the mounting base and cannot rotate together. When the first linear drive device drives the actuating transmission component to slide, it causes the sleeve transmission component to slide, while the inner sleeve tweezers and the rotating inner cylinder, along with the outer cylinder, are fixed by the mounting base and cannot slide together.

[0015] Furthermore, the motion transmission component includes a rotating part and a telescopic part. One end of the rotating part is rotatably connected to the sleeve transmission component, and the other end of the rotating part is rotatably connected to the telescopic part. The through groove is provided on the rotating part.

[0016] The rotating part has several L-shaped claws at both ends, and one end of the sleeve transmission component and one end of the telescopic part are both provided with a first annular groove. The L-shaped claws are slidably connected to the first annular groove.

[0017] The tweezers actuator is inserted into the through slot on the motion actuator via a sliding part, allowing the tweezers actuator to rotate together with the motion actuator. In the above solution, the rotary drive device drives the motion actuator to rotate. In this solution, the rotary drive device can drive the tweezers actuator to rotate. Because the motion actuator is divided into a rotating part and a telescopic part that can rotate relative to each other, with the two ends of the rotating part rotatably connected to the sleeve actuator and the telescopic part respectively, only the rotating part rotates when the tweezers actuator rotates, while the sleeve actuator and the telescopic part do not rotate. Thus, the outer sleeve, fixedly connected to the sleeve actuator, will not rotate with the inner tweezers, and the telescopic part will not rotate either, facilitating the connection of the telescopic part to the second linear drive device. The L-shaped claw and the first annular groove designed in this solution allow the rotary actuator to rotate relative to the telescopic part and the sleeve actuator without relative sliding.

[0018] Furthermore, the rotary drive device includes a second stepper motor, a third synchronous pulley whose inner ring is fixedly connected to the output shaft of the stepper motor, a fourth synchronous pulley whose inner ring is sleeved on the sleeve transmission component, and a second synchronous belt disposed on the third and fourth synchronous pulleys. The fourth synchronous pulley is slidably connected to the sleeve transmission component. The inner ring of the fourth synchronous pulley and the outer wall of the sleeve transmission component are provided with a matching third sliding groove and a third protrusion. The second sliding groove is disposed at one end of the motion transmission component and is arranged along the axis of the motion transmission component.

[0019] When the third groove is provided on the sleeve drive component, interference can be avoided when the sleeve drive component is pulled out of the mounting seat. When the third protrusion is provided on the sleeve drive component, the outer diameter of the end of the sleeve drive component with the third protrusion can be reduced, thereby avoiding interference when the sleeve drive component is pulled out of the mounting seat.

[0020] Furthermore, the mounting base includes a second support disposed on the slide and a second locking cover disposed on the second support. The second support is provided with a second through hole for the insertion of the tweezers drive component. The outer peripheral sidewall of the tweezers drive component is provided with a second annular groove. The inner wall of the second locking cover is provided with a first sliding protrusion that slides in the second annular groove.

[0021] The mounting base provided by this solution allows the sleeve drive component to rotate relative to the mounting base around its axis, while preventing the sleeve drive component from sliding relative to the mounting base along its axis. Furthermore, opening the first locking cover engages the locking mechanism, facilitating quick separation of the sleeve drive component from the mounting base, thus enabling rapid disassembly and replacement of the surgical forceps. The first annular groove is located on the forceps drive component rather than on the locking cover to allow the forceps drive component to be smoothly pulled out or inserted into the first through hole, avoiding interference between the first sliding protrusion and the first through hole.

[0022] Furthermore, the inner wall of the tweezers transmission component is provided with a first abutting part, the outer wall of the motion transmission component is provided with a second abutting part, a first return spring is provided between the first abutting part and the second abutting part, and the motion transmission component is separated from the driving end of the second linear drive device.

[0023] In this design, the second linear drive device only needs to push out the motion transmission component. When the motion transmission component needs to retract, the drive end of the second linear drive device simply retracts, and the sleeve transmission component automatically resets under the action of the first return spring. Thus, the drive end of the second linear drive device does not need to be directly connected to the motion transmission component, enabling quick disassembly of the motion transmission component. Simultaneously, when the rotary drive device drives the motion transmission component to rotate the inner sleeve tweezers, the motion transmission component can be pushed out by the drive end of the second linear drive device while rotating around its own axis.

[0024] Furthermore, the second linear drive device includes a third stepper motor, a worm gear fixedly connected to the output end of the third stepper motor, a turbine meshing with the worm gear, a cam rotating synchronously with the turbine, a top block slidably connected to the slide, and a second return spring for resetting the top block pushed out by the cam. One end of the second return spring is fixedly connected to the top block, and the other end of the second return spring is fixedly connected to the slide. The top block is used to push out the motion transmission member.

[0025] The second linear drive device in this scheme utilizes a worm gear structure and a cam to convert the rotational motion output by the third stepper motor into the linear motion of the top block. By designing the cam's curvature, the extension speed of the outer sleeve can be controlled from fast to slow. An angle sensor can be installed at the worm gear to detect the worm gear's rotation angle and calculate the moving distance of the outer sleeve. Since the top block is reset by the second return spring instead of by the reverse rotation of the third stepper motor, this scheme can eliminate reverse rotation errors.

[0026] Furthermore, the second linear drive device includes a linear motor and a locking seat for locking the motion transmission member. The locking seat is slidably connected to the slide, the slide is fixedly connected to the output end of the linear motor, and the motion transmission member is rotatably connected to the locking seat.

[0027] The locking seat includes a third support that is slidably connected to the slide and a third locking cover provided on the third support. The third support is provided with a third through hole for the insertion of the motion transmission member. The outer peripheral side wall of the motion transmission member is provided with a third annular groove. The inner wall of the third locking cover is provided with a second sliding protrusion that slides in the third annular groove. The output end of the linear motor is fixedly connected to the third support.

[0028] This design incorporates a locking seat to lock the sliding of the motion transmission component. The motion transmission component can slide relative to the locking seat around its axis, but it cannot slide relative to the locking seat along its axis. Simultaneously, the motion transmission component allows for quick disassembly from the locking seat. This enables the linear motor's drive end to be fixedly connected to the locking seat, and by driving the locking seat to slide on the slide block, the outer sleeve and inner sleeve tweezers slide relative to each other. The structure of the locking seat is similar to that of the mounting base, and it also serves to facilitate quick disassembly of the motion transmission component.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] (1) The surgical forceps can be moved in a straight line by the first linear motion drive device. At the same time, the outer tube can be moved in a straight line relative to the inner forceps by the second linear motion drive device, thereby realizing the gripping of the object. Furthermore, the inner forceps can be rotated separately by the rotation drive device, making the surgical operation more precise and reducing damage to the surgical target.

[0031] (2) Through the tweezers transmission component, sleeve transmission component and motion transmission component of the transmission structure, the rotary drive device can drive the inner sleeve tweezers to rotate independently, and at the same time the second linear motion drive device can also drive the outer sleeve to move in a straight line independently.

[0032] (3) The mounting base and the forceps transmission components can be quickly disassembled and installed, which facilitates the disassembly and replacement of surgical forceps and the cleaning of surgical forceps.

[0033] (4) The top block pushes out the motion transmission component to hold the item. After the top block moves back, the first reset spring can reset the motion transmission component and release the grip on the item. At the same time, since the motion transmission component and the top block are separated from each other, the motion transmission component and the second linear motion drive device can be quickly disassembled and connected.

[0034] (5) The locking seat can be quickly disassembled and connected to the motion transmission component, while the motion transmission component can rotate relative to the locking seat so as not to affect the rotation drive device driving the motion transmission component to rotate. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the surgical forceps mounted on the mounting base via a transmission structure in Embodiment 1 of the present invention;

[0037] Figure 3 This is a schematic diagram of the overall structure of the transmission structure in Embodiment 1 of the present invention;

[0038] Figure 4 This is a schematic diagram showing the position of the first reset spring in Embodiment 1 of the present invention;

[0039] Figure 5 This is a schematic diagram of the internal structure of the transmission structure in Embodiment 1 of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of the first annular groove and the L-shaped claw in Embodiment 2 of the present invention;

[0041] Figure 7 This is a schematic diagram of the structure of the surgical forceps mounted on the mounting base via a transmission structure, as shown in Embodiment 2 of the present invention.

[0042] The markings in the diagram are explained below:

[0043] 1-Surgical forceps, 11-Inner forceps, 12-Outer forceps, 2-Base, 3-Slide, 4-First linear drive device, 5-Second linear drive device, 51-Third stepper motor, 52-Worm gear, 53-Turbine, 54-Cam, 55-Top block, 56-Second return spring, 6-Rotary drive device, 61-First stepper motor, 62-First synchronous pulley, 63-Second synchronous pulley, 64-First synchronous belt, 65-Second slide groove, 66-Second protrusion, 7-Transmission structure. 71-Tweezers drive component, 711-Sliding part, 712-Rotating inner cylinder, 713-Outer sleeve, 714-First abutting part, 72-Sleeve drive component, 721-First annular groove, 73-Action drive component, 731-Through groove, 732-Second abutting part, 733-L-shaped claw, 74-First return spring, 8-Mounting base, 81-First support, 82-First locking cover, 83-First through hole, 84-Positioning groove, 85-Second support, 86-Second annular groove. Detailed Implementation

[0044] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0045] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0046] Example 1

[0047] like Figures 1 to 5 As shown, a minimally invasive gripping device for a surgical robot includes surgical forceps 1, which includes an inner forceps 11 and an outer tube 12 sleeved outside the inner forceps 11. The minimally invasive gripping device for the surgical robot also includes a base 2, a slide 3 slidably connected to the base 2, a first linear drive device 4 for driving the slide 3 to slide on the base 2, a second linear drive device 5 for driving the outer tube 12 to slide along its own axis, and a rotary drive device 6 for driving the inner forceps 11 to rotate around its own axis. The surgical forceps 1, the second linear drive device 5, and the rotary drive device 6 are provided with a transmission structure 7, and the slide 3 is provided with a mounting seat 8 for mounting the transmission structure 7.

[0048] In this invention, the first linear drive device 4 drives the slide 3 to move along the axis of the sleeve, thereby allowing the inner forceps 11 and the outer sleeve 12 to extend together into the surgical position. The rotary drive device 6 only drives the inner forceps 11 to rotate around its own axis, while the outer sleeve 12 does not rotate with the rotation of the inner forceps 11, thus reducing the movement of the surgical forceps 1 and reducing damage to the eyeball. The second linear drive device 5 is used to drive the outer sleeve 12 to slide relative to the inner forceps 11, thereby achieving the gripping of the object.

[0049] The transmission structure 7 includes a tweezers transmission component 71 fixedly connected to the inner tweezers 11, a sleeve transmission component 72 fixedly connected to the outer sleeve 12 at one end, and an action transmission component 73. The axes of the inner tweezers 11, the outer sleeve 12, the tweezers transmission component 71, the sleeve transmission component 72, and the action transmission component 73 are all on the same straight line. The other end of the sleeve transmission component is rotatably connected to one end of the action transmission component. The tweezers transmission component 71 is sleeved on the sleeve transmission component 72 and the action transmission component 73. The tweezers transmission component 71 and the sleeve transmission component 72 can slide and rotate relative to each other. The side wall of the action transmission component 73 is provided with several through grooves 731 along its own axis. The inner side wall of the tweezers transmission component 71 is provided with several sliding parts 711 that are slidably connected to the through grooves 731. The sliding parts 711 are fixedly connected to one end of the inner tweezers 11.

[0050] The actuating transmission member 73 can rotate relative to the sleeve transmission member 72 about its own axis, but the actuating transmission member 73 and the sleeve transmission member 72 cannot slide relative to each other along the axis of the outer sleeve 12. Furthermore, the tweezers transmission member 71 and the actuating transmission member 73 are slidably connected via a sliding part 711 and a through groove 731. Therefore, when the actuating transmission member 73 is pushed along the axis of the outer sleeve, the sleeve transmission member 72 can slide relative to the tweezers transmission member 71. When the actuating transmission member 73 is rotated about the axis of the outer sleeve, the tweezers transmission member 71 rotates with the actuating transmission member 73, while the sleeve transmission member 72 does not rotate. The tweezers transmission member 71 is sleeved outside the sleeve transmission member and the actuating transmission member 73. Therefore, the tweezers transmission member 71 is mounted on the mounting base 8, and the mounting base 8 at least restricts the tweezers transmission member 71 from sliding along its own axis. The tweezers transmission member 71 is detachably connected to the mounting base 8.

[0051] The rotary drive device 6 includes a first stepper motor 61 fixedly connected to the slide 3, a first synchronous pulley 62 whose inner ring is fixedly connected to the output shaft of the stepper motor, a second synchronous pulley 63 whose inner ring is sleeved on the motion transmission member 73, and a first synchronous belt 64 provided on the first synchronous pulley 62 and the second synchronous pulley 63. The second synchronous pulley 63 is slidably connected to the motion transmission member 73. The inner ring of the second synchronous pulley 63 and the outer wall of the motion transmission member 73 are provided with a matching second sliding groove 65 and a second protrusion 66. The second sliding groove 65 is provided at one end of the motion transmission member 73 and is arranged along the axis of the motion transmission member 73.

[0052] In this design, the rotary drive device 6 causes the inner forceps 11 to rotate around its own axis via the action transmission component 73. The sliding connection between the second synchronous wheel 63 and the action transmission component 73 facilitates the removal of the inner forceps 11 from the second synchronous wheel 63, thus enabling quick disassembly between the transmission structure 7 and the rotary drive device 6, facilitating the removal and replacement of the surgical forceps 1. A second groove 65 and a second protrusion 66 are provided between the second synchronous wheel 63 and the action transmission component 73, allowing the second synchronous wheel 63 to drive the action transmission component 73 to rotate synchronously around its own axis when it rotates. The first stepper motor 61 can be mounted on one side of the base 8; however, in this embodiment, the first stepper motor 61 is fixed to the bottom of the slide 3, which has a through groove for the first synchronous belt 64 to pass through.

[0053] The tweezers drive component 71 includes a rotating inner cylinder 712 and an outer sleeve 713 sleeved on the rotating inner cylinder 712. A sliding part 711 is provided on the inner side wall of the rotating inner cylinder. The rotating inner cylinder 712 and the outer sleeve 713 are rotatably connected, and the outer sleeve 713 is slidably connected to the sleeve drive component 72.

[0054] Mounting base 8 includes a first support 81 disposed on slide 3 and a first locking cover 82 disposed on the first support 81. The first support 81 is provided with a first through hole 83 for inserting outer sleeve 713. A positioning groove 84 is provided on the outer peripheral side wall of one end of the outer sleeve 713. A positioning block for inserting into the positioning groove 84 is provided on the inner side of the locking cover.

[0055] The inner cylinder 712 and the outer cylinder 713 can rotate relative to each other, the inner cylinder 712 and the actuation transmission component 73 can slide relative to each other, and the outer cylinder 713 and the sleeve transmission component can slide relative to each other. The mounting base 8 provided in this solution simultaneously restricts the rotation and sliding of the outer cylinder 713, ensuring a fixed connection between the outer cylinder 713 and the mounting base 8 when the first locking cover 82 is closed, and allowing the outer cylinder 713 to be directly pulled out of the mounting base 8 when the first locking cover 82 is open. When the rotary drive device 6 drives the actuation transmission component 73 to rotate, it causes the inner cylinder 712 and the inner sleeve tweezers 11 to rotate together, while the sleeve transmission component 72, along with the outer cylinder 713, is restricted by the mounting base 8 and cannot rotate together. When the first linear drive device 4 drives the actuation transmission component 73 to slide, it causes the sleeve transmission component to slide, while the inner sleeve tweezers 11 and the inner cylinder 712, along with the outer cylinder 713, are fixed by the mounting base 8 and cannot slide together.

[0056] The inner wall of the tweezers transmission member 71 is provided with a first abutting part 714, and the outer wall of the action transmission member 73 is provided with a second abutting part 732. A first return spring 74 is provided between the first abutting part 714 and the second abutting part 732. The action transmission member 73 is separated from the driving end of the second linear drive device 5.

[0057] In this design, the second linear drive device 5 only needs to push out the motion transmission component 73. When the motion transmission component 73 needs to retract, the drive end of the second linear drive device 5 simply retracts, and the sleeve transmission component 72 will automatically reset under the action of the first return spring 74. Thus, the drive end of the second linear drive device 5 does not need to be directly connected to the motion transmission component 73, enabling quick disassembly of the motion transmission component 73. Simultaneously, when the rotary drive device 6 drives the motion transmission component 73 to rotate the inner sleeve tweezers 11, the motion transmission component 73 can be pushed out by the drive end of the second linear drive device 5 while rotating around its own axis.

[0058] The second linear drive device 5 includes a third stepper motor 51, a worm gear 52 fixedly connected to the output end of the third stepper motor 51, a turbine gear 53 meshing with the worm gear 52, a cam 54 rotating synchronously with the turbine gear 53, a top block 55 slidably connected to the slide block 3, and a second return spring 56 for resetting the top block 55 pushed out by the cam 54. One end of the second return spring 56 is fixedly connected to the top block 55, and the other end of the second return spring 56 is fixedly connected to the slide block 3. The top block 55 is used to push out the motion transmission member 73.

[0059] The second linear drive device 5 in this scheme utilizes the cooperation of the worm gear 52 and the cam 54 to convert the rotational motion output by the third stepper motor 51 into the linear motion of the top block 55. By designing the curvature of the cam 54, the extension speed of the outer sleeve 12 can be controlled from fast to slow. An angle sensor can be set at the worm gear 53 to detect the rotation angle of the worm gear 53 and thus calculate the moving distance of the outer sleeve 12. Since the top block 55 is reset by the second return spring 56 instead of by the reverse rotation of the third stepper motor 51, this scheme can eliminate the reverse rotation error.

[0060] Example 2

[0061] This embodiment is similar to Embodiment 1, except that the rotation drive device 6 in this embodiment does not drive the action transmission component 73 to rotate, but drives the tweezer transmission component 71 to rotate.

[0062] like Figure 6 and Figure 7 As shown, in this embodiment, the motion transmission member 73 includes a rotating part and a telescopic part. One end of the rotating part is rotatably connected to the sleeve transmission member 72, and the other end of the rotating part is rotatably connected to the telescopic part. A through groove 731 is provided on the rotating part.

[0063] The rotating part has several L-shaped claws 733 at both ends. One end of the sleeve transmission component 72 and one end of the telescopic part are both provided with a first annular groove 721. The L-shaped claws 733 are slidably connected to the first annular groove 721.

[0064] The tweezers actuator 71 is inserted into the through slot 731 on the motion actuator 73 via the sliding part 711, so that the tweezers actuator 71 and the motion actuator 73 rotate together. In Embodiment 1, the rotary drive device 6 drives the motion actuator 73 to rotate, while in this embodiment, the rotary drive device 6 can drive the tweezers actuator 71 to rotate. Since the motion actuator 73 is divided into a rotating part and a telescopic part that can rotate relative to each other, and the two ends of the rotating part are respectively rotatably connected to the sleeve actuator 72 and the telescopic part, when the tweezers actuator 71 rotates, only the rotating part rotates, while the sleeve actuator 72 and the telescopic part do not rotate. In this way, the outer sleeve 12, which is fixedly connected to the sleeve actuator 72, will not rotate with the inner tweezers 11, and the telescopic part will not rotate either, which facilitates the connection of the telescopic part to the second linear drive device 5. The L-shaped claw 733 and the first annular groove 721 designed in this scheme can realize the rotation of the relative telescopic part and the sleeve actuator 72 without relative sliding.

[0065] The rotary drive device 6 includes a second stepper motor, a third synchronous pulley whose inner ring is fixedly connected to the output shaft of the stepper motor, a fourth synchronous pulley whose inner ring is sleeved on the sleeve drive component 72, and a second synchronous belt provided on the third and fourth synchronous pulleys. The fourth synchronous pulley is slidably connected to the sleeve drive component 72. The inner ring of the fourth synchronous pulley and the outer wall of the sleeve drive component 72 are provided with a matching third sliding groove and a third protrusion. The second sliding groove 65 is provided at one end of the motion transmission component 73 and is arranged along the axis of the motion transmission component 73.

[0066] When the third groove is provided on the sleeve drive component 72, interference can be avoided when the sleeve drive component 72 is pulled out from the mounting base 8. When the third protrusion is provided on the sleeve drive component 72, the outer diameter of the end of the sleeve drive component 72 with the third protrusion can be reduced, thereby avoiding interference when the sleeve drive component 72 is pulled out from the mounting base 8.

[0067] Mounting base 8 includes a second support 85 disposed on slide 3 and a second locking cover disposed on the second support 85. The second support 85 is provided with a second through hole for inserting tweezers drive member 71. The outer peripheral side wall of tweezers drive member 71 is provided with a second annular groove 86. The inner wall of the second locking cover is provided with a first sliding protrusion that slides in the second annular groove 86.

[0068] The mounting base 8 provided in this solution allows the sleeve drive component 72 to rotate relative to the mounting base 8 around its axis, while preventing the sleeve drive component 72 from sliding relative to the mounting base 8 along its axis. Simultaneously, opening the first locking cover 82 engages the locking mechanism, facilitating quick separation of the sleeve drive component 72 from the mounting base 8, thus enabling rapid disassembly and replacement of the surgical forceps 1. The first annular groove 721 is located on the forceps drive component 71 rather than on the locking cover to allow the forceps drive component 71 to be smoothly pulled out or inserted into the first through hole 83, avoiding interference between the first sliding protrusion and the first through hole 83.

[0069] Example 3

[0070] This embodiment is similar to embodiment 1 or 2, except that in this embodiment, the driving end of the second linear drive device 5 is not separated from the motion transmission member 73, but is connected to the motion transmission member 73 through a locking seat.

[0071] In this embodiment, the second linear drive device 5 includes a linear motor and a locking seat for locking the action transmission member. The locking seat is slidably connected to the slide 3, the slide 3 is fixedly connected to the output end of the linear motor, and the action transmission member 73 is rotatably connected to the locking seat.

[0072] The locking seat includes a third support that is slidably connected to the slide 3 and a third locking cover on the third support. The third support has a third through hole for the insertion of the motion transmission member 73. The outer peripheral side wall of the motion transmission member 73 has a third annular groove. The inner wall of the third locking cover has a second sliding protrusion that slides in the third annular groove. The output end of the linear motor is fixedly connected to the third support.

[0073] This design incorporates a locking seat to lock the sliding of the motion transmission component 73. The motion transmission component 73 can slide relative to the locking seat around its axis, but it cannot slide relative to the locking seat along its axis. Simultaneously, the motion transmission component 73 can be quickly detached from the locking seat. This allows the drive end of the linear motor to be fixedly connected to the locking seat. By driving the locking seat to slide on the slide block 3, the outer sleeve 12 and the inner sleeve tweezers 11 can slide relative to each other. The structure of the locking seat is similar to that of the mounting base 8 in Embodiment 2, and it also serves to quickly detach the motion transmission component 73.

[0074] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A minimally invasive gripping device for a surgical robot, comprising surgical forceps (1), wherein the surgical forceps (1) includes an inner forceps (11) and an outer tube (12) sleeved outside the inner forceps (11), characterized in that, It also includes a base (2), a slide (3) slidably connected to the base (2), a first linear drive device (4) for driving the slide (3) to slide on the base (2), a second linear drive device (5) for driving the outer tube (12) to slide along its own axis, and a rotary drive device (6) for driving the inner forceps (11) to rotate around its own axis. The surgical forceps (1) is provided with a transmission structure (7) with the second linear drive device (5) and the rotary drive device (6). The slide (3) is provided with a mounting seat (8) for mounting the transmission structure (7). The transmission structure (7) includes a tweezers transmission component (71) fixedly connected to the inner tweezers (11), a sleeve transmission component (72) fixedly connected at one end to the outer sleeve (12), and an action transmission component (73). The axes of the inner tweezers (11), the outer sleeve (12), the tweezers transmission component (71), the sleeve transmission component (72), and the action transmission component (73) are all on the same straight line. The other end of the sleeve transmission component (72) is rotatably connected to one end of the action transmission component (73). The component (71) is sleeved on the sleeve drive component (72) and the action drive component (73). The tweezer drive component (71) and the sleeve drive component (72) can slide and rotate relative to each other. The side wall of the action drive component (73) is provided with several through grooves (731) along its own axis. The inner side wall of the tweezer drive component (71) is provided with several sliding parts (711) that are slidably connected to the through grooves (731). The sliding parts (711) are fixedly connected to one end of the inner sleeve tweezers (11).

2. The minimally invasive pick-and-place device of claim 1, wherein, The rotary drive device (6) includes a first stepper motor (61) fixedly connected to the slide (3), a first synchronous pulley (62) whose inner ring is fixedly connected to the output shaft of the first stepper motor, a second synchronous pulley (63) whose inner ring is sleeved on the motion transmission member (73), and a first synchronous belt (64) provided on the first synchronous pulley (62) and the second synchronous pulley (63). The second synchronous pulley (63) is slidably connected to the motion transmission member (73). The inner ring of the second synchronous pulley (63) and the outer side wall of the motion transmission member (73) are provided with a matching second sliding groove (65) and a second protrusion (66). The second sliding groove (65) is provided at one end of the motion transmission member (73) and is arranged along the axis of the motion transmission member (73).

3. The minimally invasive pick-and-place device of claim 2, wherein, The tweezers transmission component (71) includes a rotating inner cylinder (712) and an outer sleeve (713) sleeved on the rotating inner cylinder (712). The sliding part (711) is provided on the inner side wall of the rotating inner cylinder (712). The rotating inner cylinder (712) and the outer sleeve (713) are rotatably connected. The outer sleeve (713) is slidably connected to the sleeve transmission component (72). The mounting base (8) includes a first support (81) disposed on the slide (3) and a first locking cover (82) disposed on the first support (81). The first support (81) is provided with a first through hole (83) for inserting the outer sleeve (713). A positioning groove (84) is provided on the outer peripheral sidewall of one end of the outer sleeve (713). A positioning block for inserting into the positioning groove (84) is provided on the inner side of the first locking cover (82).

4. The minimally invasive pick-and-place device of claim 1, wherein, The motion transmission component (73) includes a rotating part and a telescopic part. One end of the rotating part is rotatably connected to the sleeve transmission component (72), and the other end of the rotating part is rotatably connected to the telescopic part. The through groove (731) is provided on the rotating part. The rotating part has several L-shaped claws (733) at both ends. One end of the sleeve transmission component (72) and one end of the telescopic part are provided with a first annular groove (721). The L-shaped claws (733) are slidably connected to the first annular groove (721).

5. The minimally invasive pick-and-place device of claim 4, wherein, The mounting base (8) includes a second support (85) provided on the slide (3) and a second locking cover provided on the second support (85). The second support (85) is provided with a second through hole for the insertion of the tweezers drive member (71). The outer peripheral side wall of the tweezers drive member (71) is provided with a second annular groove (86). The inner wall of the second locking cover is provided with a first sliding protrusion that slides in the second annular groove (86).

6. The minimally invasive pick-and-place device of any one of claims 1 to 5, wherein, The inner wall of the tweezers transmission member (71) is provided with a first abutting part (714), and the outer wall of the action transmission member (73) is provided with a second abutting part (732). A first return spring (74) is provided between the first abutting part (714) and the second abutting part (732). The action transmission member (73) is separated from the driving end of the second linear drive device (5).

7. The minimally invasive pick-and-place device of claim 6, wherein, The second linear drive device (5) includes a third stepper motor (51), a worm gear (52) fixedly connected to the output end of the third stepper motor (51), a turbine gear (53) meshing with the worm gear (52), a cam (54) rotating synchronously with the turbine gear (53), a top block (55) slidably connected to the slide (3), and a second return spring (56) for resetting the top block (55) pushed out by the cam (54). One end of the second return spring (56) is fixedly connected to the top block (55), and the other end of the second return spring (56) is fixedly connected to the slide (3). The top block (55) is used to push out the motion transmission member (73).

8. The minimally invasive gripping device for the surgical robot according to claim 1 or 4, characterized in that, The second linear drive device (5) includes a linear motor and a locking seat for locking the motion transmission member (73). The locking seat is slidably connected to the slide (3). The slide (3) is fixedly connected to the output end of the linear motor. The motion transmission member (73) is rotatably connected to the locking seat. The locking seat includes a third support that is slidably connected to the slide (3) and a third locking cover provided on the third support. The third support is provided with a third through hole for the motion transmission member (73) to be inserted. The outer peripheral sidewall of the motion transmission member (73) is provided with a third annular groove. The inner wall of the third locking cover is provided with a second sliding protrusion that slides in the third annular groove. The output end of the linear motor is fixedly connected to the third support.

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