An execution device for rotating a surgical needle and a surgical robot thereof

Abstract

The application relates to an execution device for rotating a surgical needle, comprising a mounting plate, a first linear driving device, a clamping seat and an adapter assembly; the adapter assembly comprises a connecting part connected with the first linear driving device and a first guide and a second guide both connected with the connecting part; the clamping seat comprises a seat body, a reset assembly and a first clamping plate and a second clamping plate in sliding connection with the seat body and parallel to each other, one end of the first clamping plate abuts against the first guide, and one end of the second clamping plate abuts against the second guide. Only one first linear device is needed to simultaneously make the first clamping plate and the second clamping plate symmetrically slide in opposite directions, so that a surgical element clamped between the first clamping plate and the second clamping plate only has a rotating torque, perfect realization of the effect that the surgical element rotates along the axial direction and the axial line remains unmoved, that is, the effect of truly simulating the human hand to rotate and twist the surgical element.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically, to an actuator for rotating a surgical needle and a surgical robot thereof. Background Technology

[0002] As surgical robot technology matures, its use in interventional and surgical procedures is increasing. One approach involves controlling the reciprocating rotation of surgical components, such as needles, injection needles, catheters, or guidewires. While rotation in mechanical engineering typically uses motors, directly driving these components with motors in interventional or surgical procedures results in excessive rigidity, posing a risk of injury. Furthermore, the constant reciprocating rotation required by conventional motors is insufficient for timely directional changes, making the direct motor-driven rotation of surgical components far less effective than the manual manipulation of a surgeon's fingers.

[0003] Existing technologies disclose a finger module, a delivery device, and an interventional surgical robot. The finger module includes a main mounting plate, a horizontal opening and closing mechanism, and a vertical twisting mechanism. The main mounting plate has a first guide rail extending horizontally; the horizontal opening and closing mechanism includes a central moving block and two side moving block assemblies; when the central moving block slides vertically back and forth, the two side moving block assemblies move towards or away from each other on the first guide rail; there are two vertical twisting mechanisms, each fixedly connected to one of the two side moving block assemblies in the horizontal direction, to clamp or release instruments under the action of the side moving block assemblies; in the vertical direction, the vertical twisting mechanisms can move up and down relative to the side moving blocks to twist instruments. The finger module of this application simultaneously achieves instrument clamping and twisting, conforms to bionic principles, and has high twisting accuracy.

[0004] In the aforementioned technical solution, applied to interventional surgery, the catheter is placed between two vertical twisting mechanisms and clamped by a lateral moving block. The two vertical twisting mechanisms move independently to twist the catheter. This can be either two mechanisms moving simultaneously in different directions, or one mechanism moving independently. Since the two vertical twisting mechanisms require two linear motors to drive them, and mechanical components lack the tactile feedback of a human hand, it is crucial to ensure that the driving speeds of the two motors are perfectly synchronized at all times. This is difficult to achieve in practice, resulting in poor simulation of the twisting effect on surgical components. Furthermore, if only one vertical twisting mechanism moves while the other remains stationary, the moving mechanism will inevitably exert radial thrust / tension on the medical component, applying additional unrelated loads that may cause deformation, increased wear, or even fatigue damage. Summary of the Invention

[0005] To overcome the problem of lack of motion information feedback from the operator in the prior art, the present invention provides an actuator for rotating surgical needles, which can perform clamping, rotating, and pushing / pulling operations and obtain accurate motion information.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an execution device for rotating surgical needles, comprising a mounting plate, a first linear drive device and a clamping seat both mounted on the mounting plate, and a converter assembly connected to the output end of the first linear drive device; the converter assembly includes a connecting part connected to the first linear drive device and a first guide and a second guide both connected to the connecting part, the first guide and the second guide having the same structure but opposite installation directions; the clamping seat includes a base body, a reset assembly, and a first clamping plate and a second clamping plate slidably connected to the base body and parallel to each other, with a gap between the first clamping plate and the second clamping plate for clamping surgical elements; one end of the first clamping plate abuts against the first guide, and one end of the second clamping plate abuts against the second guide; the reset assembly is used to keep the first clamping plate in abutting against the first guide and to keep the second clamping plate in abutting against the second guide.

[0007] In the above technical solution, the first linear drive device simultaneously drives the first guide and the second guide to move. The opposite installation directions of the first and second guides mean that their installation phases differ by 180 degrees during assembly. If the first and second guides are cams, then during installation, the shortest point of one cam abuts against the first clamping plate, and the longest point of the other cam abuts against the second clamping plate. Therefore, when both move simultaneously, the first and second clamping plates move in opposite directions. Alternatively, if the first and second guides abut against each other via inclined surfaces—that is, the first guide has a first guide inclined surface abutting against the first clamping plate, and the second guide has a second guide inclined surface abutting against the second clamping plate—after the installation directions of the first and second guides are opposite, the inclination directions of the first and second guide inclined surfaces are opposite. When the lower end of the first guide inclined surface abuts against the first clamping plate, the higher end of the second guide inclined surface abuts against the second clamping plate. Other similar structures can also be used for the first and second guides. During the movement of the first and second guides, the reset assembly keeps the first and second clamps in contact with the first and second guides. The reciprocating motion of the first and second guides pushes the first and second clamps to slide in opposite directions on the seat, causing the surgical element between the first and second clamps to rotate as they slide, simulating a twisting effect on the surgical element. Because the first and second clamps move symmetrically in opposite directions, the resultant force exerted by the first and second clamps on the surgical needle has a zero radial component, resulting in only rotational torque. Ultimately, this perfectly achieves the effect of the surgical needle rotating along its axial direction while its axis remains stationary.

[0008] Preferably, the first clamping plate is provided with a first rotating part that abuts against the first guide and is rotatably connected to the first clamping plate; the second clamping plate is provided with a second rotating part that abuts against the second guide and is rotatably connected to the second clamping plate. The first rotating part and the second rotating part can be structures such as rollers, bearings, or universal balls, which can reduce the frictional resistance of movement by rolling.

[0009] Preferably, the base is provided with three sets of clamping shafts distributed vertically. The clamping shafts are rotatably connected to the base, and the first clamping plate and the second clamping plate are respectively located between adjacent clamping shafts and abut against them. Each set of clamping shafts can have at least two shafts located on both sides of the base, ensuring stability and horizontality at both ends of the first and second clamping plates. The clamping shafts can rotate relative to the base, fixing the first and second clamping plates without affecting their movement. When it is necessary to install or remove surgical components, simply move the first or second clamping plate to its extreme position to release it, or remove the clamping shaft to release the first clamping plate.

[0010] Preferably, the three sets of clamping shafts are vertically divided into an upper clamping shaft, a middle clamping shaft, and a lower clamping shaft; locking assemblies for clamping the upper clamping shaft and / or the lower clamping shaft are installed on the base. One locking assembly can be provided, restricting only the upper or lower clamping shaft, or two can be provided, restricting both the upper and lower clamping shafts. The locking assemblies allow the upper and / or lower clamping shafts to move in the direction of the middle clamping shaft, thereby clamping the first and second clamping plates. When it is necessary to insert or remove surgical components, the locking assemblies release the restriction on the upper and / or lower clamping shafts, allowing them to float up and down over the first and / or second clamping plates. The advantage of having two locking assemblies compared to one is that the floating distance of the first and second clamping plates is shorter, facilitating the installation and removal of surgical components.

[0011] Preferably, the inner diameter of the through hole on the seat for accommodating the upper and lower clamping shafts is larger than the outer diameter of the upper and lower clamping shafts, respectively. The locking assembly includes a pressure rod mounted on the seat, a sleeve fitted on the clamping shaft, a fixing block slidably connected to the pressure rod, an abutting rod connected to the fixing block and abutting against the sleeve, and a third elastic element fitted on the pressure rod. One end of the third elastic element abuts against the fixing block, and the other end abuts against the pressure rod. The third elastic element pushes the fixing block to move towards the clamping shaft. The sleeve is fitted on the clamping shaft, and the clamping shaft can rotate relative to the sleeve. Under the elastic force of the third elastic element, the fixing block is pushed to move towards the clamping shaft, so that the abutting rod presses against the sleeve, thus fixing the position of the clamping shaft. When it is necessary to install or remove the surgical element, the fixing block is pushed to compress the third elastic element, so that the abutting rod is no longer pressing against the sleeve, and the clamping shaft can float up and down within the through hole. The sleeve can be an integral part of the abutment rod, such as a bearing with its outer ring fixedly connected to the abutment rod, or it can be a separate structure.

[0012] Preferably, the adapter assembly further includes a movable frame connected to the connecting part, the movable frame being provided with a pushing part for abutting against the fixed block and pushing the fixed block to move away from the clamping shaft. The first linear device may have two strokes, namely an initial state and a moving state, wherein the stroke length in the initial state is longer than that in the moving state. In the initial state, the pushing part on the movable frame abuts against the fixed block and pushes the fixed block to compress the third elastic element, and the surgical element can be inserted. Then, it changes from the initial state to the moving state. In the moving state, the pushing part never contacts the fixed block. After use, by controlling the first linear device to return to the initial state, the connecting part can drive the pushing block to push the fixed block again, thereby automatically disengaging the fixation of the surgical element and making it easier to install and remove the surgical element.

[0013] Preferably, the reset assembly includes a first elastic element, a second elastic element, and a first fixing post and a second fixing post, both mounted on the base. One end of the first elastic element is connected to the first fixing post, and the other end is connected to the first clamping plate. One end of the second elastic element is connected to the second fixing post, and the other end is connected to the second clamping plate. The first elastic element and the second elastic element respectively pull the first clamping plate and the second clamping plate to maintain contact with the first guide and the second guide, wherein the elastic force direction of the first elastic element and the second elastic element is consistent with the movement direction of the first clamping plate and the second clamping plate, so that the first clamping plate and the first guide, as well as the second clamping plate and the second guide, maintain tight contact.

[0014] A surgical robot for rotating a surgical needle includes a second linear drive device, the aforementioned actuator for rotating the surgical needle, and a surgical element mounted between a first clamping plate and a second clamping plate; the output end of the second linear drive device is fixedly connected to the mounting plate, and the fixed end of the second linear drive device is slidably connected to the mounting plate; the first clamping plate and the second clamping plate are provided with protruding planar portions for abutting against the surgical element, and the surgical element is provided with an annular groove that engages with the protruding planar portions.

[0015] In the above technical solution, the second linear drive device is used in conjunction with components such as a robotic arm to drive the entire mounting plate in a linear motion, thereby allowing the actuator to move towards the working area. After the annular groove of the surgical element engages with the raised flat portion, the annular groove is restricted by the raised flat portion and cannot move in its axial direction, allowing it to move only around its axis, thus making the movement of the surgical element more accurate.

[0016] Preferably, the mounting plate is provided with a support portion for supporting the surgical element. The surgical element can rotate relative to the support portion, and the support portion can provide a certain supporting force to the end of the surgical element away from the base, allowing it to better withstand external forces.

[0017] Compared with existing technologies, the advantages of this invention are: Only a single first linear device is needed to simultaneously allow the first and second clamps to slide symmetrically horizontally in opposite directions, ensuring that the surgical element clamped between them only experiences rotational torque. This perfectly achieves the effect of the surgical element rotating along its axial direction while maintaining its axis stationary, effectively simulating the effect of a human hand twisting the surgical element. This prevents the surgical element from deforming, experiencing increased wear, or even fatigue damage due to additional rigid loads. Furthermore, the elimination of multiple drive devices results in a simpler and lighter overall structure, making it more suitable for medical applications. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an actuator for rotating a surgical needle according to the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the first guide member, the second guide member, the first clamping plate, and the second clamping plate of the present invention.

[0020] Figure 3 This is a schematic diagram of another state of the actuator for rotating a surgical needle according to the present invention;

[0021] Figure 4 yes Figure 1 A magnified view of point A;

[0022] Figure 5 yes Figure 3 A magnified view of point B;

[0023] Figure 6 This is a structural schematic diagram of the locking assembly of the present invention in its working state;

[0024] Figure 7 This is a schematic diagram of the structure of a surgical robot for rotating surgical needles according to the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of the raised flat part and the annular groove. Detailed Implementation

[0026] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, 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. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0027] 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," "long," and "short" 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.

[0028] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0029] Example 1

[0030] like Figures 1-4 The illustration shows an embodiment of an actuator for rotating a surgical needle, comprising a mounting plate 1, a first linear drive device 2 mounted on the mounting plate 1, a clamping seat, and an adapter assembly connected to the output end of the first linear drive device 2. The adapter assembly includes a connecting portion 3 connected to the first linear drive device 2 and a first guide 4 and a second guide 5 both connected to the connecting portion 3. The first guide 4 and the second guide 5 have identical structures but opposite installation directions. The clamping seat includes a base 6, a reset assembly 7, and a first clamping plate 8 and a second clamping plate 9 slidably connected to the base 6 and parallel to each other. A gap is left between the first clamping plate 8 and the second clamping plate 9 for clamping a surgical element 16. One end of the first clamping plate 8 abuts against the first guide 4, and one end of the second clamping plate 9 abuts against the second guide 5. The reset assembly is used to keep the first clamping plate 8 in contact with the first guide and to keep the second clamping plate 9 in contact with the second guide 5. The first linear drive device 2 is a linear motor, and the housing of the linear motor is provided with a slide rail. The connecting portion 3 is connected to a sliding block of the slide rail.

[0031] In this embodiment, the first guide member 4 is provided with a first guide slope 401 that abuts against the first clamping plate 8, and the second guide member 5 is provided with a second guide slope 501 that abuts against the second clamping plate 9. After the first guide member 4 and the second guide member 5 are installed in opposite directions, the inclination directions of the first guide slope 401 and the second guide slope 501 are opposite. When the lower end of the first guide slope 401 abuts against the first clamping plate 8, the higher end of the second guide slope 501 abuts against the second clamping plate 9.

[0032] Specifically, the first clamping plate 8 is provided with a first rotating part 801 that abuts against the first guide member 4 and is rotatably connected to the first clamping plate 8; the second clamping plate 9 is provided with a second rotating part 901 that abuts against the second guide member 5 and is rotatably connected to the second clamping plate 9. In this embodiment, the first rotating part 801 and the second rotating part 901 are rollers. The first clamping plate 8 rolls along the first guide inclined surface 401 via the first rotating part 801. This reduces the frictional resistance of the movement. The second clamping plate 9 operates on the same principle.

[0033] Furthermore, the base 6 is provided with three sets of clamping shafts distributed vertically. The clamping shafts are rotatably connected to the base 6, and the first clamping plate 8 and the second clamping plate 9 are located between adjacent clamping shafts and abut against them. Each set of clamping shafts can have at least two shafts located on both sides of the base 6, stabilizing the ends of the first clamping plate 8 and the second clamping plate 9 and ensuring they remain horizontal. The clamping shafts can rotate relative to the base 6, fixing the first clamping plate 8 and the second clamping plate 9 without affecting their movement. When it is necessary to install or remove the surgical component 16, it is only necessary to move the first clamping plate 8 or the second clamping plate 9 to its extreme position and then remove it, or the clamping shaft can be removed to allow the first clamping plate 8 to come off.

[0034] The working principle or workflow of the present invention is as follows: The first linear drive device 2 simultaneously drives the first guide 4 and the second guide 5 to move. The opposite installation directions of the first guide 4 and the second guide 5 mean that after the installation directions of the first guide 4 and the second guide 5 are opposite, the inclination directions of the first guide slope 401 and the second guide slope 501 are opposite. When the lower end of the first guide slope 401 abuts against the first clamping plate 8, the higher end of the second guide slope 501 abuts against the second clamping plate 9. When the first guide 4 and the second guide 5 move, the reset assembly keeps the first rotating part 801 in contact with the first guide ramp 401 and reciprocates on the first guide ramp 401 as the connecting part 3 moves forward or backward. This allows the first clamp 8 to perform reciprocating linear motion. Based on the same principle, the second clamp 9 can also perform reciprocating linear motion. However, due to the inclination direction of the first guide ramp 401 and the second guide ramp 501, the reciprocating motion of the first guide 4 and the second guide 5 can push the first clamp 8 and the second clamp 9 to slide in opposite directions on the seat 6. This causes the surgical element 16 between the first clamp 8 and the second clamp 9 to rotate as the first clamp 8 and the second clamp 9 slide, simulating the twisting effect on the surgical element 16. Since the first clamp 8 and the second clamp 9 move symmetrically in opposite directions, the resultant force exerted by the first clamp 8 and the second clamp 9 on the surgical needle has a radial component of 0, only a rotational torque. Ultimately, this achieves the perfect effect of rotating the surgical needle along its axis while keeping the axis stationary.

[0035] Additionally, the reset assembly 7 includes a first elastic element 701, a second elastic element 702, and a first fixing post 703 and a second fixing post 704, both mounted on the base 6. One end of the first elastic element 701 is connected to the first fixing post 703, and the other end is connected to the first clamping plate 8. One end of the second elastic element 702 is connected to the second fixing post 704, and the other end is connected to the second clamping plate 9. The first elastic element 701 and the second elastic element 702 respectively pull the first clamping plate 8 and the second clamping plate 9 to maintain contact with the first guide 4 and the second guide 5. The elastic force direction of the first elastic element 701 and the second elastic element 702 is consistent with the movement direction of the first clamping plate 8 and the second clamping plate 9, ensuring a tight contact between the first clamping plate 8 and the first guide 4, as well as the second clamping plate 9 and the second guide 5. In this embodiment, both the first elastic element 701 and the second elastic element 702 are tension springs.

[0036] The beneficial effects of this embodiment are as follows: Only a single first linear device is needed to simultaneously allow the first clamping plate 8 and the second clamping plate 9 to slide symmetrically horizontally in opposite directions. This ensures that the surgical element 16, clamped between the two, only experiences rotational torque, perfectly achieving the effect of the surgical element 16 rotating along its axial direction while maintaining its axis stationary. This effectively simulates the effect of a human hand twisting the surgical element 16, preventing the surgical element 16 from deforming, experiencing increased wear, or even fatigue damage due to additional rigid loads. Furthermore, the absence of multiple drive devices results in a simpler and lighter overall structure, making it more suitable for medical applications.

[0037] Example 2

[0038] Embodiment 2 of an actuator for rotating a surgical needle differs from Embodiment 1 in that, as Figure 1-5 As shown, the base and adapter assembly are further defined.

[0039] Specifically, the three sets of clamping shafts are vertically divided into an upper clamping shaft 10, a middle clamping shaft 11, and a lower clamping shaft 12. A first clamping plate 8 is located between the upper clamping shaft 10 and the middle clamping shaft 11, and a second clamping plate 9 is located between the middle clamping shaft 11 and the lower clamping shaft 12. Locking components 13 for clamping the upper clamping shaft 10 and / or the lower clamping shaft 12 are installed on the base 6. One locking component 13 can be provided, restricting only the upper clamping shaft 10 or the lower clamping shaft 12; alternatively, two components can be provided, installed at the top and bottom of the base 6 respectively, restricting both the upper clamping shaft 10 and the lower clamping shaft 12. In this embodiment, as shown... Figure 6As shown, there are two locking components 13, each including a pressure rod 1301 mounted on the base 6. In this embodiment, the pressure rod 1301 is a screw mounted on the top and bottom of the base 6, a sleeve 1302 fitted on the clamping shaft, a fixing block 1303 slidably connected to the pressure rod 1301, an abutment rod 1305 connected to the fixing block 1303 and abutting against the sleeve 1302, and a third elastic element 1304 fitted on the pressure rod 1301, specifically a spring. One end of the third elastic element 1304 abuts against the fixing block 1303, and the other end abuts against the pressure rod 1301. The third elastic element 1304 pushes the fixing block 1303 to move towards the clamping shaft. In this embodiment, there are two abutment rods 1305 located on both sides of the fixing block 1303, and there are also two sleeves 1302. The abutment rods 1305 apply pressure to both ends of the clamping shaft, making the force on the clamping shaft more even.

[0040] In this embodiment, each group has two clamping shafts, with the locking assembly 13 clamping the upper clamping shaft 10 and the lower clamping shaft 12 located near the first connecting part 3.

[0041] The locking assembly 13 moves the upper clamping shaft 10 and the lower clamping shaft 12 towards the middle clamping shaft 11, thereby clamping the first clamping plate 8 and the second clamping plate 9. When it is necessary to insert or remove the surgical element 16, the locking assembly 13 releases the restriction on the upper clamping shaft 10 and the lower clamping shaft 12. Since the inner diameter of the through holes on the base for accommodating the upper clamping shaft 10 and the lower clamping shaft 12 is larger than the outer diameter of the upper clamping shaft 10 and the lower clamping shaft 12, the upper clamping shaft 10 and the lower clamping shaft 12 can float up and down, and the first clamping plate 8 and the second clamping plate 9 can also float up and down. The advantage of having two locking assemblies 13 compared to one is that the floating distance of the first clamping plate 8 and the second clamping plate 9 is shorter, which also enables the installation and removal of the surgical element 16.

[0042] To enable the surgical element 16 to automatically disengage, the adapter assembly also includes a movable frame 14 connected to the connecting part 3. The movable frame 14 is provided with a pushing part 1401 for abutting against the fixing block 1303 and pushing the fixing block 1303 away from the clamping axis. The first linear device may have two strokes, respectively as follows: Figure 3 The initial state shown (the initial state is when the first linear drive device is not started or the output distance is short) and as shown in the figure Figure 1The motion states shown are as follows: the stroke length in the initial state is longer than that in the motion state. In the initial state, the pusher 1401 on the moving frame 14 abuts against the fixed block 1303 and pushes the fixed block 1303 to compress the third elastic member 1304, so that the surgical element 16 can be inserted. Then, the motion state is changed from the initial state to the motion state. In the motion state, the pusher 1401 will never contact the fixed block 1303. After use, the first linear device is controlled to return to the initial state, and the connecting part 3 drives the pusher to push the fixed block 1303 again.

[0043] The beneficial effects of this embodiment are as follows: The locking assembly 13 presses the upper clamping shaft 10 and the lower clamping shaft 12, providing flexible clamping for the first clamping plate 8 and the second clamping plate 9. Compared with the prior art, it has the following technical advantages: 1. The clamping force can be adjusted by replacing springs with different stiffness coefficients, and the clamping process is buffered, minimizing impact on the fragile surgical component 16; 2. Spring clamping is used, and automatic clamping can be achieved simply by pushing open the pulley that lifts the clamping spring. The entire clamping device is entirely mechanical, resulting in lower cost and greater reliability, without the need for additional sensors to monitor the clamping process.

[0044] The remaining features and working principles of this embodiment are the same as those of Embodiment 1.

[0045] Example 3

[0046] like Figure 7 and 8 The illustration shows an embodiment of a surgical robot for rotating a surgical needle, including a second linear drive device 15, an actuator for rotating the surgical needle according to embodiment 1 or 2, and a surgical element 16 mounted between a first clamping plate 8 and a second clamping plate 9. In this embodiment, the surgical element 16 is a surgical needle. The output end of the second linear drive device 15 is fixedly connected to the mounting plate 1, and the fixed end of the limiting drive device is slidably connected to the mounting plate 1. The first clamping plate 8 and the second clamping plate 9 are provided with protruding flat portions 17 for abutting against the surgical element 16, and the surgical element 16 is provided with an annular groove 1601 that engages with the protruding flat portions 17.

[0047] Specifically, the mounting plate 1 is provided with a support portion 18 for supporting the surgical element 16. The surgical element 16 can rotate relative to the support portion 18, and the support portion 18 can provide a certain supporting force to the end of the surgical element 16 away from the seat 6, allowing it to better withstand external forces. In this embodiment, in order to achieve a better supporting effect...

[0048] The working principle of this embodiment is as follows: The second linear drive device 15 is also a linear motor, used to cooperate with mechanical components such as robotic arms, and can drive the entire mounting plate 1 to move linearly, thereby allowing the actuator to move towards the working area. After the annular groove 1601 of the surgical element 16 engages with the raised plane portion 17, the annular groove 1601 is restricted by the raised plane portion 17 and cannot move in its axial direction, so that it can only move around its axis, making the movement of the surgical element 16 more accurate.

[0049] The remaining features and working principles of this embodiment are the same as those of Embodiment 1 or Embodiment 2.

[0050] 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. An actuator for rotating a surgical needle, characterized in that, The system includes a mounting plate (1), a first linear drive device (2) mounted on the mounting plate (1), a clamping seat, and an adapter assembly connected to the output end of the first linear drive device (2). The adapter assembly includes a connecting part (3) connected to the first linear drive device (2) and a first guide (4) and a second guide (5) both connected to the connecting part (3). The first guide (4) and the second guide (5) have the same structure but opposite installation directions. The clamping seat includes a base (6), a reset assembly (7), and a clamping seat connected to the base. (6) A first clamp (8) and a second clamp (9) are slidably connected and parallel to each other, with a gap between the first clamp (8) and the second clamp (9) for clamping the surgical element (16); one end of the first clamp (8) abuts against the first guide (4), and one end of the second clamp (9) abuts against the second guide (5); the reset assembly (7) is used to keep the first clamp (8) abutting against the first guide and to keep the second clamp (9) abutting against the second guide (5); The first guide (4) is provided with a first guide slope (401) that abuts against the first clamping plate (8), and the second guide (5) is provided with a second guide slope (501) that abuts against the second clamping plate (9). After the first guide (4) and the second guide (5) are installed in opposite directions, the inclination directions of the first guide slope (401) and the second guide slope (501) are opposite.

2. The actuator for rotating a surgical needle according to claim 1, characterized in that, The first clamping plate (8) is provided with a first rotating part (801) that abuts against the first guide (4) and is rotatably connected to the first clamping plate (8); the second clamping plate (9) is provided with a second rotating part (901) that abuts against the second guide (5) and is rotatably connected to the second clamping plate (9).

3. The actuator for rotating a surgical needle according to claim 1, characterized in that, The seat (6) is provided with three sets of clamping shafts distributed in the vertical direction. The clamping shafts are rotatably connected to the seat (6). The first clamping plate (8) and the second clamping plate (9) are located between adjacent clamping shafts and abut against the clamping shafts.

4. The actuator for rotating a surgical needle according to claim 3, characterized in that, The three sets of clamping shafts are divided into an upper clamping shaft (10), a middle clamping shaft (11), and a lower clamping shaft (12) in the vertical direction; a locking assembly (13) for clamping the upper clamping shaft (10) and the lower clamping shaft (12) is installed on the seat (6).

5. An actuator for rotating a surgical needle according to claim 4, characterized in that, The inner diameter of the through holes on the seat (6) for accommodating the upper clamping shaft (10) and the lower clamping shaft (12) is larger than the outer diameter of the upper clamping shaft (10) and the lower clamping shaft (12), respectively. The locking assembly (13) includes a pressure rod (1301) mounted on the seat (6), a sleeve (1302) fitted on the clamping shaft, a fixing block (1303) slidably connected to the pressure rod (1301), an abutting rod (1305) connected to the fixing block (1303) and abutting against the sleeve (1302), and a third elastic element (1304) fitted on the pressure rod (1301). One end of the third elastic element (1304) abuts against the fixing block (1303), and the other end abuts against the pressure rod (1301). The third elastic element (1304) pushes the fixing block (1303) to move in the direction of the clamping shaft.

6. An actuator for rotating a surgical needle according to claim 5, characterized in that, The adapter assembly also includes a movable frame (14) connected to the connecting part (3), and the movable frame (14) is provided with a pushing part (1401) for abutting against the fixed block (1303) and pushing the fixed block (1303) to move away from the pressing shaft.

7. An actuator for rotating a surgical needle according to any one of claims 1-6, characterized in that, The reset assembly (7) includes a first elastic element (701), a second elastic element (702), and a first fixing post (703) and a second fixing post (704) both mounted on the base (6); one end of the first elastic element (701) is connected to the first fixing post (703), and the other end is connected to the first clamping plate (8); one end of the second elastic element (702) is connected to the second fixing post (704), and the other end is connected to the second clamping plate (9).

8. A surgical robot for rotating a surgical needle, characterized in that, The device includes a second linear drive (15), an actuator for rotating a surgical needle as described in any of claims 1-7, and a surgical element (16) mounted between the first clamp (8) and the second clamp (9); the output end of the second linear drive (15) is fixedly connected to the mounting plate (1), and the fixed end of the second linear drive (15) is slidably connected to the mounting plate (1); the first clamp (8) and the second clamp (9) are provided with a protruding flat portion (17) for abutting against the surgical element (16), and the surgical element (16) is provided with an annular groove (1601) that engages with the protruding flat portion (17).

9. A surgical robot for rotating a surgical needle according to claim 8, characterized in that, The mounting plate (1) is provided with a support portion (18) for supporting the surgical element (16).

Images