Mortise type rack slider, main hand opening and closing clamp and minimally invasive surgery robot

Abstract

The application discloses a mortise and tenon type rack slider, a main hand opening and closing clamp and a minimally invasive surgery robot. The mortise and tenon type rack slider comprises a slider main body part which is arranged on a guide rail and used for coupling a main hand opening and closing clamp operating part, and a slider embedding part which is embedded with the slider main body part and used for transmission. In the application, the mortise and tenon type rack slider, the main hand opening and closing clamp and the minimally invasive surgery robot are used. The embedding type arrangement of the slider embedding part and the slider main body part can greatly reduce the machining difficulty of the rack part on the slider embedding part. The mortise and tenon type rack slider is only composed of the slider embedding part, the slider main body part and a limiting part. Through the limitation of the embedding direction of the slider embedding part and the guide rail hole combination mode, the guide rail can be directly used as the limiting part, so that the structure of the mortise and tenon type rack slider is further simplified, and the manufacturing cost is reduced and the working stability is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a tenon-and-mortise rack and pinion slider, a master hand opening and closing clamp, and a minimally invasive surgical robot. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device on the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. Based on the surgeon's input at the console, the remotely operated surgical instruments are actuated at the patient-side trolley to perform surgery on the patient, thus establishing a master-slave control relationship between the surgeon's console and the surgical instruments on the patient-side trolley. Therefore, the structure and performance of the input device (i.e., the master hand) on the surgeon's console play a crucial role in the performance of the entire robotic system. The master hand's opening and closing gripper is a vital component, directly held and operated by the surgeon with both hands, used to control the opening, closing, and rotational movements of the surgical instruments at the slave end.

[0004] (1) Chinese patent application CN112638306A discloses a control input device (i.e., master hand) with a control switch position sensing across a rotary joint. In this scheme, a motor and a winch mechanism are used to achieve opening and closing assistance. The winch mechanism includes a linear carriage and a winch drum. The winch drum is rigidly connected to the rotating shaft of the actuator and connected to the linear carriage through a cable. The cable is wound around the winch drum multiple times and connected to both ends of the carriage respectively.

[0005] (2) Chinese patent application CN107928795A discloses a main hand control clamp for a medical surgical robot. In this solution, opening and closing assistance is achieved through two racks and a middle active gear. The limiting sliding mechanism is set at both ends of the base. Two pressing handles are installed on both sides of the base. The two ends of the two pressing handles are respectively hinged to the limiting sliding mechanism. The rotary potentiometer is installed in the limiting groove of the base. The rotary potentiometer is rotatably connected to the gear and rack transmission mechanism.

[0006] (3) Chinese patent application CN112168359A discloses a master hand gripping control device, a master manipulator, and a minimally invasive surgical robot. In this solution, opening and closing assistance is achieved through a threaded gripping shaft, a gripping nut, and a gripping gear set, using the principle of a lead screw and nut. The gripping rotating part includes a gripping shaft, which is rotatably mounted on a base and is connected to a gripping motor. The gripping shaft has a threaded section, and the gripping linear part includes a gripping nut, which is sleeved on the threaded section of the gripping shaft. When the gripping nut moves along the axial direction of the gripping shaft, it drives the gripping shaft to rotate, and when the gripping shaft rotates, it drives the gripping nut to move along the axial direction of the gripping shaft.

[0007] However, the aforementioned prior art has at least the following drawbacks:

[0008] 1. The sliding structure of patent (1) is complex, the cable assembly is difficult, and the length and angle of the cable on both sides of the winch drum will change during the sliding process, resulting in the transmission of assistance not being constant. In addition, the cable (generally steel wire rope) needs to be pre-tightened, and it will loosen after long-term use, affecting the transmission effect.

[0009] 2. The double rack and double slider of patent (2) has a complex structure, high manufacturing cost, and is difficult to assemble, with low tolerance for assembly errors.

[0010] 3. The lead screw nut of patent (3) has a complex structure and high manufacturing cost. Summary of the Invention

[0011] To address the shortcomings of existing technologies, this invention provides a simple, easy-to-manufacture, and highly reliable tenon-and-tooth rack slider, master hand opening and closing clamp, and minimally invasive surgical robot.

[0012] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0013] This application provides a tenon-and-mortise type rack and pinion slider, comprising:

[0014] The sliding body is used to couple the operating part;

[0015] The slider embedding part is engaged with the slider body part;

[0016] Guide rail holes are used for mounting guide rails;

[0017] A rack portion is disposed on the side of the slider embedding portion facing the slider body portion, and the rack portion is arranged in a direction parallel to the axial direction of the guide rail hole.

[0018] Further specifying, in the aforementioned tenon-and-mortise type rack and pinion slider, there are two guide rail holes, one of which is located on the main body of the slider, and the other guide rail hole is composed of two parts respectively located on the main body of the slider and the slider embedding part.

[0019] Further defining the above-mentioned tenon-and-mortise type rack and pinion slider, wherein the insertion direction of the slider embedding part and the slider body part is perpendicular to the length direction of the guide hole, the guide hole has a circular cross-section, and at least one part of the guide hole formed by the combination extends beyond the limiting plane on the slider embedding part.

[0020] The limiting plane is the plane formed by the combined guide rail hole axis and is perpendicular to the insertion direction of the sliding insert.

[0021] Further defining the above-mentioned tenon-and-mortise type rack and pinion slider, it further includes a limiting part for restricting the degree of freedom of the slider embedding part in the embedding direction. The limiting part is specifically the guide rail disposed in the guide rail hole formed by the slider body part and the slider embedding part.

[0022] Further defining the above-mentioned tenon-and-mortise type rack and pinion slider, wherein the guide rail hole is composed of two bearing mounting holes at both ends and a guide rail through hole located between the two bearing mounting holes, the bearing mounting holes are used to install oilless bearings that are slidably connected to the guide rail, and the guide rail through hole is clearance-fitted with the guide rail.

[0023] Further specifying, in the aforementioned tenon-and-mortise type rack and pinion slider, the inner wall of one end of the guide rail through hole near the corresponding position of the bearing mounting hole is provided with a blocking step for limiting the oilless bearing.

[0024] Further specifying, the aforementioned tenon-and-mortise type rack and pinion slider also includes a limiting part for restricting the degree of freedom of the sliding member in the embedding direction, the limiting part being specifically an oilless bearing disposed in the bearing mounting hole.

[0025] Further specifying, the aforementioned tenon-and-mortise type rack and pinion slider also includes:

[0026] An encoder mounting hole is provided on the main body of the sliding member for mounting the encoder.

[0027] This application also provides a master hand opening and closing clamp, including the tenon and pinion type rack and slider of any of the above, and also including the operating part, the guide rail, the driving part, and the housing;

[0028] The guide rail is disposed inside the housing, the tenon-and-mortise rack and pinion slider is slidably disposed on the guide rail and coupled with the operating part, and the driving part is used to form a gear and rack meshing structure with the rack part and drive the sliding body part to slide on the guide rail.

[0029] This application also provides a minimally invasive surgical robot, including the aforementioned main hand opening and closing clamp, and a doctor's console, the doctor's console including a base, a multi-degree-of-freedom articulated arm, and the main hand opening and closing clamp connected to the end of the multi-degree-of-freedom articulated arm.

[0030] This invention has at least the following beneficial effects:

[0031] 1. By embedding the sliding member into the sliding member body, the machining difficulty of the rack part located on the sliding member embedding part can be greatly reduced, thereby reducing the production cost;

[0032] 2. This tenon-and-mortise type rack and pinion slider consists of only three parts: the sliding part insertion part, the sliding part body part, and the limiting part. It has a simple structure, is easy to process, and has strong working stability.

[0033] 3. One of the guide rail holes is composed of a slider insertion part and a slider body part. By limiting the insertion direction of the slider insertion part and the slider body part and the combination method of the guide rail hole, the guide rail can be directly used as a limiting part, thereby further simplifying the structure of the tenon and mortise type rack and pinion slider. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the mortise and tenon rack and pinion slider part in an embodiment of this application;

[0035] Figure 2 This is an exploded view of the mortise and tenon rack and pinion slider part in an embodiment of this application;

[0036] Figure 3 This is a structural schematic diagram of the "sliding body 200" of the tenon-and-mortise type rack and pinion slider according to an embodiment of this application;

[0037] Figure 4 This is a structural schematic diagram of the "sliding body 200" of the tenon-and-mortise type rack and pinion slider according to an embodiment of this application;

[0038] Figure 5 This is a structural schematic diagram of the "sliding element embedding part 100" of the tenon-and-mortise type rack and pinion slider according to an embodiment of this application;

[0039] Figure 6 This is a structural schematic diagram of the "sliding element embedding part 100" of the tenon-and-mortise type rack and pinion slider according to an embodiment of this application;

[0040] Figure 7This is a partial cross-sectional view of the main hand opening and closing clamp according to an embodiment of this application;

[0041] Figure 8 This is a schematic diagram of the "sliding device" part of the main hand opening and closing clamp in an embodiment of this application;

[0042] Figure 9 This is an exploded view of the "sliding device" part of the main hand opening and closing clamp in an embodiment of this application.

[0043] Figure Labels

[0044] Sliding component insert-100, upper half-110, lower half-120, connecting part-130, rack part-140, sliding component main body-200, linkage rod through hole-210, encoder mounting hole-220, support bearing-230, bearing sleeve-240, oilless bearing-300, second guide rail hole-400, first bearing mounting half hole-410, second bearing mounting half hole-420, first guide rail hole-50 0. Bearing mounting hole - 510, Drive unit - 600, Drive spur gear - 610, Motor mounting plate - 620, Drive motor - 630, Blocking step - 700, Guide rail through hole - 710, Embedded groove - 800, Housing - 910, Grip unit - 920, Operating unit - 930, Linkage rod - 931, Guide rail - 932, Slide rail mounting plate - 933, Pressure plate - 934, Encoder - 940, Bracket - 950. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0046] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0047] The server provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0048] like Figures 1 to 9 As shown, this application embodiment provides a tenon-and-mortise type rack and pinion slider, including a sliding body 200 slidably disposed on a guide rail 932 and used for coupling the main hand opening and closing clamp operation part 930, and a sliding insert part 100 engaged with the sliding body 200 and used for transmission. When the sliding body 200 and the sliding insert part 100 are engaged, the degree of freedom of the sliding insert part 100 in the non-insertion direction is restricted by the sliding body 200. A limiting part is provided between the sliding body 200 and the sliding insert part 100 to limit the degree of freedom of the sliding insert part 100 in the insertion direction. The limiting part can specifically be a pin or screw inserted between the sliding insert part 100 and the sliding body 200, or other connecting member that can limit the degree of freedom of the sliding insert part 100 in the insertion direction.

[0049] In this embodiment, the mortise and tenon rack and pinion slider described above consists of only three parts: the slider insertion part 100, the slider body part 200, and the limiting part. It has a simple structure, is easy to process, and has strong working stability.

[0050] In a preferred embodiment, the upper half 110 of the slider body is a rotary disc with a linkage rod through hole 210 in the middle. The front part of the disc is a semi-circular cylinder with an encoder mounting hole 220 inside for mounting an encoder 940 to identify and record the rotation direction and angle of the linkage rod 931. The lower half 120 is a rectangular base with an embedding groove 800 on the side for cooperating with the slider embedding part 100.

[0051] In a preferred embodiment, the sliding body base is provided with a first guide hole 500 on the side away from the embedding groove 800, and the sliding body is provided with a second guide hole 400 on the side close to the embedding groove 800 and combined with the sliding part 100. The first guide hole 500 and the second guide hole 400 are used to install the guide rail 932, thereby realizing the sliding of the tenon and pinion rack slider on the guide rail 932.

[0052] In a preferred embodiment, the insertion direction of the sliding member embedding part 100 and the embedding groove 800 is perpendicular to the length direction of the guide rail 932. The cross-sections of the first guide rail hole 500 and the second guide rail hole 400 are circular. At least a portion of the second guide rail hole 400 formed by the combination extends beyond the limiting plane on the sliding member embedding part 100. The limiting plane is a plane that passes through the axis of the first guide rail hole 500 and is perpendicular to the insertion direction of the sliding member. In this case, the limiting part is specifically the guide rail 932 provided in the second guide rail hole 400.

[0053] In this embodiment, the above-mentioned tenon-and-mortise type rack and pinion slider is used. Since at least a portion of the second guide hole 400 on the slider insertion part 100 extends beyond the limiting plane, and the limiting plane passes through the axis of the first guide hole 500 and is perpendicular to the insertion direction of the slider insertion part, when the guide rail 932 is installed in the second guide hole 400, the sliding of the slider insertion part 100 along the insertion direction will be restricted by the guide rail 932 in the second guide hole 400, thereby realizing the constraint of the degree of freedom of the slider insertion part 100 along the insertion direction.

[0054] In a preferred embodiment, the first guide rail hole 500 and the second guide rail hole 400 are composed of two bearing mounting holes 510 at both ends and a guide rail through hole 710 located between the two bearing mounting holes 510. The diameter of the guide rail through hole 710 is slightly larger than that of the slide rail to avoid friction. The bearing mounting hole 510 is used to install the oilless bearing 300, and at least one of its radii is slightly smaller than that of the oilless bushing to form an interference fit. The guide rail 932 passes through the oilless bearing 300 to improve the accuracy and stability of sliding. The inner wall of the bearing mounting hole 510 near the corresponding guide rail through hole 710 is provided with a blocking step 700 for limiting the oilless bearing 300. In this case, the limiting part is specifically the oilless bearing 300 provided in the bearing mounting hole 510. Of course, the oilless bearing 300 can also be fixed in the bearing mounting hole 510 by other external fasteners. For example, a pressure plate 934 can be bolted on the sliding body 200 at the corresponding position of the oilless bearing 300. The pressure plate 934 can not only fix the oilless bearing 300, but also allow the wire to pass through the gap between it and the sliding body 200, thus serving as a positioning wire.

[0055] In this embodiment, the aforementioned tenon-and-mortise rack and pinion slider is used. The oilless bearing 300 serves both to allow the slide rail to pass through and to contact the slide rail during sliding, and also to act as a limiting part. After the slider insertion part 100 is inserted into the slider body part 200, it still has a degree of freedom in the insertion direction, so it needs to be restricted. In other cases where the slide rail is not needed, ordinary pins or screws can be used to fix the two. Of course, if the accuracy requirement is not high and a certain amount of sliding friction can be accepted, pins can be omitted, and the slide rail itself can act as a pin. The oilless bearing 300 is used to reduce sliding friction and improve accuracy.

[0056] In a preferred embodiment, the sliding member insert 100 is generally H-shaped, including an upper half 110, a lower half 120, and a connecting part 130 disposed between the upper half 110 and the lower half 120. The insert groove 800 is T-shaped to match the shape of the sliding member insert 100. The bottom walls at both ends of the insert groove 800 are provided with first bearing mounting half holes 410. Correspondingly, the upper half 110 is provided with a second shaft that mates with the first bearing mounting half holes 410 to form bearing mounting holes 510. The mounting half-hole 420 is provided, and the corresponding guide rail through hole 710 is provided through the connecting part 130. The lower half 120 is provided with a rack part 140 arranged along the length direction of the second guide rail hole 400. The rack part 140 is provided on the end face of the lower half 120 near the first guide rail hole 500. The teeth can be processed by a general rack processing method such as wire cutting. Of course, the rack part 140 can also be provided on the side of the lower half 120. Its setting position depends on the structure of the drive part 600 that cooperates with it.

[0057] In a preferred embodiment, the I-shaped structure of the slider insert 100 and the T-shaped structure of the insert groove 800 are to make the connection between the two more secure. In other application scenarios, the slider insert 100 can also adopt other shapes, such as the slider insert 100 being an inverted T-shape and the corresponding insert groove 800 being an I-shape, or the slider insert 100 being a triangle and the corresponding insert groove 800 being a triangle.

[0058] In this embodiment, the mortise and tenon type rack and pinion slider described above is used. In general tooth processing methods, sufficient space is required on the outer side of the tooth for the processing equipment to operate. However, in the scenario of linear sliding drive, the opening and closing clamp requires its structural size to be as small as possible. Therefore, the slide rail or rack of the slider is usually on the inner side of the structural body, which causes the structural body to block the processing equipment and make it inconvenient to process the rack. By the embedded cooperation between the slider body 200 and the slider embedding part 100, the tooth of the slider embedding part 100 can be processed separately and then assembled with the slider body 200 to form a sliding component, which greatly reduces the processing difficulty of the tooth.

[0059] Of course, the main purpose of this structure is to facilitate the machining of the rack portion 140 and reduce the number of parts and simplify the structure. This solution can be applied when there are situations where the teeth of the rack portion 140 are located inside the part structure, which is not conducive to machining, i.e. when the part structure itself blocks the path of wire cutting or milling machine. When the teeth of the rack portion 140 are located in other positions and will not have an adverse effect on the tooth profile machining, the sliding member insert portion 100 can also be designed to be integrally formed with the sliding member body portion 200, but this will inevitably increase the overall machining difficulty of the sliding member. This solution, as a preferred solution, can also facilitate maintenance and replacement when the tooth profile of the rack portion 140 is damaged.

[0060] like Figures 7 to 9 As shown, this application provides a master hand opening and closing clamp, including an operation part 930, a sliding device, a drive part 600, a housing 910, and a gripping part 920, wherein the sliding device adopts any of the above-mentioned tenon and mortise type rack and pinion sliders.

[0061] In a preferred embodiment, a bracket 950 is fixedly provided inside the housing 910, and the drive unit 600 includes a motor mounting plate 620 fixedly mounted on the bracket 950. A drive motor 630 is bolted to the bottom of the motor mounting plate 620, and a drive spur gear 610 located on the side of the motor mounting plate 620 away from the drive motor 630 is poweredly connected to the end of the drive motor 630 near the motor mounting plate 620.

[0062] In a preferred embodiment, the sliding device includes a slide rail mounting plate 933 bolted to the inner wall of the housing 910. Two guide rails 932 are bolted to the slide rail mounting plate 933. A tenon-and-pinion slider is slidably mounted on the guide rails 932 via an oilless bearing 300. The rack portion 140 is meshed with a drive spur gear 610. Driven by the drive motor 630, the tenon-and-pinion slider will slide along the slide rail, thereby providing assistance for the opening and closing of the operating part 930. The encoder 940 is bolted to the sliding body portion 200 via the encoder mounting hole 220.

[0063] In a preferred embodiment, the grip 920 and the operation 930 are located on the side of the housing 910 away from the slide rail mounting plate 933. The grip 920 is fixedly connected to the housing 910. The power input end of the operation 930 is provided with a linkage rod 931. A bearing sleeve 240 is embedded in the linkage rod through hole 210. A support bearing 230 is provided in the bearing sleeve 240. The linkage rod 931 passes through the support bearing 230 and can drive the support bearing 230 to rotate. That is, the sliding body 200 and the linkage rod 931 are relatively fixed in the axial direction. In the circumferential direction, the linkage rod 931 can rotate relative to the sliding body 200 to realize the power input of the operation 930.

[0064] In this embodiment, the above-mentioned master opening and closing clamp is used. The sliding of the tenon-and-mortise rack and pinion slider on the guide rail 932 drives the linkage rod 931 to provide assistance for the opening and closing of the operation part 930. The cooperation between the rack part 140 and the drive spur gear 610 can improve the sliding stability of the tenon-and-mortise rack and pinion slider.

[0065] This application provides a minimally invasive surgical robot, including the aforementioned main hand opening and closing clamp, and also includes a doctor's console. The doctor's console includes a base, a multi-degree-of-freedom articulated arm, and a main hand opening and closing clamp connected to the end of the multi-degree-of-freedom articulated arm.

[0066] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0067] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A tenon-and-mortise type rack and pinion slider, characterized in that, include: The sliding body is used to couple the operating part; The slider embedding part is engaged with the slider body part; Guide rail holes are used for mounting guide rails; A rack portion is disposed on the side of the slider embedding portion facing the slider body portion, and the rack portion is arranged in a direction parallel to the axial direction of the guide rail hole; The guide rail hole is provided in two parts. One of the guide rail holes is provided on the main body of the slider, and the other guide rail hole is composed of two parts respectively provided on the main body of the slider and the slider embedding part. The insertion direction of the slider embedding part and the slider body part is perpendicular to the length direction of the guide hole. The guide hole has a circular cross-section. At least one part of the combined guide hole on the slider embedding part extends beyond the limiting plane. Wherein, the limiting plane is a plane that passes through the axis of the guide rail hole formed by the combination and is perpendicular to the embedding direction of the sliding member embedding part; It also includes a limiting part for restricting the degree of freedom of the slider embedding part in the embedding direction, the limiting part being specifically a guide rail disposed in the guide rail hole formed by the combination of the slider body and the slider embedding part.

2. The tenon-and-mortise type rack and pinion slider according to claim 1, characterized in that, The guide rail hole consists of two bearing mounting holes at both ends and a guide rail through hole located between the two bearing mounting holes. The bearing mounting holes are used to install oilless bearings that are slidably connected to the guide rail, and the guide rail through hole is clearance-fitted with the guide rail.

3. The tenon-and-mortise type rack and pinion slider according to claim 2, characterized in that, The bearing mounting hole is provided with a blocking step on one end of the guide rail through hole near the corresponding position, which is used to limit the oilless bearing.

4. The tenon-and-mortise type rack and pinion slider according to claim 2 or 3, characterized in that, It also includes a limiting part for restricting the degree of freedom of the sliding member in the embedding direction, specifically an oilless bearing disposed in the bearing mounting hole.

5. The tenon-and-mortise type rack and pinion slider according to claim 1, characterized in that, Also includes: An encoder mounting hole is provided on the main body of the slider for mounting the encoder.

6. A master-operated opening and closing clamp, characterized in that, The mortise and tenon rack slider according to any one of claims 1 to 5 further includes the operating part, the guide rail, the driving part, and the housing; The guide rail is disposed inside the housing, the tenon-and-mortise rack and pinion slider is slidably disposed on the guide rail and coupled with the operating part, and the driving part is used to form a gear and rack meshing structure with the rack part and drive the sliding body part to slide on the guide rail.

7. A surgical robot, characterized in that, The device includes the main hand opening and closing clamp as described in claim 6, and also includes a doctor's console, the doctor's console including a base, a multi-degree-of-freedom articulated arm, and the main hand opening and closing clamp connected to the end of the multi-degree-of-freedom articulated arm.

Images