Instrument holding device, surgical robot, and control method for instrument holding device

Abstract

The application discloses a holding device, a surgical robot and a control method of the holding device, and belongs to the technical field of medical instruments. The device comprises a sleeve and a connecting rod slidingly arranged in the sleeve. One end of the connecting rod extending out of the sleeve is provided with a first clamping part. The sleeve is provided with a second clamping part. The holding device comprises a first clamping module and a second clamping module. The first clamping module comprises a first driving unit and two first clamping jaw assemblies, and the two first clamping jaw assemblies are used for clamping the first clamping part. The second clamping module is arranged along a first direction with the first clamping module. The second clamping module comprises a second driving unit and two second clamping jaw assemblies. The second driving unit drives the two second clamping jaw assemblies to open and close. The second clamping jaw assemblies are used for clamping the second clamping part. The application realizes automatic replacement of the device, improves the efficiency, and avoids accidental factors affecting the installation accuracy of the device.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a device holding apparatus, a surgical robot, and a control method for the device holding apparatus. Background Technology

[0002] Surgical robots consist of surgical arms and surgical instruments mounted on those arms. The surgical arms manipulate the instruments to assist in surgery. Currently, surgical robots are mainly divided into two categories. The first type has interchangeable surgical instruments mounted on the surgical arms, requiring the surgeon to manually change instruments during the operation. Its advantage is its simple structure, but it has low surgical efficiency. The instrument changing operation largely depends on the surgeon's experience, making it difficult to guarantee the reliability of the connection between the changed surgical instrument and the surgical arm. In demanding procedures such as minimally invasive surgery, even minor deviations can affect the surgical outcome or even lead to surgical failure. The second type has multiple surgical arms, each equipped with an end effector and surgical instruments. These multiple arms manipulate different surgical instruments to perform the surgery, avoiding the need to change instruments during the operation. However, its disadvantages include high cost, large space requirements, and limited applicability.

[0003] Therefore, there is an urgent need for a device for holding surgical instruments, a surgical robot, and a control method for the device for holding surgical instruments to solve the aforementioned problems. Summary of the Invention

[0004] The purpose of this invention is to provide a device holding an instrument, a surgical robot, and a control method for the device holding an instrument, so as to realize automated instrument replacement, improve efficiency, and avoid the influence of accidental factors on the installation accuracy of the instrument.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] In a first aspect, a device for holding a weapon is provided. The weapon includes a sleeve and a connecting rod slidably passing through the sleeve. One end of the connecting rod extending out of the sleeve is provided with a first clamping portion, and the sleeve is provided with a second clamping portion. The device for holding the weapon includes:

[0007] The first clamping module includes a first driving unit, a stop, a mounting base, a transmission bracket, an elastic element, and two first gripper assemblies. The stop is used to stop the mounting base. The transmission bracket is connected to the output end of the first driving unit. The middle portions of the two first gripper assemblies are rotatably connected to the mounting base and connected by the elastic element. One end of each of the two first gripper assemblies is used to clamp the first clamping part, and the other end abuts against the transmission bracket. When the mounting base is not abutting against the stop, the first driving unit drives the mounting base and the two first gripper assemblies to move along a first direction through the transmission bracket. When the mounting base abuts against the stop, the first driving unit moves along the first direction through the transmission bracket and drives the two first gripper assemblies to rotate around the mounting base.

[0008] The second clamping module is disposed along the first direction with the first clamping module. The second clamping module includes a second driving unit and two second gripper assemblies. The second driving unit drives the two second gripper assemblies to open and close. The second gripper assemblies are used to clamp the second clamping part.

[0009] In some possible implementations, the first drive unit includes a motor, a lead screw, and a lead screw nut, wherein the lead screw is connected to the output shaft of the motor, the lead screw nut is sleeved on the lead screw, and the transmission bracket is disposed on the lead screw nut;

[0010] The second drive unit includes a cylinder gripper, and two second gripper assemblies are respectively connected to the two output ends of the cylinder gripper.

[0011] In some possible implementations, the first clamping part has guide surfaces at both ends, a limiting groove is formed between the two first gripper assemblies, the first clamping part can be limited in the limiting groove, and the first gripper assembly has a guide groove on the side facing the second clamping module, the guide groove and the limiting groove are connected.

[0012] In some possible implementations, the first gripper assembly includes a movable bracket and a gripper body. One end of the movable bracket is connected to the gripper body, the middle part is rotatably connected to the mounting base, and the other end abuts against the transmission bracket. The gripper body is used to grip the first gripping part.

[0013] In some possible implementations, the connecting rod extends to the other end of the sleeve and has a working component; the first clamping module includes a sensor disposed on the first gripper assembly for monitoring the working component; the second clamping module includes a sensor disposed on the second gripper assembly for monitoring the sleeve.

[0014] In a second aspect, a surgical robot is provided, comprising a robot body, instruments, and a holding device as described above. The holding device is disposed on the robot body. The instruments include a cannula and a connecting rod slidably passing through the cannula. The cannula is provided with a second clamping portion. The connecting rod extends out of the cannula and is provided with a first clamping portion. The second clamping module of the holding device is used to clamp the second clamping portion, and the first clamping module of the holding device is used to clamp the first clamping portion.

[0015] Thirdly, a control method for the aforementioned weapon-holding device is provided, comprising:

[0016] Clamping and placing instruments stage:

[0017] When the mounting base abuts against the stop block, the first drive unit drives the transmission bracket to move forward in the first direction. The transmission bracket pushes against the two first gripper assemblies in the first direction. The two first gripper assemblies overcome the elastic force of the elastic element and rotate around the mounting base to open.

[0018] When the mounting base abuts against the stop block, the first drive unit drives the transmission bracket to move in the opposite direction along the first direction. The transmission bracket pushes against the two first gripper assemblies in the opposite direction along the first direction. Under the elastic force of the elastic element, the two first gripper assemblies rotate around the mounting base to close.

[0019] The second drive unit drives the two second gripper assemblies to open;

[0020] The second drive unit drives the two second gripper assemblies to close.

[0021] In some possible implementations, the connecting rod extends to the other end of the sleeve and has a working component. The first clamping module includes a sensor disposed on the first gripper assembly, and the sensor monitors the force on the working component. The second clamping module includes a sensor disposed on the second gripper assembly, and the sensor monitors the direction of the sleeve.

[0022] Instrument operation stage:

[0023] The first drive unit drives the transmission bracket to move the mounting base on the side of the stop block away from the second clamping module. The transmission bracket drives the mounting base and the two first gripper assemblies to move along the first direction. The first drive unit adjusts the connecting rod according to the force feedback signal from the sensor. The second drive unit monitors the sleeve according to the direction feedback signal from the sensor.

[0024] In some possible implementations,

[0025] Clamping device stage: The first drive unit drives the transmission bracket to move between the first starting point, the first intermediate point and the ending point, and the mounting base abuts against the stop when the transmission bracket is at the first intermediate point;

[0026] Instrument placement stage: The first drive unit drives the transmission bracket to move between the second starting point, the second intermediate point and the ending point, and the mounting base abuts against the stop block when the transmission bracket is at the second intermediate point;

[0027] When the transmission bracket is at the termination point, the first gripper assembly opens, the distance between the first starting point and the termination point is greater than or equal to the distance between the second starting point and the termination point, and the distance between the first intermediate point and the termination point is greater than or equal to the distance between the second intermediate point and the termination point.

[0028] In some possible implementations, the first clamping part has guide surfaces at both ends, a limiting groove is formed between the two first gripper assemblies, the first clamping part can be limited in the limiting groove, the first gripper assembly has a guide groove on the side facing the second clamping module, the guide groove and the limiting groove are connected, the connecting rod slides within a preset range of the sleeve, the first driving unit drives the transmission bracket to move between the first starting point, the first intermediate point and the ending point, and the mounting seat abuts against the stop block when the transmission bracket is at the first intermediate point; the first driving unit drives the transmission bracket to move between the second starting point, the second intermediate point and the ending point, and the mounting seat abuts against the stop block when the transmission bracket is at the second intermediate point;

[0029] Clamping device stage:

[0030] After the second gripper assembly clamps the second gripping part...

[0031] The first drive unit drives the transmission bracket to move forward and backward along the first direction from a certain position within the stroke between the first starting point and the first intermediate point, and the first gripper assembly clamps the first clamping part.

[0032] Instrument placement stage:

[0033] The first drive unit drives the transmission bracket to move forward along the first direction from a certain position within the stroke between the second starting point and the second intermediate point; after the first gripper assembly separates from the first clamping part...

[0034] The second gripper assembly separates from the second gripping part.

[0035] The beneficial effects of this invention are:

[0036] This invention provides an instrument-holding device, a surgical robot, and a control method for the instrument-holding device. During instrument replacement, the cooperation of a first drive unit and a second drive unit enables the first and second gripper assemblies to clamp the instrument, solving the problem of reduced efficiency and installation accuracy caused by manual instrument replacement. Automated instrument replacement improves replacement efficiency and installation accuracy, thereby enhancing surgical efficiency and outcomes. The first and second gripping modules operate collaboratively to achieve automated instrument clamping and movement, resulting in a simple and reliable structure. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the device provided in a specific embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of a holding device clamping an instrument according to a specific embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of a gripping device without a shell provided in a specific embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of a weapon-holding device without a shell provided in a specific embodiment of the present invention;

[0041] Figure 5 yes Figure 4 Enlarged view of point A.

[0042] In the picture:

[0043] 100. Instrument; 101. Connecting rod; 1011. First clamping part; 1012. Guide surface; 102. Sleeve; 1021. Second clamping part; 103. Working part;

[0044] 1. First clamping module; 11. First drive unit; 111. Motor; 112. Lead screw; 113. Lead screw nut; 12. Stop block; 13. Mounting base; 14. Transmission bracket; 15. Elastic element; 16. First gripper assembly; 161. Movable bracket; 1611. U-shaped groove; 162. Gripper body; 1621. Limiting groove; 1622. Guide groove; 17. Guide assembly; 18. Rotating shaft;

[0045] 2. Second clamping module; 21. Second drive unit; 22. Second gripper assembly;

[0046] 3. Support module; 31. L-shaped bracket; 32. Support base; 33. Housing; 331. Through hole;

[0047] 4. Fixed module; 41. Mounting flange; 42. Limit sleeve. Detailed Implementation

[0048] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] This embodiment provides a surgical robot, including a robot body, an instrument 100, and an instrument holding device. The instrument holding device is located on the robot body and can be directly connected to the end flange or indirectly connected to the robot body through a sensor. The instrument holding device is used to hold the instrument 100. By pre-setting the operating path and working angle, the robot body holds the instrument 100 through the instrument holding device and manipulates the instrument 100 to perform auxiliary operations. Specific details are as described in the prior art and will not be repeated here.

[0052] The robot itself is based on existing technology and will not be described in detail.

[0053] like Figure 1As shown, the device 100 includes a sleeve 102 and a connecting rod 101 that slides through the sleeve 102. One end of the connecting rod 101 extending out of the sleeve 102 has a first clamping part 1011, and the sleeve 102 has a second clamping part 1021. The other ends of the connecting rod 101 and the sleeve 102 are connected to a working component 103, similar to a four-bar linkage. The working component 103 moves through the sliding engagement of the connecting rod 101 and the sleeve 102. Different devices 100 can achieve different functions. Figure 1 The middle part is a separation forceps, which slides through the connecting rod 101 and the sleeve 102 to open and close. Optionally, the instrument 100 can also be a surgical forceps, surgical scissors, or a sampler, etc., whichever is selected according to actual needs.

[0054] This embodiment also provides a weapon-holding device, such as Figures 2-5 As shown, the holding device includes a first clamping module 1 and a second clamping module 2 arranged along a first direction, wherein the first direction is parallel to the length direction of the connecting rod 101. The first clamping module 1 includes a first driving unit 11 and two first gripper assemblies 16, which are used to clamp the first clamping part 1011. The second clamping module 2 includes a second driving unit 21 and two second gripper assemblies 22. The second driving unit 21 drives the two second gripper assemblies 22 to open and close, and the second gripper assemblies 22 are used to clamp the second clamping part 1021, thereby realizing that the connecting rod 101 and the sleeve 102 are respectively clamped on the holding device.

[0055] Specifically, the first clamping module 1 further includes a stop 12, a mounting base 13, a transmission bracket 14, and an elastic element 15. The stop 12 is used to stop the mounting base 13. After the stop 12 is set, the mounting base 13 can move away from the stop 12 or move toward the stop 12 and abut against the stop 12. The transmission bracket 14 is connected to the output end of the first drive unit 11. The middle parts of the two first gripper assemblies 16 are respectively rotatably connected to the mounting base 13 and connected by the elastic element 15. One end of the two first gripper assemblies 16 is used to clamp the first clamping part 1011, and the other end abuts against the transmission bracket 14. When the mounting base 13 abuts against the stop 12, the first drive unit 11 moves along the first direction through the transmission bracket 14 and drives the two first gripper assemblies 16 to rotate around the mounting base 13 respectively. When the mounting base 13 does not abut against the stop 12, the first drive unit 11 drives the mounting base 13 and the two first gripper assemblies 16 to move along the first direction through the transmission bracket 14.

[0056] The first drive unit 11 drives the transmission bracket 14 to move. The transmission bracket 14 pushes against the first gripper assembly 16 and the mounting base 13. When the mounting base 13 is not in contact with the stop block 12, the first gripper assembly 16 and the mounting base 13 are moved by the pushing force, and the two first gripper assemblies 16 remain in a clamping state under the action of the elastic member 15. Therefore, before the mounting base 13 abuts against the stop block 12, the first gripper assembly 16 is in the state of clamping the first clamping part 1011 of the connecting rod 101. The first drive unit 11 drives the first clamping part 1011 to reciprocate relative to the sleeve 102, so that the working part 103 performs operations. When the mounting base 13 abuts against the stop block 12, the mounting base 13 is blocked by the resistance on the stop block 12, and the first gripper assembly 16 is rotated relative to the mounting base 13 by the pushing force, realizing opening and closing. Therefore, after the mounting base 13 abuts against the stop block 12, the first drive unit 11 drives the first gripper assembly 16 to open and close, which can achieve clamping or placing of the first gripper part 1011.

[0057] This system allows for the replacement of instrument 100, eliminating the need for multiple clamping devices to hold multiple instruments 100, greatly simplifying the structure and saving space and cost. Instrument 100 can be replaced as needed, making it more flexible to use. During instrument 100 replacement, the first drive unit 11 and the second drive unit 21 cooperate to clamp the instrument 100 using the first gripper assembly 16 and the second gripper assembly 22. This solves the problem of efficiency and installation accuracy being affected by manual instrument 100 replacement. Automated instrument 100 replacement improves replacement efficiency and installation accuracy, thereby improving surgical efficiency and outcomes. The first clamping module 1 and the second clamping module 2 operate collaboratively to achieve automated clamping of the instrument 100 and the movement of the working part 103, resulting in a simple and reliable structure.

[0058] In one embodiment, the first drive unit 11 includes a motor 111, a lead screw 112, and a lead screw nut 113. The lead screw 112 is connected to the output shaft of the motor 111, the lead screw nut 113 is sleeved on the lead screw 112, and a transmission bracket 14 is disposed on the lead screw nut 113. The rotation of the motor 111 drives the lead screw nut 113 to reciprocate, thereby controlling the state of the first gripper assembly 16. Specifically, before the mounting base 13 abuts against the stop block 12, the first gripper assembly 16 is in a gripping state, and the motor 111 reciprocates with the connecting rod 101 in both forward and reverse directions. After the mounting base 13 abuts against the stop block 12, the forward and reverse rotation of the motor 111 controls the opening and closing of the first gripper assembly 16. The installation position of the motor 111 is set according to the actual situation and is not limited. The center line of the lead screw 112 and the center line of the connecting rod 101 may or may not be collinear and are not limited.

[0059] In one embodiment, the first gripper assembly 16 includes a movable bracket 161 and a gripper body 162. One end of the movable bracket 161 is connected to the gripper body 162, the middle portion is rotatably connected to the mounting base 13, and the other end abuts against the transmission bracket 14. The gripper body 162 is used to grip the first gripping part 1011. Further, the movable bracket 161 is U-shaped, including a longitudinal rod, a first crossbar and a second crossbar connected to both ends of the longitudinal rod. The first crossbar is connected to the gripper body 162, which is used to grip the first gripping part 1011. The end of the longitudinal rod near the second crossbar is rotatably connected to the mounting base 13, and the second crossbar abuts against the transmission bracket 14. The gripper body 162 is specifically designed according to the size and shape of the first gripping part 1011, providing good applicability and flexibility. Further, a U-shaped groove 1611 is provided, and the connecting shaft of the transmission bracket 14 is located within the U-shaped groove 1611, abutting against the groove wall of the U-shaped groove 1611. Furthermore, a rotating shaft 18 is fixed on the longitudinal rod, and the rotating shaft 18 is rotatably connected to the mounting base 13. A bearing may be provided between the rotating shaft 18 and the mounting base 13 to improve the smoothness of rotation. In other embodiments, the movable bracket 161 may also be other shapes such as arc, without limitation.

[0060] In one embodiment, the first clamping part 1011 has guide surfaces 1012 at both ends, and a limiting groove 1621 is formed between the two first gripper assemblies 16. The first clamping part 1011 can be limited in the limiting groove 1621. The first gripper assembly 16 has a guide groove 1622 on the side facing the second clamping module 2. The guide groove 1622 and the limiting groove 1621 are connected so that the first clamping part 1011 can enter the limiting groove 1621 through the cooperation of the guide surface 1012 and the guide groove 1622, so that the first clamping part 1011 is clamped in the two second gripper assemblies 22, thereby improving the clamping reliability.

[0061] In one embodiment, the first gripper assembly 16 is provided with a slot, specifically a slot on the longitudinal rod. The elastic element 15 is a spring, which is located between the two first gripper assemblies 16, with both ends of the spring connected to the slot, thereby improving connection reliability. The spring can also be connected to the upper or lower side of the longitudinal rod to reduce interference with the lead screw 112.

[0062] In one embodiment, the first clamping module 1 further includes a guide component 17, and the mounting base 13 moves along the guide component 17 to ensure the moving accuracy of the mounting base 13, thereby ensuring the moving accuracy of the connecting rod 101 relative to the sleeve 102, as well as the opening and closing accuracy of the first gripper assembly 16. Further, the guide component 17 includes a guide rail and a slider that slides with the guide rail. The mounting base 13 is mounted on the slider, the guide rail is arranged along a first direction, and a stop 12 is located at the end of the guide rail facing the second clamping module 2.

[0063] In one embodiment, the second drive unit 21 includes a cylinder gripper, and two second gripper assemblies 22 are respectively connected to the two output ends of the cylinder gripper. The cylinder gripper drives the two second gripper assemblies 22 to open and close, so as to grip or place the sleeve 102. The cylinder gripper can also be implemented by other power devices.

[0064] In one embodiment, the other end of the connecting rod 101 extends out of the sleeve 102 and the other end of the connecting rod 101 is provided with a working part 103. The first clamping module 1 includes a sensor provided on the first gripper assembly 16, which is used to monitor the working part 103. The second clamping module 2 includes a sensor provided on the second gripper assembly 22, which is used to monitor the sleeve 102. The sensor can obtain the feedback signal of the instrument 100 in real time to realize closed-loop control.

[0065] In one embodiment, the holding device further includes a support module 3, which includes an L-shaped bracket 31, a support base 32, and a housing 33. The second clamping module 2 is fixed to the L-shaped bracket 31, and the first clamping module 1 is fixed to the L-shaped bracket 31 via the support base 32. The housing 33 covers the outside of the first clamping module 1 and the second clamping module 2, and the housing 33 has a through hole 331 through which the instrument 100 passes. The height of the support base 32 is adjusted according to the actual structure so that the first gripper assembly 16 and the second gripper assembly 22 respectively clamp the first clamping part 1011 and the second clamping part 1021.

[0066] In one embodiment, the holding device further includes a fixing module 4, which includes a mounting flange 41 and a limiting sleeve 42. The mounting flange 41 is connected to the L-shaped bracket 31 via the limiting sleeve 42. The mounting flange 41 is used to connect to external structures such as the end flange of the robot body or its connected sensors. Specifically, the mounting flange 41 can be installed on either side of the L-shaped bracket 31. The limiting sleeve 42 can be of any shape. The motor 111 can be located between the mounting flange 41 and the L-shaped bracket 31. The structures of the support module 3 and the fixing module 4 can be configured according to actual conditions and are not limited.

[0067] Specifically, the first gripper assembly 16 and the second gripper assembly 22 are adapted to the first clamping portion 1011 and the second clamping portion 1021. Further, the second clamping portion 1021 protrudes from the outer periphery of the sleeve 102, and its circumferential surface is provided with a positioning surface. The second gripper assembly 22 has a positioning groove, the groove wall of which engages with the positioning surface to achieve clamping. Both ends of the second clamping portion 1021 are confined within the positioning groove, thereby achieving axial and circumferential restriction of the second clamping portion 1021 by the positioning groove. Further, a small-angle inclined surface / arc surface is provided between the end of the second gripper assembly 22 and the second clamping portion 1021 to facilitate engagement.

[0068] This embodiment also provides a control method for the above-mentioned weapon-holding device, including:

[0069] The clamping and placement of instruments in stage 100 includes the following steps:

[0070] S100 When the mounting base 13 abuts against the stop block 12, the first drive unit 11 drives the transmission bracket 14 to move forward in the first direction. The transmission bracket 14 pushes against the two first gripper assemblies 16 in the first direction. The two first gripper assemblies 16 overcome the elastic force of the elastic element 15 and rotate around the mounting base 13 to open.

[0071] S200 When the mounting base 13 abuts against the stop block 12, the first drive unit 11 drives the transmission bracket 14 to move in the opposite direction along the first direction. The transmission bracket 14 pushes against the two first gripper assemblies 16 in the opposite direction along the first direction. The two first gripper assemblies 16 rotate around the mounting base 13 to close under the elastic force of the elastic member 15.

[0072] S300, the second drive unit 21 drives the two second gripper assemblies 22 to open;

[0073] S400, the second drive unit 21 drives the two second gripper assemblies 22 to close.

[0074] Through the above steps, the first gripper assembly 16 can clamp the connecting rod 101, and the second gripper assembly 22 can clamp the sleeve 102, or the first gripper assembly 16 can place the connecting rod 101, and the second gripper assembly 22 can place the sleeve 102. Depending on actual needs, the clamping device can repeat the above steps. By adjusting the above operating steps, various operating modes can be achieved: 1. The first gripper assembly 16 and the second gripper assembly 22 can open and close simultaneously; 2. The first gripper assembly 16 opens and closes, then the second gripper assembly 22 opens and closes; 3. The first gripper assembly 16 opens, the second gripper assembly 22 opens, the first gripper assembly 16 closes, and the second gripper assembly 22 closes; 4. The first gripper assembly 16 opens, the second gripper assembly 22 opens, the second gripper assembly 22 closes, and the first gripper assembly 16 closes, etc., and so on. The opening and closing sequence can be controlled according to actual needs and is not limited.

[0075] In one embodiment, due to the limitation of the working component 103, the connecting rod 101 slides within a preset range of the sleeve 102. That is, the working component 103 forms a first limit position and a second limit position on the connecting rod 101. When the connecting rod 101 is in the first limit position, the connecting rod 101 can only move away from the second clamping part 1021. When the connecting rod 101 is in the second limit position, the connecting rod 101 can only move towards the second clamping part 1021.

[0076] Normally, when clamping the device 100, the connecting rod 101 is kept in one of the fixed positions, such as the first extreme position, thereby ensuring that the first clamping part 1011 and the second clamping part 1021 have a fixed distance. The first gripper assembly 16 and the second gripper assembly 22 are correspondingly arranged to ensure clamping reliability. If the relative position of the sleeve 102 and the connecting rod 101 is not in the preset state, it can be adjusted.

[0077] In one embodiment, the first clamping module 1 includes a sensor disposed on the first gripper assembly 16, and the sensor detects the force applied to the working part 103; the second clamping module 2 includes a sensor disposed on the second gripper assembly 22, and the sensor monitors the direction of the sleeve 102; operating instrument 100 stage:

[0078] The first drive unit 11 drives the transmission bracket 14 to move the mounting base 13 on the side of the stop block 12 away from the second clamping module 2. The transmission bracket 14 drives the mounting base 13 and the two first gripper assemblies 16 to move along the first direction. The first drive unit 11 adjusts the connecting rod 101 according to the force feedback signal of the sensor. The second drive unit 21 monitors the sleeve 102 according to the direction feedback signal of the sensor.

[0079] During the operation of the surgical instrument 100, the sensor detects the force feedback signal of the working part 103 obtained by the first clamping part 1011. The first drive unit 11 adjusts the connecting rod 101 according to the feedback signal. The sensor detects the direction feedback signal of the sleeve 102 obtained by the second clamping part 1021. The second drive unit 21 monitors the sleeve 102 according to the feedback signal. Thus, the instrument 100 is operated according to the actual situation, improving the flexibility and reliability of the operation.

[0080] In one embodiment, during the clamping device 100 stage: the first drive unit 11 drives the transmission bracket 14 to move between a first starting point, a first intermediate point, and an ending point, and the mounting base 13 of the transmission bracket 14 abuts against the stop block 12 when it is at the first intermediate point; during the device placement 100 stage: the first drive unit 11 drives the transmission bracket 14 to move between a second starting point, a second intermediate point, and an ending point, and the mounting base 13 of the transmission bracket 14 abuts against the stop block 12 when it is at the second intermediate point; wherein, when the transmission bracket 14 is at the ending point, the first gripper assembly 16 opens, the distance between the first starting point and the ending point is greater than or equal to the distance between the second starting point and the ending point, and the distance between the first intermediate point and the ending point is greater than or equal to the distance between the second intermediate point and the ending point.

[0081] When the device 100 is clamped, the distance between the two first gripper assemblies 16 is greater than or equal to the distance between the two first gripper assemblies 16 when the device 100 is not clamped. Therefore, the distance between the first starting point and the ending point is greater than or equal to the distance between the second starting point and the ending point, and the distance between the first intermediate point and the ending point is greater than or equal to the distance between the second intermediate point and the ending point. This ensures that the first gripper assembly 16 and the first clamping part 1011 are fully engaged and avoids excessive clamping force. The selection of each situation is set according to actual needs.

[0082] In one embodiment, the first clamping part 1011 has guide surfaces 1012 at both ends, and a limiting groove 1621 is formed between the two first gripper assemblies 16. The first clamping part 1011 can be limited in the limiting groove 1621. The first gripper assembly 16 has a guide groove 1622 on the side facing the second clamping module 2. The guide groove 1622 and the limiting groove 1621 are connected. The connecting rod 101 slides within a preset range of the sleeve 102. The first driving unit 11 drives the transmission bracket 14 to move between the first starting point, the first intermediate point and the ending point. When the transmission bracket 14 is at the first intermediate point, the mounting seat 13 abuts against the stop block 12. The first driving unit 11 drives the transmission bracket 14 to move between the second starting point, the second intermediate point and the ending point. When the transmission bracket 14 is at the second intermediate point, the mounting seat 13 abuts against the stop block 12. When the connecting rod 101 is not at the first extreme position, the clamping device 100 is in the following stage:

[0083] S001, after the second gripper assembly 22 grips the second gripper part 1021.

[0084] S002, the first drive unit 11 drives the transmission bracket 14 to move forward and backward along the first direction from a certain position within the stroke between the first starting point and the first intermediate point, and the first gripper assembly 16 clamps the first gripping part 1011.

[0085] The above steps are for special cases. When the connecting rod 101 is not in the first limit position, the first gripper assembly 16 cannot be aligned with the first clamping part 1011, which will affect the first gripper assembly 16's ability to clamp the first clamping part 1011.

[0086] The second drive unit 21 drives the two second gripper assemblies 22 to open and close, thereby clamping the second clamping part 1021. Then, the first drive unit 11 moves forward from the first starting point, pushing the connecting rod 101 to the first limit position during the movement. Due to the cooperation of the guide surface 1012 and the guide groove 1622, the first drive unit 11 drives the two first gripper assemblies 16 to move, so that the first clamping part 1011 squeezes between the two first gripper assemblies 16 for clamping. The first drive unit 11 can also drive the two first gripper assemblies 16 to open. After the two first clamping parts 1011 enter the two first gripper assemblies 16, the first drive unit 11 drives the two first gripper assemblies 16 to close.

[0087] Similarly, in the instrument placement stage 100: the first drive unit 11 drives the transmission bracket 14 to move forward along the first direction from a certain position within the stroke between the second starting point and the second intermediate point; after the first gripper assembly 16 separates from the first clamping part 1011, the second gripper assembly 22 separates from the second clamping part 1021.

[0088] 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 weapon-holding device, characterized in that, The device (100) includes a sleeve (102) and a connecting rod (101) slidably passing through the sleeve (102). The connecting rod (101) has a first clamping portion (1011) at one end extending from the sleeve (102), and the sleeve (102) has a second clamping portion (1021). The device holding mechanism includes: The first clamping module (1) includes a first driving unit (11), a stop (12), a mounting base (13), a transmission bracket (14), an elastic element (15), and two first gripper assemblies (16). The stop (12) is used to stop the mounting base (13). The transmission bracket (14) is connected to the output end of the first driving unit (11). The middle parts of the two first gripper assemblies (16) are respectively rotatably connected to the mounting base (13) and connected by the elastic element (15). One end of the two first gripper assemblies (16) is used to clamp the first clamping part (1011), and the other end abuts against the transmission bracket (14). When the mounting base (13) is not abutting against the stop (12), The first drive unit (11) drives the mounting base (13) and the two first gripper assemblies (16) to move along the first direction through the transmission bracket (14). The two first gripper assemblies (16) are held in a clamping state under the action of the elastic member (15). When the mounting base (13) abuts against the stop (12), the mounting base (13) is blocked by the stop (12) by resistance. The first drive unit (11) moves along the first direction through the transmission bracket (14) and drives the two first gripper assemblies (16) to rotate around the mounting base (13) respectively, so as to realize the opening and closing of the first gripper assemblies (16) to clamp or place the first clamping part (1011). The second clamping module (2) is arranged along the first direction with the first clamping module (1). The second clamping module (2) includes a second driving unit (21) and two second gripper assemblies (22). The second driving unit (21) drives the two second gripper assemblies (22) to open and close. The second gripper assemblies (22) are used to clamp the second clamping part (1021).

2. The weapon-holding device according to claim 1, characterized in that, The first drive unit (11) includes a motor (111), a lead screw (112) and a lead screw nut (113). The lead screw (112) is connected to the output shaft of the motor (111), the lead screw nut (113) is sleeved on the lead screw (112), and the transmission bracket (14) is provided on the lead screw nut (113). The second drive unit (21) includes a cylinder gripper, and two second gripper assemblies (22) are respectively connected to the two output ends of the cylinder gripper.

3. The weapon-holding device according to claim 1, characterized in that, The first clamping part (1011) has guide surfaces (1012) at both ends, and a limiting groove (1621) is formed between the two first gripper assemblies (16). The first clamping part (1011) can be limited in the limiting groove (1621). The first gripper assembly (16) has a guide groove (1622) on the side facing the second clamping module (2). The guide groove (1622) and the limiting groove (1621) are connected.

4. The weapon-holding device according to claim 1, characterized in that, The first gripper assembly (16) includes a movable bracket (161) and a gripper body (162). One end of the movable bracket (161) is connected to the gripper body (162), the middle part is rotatably connected to the mounting base (13), and the other end abuts against the transmission bracket (14). The gripper body (162) is used to grip the first gripping part (1011).

5. The weapon-holding device according to any one of claims 1-4, characterized in that, The other end of the connecting rod (101) extends out of the sleeve (102) and the other end of the connecting rod (101) is provided with a working part (103). The first clamping module (1) includes a sensor provided on the first gripper assembly (16), the sensor being used to monitor the working part (103); the second clamping module (2) includes a sensor provided on the second gripper assembly (22), the sensor being used to monitor the sleeve (102).

6. A surgical robot, characterized in that, The device includes a robot body, a device (100), and a holding device as described in any one of claims 1-5. The holding device is disposed on the robot body. The device (100) includes a sleeve (102) and a connecting rod (101) that slides through the sleeve (102). The sleeve (102) is provided with a second clamping part (1021). The connecting rod (101) is provided with a first clamping part (1011) at one end extending out of the sleeve (102). The second clamping module (2) of the holding device is used to clamp the second clamping part (1021), and the first clamping module (1) of the holding device is used to clamp the first clamping part (1011).

7. A control method for a weapon-holding device as described in any one of claims 1-5, characterized in that, include: Clamping and placing the instrument (100) stage: When the mounting base (13) abuts against the stop (12), the first drive unit (11) drives the transmission bracket (14) to move forward in the first direction. The transmission bracket (14) pushes against the two first gripper assemblies (16) in the first direction. The two first gripper assemblies (16) overcome the elastic force of the elastic element (15) and rotate around the mounting base (13) to open. When the mounting base (13) abuts against the stop (12), the first drive unit (11) drives the transmission bracket (14) to move in the opposite direction along the first direction. The transmission bracket (14) pushes against the two first gripper assemblies (16) in the opposite direction along the first direction. The two first gripper assemblies (16) rotate around the mounting base (13) to close under the elastic force of the elastic member (15). The second drive unit (21) drives the two second gripper assemblies (22) to open; The second drive unit (21) drives the two second gripper assemblies (22) to close.

8. The control method for the weapon-holding device according to claim 7, characterized in that, The other end of the connecting rod (101) extends out of the sleeve (102) and the other end of the connecting rod (101) is provided with a working part (103). The first clamping module (1) includes a sensor, which is located on the first gripper assembly (16) and monitors the force on the working part (103). The second clamping module (2) includes a sensor, which is located on the second gripper assembly (22) and monitors the direction of the sleeve (102). Operating the instrument (100) stage: The first drive unit (11) drives the transmission bracket (14) to move the mounting base (13) on the side of the stop block (12) away from the second clamping module (2). The transmission bracket (14) drives the mounting base (13) and the two first gripper assemblies (16) to move along the first direction. The first drive unit (11) adjusts the connecting rod (101) according to the force feedback signal of the sensor. The second drive unit (21) monitors the sleeve (102) according to the direction feedback signal of the sensor.

9. The control method for the weapon-holding device according to claim 7, characterized in that, Clamping device (100) stage: The first drive unit (11) drives the transmission bracket (14) to move between the first starting point, the first intermediate point and the end point, and the mounting base (13) abuts against the stop block (12) when the transmission bracket (14) is at the first intermediate point. Instrument placement (100) stage: The first drive unit (11) drives the transmission bracket (14) to move between the second starting point, the second intermediate point and the end point, and the mounting base (13) abuts against the stop block (12) when the transmission bracket (14) is at the second intermediate point. When the transmission bracket (14) is at the end point, the first gripper assembly (16) opens, the distance between the first starting point and the end point is greater than or equal to the distance between the second starting point and the end point, and the distance between the first intermediate point and the end point is greater than or equal to the distance between the second intermediate point and the end point.

10. The control method for the weapon-holding device according to claim 7, characterized in that, The first clamping part (1011) has guide surfaces (1012) at both ends, and a limiting groove (1621) is formed between the two first clamping jaw assemblies (16). The first clamping part (1011) can be limited in the limiting groove (1621). The first clamping jaw assembly (16) has a guide groove (1622) on the side facing the second clamping module (2). The guide groove (1622) and the limiting groove (1621) are connected. The connecting rod (101) slides within a preset range of the sleeve (102). The first driving unit (11) drives the transmission bracket (14) to move between the first starting point, the first intermediate point and the end point. When the transmission bracket (14) is at the first intermediate point, the mounting seat (13) abuts against the stop block (12). The first driving unit (11) drives the transmission bracket (14) to move between the second starting point, the second intermediate point and the end point. When the transmission bracket (14) is at the second intermediate point, the mounting seat (13) abuts against the stop block (12). Clamping device (100) stage: After the second gripper assembly (22) grips the second gripper part (1021), The first driving unit (11) drives the transmission bracket (14) to move forward and backward along the first direction from a certain position within the stroke between the first starting point and the first intermediate point, and the first gripper assembly (16) clamps the first gripping part (1011). Instrument placement (100) stage: The first driving unit (11) drives the transmission bracket (14) to move forward along the first direction from a certain position within the stroke between the second starting point and the second intermediate point; after the first gripper assembly (16) separates from the first clamping part (1011), The second gripper assembly (22) separates from the second gripping part (1021).

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