Instrument components and surgical robots

Abstract

The present application provides an instrument assembly and a surgical robot, which relate to the technical field of medical equipment. The instrument assembly includes an instrument box, an instrument rod, a clamp and a traction member. The clamp is connected to the clamp through the instrument rod, so that the clamp can be fixed. The first clamping piece and the second clamping piece of the clamp can be used to install a clamp, and the first traction part can drive the first clamping piece and the second clamping piece to move toward each other, so that the clamp is clamped, so that the clamp can act on the surgical site and detach from the clamp. When the first clamping piece and the second clamping piece move away from each other, the distance between the first clamping piece and the second clamping piece can be increased, and the second traction part can drive the unused clamp to move between the first clamping piece and the second clamping piece, so that the unused clamp can be installed on the clamp. The convenience of operation of the instrument assembly can be improved, and the operation efficiency can be improved.

Description

Technical Field

[0001] The present application relates to an instrument assembly and a surgical robot, belonging to the technical field of medical instruments. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. The instrument box and the instrument execution end in the surgical robot are connected through the instrument rod. Among them, the clamp mechanism is one of the commonly used instrument execution ends. The clamp mechanism can fix the clamp to the target surgical site, such as the blood vessel, to achieve the purpose of hemostasis.

[0003] Since the clip applier is a consumable part, a new clip applier needs to be installed on the instrument execution end after the clip applier is consumed. However, the current clip applier installation process is complicated and inefficient, resulting in reduced surgical operation efficiency. Summary of the invention

[0004] The present application provides an instrument assembly and a surgical robot, which solves the problem in the related art that the clamp applicator of the surgical robot is complicated to install, resulting in low operating efficiency of the surgical robot.

[0005] In a first aspect, the present application provides an apparatus assembly, comprising:

[0006] Instrument boxes;

[0007] An instrument rod, one side of which is connected to the instrument box, the instrument rod having a receiving area for receiving a clip applicator, and the clip applicator is movably disposed in the receiving area;

[0008] A clamping member connected to a side of the instrument rod away from the instrument box, the clamping member comprising a first clamping piece and a second clamping piece arranged opposite to each other, a clamping area being between the first clamping piece and the second clamping piece, the clamping area being connected to the accommodating area, the clamping member being configured so that the first clamping piece and the second clamping piece can move toward or away from each other to close or open the clamping member;

[0009] The traction member is configured to drive the first clamping piece and the second clamping piece to move toward each other to close the clamping piece. When the first clamping piece and the second clamping piece move away from each other to open the clamping piece, the traction member is configured to drive the clamp in the accommodating area to move to the clamping area.

[0010] In the instrument assembly proposed in the present application, the clamp is connected to the clamp through the instrument rod, so that the clamp can be fixed. The first clamping piece and the second clamping piece of the clamp can be used to install the clamp, and the first traction part can drive the first clamping piece and the second clamping piece to move toward each other, so that the clamp is clamped, so that the clamp can act on the surgical site and detach from the clamp. When the first clamping piece and the second clamping piece move away from each other, the distance between the first clamping piece and the second clamping piece can be increased, and the second traction part can drive the unused clamp to move between the first clamping piece and the second clamping piece, so that the unused clamp can be installed on the clamp. In this way, the instrument assembly can be operated by the traction part, and the unused clamp can also be installed on the clamp, which can improve the convenience of operation of the instrument assembly and improve the operation efficiency.

[0011] In some embodiments, the traction member includes a first traction portion, the first clamping piece is movably connected to the second clamping piece, and the first traction portion is configured to be pressed on opposite sides of the first clamping piece and the second clamping piece to move the first clamping piece and the second clamping piece toward each other.

[0012] By pressing the first clamping piece and the second clamping piece together through the first traction portion, the first clamping piece and the second clamping piece can be moved toward each other under the pressure, thereby achieving a clamping action.

[0013] In some embodiments, the first traction portion includes a traction groove, and the first traction portion is configured to move toward or away from the clamping member so that at least a portion of the clamping member is located in the traction groove, or the clamping member is located outside the traction groove;

[0014] When at least part of the clamping member is located in the traction groove, the opposite inner walls of the traction groove are pressed against the opposite sides of the first clamping piece and the second clamping piece, so that the first clamping piece and the second clamping piece move toward each other.

[0015] After the first clamping piece and the second clamping piece are located in the traction groove, the inner wall of the traction groove can act on the first clamping piece and the second clamping piece, so that the first clamping piece and the second clamping piece move toward each other under the action of pressure.

[0016] In some embodiments, the first clamping piece is elastically connected to the second clamping piece, and when the clamping member is located outside the traction groove, the elastic force between the first clamping piece and the second clamping piece drives the first clamping piece and the second clamping piece to move away from each other.

[0017] After the first clamping piece and the second clamping piece move toward each other, an elastic force may exist between the two. The elastic force of the first clamping piece and the second clamping piece may drive the first clamping piece and the second clamping piece to move away from each other and reset.

[0018] In some embodiments, the traction member further comprises a second traction portion, and when the first traction portion moves away from the clamping member so that the clamping member is located outside the traction groove, the second traction portion is configured to drive the clamp to move toward the clamping member to the clamping area.

[0019] The second traction portion can drive the clip applier to move to the clamping area so that the clip applier can be loaded on the clamping member.

[0020] In some embodiments, the traction member further comprises a traction rope, a first traction wheel and a second traction wheel, the first traction wheel is rotatably disposed on the instrument rod, the second traction wheel is rotatably disposed on the instrument box, the traction rope is wound around the first traction wheel and the second traction wheel, the traction rope comprises a first rope segment and a second rope segment located on both sides of the first traction wheel, the first rope segment cooperates with the first traction part in a limit position in a direction toward the clamping member, and the second rope segment is relatively fixed to the second traction part;

[0021] When the first traction wheel and the second traction wheel rotate in a first direction, the first rope segment drives the first traction part to move toward the clamping member;

[0022] When the first traction wheel and the second traction wheel rotate along the second direction, the second rope segment drives the second traction part to move toward the clamping member, and the first direction and the second direction are opposite to each other.

[0023] The first traction part and the second traction part can be driven to move respectively by sliding the traction rope, so that the first traction part can expand the clamping member or move the clamp to the clamping area. In this way, there is no need to separately set up components for driving the first traction part and the second traction part, simplifying the structure of the instrument assembly.

[0024] In some embodiments, the traction member further includes an elastic portion, the elastic portion is connected to the first traction portion, and when the second traction portion moves toward the clamping member, the elastic force of the elastic portion can drive the first traction portion to move away from the clamping member.

[0025] The elastic part can drive the first traction part to move back to the clamping member and reset. In this way, when the second traction part moves toward the clamping member, the first traction part is not driven by the traction rope, avoiding the second traction part from moving synchronously with the first traction part when moving toward the clamping member, thereby simplifying the structure of the instrument assembly.

[0026] In some embodiments, the accommodating area can accommodate a plurality of the clamps, and the plurality of the clamps are arranged sequentially in a direction toward the clamping member, and the first traction portion is configured to drive the plurality of the clamps to move sequentially to the clamping area.

[0027] A plurality of clip applicators can be loaded into the accommodation area at one time, so that the clip applicator does not need to be reinstalled after each clip applicator is consumed, thereby improving the operating efficiency of the instrument assembly.

[0028] In some embodiments, the second traction part includes a connecting block and a supporting plate, wherein the connecting block is connected to the traction rope, and the supporting plate is connected to the connecting block. The supporting plate has a plurality of limiting protrusions, and the supporting plate is located at the bottom of the plurality of clamps. The plurality of limiting protrusions are respectively positioned to cooperate with the plurality of clamps to limit the position in the direction toward the clamping member.

[0029] The plurality of limiting protrusions on the support plate respectively cooperate with the plurality of clamps in a limiting direction toward the clamping member, so that when the connecting block moves toward the clamping member along with the traction rope, the plurality of limiting protrusions can respectively push the plurality of clamps to move toward the clamping member.

[0030] In some embodiments, the instrument assembly further comprises a limiter, the limiter being disposed on the instrument rod, and the limiter being engaged with the plurality of clamp appliers in a direction away from the clamping member;

[0031] The support sheet is elastically connected to the connecting block, and the side of the limiting protrusion facing away from the clamping member has a guide surface. When the second traction portion moves away from the clamping member, the clamp is pressed against the guide surface to move the support sheet away from the clamp until the limiting protrusion is located on the bottom side of the clamp.

[0032] The limiting member can be provided to limit the movement of the clamping forceps away from the clamping member, thereby ensuring that the distance between the plurality of clamping forceps and the clamping member can be gradually reduced after the second traction portion pushes the clamping forceps multiple times.

[0033] In a second aspect, based on the above instrument assembly, the present application also provides a surgical robot, comprising the above instrument assembly.

[0034] The surgical robot proposed in the present application, including the above-mentioned instrument assembly, can make the operation of the surgical robot more convenient and improve the operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other purposes, features and advantages of the embodiments of the present application will become more easily understood through the following detailed description with reference to the accompanying drawings. In the accompanying drawings, multiple embodiments of the present application will be described in an exemplary and non-limiting manner, wherein:

[0036] Figure 1 A schematic diagram of an apparatus assembly according to an embodiment of the present application;

[0037] Figure 2A schematic diagram of a traction member of an instrument assembly according to an embodiment of the present application;

[0038] Figure 3 A schematic diagram of a clamping member of an instrument assembly according to an embodiment of the present application;

[0039] Figure 4 A schematic diagram of an instrument assembly according to an embodiment of the present application having a clip applier installed therein;

[0040] Figure 5 A schematic diagram of a clip applier in an instrument assembly according to an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the internal structure of the instrument assembly according to an embodiment of the present application;

[0042] Figure 7 A schematic diagram of a traction rope of an apparatus assembly according to an embodiment of the present application;

[0043] Figure 8 A schematic diagram of the cooperation between the first traction portion and the clamping member of the instrument assembly according to an embodiment of the present application;

[0044] Fig. 9 A schematic diagram of a first traction portion of an instrument assembly according to an embodiment of the present application;

[0045] Fig.10 A schematic diagram of a second traction wheel of the apparatus assembly according to an embodiment of the present application;

[0046] Fig.11 A schematic diagram of the cooperation between a support plate and a plurality of clip appliers of an instrument assembly according to an embodiment of the present application;

[0047] Fig.12 It is a schematic diagram of the second traction part of the instrument assembly according to an embodiment of the present application.

[0048] Reference numerals:

[0049] 100-Instrument Box,

[0050] 200- instrument rod, 210- storage area,

[0051] 300-clamping member, 310-first clamping piece, 311-clamping groove, 320-second clamping piece, 330-clamping area,

[0052] 400-traction member, 410-first traction part, 411-traction groove, 420-second traction part, 421-connecting block, 422-supporting sheet, 430-limiting protrusion, 431-guiding surface, 440-traction rope, 441-first rope segment, 442-second rope segment, 450-first traction wheel, 460-second traction wheel, 470-elastic part,

[0053] 500-clip applier, 510-first clamping arm, 520-second clamping arm,

[0054] 600-Limiting parts. DETAILED DESCRIPTION

[0055] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0056] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0061] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. The instrument box and the instrument execution end in the surgical robot are connected through the instrument rod. Among them, the clamp mechanism is one of the commonly used instrument execution ends. The clamp mechanism can fix the clamp to the target surgical site, such as the blood vessel, to achieve the purpose of hemostasis.

[0062] Since the clip applier is a consumable part, a new clip applier needs to be installed on the instrument execution end after the clip applier is consumed. However, the current clip applier installation process is complicated and inefficient, resulting in reduced surgical operation efficiency.

[0063] In the instrument assembly proposed in the present application, the clamp is connected to the clamp through the instrument rod, so that the clamp can be fixed. The first clamping piece and the second clamping piece of the clamp can be used to install the clamp, and the first traction part can drive the first clamping piece and the second clamping piece to move toward each other, so that the clamp is clamped, so that the clamp can act on the surgical site and detach from the clamp. When the first clamping piece and the second clamping piece move away from each other, the distance between the first clamping piece and the second clamping piece can be increased, and the second traction part can drive the unused clamp to move between the first clamping piece and the second clamping piece, so that the unused clamp can be installed on the clamp. In this way, the instrument assembly can be operated by the traction part, and the unused clamp can also be installed on the clamp, which can improve the convenience of operation of the instrument assembly and improve the operation efficiency.

[0064] The surgical robot proposed in the present application, including the above-mentioned instrument assembly, can make the operation of the surgical robot more convenient and improve the operating efficiency.

[0065] The instrument assembly and surgical robot provided in the present application are described in detail below in conjunction with specific embodiments.

[0066] This application proposes an apparatus assembly, referring to Figure 1 and Figure 2 As shown, the instrument assembly includes an instrument box 100, an instrument rod 200, a clamping member 300 and a pulling member 400. The instrument assembly can be applied to a surgical robot.

[0067] Wherein, the instrument box 100 is the basic component of the instrument assembly of the present application, and the instrument box 100 can provide a mounting basis for other at least part of the components of the instrument assembly, and play the purpose of protecting other at least part of the components. The instrument box 100 can be prepared by metal materials, so that the instrument box 100 has a better structural strength, thereby making the durability and reliability of the instrument box 100 better. Of course, the instrument box 100 can also be prepared by polymer materials, so that the instrument box 100 is relatively light in weight while having a certain structural strength.

[0068] The instrument rod 200 is a slender rod-shaped structural member, having a relatively long length and a relatively small outer diameter, so that the instrument rod 200 can be easily extended to the surgical site. One end of the instrument rod 200 is connected to the instrument box 100, and the clamping member 300 can be connected to the end of the instrument rod 200 away from the instrument box 100, so that the clamping member 300 and the instrument box 100 have a large distance. By moving the instrument box 100, the clamping member 300 can be moved accordingly, so that the clamping member 300 can be moved to the surgical site.

[0069] refer to Figure 3As shown, the clamping member 300 includes a first clamping piece 310 and a second clamping piece 320, and the clamping member 300 is configured so that the first clamping piece 310 and the second clamping piece 320 can move toward or away from each other. When the first clamping piece 310 and the second clamping piece 320 move toward each other, the distance between the first clamping piece 310 and the second clamping piece 320 can be reduced, so that the clamping member 300 can perform a clamping or clamping operation. When the first clamping piece 310 and the second clamping piece 320 rotate away from each other, so that the distance between the first clamping piece 310 and the second clamping piece 320 increases, the clamping member 300 can be released, so that the first clamping piece 310 and the second clamping piece 320 can move toward each other again to perform a clamping or clamping operation.

[0070] refer to Figure 4 As shown, a clamp applicator 500 may be disposed between the first clamping piece 310 and the second clamping piece 320. The clamp applicator 500 may specifically include a titanium clamp, and the clamp applicator 500 is a disposable consumable. Specifically, a clamping area 330 is disposed between the first clamping piece 310 and the second clamping piece 320. When the first clamping piece 310 and the second clamping piece 320 move toward each other, the space of the clamping area 330 decreases. When the first clamping piece 310 and the second clamping piece 320 move away from each other, the space of the clamping area 330 increases. The clamp applicator 500 may be disposed in the clamping area 330.

[0071] refer to Figure 5 As shown, the clip applier 500 may include a first clamping arm 510 and a second clamping arm 520. The first clamping arm 510 and the second clamping arm 520 are arranged opposite to each other and connected. When the clip applier 500 is subjected to a clamping force, the first clamping arm 510 and the second clamping arm 520 may move toward each other. When the clamping member 300 is located at the surgical site, the first clamping piece 310 and the second clamping piece 320 move toward each other, so that the first clamping arm 510 and the second clamping arm 520 of the clip applier 500 can move toward each other, so that the clip applier 500 can clamp the tissue structure at the surgical site, thereby achieving the purpose of fixing the tissue structure.

[0072] refer to Figures 2 to 4 As shown, the traction member 400 is disposed on the instrument rod 200. The traction member 400 is configured to drive the first clamping piece 310 and the second clamping piece 320 to move toward each other, so that the distance between the first clamping piece 310 and the second clamping piece 320 is reduced, so that the clamping member 300 can perform a clamping or clamping operation.

[0073] refer to Figure 6As shown, the instrument rod 200 is provided with a receiving area 210 for accommodating the clamp applier 500, and accordingly, the unused clamp applier 500 can be placed in the receiving area 210 of the instrument rod 200. The receiving area 210 of the instrument rod 200 is connected with the clamping area 330 between the first clamping piece 310 and the second clamping piece 320. When the clamp applier 500 is not set in the clamping area 330 between the first clamping piece 310 and the second clamping piece 320, or the clamp applier 500 set in the clamping area 330 between the first clamping piece 310 and the second clamping piece 320 has been used, the first clamping piece 310 and the second clamping piece 320 can move back to back to increase the distance between the first clamping piece 310 and the second clamping piece 320, and the space of the clamping area 330 is correspondingly increased. The traction member 400 can also drive the clamp applier 500 in the accommodating area 210 of the instrument rod 200 to move to the clamping area 330 between the first clamping piece 310 and the second clamping piece 320, so that the unused clamp applier 500 can be installed in the clamping area 330 between the first clamping piece 310 and the second clamping piece 320. In this way, when the first clamping piece 310 and the second clamping piece 320 move toward each other, the unused clamp applier 500 can act on the surgical site to fix the tissue structure.

[0074] Among them, the accommodating area 210 in the instrument rod 200 is a cavity structure in the instrument rod 200, a support table can be set on the inner wall of the accommodating area 210, and the clamp 500 can be set on the support table, so that the clamp 500 can be fixed in the accommodating area 210.

[0075] Thus, the traction member 400 can not only control the first clamping piece 310 and the second clamping piece 320 to move toward each other to consume the clamp applier 500, but also drive the unused clamp applier 500 to be added to the clamping area 330 between the first clamping piece 310 and the second clamping piece 320, so that the clamp applier 500 can be installed. In this way, it is unnecessary to separately set a component for controlling the first clamping piece 310 and the second clamping piece 320 to perform a clamping action, and it is unnecessary to separately set a component for loading the clamp applier 500 in the clamping area 330, thereby reducing the number of components of the instrument assembly of the present application, making the structure of the instrument assembly more compact and the cost lower.

[0076] In some embodiments, reference Figure 3 As shown, in order to fix the clamp 500 to the clamping area 330, a clamping groove 311 can be set on the opposite outer walls of the first clamping plate 310 and the second clamping plate 320, and the first clamping arm 510 and the second clamping arm 520 of the clamp 500 are respectively embedded in the clamping groove 311 of the first clamping plate 310 and the clamping groove 311 of the second clamping plate 320.

[0077] In some embodiments, reference Figure 6 and Figure 7 As shown, in order to enable the traction member 400 to drive the first clamping piece 310 and the second clamping piece 320 to move toward each other, the traction member 400 may be provided with a first traction portion 410. The first traction portion 410 may be provided on the instrument rod 200, and the first traction portion 410 may be pressed on the two opposite sides of the first clamping piece 310 and the second clamping piece 320, that is, the first traction portion 410 is pressed on the side of the first clamping piece 310 facing away from the second clamping piece 320, and is pressed on the side of the second clamping piece 320 facing away from the first clamping piece 310. In this way, the first clamping piece 310 and the second clamping piece 320 may be subjected to opposite forces, so that the first clamping piece 310 and the second clamping piece 320 move toward each other to perform a clamping action.

[0078] In addition, the pressure exerted by the first traction portion 410 on the opposite sides of the first clamping plate 310 and the second clamping plate 320 can also be adjusted. The greater the clamping force of the first traction portion 410 on the first clamping plate 310 and the second clamping plate 320, the more fully the first clamping plate 310 and the second clamping plate 320 can move toward each other, thereby increasing the clamping force of the clamping member 300.

[0079] In some embodiments, reference Figures 7 to 9 As described above, in order to enable the first traction portion 410 to be pressed on the two opposite sides of the first clamping piece 310 and the second clamping piece 320, so that the first clamping piece 310 and the second clamping piece 320 move toward each other for clamping, the first traction portion 410 may include a traction groove 411, and the first traction portion 410 is configured to move toward or away from the clamping member 300, so that at least a portion of the clamping member 300 is located in the traction groove 411, or the clamping member 300 is located outside the traction groove 411. Specifically, when the first traction portion 410 moves toward the clamping member 300, the notch of the traction groove 411 of the first traction portion 410 can be set to face the clamping member 300, so that at least a portion of the clamping member 300 can extend into the traction groove 411 through the notch of the traction groove 411. At this time, the opposite sides of the first clamping piece 310 and the second clamping piece 320 can be respectively opposite to and in contact with the inner walls of the traction groove 411, and the opposite inner walls of the traction groove 411 can be pressed on the opposite sides of the first clamping piece 310 and the second clamping piece 320, so that the first clamping piece 310 and the second clamping piece 320 move toward each other after being subjected to opposite forces.

[0080] Specifically, in the present application, one end of the first clamping piece 310 can be connected to one end of the second clamping piece 320, and the other end of the first clamping piece 310 can be separated from the other end of the second clamping piece 320. In the direction from the end where the first clamping piece 310 is connected to the second clamping piece 320 to the end where the first clamping piece 310 is separated from the second clamping piece 320, the spacing between the first clamping piece 310 and the second clamping piece 320 can be set to increase, so that the width dimension of the portion where the first clamping piece 310 and the second clamping piece 320 are connected in the clamping member 300 is relatively small. The width dimension of the traction groove 411 can be set to be larger than the width dimension of the portion where the first clamping piece 310 and the second clamping piece 320 are connected in the clamping member 300, so that the portion where the first clamping piece 310 and the second clamping piece 320 are connected can extend into the traction groove 411. The width of the traction groove 411 is smaller than the width of the portion of the clamping member 300 where the first clamping piece 310 and the second clamping piece 320 are separated. In this way, when the traction member 400 gradually extends into the traction groove 411, the opposite inner walls of the traction groove 411 can be pressed against the first clamping piece 310 and the second clamping piece 320, so that the first clamping piece 310 and the second clamping piece 320 move toward each other to perform a clamping action.

[0081] In some embodiments, in order to allow the first clamping piece 310 and the second clamping piece 320 to move away from each other, the first clamping piece 310 and the second clamping piece 320 may be elastically connected. When the first clamping piece 310 and the second clamping piece 320 move toward each other, an elastic force may be generated between the first clamping piece 310 and the second clamping piece 320. When the first clamping piece 310 and the second clamping piece 320 are no longer subjected to the force for moving toward each other, the elastic force between the first clamping piece 310 and the second clamping piece 320 may drive the first clamping piece 310 and the second clamping piece 320 to move away from each other, so that the first clamping piece 310 and the second clamping piece 320 form a clamping area 330 with sufficient space to accommodate the clip applier 500.

[0082] When the first traction portion 410 moves away from the clamping member 300, so that the clamping member 300 moves out of the traction groove 411 of the first traction portion 410, the inner wall of the traction groove 411 is no longer pressed on the two sides opposite to each other of the first clamping piece 310 and the second clamping piece 320, and the elastic force between the first clamping piece 310 and the second clamping piece 320 can drive the first clamping piece 310 and the second clamping piece 320 to move away from each other. In this way, there is no need to additionally set up a mechanism for driving the first clamping piece 310 and the second clamping piece 320 to move away from each other, thereby reducing the number of components of the instrument assembly of the present application, so as to achieve the purpose of reducing the cost of the instrument assembly and making the structure of the instrument assembly more compact.

[0083] Specifically, the clamping member 300 may be made of an elastic material, so that the first clamping piece 310 and the second clamping piece 320 may be elastically connected.

[0084] In some embodiments, reference Figure 6 As shown, when the first traction portion 410 of the present application moves away from the clamping member 300, the second traction portion 420 moves toward the clamping member 300 to drive the clamping forceps 500 to move between the first clamping piece 310 and the second clamping piece 320, thereby improving the operating efficiency of the instrument assembly of the present application. Specifically, when the first traction portion 410 moves away from the clamping member 300, the clamping member 300 moves out of the traction groove 411 of the first traction portion 410, and the inner wall of the traction groove 411 is no longer pressed on the two sides opposite to the first clamping piece 310 and the second clamping piece 320. The elastic force between the first clamping piece 310 and the second clamping piece 320 can drive the first clamping piece 310 and the second clamping piece 320 to move away from each other, so that the clamping area 330 between the first clamping piece 310 and the second clamping piece 320 is increased. At this time, the second traction portion 420 drives the clamp applier 500 to move toward the clamping area 330, so that the clamp applier 500 can be moved from the accommodating area 210 to the clamping area 330, so that the clamp applier 500 can be installed on the clamping member 300. In this way, the process of the first clamping piece 310 and the second clamping piece 320 moving away from each other and the process of the clamp applier 500 being installed in the clamping area 330 can be performed simultaneously, which can improve the installation efficiency of the clamp applier 500 and improve the operating efficiency of the instrument assembly.

[0085] In some embodiments, reference Figure 6 , Figure 7 and Fig.10 As shown, in order to make the second traction part 420 move synchronously toward the clamping member 300 when the first traction part 410 moves away from the clamping member 300, the traction member 400 of the present application may also be provided with a traction rope 440, a first traction wheel 450 and a second traction wheel 460. Among them, the first traction wheel 450 is rotatably arranged on the instrument box 100, and the second traction wheel 460 is rotatably arranged on the instrument rod 200 and is located on the side of the instrument rod 200 away from the instrument box 100. The traction rope 440 is wound around the first traction wheel 450 and the second traction wheel 460, and the first traction wheel 450 and the second traction wheel 460 can support the traction rope 440, and when the first traction wheel 450 and the second traction wheel 460 rotate forward and backward, the traction rope 440 can be driven to move in different directions.

[0086] The traction rope 440 includes a first rope segment 441 and a second rope segment 442, which are connected and located on both sides of the first traction wheel 450. The first rope segment 441 has a first end, and the second rope segment 442 has a second end. The first end and the second end are two ends of the traction rope 440. The first end and the second end are both connected to the second traction wheel 460. The second traction wheel 460 can be connected to the driving box of the surgical robot, and the driving box can drive the second traction wheel 460 to rotate, so that the traction rope 440 can slide. Among them, the first rope segment 441 and the second rope segment 442 are located on both sides of the first traction wheel 450, so that the sliding directions of the first rope segment 441 and the second rope segment 442 are opposite to each other.

[0087] Specifically, the first end and the second end of the traction rope 440 are connected to the side wall of the second traction wheel 460. When the second traction wheel 460 rotates in the first direction, the first rope segment 441 is gradually released from the second traction wheel 460, and the first rope segment 441 slides toward the clamping member 300 as a whole. The second rope segment 442 can be gradually wound around the second traction wheel 460, so that the second rope segment 442 slides away from the clamping member 300 as a whole. The first rope segment 441 cooperates with the first traction part 410 in the upper limit position in the direction toward the clamping member 300. When the first rope segment 441 slides toward the clamping member 300, the first traction part 410 can be driven to move toward the clamping member 300, so that the first traction part 410. Thus, the first traction part 410 can be pressed on the first clamping piece 310 and the second clamping piece 320, so that the first clamping piece 310 and the second clamping piece 320 move toward each other, so that the clip applier 500 can be fixed on the tissue structure of the surgical site.

[0088] When the second traction wheel 460 rotates in a second direction opposite to the first direction, the first rope segment 441 is gradually wound around the second traction wheel 460, and the first rope segment 441 as a whole slides away from the clamping member 300, and the second rope segment 442 can be gradually released from the second traction wheel 460, so that the second rope segment 442 as a whole slides toward the clamping member 300. The second rope segment 442 is relatively fixed to the second traction portion 420, and when the second rope segment 442 slides toward the clamping member 300, the second rope segment 442 can drive the second traction portion 420 to move toward the clamping member 300. Thus, the second traction portion 420 can drive the clamp applier 500 to move from the accommodating area 210 to the clamping area 330 between the first clamping piece 310 and the second clamping piece 320.

[0089] In some embodiments, reference Figure 7As shown, in order to enable the first traction part 410 to move away from the clamping member 300 so that the first traction part 410 does not press against the clamping member 300, the traction member 400 may further include an elastic part 470. The elastic part 470 is connected to the first traction part 410, and when the second traction part 420 moves toward the clamping member 300, the elastic force of the elastic part 470 may drive the first traction part 410 to move away from the clamping member 300.

[0090] Specifically, one end of the elastic part 470 can be connected to the clamping member 300, and the other end of the elastic part 470 can be connected to the first traction part 410. Specifically, the end of the clamping member 300 close to the instrument box 100 can be fixedly connected to the instrument rod 200, and one end of the elastic part 470 is connected to the end of the clamping member 300 close to the instrument box 100. In addition, the elastic part 470 can also be configured to be directly connected to the instrument rod 200, which is not limited in this application. When the first traction part 410 moves toward the clamping member 300 driven by the traction rope 440, it can act on the elastic part 470, so that the elastic part 470 is deformed under the force and generates an elastic force; when the second rope segment 442 of the traction rope 440 drives the second traction part 420 to move toward the clamping member 300, the first rope segment 441 slides away from the clamping member 300, so that the traction rope 440 no longer drives the first traction part 410 to move toward the clamping member 300. At this time, the elastic force of the elastic part 470 can drive the first traction part 410 to move away from the clamping member 300, so that the first traction part 410 is no longer pressed against the clamping member 300, so that the space of the clamping area 330 between the first clamping plate 310 and the second clamping plate 320 can be expanded, so that the clamp 500 can be moved into the clamping area 330.

[0091] The elastic part 470 may specifically be a tension spring, which may be stretched when the first traction part 410 moves toward the clamping member 300, and the elastic restoring force of the tension spring may drive the first traction part 410 to move away from the clamping member 300. In addition, the tension spring may be compressed when the first traction part 410 moves toward the clamping member 300, and the elastic restoring force of the tension spring may also drive the first traction part 410 to move away from the clamping member 300.

[0092] The number of the elastic parts 470 may be multiple, and the multiple elastic parts 470 may be connected to the first traction part 410 , so that the first traction part 410 can move away from the clamping member 300 more fully.

[0093] In some embodiments, reference Figure 6As shown, in order to further improve the operating efficiency of the instrument assembly of the present application, the accommodating area 210 of the instrument rod 200 is configured to accommodate a plurality of clip appliers 500, and the plurality of clip appliers 500 can be arranged in sequence along the direction toward the clamping member 300, that is, along the direction toward the clamping member 300, the spacing between the plurality of clip appliers 500 and the clamping member 300 gradually decreases. The first traction portion 410 is configured to sequentially drive the plurality of clip appliers 500 to move from the accommodating area 210 to the clamping area 330.

[0094] Specifically, when the first traction portion 410 moves away from the clamping member 300, the first clamping piece 310 and the second clamping piece 320 move away from each other, so that the clamping area 330 is expanded, the second traction portion 420 can drive the clamp 500 closest to the clamping area 330 to move into the clamping area 330. Then, the clamping member 300 is moved to the surgical site, and the first traction portion 410 moves toward the clamping member 300, so that the first traction portion 410 is pressed against the first clamping piece 310 and the second clamping piece 320, and then the first clamping piece 310 and the second clamping piece 320 are pressed against the clamp 500, so that the clamp 500 can be fixed on the tissue structure of the surgical site. The first traction portion 410 can move back toward the clamping member 300 again, so that the first clamping plate 310 and the second clamping plate 320 move back to each other to expand the clamping area 330. At this time, the second traction portion 420 can again drive the clamp 500 that is closest to the clamping member 300 in the accommodating area 210 to move into the clamping area 330, so that the clamp 500 can be fixed on the tissue structure.

[0095] In some embodiments, reference Fig.11 and Fig.12 As shown, in order to enable the second traction part 420 to drive the plurality of clip appliers 500 to move toward the clamping member 300, the second traction part 420 may be provided with a connection block 421 and a support sheet 422. The connection block 421 is connected to the traction rope 440, and is specifically fixedly connected to the second rope segment 442, and the support sheet 422 is connected to the connection block 421, and the support sheet 422 is located at one side of the bottom of the plurality of clip appliers 500. The support sheet 422 is provided with a plurality of limiting protrusions 430, and the plurality of limiting protrusions 430 are respectively matched with the plurality of clip appliers 500 in the direction toward the clamping member 300. When the second rope segment 442 slides toward the clamping member 300, it can drive the connecting block 421 to move toward the clamping member 300, thereby causing the support plate 422 and the multiple limiting protrusions 430 arranged on the support plate 422 to move toward the clamping member 300. Each limiting protrusion 430 can respectively drive the corresponding clamp 500 to move toward the clamping member 300, so that the multiple clamps 500 can be moved into the clamping area 330 in sequence.

[0096] In some embodiments, reference Figure 4 and Figure 6As shown, in order to enable the second traction part 420 to drive the clamping forceps 500 when moving toward the clamping member 300, and not to drive the clamping forceps 500 to move away from the clamping forceps 500 when the second traction part 420 moves away from the clamping member 300, the instrument assembly may also be provided with a limiter 600. The limiter 600 is provided on the instrument rod 200, and the limiter 600 cooperates with the clamping forceps 500 to limit the position in the direction away from the clamping member 300, and the support sheet 422 is elastically connected to the connecting block 421, so that the support sheet 422 can be bent relative to the connecting block 421. A guide surface 431 is provided on the side of the limiting protrusion 430 facing away from the clamping member 300. When the second traction portion 420 moves away from the clamping member 300, the clamp applier 500 is pressed against the guide surface 431 to move the support sheet 422 away from the clamp applier 500 until the limiting protrusion 430 is located at the bottom side of the clamp applier 500. In this way, the limiting protrusion 430 and the clamp applier 500 will not be limited in the direction away from the clamping member 300, and the support sheet 422 as a whole can move freely away from the clamping member 300. In this process, the limiting member 600 can limit the clamp applier 500 in the direction away from the clamping member 300 to prevent the clamp applier 500 from moving away from the clamping member 300.

[0097] Specifically, when the second traction portion 420 moves toward the clamping member 300, the second traction portion 420 can abut against the side of the clip applier 500 facing away from the clamping member 300, and push the clip applier 500 to move toward the clamping member 300. When the second traction portion 420 moves away from the clip applier 500, the second traction portion 420 abuts against the side of the clip applier 500 facing the clamping member 300, and the limiting member 600 can be configured to abut against the side of the plurality of clip appliers 500 facing away from the clamping member 300, so that the clip applier 500 acts on the guide surface 431 of the limiting protrusion 430, so that the support sheet 422 is bent relative to the connecting block 421 in a direction away from the clip applier 500, so that the limiting protrusion 430 and the clip applier 500 are no longer mutually limited, and the clip applier 500 can maintain its position, so that the clip applier 500 can be driven to the clamping area 330 again.

[0098] The number of the limiting members 600 can be set to be multiple, and the multiple limiting members 600 are correspondingly arranged on the bottom side of the multiple clip appliers 500, and are pressed against the side of the clip appliers 500 facing away from the clamping member 300. The limiting member 600 is also an elastic structural member. When the clip applier 500 moves toward the clamping member 300, the clip applier 500 can be pressed against the limiting member 600, so that the limiting member 600 moves downward of the clip applier 500, so that the limiting member 600 and the clip applier 500 are misaligned in the direction toward the clamping member 300, so as to prevent the limiting member 600 from interfering with the movement of the clip applier 500 toward the clamping member 300.

[0099] Therefore, the instrument assembly of the present application can be installed with multiple clamps 500 when in use. By rotating the second traction wheel 460, multiple clamps 500 can be fixed to the tissue structure in turn, and multiple clamps 500 can be installed in the clamping area 330 in turn, making the instrument assembly easy to operate and more efficient.

[0100] Based on the above instrument assembly, the present application also proposes a surgical robot, comprising the above instrument assembly.

[0101] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned implementation modes, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the implementation modes of the present application.

Claims

1. An instrument assembly, characterized in that: include: Instrument box (100); An instrument rod (200), one side of which is connected to the instrument box (100), the instrument rod (200) having a receiving area (210) for receiving a clip applier (500), the clip applier (500) being movably disposed in the receiving area (210); a clamping member (300) connected to a side of the instrument rod (200) facing away from the instrument box (100); the clamping member (300) comprises a first clamping piece (310) and a second clamping piece (320) arranged opposite to each other; a clamping area (330) is provided between the first clamping piece (310) and the second clamping piece (320); the clamping area (330) is communicated with the accommodating area (210); the clamping member (300) is configured such that the first clamping piece (310) and the second clamping piece (320) can move toward or away from each other, so that the clamping member (300) is closed or opened; The traction member (400) is configured to drive the first clamping piece (310) and the second clamping piece (320) to move toward each other so that the clamping piece (300) is closed. When the first clamping piece (310) and the second clamping piece (320) move away from each other so that the clamping piece (300) is opened, the traction member (400) is configured to drive the clamping forceps (500) in the accommodating area (210) to move to the clamping area (330); The traction member (400) comprises a first traction portion (410) and a second traction portion (420), the first clamping piece (310) and the second clamping piece (320) are movably connected, and the first traction portion (410) is configured to be pressed on opposite sides of the first clamping piece (310) and the second clamping piece (320) so as to enable the first clamping piece (310) and the second clamping piece (320) to move toward each other; When the clamping member (300) is opened, the second traction portion (420) is configured to drive the clamping forceps (500) in the accommodating area (210) to move to the clamping area (330); The traction member (400) further comprises a traction rope (440), a first traction wheel (450) and a second traction wheel (460); the first traction wheel (450) is rotatably arranged on the instrument rod (200); the second traction wheel (460) is rotatably arranged on the instrument box (100); the traction rope (440) is wound around the first traction wheel (450) and the second traction wheel (460); the traction rope (440) comprises a first rope segment (441) and a second rope segment (442) located on both sides of the first traction wheel (450); the first rope segment (441) and the first traction part (410) are engaged in a limit position in a direction toward the clamping member (300); and the second rope segment (442) and the second traction part (420) are relatively fixed; When the first traction wheel (450) and the second traction wheel (460) rotate in a first direction, the first rope segment (441) drives the first traction portion (410) to move toward the clamping member (300); When the first traction wheel (450) and the second traction wheel (460) rotate in a second direction, the second rope segment (442) drives the second traction portion (420) to move toward the clamping member (300), and the first direction and the second direction are opposite to each other.

2. The device assembly according to claim 1, characterized in that: The first clamping piece (310) is elastically connected to the second clamping piece (320). When the first traction portion (410) is not pressed on opposite sides of the first clamping piece (310) and the second clamping piece (320), the elastic force between the first clamping piece (310) and the second clamping piece (320) drives the first clamping piece (310) and the second clamping piece (320) to move away from each other.

3. The device assembly according to claim 1 or 2, characterized in that: The first traction portion (410) comprises a traction groove (411), and the first traction portion (410) is configured to move toward or away from the clamping member (300) so that at least a portion of the clamping member (300) is located in the traction groove (411), or the clamping member (300) is located outside the traction groove (411); When at least part of the clamping member (300) is located in the traction groove (411), the opposite inner walls of the traction groove (411) are pressed against the opposite sides of the first clamping piece (310) and the second clamping piece (320), so that the first clamping piece (310) and the second clamping piece (320) move towards each other.

4. The apparatus assembly according to claim 3, characterized in that: The traction member (400) further comprises an elastic portion (470), wherein the elastic portion (470) is connected to the first traction member (410), and when the second traction member (420) moves toward the clamping member (300), the elastic force of the elastic portion (470) can drive the first traction member (410) to move away from the clamping member (300).

5. The instrument assembly according to claim 1, characterized in that: The accommodating area (210) can accommodate a plurality of the clamps (500), and the plurality of the clamps (500) are arranged sequentially along a direction toward the clamping member (300), and the second traction portion (420) is configured to drive the plurality of the clamps (500) to move sequentially to the clamping area (330).

6. The apparatus assembly according to claim 5, characterized in that: The second traction part (420) includes a connecting block (421) and a supporting plate (422), wherein the connecting block (421) is movably arranged on the instrument rod (200), and the supporting plate (422) is connected to the connecting block (421), and the supporting plate (422) has a plurality of limiting protrusions (430), and the supporting plate (422) is located at the bottom of the plurality of clamps (500), and the plurality of limiting protrusions (430) are respectively located and cooperated with the plurality of clamps (500) in the direction toward the clamping member (300) to limit the position.

7. The apparatus assembly according to claim 6, characterized in that: The instrument assembly further comprises a limit member (600), the limit member (600) being arranged on the instrument rod (200), the limit member (600) cooperating with the plurality of clamp appliers (500) to limit position in a direction away from the clamping member (300); The support sheet (422) is elastically connected to the connecting block (421), and the limiting protrusion (430) has a guiding surface (431) on the side facing away from the clamping member (300). When the second traction portion (420) moves away from the clamping member (300), the clamping forceps (500) is pressed against the guiding surface (431) so that the support sheet (422) moves away from the clamping forceps (500) until the limiting protrusion (430) is located on the bottom side of the clamping forceps (500).

8. A surgical robot, characterized in that: Comprising the instrument assembly as described in any one of claims 1-7.

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