Opening and closing clamp and surgical robot

Abstract

The embodiment of the invention provides an opening and closing clamp and a surgical robot, and relates to the technical field of medical instruments. The opening and closing clamp comprises a driving assembly which is provided with a fixed end and an output end which are oppositely arranged; the opening and closing assembly comprises a shell and an opening and closing piece, the shell is connected with the output end, and the opening and closing piece is located on the side, away from the output end, in the shell; the circuit assembly is located between the output end and the opening and closing piece, and the circuit assembly and the opening and closing piece are arranged at intervals; wherein the circuit assembly comprises a fixing piece, a clutch key and a plurality of circuit boards, and the circuit boards are sequentially connected end to end and are arranged in a crossed mode; the circuit boards are all installed on the fixing part, the clutch key is electrically connected with one circuit board, the opening and closing part is electrically connected with one circuit board, and the clutch key is used for controlling electrical connection of the opening and closing part. The rotating device can meet the requirements of electromagnetic compatibility (EMC) and grounding impedance.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an opening and closing clamp and a surgical robot. Background Art

[0002] With the development of surgical robots, doctors can control the robotic arm to perform related surgical operations through the main control device, which can achieve fine operations to improve the safety and success rate of the surgery. In existing surgical robots, the main control device includes a robotic arm and an opening and closing clamp connected to the end of the robotic arm. By controlling the opening and closing of the opening and closing clamp, the opening and closing angle of the opening and closing clamp is synchronized with the opening and closing of the clamping forceps at the end of the hand surgical instrument, thereby realizing the surgical execution action at the end of the surgical instrument.

[0003] In the related art, in order to achieve angle synchronization, the opening and closing clamp needs to be provided with a circuit board or a communication module to synchronize the angle with the clamping forceps.

[0004] However, in order to save space, the circuit board or communication module of the above-mentioned opening and closing clip is usually arranged on the transmission mechanism, which makes it difficult to meet the EMC (Electromagnetic Compatibility) and grounding impedance requirements. Summary of the invention

[0005] The embodiment of the present application provides an opening and closing clamp and a surgical robot. By arranging multiple circuit boards that intersect in sequence on a fixing member, the opening and closing member and the circuit boards are isolated from each other, and the electromagnetic compatibility is good, thereby ensuring the stability and safety of the circuit.

[0006] In a first aspect, an embodiment of the present application provides an opening and closing clip, the opening and closing clip comprising:

[0007] A driving assembly having a fixed end and an output end arranged opposite to each other;

[0008] An opening and closing assembly, comprising a shell and an opening and closing member, wherein the shell is connected to the output end, and the opening and closing member is located at a side of the shell away from the output end;

[0009] A circuit component is located between the output end and the opening and closing member, and the circuit component and the opening and closing member are spaced apart;

[0010] Among them, the circuit assembly includes a fixing part, a clutch button and multiple circuit boards, the multiple circuit boards are connected end to end in sequence and are arranged in an intersecting manner; the multiple circuit boards are all installed on the fixing part, the clutch button is electrically connected to one of the circuit boards, the opening and closing part is electrically connected to one of the circuit boards, and the clutch button is used to control the electrical connection of the opening and closing part.

[0011] The opening and closing clamp provided in the embodiment of the present application can effectively utilize limited space by arranging the circuit component between the output end and the opening and closing piece, and the circuit board is arranged to intersect end to end, thereby avoiding the problem of the circuit board or communication module occupying too much space in the traditional design. Since the circuit component is no longer arranged on the transmission mechanism, but is located between the output end and the opening and closing piece, it can better meet the requirements of electromagnetic compatibility and ground impedance, thereby improving the stability and reliability of the surgical robot. In addition, multiple circuit boards are connected end to end in sequence and arranged to intersect, so that the circuit component has a modular feature, which is easy to maintain and replace, and improves the maintainability and flexibility of the surgical robot. Secondly, the circuit component and the opening and closing piece are arranged at intervals, which can effectively reduce the electromagnetic interference between the circuit board and the transmission mechanism and improve the overall performance. Since the circuit board and the communication module are no longer arranged on the transmission mechanism, the design of the transmission mechanism can be simplified and the manufacturing and maintenance costs can be reduced.

[0012] In a possible implementation, the housing includes an outer shell and an isolating portion, and the isolating portion is located on a side of the opening and closing member facing the driving assembly;

[0013] The housing and the isolation portion are an integral piece.

[0014] Through the above arrangement, the isolation part can effectively separate the opening and closing part from the driving component to reduce mechanical interference and electromagnetic interference, and improve the stability and reliability of the opening and closing part. In addition, designing the shell and the isolation part as an integrated part can improve the structural strength and sealing of the shell, and further protect the internal components from the influence of the external environment. At the same time, the integrated design simplifies the manufacturing process and reduces the manufacturing cost.

[0015] In a possible implementation manner, the output end includes a center fixing area and an edge fixing area that are spaced apart from each other, the fixing member is fixedly connected to the center fixing area, and the housing is fixedly connected to the edge fixing area.

[0016] In a possible implementation, the circuit board assembly includes a first circuit board, a second circuit board, and a third circuit board, and the first circuit board and the second circuit board are respectively located on opposite sides of the fixing member;

[0017] The third circuit board connects the first circuit board and the second circuit board, and the third circuit board intersects with the first circuit board and the second circuit board respectively;

[0018] The third circuit board is connected to the edges of the first circuit board and the second circuit board; or, the third circuit board is connected to the middle position of the first circuit board and the second circuit board.

[0019] Through the above arrangement, the first circuit board, the second circuit board and the third circuit board can form a "U"-shaped structure, which can be directly covered on the periphery of the fixing part for easy loading and unloading; or, the first circuit board, the second circuit board and the third circuit board can form a "T"-shaped structure, and the structural strength of the circuit assembly is relatively high.

[0020] In a possible implementation manner, the circuit board assembly includes a first clutch button and a second clutch button, the first clutch button is electrically connected to the first circuit board, and the second clutch button is electrically connected to the second circuit board;

[0021] The first clutch button and the second clutch button are slidably arranged, and both the first clutch button and the second clutch button have a first position and a second position which are arranged at an interval;

[0022] When at least one of the first release button and the second release button is in the first position, the circuit component is electrically conductive;

[0023] When at least one of the first release button and the second release button is in the second position, the circuit component is disconnected.

[0024] By sliding the clutch button, mechanical wear can be reduced and service life can be increased; by setting the first clutch button and the second clutch button, the electrical state of the circuit component can be flexibly controlled to achieve circuit conduction and disconnection, which can adapt to different surgical needs.

[0025] In a possible implementation, when the shell includes an outer shell and an isolating portion, the outer shell further has a mounting hole and a guide hole communicating with the mounting hole, and the axial direction of the mounting hole intersects with the axial direction of the guide hole; the number of the mounting hole and the number of the guide holes are both two, and the two mounting holes are communicated with the two guide holes in a one-to-one correspondence;

[0026] The first clutch button and the second clutch button are located in the corresponding mounting holes, and the first clutch button and the second clutch button are elastically connected to the housing through springs respectively;

[0027] The first position is the position of the first clutch button and the second clutch button before the spring is compressed; the second position is the position of the first clutch button and the second clutch button after the spring is compressed.

[0028] Through the above arrangement, the two mounting holes are used to mount the first clutch button and the second clutch button respectively, and the two guide holes are used to guide the sliding of the first clutch button and the second clutch button respectively. The elastic force provided by the spring ensures the stability of the clutch button at different positions, reducing misoperation caused by vibration or other external factors. The clutch button can slide smoothly between the first position and the second position.

[0029] In a possible implementation manner, a first optoelectronic component is disposed on the first circuit board, and a second optoelectronic component is disposed on the second circuit board;

[0030] A reflective layer is disposed on a side of the first clutch button facing the first circuit board and a side of the second clutch button facing the second circuit board, and the reflective layer is used to reflect the light emitted by the first photoelectric component and the second photoelectric component;

[0031] When at least one of the first release key and the second release key is in the first position, the reflective layer does not reflect light, and the circuit component is electrically conductive;

[0032] When at least one of the first release key and the second release key is in the second position, the reflective layer does not reflect light, and the circuit component is disconnected.

[0033] Through the above-mentioned setting, the optoelectronic components and the reflective layer cooperate to accurately control the electrical state of the circuit components and realize the conduction and disconnection of the circuit; in addition, this method makes the operation of the circuit components more precise and can adapt to different surgical needs. In addition, through photoelectric detection, electromagnetic interference between circuit boards can be reduced, electromagnetic compatibility can be improved, and the stability and reliability of the surgical robot can be improved.

[0034] In a possible implementation manner, when the housing includes an outer shell and an isolating portion, the housing further includes a guide member, and the guide member is fixedly connected to a side of the isolating portion away from the output end;

[0035] The guide member covers a portion of the circuit component and exposes at least the first optoelectronic component and the second optoelectronic component.

[0036] Through the above arrangement, the guide can provide physical protection to prevent the external environment from damaging the circuit components, reduce mechanical shock and contamination of the circuit components, and increase the service life; in addition, the guide can provide electromagnetic shielding, reduce electromagnetic interference between circuit components, improve electromagnetic compatibility, and help improve the stability and reliability of the surgical robot. The guide ensures the normal operation of the optoelectronic components.

[0037] In a possible implementation, the opening and closing member includes a movable end and a control end, the movable end is rotatably connected to a side of the housing away from the output end, the control end is connected to the movable end, a magnetic member is provided on a side of the movable end facing the fixed member, a magnetic sensing member corresponding to the magnetic member is provided on the third circuit board, and the magnetic sensing member is used to sense the signal strength of the magnetic member; the guide member at least exposes the magnetic sensing member;

[0038] And / or, the first clutch button and the second clutch button are both slidably connected to the guide member, the first clutch button and the second clutch button are both made of polymethanol, and the guide member is made of 304 stainless steel.

[0039] Through the above-mentioned settings, the magnetic parts and magnetic induction parts are used together to achieve non-contact position detection, avoid mechanical wear, improve the reliability and life of the opening and closing parts and the surgical robot, and reduce the risk of misoperation caused by mechanical contact. Secondly, through the cooperation of the magnetic parts and the magnetic induction parts, the position of the movable end can be accurately detected, and the opening and closing clamp action can be accurately controlled, making the operation of the opening and closing clamp more precise and adapting to different surgical needs. In addition, the non-contact connection between the magnetic parts and the magnetic induction parts does not require wires, which can reduce electromagnetic interference and improve the electromagnetic compatibility of the surgical robot. Finally, the guide part can ensure that the magnetic induction parts can work normally and improve the stability and reliability of the surgical robot.

[0040] In a second aspect, an embodiment of the present application provides a surgical robot, comprising a surgical platform, a robotic arm and the opening and closing clamp, wherein both ends of the robotic arm are respectively connected to the opening and closing clamp and the surgical platform, and the robotic arm is used to transmit the movement of the opening and closing clamp to the surgical platform.

[0041] The surgical robot provided in the embodiment of the present application can achieve high-precision surgical operations through precise control of the robotic arm and the opening and closing clamp, meet the needs of complex and minimally invasive surgeries, and significantly improve the success rate of the surgery. Among them, the surgical platform provides a stable foundation, and the design of the robotic arm and the opening and closing clamp ensures the stability and reliability of the system, reducing errors and jitters that may occur during the operation. Secondly, the robotic arm enables the opening and closing clamp to reach various positions of the surgical operation, meet the needs of different surgeries, and provide a wider operating range. In addition, the two ends of the robotic arm are respectively connected to the opening and closing clamp and the surgical platform to form a complete transmission chain, which can improve the efficiency and safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the implementation methods in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technology descriptions. Obviously, the drawings described below are some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0043] Figure 1 A schematic diagram of the three-dimensional structure of the opening and closing clip provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of a first explosion structure of the opening and closing clamp provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of an exploded structure of a circuit assembly of an opening and closing clip provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of the exploded structure of a partial structure of the opening and closing clamp provided in an embodiment of the present application.

[0047] Description of reference numerals:

[0048] 10. Open and close clip;

[0049] 100. Driving assembly;

[0050] 110, fixed end;

[0051] 120, output terminal;

[0052] 121, center fixed area; 122, edge fixed area;

[0053] 200, opening and closing components;

[0054] 210, housing;

[0055] 211. Shell;

[0056] 2111, mounting hole; 2112, guide hole;

[0057] 212. Isolation Department;

[0058] 220, opening and closing parts;

[0059] 221, movable end; 222, control end; 223, magnetic part;

[0060] 230, guide member;

[0061] 300, circuit components;

[0062] 310, fixings;

[0063] 311, wire duct;

[0064] 320, first clutch button; 330, second clutch button;

[0065] 340, a first circuit board;

[0066] 341. A first optoelectronic device;

[0067] 350, a second circuit board;

[0068] 351. A second optoelectronic device;

[0069] 360, third circuit board;

[0070] 361, magnetic sensing parts;

[0071] 370. Spring; 380. Reflective layer.

[0072] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0073] In order to make the purpose, implementation mode and advantages of the present application clearer, the exemplary implementation mode of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0074] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0075] In addition, the terms "include" and "have" and any variations thereof are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to those components expressly listed but may include other components not expressly listed or inherent to such products or devices.

[0076] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are 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 device or element referred to 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.

[0077] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0078] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0079] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0080] An embodiment of the present application provides a surgical robot, comprising a surgical platform, a robotic arm, and an opening and closing clamp.

[0081] Specifically, the surgical platform is the basic part of the surgical robot, used to support and fix the entire surgical robot system, and is also the main place for surgical operations.

[0082] As the basic part, the surgical platform can support the robotic arm and opening and closing clamps, so that they can maintain the correct position and angle during the operation, reduce the surgical risks caused by vibration or movement, and ensure that the surgical robot system can operate stably during the operation.

[0083] The robotic arm is a structure that connects the surgical platform and the opening and closing clamp, and is used to transmit the action of the opening and closing clamp to the surgical platform. The two ends of the robotic arm are connected to the opening and closing clamp and the surgical platform respectively. The robotic arm can accurately transmit the action of the opening and closing clamp to ensure the accuracy and consistency of the surgical operation.

[0084] The opening and closing clamp is the end effector of the surgical robot, which realizes the surgical operation through the drive component, the opening and closing component and the circuit component. The action of the opening and closing clamp is transmitted to the surgical platform through the robotic arm.

[0085] Through the above settings, the surgical robot can achieve high-precision surgical operations through precise control of the robotic arm and the opening and closing clamp, meet the needs of complex and minimally invasive surgeries, and significantly improve the success rate of the surgery. Among them, the surgical platform provides a stable foundation, and the design of the robotic arm and the opening and closing clamp ensures the stability and reliability of the system, reducing errors and jitters that may occur during the operation. Secondly, the robotic arm enables the opening and closing clamp to reach various positions of the surgical operation, meet the needs of different surgeries, and provide a wider range of operations. In addition, the two ends of the robotic arm are respectively connected to the opening and closing clamp and the surgical platform to form a complete transmission chain, which can improve the efficiency and safety of the operation.

[0086] Reference Figure 1 and Figure 2 In a second aspect, an embodiment of the present application provides an opening and closing clip 10. The opening and closing clip 10 includes a driving component 100, an opening and closing component 200 and a circuit component 300.

[0087] The driving component 100 has a fixed end 110 and an output end 120 that are arranged opposite to each other. The output end 120 can transmit the driving force to the opening and closing component 200 to realize the opening and closing action, thereby ensuring the normal operation of the opening and closing clamp 10.

[0088] The opening and closing assembly 200 includes a housing 210 and an opening and closing member 220. The housing 210 is connected to the output end 120, and the opening and closing member 220 is located on a side of the housing 210 away from the output end 120. The housing 210 can provide a closed space to protect the opening and closing member 220 from external interference. At the same time, the housing 210 is connected to the output end 120 of the drive assembly 100, so that the driving force can be effectively transmitted to the opening and closing member 220 to achieve the opening and closing action. The opening and closing member 220 can perform an opening and closing action in the housing 210, and the housing 210 is connected to the output end 120 to ensure that the action of the opening and closing member 220 can be transmitted through the drive assembly 100.

[0089] The circuit assembly 300 is located between the output end 120 and the opening and closing member 220, and the circuit assembly 300 and the opening and closing member 220 are spaced apart from each other;

[0090] Among them, the circuit assembly 300 includes a fixing member 310, a clutch button and multiple circuit boards, and the multiple circuit boards are connected end to end in sequence and arranged in an intersecting manner; the multiple circuit boards are all installed on the fixing member 310, the clutch button is electrically connected to one of the circuit boards, the opening and closing member 220 is electrically connected to one of the circuit boards, and the clutch button is used to control the electrical connection of the opening and closing member 220.

[0091] The circuit assembly 300 is located between the output end 120 and the opening and closing member 220, and the circuit assembly 300 is spaced apart from the opening and closing member 220. The circuit assembly 300 is arranged between the output end 120 and the opening and closing member 220, and the circuit assembly 300 is spaced apart from the opening and closing member 220, which can reduce mechanical interference and electromagnetic interference to the circuit assembly 300, improve electromagnetic compatibility, and thus improve the stability and reliability of the surgical robot.

[0092] It is understandable that the circuit assembly 300 and the opening and closing member 220 are arranged at a distance, which may mean that there is an air gap between the circuit assembly 300 and the opening and closing member 220, or it may mean that there is a physical structure between the circuit assembly 300 and the opening and closing member 220. The embodiment of the present application does not limit the specific implementation method of the circuit assembly 300 and the opening and closing member 220 being arranged at a distance, nor is it limited to the above example.

[0093] The circuit assembly 300 includes a fixing member 310 , a release button, and a plurality of circuit boards.

[0094] In some embodiments, multiple circuit boards are connected end to end in sequence and arranged to intersect. On the one hand, by connecting multiple circuit boards end to end in sequence and arranged to intersect, more circuit boards can be arranged in a limited space, which can effectively utilize the space, reduce interference between circuit boards, and improve the integration of the circuit assembly 300. On the other hand, the circuit assembly 300 can be electrically connected without wires between the circuit boards, which can simplify the wiring and avoid the risk of wire exposure.

[0095] In some embodiments, multiple circuit boards are mounted on the fixing member 310, so that the layout of the circuit boards is relatively stable. The clutch button is electrically connected to one of the circuit boards, and the opening and closing member 220 is electrically connected to one of the circuit boards. The clutch button is used to control the electrical connection of the opening and closing member 220. In this way, the electrical connection of the opening and closing member 220 can be controlled by the clutch button, so that the opening and closing member 220 can be accurately controlled.

[0096] The opening and closing clip 10 provided in the embodiment of the present application can effectively utilize limited space by arranging the circuit assembly 300 between the output end 120 and the opening and closing piece 220, and the circuit board is arranged to intersect each other, thereby avoiding the problem of the circuit board or communication module occupying too much space in the traditional design. Since the circuit assembly 300 is no longer arranged on the transmission mechanism, but is located between the output end 120 and the opening and closing piece 220, it can better meet the requirements of electromagnetic compatibility (EMC) and ground impedance, thereby improving the stability and reliability of the surgical robot. In addition, multiple circuit boards are connected end to end in sequence and arranged to intersect each other, so that the circuit assembly 300 has modular characteristics, which is convenient for maintenance and replacement, and improves the maintainability and flexibility of the surgical robot. Secondly, the circuit assembly 300 is arranged at intervals from the opening and closing piece 220, which can effectively reduce the electromagnetic interference between the circuit board and the transmission mechanism and improve the overall performance. Since the circuit board and the communication module are no longer arranged on the transmission mechanism, the design of the transmission mechanism can be simplified, and the manufacturing and maintenance costs can be reduced.

[0097] Reference Figure 2 and Figure 3 As an optional implementation, the circuit board assembly includes a first circuit board 340 , a second circuit board 350 and a third circuit board 360 .

[0098] It is understandable that the shapes and materials of the first circuit board 340 , the second circuit board 350 , and the third circuit board 360 may be the same or different, and may be selected according to actual conditions.

[0099] Specifically, in order to optimize space utilization and improve electromagnetic compatibility, by respectively arranging the first circuit board 340 and the second circuit board 350 on opposite sides of the fixing member 310 and intersecting and connecting them through the third circuit board 360, more circuit boards can be arranged in a limited space, thereby increasing integration and reducing interference.

[0100] The first circuit board 340 and the second circuit board 350 are respectively located on two opposite sides of the fixing member 310 , so that direct interference between the circuit boards can be avoided and the stability and reliability of the circuit assembly 300 can be ensured.

[0101] The third circuit board 360 connects the first circuit board 340 and the second circuit board 350. The third circuit board 360 intersects with the first circuit board 340 and the second circuit board 350, respectively, that is, the third circuit board 360 is used to realize the connection between the first circuit board 340 and the second circuit board 350. Through the intersection connection of the third circuit board 360, a large number of circuit boards can be arranged in a limited space, which can increase the integration of the circuit assembly 300. At the same time, electrical conduction can be achieved between adjacent circuit boards without wires, simplifying wiring, thereby reducing the risk of wire exposure.

[0102] In some embodiments, the third circuit board 360 is connected to the edges of the first circuit board 340 and the second circuit board 350. At this time, the first circuit board 340, the second circuit board 350 and the third circuit board 360 can form a "U"-shaped structure, which can directly cover the outer periphery of the fixing member 310 for easy loading and unloading.

[0103] Reference Figure 2 and Figure 3 In some other embodiments, the third circuit board 360 is connected to the middle position of the first circuit board 340 and the second circuit board 350. At this time, the first circuit board 340, the second circuit board 350 and the third circuit board 360 can form a "T" shape structure, and the structural strength of the circuit assembly 300 is relatively high.

[0104] In an embodiment of the present application, a plurality of protrusions may be provided on the upper and lower sides of the third circuit board 360. Correspondingly, corresponding positions of the first circuit board 340 and the second circuit board 350 have grooves corresponding to the protrusions, and the protrusions may be correspondingly located in the grooves to realize the connection among the first circuit board 340, the second circuit board 350 and the third circuit board 360.

[0105] Reference Figure 4 In a possible implementation manner, the housing 210 includes an outer shell 211 and an isolation portion 212 .

[0106] Specifically, the isolation portion 212 is located on the side of the opening and closing member 220 facing the driving assembly 100 ; the isolation portion 212 can effectively separate the opening and closing member 220 from the driving assembly 100 to reduce mechanical interference and electromagnetic interference and improve the stability and reliability of the opening and closing member 220 .

[0107] The housing 211 and the isolation portion 212 are integrally formed.

[0108] Specifically, to protect the opening and closing member 220, the housing 211 and the isolation portion 212 are designed as an integral part, which can improve the structural strength and sealing of the housing 210 and further protect the internal components from the external environment. At the same time, the integrated design simplifies the manufacturing process and reduces the manufacturing cost.

[0109] Reference Figure 2 As an optional implementation, the output end 120 includes a center fixing area 121 and an edge fixing area 122 that are spaced apart. There is a space between the center fixing area 121 and the edge fixing area 122 to avoid direct contact.

[0110] It can be understood that due to the spacing between the central fixing area 121 and the edge fixing area 122, the mechanical interference and electromagnetic interference between the circuit component 300 and the opening and closing component 200 can be effectively reduced, which helps to improve electromagnetic compatibility (EMC) and thus improve the stability and reliability of the surgical robot.

[0111] The fixing member 310 is fixedly connected to the central fixing area 121, and the outer shell 211 is fixedly connected to the edge fixing area 122. It is understandable that the fixing member 310 and the outer shell 211 can be respectively connected to the central fixing area 121 and the edge fixing area 122 through screw connections.

[0112] By fixing the circuit component 300 in the central fixing area 121 and the shell 211 of the opening and closing component 200 in the edge fixing area 122, limited space can be utilized more effectively, so that the space between the circuit board and the opening and closing component 220 can be reasonably allocated, avoiding the problem of the circuit board or communication module occupying too much space in traditional designs.

[0113] Through the above arrangement, the fixing member 310 and the housing 211 are respectively fixed in different areas, which can improve the stability of the overall structure of the opening and closing clip 10, so that the circuit component 300 and the opening and closing component 200 are more stable in their respective fixed areas, reducing looseness or damage caused by vibration or other external factors.

[0114] Reference Figure 3 In some embodiments, the fixing member 310 has a wire groove 311 on one side close to the output end 120, and the wires of the circuit assembly 300 can pass through the wire groove 311. In this way, when the driving assembly 100 is driven to rotate, the wires will not be entangled.

[0115] Reference Figure 2 and Figure 3 As an optional embodiment, the circuit board assembly includes a first clutch button 320 and a second clutch button 330. The first clutch button 320 is electrically connected to the first circuit board 340, and the second clutch button 330 is electrically connected to the second circuit board 350. In this way, the first clutch button 320 and the second clutch button 330 can both affect the electrical state of the circuit board.

[0116] The first clutch button 320 and the second clutch button 330 are slidably arranged, and both the first clutch button 320 and the second clutch button 330 have a first position and a second position which are arranged at intervals, that is, the first clutch button 320 and the second clutch button 330 can slide within the range between the first position and the second position.

[0117] When at least one of the first release button 320 and the second release button 330 is in the first position, the circuit assembly 300 is electrically connected; when at least one of the first release button 320 and the second release button 330 is in the second position, the circuit assembly 300 is electrically disconnected. That is, when at least one release button is in the first position, the circuit inside the circuit assembly 300 is connected; when at least one release button is in the second position, the circuit inside the circuit assembly 300 is disconnected.

[0118] By sliding the clutch button, mechanical wear can be reduced and the service life can be increased; by setting the first clutch button 320 and the second clutch button 330, the electrical state of the circuit component 300 can be flexibly controlled to achieve the conduction and disconnection of the circuit, which can adapt to different surgical needs.

[0119] Reference Figure 4 As an optional embodiment, when the housing 210 includes the shell 211 and the isolation portion 212, the shell 211 further has a mounting hole 2111 and a guide hole 2112 connected to the mounting hole 2111. The number of the mounting holes 2111 and the guide holes 2112 are both two, and the two mounting holes 2111 are connected to the two guide holes 2112 in a one-to-one correspondence. The two mounting holes 2111 are used to install the first clutch button 320 and the second clutch button 330, respectively, and the two guide holes 2112 are used to guide the sliding of the first clutch button 320 and the second clutch button 330, respectively.

[0120] The axial direction of the mounting hole 2111 intersects with the axial direction of the guide hole 2112. Exemplarily, the axial direction of the mounting hole 2111 is perpendicular to the axial direction of the guide hole 2112, so as to ensure the precise positioning and sliding path of the clutch button, avoid the clutch button from offsetting or jamming during the sliding process, and help improve the accuracy and reliability of the button operation.

[0121] The first clutch button 320 and the second clutch button 330 are located in the corresponding mounting holes 2111. The first clutch button 320 and the second clutch button 330 are elastically connected to the housing 211 through the spring 370, that is, the two ends of the spring 370 abut against the clutch button and the housing 211 respectively. The spring 370 can be located in the guide hole 2112 to be consistent with the sliding direction of the clutch button. The elastic force provided by the spring 370 ensures the stability of the clutch button at different positions and reduces erroneous operations caused by vibration or other external factors.

[0122] The first position is the position of the first clutch button 320 and the second clutch button 330 before the spring 370 is compressed; the second position is the position of the first clutch button 320 and the second clutch button 330 after the spring 370 is compressed. The clutch button can slide smoothly between the first position and the second position.

[0123] In the embodiment of the present application, the spring 370 is located on a side of the clutch button away from the driving assembly 100 , and therefore, the first position is closer to the driving assembly 100 than the second position.

[0124] Reference Figure 2 , Figure 3 as well as Figure 4As an optional implementation, a first photoelectric element 341 is disposed on the first circuit board 340, and a second photoelectric element 351 is disposed on the second circuit board 350; the first photoelectric element 341 and the second photoelectric element 351 are both used for emitting and receiving light.

[0125] A reflective layer 380 is provided on the side of the first clutch button 320 facing the first circuit board 340 and on the side of the second clutch button 330 facing the second circuit board 350. The reflective layer 380 is used to reflect the light emitted by the first photoelectric element 341 and the second photoelectric element 351 so that the first photoelectric element 341 and the second photoelectric element 351 can detect the reflected light.

[0126] Through the design of the photoelectric component and the reflective layer 380, non-contact detection is achieved, mechanical wear is avoided, and the reliability and life of the system are improved.

[0127] When at least one of the first release button 320 and the second release button 330 is in the first position, the reflective layer 380 does not reflect light, and the circuit assembly 300 is electrically conductive. That is, when in the first position, the reflective layer 380 does not reflect light, the photoelectric component does not detect the reflected light, and the circuit assembly 300 is electrically conductive.

[0128] When at least one of the first release button 320 and the second release button 330 is in the second position, the reflective layer 380 does not reflect light, and the circuit component 300 is disconnected. That is, when in the second position, the reflective layer 380 reflects light, the photoelectric component detects the reflected light, and the circuit component 300 is disconnected.

[0129] Through the cooperation of the optoelectronic components and the reflective layer 380, the electrical state of the circuit assembly 300 can be accurately controlled to realize the conduction and disconnection of the circuit; in addition, this method makes the operation of the circuit assembly 300 more precise and can adapt to different surgical needs. In addition, through photoelectric detection, electromagnetic interference between circuit boards can be reduced, and electromagnetic compatibility (EMC) can be improved, thereby improving the stability and reliability of the surgical robot.

[0130] Reference Figure 4 As an optional embodiment, when the housing 210 includes the shell 211 and the isolation portion 212 , the housing 200 further includes a guide member 230 , and the guide member 230 can be used to guide and protect the circuit assembly 300 .

[0131] The guide member 230 is fixedly connected to the side of the isolation part 212 away from the output end 120, that is, the guide member 230 is fixed to the isolation part 212 by mechanical or other means. Exemplarily, the guide member 230 can be fixedly connected by a screw connection, or can be connected by an adhesive, etc. The embodiment of the present application does not limit the connection method of the guide member 230, nor is it limited to the above examples.

[0132] The guide member 230 covers part of the circuit component 300. The guide member 230 can provide physical protection to prevent the external environment from damaging the circuit component 300, reduce the mechanical impact and pollution on the circuit component 300, and increase the service life; in addition, the guide member 230 can provide electromagnetic shielding, reduce electromagnetic interference between the circuit components 300, improve electromagnetic compatibility (EMC), and help improve the stability and reliability of the surgical robot.

[0133] The guide member 230 exposes at least the first photoelectric element 341 and the second photoelectric element 351 to ensure that the photoelectric elements work normally. Exemplarily, the guide member 230 has an opening or a transparent portion to enable the first photoelectric element 341 and the second photoelectric element 351 to work normally and emit and receive light.

[0134] Through the above arrangement, non-contact detection of the position of the clutch button can be achieved, ensuring the accuracy and reliability of the photoelectric detection.

[0135] Reference Figure 4 As an optional implementation, the opening and closing member 220 includes a movable end 221 and a control end 222 .

[0136] The movable end 221 is rotatably connected to a side of the housing 211 away from the output end 120. For example, the movable end 221 can be connected to the housing 211 via a hinge or other rotating mechanism, so that it can rotate relative to the housing 211.

[0137] The control terminal 222 is connected to the active terminal 221 , and is used to control the action of the active terminal 221 .

[0138] A magnetic part 223 is provided on the side of the movable end 221 facing the fixed part 310, and the magnetic part 223 is used to generate a magnetic field. A magnetic sensing part 361 corresponding to the magnetic part 223 is provided on the third circuit board 360, and the magnetic sensing part 361 is used to sense the signal strength of the magnetic part 223. That is, the magnetic sensing part 361 can sense the magnetic field generated by the magnetic part 223 and output a corresponding signal according to the magnetic field strength. Exemplarily, when the magnetic sensing part 361 senses a small magnetic field strength, the distance between the magnetic sensing part 361 and the magnetic part 223 is large, which is equivalent to the distance between the movable end 221 and the third circuit board 360 is large, that is, the opening and closing angle of the opening and closing part 220 is large; when the magnetic sensing part 361 senses a large magnetic field strength, the distance between the magnetic sensing part 361 and the magnetic part 223 is small, which is equivalent to the distance between the movable end 221 and the third circuit board 360 is small, that is, the opening and closing angle of the opening and closing part 220 is small.

[0139] The guide member 230 at least exposes the magnetic sensing member 361 , that is, the guide member 230 has an opening or a transparent portion, so that the magnetic sensing member 361 can normally sense the signal strength of the magnetic member 223 .

[0140] Through the above-mentioned settings, the magnetic part 223 and the magnetic sensing part 361 are used together to realize non-contact position detection, avoid mechanical wear, improve the reliability and life of the opening and closing part 220 and the surgical robot, and reduce the risk of misoperation caused by mechanical contact. Secondly, through the cooperation of the magnetic part 223 and the magnetic sensing part 361, the position of the movable end 221 can be accurately detected, and the precise control of the movement of the opening and closing clamp 10 can be achieved, so that the operation of the opening and closing clamp 10 is more precise and adapts to different surgical needs. In addition, the non-contact connection between the magnetic part 223 and the magnetic sensing part 361 does not require wires, can reduce electromagnetic interference, and improve the electromagnetic compatibility (EMC) of the surgical robot. Finally, the guide part 230 can ensure that the magnetic sensing part 361 can work normally and improve the stability and reliability of the surgical robot.

[0141] Reference Figure 3 and Figure 4 As an optional implementation, the first clutch button 320 and the second clutch button 330 are both slidably connected to the guide member 230, that is, the first clutch button 320 and the second clutch button 330 are connected to the guide member 230 in a sliding manner and can slide freely on the guide member 230.

[0142] It can be understood that the bottom of the first clutch button 320 and the second clutch button 330 can be provided with a slide groove, and the guide member 230 is provided with a guide protrusion at the position corresponding to the slide groove, and the guide protrusion can be located in the slide groove so that the first clutch button 320 and the second clutch button 330 can slide on the guide member 230.

[0143] The materials used to make the first clutch button 320 and the second clutch button 330 both include polymethanol, which has a low friction coefficient and good wear resistance, so that the first clutch button 320 and the second clutch button 330 can slide smoothly on the guide member 230 .

[0144] The guide member 230 is made of 304 stainless steel, which has excellent mechanical strength and corrosion resistance, and can enhance the structural strength and durability of the guide member 230 .

[0145] It is understandable that, through the above arrangement, friction and wear during the sliding process can be reduced, and the service life of the clutch button can be increased. At the same time, the structural strength and durability of the guide member 230 can be improved, ensuring the stability and reliability of the opening and closing member 220 and the surgical robot. Finally, polymethanol is an electrical insulating material that can reduce electromagnetic interference and improve the electromagnetic compatibility (EMC) of the surgical robot; stainless steel also helps to shield electromagnetic interference, further improving the stability and reliability of the surgical robot.

[0146] Finally, it should be noted that the above embodiments 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 embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with 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 embodiments of the present application.

[0147] For the convenience of explanation, the above description has been made in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations can be obtained. The selection and description of the above embodiments are to better explain the principles and practical applications, so that those skilled in the art can better use the embodiments and various different variations of the embodiments suitable for specific use considerations.

Claims

1. An opening and closing clamp (10), characterized in that: include: A driving assembly (100) having a fixed end (110) and an output end (120) arranged opposite to each other; An opening and closing assembly (200) comprises a housing (210) and an opening and closing member (220), wherein the housing (210) is connected to the output end (120), and the opening and closing member (220) is located on a side of the housing (210) away from the output end (120); A circuit component (300) is located between the output end (120) and the opening and closing member (220), and the circuit component (300) and the opening and closing member (220) are arranged at a distance; The circuit assembly (300) comprises a fixing member (310), a clutch button and a plurality of circuit boards, wherein the plurality of circuit boards are connected end to end in sequence and arranged to intersect; the plurality of circuit boards are all mounted on the fixing member (310), the clutch button is electrically connected to one of the circuit boards, the opening and closing member (220) is electrically connected to one of the circuit boards, and the clutch button is used to control the electrical connection of the opening and closing member (220).

2. The opening and closing clip (10) according to claim 1, characterized in that: The housing (210) comprises an outer shell (211) and an isolating portion (212), wherein the isolating portion (212) is located on a side of the opening and closing member (220) facing the driving assembly (100); The housing (211) and the isolation portion (212) are an integral piece.

3. The opening and closing clip (10) according to claim 2, characterized in that: The output end (120) comprises a central fixing area (121) and an edge fixing area (122) which are arranged at intervals, the fixing member (310) is fixedly connected to the central fixing area (121), and the housing (211) is fixedly connected to the edge fixing area (122).

4. The opening and closing clamp (10) according to any one of claims 1 to 3, characterized in that: The circuit board assembly comprises a first circuit board (340), a second circuit board (350) and a third circuit board (360), wherein the first circuit board (340) and the second circuit board (350) are respectively located on two opposite sides of the fixing member (310); The third circuit board (360) connects the first circuit board (340) and the second circuit board (350), and the third circuit board (360) intersects with the first circuit board (340) and the second circuit board (350) respectively; The third circuit board (360) is connected to the edges of the first circuit board (340) and the second circuit board (350); or, the third circuit board (360) is connected to the middle position of the first circuit board (340) and the second circuit board (350).

5. The opening and closing clip (10) according to claim 4, characterized in that: The circuit board assembly comprises a first clutch button (320) and a second clutch button (330), wherein the first clutch button (320) is electrically connected to the first circuit board (340), and the second clutch button (330) is electrically connected to the second circuit board (350); The first clutch button (320) and the second clutch button (330) are slidably arranged, and the first clutch button (320) and the second clutch button (330) both have a first position and a second position which are arranged at an interval; When at least one of the first release button (320) and the second release button (330) is in the first position, the circuit component (300) is electrically conductive; When at least one of the first release button (320) and the second release button (330) is in the second position, the circuit component (300) is disconnected.

6. The opening and closing clip (10) according to claim 5, characterized in that: When the housing (210) comprises an outer shell (211) and an isolating portion (212), the outer shell (211) further comprises a mounting hole (2111) and a guide hole (2112) communicating with the mounting hole (2111), and the axial direction of the mounting hole (2111) intersects with the axial direction of the guide hole (2112); the number of the mounting holes (2111) and the number of the guide holes (2112) are both two, and the two mounting holes (2111) are communicated with the two guide holes (2112) in a one-to-one correspondence; The first clutch button (320) and the second clutch button (330) are located in the corresponding mounting holes (2111), and the first clutch button (320) and the second clutch button (330) are elastically connected to the housing (211) via springs (370) respectively; The first position is the position of the first clutch button (320) and the second clutch button (330) before the spring (370) is compressed; the second position is the position of the first clutch button (320) and the second clutch button (330) after the spring (370) is compressed.

7. The opening and closing clip (10) according to claim 5, characterized in that: A first optoelectronic component (341) is disposed on the first circuit board (340), and a second optoelectronic component (351) is disposed on the second circuit board (350); A reflective layer (380) is provided on the side of the first clutch button (320) facing the first circuit board (340) and on the side of the second clutch button (330) facing the second circuit board (350), and the reflective layer (380) is used to reflect light emitted by the first photoelectric element (341) and the second photoelectric element (351); When at least one of the first clutch button (320) and the second clutch button (330) is in the first position, the reflective layer (380) does not reflect light, and the circuit component (300) is electrically conductive; When at least one of the first release button (320) and the second release button (330) is in the second position, the reflective layer (380) does not reflect light, and the circuit component (300) is disconnected.

8. The opening and closing clip (10) according to claim 7, characterized in that: When the housing (210) includes a shell (211) and an isolation portion (212), the housing (210) further includes a guide member (230), wherein the guide member (230) is fixedly connected to a side of the isolation portion (212) facing away from the output end (120); The guide member (230) covers a portion of the circuit component (300) and exposes at least the first optoelectronic component (341) and the second optoelectronic component (351).

9. The opening and closing clip (10) according to claim 8, characterized in that: The opening and closing member (220) comprises a movable end (221) and a control end (222); the movable end (221) is rotatably connected to a side of the housing (211) away from the output end (120); the control end (222) is connected to the movable end (221); a magnetic member (223) is provided on the side of the movable end (221) facing the fixing member (310); a magnetic sensing member (361) corresponding to the magnetic member (223) is provided on the third circuit board (360); the magnetic sensing member (361) is used to sense the signal strength of the magnetic member (223); and the guide member (230) at least exposes the magnetic sensing member (361); And / or, the first clutch button (320) and the second clutch button (330) are both slidably connected to the guide member (230), the manufacturing materials of the first clutch button (320) and the second clutch button (330) both include polymethanol, and the manufacturing material of the guide member (230) includes 304 stainless steel.

10. A surgical robot, characterized in that: It comprises a surgical platform, a robotic arm and an opening and closing clamp (10) as described in any one of claims 1 to 9, wherein two ends of the robotic arm are respectively connected to the opening and closing clamp (10) and the surgical platform, and the robotic arm is used to transmit the movement of the opening and closing clamp (10) to the surgical platform.

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