Opening and closing clamp and surgical robot

Abstract

The embodiment of the application provides an opening and closing clamp and a surgical robot, and relates to the technical field of medical devices. The opening and closing clamp comprises a driving assembly having a fixed end and an output end arranged oppositely; an opening and closing assembly comprising a shell and an opening and closing piece, the shell being connected with the output end, and the opening and closing piece being located on the side of the shell away from the output end; and a circuit assembly located between the output end and the opening and closing piece, and spaced apart from the opening and closing piece; wherein the circuit assembly comprises a fixing piece, a clutching button and a plurality of circuit boards, the plurality of circuit boards are sequentially connected in head-tail mode and arranged in intersection mode; the plurality of circuit boards are all mounted on the fixing piece, the clutching button is electrically connected with one of the circuit boards, the opening and closing piece is electrically connected with one of the circuit boards, and the clutching button is used for controlling the electrical connection of the opening and closing piece. The rotating device can meet the requirements of electromagnetic compatibility (EMC) and grounding impedance.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an opening and closing clamp and a surgical robot. Background Technology

[0002] With the development of surgical robots, doctors can control robotic arms to perform related surgical operations through a main control device, enabling precise operations and improving the safety and success rate of surgery. Existing surgical robots typically have a main control device consisting of a robotic arm and an end-effector gripper. By controlling the opening and closing of the gripper, the opening and closing angle of the gripper is synchronously controlled by the surgical instruments to execute the end-effector gripping action, thus realizing the surgical execution action at the end of the surgical instruments.

[0003] In related technologies, in order to achieve angle synchronization, the opening and closing clamps need to be equipped with a circuit board or communication module to synchronize the angle with the gripping clamps.

[0004] However, in order to save space, the circuit board or communication module of the aforementioned opening and closing clamp is usually placed on the transmission mechanism, which makes it difficult to meet the requirements for EMC (Electromagnetic Compatibility) and grounding impedance. Summary of the Invention

[0005] This application provides an opening and closing clamp and a surgical robot. By setting multiple intersecting circuit boards on a fixing member, the opening and closing member and the circuit boards are isolated from each other, resulting in good electromagnetic compatibility and ensuring the stability and safety of the circuit.

[0006] In a first aspect, embodiments of this application provide an opening and closing clip, the opening and closing clip comprising:

[0007] The driver component has a fixed end and an output end that are set relative to each other;

[0008] An opening and closing assembly includes a housing and an opening and closing member, the housing being connected to the output terminal, and the opening and closing member being located inside the housing on a side away from the output terminal;

[0009] A circuit assembly is located between the output terminal and the opening / closing component, and the circuit assembly and the opening / closing component are spaced apart.

[0010] The circuit assembly includes a fixing component, a clutch button, and multiple circuit boards. The multiple circuit boards are connected end to end and arranged in an intersecting manner. All the circuit boards are mounted on the fixing component. The clutch button is electrically connected to one of the circuit boards, and the opening / closing component is electrically connected to one of the circuit boards. The clutch button is used to control the electrical connection of the opening / closing component.

[0011] The opening and closing clamp provided in this application effectively utilizes limited space by placing the circuit components between the output end and the opening / closing element, with the circuit boards arranged end-to-end. This avoids the problem of excessive space occupation by circuit boards or communication modules in traditional designs. Since the circuit components are no longer located on the transmission mechanism but between the output end and the opening / closing element, electromagnetic compatibility and grounding impedance requirements are better met, thereby improving the stability and reliability of the surgical robot. Furthermore, the sequential connection and intersecting arrangement of multiple circuit boards gives the circuit components a modular characteristic, facilitating maintenance and replacement, and improving the maintainability and flexibility of the surgical robot. Secondly, the spaced arrangement of the circuit components and the opening / closing element effectively reduces electromagnetic interference between the circuit board and the transmission mechanism, improving overall performance. Since the circuit board and communication module are no longer located on the transmission mechanism, the design of the transmission mechanism is simplified, reducing manufacturing and maintenance costs.

[0012] In one possible implementation, the housing includes an outer shell and an isolation portion located on the side of the opening / closing member facing the drive assembly;

[0013] The outer shell and the isolation part are an integral piece.

[0014] Through the above-described design, the isolation section effectively separates the opening / closing components from the drive assembly, reducing mechanical and electromagnetic interference and improving the stability and reliability of the opening / closing components. Furthermore, designing the housing and isolation section as a single unit improves the structural strength and sealing of the housing, further protecting the internal components from external environmental influences. Simultaneously, the integrated design simplifies the manufacturing process and reduces manufacturing costs.

[0015] In one possible implementation, the output terminal includes a central fixed area and an edge fixed area spaced apart, the fastener is fixedly connected to the central fixed area, and the housing is fixedly connected to the edge fixed area.

[0016] In one possible implementation, the circuit assembly includes a first circuit board, a second circuit board, and a third circuit board, wherein the first circuit board and the second circuit board are 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 both the first circuit board and the second circuit board.

[0018] The third circuit board is connected to the edge 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] With the above configuration, the first circuit board, the second circuit board, and the third circuit board can form a "U" shape, which can directly cover the outer periphery of the fixing component, making it easy to install and remove; or, the first circuit board, the second circuit board, and the third circuit board can form a "T" shape, resulting in a circuit assembly with higher structural strength.

[0020] In one possible implementation, the circuit assembly includes a first clutch button and a second clutch button, wherein 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 configured, and both the first clutch button and the second clutch button have a first position and a second position that are spaced apart.

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

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

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

[0025] In one possible implementation, when the housing includes an outer shell and an isolation portion, the outer shell further has a mounting hole and a guide hole communicating with the mounting hole, the axial direction of the mounting hole intersecting the axial direction of the guide hole; the number of the mounting hole and the guide hole are both two, and the two mounting holes and the two guide holes are connected 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 outer shell by 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] With the above configuration, two mounting holes are used to install the first clutch button and the second clutch button, respectively, and 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 in different positions, reducing erroneous operation caused by vibration or other external factors. The clutch button can slide smoothly between the first position and the second position.

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

[0030] A reflective layer is provided on the side of the first clutch button facing the first circuit board and the side of the second clutch button facing the second circuit board. 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 clutch button and the second clutch button 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 clutch button and the second clutch button is in the second position, the reflective layer does not reflect light, and the circuit component resistance is broken.

[0033] Through the above-described configuration, the photoelectric components and reflective layer work together to precisely control the electrical state of the circuit components, enabling circuit conduction and disconnection. Furthermore, this method allows for more precise operation of the circuit components, adapting to different surgical needs. In addition, photoelectric detection reduces electromagnetic interference between circuit boards, improving electromagnetic compatibility and thus enhancing the stability and reliability of the surgical robot.

[0034] In one possible implementation, when the housing includes an outer shell and an isolation section, the housing further includes a guide member fixedly connected to the side of the isolation section opposite to the output end;

[0035] The guide covers a portion of the circuit assembly and exposes at least the first photoelectric element and the second photoelectric element.

[0036] Through the above-described design, the guide provides physical protection against external environmental damage to circuit components, reduces mechanical shock and contamination, and extends their service life. Additionally, the guide provides electromagnetic shielding, reducing electromagnetic interference between circuit components, improving electromagnetic compatibility, and contributing to the stability and reliability of the surgical robot. The guide ensures the normal operation of the photoelectric components.

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

[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 polymethyl methacrylate, and the guide member is made of 304 stainless steel.

[0039] Through the above-described configuration, the magnetic and magnetic sensing components work together to achieve non-contact position detection, avoiding mechanical wear and improving the reliability and lifespan of the opening and closing mechanism and the surgical robot. It also reduces the risk of misoperation due to mechanical contact. Secondly, the combination of magnetic and magnetic sensing components allows for precise detection of the moving end's position, enabling accurate control of the opening and closing clamp's movements and making its operation more precise to adapt to different surgical needs. Furthermore, the non-contact connection between the magnetic and magnetic sensing components eliminates the need for wires, reducing electromagnetic interference and improving the surgical robot's electromagnetic compatibility. Finally, the guide component ensures the magnetic sensing component functions properly, enhancing the stability and reliability of the surgical robot.

[0040] Secondly, embodiments of this application provide a surgical robot, including a surgical platform, a robotic arm, and the aforementioned opening and closing clamp. The two 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 this application embodiment enables high-precision surgical operations through the precise control of a robotic arm and opening / closing clamp, meeting the needs of complex and minimally invasive surgeries and significantly improving the success rate of surgery. The surgical platform provides a stable foundation, while the design of the robotic arm and opening / closing clamp ensures the stability and reliability of the system, reducing potential errors and vibrations during surgery. Secondly, the robotic arm allows the opening / closing clamp to reach various positions during surgical operations, meeting the needs of different surgeries and providing a wide operating range. Furthermore, the two ends of the robotic arm are connected to the opening / closing clamp and the surgical platform respectively, forming a complete transmission chain, which can improve the efficiency and safety of surgery. Attached Figure Description

[0042] To more clearly illustrate the implementation methods in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0043] Figure 1 This is a three-dimensional structural diagram of the opening and closing clip provided in the embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the first exploded structure of the opening and closing clamp provided in the embodiments of this application;

[0045] Figure 3 An exploded view of the circuit assembly of the opening and closing clip provided in an embodiment of this application;

[0046] Figure 4 This is an exploded structural diagram of a portion of the opening and closing clamp provided in an embodiment of this application.

[0047] Explanation of reference numerals in the attached figures:

[0048] 10. Opening and closing clamp;

[0049] 100. Driver components;

[0050] 110. Fixed end;

[0051] 120. Output terminal;

[0052] 121. Central fixed area; 122. Edge fixed area;

[0053] 200. Opening and closing components;

[0054] 210. Shell;

[0055] 211. Outer shell;

[0056] 2111, Mounting hole; 2112, Guide hole;

[0057] 212. Isolation Department;

[0058] 220. Opening and closing parts;

[0059] 221. Active terminal; 222. Control terminal; 223. Magnetic component;

[0060] 230. Guide components;

[0061] 300. Circuit components;

[0062] 310. Fasteners;

[0063] 311. Cable tray;

[0064] 320. First clutch button; 330. Second clutch button;

[0065] 340. First circuit board;

[0066] 341. First optoelectronic component;

[0067] 350. Second circuit board;

[0068] 351. Second optoelectronic component;

[0069] 360, Third Circuit Board;

[0070] 361. Magnetic components;

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

[0072] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0073] To make the objectives, implementation methods and advantages of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only some embodiments of this application, and not all embodiments.

[0074] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0075] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a series of components is not necessarily limited to those that are explicitly listed, but may include other components that are not explicitly listed or that are inherent to such product or device.

[0076] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0077] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0078] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0079] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0080] This application provides a surgical robot, including a surgical platform, a robotic arm, and an opening and closing clamp.

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

[0082] The surgical platform, as the basic component, supports the robotic arm and opening / closing clamp, ensuring they maintain the correct position and angle during surgery. This reduces surgical risks caused by vibration or movement, thus ensuring the stable operation of the surgical robot system during surgery.

[0083] The robotic arm is a structure connecting the surgical platform and the clamping device, used to transmit the clamping device's movements to the surgical platform. The robotic arm's two ends are connected to the clamping device and the surgical platform, respectively. The robotic arm can precisely transmit the clamping device's movements to ensure the accuracy and consistency of the surgical procedure.

[0084] The opening and closing gripper is the end effector of the surgical robot, which performs surgical operations through drive components, opening and closing components, and circuit components. The movement of the opening and closing gripper is transmitted to the surgical platform via the robotic arm.

[0085] With the above setup, the surgical robot, through precise control of the robotic arm and opening / closing clamp, can achieve high-precision surgical operations, meeting the needs of complex and minimally invasive surgeries and significantly improving the success rate. The surgical platform provides a stable foundation, while the design of the robotic arm and opening / closing clamp ensures the system's stability and reliability, reducing potential errors and vibrations during surgery. Secondly, the robotic arm allows the opening / closing clamp to reach various positions during surgical operations, meeting the needs of different surgeries and providing a wide operating range. Furthermore, the two ends of the robotic arm connect to the opening / closing clamp and the surgical platform respectively, forming a complete transmission chain, which can improve the efficiency and safety of the surgery.

[0086] Reference Figure 1 and Figure 2 Secondly, embodiments of this application provide an opening / closing clip 10. The opening / closing clip 10 includes a driving assembly 100, an opening / closing assembly 200, and a circuit assembly 300.

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

[0088] The opening / closing assembly 200 includes a housing 210 and an opening / closing member 220. The housing 210 is connected to the output terminal 120, and the opening / closing member 220 is located inside the housing 210 on the side away from the output terminal 120. The housing 210 provides a closed space to protect the opening / closing member 220 from external interference. Simultaneously, the housing 210 is connected to the output terminal 120 of the drive assembly 100, enabling the driving force to be effectively transmitted to the opening / closing member 220, thus realizing the opening / closing action. The opening / closing member 220 can perform opening and closing actions within the housing 210, and the connection between the housing 210 and the output terminal 120 ensures that the action of the opening / closing member 220 can be transmitted through the drive assembly 100.

[0089] The circuit assembly 300 is located between the output terminal 120 and the opening / closing component 220, and the circuit assembly 300 and the opening / closing component 220 are spaced apart.

[0090] The circuit assembly 300 includes a fixing member 310, a clutch button, and multiple circuit boards. The multiple circuit boards are connected end to end and are arranged in an intersecting manner. The multiple circuit boards are all mounted on the fixing member 310. 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.

[0091] The circuit assembly 300 is located between the output terminal 120 and the opening / closing member 220, and the circuit assembly 300 and the opening / closing member 220 are spaced apart. Positioning the circuit assembly 300 between the output terminal 120 and the opening / closing member 220, and spaced apart from the opening / closing member 220, reduces mechanical and electromagnetic interference to the circuit assembly 300, improves electromagnetic compatibility, and thus enhances the stability and reliability of the surgical robot.

[0092] It is understood that the circuit assembly 300 and the opening / closing member 220 are spaced apart, which can mean that there is an air gap between the circuit assembly 300 and the opening / closing member 220, or it can mean that there is a physical structure between the circuit assembly 300 and the opening / closing member 220. This application does not limit the specific implementation of the spaced-apart arrangement between the circuit assembly 300 and the opening / closing member 220, nor is it limited to the above examples.

[0093] The circuit assembly 300 includes a fixture 310, a clutch button, and multiple circuit boards.

[0094] In some embodiments, multiple circuit boards are connected end-to-end in an intersecting arrangement. On one hand, by connecting multiple circuit boards end-to-end in an intersecting arrangement, more circuit boards can be arranged within a limited space, effectively utilizing space, reducing interference between circuit boards, and improving the integration of the circuit assembly 300. On the other hand, electrical conduction of the circuit assembly 300 can be achieved without wires between the circuit boards, simplifying wiring and avoiding the risk of exposed wires.

[0095] In some embodiments, multiple circuit boards are mounted on the fixing member 310, making the circuit board layout more stable. A clutch button is electrically connected to one of the circuit boards, and the opening / closing member 220 is electrically connected to another circuit board. The clutch button is used to control the electrical connection of the opening / closing member 220. In this way, the electrical connection of the opening / closing member 220 can be controlled via the clutch button, achieving precise control of the opening / closing member 220.

[0096] The opening / closing clamp 10 provided in this embodiment effectively utilizes limited space by placing the circuit assembly 300 between the output end 120 and the opening / closing member 220, with the circuit boards arranged end-to-end. This avoids the problem of excessive space occupation by circuit boards or communication modules in traditional designs. Since the circuit assembly 300 is no longer located on the transmission mechanism but between the output end 120 and the opening / closing member 220, it better meets the requirements for electromagnetic compatibility (EMC) and grounding impedance, thereby improving the stability and reliability of the surgical robot. Furthermore, the sequential connection and intersecting arrangement of multiple circuit boards gives the circuit assembly 300 a modular feature, facilitating maintenance and replacement, and improving the maintainability and flexibility of the surgical robot. Secondly, the spaced arrangement of the circuit assembly 300 and the opening / closing member 220 effectively reduces electromagnetic interference between the circuit board and the transmission mechanism, improving overall performance. Since the circuit board and communication module are no longer located on the transmission mechanism, the design of the transmission mechanism is simplified, reducing manufacturing and maintenance costs.

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

[0098] It is understandable that the first circuit board 340, the second circuit board 350 and the third circuit board 360 can all be the same in shape and material, or they can all be different, and can be selected according to the actual situation.

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

[0100] The first circuit board 340 and the second circuit board 350 are located on opposite sides of the fixing member 310, which avoids direct interference between the circuit boards and ensures the stability and reliability of the circuit assembly 300.

[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 both the first circuit board 340 and the second circuit board 350, meaning it is used to connect the first circuit board 340 and the second circuit board 350. Through the intersecting connections of the third circuit board 360, a larger number of circuit boards can be arranged within a limited space, increasing the integration of the circuit assembly 300. Simultaneously, electrical conductivity between adjacent circuit boards can be achieved without wires, simplifying wiring and reducing the risk of exposed wires.

[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. In this case, 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 fastener 310, making it easy to install and remove.

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

[0104] In this embodiment of the application, the upper and lower sides of the third circuit board 360 may be provided with multiple protrusions. Correspondingly, the corresponding positions of the first circuit board 340 and the second circuit board 350 have slots corresponding to the protrusions. The protrusions may be located in the slots to realize the connection between the first circuit board 340, the second circuit board 350 and the third circuit board 360.

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

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

[0107] The outer casing 211 and the isolation part 212 are integrated as one piece.

[0108] Specifically, to protect the opening / closing component 220, the outer shell 211 and the isolation section 212 are designed as a single unit, which can improve the structural strength and sealing performance of the shell 210, further protecting the internal components from the influence of the external environment. At the same time, the integrated design simplifies the manufacturing process and reduces manufacturing costs.

[0109] Reference Figure 2 As an optional implementation, the output terminal 120 includes a central fixing area 121 and an edge fixing area 122 that are spaced apart, with a gap between the central fixing area 121 and the edge fixing area 122 to avoid direct contact.

[0110] Understandably, due to the gap between the central fixation area 121 and the edge fixation area 122, mechanical and electromagnetic interference between the circuit assembly 300 and the opening and closing assembly 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 fastener 310 is fixedly connected to the central fixing area 121, and the housing 211 is fixedly connected to the edge fixing area 122. It can be understood that the fastener 310 and the housing 211 can be connected to the central fixing area 121 and the edge fixing area 122 respectively by screws.

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

[0113] With the above configuration, the fastener 310 and the housing 211 are fixed in different areas, which can improve the overall stability of the opening and closing clamp 10, making the circuit assembly 300 and the opening and closing assembly 200 more stable in their respective fixed areas, reducing loosening 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 the side near the output end 120, through which the wires of the circuit assembly 300 can pass. In this way, the wires will not become tangled when the drive assembly 100 is driven to rotate.

[0115] Reference Figure 2 and Figure 3 As an optional implementation, the circuit 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, both the first clutch button 320 and the second clutch button 330 can affect the electrical state of the circuit board.

[0116] The first clutch button 320 and the second clutch button 330 are slidable. The first clutch button 320 and the second clutch button 330 each have a first position and a second position that are set 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 clutch button 320 and the second clutch button 330 is in the first position, the circuit assembly 300 is electrically conductive; when at least one of the first clutch button 320 and the second clutch button 330 is in the second position, the circuit assembly 300 is electrically disconnected. That is, when at least one clutch button is in the first position, the internal circuit of the circuit assembly 300 is conductive; when at least one clutch button is in the second position, the internal circuit of the circuit assembly 300 is disconnected.

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

[0119] Reference Figure 4 As an optional implementation, when the housing 210 includes an outer shell 211 and an isolation portion 212, the outer shell 211 further has a mounting hole 2111 and a guide hole 2112 communicating with the mounting hole 2111. There are two mounting holes 2111 and two guide holes 2112, with each mounting hole 2111 corresponding to and communicating with the other guide hole 2112. The two mounting holes 2111 are used to mount 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 the axial direction of the guide hole 2112. For example, the axial direction of the mounting hole 2111 is perpendicular to the axial direction of the guide hole 2112 to ensure the precise positioning and sliding path of the clutch button, avoid the clutch button from deviating or getting stuck during sliding, and help improve the accuracy and reliability of button operation.

[0121] The first clutch button 320 and the second clutch button 330 are located in corresponding mounting holes 2111. The first clutch button 320 and the second clutch button 330 are elastically connected to the outer casing 211 via springs 370, with the two ends of the springs 370 abutting against the clutch buttons and the outer casing 211 respectively. The springs 370 can be located within guide holes 2112 to maintain consistency with the sliding direction of the clutch buttons. The elastic force provided by the springs 370 ensures the stability of the clutch buttons in different positions, reducing misoperation 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, and the clutch buttons can slide smoothly between the first position and the second position.

[0123] In this embodiment, the spring 370 is located on the side of the clutch button away from the drive assembly 100, so the first position is closer to the drive 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 provided on the first circuit board 340, and a second photoelectric element 351 is provided on the second circuit board 350; both the first photoelectric element 341 and the second photoelectric element 351 are used to emit and receive light.

[0125] A reflective layer 380 is provided on the side of the first clutch button 320 facing the first circuit board 340 and 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] By designing photoelectric components and a 380° reflective layer, non-contact detection is achieved, avoiding mechanical wear and improving the system's reliability and lifespan.

[0127] 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 assembly 300 is electrically conductive. That is, when in the first position, the reflective layer 380 does not reflect light, the photoelectric device does not detect reflected light, and the circuit assembly 300 is electrically conductive.

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

[0129] By cooperating with photoelectric components and the reflective layer 380, the electrical state of the circuit assembly 300 can be precisely controlled, enabling the circuit to be turned on and off. Furthermore, this method allows for more precise operation of the circuit assembly 300, adapting to different surgical needs. In addition, photoelectric detection reduces electromagnetic interference between circuit boards, improving electromagnetic compatibility (EMC), thereby enhancing the stability and reliability of the surgical robot.

[0130] Reference Figure 4 As an optional implementation, when the housing 210 includes the outer shell 211 and the isolation portion 212, the housing 210 also includes a guide 230, which 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 opposite to the output end 120, that is, the guide member 230 is fixed to the isolation part 212 by mechanical or other means. For example, the guide member 230 can be fixedly connected by screws or adhesive, etc. The connection method of the guide member 230 is not limited in this application embodiment, nor is it limited to the above example.

[0132] The guide 230 covers part of the circuit assembly 300. The guide 230 can provide physical protection to prevent the circuit assembly 300 from being damaged by the external environment, reduce the mechanical shock and contamination to the circuit assembly 300, and improve its service life. In addition, the guide 230 can provide electromagnetic shielding, reduce electromagnetic interference between circuit assemblies 300, improve electromagnetic compatibility (EMC), and help improve the stability and reliability of the surgical robot.

[0133] The guide 230 exposes at least the first photoelectric element 341 and the second photoelectric element 351 to ensure that the photoelectric elements function properly. For example, the guide 230 has an opening or transparent portion to allow the first photoelectric element 341 and the second photoelectric element 351 to function properly, emitting and receiving light.

[0134] The above settings enable non-contact detection of the clutch button's location, ensuring the accuracy and reliability of photoelectric detection.

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

[0136] The movable end 221 is rotatably connected to the side of the housing 211 away from the output end 120. For example, the movable end 221 may be connected to the housing 211 by 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 the control terminal 222 is used to control the action of the active terminal 221.

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

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

[0140] Through the above configuration, the magnetic component 223 and the magnetic sensor 361 work together to achieve non-contact position detection, avoiding mechanical wear and improving the reliability and lifespan of the opening / closing component 220 and the surgical robot. It also reduces the risk of misoperation due to mechanical contact. Secondly, the cooperation of the magnetic component 223 and the magnetic sensor 361 allows for precise detection of the position of the movable end 221, enabling precise control of the opening / closing clamp 10's movement, making its operation more accurate and adaptable to different surgical needs. Furthermore, the non-contact connection between the magnetic component 223 and the magnetic sensor 361 eliminates the need for wires, reducing electromagnetic interference and improving the electromagnetic compatibility (EMC) of the surgical robot. Finally, the guide component 230 ensures the normal operation of the magnetic sensor 361, improving 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 slidably connected to the guide member 230 and can slide freely on the guide member 230.

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

[0143] Both the first clutch button 320 and the second clutch button 330 are made of polymethyl methacrylate (PMMA). PMMA has a low coefficient of friction and good wear resistance, which makes the first clutch button 320 and the second clutch button 330 slide smoothly on the guide member 230.

[0144] The guide component 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 component 230.

[0145] Understandably, the above-mentioned design reduces friction and wear during sliding, extending the lifespan of the clutch button. Simultaneously, it improves the structural strength and durability of the guide component 230, ensuring the stability and reliability of the opening / closing component 220 and the surgical robot. Finally, polymethyl methacrylate (PMMA) is an electrically insulating material that reduces electromagnetic interference and improves the electromagnetic compatibility (EMC) of the surgical robot; stainless steel also helps shield against electromagnetic interference, further enhancing 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 this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0147] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the described embodiments and various different variations of embodiments suitable for specific use considerations.

Claims

1. A type of opening and closing clip (10), characterized in that, include: The drive assembly (100) has a fixed end (110) and an output end (120) that are set opposite to each other; An opening and closing assembly (200) includes a housing (210) and an opening and closing member (220), the housing (210) being connected to the output terminal (120), and the opening and closing member (220) being located inside the housing (210) on the side away from the output terminal (120); A circuit assembly (300) is located between the output terminal (120) and the opening / closing member (220), and the circuit assembly (300) and the opening / closing member (220) are spaced apart. The circuit assembly (300) includes a fixing member (310), a clutch button, and multiple circuit boards. The multiple circuit boards are connected end to end and arranged in an intersecting manner. The multiple circuit boards are all mounted on the fixing member (310). The clutch button is electrically connected to one of the circuit boards, and the opening / 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 / closing member (220). The housing (210) includes an outer shell (211) and an isolation portion (212), the isolation portion (212) being located on the side of the opening / closing member (220) facing the drive assembly (100); The circuit assembly includes a first circuit board (340), a second circuit board (350), and a third circuit board (360); The first circuit board (340) is provided with a first photoelectric element (341), and the second circuit board (350) is provided with a second photoelectric element (351); The housing (210) also includes a guide (230), which is fixedly connected to the side of the isolation part (212) opposite to the output end (120); The guide (230) covers a portion of the circuit assembly (300) and exposes at least the first photoelectric element (341) and the second photoelectric element (351).

2. The opening and closing clamp (10) according to claim 1, characterized in that, The outer shell (211) and the isolation part (212) are an integral piece.

3. The opening and closing clamp (10) according to claim 2, characterized in that, The output terminal (120) includes a central fixing area (121) and an edge fixing area (122) spaced apart. 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).

4. The opening and closing clamp (10) according to any one of claims 1-3, characterized in that, The first circuit board (340) and the second circuit board (350) are respectively located on 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 edge 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 clamp (10) according to claim 4, characterized in that, The circuit assembly includes 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 configured, and both the first clutch button (320) and the second clutch button (330) have a first position and a second position that are spaced apart. When at least one of the first clutch button (320) and the second clutch button (330) is in the first position, the circuit assembly (300) is electrically turned on; When at least one of the first clutch button (320) and the second clutch button (330) is in the second position, the circuit component (300) is de-energized.

6. The opening and closing clamp (10) according to claim 5, characterized in that, When the housing (210) includes an outer shell (211) and an isolation portion (212), the outer shell (211) further has a mounting hole (2111) and a guide hole (2112) communicating with the mounting hole (2111), the axial direction of the mounting hole (2111) intersects with the axial direction of the guide hole (2112); there are two mounting holes (2111) and two guide holes (2112), and the two mounting holes (2111) and the two guide holes (2112) are connected 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 outer shell (211) by springs (370); 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 clamp (10) according to claim 5, characterized in that, A reflective layer (380) is provided on the side of the first clutch button (320) facing the first circuit board (340) and 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). 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 assembly (300) is electrically conductive; When at least one of the first clutch button (320) and the second clutch button (330) is in the second position, the reflective layer (380) does not reflect light, and the circuit assembly (300) is de-energized.

8. The opening and closing clamp (10) according to claim 7, characterized in that, The opening / closing component (220) includes a movable end (221) and a control end (222). The movable end (221) is rotatably connected to the side of the housing (211) away from the output end (120). The control end (222) is connected to the movable end (221). A magnetic component (223) is provided on the side of the movable end (221) facing the fixing component (310). A magnetic sensing component (361) corresponding to the magnetic component (223) is provided on the third circuit board (360). The magnetic sensing component (361) is used to sense the signal strength of the magnetic component (223). The guide component (230) exposes at least the magnetic sensing component (361). And / or, the first clutch button (320) and the second clutch button (330) are both slidably connected to the guide (230), the first clutch button (320) and the second clutch button (330) are both made of polymethyl methacrylate, and the guide (230) is made of 304 stainless steel.

9. A surgical robot, characterized in that, The device includes a surgical platform, a robotic arm, and an opening / closing clamp (10) as described in any one of claims 1-8. The two ends of the robotic arm are respectively connected to the opening / closing clamp (10) and the surgical platform. The robotic arm is used to transmit the movement of the opening / closing clamp (10) to the surgical platform.

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