Instrument assembly and surgical robot

Abstract

The invention provides an instrument assembly and a surgical robot, and relates to the technical field of medical equipment. The instrument assembly comprises an instrument box, an instrument rod, a clamping piece and a traction piece. And the clamping piece is connected with the clamping piece through the instrument rod, so that the clamping piece can be fixed. A clip applier can be installed between a first clamping piece and a second clamping piece of the clamping piece, the first traction part moves towards the clamping piece and can drive the first clamping piece and the second clamping piece to rotate oppositely, the clip applier is clamped, and therefore the clip applier can act on an operation part and is separated from the clamping piece. When the first traction part moves back to the clamping piece, the first clamping piece and the second clamping piece can rotate back to back, the distance between the first clamping piece and the second clamping piece is increased, and the first traction part can synchronously drive the second traction part to drive the unused clip applier to move to a clamping area between the first clamping piece and the second clamping piece. And the unused clip applier can be mounted on the clamping piece.

Description

Technical Field

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

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

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

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

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

[0006] Instrument boxes;

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

[0008] A clamping member connected to a side of the instrument rod facing away from the instrument box, the clamping member includes a first clamping piece and a second clamping piece arranged opposite to each other, the first clamping piece and / or the second clamping piece are rotatably connected to the instrument rod, a clamping area is between the first clamping piece and the second clamping piece, the clamping area is connected to the accommodating area, and the clamping member is configured so that the first clamping piece and the second clamping piece can rotate toward or away from each other to close or open the clamping member;

[0009] A traction member, comprising a first traction portion and a second traction portion, wherein the first traction portion and the second traction portion are movably disposed on the instrument rod, and the first traction portion is connected to the clamping member, and the first traction portion is configured to move toward or away from the clamping member to drive the first clamping piece and the second clamping piece to rotate toward each other;

[0010] When the first traction portion moves toward the clamping member, the first traction portion drives the first clamping piece and the second clamping piece to rotate toward each other;

[0011] When the first traction portion moves away from the clamping member, the first traction portion drives the first clamping plate and the second clamping plate to rotate away from each other, and the first traction portion drives the second traction portion to move toward the clamping member, so that the second traction portion drives the clamp to move from the accommodating area to the clamping area.

[0012] In the instrument assembly proposed in the present application, the clamp is connected to the clamp through the instrument rod, so that the clamp can be fixed. The first clamping piece and the second clamping piece of the clamp can be used to install the clamp, and the first traction part moves toward the clamp to drive the first clamp and the second clamp to rotate toward each other, so that the clamp is clamped, so that the clamp can act on the surgical site and detach from the clamp. When the first traction part moves away from the clamp, the first clamp and the second clamp rotate away from each other, and the distance between the first clamp and the second clamp increases. The first traction part can synchronously drive the second traction part to drive the unused clamp to move to the clamping area between the first clamp and the second clamp, so that the unused clamp can be installed on the clamp. In this way, the instrument assembly can be operated by the traction part, and the unused clamp can also be installed on the clamp, which can improve the convenience of operation of the instrument assembly and improve the operation efficiency.

[0013] In some embodiments, the first traction portion and the second traction portion are both movably disposed in the instrument rod, and the accommodating area is located in the instrument rod.

[0014] By arranging the first traction part and the second traction part in the instrument rod, the space in the instrument rod can be effectively utilized, making the structure of the instrument assembly more compact.

[0015] In some embodiments, the first clamping piece is provided with a first guide groove, the first traction portion includes a first guide block movably disposed in the first guide groove, and an extension direction of the first guide groove intersects with a moving direction of the first traction portion;

[0016] The second clamping piece defines a second guide groove, the first traction portion includes a second guide block movably disposed in the second guide groove, and an extension direction of the second guide groove intersects with a moving direction of the first traction portion and an extension direction of the first guide groove.

[0017] When the first guide block moves, it can abut against the inner wall of the first guide groove, so that the first clamping piece rotates relative to the first guide block. When the second guide block moves, it can abut against the inner wall of the second guide groove, so that the second clamping piece rotates relative to the second guide block, so that the first clamping piece can rotate toward or away from each other to achieve clamping or releasing actions.

[0018] In some embodiments, the first guide block and the second guide block are located on opposite sides of the first traction portion, and the first guide groove and the second guide groove are symmetrically arranged along a preset center line, and the preset center line is parallel to the direction of the first traction portion toward the clamping member.

[0019] The first guide block and the second guide block can utilize the space on the opposite sides of the first traction portion, so that the structure of the instrument assembly is more compact.

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

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

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

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

[0024] In some embodiments, the first traction part includes a limiting groove, the limiting groove has a first limiting wall and a second limiting wall opposite to each other, a limiting block is sleeved on the first rope segment, and the limiting block is located in the limiting groove;

[0025] When the first rope segment slides toward the clamping member, the limiting block moves toward the first limiting wall until it abuts against the first limiting wall, and a distance exists between the limiting block and the second limiting wall;

[0026] When the first rope segment slides away from the clamping member, the limiting block moves toward the second limiting wall until it abuts against the second limiting wall, and a distance is provided between the limiting block and the first limiting wall.

[0027] In some embodiments, the accommodating area can accommodate a plurality of the clamps, and the plurality of the clamps are arranged sequentially in a direction toward the clamping member, and the first traction portion is configured to drive the plurality of the clamps to move sequentially to the clamping area.

[0028] A plurality of clip applicators can be loaded into the accommodation area at one time, so that the clip applicator does not need to be reinstalled after each clip applicator is consumed, thereby improving the operating efficiency of the instrument assembly.

[0029] In some embodiments, the second traction part includes a connecting block and a supporting plate, wherein the connecting block is connected to the traction rope, and the supporting plate is connected to the connecting block. The supporting plate has a plurality of limiting protrusions, and the supporting plate is located at the bottom of the plurality of clamps. The plurality of limiting protrusions are respectively positioned to cooperate with the plurality of clamps to limit the position in the direction toward the clamping member.

[0030] The plurality of limiting protrusions on the support plate respectively cooperate with the plurality of clamps in a limiting direction toward the clamping member, so that when the connecting block moves toward the clamping member along with the traction rope, the plurality of limiting protrusions can respectively push the plurality of clamps to move toward the clamping member.

[0031] In some embodiments, the instrument assembly further comprises a limiter, the limiter being disposed on the instrument rod, and the limiter being engaged with the plurality of clamp appliers in a direction away from the clamping member;

[0032] The support sheet is elastically connected to the connecting block, and the side of the limiting protrusion facing away from the clamping member has a guide surface. When the second traction portion moves away from the clamping member, the clamp is pressed against the guide surface to move the support sheet away from the clamp until the limiting protrusion is located on the bottom side of the clamp.

[0033] The limiting member can be provided to limit the movement of the clamping forceps away from the clamping member, thereby ensuring that the distance between the plurality of clamping forceps and the clamping member can be gradually reduced after the second traction portion pushes the clamping forceps multiple times.

[0034] In a second aspect, based on the above instrument assembly, the present application also provides a surgical robot, comprising the above instrument assembly.

[0035] The surgical robot proposed in the present application, including the above-mentioned instrument assembly, can make the operation of the surgical robot more convenient and improve the operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other purposes, features and advantages of the embodiments of the present application will become more easily understood through the following detailed description with reference to the accompanying drawings. In the accompanying drawings, multiple embodiments of the present application will be described in an exemplary and non-limiting manner, wherein:

[0037] Figure 1 A schematic diagram of an apparatus assembly according to an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the cooperation between the traction member and the clamping member of the instrument assembly according to an embodiment of the present application;

[0039] Figure 3 A schematic diagram of an instrument assembly according to an embodiment of the present application having a clip applier installed therein;

[0040] Figure 4 A schematic diagram of the internal structure of the instrument assembly according to an embodiment of the present application;

[0041] Figure 5 A schematic diagram of a traction rope of an apparatus assembly according to an embodiment of the present application;

[0042] Figure 6 A schematic diagram of a second traction wheel of the apparatus assembly according to an embodiment of the present application;

[0043] Figure 7 A schematic diagram of the cooperation between a support plate and a plurality of clip appliers of an instrument assembly according to an embodiment of the present application;

[0044] Figure 8 Schematic diagram of a limiting member of an instrument assembly according to an embodiment of the present application.

[0045] Reference numerals:

[0046] 100-Instrument Box,

[0047] 200- instrument rod, 210- storage area,

[0048] 300-clamping member, 310-first clamping plate, 311-clamping groove, 312-first guide groove, 320-second clamping plate, 321-second guide groove, 330-clamping area,

[0049] 400-traction member, 410-first traction part, 411-first guide block, 412-second guide block, 413-limiting groove, 414-first limiting wall, 415-second limiting wall, 420-second traction part, 421-connecting block, 422-supporting sheet, 430-limiting protrusion, 431-guiding surface, 440-traction rope, 441-first rope segment, 442-second rope segment, 450-first traction wheel, 460-second traction wheel, 470-limiting block,

[0050] 500-clip applier, 510-first clamping arm, 520-second clamping arm,

[0051] 600-Limiting parts. DETAILED DESCRIPTION

[0052] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0058] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. The instrument box and the instrument execution end in the surgical robot are connected through the instrument rod. Among them, the clamp mechanism is one of the commonly used instrument execution ends. The clamp mechanism can fix the clamp to the target surgical site, such as the blood vessel, to achieve the purpose of hemostasis.

[0059] Since the clip applier is a consumable part, a new clip applier needs to be installed on the instrument execution end after the clip applier is consumed. However, the current clip applier installation process is complicated and inefficient, resulting in reduced surgical operation efficiency.

[0060] In the instrument assembly proposed in the present application, the clamp is connected to the clamp through the instrument rod, so that the clamp can be fixed. The first clamping piece and the second clamping piece of the clamp can be used to install the clamp. The first traction part moves toward the clamp to drive the first clamp and the second clamp to rotate toward each other, so that the clamp is clamped, so that the clamp can act on the surgical site and detach from the clamp. When the first traction part moves away from the clamp, the first clamp and the second clamp rotate away from each other, and the distance between the first clamp and the second clamp increases. The first traction part can synchronously drive the second traction part to drive the unused clamp to move to the clamping area between the first clamp and the second clamp, so that the unused clamp can be installed on the clamp. In this way, the instrument assembly can be operated by the traction part, and the unused clamp can also be installed on the clamp, which can improve the convenience of operation of the instrument assembly and improve the operation efficiency.

[0061] The surgical robot proposed in the present application, including the above-mentioned instrument assembly, can make the operation of the surgical robot more convenient and improve the operating efficiency.

[0062] The instrument assembly and surgical robot provided in the present application are described in detail below in conjunction with specific embodiments.

[0063] This application proposes an apparatus assembly, referring to Figure 1 and Figure 2 As shown, the instrument assembly includes an instrument box 100, an instrument rod 200, a clamping member 300 and a pulling member 400. The instrument assembly can be applied to a surgical robot.

[0064] Wherein, the instrument box 100 is the basic component of the instrument assembly of the present application, and the instrument box 100 can provide a mounting basis for other at least part of the components of the instrument assembly, and play the purpose of protecting other at least part of the components. The instrument box 100 can be prepared by metal materials, so that the instrument box 100 has a better structural strength, thereby making the durability and reliability of the instrument box 100 better. Of course, the instrument box 100 can also be prepared by polymer materials, so that the instrument box 100 is relatively light in weight while having a certain structural strength.

[0065] The instrument rod 200 is a slender rod-shaped structural member, having a relatively long length and a relatively small outer diameter, so that the instrument rod 200 can be easily extended to the surgical site. One end of the instrument rod 200 is connected to the instrument box 100, and the clamping member 300 can be connected to the end of the instrument rod 200 away from the instrument box 100, so that the clamping member 300 and the instrument box 100 have a large distance. By moving the instrument box 100, the clamping member 300 can be moved accordingly, so that the clamping member 300 can be moved to the surgical site.

[0066] The clamping member 300 includes a first clamping piece 310 and a second clamping piece 320, and the first clamping piece 310 and / or the second clamping piece 320 are rotatably disposed on the instrument rod 200. That is, at least one of the first clamping piece 310 and the second clamping piece 320 can rotate relative to the other, so that the clamping member 300 is configured so that the first clamping piece 310 and the second clamping piece 320 can rotate toward or away from each other. When the first clamping piece 310 and the second clamping piece 320 rotate toward each other, the distance between the first clamping piece 310 and the second clamping piece 320 can be reduced, so that the clamping member 300 can perform a clamping or clamping-off operation. When the first clamping piece 310 and the second clamping piece 320 rotate away from each other so that the distance between the first clamping piece 310 and the second clamping piece 320 increases, the clamping member 300 can be released, so that the first clamping piece 310 and the second clamping piece 320 can rotate toward each other again to perform a clamping or cutting operation.

[0067] refer to Figure 3As shown, a clamp applicator 500 may be disposed between the first clamping piece 310 and the second clamping piece 320. The clamp applicator 500 may specifically include a titanium clamp, and the clamp applicator 500 is a disposable consumable. Specifically, a clamping area 330 is disposed between the first clamping piece 310 and the second clamping piece 320. When the first clamping piece 310 and the second clamping piece 320 rotate toward each other, the space of the clamping area 330 decreases. When the first clamping piece 310 and the second clamping piece 320 rotate away from each other, the space of the clamping area 330 increases. The clamp applicator 500 may be disposed in the clamping area 330.

[0068] refer to Figure 3 As shown, the clip applier 500 may include a first clamping arm 510 and a second clamping arm 520. The first clamping arm 510 and the second clamping arm 520 are arranged opposite to each other and connected. When the clip applier 500 is subjected to a clamping force, the first clamping arm 510 and the second clamping arm 520 can rotate toward each other. When the clamping member 300 is located at the surgical site, the first clamping piece 310 and the second clamping piece 320 rotate toward each other, so that the first clamping arm 510 and the second clamping arm 520 of the clip applier 500 rotate toward each other, so that the clip applier 500 can clamp the tissue structure at the surgical site to fix the tissue structure.

[0069] refer to Figure 1 As shown, the traction member 400 is disposed on the instrument rod 200. The first traction portion 410 of the traction member 400 is configured to move toward the clamping member 300 to drive the first clamping piece 310 and the second clamping piece 320 to rotate toward each other, so that the distance between the first clamping piece 310 and the second clamping piece 320 is reduced, so that the clamping member 300 can perform a clamping or clamping operation. The first traction portion 410 is also configured to move away from the clamping member 300 to drive the first clamping piece 310 and the second clamping piece 320 to rotate away from each other, so that the distance between the first clamping piece 310 and the second clamping piece 320 is increased, so that the clamping member 300 can perform a release operation.

[0070] refer to Figure 4 As shown, the instrument rod 200 is provided with a receiving area 210 for accommodating the clamp applier 500, and accordingly, the unused clamp applier 500 can be placed in the receiving area 210 of the instrument rod 200. The receiving area 210 of the instrument rod 200 is connected with the clamping area 330 between the first clamping piece 310 and the second clamping piece 320. When the clamp applier 500 is not set in the clamping area 330 between the first clamping piece 310 and the second clamping piece 320, or the clamp applier 500 set in the clamping area 330 between the first clamping piece 310 and the second clamping piece 320 has been used, the first clamping piece 310 and the second clamping piece 320 can be rotated in opposite directions to increase the distance between the first clamping piece 310 and the second clamping piece 320, and the space of the clamping area 330 is correspondingly increased.

[0071] When the first traction part 410 moves away from the clamping member 300, the first traction part 410 can synchronously drive the second traction part 420 to move, so that the second traction part 420 drives the clamp 500 in the accommodating area 210 of the instrument rod 200 to move to the clamping area 330 between the first clamping piece 310 and the second clamping piece 320, so that the unused clamp 500 can be installed in the clamping area 330 between the first clamping piece 310 and the second clamping piece 320. In this way, when the first clamping piece 310 and the second clamping piece 320 rotate toward each other, the unused clamp 500 can act on the surgical site to fix the tissue structure.

[0072] Among them, the accommodating area 210 in the instrument rod 200 is a cavity structure in the instrument rod 200, a support table can be set on the inner wall of the accommodating area 210, and the clamp 500 can be set on the support table, so that the clamp 500 can be fixed in the accommodating area 210.

[0073] Thus, the traction member 400 can not only control the first clamping piece 310 and the second clamping piece 320 to rotate toward each other to consume the clamp applier 500, but also drive the unused clamp applier 500 to be added to the clamping area 330 between the first clamping piece 310 and the second clamping piece 320, so that the clamp applier 500 can be installed. In this way, it is unnecessary to separately set a component for controlling the first clamping piece 310 and the second clamping piece 320 to perform a clamping action, and it is unnecessary to separately set a component for loading the clamp applier 500 in the clamping area 330, thereby reducing the number of components of the instrument assembly of the present application, making the structure of the instrument assembly more compact and the cost lower.

[0074] In some embodiments, reference Figure 1 and Figure 4 As shown, in order to make the structure of the instrument assembly of the present application more compact and more reliable, the first traction part 410 and the second traction part 420 can be arranged in the instrument rod 200, so as to utilize the space in the instrument rod 200 to make the structure compact. In addition, the instrument rod 200 can also serve the purpose of protecting the first traction part 410 and the second traction part 420. The accommodating area 210 is also located in the instrument rod 200, so that the instrument rod 200 can also serve the purpose of protecting the clip applier 500 in the accommodating area 210.

[0075] In some embodiments, reference Figure 3 As shown, in order to fix the clamp 500 to the clamping area 330, a clamping groove 311 can be set on the opposite outer walls of the first clamping plate 310 and the second clamping plate 320, and the first clamping arm 510 and the second clamping arm 520 of the clamp 500 are respectively embedded in the clamping groove 311 of the first clamping plate 310 and the clamping groove 311 of the second clamping plate 320.

[0076] In some embodiments, reference Figure 2-Figure 6 As shown, in order to enable the traction member 400 to drive the first clamping plate 310 and the second clamping plate 320 to rotate toward each other, the first clamping plate 310 is provided with a first guide groove 312, and the first traction part 410 includes a first guide block 411 movably arranged in the first guide groove 312, and the extension direction of the first guide groove 312 can intersect with the moving direction of the first traction part 410.

[0077] When the first traction portion 410 moves toward the clamping member 300, the first guide block 411 also moves toward the clamping member 300, and the first guide block 411 always keeps moving toward the clamping member 300. In this process, the first guide block 411 can act on the inner wall of the first guide groove 312, so that the first clamping piece 310 is rotated relative to the first guide block 411, so that the first clamping piece 310 can rotate toward the second clamping piece 320.

[0078] The second clamping piece 320 defines a second guide groove 321 . The first traction portion 410 includes a second guide block 412 movably disposed in the second guide groove 321 . The extension direction of the second guide groove 321 may intersect with the moving direction of the first traction portion 410 .

[0079] When the first traction portion 410 moves toward the clamping member 300, the second guide block 412 also moves toward the clamping member 300, and the second guide block 412 always keeps moving toward the clamping member 300. In this process, the second guide block 412 can act on the inner wall of the second guide groove 321, so that the second clamping piece 320 is forced to rotate relative to the second guide block 412, so that the second clamping piece 320 can rotate toward the first clamping piece 310.

[0080] Therefore, when the first traction portion 410 moves toward the clamping member 300 , the first clamping piece 310 and the second clamping piece 320 can be driven to rotate toward each other.

[0081] When the first traction portion 410 moves away from the clamping member 300, the first guide block 411 also moves away from the clamping member 300, and the first guide block 411 always keeps moving in the direction away from the clamping member 300. In this process, the first guide block 411 can act on the inner wall of the first guide groove 312, so that the first clamping piece 310 is forced to rotate relative to the first guide block 411, so that the first clamping piece 310 can rotate away from the second clamping piece 320.

[0082] When the first traction portion 410 moves away from the clamping member 300, the second guide block 412 also moves away from the clamping member 300, and the second guide block 412 always keeps moving in the direction away from the clamping member 300. In this process, the second guide block 412 can act on the inner wall of the second guide groove 321, so that the second clamping piece 320 is forced to rotate relative to the second guide block 412, so that the second clamping piece 320 can rotate away from the second clamping piece.

[0083] In some embodiments, reference Figure 2 As shown, the first guide block 411 and the second guide block 412 are located on opposite sides of the first traction portion 410 , and the first guide groove 312 and the second guide groove 321 are symmetrically arranged along a preset center line, which is parallel to the direction of the first traction portion 410 toward the clamping member 300 .

[0084] Among them, the first guide block 411 and the second guide block 412 are located on opposite sides of the first traction part 410, so that the part where the first clamping piece 310 is connected with the first guide block 411 and the part where the second clamping piece 320 is connected with the second guide block 412 can be located on opposite sides of the first traction part 410, which can make the structure in the instrument rod 200 more compact. The first guide groove 312 and the second guide groove 321 are symmetrically arranged along the preset midline, so that the rotation angles of the first clamping piece 310 and the second clamping piece 320 when they rotate toward or away from each other can be synchronized, so that the first clamping piece 310 and the second clamping piece 320 can better perform clamping and releasing actions.

[0085] In some embodiments, reference Figure 5 As shown, in order to make the second traction part 420 move synchronously toward the clamping member 300 when the first traction part 410 moves away from the clamping member 300, the traction member 400 of the present application may also be provided with a traction rope 440, a first traction wheel 450 and a second traction wheel 460. Among them, the first traction wheel 450 is rotatably arranged on the instrument rod 200 and is located on the side of the instrument rod 200 away from the instrument box 100, and the second traction wheel 460 is rotatably arranged on the instrument box 100. The traction rope 440 is wound around the first traction wheel 450 and the second traction wheel 460, and the first traction wheel 450 and the second traction wheel 460 can support the traction rope 440, and when the first traction wheel 450 and the second traction wheel 460 rotate forward and backward, the traction rope 440 can be driven to move in different directions.

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

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

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

[0089] In some embodiments, reference Figure 5As shown, in the present application, the first traction part 410 includes a limiting groove 413, which is a groove structure on the first traction part 410. A limiting block 470 is sleeved on the first rope segment 441, and the limiting block 470 is movably embedded in the limiting groove 413. When the first rope segment 441 rotates toward the clamping member 300 or slides away from the clamping member 300, the limiting block 470 can move toward or away from the clamping member 300 synchronously, so that the limiting block 470 can abut against the inner wall of the limiting groove 413, thereby pushing the first traction part 410 to move toward or away from the clamping member 300.

[0090] The limiting groove 413 has a first limiting wall 414 and a second limiting wall 415 relative to each other. When the first rope segment 441 slides toward the clamping member 300, the limiting block 470 moves toward the first limiting wall 414 until it abuts against the first limiting wall 414, so that the limiting block 470 can drive the first traction part 410 to move toward the clamping member 300. At this time, there is a distance between the limiting block 470 and the second limiting wall 415.

[0091] When the first rope segment 441 slides away from the clamping member 300, the limiting block 470 moves toward the second limiting wall 415 until it abuts against the second limiting wall 415, so that the limiting block 470 can drive the first traction part 410 to move away from the clamping member 300. At this time, there is a distance between the limiting block 470 and the first limiting wall 414.

[0092] Therefore, when the limit block 470 is transformed from a state of abutting against the first limit wall 414 to a state of moving away from the clamping member 300, the limit block 470 needs to move a certain distance away from the clamping member 300 and then contact the second limit wall 415 to drive the first traction part 410 to move away from the clamping member 300. In this way, the first traction part 410 will not move too far away from the clamping member 300 along with the first rope segment 441, thereby avoiding the distance between the first traction part 410 and the clamping member 300 being too large, thereby reducing the size of the first guide groove 312 and the second guide groove 321, making the structure of the first clamping plate 310 and the second clamping plate 320 more compact.

[0093] When the limit block 470 is transformed from a state of abutting against the second limit wall 415 to a state of moving toward the clamping member 300, the limit block 470 needs to move toward the clamping member 300 for a certain distance and then contact the first limit wall 414 to drive the first traction part 410 to move toward the clamping member 300. In this way, the first traction part 410 will not move too far toward the clamping member 300 with the first rope segment 441, thereby reducing the size of the first guide groove 312 and the second guide groove 321, making the structure of the first clamping plate 310 and the second clamping plate 320 more compact.

[0094] In some embodiments, reference Figure 7As shown, in order to further improve the operating efficiency of the instrument assembly of the present application, the accommodating area 210 of the instrument rod 200 is configured to accommodate a plurality of clip appliers 500, and the plurality of clip appliers 500 can be arranged in sequence along the direction toward the clamping member 300, that is, along the direction toward the clamping member 300, the spacing between the plurality of clip appliers 500 and the clamping member 300 gradually decreases. The first traction portion 410 is configured to sequentially drive the plurality of clip appliers 500 to move from the accommodating area 210 to the clamping area 330.

[0095] Specifically, when the first traction portion 410 moves away from the clamping member 300, the first clamping piece 310 and the second clamping piece 320 rotate away from each other, so that the clamping area 330 is expanded, the second traction portion 420 can drive the clamp 500 closest to the clamping area 330 to move into the clamping area 330. Then, the clamping member 300 is moved to the surgical site, and the first traction portion 410 moves toward the clamping member 300, so that the first traction portion 410 is pressed against the first clamping piece 310 and the second clamping piece 320, and then the first clamping piece 310 and the second clamping piece 320 are pressed against the clamp 500, so that the clamp 500 can be fixed on the tissue structure of the surgical site. The first traction portion 410 can move back toward the clamping member 300 again, so that the first clamping plate 310 and the second clamping plate 320 rotate away from each other to expand the clamping area 330. At this time, the second traction portion 420 can again drive the clamp 500 that is closest to the clamping member 300 in the accommodating area 210 to move into the clamping area 330, so that the clamp 500 can be fixed on the tissue structure.

[0096] In some embodiments, reference Figure 7 As shown, in order to enable the second traction part 420 to drive the plurality of clip appliers 500 to move toward the clamping member 300, the second traction part 420 may be provided with a connection block 421 and a support sheet 422. The connection block 421 is connected to the traction rope 440, and is specifically fixedly connected to the second rope segment 442, and the support sheet 422 is connected to the connection block 421, and the support sheet 422 is located at one side of the bottom of the plurality of clip appliers 500. The support sheet 422 is provided with a plurality of limiting protrusions 430, and the plurality of limiting protrusions 430 are respectively matched with the plurality of clip appliers 500 in the direction toward the clamping member 300. When the second rope segment 442 slides toward the clamping member 300, it can drive the connecting block 421 to move toward the clamping member 300, thereby causing the support plate 422 and the multiple limiting protrusions 430 arranged on the support plate 422 to move toward the clamping member 300. Each limiting protrusion 430 can respectively drive the corresponding clamp 500 to move toward the clamping member 300, so that the multiple clamps 500 can be moved into the clamping area 330 in sequence.

[0097] In some embodiments, reference Figure 8As shown, in order to enable the second traction part 420 to drive the clamping forceps 500 when moving toward the clamping member 300, and not to drive the clamping forceps 500 to move away from the clamping forceps 500 when the second traction part 420 moves away from the clamping member 300, the instrument assembly may also be provided with a limiter 600. The limiter 600 is provided on the instrument rod 200, and the limiter 600 cooperates with the clamping forceps 500 to limit the position in the direction away from the clamping member 300, and the support sheet 422 is elastically connected to the connecting block 421, so that the support sheet 422 can be bent relative to the connecting block 421. A guide surface 431 is provided on the side of the limiting protrusion 430 facing away from the clamping member 300. When the second traction portion 420 moves away from the clamping member 300, the clamp applier 500 is pressed against the guide surface 431 to move the support sheet 422 away from the clamp applier 500 until the limiting protrusion 430 is located at the bottom side of the clamp applier 500. In this way, the limiting protrusion 430 and the clamp applier 500 will not be limited in the direction away from the clamping member 300, and the support sheet 422 as a whole can move freely away from the clamping member 300. In this process, the limiting member 600 can limit the clamp applier 500 in the direction away from the clamping member 300 to prevent the clamp applier 500 from moving away from the clamping member 300.

[0098] Specifically, when the first traction portion 410 moves toward the clamping member 300, the first traction portion 410 can abut against the side of the clip applier 500 facing away from the clamping member 300, and push the clip applier 500 to move toward the clamping member 300. When the first traction portion 410 moves away from the clip applier 500, the first traction portion 410 abuts against the side of the clip applier 500 facing the clamping member 300, and the limiting member 600 can be configured to abut against the side of the plurality of clip appliers 500 facing away from the clamping member 300, so that the clip applier 500 acts on the guide surface 431 of the limiting protrusion 430, so that the support sheet 422 is bent relative to the connecting block 421 in a direction away from the clip applier 500, so that the limiting protrusion 430 and the clip applier 500 are no longer mutually limited, and the clip applier 500 can maintain its position, so that the clip applier 500 can be driven to the clamping area 330 again.

[0099] The number of the limiting members 600 can be set to be multiple, and the multiple limiting members 600 are correspondingly arranged on the bottom side of the multiple clip appliers 500, and are pressed against the side of the clip appliers 500 facing away from the clamping member 300. The limiting member 600 is also an elastic structural member. When the clip applier 500 moves toward the clamping member 300, the clip applier 500 can be pressed against the limiting member 600, so that the limiting member 600 moves downward of the clip applier 500, so that the limiting member 600 and the clip applier 500 are misaligned in the direction toward the clamping member 300, so as to prevent the limiting member 600 from interfering with the movement of the clip applier 500 toward the clamping member 300.

[0100] Therefore, the instrument assembly of the present application can be installed with multiple clamps 500 when in use. By rotating the second traction wheel 460, multiple clamps 500 can be fixed to the tissue structure in sequence, and multiple clamps 500 can be installed in the clamping area 330 in sequence, making the instrument assembly easy to operate and more efficient.

[0101] Based on the above instrument assembly, the present application also proposes a surgical robot, comprising the above instrument assembly.

[0102] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned implementation modes, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the implementation modes of the present application.

Claims

1. An instrument assembly, characterized in that: include: Instrument box (100); An instrument rod (200) is connected to the instrument box (100) at one side, and the instrument rod (200) has a receiving area (210) for receiving the clip applier (500), and the clip applier (500) is movably disposed in the receiving area (210); A clamping member (300) is connected to a side of the instrument rod (200) facing away from the instrument box (100), the clamping member (300) comprises a first clamping piece (310) and a second clamping piece (320) which are arranged opposite to each other, the first clamping piece (310) and / or the second clamping piece (320) are rotatably connected to the instrument rod (200), a clamping area is formed between the first clamping piece (310) and the second clamping piece (320), and the clamping area is connected to the accommodating area (210), and the clamping member (300) is configured so that the first clamping piece (310) and the second clamping piece (320) can rotate toward or away from each other, so that the clamping member (300) is closed or opened; A traction member (400), comprising a first traction portion (410) and a second traction portion (420), wherein the first traction portion (410) and the second traction portion (420) are movably arranged on the instrument rod (200), and the first traction portion (410) is connected to the clamping member (300), and the first traction portion (410) is configured to move toward or away from the clamping member (300) to drive the first clamping piece (310) and the second clamping piece (320) to rotate toward each other; When the first traction portion (410) moves toward the clamping member (300), the first traction portion (410) drives the first clamping piece (310) and the second clamping piece (320) to rotate toward each other; When the first traction portion (410) moves away from the clamping member (300), the first traction portion (410) drives the first clamping plate (310) and the second clamping plate (320) to rotate away from each other, and the first traction portion (410) drives the second traction portion (420) to move toward the clamping member (300), so that the second traction portion (420) drives the clamp (500) to move from the accommodating area (210) to the clamping area (330).

2. The device assembly according to claim 1, characterized in that: The first traction portion (410) and the second traction portion (420) are both movably disposed in the instrument rod (200), and the accommodating area (210) is located in the instrument rod (200).

3. The apparatus assembly according to claim 2, characterized in that: The first clamping piece (310) is provided with a first guide groove (312), the first traction part (410) comprises a first guide block (411) movably arranged in the first guide groove (312), and the extension direction of the first guide groove (312) intersects with the movement direction of the first traction part (410); The second clamping piece (320) is provided with a second guide groove (321), the first traction part (410) comprises a second guide block (412) movably arranged in the second guide groove (321), and the extension direction of the second guide groove (321) intersects with the moving direction of the first traction part (410) and intersects with the extension direction of the first guide groove (312).

4. The apparatus assembly according to claim 3, characterized in that: The first guide block (411) and the second guide block (412) are located on opposite sides of the first traction portion (410), and the first guide groove (312) and the second guide groove (321) are symmetrically arranged along a preset center line, and the preset center line is parallel to the direction of the first traction portion (410) toward the clamping member (300).

5. The apparatus assembly according to claim 4, characterized in that: The traction member (400) further comprises a traction rope (440), a first traction wheel (450) and a second traction wheel (460); the first traction wheel (450) is rotatably arranged on the instrument box (100); the second traction wheel (460) is rotatably arranged on the instrument rod (200); the traction rope (440) is wound around the first traction wheel (450) and the second traction wheel (460); the traction rope (440) comprises a first rope segment (441) and a second rope segment (442) located on both sides of the second traction wheel (460); the first rope segment (441) and the first traction part (410) are matched in a limit position in a direction toward or away from the clamping member (300); the second rope segment (442) and the second traction part (420) are relatively fixed; When the first traction wheel (450) and the second traction wheel (460) rotate in a first direction, the first rope segment (441) drives the first traction portion (410) to move toward the clamping member (300); When the first traction wheel (450) and the second traction wheel (460) rotate in a second direction, the second rope segment (442) drives the second traction portion (420) to move toward the clamping member (300), and the first direction and the second direction are opposite to each other.

6. The apparatus assembly according to claim 5, characterized in that: The first traction part (410) comprises a limiting groove (413), the limiting groove (413) has a first limiting wall (414) and a second limiting wall (415) opposite to each other, a limiting block (470) is sleeved on the first rope segment (441), and the limiting block (470) is located in the limiting groove (413); When the first rope segment (441) slides toward the clamping member (300), the limiting block (470) moves toward the first limiting wall (414) until it abuts against the first limiting wall (414), and a distance is provided between the limiting block (470) and the second limiting wall (415); When the first rope segment (441) slides away from the clamping member (300), the limiting block (470) moves toward the second limiting wall (415) until it abuts against the second limiting wall (415), and a distance is provided between the limiting block (470) and the first limiting wall (414).

7. The device assembly according to claim 5 or 6, characterized in that: The accommodating area (210) can accommodate a plurality of the clamps (500), and the plurality of the clamps (500) are arranged sequentially along the direction toward the clamping member (300), and the first traction portion (410) is configured to drive the plurality of the clamps (500) to move sequentially to the clamping area.

8. The apparatus assembly according to claim 7, characterized in that: The second traction part (420) includes a connecting block (421) and a supporting plate (422), wherein the connecting block (421) is connected to the traction rope (440), and the supporting plate (422) is connected to the connecting block (421), and the supporting plate (422) has a plurality of limiting protrusions (430), and the supporting plate (422) is located at the bottom of the plurality of clamps (500), and the plurality of limiting protrusions (430) are respectively located with the plurality of clamps (500) in the direction toward the clamping member (300) to limit the position.

9. The apparatus assembly according to claim 8, characterized in that The instrument assembly further comprises a limit member (600), wherein the limit member (600) is arranged on the instrument rod (200), and the limit member (600) cooperates with the plurality of clamp appliers (500) to limit the position in a direction away from the clamping member (300); The support sheet (422) is elastically connected to the connecting block (421), and the limiting protrusion (430) has a guiding surface (431) on the side facing away from the clamping member (300). When the second traction portion (420) moves away from the clamping member (300), the clamp (500) is pressed against the guiding surface (431) to move the support sheet (422) away from the clamp (500) until the limiting protrusion (430) is located on the bottom side of the clamp (500).

10. A surgical robot, characterized in that: Comprising an instrument assembly as described in any one of claims 1-9.

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