Instrument components and surgical robots

Abstract

The present application provides an instrument assembly and a surgical robot, relating to the field of medical device technology. The instrument assembly includes an instrument case, an instrument rod, a clamp, and a traction member. The clamp is connected to the clamp via the instrument rod, allowing the clamp to be fixed. A clip applier can be mounted between a first clamping piece and a second clamping piece of the clamp. Movement of a first traction member toward the clamp drives the first and second clamping pieces to rotate toward each other, clamping the clip applier, allowing the clip applier to be applied to the surgical site and released from the clamp. Movement of the first traction member away from the clamp causes the first and second clamping pieces to rotate away from each other, increasing the distance between them. The first traction member simultaneously drives the second traction member to move an unused clip applier to the clamping area between the first and second clamping pieces, allowing the unused clip applier to be mounted on the clamp.

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 procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes and related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. The instrument cartridge and the instrument actuator in a surgical robot are connected by an instrument rod. The clamp mechanism, a commonly used instrument actuator, secures the clamp to the target surgical site, such as a blood vessel, to achieve hemostasis.

[0003] Since the clip applier is a consumable part, a new clip applier needs to be installed on the instrument's 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 related technologies that the installation of the clamp applicator of the surgical robot is complicated, resulting in low operating efficiency of the surgical robot.

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

[0006] Instrument box;

[0007] An instrument rod, one side of which is connected to the instrument box, wherein the instrument rod has an accommodating area for accommodating a clip applier, and the clip applier is movably disposed in the accommodating area;

[0008] a clamping member connected to a side of the instrument rod facing away from the instrument box, the clamping member comprising a first clamping piece and a second clamping piece arranged opposite to each other, the first clamping piece and / or the second clamping piece being rotatably connected to the instrument rod, a clamping area being defined between the first clamping piece and the second clamping piece, the clamping area being in communication with the accommodating area, the clamping member being 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 part moves away from the clamping member, the first traction part drives the first clamping plate and the second clamping plate to rotate away from each other, and the first traction part drives the second traction part to move toward the clamping member, so that the second traction part drives the clamp to move from the accommodating area to the clamping area.

[0012] In the instrument assembly proposed in this application, a clamping member is connected to the clamping member via an instrument rod, allowing the clamping member to be fixed. A clip applier can be mounted between the first and second clamping members of the clamping member. Movement of the first traction member toward the clamping member drives the first and second clamping members to rotate toward each other, clamping the clip applier, allowing the clip applier to be applied to the surgical site and released from the clamping member. Movement of the first traction member away from the clamping member causes the first and second clamping members to rotate away from each other, increasing the distance between them. The first traction member simultaneously drives the second traction member to move an unused clip applier to the clamping area between the first and second clamping members, allowing the unused clip applier to be mounted on the clamping member. This allows the instrument assembly to be used for surgical procedures and to allow unused clip appliers to be mounted on the clamping member, improving the ease and efficiency of the instrument assembly.

[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 defines a first guide groove, the first traction portion includes a first guide block movably disposed in the first guide groove, and an extending direction of the first guide groove intersects 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, which 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 opposite sides of the first traction portion, making the structure of the instrument assembly more compact.

[0020] In some embodiments, the traction member further includes a traction rope, a first traction wheel and a second traction wheel, the first traction wheel being rotatably disposed on the instrument box, the second traction wheel being rotatably disposed on the instrument rod, the traction rope being wound around the first traction wheel and the second traction wheel, the traction rope including a first rope segment and a second rope segment located on both sides of the second traction wheel, the first rope segment being engaged with the first traction part in a limit position in a direction toward the clamping member, and the second rope segment being 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 portion to move toward the clamping member, and the first direction and the second direction are opposite to each other.

[0023] The sliding of the traction rope can drive the first and second traction parts to move respectively, so that the first traction part can expand the clamping member or move the clip applier to the clamping area. This eliminates the need for separate components to drive the first and second traction parts, simplifying the structure of the instrument assembly.

[0024] In some embodiments, the first traction portion includes a limiting groove having 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 exists between the limiting block and the first limiting wall.

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

[0028] A plurality of clip appliers can be loaded into the accommodation area at one time, so that the clip applier does not need to be reinstalled after each clip applier 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, the connecting block is connected to the traction rope, the supporting plate is connected to the connecting block, the supporting plate has a plurality of limiting protrusions, the support plate is located at the bottom of the plurality of the clamps, and the plurality of limiting protrusions are respectively positioned to cooperate with the plurality of the clamps to limit the position in the direction toward the clamping member.

[0030] The multiple limiting protrusions on the support plate respectively cooperate with the multiple clamps in a limiting direction toward the clamping member, so that when the connecting block moves toward the clamping member along the traction rope, the multiple limiting protrusions can respectively push the multiple 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 cooperating with the plurality of clip appliers to limit position in a direction away from the clamping member;

[0032] The support plate 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 part moves away from the clamping member, the clamp is pressed against the guide surface to move the support plate 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 clip applier back toward the clamping member, thereby ensuring that the distance between the plurality of clip appliers and the clamping member can be gradually reduced after the second traction portion pushes the clip applier multiple times.

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

[0035] The surgical robot proposed in this 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 objects, features and advantages of the embodiments of the present application will become more readily understood through the following detailed description with reference to the accompanying drawings, in which various embodiments of the present application are illustrated by way of example and not limitation, wherein:

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

[0038] Figure 2 This is a schematic diagram of the cooperation between the pulling 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;

[0040] Figure 4 This is 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 an 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 piece, 310-first clamping piece, 311-clamping groove, 312-first guide groove, 320-second clamping piece, 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 piece, 430-limiting protrusion, 431-guide 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] The following describes in detail embodiments of the present application, examples of which 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] Furthermore, 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0055] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0056] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it 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. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower 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" 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0058] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes and related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. The instrument cartridge and the instrument actuator in a surgical robot are connected by an instrument rod. The clamp mechanism, a commonly used instrument actuator, secures the clamp to the target surgical site, such as a blood vessel, to achieve hemostasis.

[0059] Since the clip applier is a consumable part, a new clip applier needs to be installed on the instrument's 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 this application, a clamping member is connected to the clamping member via an instrument rod, allowing the clamping member to be fixed. A clip applier can be mounted between the first and second clamping members of the clamping member. Movement of the first traction member toward the clamping member drives the first and second clamping members to rotate toward each other, clamping the clip applier, allowing the clip applier to be applied to the surgical site and released from the clamping member. Movement of the first traction member away from the clamping member causes the first and second clamping members to rotate away from each other, increasing the distance between them. The first traction member simultaneously drives the second traction member to move an unused clip applier to the clamping area between the first and second clamping members, allowing the unused clip applier to be mounted on the clamping member. This traction member allows the instrument assembly to be used for surgical procedures and allows unused clip appliers to be mounted on the clamping member, improving the ease and efficiency of the instrument assembly.

[0061] The surgical robot proposed in this 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 this application are described in detail below with reference to 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, instrument box 100 is the basic component of the instrument assembly of the present application, and instrument box 100 can provide installation foundation for other at least part components of the instrument assembly, and plays the purpose of protecting other at least part components. Instrument box 100 can be prepared by metal material, so that instrument box 100 has better structural strength, thereby making the durability and reliability of instrument box 100 better. Of course, instrument box 100 also can be prepared by polymer material, so that instrument box 100 is relatively light while having certain structural strength.

[0065] The instrument rod 200 is a slender, rod-shaped structure with a relatively long length and a relatively small outer diameter, allowing the instrument rod 200 to be easily inserted into the surgical site. One end of the instrument rod 200 is connected to the instrument case 100, and the clamping member 300 is connected to the end of the instrument rod 200 facing away from the instrument case 100, thereby ensuring a large distance between the clamping member 300 and the instrument case 100. Moving the instrument case 100 causes the clamping member 300 to move accordingly, allowing the clamping member 300 to be moved to the surgical site.

[0066] The clamping member 300 includes a first clamping piece 310 and a second clamping piece 320. The first clamping piece 310 and / or the second clamping piece 320 are rotatably mounted on the instrument shaft 200. Specifically, at least one of the first clamping piece 310 and the second clamping piece 320 can rotate relative to the other, allowing the clamping member 300 to 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 decreases, thereby enabling the clamping member 300 to perform a clamping or cutting 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 be rotated toward each other again to perform a clamping or cutting operation.

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

[0068] refer to Figure 3 As shown, 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 disposed opposite and connected to each other. When a clamping force is applied to the clip applier 500, 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, causing the first clamping arm 510 and the second clamping arm 520 of the clip applier 500 to rotate toward each other, thereby allowing the clip applier 500 to clamp the tissue structure at the surgical site and secure the tissue structure.

[0069] refer to Figure 1 As shown, the pulling member 400 is disposed on the instrument shaft 200. The first pulling portion 410 of the pulling 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, thereby reducing the distance between the first clamping piece 310 and the second clamping piece 320, thereby enabling the clamping member 300 to perform a clamping or cutting operation. The first pulling 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, thereby increasing the distance between the first clamping piece 310 and the second clamping piece 320, thereby enabling the clamping member 300 to perform a release operation.

[0070] refer to Figure 4 As shown, the instrument shaft 200 is provided with a receiving area 210 for accommodating the clip applier 500. Accordingly, unused clip appliers 500 can be placed in the receiving area 210 of the instrument shaft 200. The receiving area 210 of the instrument shaft 200 is connected to the clamping area 330 between the first clamping piece 310 and the second clamping piece 320. When the clamping area 330 between the first clamping piece 310 and the second clamping piece 320 has not yet been provided with a clip applier 500, or when the clip applier 500 provided 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 away from each other to increase the distance between the first clamping piece 310 and the second clamping piece 320, thereby increasing the space in the clamping area 330 accordingly.

[0071] When the first traction portion 410 moves away from the clamping member 300, the first traction portion 410 can simultaneously drive the second traction portion 420 to move, so that the second traction portion 420 drives the clip applier 500 in the accommodating area 210 of the instrument shaft 200 to move to the clamping area 330 between the first clamping piece 310 and the second clamping piece 320, so that the unused clip applier 500 can be installed in the clamping area 330 between the first clamping piece 310 and the second clamping piece 320. In this way, when the first clamping piece 310 and the second clamping piece 320 are rotated toward each other, the unused clip applier 500 can be used to 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, and a support table can be set on the inner wall of the accommodating area 210, and the clamping forceps 500 can be set on the support table, so that the clamping forceps 500 can be fixed in the accommodating area 210.

[0073] Thus, the pulling 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 clip applier 500, but can also drive unused clip appliers 500 to replenish the clamping area 330 between the first clamping piece 310 and the second clamping piece 320, so that additional clip appliers 500 can be installed. This eliminates the need for separate components for controlling the clamping action of the first clamping piece 310 and the second clamping piece 320, and eliminates the need for separate components for loading the clip applier 500 into the clamping area 330. This reduces the number of components in the instrument assembly of the present application, making the instrument assembly more compact and cost-effective.

[0074] In some embodiments, reference Figure 1 and Figure 4 As shown, to make the instrument assembly of the present application more compact and more reliable, the first traction portion 410 and the second traction portion 420 can be disposed within the instrument shaft 200, thereby utilizing the space within the instrument shaft 200 and achieving a more compact structure. Furthermore, the instrument shaft 200 can also serve to protect the first traction portion 410 and the second traction portion 420. The accommodation area 210 is also located within the instrument shaft 200, allowing the instrument shaft 200 to also serve to protect the clip applier 500 within the accommodation area 210.

[0075] In some embodiments, reference Figure 3 As shown, in order to fix the clamping forceps 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 clamping forceps 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 piece 310 and the second clamping piece 320 to rotate toward each other, the first clamping piece 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 pulling 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 moves toward the clamping member 300. During this process, the first guide block 411 can act on the inner wall of the first guide groove 312, causing the first clamping piece 310 to rotate relative to the first guide block 411, thereby allowing the first clamping piece 310 to rotate toward the second clamping piece 320.

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

[0079] When the first pulling 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 moves toward the clamping member 300. During this process, the second guide block 412 can act on the inner wall of the second guide groove 321, causing the second clamping piece 320 to rotate relative to the second guide block 412, thereby allowing the second clamping piece 320 to rotate toward the first clamping piece 310.

[0080] Thus, when the first pulling portion 410 moves toward the clamping member 300 , the first clamping piece 310 and the second clamping piece 320 are driven to rotate toward each other.

[0081] When the first pulling 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 moves away from the clamping member 300. During this process, the first guide block 411 can act on the inner wall of the first guide groove 312, causing the first clamping piece 310 to rotate relative to the first guide block 411, thereby allowing the first clamping piece 310 to rotate away from the second clamping piece 320.

[0082] When the first pulling 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 away from the clamping member 300. During this process, the second guide block 412 can act on the inner wall of the second guide groove 321, causing the second clamping piece 320 to rotate relative to the second guide block 412, thereby allowing the second clamping piece 320 to 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] The first guide block 411 and the second guide block 412 are located on opposite sides of the first pulling portion 410, so that the portion where the first clamping piece 310 and the first guide block 411 are connected and the portion where the second clamping piece 320 and the second guide block 412 are connected can be located on opposite sides of the first pulling portion 410, thereby making the structure within the instrument rod 200 more compact. The first guide groove 312 and the second guide groove 321 are symmetrically arranged along a predetermined centerline, 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, thereby enabling the first clamping piece 310 and the second clamping piece 320 to perform better clamping and releasing actions.

[0085] In some embodiments, reference Figure 5 As shown, in order to allow the second traction part 420 to 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 further include a traction rope 440, a first traction wheel 450, and a second traction wheel 460. The first traction wheel 450 is rotatably mounted on the instrument rod 200 and is located on a side of the instrument rod 200 away from the instrument box 100, and the second traction wheel 460 is rotatably mounted on the instrument box 100. The traction rope 440 is wound around the first traction wheel 450 and the second traction wheel 460. The first traction wheel 450 and the second traction wheel 460 can support the traction rope 440. When the first traction wheel 450 and the second traction wheel 460 rotate forward and reverse, they can drive the traction rope 440 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 either side of a 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 and second ends of the traction rope 440 are both connected to a second traction wheel 460. The second traction wheel 460 can be connected to a drive box of the surgical robot, which can drive the second traction wheel 460 to rotate, thereby allowing the traction rope 440 to slide. The first and second rope segments 441, 442 are located on either side of the first traction wheel 450, so that the first and second rope segments 441, 442 slide in opposite directions.

[0087] Specifically, the first and second ends of the traction rope 440 are connected to the sidewalls 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 wrapped 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 and the first traction part 410 are limited in the direction toward and away from the clamping member 300. When the first rope segment 441 slides toward the clamping member 300, it can drive the first traction part 410 to move toward the clamping member 300. When the first rope segment 441 moves away from the clamping member 300, it can drive the first traction part 410 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 gradually winds around the second traction wheel 460, causing the first rope segment 441 to slide away from the clamping member 300. The second rope segment 442 is gradually released from the second traction wheel 460, causing the second rope segment 442 to slide toward the clamping member 300. The second rope segment 442 is relatively fixed to the second traction portion 420. When the second rope segment 442 slides toward the clamping member 300, the second rope segment 442 drives the second traction portion 420 to move toward the clamping member 300. As a result, the second traction portion 420 drives the clip applier 500 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 pulling portion 410 includes a limiting groove 413, which is a groove structure on the first pulling portion 410. A limiting block 470 is sleeved on the first rope segment 441. 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 simultaneously move toward or away from the clamping member 300, so that the limiting block 470 can abut against the inner wall of the limiting groove 413, thereby pushing the first pulling portion 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 limit block 470 moves toward the second limit wall 415 until it abuts against the second limit wall 415, so that the limit 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 limit block 470 and the first limit 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 back to the clamping member 300, the limit block 470 needs to move a certain distance back to the clamping member 300 and then contact the second limit wall 415 to drive the first traction part 410 to move back to the clamping member 300. In this way, the first traction part 410 will not move too far back to the clamping member 300 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 piece 310 and the second clamping piece 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 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 piece 310 and the second clamping piece 320 more compact.

[0094] In some embodiments, reference Figure 7As shown, to further improve the operating efficiency of the instrument assembly of the present application, the accommodating area 210 of the instrument shaft 200 is configured to accommodate multiple clip appliers 500. The multiple clip appliers 500 can be arranged sequentially in a direction toward the clamping member 300. That is, the distance between the multiple clip appliers 500 and the clamping member 300 gradually decreases in the direction toward the clamping member 300. The first traction portion 410 is configured to sequentially drive the multiple clip appliers 500 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, thereby expanding the clamping area 330, the second traction portion 420 can drive the clip applier 500 closest to the clamping area 330 to move into the clamping area 330. Subsequently, 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, thereby pressing the first clamping piece 310 and the second clamping piece 320 against the clip applier 500, so that the clip applier 500 can be fixed to 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 piece 310 and the second clamping piece 320 rotate back to back to expand the clamping area 330. At this time, the second traction portion 420 can again drive the clamping forceps 500 closest to the clamping member 300 in the accommodating area 210 to move into the clamping area 330, so that the clamping forceps 500 can be fixed on the tissue structure.

[0096] In some embodiments, reference Figure 7 As shown, to enable the second traction unit 420 to drive the multiple clip appliers 500 toward the clamping member 300, the second traction unit 420 may include a connecting block 421 and a support plate 422. The connecting block 421 is connected to the traction rope 440, and specifically, fixedly connected to the second rope segment 442. The support plate 422 is connected to the connecting block 421 and is located on one side of the bottom of the multiple clip appliers 500. The support plate 422 is provided with multiple limiting protrusions 430, which respectively cooperate with the multiple clip appliers 500 to limit the position 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 clamping forceps 500 to move toward the clamping member 300, so that the multiple clamping forceps 500 can be moved into the clamping area 330 in sequence.

[0097] In some embodiments, reference Figure 8As shown, in order to ensure that the second traction portion 420 can drive the clip applier 500 when moving toward the clamping member 300, and does not drive the clip applier 500 to move away from the clamping member 300 when the second traction portion 420 moves away from the clamping member 300, the instrument assembly can also be provided with a limit member 600. The limit member 600 is provided on the instrument shaft 200, and the limit member 600 cooperates with the clip applier 500 to limit the position in the direction away from the clamping member 300. The support piece 422 is elastically connected to the connecting block 421, so that the support piece 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 pulling portion 420 moves away from the clamping member 300, the clip applier 500 presses against the guide surface 431, causing the support plate 422 to move away from the clamping member 500 until the limiting protrusion 430 is located at the bottom side of the clip applier 500. In this way, the limiting protrusion 430 and the clip applier 500 will not be limited in the direction away from the clamping member 300, and the support plate 422 as a whole can move freely away from the clamping member 300. During this process, the limiting member 600 can limit the position of the clip applier 500 in the direction away from the clamping member 300, preventing the clip applier 500 from moving away from the clamping member 300.

[0098] Specifically, when the first pulling portion 410 moves toward the clamping member 300, the first pulling 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 toward the clamping member 300. When the first pulling portion 410 moves away from the clip applier 500, the first pulling portion 410 abuts against the side of the clip applier 500 facing toward the clamping member 300, and the limiting member 600 can be configured to abut against the side of multiple clip appliers 500 facing away from the clamping member 300. In this way, the clip applier 500 acts on the guide surface 431 of the limiting protrusion 430, causing the support piece 422 to bend relative to the connecting block 421 in a direction away from the clip applier 500, thereby eliminating the mutual restriction between the limiting protrusion 430 and the clip applier 500. The clip applier 500 can maintain its position, facilitating the re-driving of the clip applier 500 to the clamping area 330.

[0099] The number of limit members 600 can be set to multiple, and the multiple limit members 600 are correspondingly arranged on the bottom side of the multiple clip appliers 500 and abut against the side of the clip applier 500 facing away from the clamping member 300. The limit 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 limit member 600, causing the limit member 600 to move downwardly of the clip applier 500, thereby causing the limit member 600 and the clip applier 500 to be misaligned in the direction toward the clamping member 300, thereby preventing the limit 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, including 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 them. Although the present application has been described in detail with reference to the aforementioned implementation modes, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned implementation modes, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the implementation modes of the present application.

Claims

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

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

3. The instrument assembly according to claim 2, wherein: The first clamping piece (310) is provided with a first guide groove (312), 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) 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) includes 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 instrument assembly according to claim 3, wherein: 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 instrument assembly according to claim 4, wherein: The first traction portion (410) includes a limiting groove (413), the limiting groove (413) having 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 exists 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 exists between the limiting block (470) and the first limiting wall (414).

6. The instrument assembly according to claim 4 or 5, characterized in that The accommodating area (210) can accommodate a plurality of the clamping forceps (500), and the plurality of the clamping forceps (500) are arranged in sequence along the direction toward the clamping member (300), and the first traction part (410) is configured to drive the plurality of the clamping forceps (500) to move to the clamping area (330) in sequence.

7. The instrument assembly according to claim 6, wherein: 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.

8. The instrument assembly according to claim 7, wherein: The instrument assembly further comprises a limiting member (600), the limiting member (600) being arranged on the instrument rod (200), and the limiting member (600) cooperates with the plurality of clamping forceps (500) to limit the position in a direction away from the clamping member (300); The support plate (422) is elastically connected to the connecting block (421), and the side of the limiting protrusion (430) facing away from the clamping member (300) has a guide surface (431). When the second traction part (420) moves away from the clamping member (300), the clamping forceps (500) is pressed against the guide surface (431) to move the support plate (422) away from the clamping forceps (500) until the limiting protrusion (430) is located on the bottom side of the clamping forceps (500).

9. A surgical robot, characterized in that: Comprising the instrument assembly according to any one of claims 1-8.

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