Manipulator for cutting and clamping in surgical operation

Abstract

The invention discloses a mechanical arm for surgical operation cutting and clamping, and relates to the technical field of medical instruments, a multi-degree-of-freedom mechanical arm is mounted at the top end of a base, a fine adjustment clamping assembly is mounted at the end of the multi-degree-of-freedom mechanical arm, a steering motor is mounted in the middle of one end of the side face of a U-shaped frame, and two transmission plates are symmetrically connected to the two ends of a two-way lead screw in a sleeving mode through screw holes; multi-point clamping is more stable, the clamping position is prevented from loosening, a rotating box can drive a clamped cutter to rotate at the same time, the cutting angle of a cutting edge is changed, an adjusting motor is started to drive a clamping roller to rotate, the cutter is pulled to move downwards or upwards, and the cutter clamping stability is always kept; the moving range of the cutter is small, the multi-degree-of-freedom mechanical arm does not move, follow-up adjustment can be better carried out, adjustment is rapid and convenient, and through stable clamping and stable small-range adjustment of the cutter, an operation can be better carried out conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and specifically to a manipulator for surgical cutting and clamping. Background Art

[0002] The surgeon of the surgical manipulator can use both hands and feet to control the surgical instruments on the robotic arm, and can observe the three-dimensional image inside the patient through an endoscope. At the same time, the system will accurately translate the movements of the doctor's hands, wrists and fingers into subtle and precise movements of the surgical instruments, so as to complete the surgical operation. Compared with traditional surgeries, the wound is smaller and more conducive to subsequent recovery.

[0003] The Chinese patent with the patent number 202210000791.2 mentions "a manipulator with high degrees of freedom for vascular surgery". This patent can drive the support frame to rotate through the motor four, and then drive the surgical execution part on the splint to rotate, greatly improving the degrees of freedom and reducing the limitations when using the surgical execution part. However, when the above device is used for surgical cutting and clamping, it is easy to cause the problem of excessive cutting due to too large movement amplitude, and the displacement is large when adjusting the angle of the cutting tool, which is not conducive to the progress of the surgical operation. Summary of the Invention

[0004] The present invention provides a manipulator for surgical cutting and clamping, which can effectively solve the problems mentioned in the above background art, that is, when used for surgical cutting and clamping, it is easy to cause the problem of excessive cutting due to too large movement amplitude, and the displacement is large when adjusting the angle of the cutting tool, which is not conducive to the progress of the surgical operation.

[0005] To achieve the above object, the present invention provides the following technical solution: A manipulator for surgical cutting and clamping, including a base, a multi-degree-of-freedom robotic arm is installed at the top of the base, and a fine-tuning clamping component is installed at the end of the multi-degree-of-freedom robotic arm. The fine-tuning clamping component includes a U-shaped frame;

[0006] One end of the multi-degree-of-freedom robotic arm is installed with a U-shaped frame. A steering motor is installed in the middle of this end of the side of the U-shaped frame. The output shaft of the steering motor penetrates through the U-shaped frame and is connected with an installation box. One end of the installation box penetrates through and installs a horizontal guide tube. Clamping claws are symmetrically and slidably installed inside the horizontal guide tube. One end of the clamping claw inside the installation box is welded with a transmission plate. The two transmission plates are symmetrically sleeved at both ends of a bidirectional lead screw through screw holes. One end of the bidirectional lead screw is connected to the output shaft end of the clamping motor;

[0007] In the middle of the opposite faces of the two clamping jaws, rotating grooves are respectively formed. Inside the rotating grooves, rotating boxes are movably embedded. Inside the rotating boxes, inflatable gaskets are embedded. On the side faces of the rotating boxes, blocks are symmetrically welded. On the side faces of the rotating boxes, replacement pads are movably clamped. In the middle of the replacement pads, knife grooves are formed. At the top and bottom of the knife grooves, sealing strips are adhesively bonded. Adsorption holes are formed in the middle of both the rotating boxes and the replacement pads. In the middle of the rotating boxes, steering pipes are fixedly installed. One end of the steering pipe is connected to a fine-tuning motor, and a protective shell is sleeved outside the fine-tuning motor.

[0008] According to the above technical features, at the bottom of one end of the transmission plate inside the installation box, a bottom right-angle plate is clamped and installed. At the bottom end of the bottom right-angle plate, an adjusting rod is movably penetrated. One end of the adjusting rod is equipped with an adjusting motor, and the other end of the adjusting rod is fixedly sleeved with a clamping roller.

[0009] According to the above technical features, at the top of one end of the transmission plate inside the installation box, a top right-angle plate is clamped and installed. On the side face of one end of the top right-angle plate outside the installation box, an arc-shaped rail is formed. Inside the arc-shaped rail, an arc-shaped plate is slidably embedded. In the middle of the arc-shaped rail, an arc-shaped hole is formed. Inside the arc-shaped hole, a hexagonal pipe is slidably installed;

[0010] At the place where the hexagonal pipe fits the side face of the top right-angle plate, a positioning plate is fixedly sleeved. Corresponding to the arc-shaped hole, an arc-shaped frame is sleeved on the positioning plate. The positioning plate is slidably clamped inside the arc-shaped frame. Inside the hexagonal pipe, a horizontal ejector rod is slidably penetrated. One end of the horizontal ejector rod is connected to the extending end of the electric push rod, and the other end of the horizontal ejector rod movably penetrates the arc-shaped plate and is rotatably sleeved with a rotating disc. At the place corresponding to the rotating disc on the arc-shaped plate, a disc groove is formed. Guide parallel holes are formed in the installation box corresponding to the bottom right-angle plate and the top right-angle plate.

[0011] According to the above technical features, the two transmission plates are respectively slidably sleeved at both ends of a smooth rod, and the smooth rod is fixedly installed inside the installation box.

[0012] According to the above technical features, one side of the clamping motor is connected to the rotating box by screws. The input ends of the steering motor, the clamping motor, the fine-tuning motor, the adjusting motor, and the electric push rod are respectively electrically connected to the output end of the external power supply through a controller.

[0013] According to the above technical features, the centers of the arc-shaped rail, the arc-shaped plate, and the arc-shaped hole all coincide with the center of the rotating box. On one side of the rotating disc, an anti-slip gasket is adhesively bonded. The horizontal ejector rod is composed of a hexagonal prism at the top welded with a cylinder, and the hexagonal pipe is a circular pipe with a regular hexagonal hole formed in the middle. The outer side of the horizontal ejector rod fits the inner wall of the hexagonal pipe.

[0014] According to the above technical features, clamping grooves are provided at positions where the transmission plate is close to the bottom right-angle plate and the top right-angle plate. The end plates of the bottom right-angle plate and the top right-angle plate are clamped in the clamping grooves and fixed by screws.

[0015] According to the above technical features, a convenient protection component is installed at the bottom end of the base. The convenient protection component includes a magnetic suction bottom ring.

[0016] A magnetic suction bottom ring is fixedly sleeved at the bottom end of the base. A support block is installed on one side of the bottom surface of the magnetic suction bottom ring. A positioning screw is installed in the middle of the support block through a screw hole. A protection exhaust pump is installed on the other side of the bottom surface of the magnetic suction bottom ring. An exhaust pipe is installed at the suction end of the protection exhaust pump. The top end of the exhaust pipe penetrates through the magnetic suction bottom ring.

[0017] A positioning pipe is movably sleeved at the position of the magnetic suction bottom ring on the base. A movable bottom ring is welded at the top surface of the magnetic suction bottom ring at the bottom end of the positioning pipe. A movable top ring is welded at the top end of the positioning pipe. A flexible folding pipe is sleeved and connected at the bottom end of the magnetic suction bottom ring. An annular folding hose is bonded at the top end of the flexible folding pipe. An elastic rubber ring is filled inside the annular folding hose. A sealing gasket is bonded on the inner side of the annular folding hose. An exhaust hole is provided at the position corresponding to the exhaust pipe on the movable bottom ring. A disinfection pipe is clamped and installed on the top surface of the movable bottom ring on the side away from the exhaust hole. Disinfection holes are evenly provided on the top surface of the disinfection pipe. A disinfection cotton strip is filled inside the disinfection pipe.

[0018] According to the above technical features, a fixed clamp is clamped and installed outside the protection exhaust pump. The fixed clamp is connected to the base by screws. The input end of the protection exhaust pump is electrically connected to the output end of an external power supply through a controller.

[0019] According to the above technical features, the bottom surface of the base, the bottom surface of the support block, and the bottom surface of the protection exhaust pump are all flush. The outer diameters of the magnetic suction bottom ring and the movable bottom ring are equal, and the surfaces of the magnetic suction bottom ring and the movable bottom ring in contact with each other are smooth planes.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. A fine-tuning clamping component is provided. When it is necessary to use the manipulator to clamp a surgical cutting tool, a replacement pad is clamped and installed at the clamping block of the rotating box. The center of the tool handle is embedded close to the tool slot. One end of the tool handle away from the cutting edge is close to the rotating disc, and one end of the tool handle close to the cutting edge is close to the clamping roller. The clamping motor drives the bidirectional lead screw to rotate. Two transmission plates drive the corresponding clamping claws to approach each other. The replacement pad and the clamping roller initially clamp the tool. The structures of the tool slot, the sealing strip, and the adsorption holes are similar to a suction cup, and the tool can be clamped more stably. Subsequently, the electric push rod is started to push the horizontal top rod to lift the rotating disc and move horizontally along the disc slot, and clamping is performed again. Multi-point clamping is more stable to prevent loosening at the clamping position.

[0022] During the operation, the fine-tuning motor can be started to drive the rotation of the rotating box. During this process, the rotating box will drive the clamped tool to rotate simultaneously, changing the cutting angle of the blade. During the rotation, the arc-shaped plate will slide along the arc-shaped rail, and the rotating disc will rotate at one end of the horizontal ejector rod. If it is necessary to change the feed depth, the extrusion of the electric push rod and the clamping claw can be loosened, and the adjustment motor can be started to drive the clamping roller to rotate, pulling the tool down or up, always maintaining the stable clamping of the tool, and the movement amplitude of the tool is small, and the multi-degree-of-freedom robotic arm does not move, which is convenient for subsequent adjustment. The adjustment is rapid and convenient. By stably clamping and stably adjusting the tool with a small amplitude, the operation can be better carried out.

[0023] 2. A convenient protection component is provided. Pull the top end of the flexible folding tube until the annular folding hose crosses the movable top ring, and unfold the flexible folding tube along the base and the multi-degree-of-freedom robotic arm. The elastic rubber ring shrinks and clamps the multi-degree-of-freedom robotic arm at the position close to the C-shaped frame. The gap between the flexible folding tube and the multi-degree-of-freedom robotic arm is filled with air and the volatilized alcohol of the disinfected cotton strip in the disinfection tube, preventing bacteria and sundries from entering, protecting the multi-degree-of-freedom robotic arm, and preventing the liquid or other sundries from contaminating the multi-degree-of-freedom robotic arm during the operation. Start the protection exhaust pump, and the flexible folding tube fits the outer side of the multi-degree-of-freedom robotic arm to prevent the fluffy flexible folding tube from being scratched and broken during the movement of the multi-degree-of-freedom robotic arm, protecting the multi-degree-of-freedom robotic arm for subsequent maintenance operations.

[0024] In summary, after the operation is completed, the tool and the replacement pad are removed to prevent the wear of the replacement pad from affecting the accuracy of the next operation. Then, the combination of the tool-taking positioning tube, the movable bottom ring and the movable top ring is removed, and at the same time, the unfolded flexible folding tube is taken off to ensure that the multi-degree-of-freedom robotic arm is in a clean state, preventing the multi-degree-of-freedom robotic arm from being contaminated. The fine-tuning clamping component and the convenient protection component cooperate together to ensure the cleanliness and operation accuracy, so as to facilitate better surgical operations. Description of the Drawings

[0025] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention.

[0026] In the drawings:

[0027] Figure 1 is the structural schematic diagram of the present invention;

[0028] Figure 2 is the structural schematic diagram of the fine-tuning clamping component of the present invention;

[0029] Figure 3 is the installation structural schematic diagram of the horizontal guiding tube of the present invention;

[0030] Figure 4It is a schematic diagram of the installation structure of the smooth rod of the present invention;

[0031] Figure 5 is the present invention Figure 4 Schematic diagram of the structure of area A;

[0032] Figure 6 It is a schematic diagram of the installation structure of the rotating box of the present invention;

[0033] Figure 7 It is a schematic diagram of the structure of the convenient protection component of the present invention;

[0034] Figure 8 It is a schematic diagram of the installation structure of the disinfection tube of the present invention;

[0035] Figure 9 is the present invention Figure 8 Schematic diagram of the structure of area B;

[0036] Reference numerals in the figure: 1, base; 2, multi-degree-of-freedom robotic arm;

[0037] 3, fine-tuning clamping component; 301, C-shaped frame; 302, steering motor; 303, mounting box; 304, horizontal guide tube; 305, clamping claw; 306, drive plate; 307, bidirectional lead screw; 308, clamping motor; 309, smooth rod; 310, rotating groove; 311, rotating box; 312, inflatable gasket; 313, clamping block; 314, replacement pad; 315, knife groove; 316, sealing strip; 317, adsorption hole; 318, steering tube; 319, fine-tuning motor; 320, bottom right-angle plate; 321, adjusting rod; 322, adjusting motor; 223, clamping roller; 324, top right-angle plate; 325, arc track; 326, arc plate; 327, arc hole; 328, internal hexagonal tube; 329, positioning plate; 330, arc frame; 331, horizontal top rod; 332, electric push rod; 333, rotating disc; 334, disc groove; 335, guiding parallel hole;

[0038] 4, convenient protection component; 401, magnetic suction bottom ring; 402, support block; 403, positioning screw; 404, protection exhaust pump; 405, exhaust pipe; 406, positioning pipe; 407, movable bottom ring; 408, movable top ring; 409, flexible folding tube; 410, annular folding hose; 411, elastic rubber ring; 412, sealing gasket; 413, exhaust hole; 414, disinfection tube; 415, disinfection hole; 416, disinfection cotton strip; 417, fixed clamp. Detailed implementation manners

[0039] The following is a description of the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not used to limit the present invention.

[0040] Embodiment: As Figures 1-9 shown, the present invention provides a technical solution for a manipulator for surgical cutting and clamping, including a base 1. A multi-degree-of-freedom robotic arm 2 is installed at the top of the base 1. A fine-tuning clamping assembly 3 is installed at the end of the multi-degree-of-freedom robotic arm 2. The fine-tuning clamping assembly 3 includes a C-shaped frame 301, a steering motor 302, a mounting box 303, a horizontal guide tube 304, clamping claws 305, a transmission plate 306, a bidirectional lead screw 307, a clamping motor 308, a smooth rod 309, a rotating groove 310, a rotating box 311, an inflatable gasket 312, a clamping block 313, a replacement pad 314, a knife groove 315, a sealing strip 316, an adsorption hole 317, a steering tube 318, a fine-tuning motor 319, a bottom right-angle plate 320, an adjusting rod 321, an adjusting motor 322, a clamping roller 223, a top right-angle plate 324, an arc track 325, an arc plate 326, an arc hole 327, an internal hexagonal tube 328, a positioning plate 329, an arc-shaped frame 330, a horizontal ejector rod 331, an electric push rod 332, a rotating disc 333, a disc groove 334, and a guiding parallel hole 335;

[0041] One end of the multi-degree-of-freedom robotic arm 2 is installed with a C-shaped frame 301. A steering motor 302 is installed in the middle of this end of the side of the C-shaped frame 301. The output shaft of the steering motor 302 penetrates through the C-shaped frame 301 and is connected to a mounting box 303. One end of the mounting box 303 penetrates through and installs a horizontal guide tube 304. Clamping claws 305 are symmetrically and slidably installed inside the horizontal guide tube 304. One end of the clamping claws 305 inside the mounting box 303 is welded with a transmission plate 306. The two transmission plates 306 are symmetrically sleeved at both ends of the bidirectional lead screw 307 through screw holes. One end of the bidirectional lead screw 307 is connected to the output shaft end of the clamping motor 308. The two transmission plates 306 are respectively slidably sleeved at both ends of the smooth rod 309. The smooth rod 309 is fixedly installed inside the mounting box 303, facilitating the two transmission plates 306 to slide along the smooth rod 309 respectively;

[0042] Rotating grooves 310 are opened in the middle of the opposite surfaces of the two clamping claws 305. A rotating box 311 is movably embedded inside the rotating groove 310. An inflatable gasket 312 is embedded inside the rotating box 311. Clamping blocks 313 are symmetrically welded on the side surface of the rotating box 311. A replacement pad 314 is movably clamped on the side surface of the rotating box 311. A knife groove 315 is opened in the middle of the replacement pad 314. Sealing strips 316 are bonded to the top and bottom of the knife groove 315. Adsorption holes 317 are opened in the middle of both the rotating box 311 and the replacement pad 314. A steering tube 318 is fixedly installed in the middle of the rotating box 311. One end of the steering tube 318 is connected to a fine-tuning motor 319. A protective shell is sleeved outside the fine-tuning motor 319. A bottom right-angle plate 320 is clamped and installed at the bottom of one end of the transmission plate 306 inside the mounting box 303. An adjusting rod 321 is movably penetrated through the bottom end of the bottom right-angle plate 320. An adjusting motor 322 is installed at one end of the adjusting rod 321. A clamping roller 223 is fixedly sleeved at the other end of the adjusting rod 321, facilitating the height of clamping and pulling the tool.

[0043] At the top of one end inside the installation box 303, a top right-angle plate 324 is snap-fitted to the drive plate 306. Clamping grooves are provided near the bottom right-angle plate 320 and the top right-angle plate 324 on the drive plate 306. The end plates of the bottom right-angle plate 320 and the top right-angle plate 324 are snap-fitted into the clamping grooves and fixed by screws, which facilitates the installation and disassembly of the bottom right-angle plate 320 and the top right-angle plate 324. On the side of one end outside the installation box 303 of the top right-angle plate 324, an arc-shaped rail 325 is provided. An arc-shaped plate 326 is slidably embedded inside the arc-shaped rail 325. An arc-shaped hole 327 is provided in the middle of the arc-shaped rail 325. An internal hexagonal tube 328 is slidably installed inside the arc-shaped hole 327. A positioning plate 329 is fixedly sleeved on the side of the internal hexagonal tube 328 that fits the side of the top right-angle plate 324. An arc-shaped frame 330 is sleeved corresponding to the arc-shaped hole 327 on the positioning plate 329. The positioning plate 329 is slidably snap-fitted inside the arc-shaped frame 330. A horizontal top rod 331 is slidably penetrated and installed inside the internal hexagonal tube 328. One end of the horizontal top rod 331 is connected to the extended end of the electric push rod 332. One side of the clamping motor 308 is connected to the rotating box 311 by screws. The input ends of the steering motor 302, the clamping motor 308, the fine-tuning motor 319, the adjusting motor 322, and the electric push rod 332 are respectively electrically connected to the output end of the external power supply through the controller to ensure the normal operation of the steering motor 302, the clamping motor 308, the fine-tuning motor 319, the adjusting motor 322, and the electric push rod 332. The other end of the horizontal top rod 331 movably penetrates the arc-shaped plate 326 and is rotatably sleeved with a rotating disc 333. The centers of the arc-shaped rail 325, the arc-shaped plate 326, and the arc-shaped hole 327 coincide with the center of the rotating box 311. An anti-slip gasket is bonded to one side of the rotating disc 333. The horizontal top rod 331 is composed of a hexagonal prism welded with a cylinder at the top. The internal hexagonal tube 328 is a circular tube with a regular hexagonal hole in the middle. The outer side of the horizontal top rod 331 fits the inner wall of the internal hexagonal tube 328, which facilitates the synchronous rotation of the arc-shaped plate 326 when the rotating box 311 rotates. A disc slot 334 is provided on the arc-shaped plate 326 corresponding to the rotating disc 333. Guide parallel holes 335 are provided on the installation box 303 corresponding to the bottom right-angle plate 320 and the top right-angle plate 324.

[0044] A convenient protection component 4 is installed at the bottom end of the base 1. The convenient protection component 4 includes a magnetic suction bottom ring 401, a support block 402, a positioning screw 403, a protection exhaust pump 404, an exhaust pipe 405, a positioning pipe 406, a movable bottom ring 407, a movable top ring 408, a flexible folding pipe 409, an annular folding hose 410, an elastic rubber ring 411, a sealing gasket 412, an exhaust hole 413, a disinfection pipe 414, a disinfection hole 415, a disinfection cotton strip 416, and a fixed clamp 417;

[0045] A magnetic suction bottom ring 401 is fixedly sleeved at the bottom end of the base 1. A support block 402 is installed on one side of the bottom surface of the magnetic suction bottom ring 401. A positioning screw 403 is installed in the middle of the support block 402 through a screw hole. A protective exhaust pump 404 is installed on the other side of the bottom surface of the magnetic suction bottom ring 401. An exhaust pipe 405 is installed at the suction end of the protective exhaust pump 404, and the top end of the exhaust pipe 405 penetrates through the magnetic suction bottom ring 401;

[0046] A positioning pipe 406 is movably sleeved at the position of the magnetic suction bottom ring 401 on the base 1. A movable bottom ring 407 is welded to the top surface of the magnetic suction bottom ring 401 at the bottom end of the positioning pipe 406. The bottom surface of the base 1, the bottom surface of the support block 402, and the bottom surface of the protective exhaust pump 404 are all flush. The outer diameters of the magnetic suction bottom ring 401 and the movable bottom ring 407 are equal, and the surfaces of the magnetic suction bottom ring 401 and the movable bottom ring 407 in contact with each other are smooth planes, which is convenient for the magnetic suction bottom ring 401 and the movable bottom ring 407 to adsorb each other for temporary fixation. A movable top ring 408 is welded to the top end of the positioning pipe 406. A flexible folding pipe 409 is sleeved at the bottom end of the magnetic suction bottom ring 401. An annular folding hose 410 is bonded to the top end of the flexible folding pipe 409. An elastic rubber ring 411 is filled inside the annular folding hose 410. A sealing gasket 412 is bonded to the inner side of the annular folding hose 410. An exhaust hole 413 is opened at the position corresponding to the exhaust pipe 405 on the movable bottom ring 407. A disinfection pipe 414 is snap-fitted and installed on the top surface of the movable bottom ring 407 away from the exhaust hole 413. Disinfection holes 415 are evenly opened on the top surface of the disinfection pipe 414. A disinfection cotton strip 416 is filled inside the disinfection pipe 414. A fixed clamp 417 is snap-fitted and installed on the outside of the protective exhaust pump 404. The fixed clamp 417 is connected to the base 1 by screws. The input end of the protective exhaust pump 404 is electrically connected to the output end of an external power supply through a controller to ensure the normal operation of the protective exhaust pump 404.

[0047] The working principle and usage process of the present invention: Install the base 1 near the operating table. Take the combination of the positioning pipe 406, the movable bottom ring 407, and the movable top ring 408. Embed a disinfection cotton strip 416 soaked with disinfection alcohol into the disinfection pipe 414. The disinfection pipe 414 is snap-fitted and installed on the top surface of the movable bottom ring 407. A flexible folding pipe 409 is sleeved in the middle of the movable bottom ring 407. The bottom end of the flexible folding pipe 409 is sleeved on the outside of the movable bottom ring 407. The annular folding hose 410 at the top end of the flexible folding pipe 409 presses the bottom surface of the movable top ring 408 under its own elastic force. Take the combination of the positioning pipe 406, the movable bottom ring 407, and the movable top ring 408 again. Sleeve this ring-shaped structure on one end of the fine-tuning clamping assembly 3 and move it along the multi-degree-of-freedom robotic arm 2 until it reaches the base 1. And embed the exhaust hole 413 of the movable bottom ring 407 of this ring-shaped structure into the top end of the exhaust pipe 405 of the protective exhaust pump 404. The magnetic suction bottom ring 401 adsorbs the movable bottom ring 407 for fixation. At the same time, clamp the bottom end of the flexible folding pipe 409 to complete the preparation operation to facilitate subsequent surgical operations;

[0048] When the manipulator needs to hold the surgical cutting tool, a replacement pad 314 is clamped and installed at the clamping block 313 of the rotating box 311. The two ends of the replacement pad 314 are respectively clamped to the clamping block 313, and the replacement pad 314 fits against the end face of the rotating box 311. The replacement pad 314 is made of rubber, and it is ensured that the tool groove 315 of the replacement pad 314 fits the handle of the cutting tool. The center of the handle is embedded close to the tool groove 315. One end of the handle away from the blade is close to the rotating disc 333, and one end of the handle close to the blade is close to the clamping roller 223. The clamping motor 308 is started, and the clamping motor 308 drives the bidirectional lead screw 307 to rotate. The two drive plates 306 drive the corresponding clamping claws 305 to approach each other. The inflatable gasket 312 is squeezed and deformed. Cooperating with the replacement pad 314, the impact force of clamping is reduced. The replacement pad 314 and the clamping roller 223 initially clamp the tool. The structures of the tool groove 315, the sealing strip 316 and the adsorption hole 317 are similar to a suction cup. The replacement pad 314 will deform and fit against the outside of the handle, and can clamp the tool more stably. Subsequently, the electric push rod 332 is started to push the horizontal ejector rod 331 to lift the rotating disc 333 and move horizontally along the disc groove 334. From Figure 5 As can be seen, the main body of the horizontal ejector rod 331 is a hexagonal prism, and due to the limitation of the arc-shaped frame 330, the positioning plate 329 will not rotate freely, and can stably push the rotating disc 333 to clamp the handle again. Multi-point clamping is more stable to prevent loosening at the clamping position;

[0049] When a surgery needs to be performed, the top end of the flexible folding tube 409 is pulled, and the annular folding hose 410 and the elastic rubber ring 411 are expanded until the annular folding hose 410 passes over the movable top ring 408, and the flexible folding tube 409 is unfolded along the base 1 and the multi-degree-of-freedom robotic arm 2 until it is close to the U-shaped frame 301 of the fine-tuning clamping assembly 3. The elastic rubber ring 411 contracts and clamps the multi-degree-of-freedom robotic arm 2 at the position close to the U-shaped frame 301. The gap between the flexible folding tube 409 and the multi-degree-of-freedom robotic arm 2 is filled with air and the alcohol volatilized from the disinfected cotton strip 416 in the disinfection tube 414, to avoid the entry of bacteria and sundries and protect the multi-degree-of-freedom robotic arm 2, preventing the contamination of the multi-degree-of-freedom robotic arm 2 by liquid or other sundries during the surgery process. The protective exhaust pump 404 is started to extract the air between the flexible folding tube 409 and the multi-degree-of-freedom robotic arm 2 through the protective exhaust pump 404, and the flexible folding tube 409 fits against the outside of the multi-degree-of-freedom robotic arm 2 to prevent the fluffy flexible folding tube 409 from being scratched and broken during the movement of the multi-degree-of-freedom robotic arm 2, protecting the multi-degree-of-freedom robotic arm 2 for subsequent maintenance operations;

[0050] During the operation, if it is necessary to change the cutting angle of the blade, the fine-tuning motor 319 can be started. Driven by the side transmission of the steering tube 318, the rotating box 311 is driven to rotate in the rotating groove 310. During this process, the rotating box 311 drives the clamped tool to rotate around the rotating box 311 as the center, changing the cutting angle of the blade. During the rotation, since the center of the rotating box 311 coincides with the center of the arc-shaped plate 326, the arc-shaped plate 326 slides along the arc-shaped rail 325, the positioning plate 329 slides along the arc-shaped frame 330, and the rotating disc 333 rotates at one end of the horizontal ejector rod 331. During the rotation, it still maintains a stable clamping state, and the rotation center is at the handle of the knife. This operation is closer to the operation of holding a scalpel by hand and is more conducive to the operation of the doctor. If it is necessary to change the cutting depth, the extrusion of the electric push rod 332 and the clamping claw 305 can be loosened to reduce the friction force of the clamped tool. The adjustment motor 322 is started to drive the clamping roller 223 to rotate, and the tool is pulled to move down or up along the tool groove 315, always maintaining the stability of the tool clamping. Moreover, the movement amplitude of the tool is small, and the multi-degree-of-freedom robotic arm 2 does not move, which is convenient for subsequent adjustment. The adjustment is rapid and convenient to facilitate the operation of the surgery;

[0051] After the operation is completed, the tool and the replacement pad 314 are removed to prevent the replacement pad 314 from being worn and affecting the accuracy of the next operation. Then, the combination of the tool-taking positioning tube 406, the movable bottom ring 407, and the movable top ring 408 is removed, and at the same time, the unfolded flexible folding tube 409 is taken off to ensure that the multi-degree-of-freedom robotic arm 2 is in a clean state and prevent the multi-degree-of-freedom robotic arm 2 from being contaminated. The fine-tuning clamping assembly 3 and the convenient protection assembly 4 cooperate together to ensure the cleanliness and operation accuracy, so as to facilitate better surgical operation.

[0052] Finally, it should be noted that the above are only preferred examples of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A surgical cutting and clamping manipulator, comprising a base (1), characterized in that: A multi-degree-of-freedom mechanical arm (2) is installed at the top of the base (1), a fine-tuning clamping assembly (3) is installed at the end of the multi-degree-of-freedom mechanical arm (2), and the fine-tuning clamping assembly (3) comprises a mold frame (301); A shaped frame (301) is installed at one end of the multi-degree-of-freedom mechanical arm (2), a steering motor (302) is installed in the middle of the side end of the shaped frame (301), the output shaft of the steering motor (302) passes through the shaped frame (301) and is connected to a mounting box (303), a horizontal guide tube (304) is installed through one end of the mounting box (303), a clamping claw (305) is symmetrically slidably installed inside the horizontal guide tube (304), a transmission plate (306) is welded to one end of the clamping claw (305) inside the mounting box (303), two transmission plates (306) are symmetrically sleeved on the two ends of a bidirectional screw rod (307) through screw holes, and one end of the bidirectional screw rod (307) is connected to the output shaft end of the clamping motor (308); A rotation groove (310) is provided in the middle of the opposing surfaces of the two clamping claws (305), a rotation box (311) is movably embedded in the rotation groove (310), an inflatable gasket (312) is embedded in the rotation box (311), a clamping block (313) is symmetrically welded on the side of the rotation box (311), a replacement pad (314) is movably clamped on the side of the rotation box (311), a knife groove (315) is provided in the middle of the replacement pad (314), a sealing strip (316) is bonded to the top and bottom of the knife groove (315), an adsorption hole (317) is provided in the middle of the rotation box (311) and the replacement pad (314), a steering tube (318) is fixedly installed in the middle of the rotation box (311), one end of the steering tube (318) is connected to a fine-tuning motor (319), and a protective shell is sleeved on the outside of the fine-tuning motor (319).

2. A surgical cutting and clamping manipulator according to claim 1, characterized in that: The transmission plate (306) is located inside the installation box (303) and is clamped with a bottom right-angle plate (320) at one end thereof. An adjusting rod (321) is movably installed through the bottom end of the bottom right-angle plate (320). An adjusting motor (322) is installed at one end of the adjusting rod (321), and a clamping roller (223) is fixedly sleeved at the other end of the adjusting rod (321).

3. A surgical cutting and clamping manipulator according to claim 1, characterized in that: The transmission plate (306) is located at the top of one end inside the installation box (303) and is clamped with a top right-angle plate (324); the top right-angle plate (324) is located at the side of one end outside the installation box (303) and is provided with an arc-shaped rail (325); an arc-shaped plate (326) is slidably embedded inside the arc-shaped rail (325); an arc-shaped hole (327) is opened in the middle of the arc-shaped rail (325); a hexagonal tube (328) is slidably installed inside the arc-shaped hole (327); The inner hexagonal tube (328) is fixedly sleeved with a positioning plate (329) at the side of the top right-angle plate (324), and the positioning plate (329) is sleeved with an arc frame (330) at the arc hole (327). The positioning plate (329) is slidably clamped inside the arc frame (330), and a horizontal push rod (331) is slidably penetrated and installed inside the inner hexagonal tube (328). One end of the horizontal push rod (331) is connected to the protruding end of the electric push rod (332), and the other end of the horizontal push rod (331) movably penetrates the arc plate (326) and is rotatably sleeved with a rotating disc (333). The arc plate (326) is provided with a disc groove (334) at the position corresponding to the rotating disc (333), and the installation box (303) is provided with guiding parallel holes (335) at the positions corresponding to the bottom right-angle plate (320) and the top right-angle plate (324).

4. A surgical cutting and clamping manipulator according to claim 1, characterized in that: The two transmission plates (306) are respectively slidably sleeved on the two ends of the smooth rod (309), and the smooth rod (309) is fixedly installed inside the installation box (303).

5. A surgical cutting and clamping manipulator according to claim 3, characterized in that: One side of the clamping motor (308) is connected to the rotating box (311) via a screw, and the input ends of the steering motor (302), the clamping motor (308), the fine-tuning motor (319), the regulating motor (322) and the electric push rod (332) are electrically connected to the output end of the external power supply via a controller.

6. A surgical cutting and clamping manipulator according to claim 3, characterized in that: The centers of the arc rail (325), the arc plate (326) and the arc hole (327) are all coincident with the center of the rotating box (311); a non-slip pad is bonded to one side of the rotating disc (333); the horizontal push rod (331) is composed of a hexagonal prism with a circular cylinder welded at the top; the inner hexagonal tube (328) is a circular tube with a regular hexagonal hole in the middle; and the outer side of the horizontal push rod (331) fits the inner wall of the inner hexagonal tube (328).

7. A surgical cutting and clamping manipulator according to claim 3, characterized in that: The transmission plate (306) is provided with a clamping groove near the bottom right-angle plate (320) and the top right-angle plate (324), and the end plates of the bottom right-angle plate (320) and the top right-angle plate (324) are clamped in the clamping groove and fixed by screws.

8. A surgical cutting and clamping manipulator according to claim 5, characterized in that: A convenient protection component (4) is installed at the bottom end of the base (1), and the convenient protection component (4) comprises a magnetic bottom ring (401); A magnetic bottom ring (401) is fixedly sleeved at the bottom end of the base (1); a support block (402) is installed on one side of the bottom surface of the magnetic bottom ring (401); a positioning screw (403) is installed in the middle of the support block (402) through a screw hole; a protective exhaust pump (404) is installed on the other side of the bottom surface of the magnetic bottom ring (401); an exhaust pipe (405) is installed at the suction end of the protective exhaust pump (404); and the top end of the exhaust pipe (405) passes through the magnetic bottom ring (401); The base (1) is movably sleeved with a positioning tube (406) at the magnetic bottom ring (401); the bottom end of the positioning tube (406) is welded with a movable bottom ring (407) at the top surface of the magnetic bottom ring (401); the top end of the positioning tube (406) is welded with a movable top ring (408); the bottom end of the magnetic bottom ring (401) is sleeved with a flexible folding tube (409); the top end of the flexible folding tube (409) is bonded with an annular folding hose (410); the annular folding hose (410) The interior is filled with an elastic rubber ring (411), and a sealing gasket (412) is bonded to the inner side of the annular folded hose (410). An exhaust hole (413) is provided on the movable bottom ring (407) corresponding to the exhaust pipe (405). A disinfection tube (414) is clamped and installed on the top surface of the movable bottom ring (407) away from the exhaust hole (413). Disinfection holes (415) are evenly provided on the top surface of the disinfection tube (414), and the interior of the disinfection tube (414) is filled with disinfection cotton strips (416).

9. A surgical cutting and clamping manipulator according to claim 8, characterized in that: A fixing card (417) is mounted on the outer side of the protective exhaust pump (404), and the fixing card (417) is connected to the base (1) via screws. The input end of the protective exhaust pump (404) is electrically connected to the output end of an external power supply via a controller.

10. A surgical cutting and clamping manipulator according to claim 8, characterized in that: The bottom surface of the base (1), the bottom surface of the support block (402) and the bottom surface of the protective exhaust pump (404) are all flush, the outer diameters of the magnetic bottom ring (401) and the movable bottom ring (407) are equal, and the surface where the magnetic bottom ring (401) and the movable bottom ring (407) contact each other is a smooth plane.

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