Continuous clip applier and surgical robot

Abstract

The embodiment of the invention relates to a medical instrument, and discloses a continuous clip applier which comprises a supporting rod which is of a hollow structure and used for installing a tissue clip pushing structure. The first driving mechanism is connected with the push rod and used for driving the push rod to reciprocate in the axial direction of the supporting rod. The second driving mechanism is connected with the pull rod and used for driving the pull rod to reciprocate in the axial direction of the supporting rod. The first driving mechanism drives the push rod to move in the first direction and drives the forceps head to be opened, the second driving mechanism drives the pull rod to move reversely in the first direction, the tissue clamps are pushed to move towards the forceps head through the pull rod, so that the tissue clamps at the ends enter the forceps head, and the tissue clamps are clamped under the condition that the first driving mechanism drives the push rod to move reversely in the first direction. And the forceps heads are driven to be closed, so that the tissue clamp clamps the tissue. Independent control over opening and closing of the forceps heads and pushing of the tissue clamp is achieved, repeated circulating running-firing operation can be achieved, the requirement of a surgical robot for automatic tissue clamping and closing is met, and the surgical efficiency is improved. The invention further discloses the surgical robot.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a continuous clip applier and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. A clip applier is a surgical instrument used to clamp tissue during surgery. Tissue clips are usually made of metal materials, such as titanium clips, but can also be made of other materials, such as plastic clips. When clamping a tissue clip, the tissue clip must first be pushed into the clamp head of the clip applier, and then the clamp head is used to close the tissue clip to achieve clamping.

[0003] With the development and application of minimally invasive laparoscopic surgical robots, the clip applier is installed on the surgical robot, and the clip applier becomes a front-end device of the minimally invasive surgical robot system. When in use, it is detachably connected to the minimally invasive surgical robot to form a front-end manipulator for executing the doctor's operating instructions.

[0004] However, traditional continuous clip appliers typically use a single drive mechanism to simultaneously control the opening and closing of the clamp head and the advancement of the tissue clip. With this structural design, it is often difficult to achieve precise coordination between the opening and closing of the clamp head and the delivery of the tissue clip, resulting in the tissue clip not being able to accurately enter the clamp head when the clamp head is properly opened or closed during operation. In addition, the drive mechanism of traditional clip appliers is generally complex and has many parts, which can easily cause problems such as jamming and failure during surgery, not only affecting the surgical process but also posing certain safety risks. Summary of the Invention

[0005] One object of the present application is to provide a continuous clip applier and a surgical robot to at least solve the above-mentioned problems.

[0006] To achieve the above objectives, some embodiments of the present application provide a continuous clip applier, comprising:

[0007] The tissue clamp advancing structure includes a clamp head, a push rod for opening and closing the clamp head, and a pull rod for moving the tissue clamp toward the clamp head;

[0008] The support rod is a hollow structure used to install the tissue clamp pushing structure;

[0009] A first driving mechanism is connected to the push rod and is used to drive the push rod to reciprocate along the axial direction of the support rod;

[0010] A second driving mechanism is connected to the pull rod and is used to drive the pull rod to reciprocate along the axial direction of the support rod;

[0011] Among them, the first driving mechanism drives the push rod to move in the first direction, driving the clamp head to open, and the second driving mechanism drives the pull rod to move in the opposite direction of the first direction, pushing the tissue clamp toward the clamp head through the pull rod, so that the tissue clamp at the end enters the clamp head, and when the first driving mechanism drives the push rod to move in the opposite direction of the first direction, drives the clamp head to close, so that the tissue clamp clamps the tissue.

[0012] Some embodiments of the present application also provide a surgical robot comprising the aforementioned continuous clip applier.

[0013] Compared with the related art, in the solution provided in the embodiment of the present application, the first drive mechanism and the second drive mechanism respectively drive the push rod and the pull rod to move back and forth, and the two work together to realize independent control of the opening and closing of the clamp head and the advancement of the tissue clamp, completing the precise operation process of "opening the clamp head-pushing the tissue clamp-closing the clamp head to clamp", and the operation can be repeated in a continuous cycle, meeting the needs of laparoscopic surgical robots for automated tissue clamping, and improving surgical efficiency and operation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0015] Figure 1 is a schematic structural diagram of a continuous-fire clip applier provided by an embodiment of the present disclosure;

[0016] Figure 2 yes Figure 1 A partial enlarged schematic diagram of point A in the middle;

[0017] Figure 3 is a schematic structural diagram of the continuous-fire clip applier provided by an embodiment of the present disclosure from another perspective;

[0018] Figure 4 is a schematic diagram of the assembly of the support rod and the first driving mechanism provided in an embodiment of the present disclosure;

[0019] Figure 5 is a schematic diagram of the assembly of the support rod and the second driving mechanism provided in an embodiment of the present disclosure;

[0020] Figure 6 is a schematic diagram of the assembly of the support rod and the second sliding adapter provided by an embodiment of the present disclosure;

[0021] Figure 7 1 is a schematic diagram of the assembly of the support rod, the first sliding adapter and the second sliding adapter provided in an embodiment of the present disclosure;

[0022] Figure 8is a cross-sectional schematic diagram of a support rod, a first sliding adapter, and a second sliding adapter provided in an embodiment of the present disclosure;

[0023] Figure 9 1 is a schematic diagram of the assembly of the first sliding adapter, the first positioning member, and the push rod provided in an embodiment of the present disclosure;

[0024] Figure 10 is a schematic diagram of the assembly of the support rod and the gear transmission mechanism provided in an embodiment of the present disclosure;

[0025] Figure 11 1 is a schematic diagram of the assembly of the main frame, support rods and gear transmission mechanism provided in an embodiment of the present disclosure;

[0026] Figure 12 is a cross-sectional schematic diagram of a support rod, a positioning block, and a connecting rod of a clip storage bin provided in an embodiment of the present disclosure;

[0027] Figure 13 It is a structural diagram of the main frame provided by the embodiment of the present disclosure;

[0028] Figure 14 is a partial schematic diagram of a tissue clip advancing structure provided by an embodiment of the present disclosure;

[0029] Figure 15 yes Figure 14 A partial enlarged schematic diagram of point B in the middle;

[0030] Figure 16 yes Figure 14 A partial enlarged schematic diagram of point C in the middle;

[0031] Figure 17 is another partial schematic diagram of the tissue clip advancing structure provided by an embodiment of the present disclosure;

[0032] Figure 18 It is a partial cross-sectional schematic diagram of the tissue clip advancement structure provided by an embodiment of the present disclosure.

[0033] Reference numerals:

[0034] 10: support rod; 101: first guide groove; 102: second guide groove; 103: plane structure; 104: positioning block;

[0035] 20: first driving mechanism; 201: first sliding adapter; 2011: first planar mating structure; 2012: first limiting groove; 2013: first positioning member; 202: first rotating shaft; 2021: first helical gear portion; 2022: first claw; 203: first connecting rod; 2031: first protrusion; 2032: first mating helical gear portion;

[0036] 30: Second driving mechanism; 301: Second sliding adapter; 3011: Second planar mating structure; 3012: Second limiting groove; 3013: Second positioning member; 302: Second rotating shaft; 3021: Second helical gear portion; 3022: Second claw; 303: Second connecting rod; 3031: Second protrusion; 3032: Second mating helical gear portion;

[0037] 40: tissue clamp pushing structure; 401: forceps head; 402: clip storage compartment; 4021: hollow portion; 4022: blocking piece; 4023: connecting rod; 4024: positioning groove; 403: push rod; 404: pull rod; 4041: stop structure; 405: push clamp plate; 4051: stop block; 406: spring piece; 407: sliding sleeve;

[0038] 50: Main frame; 501: Connecting part; 5021: Base; 5022: First slot structure; 5023: Second slot structure; 5024: Bracket;

[0039] 60: Gear transmission mechanism; 601: Support gear; 602: Spur gear;

[0040] 70: tissue clip. DETAILED DESCRIPTION

[0041] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] In the description and claims of the embodiments of the present disclosure, as well as in the accompanying drawings, the terms "first," "second," and the like are used to distinguish similar items and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate to describe the embodiments of the present disclosure herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0043] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated devices, elements or components to having a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0044] Furthermore, the terms "disposed," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a removable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediary, or an internal connection between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the embodiments of this disclosure based on the specific circumstances.

[0045] Unless otherwise stated, the term "plurality" means two or more.

[0046] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0047] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0048] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0049] Combine Figures 1 to 18 As shown, a continuous clip applier provided by an embodiment of the present disclosure includes a tissue clip propulsion structure 40 , a support rod 10 , a first drive mechanism 20 and a second drive mechanism 30 .

[0050] The tissue clamp advancing structure 40 includes a clamp head 401, a push rod 403 for opening and closing the clamp head 401, and a pull rod 404 for moving the tissue clamp toward the clamp head 401; the support rod 10 is a hollow structure for installing the tissue clamp advancing structure 40; the first driving mechanism 20 is connected to the push rod 403 to drive the push rod 403 to move back and forth along the axial direction of the support rod 10; the second driving mechanism 30 is connected to the pull rod 404 to drive the pull rod 404 to move back and forth along the axial direction of the support rod 10; wherein, the first driving mechanism 20 drives the push rod 403 to move in the first direction, driving the clamp head 401 to open, and the second driving mechanism 30 drives the pull rod 404 to move in the opposite direction along the first direction, pushing the tissue clamp toward the clamp head 401 through the pull rod 404, so that the tissue clamp at the end enters the clamp head 401, and when the first driving mechanism 20 drives the push rod 403 to move in the opposite direction along the first direction, the clamp head 401 is driven to close, so that the tissue clamp clamps the tissue.

[0051] By using the continuous clamp applier provided in the embodiment of the present disclosure, the first drive mechanism 20 and the second drive mechanism 30 respectively drive the push rod 403 and the pull rod 404 to move back and forth, and the two work together to realize independent control of the opening and closing of the clamp head 401 and the advancement of the tissue clamp, completing the operation process of "opening the clamp head 401-pushing the tissue clamp 70-closing the clamp head 401 to clamp", and the operation can be repeated in a continuous cycle, meeting the needs of the laparoscopic surgical robot for automated tissue clamping, and improving surgical efficiency and operation accuracy.

[0052] Optionally, the push rod 403 and the pull rod 404 are arranged axially parallel to the support rod 10. In this way, the spatial layout of the overall structure is simplified, the axial movement path of the push rod 403 and the pull rod 404 is made more direct, the energy loss during the transmission process is reduced, and the movement stability is improved.

[0053] In some embodiments, the tissue clip advancing structure 40 further includes: a clip storage bin 402 , the end of which is connected to the forceps head 401 for accommodating the tissue clip 70 , wherein a plurality of tissue clips 70 are arranged in sequence in the clip storage bin 402 , wherein the clip storage bin 402 limits the tissue clip 70 in four directions.

[0054] In this way, not only can foreign matter be prevented from entering the clip storage bin 402 , but the tissue clip 70 can also be ensured to move forward along the clip storage bin 402 according to a preset path.

[0055] When the forceps head 401 uses one tissue clip, the tissue clip that is the shortest distance from the forceps head 401 is driven by the second driving mechanism 30 to move forward to the forceps head 401 to wait for the next use.

[0056] The clip storage bin 402 is a long strip structure, which is not only suitable for various surgical distances, but also can store multiple tissue clips at one time so that the tissue clips can be used continuously or meet the usage of one surgery, avoiding delays in surgery due to insufficient tissue clips.

[0057] In some embodiments, a push plate 405 is provided within the clip storage bin 402, located away from the forceps head 401. The forceps head 401 is located at a first end of the clip storage bin 402, while the push plate 405 is located between the tissue clip at the end of the clip storage bin 402 facing away from the forceps head 401 and the second end of the clip storage bin 402. This push plate 405 not only serves to define the last tissue clip, ensuring a compact arrangement of the tissue clips within the clip storage bin 402, but also, if there are insufficient tissue clips to directly cooperate with the pull rod 404 for movement, the push plate 405 can indirectly cooperate with the pull rod 404 to continuously push the tissue clips toward the forceps head 401.

[0058] In some embodiments, the bottom plate of the clip storage bin 402 is configured with a hollow portion 4021. The pull rod 404 is disposed at the bottom of the clip storage bin 402, and a stop structure 4041 is configured at the hollow portion 4021. The stop structure 4041 passes through the hollow portion 4021 and is located in the space for storing tissue clips in the clip storage bin 402. In addition, when the pull rod 404 reciprocates axially, the stop portion is stopped by the front and rear edges of the hollow portion 4021 in the axial direction, thereby limiting the travel range of the stop structure 4041.

[0059] When the pull rod 404 moves along the first direction, the stop structure 4041 moves along the first direction with the pull rod 404, and the stop structure 4041 is squeezed by the tissue clip adjacent to the first direction side. Under the continuous pulling of the pull rod 404, the stop structure 4041 moves downward and toward the first direction until it bypasses from under the tissue clip adjacent to the first direction side, that is, moves from the first end of the tissue clip to the opposite second end, and at the second end of the tissue clip, the stop structure 4041 limits the tissue clip to prevent it from moving along the first direction, and then the pull rod 404 moves in the opposite direction along the first direction, driving and pushing the tissue clip toward the clamp head 401 through the stop structure 4041.

[0060] Then the pull rod 404 moves in the opposite direction along the first direction, driving and pushing the stop block 4051 and the entire pushing splint 405 toward the clamp head 401 through the stop structure 4041, thereby pushing the tissue clamp in front toward the clamp head 401 through the pushing splint 405.

[0061] In actual use, the pull rod 404 can drive the stop structure 4041 to bypass under one tissue clip / stopper 4051 and then push the tissue clip / stopper 4051. Alternatively, the pull rod 404 can continuously bypass several tissue clips / stoppers 4051 and then push multiple tissue clips / stoppers 4051 toward the forceps head 401 at once. In the case of pushing multiple tissue clips / stoppers 4051 at once, the time interval or total duration of the continuous tissue clipping can be shortened.

[0062] Optionally, the stop structure 4041 is block-shaped or plate-shaped, and includes an inclined guide surface and a limiting surface, wherein the guide surface of the stop structure 4041 faces away from the direction of the forceps head 401, while the limiting surface of the stop structure 4041 faces the direction of the forceps head 401. In this way, when the stop structure 4041 is pressed downward from the adjacent tissue clip on the first direction side, the guide surface of the stop structure 4041 contacts the tissue clip, and then, guided by the guide surface, the stop structure 4041 smoothly passes under the tissue clip to the second end of the tissue clip, and contacts the second end of the tissue clip through the limiting surface to be limited.

[0063] Optionally, the pull rod 404 is in a plate-like structure at the hollow portion 4021 so as to increase the elastic deformation of the stop structure 4041 when pressed downward, thereby ensuring that the stop structure 4041 moves smoothly from under the tissue clip / block 4051 .

[0064] In some embodiments, the tissue clamp advancement structure 40 also includes a spring piece 406, which is provided below the pull rod 404 and is provided corresponding to the hollow portion 4021, so as to support the stop structure 4041 and the pull rod 404 portion where it is located from below the pull rod 404 when the stop structure 4041 and the pull rod 404 portion where it is located are deformed and moved downward, and help the stop structure 4041 and the pull rod 404 portion where it is located to rebound and restore to the initial state.

[0065] In some embodiments, the top plate of the clip storage bin 402 is constructed with a blocking piece 4022 above the hollow portion 4021, which is used in conjunction with the stop structure 4041. The blocking piece 4022 stops the tissue clip / block 4051 from moving along the first direction from above.

[0066] The baffle 4022 is bent downward and inclined, and its opening direction is toward the clamp head 401. When the tissue clamp / stop 4051 moves toward the clamp head 401, the baffle 4022 moves upward under the action of the tissue clamp / stop 4051; and when the tissue clamp / stop 4051 is separated from the baffle 4022, the baffle 4022 is reset, that is, tilted downward, thereby conflicting with the second end of the tissue clamp / stop 4051, preventing the tissue clamp / stop 4051 from moving away from the clamp head 401.

[0067] Optionally, there may be one or more baffles 4022. Multiple baffles 4022 are arranged in sequence along the axial direction, which helps to avoid losses caused by failure of some baffles 4022.

[0068] In some embodiments, the tissue clamp advancing structure 40 further includes a sliding sleeve 407 , which is sleeved on the clamp head 401 and connected to the push rod 403 ; under the push and pull action of the push rod 403 , the end of the clamp head 401 is opened and closed.

[0069] The push rod 403 moves in the first direction, and the sliding sleeve 407 moves along with the push rod 403 in the first direction (away from the forceps head 401). In the process of moving with the sliding sleeve 407, the tightening force on the end of the forceps head 401 disappears, and the end of the forceps head 401 is released and opened, so that the tissue clip in the forceps head 401 separates from the forceps head 401 and falls off, and the tissue clip behind enters the forceps head 401.

[0070] Under the push of the pull rod 404, after the new tissue clamp enters the clamp head 401, the push rod 403 moves in the opposite direction of the first direction, and the sliding sleeve 407 moves in the opposite direction of the first direction (toward the end of the clamp head 401) along with the push rod 403. As the sliding sleeve 407 moves, its tightening force on the end of the clamp head 401 gradually increases, and the end of the clamp head 401 is closed. Under the action of the clamp head 401, the tissue clamp in the clamp head 401 clamps the tissue and secures it, thus performing its function as a tissue clamp.

[0071] Optionally, the first driving mechanism 20 includes: a first sliding adapter 201 is provided on the support rod 10 and connected to the push rod 403; the first rotating shaft 202 is constructed with a first bevel gear portion 2021; one end of the first connecting rod 203 is connected to the first sliding adapter 201, and the other end is constructed with a first matching bevel gear portion 2032, and the first matching bevel gear portion 2032 is engaged with the first bevel gear portion 2021; when the first rotating shaft 202 rotates, the first bevel gear portion 2021 drives the first connecting rod 203 to swing back and forth through the first matching bevel gear portion 2032, so as to push the first sliding adapter 201 to drive the push rod 403 to move back and forth along the axial direction of the support rod 10.

[0072] By utilizing the characteristics of the helical gear meshing transmission, the rotational motion of the first motor is converted into the axial linear motion of the push rod 403. The transmission process is smooth and has a certain self-locking property, which can ensure the reliability of the opening and closing action of the forceps head 401. At the same time, the helical gear structure formed by the first helical gear part 2021 and the first matching helical gear part 2032 can withstand a large load and adapt to the force requirements for clamping tissue during surgery.

[0073] In some embodiments, the first sliding adapter 201 is sleeved on the support rod 10 to prevent the first sliding adapter 201 from falling off the support rod 10 .

[0074] Optionally, the side wall of the support rod 10 is configured with a plane structure 103, and the inner annular surface of the first sliding adapter 201 is configured with a first plane matching structure 2011. In this way, the axial movement of the first sliding adapter 201 along the support rod 10 is further ensured.

[0075] Optionally, the support rod 10 is a frame structure, i.e., the support rod 10 comprises only a frame with hollowed-out sidewalls. The push rod 403 is located within the support rod 10. The inner annular surface of the first sliding adapter 201 is provided with a first positioning member 2013. The first positioning member 2013 is detachably connected to the inner annular surface of the first sliding adapter 201 and embedded within the support rod 10. The first positioning member 2013 is detachably connected to the push rod 403. The first sliding adapter 201 moves axially along the support rod 10, driving the push rod 403 to move axially along the support rod 10.

[0076] The addition of the first positioning member 2013 not only facilitates the connection between the first sliding adapter 201 and the support rod 10 and the push rod 403 , but also further limits the relative circumferential position of the first sliding adapter 201 and the support rod 10 .

[0077] In some embodiments, the outer circumference of the first sliding adapter 201 is configured with a first limiting groove 2012 , and the end of the first connecting rod 203 is inserted or embedded in the first limiting groove 2012 so that the first connecting rod 203 moves with the first sliding adapter 201 .

[0078] In addition, through the cooperation between the first limiting groove 2012 and the end of the first connecting rod 203, the relative motion trajectory of the first connecting rod 203 and the first sliding adapter 201 is limited, thereby preventing the first connecting rod 203 from being offset during the transmission process and ensuring the precise axial movement of the push rod 403 along the support rod 10.

[0079] In some embodiments, the first limiting groove 2012 is annular. This reduces the installation position limitations when the end of the first connecting rod 203 interferes with the first limiting groove 2012. This reduces the positional accuracy requirements for the end of the first connecting rod 203 and the first limiting groove 2012 during installation, facilitating assembly. Furthermore, it allows the first connecting rod 203 to adaptively adjust within a certain circumferential range, reducing the risk of jamming due to installation errors.

[0080] Optionally, the first connecting rod 203 is H-shaped. In this way, the end of the first connecting rod 203 can be connected to the first sliding adapter 201 via two fixed points or contact points, thereby enhancing the connection rigidity between the first connecting rod 203 and the first sliding adapter 201, avoiding uneven force or swing deviation that may occur in a single-point connection, and improving transmission stability.

[0081] Optionally, the end portion of the first connecting rod 203 where it connects to the first sliding adapter 201 is protruding with a first protrusion 2031, which is embedded in the first limiting groove 2012 to further enhance the secure connection between the first connecting rod 203 and the first sliding adapter 201 and prevent the first connecting rod 203 from separating from the first sliding adapter 201. This further strengthens the mechanical connection between the first connecting rod 203 and the first sliding adapter 201, preventing them from separating during high-frequency reciprocating motion, thereby improving the durability and reliability of the mechanism.

[0082] Optionally, the first matching helical tooth portion of the first connecting rod 203 is fan-shaped.

[0083] The fan-shaped first mating helical tooth portion can realize meshing transmission within a limited angle, accurately control the reciprocating stroke of the push rod 403, avoid abnormal opening and closing of the clamp head 401 caused by excessive transmission, and reduce unnecessary tooth surface wear.

[0084] Optionally, the second driving mechanism 30 includes: a second sliding adapter 301 is provided on the support rod 10 and connected to the pull rod 404; the second rotating shaft 302 is constructed with a second bevel gear portion 3021; ​​one end of the second connecting rod 303 is connected to the second sliding adapter 301, and the other end is constructed with a second matching bevel gear portion 3032, and the second matching bevel gear portion 3032 is engaged with the second bevel gear portion 3021; ​​when the second rotating shaft 302 rotates, the second bevel gear portion 3021 drives the second connecting rod 303 to swing back and forth through the second matching bevel gear portion 3032, so as to push the second sliding adapter 301 to drive the pull rod 404 to move back and forth along the axial direction of the support rod 10.

[0085] By utilizing the characteristics of the helical gear meshing transmission, the rotational motion of the second motor is converted into the axial linear motion of the push rod 403. The transmission process is smooth and has a certain self-locking property, which can ensure the reliability of the opening and closing action of the forceps head 401. At the same time, the helical gear structure formed by the second helical gear part 3021 and the second matching helical gear part 3032 can withstand a large load and adapt to the force requirements for clamping tissue during surgery.

[0086] In some embodiments, the second sliding adapter 301 is sleeved on the support rod 10 to prevent the second sliding adapter 301 from falling off the support rod 10 .

[0087] Optionally, the side wall of the support rod 10 is configured with a plane structure 103, and the inner annular surface of the second sliding adapter 301 is configured with a second plane matching structure 3011. In this way, the axial movement of the second sliding adapter 301 along the support rod 10 is further ensured.

[0088] Optionally, the support rod 10 is a frame structure, i.e., the support rod 10 comprises only a frame with hollowed-out sidewalls. The pull rod 404 is located within the support rod 10. The inner annular surface of the second sliding adapter 301 is provided with a second positioning member 3013. The second positioning member 3013 is detachably connected to the inner annular surface of the second sliding adapter 301 and embedded within the support rod 10. The second positioning member 3013 is detachably connected to the pull rod 404. The second sliding adapter 301 moves axially along the support rod 10, driving the push rod 403 to move axially along the support rod 10.

[0089] The addition of the second positioning member 3013 not only facilitates the connection between the second sliding adapter 301 and the support rod 10 and the pull rod 404 , but also further limits the relative circumferential position of the second sliding adapter 301 and the support rod 10 .

[0090] In some embodiments, the outer circumference of the second sliding adapter 301 is configured with a second limiting groove 3012 , and the end of the second connecting rod 303 is inserted or embedded in the second limiting groove 3012 so that the second connecting rod 303 moves with the second sliding adapter 301 .

[0091] In addition, through the cooperation between the second limiting groove 3012 and the end of the second connecting rod 303, the relative motion trajectory of the second connecting rod 303 and the second sliding adapter 301 is limited, thereby preventing the second connecting rod 303 from being offset during the transmission process and ensuring the precise movement of the pull rod 404 along the axial direction of the support rod 10.

[0092] In some embodiments, the second limiting groove 3012 is annular. This reduces the installation position limitations when the end of the second connecting rod 303 interferes with the second limiting groove 3012. This reduces the positional accuracy requirements for the end of the second connecting rod 303 and the limiting groove during installation, facilitating assembly. Furthermore, it allows the second connecting rod 303 to adaptively adjust within a certain circumferential range, reducing the risk of jamming due to installation errors.

[0093] Optionally, the second connecting rod 303 is H-shaped. In this way, the end of the second connecting rod 303 can be connected to the second sliding adapter 301 through two fixed points or contact points, thereby enhancing the connection rigidity between the second connecting rod 303 and the second sliding adapter 301, avoiding uneven force or swing deviation that may occur in a single-point connection, and improving transmission stability.

[0094] Optionally, the end portion of the second connecting rod 303 where it connects to the second sliding adapter 301 is protruding with a second protrusion 3031, which is embedded in the second limiting groove 3012 to further enhance the secure connection between the second connecting rod 303 and the second sliding adapter 301 and prevent the second connecting rod 303 from separating from the second sliding adapter 301. This further strengthens the mechanical connection between the second connecting rod 303 and the second sliding adapter 301, preventing separation during high-frequency reciprocating motion, and improving the durability and reliability of the mechanism.

[0095] Optionally, the second matching helical tooth portion of the second connecting rod 303 is fan-shaped.

[0096] The fan-shaped second mating helical tooth portion can realize meshing transmission within a limited angle, accurately control the reciprocating stroke of the pull rod 404, avoid abnormal opening and closing of the clamp head 401 due to excessive transmission, and reduce unnecessary tooth surface wear.

[0097] Optionally, the side wall of the support rod 10 is constructed with a first guide groove 101 and a second guide groove 102 arranged in sequence along the axial direction; wherein, the push rod 403 is connected to the first drive mechanism 20 at the first guide groove 101 so as to slide along the first guide groove 101; the pull rod 404 is connected to the second drive mechanism 30 at the second guide groove 102 so as to slide along the second guide groove 102.

[0098] The first guide groove 101 and the second guide groove 102 provide clear motion guide rails for the push rod 403 and the pull rod 404 respectively, limiting their radial freedom and ensuring that both move linearly along the axial direction of the support rod 10 to avoid transmission errors or jamming caused by shaking.

[0099] The first positioning member 2013 of the first sliding adapter 201 is embedded in the first guide groove 101, and the reciprocating stroke of the first sliding adapter 201 is equal to the axial length of the first guide groove 101. Similarly, the second positioning member 3013 of the second sliding adapter 301 is embedded in the second guide groove 102, and the reciprocating stroke of the second sliding adapter 301 is equal to the axial length of the second guide groove 102.

[0100] Optionally, it also includes: a main frame 50, including a connecting part 501 and a bearing part located on one side of the connecting part 501, the bearing part includes a base 5021 and a bracket 5024 vertically arranged on the base 5021; wherein, the support rod 10 is passed through the connecting part 501 and the bracket 5024, and the axial direction of the support rod 10 is consistent with the length direction of the base 5021.

[0101] The main frame 50 is L-shaped, that is, the overall structure of the connecting portion 501 and the bearing portion located on one side of the connecting portion 501 is L-shaped.

[0102] The L-shaped structure enables the operating end (clamp head 401) and the driving end (driving mechanism) of the continuous clamp to form a reasonable spatial layout, which is convenient for integration into the mechanical arm of the laparoscopic surgical robot. At the same time, the support bracket 5024 and the base 5021 of the supporting part provide stable support for the internal transmission components, thereby improving the overall structural strength.

[0103] Optionally, the support rod 10 is provided through the connecting portion 501 and the bracket 5024 and can rotate relative to the connecting portion 501 and the bracket 5024. Preferably, a bearing structure is provided at the connection between the support rod 10 and the connecting portion 501. Similarly, a bearing structure is provided at the connection between the support rod 10 and the bracket 5024.

[0104] Optionally, the first sliding adapter 201 and the second sliding adapter 301 are respectively located on both sides of the bracket 5024. This optimizes the spatial distribution of the transmission components, avoids interference between the two sliding adapters during movement, and balances the forces on both sides of the bracket 5024, thereby improving the balance of the mechanism.

[0105] In some embodiments, the height of a portion of the base 5021 is adapted to the length or hinge position of the first connecting rod 203 / the second connecting rod 303. This ensures that a reasonable clearance is maintained between the connecting rod and the mounting surface of the base 5021 during the swinging process, thereby preventing connecting rod jamming or abnormal wear caused by height mismatch and ensuring smooth transmission.

[0106] Optionally, a first groove structure 5022 and a second groove structure 5023 are constructed on both sides of the bottom of the base 5021; wherein, the first rotating shaft 202 of the first driving mechanism 20 is arranged in the first groove structure 5022, and the first connecting rod 203 of the first driving mechanism 20 is hinged to the base 5021; the second rotating shaft 302 of the second driving mechanism 30 is arranged in the second groove structure 5023, and the second connecting rod 303 of the second driving mechanism 30 is hinged to the base 5021.

[0107] The groove structure provides installation and positioning space for the rotating shaft, facilitating the coaxial assembly of the motor and the rotating shaft; the connecting rod is hinged to the base 5021 to limit its displacement in the width direction, making the connecting rod swing trajectory more stable and improving transmission accuracy.

[0108] The first slot structure 5022 and the second slot structure 5023 are both open at the top, so that the first rotating shaft 202 is connected to the first connecting rod 203 , and the second rotating shaft 302 is connected to the second connecting rod 303 .

[0109] Optionally, the first rotating shaft 202 can rotate within the first slot structure 5022. Exemplarily, the first rotating shaft 202 is mounted within the first slot structure 5022 via a bearing. Exemplarily, a plurality of first claws 2022 are circumferentially configured at the free end of the first rotating shaft 202. After being squeezed and passed through the end through-holes of the first slot structure 5022, the plurality of first claws 2022 are released, thereby forming a locking engagement with the end surface of the first slot structure 5022, thereby preventing the first rotating shaft 202 from falling out of the first slot structure 5022.

[0110] Optionally, the second rotating shaft 302 rotates within the second slot structure 5023. Exemplarily, the second rotating shaft 302 is mounted within the second slot structure 5023 via a bearing. Exemplarily, a plurality of second claws 3022 are circumferentially configured at the free end of the second rotating shaft 302. After being squeezed and passed through the end through-holes of the second slot structure 5023, the plurality of second claws 3022 are released, thereby forming a locking engagement with the end surface of the second slot structure 5023, thereby preventing the second rotating shaft 302 from falling out of the second slot structure 5023.

[0111] The first connecting rod 203 is H-shaped, straddling the base 5021 and hingedly connected to the base 5021. This limits the displacement of the first connecting rod 203 in the width direction of the base 5021. The second connecting rod 303 is H-shaped, straddling the base 5021 and hingedly connected to the base 5021. This limits the displacement of the second connecting rod 303 in the width direction of the base 5021.

[0112] By limiting the base 5021 in the width direction, the lateral movement of the connecting rod is further constrained, ensuring that the connecting rod only drives the sliding adapter to move in the axial direction, thereby enhancing the anti-eccentric load capability.

[0113] The length of first rotating shaft 202 is shorter than that of second rotating shaft 302. This allows for better alignment of the position of first sliding adapter 201. Furthermore, it can accommodate the spatial layout requirements of different drive mechanisms, avoid increased transmission inertia or interference with other components caused by excessively long rotating shafts, and optimize the compactness of the overall structure.

[0114] Optionally, the first driving mechanism 20 further includes a first motor, which is connected to the first rotating shaft 202 to drive the first rotating shaft 202 to rotate. The first rotating shaft 202 can rotate forward and reverse. Optionally, the first motor is installed on the connecting portion 501.

[0115] The first motor directly drives the first rotating shaft 202 to rotate, with a short transmission chain and high energy transfer efficiency. The first motor is installed in the connecting portion 501 to centralize the power source, facilitate circuit integration and docking with the robot control system, and improve the convenience of operation.

[0116] Optionally, the second driving mechanism 30 further includes a second motor connected to the second rotating shaft 302 for driving the second rotating shaft 302 to rotate. The second rotating shaft 302 can rotate forward and reverse. Optionally, the first motor is mounted on the connecting portion 501.

[0117] The second motor directly drives the second rotating shaft 302 to rotate, with a short transmission chain and high energy transfer efficiency. The second motor is installed on the connecting portion 501 to centralize the power source, facilitate circuit integration and docking with the robot control system, and improve the convenience of operation.

[0118] Optionally, the apparatus further comprises a gear transmission mechanism 60 connected to the support rod 10 for driving the support rod 10 and the tissue clip advancing structure 40 to rotate. The gear transmission mechanism 60 is provided at the connecting portion 501 of the main frame 50 .

[0119] Optionally, the gear transmission mechanism 60 includes: a support gear 601 embedded in the connecting part 501 and sleeved on the outside of the support rod 10; a spur gear 602 is meshed and connected with the support gear 601 for transmission; a transmission motor is arranged in the connecting part 501 and is driven and connected to the spur gear 602 to drive the spur gear 602 to rotate.

[0120] The rotation function of the support rod 10 and the forceps head 401 is achieved through gear transmission. The orientation of the forceps head 401 can be adjusted to adapt to different surgical viewing angles, thereby enhancing the flexibility of the instrument. The meshing transmission between the spur gear 602 and the support gear 601 has the characteristics of accurate transmission ratio and high efficiency, ensuring the precise and controllable rotation movement.

[0121] In some embodiments, the first sliding adapter 201 and the second sliding adapter 301 are sleeved on the support rod 10, and the first limiting groove 2012 of the first sliding adapter 201 and the second limiting groove 3012 of the second sliding adapter 301 are both annular structures. The end of the first connecting rod 203 is inserted into the first limiting groove 2012, and when the first sliding adapter 201 rotates with the support rod 10, the connection effect between the first connecting rod 203 and the first limiting groove 2012 is guaranteed. Similarly, the end of the second connecting rod 303 is inserted into the second limiting groove 3012, and when the second sliding adapter 301 rotates with the support rod 10, the connection effect between the second connecting rod 303 and the second limiting groove 3012 is guaranteed.

[0122] Optionally, the other end of the clip storage bin 402 is a connecting rod 4023 , which is inserted into the support rod 10 and is positioned and connected to the support rod 10 so that the clip storage bin 402 and the support rod 10 rotate synchronously.

[0123] Optionally, it also includes: a positioning block 104, which is located inside the support rod 10 and is rotatably connected to the support rod 10; wherein the connecting rod 4023 is constructed with a positioning groove 4024, and when the positioning block 104 is rotated and embedded in the positioning groove 4024, the support rod 10 and the connecting rod 4023 are positioned and connected.

[0124] In this way, the synchronous rotation of the clip storage bin 402 and the support rod 10 is achieved, ensuring that the tissue clamp is always in the same position as the clamp head 401 during the pushing process; the cooperation between the positioning block 104 and the positioning groove 4024 provides reliable mechanical positioning, avoiding circumferential movement of the clip storage bin 402 during the rotation process, and ensuring the continuity and accuracy of continuous clamping.

[0125] The present disclosure also provides a surgical robot comprising the aforementioned multi-shot clip applier. The multi-shot clip applier comprises a tissue clip propulsion mechanism 40, which includes a clamp head 401, a push rod 403 for opening and closing the clamp head 401, and a pull rod 404 for moving the tissue clip toward the clamp head 401. The robot also includes a support rod 10, a first drive mechanism 20, and a second drive mechanism 30. The support rod 10 is a hollow structure for installing a tissue clamp propulsion structure 40; the first driving mechanism 20 is connected to the push rod 403 to drive the push rod 403 to move back and forth along the axial direction of the support rod 10; the second driving mechanism 30 is connected to the pull rod 404 to drive the pull rod 404 to move back and forth along the axial direction of the support rod 10; wherein, the first driving mechanism 20 drives the push rod 403 to move in a first direction, driving the clamp head 401 to open, and the second driving mechanism 30 drives the pull rod 404 to move in the opposite direction of the first direction, pushing the tissue clamp toward the clamp head 401 through the pull rod 404, so that the tissue clamp at the end enters the clamp head 401, and when the first driving mechanism 20 drives the push rod 403 to move in the opposite direction of the first direction, drives the clamp head 401 to close, so that the tissue clamp clamps the tissue.

[0126] The surgical robot provided by the embodiment of the present disclosure drives the push rod 403 and the pull rod 404 to move back and forth respectively through the first drive mechanism 20 and the second drive mechanism 30, and the two work together to realize independent control of the opening and closing of the clamp head 401 and the advancement of the tissue clamp, completing the operation process of "opening the clamp head 401-pushing the tissue clamp 70-closing the clamp head 401 to clamp", and can repeat the cycle continuously to meet the laparoscopic surgical robot's demand for automated tissue clamping, thereby improving surgical efficiency and operation accuracy.

[0127] The above description and accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless expressly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A continuous clip applier, characterized in that: include: The tissue clamp advancing structure includes a clamp head, a push rod for opening and closing the clamp head, and a pull rod for moving the tissue clamp toward the clamp head; The support rod is a hollow structure used to install the tissue clamp pushing structure; A first driving mechanism is connected to the push rod and is used to drive the push rod to reciprocate along the axial direction of the support rod; A second driving mechanism is connected to the pull rod and is used to drive the pull rod to reciprocate along the axial direction of the support rod; Among them, the first driving mechanism drives the push rod to move in the first direction, driving the clamp head to open, and the second driving mechanism drives the pull rod to move in the opposite direction of the first direction, pushing the tissue clamp toward the clamp head through the pull rod, so that the tissue clamp at the end enters the clamp head, and when the first driving mechanism drives the push rod to move in the opposite direction of the first direction, drives the clamp head to close, so that the tissue clamp clamps the tissue.

2. The burst clip applier according to claim 1, wherein: The first driving mechanism comprises: A first sliding adapter is provided on the support rod and connected to the push rod; A first rotating shaft is configured with a first helical gear portion; a first connecting rod, one end of which is connected to the first sliding adapter, and the other end of which is configured with a first matching helical gear portion, the first matching helical gear portion being meshed with the first helical gear portion; When the first rotating shaft rotates, the first helical gear portion drives the first connecting rod to swing back and forth through the first mating helical gear portion, thereby pushing the first sliding adapter to drive the push rod to move back and forth along the axial direction of the support rod; and / or, The second driving mechanism comprises: A second sliding adapter is provided on the support rod and connected to the pull rod; a second rotating shaft having a second helical gear portion; a second connecting rod, one end of which is connected to the second sliding adapter, and the other end of which is configured with a second matching helical gear portion, the second matching helical gear portion being meshed with the second helical gear portion; When the second rotating shaft rotates, the second helical gear portion drives the second connecting rod to swing back and forth through the second matching helical gear portion, so as to push the second sliding adapter to drive the pull rod to move back and forth along the axial direction of the support rod.

3. The burst clip applier according to claim 2, wherein: The first sliding adapter is annular and has a first limiting groove on its outer surface; the first sliding adapter is sleeved on the support rod, and the end of the first connecting rod is embedded in the first limiting groove; and / or, The second sliding adapter is annular, and a second limiting groove is constructed on the outer peripheral surface; wherein the second sliding adapter is sleeved on the support rod, and the end of the second connecting rod is embedded in the second limiting groove.

4. The burst clip applier according to claim 1, wherein: The side wall of the support rod is configured with a first guide groove and a second guide groove sequentially arranged along the axial direction; Wherein, the push rod is connected to the first driving mechanism at the first guide groove so as to slide along the first guide groove; The pull rod is connected to the second driving mechanism at the second guide groove so as to slide along the second guide groove.

5. The burst clip applier according to claim 1, wherein: Also includes: The main frame includes a connecting portion and a bearing portion located on one side of the connecting portion, wherein the bearing portion includes a base and a bracket vertically arranged on the base; The support rod is passed through the connecting portion and the bracket, and the axial direction of the support rod is consistent with the length direction of the base.

6. The burst clip applier according to claim 5, wherein: The bottom of the base is respectively constructed with a first groove structure and a second groove structure on both sides; Among them, the first rotating shaft of the first driving mechanism is arranged in the first groove structure, and the first connecting rod of the first driving mechanism is hinged on the base; and / or, the second rotating shaft of the second driving mechanism is arranged in the second groove structure, and the second connecting rod of the second driving mechanism is hinged on the base.

7. The burst clip applier according to claim 1, wherein: Also includes: A gear transmission mechanism is connected to the support rod to drive the support rod to rotate; Wherein, the gear transmission mechanism is arranged at the connecting part of the main frame.

8. The multi-shot clip applier according to any one of claims 1 to 7, wherein: The tissue clip advancing structure also includes: A clip storage bin, one end of which is connected to the forceps head and is used to accommodate tissue clips; The other end of the clip storage bin is a connecting rod, which is inserted into the support rod and is positioned and connected to the support rod so that the clip storage bin and the support rod rotate synchronously.

9. The burst clip applier according to claim 8, wherein: Also includes: A positioning block is located inside the support rod and is rotatably connected to the support rod; The connecting rod is configured with a positioning groove, and when the positioning block is rotated and embedded in the positioning groove, the support rod and the connecting rod are positioned and connected.

10. A surgical robot, characterized in that: The invention comprises the multi-shot clip applier according to any one of claims 1 to 9.

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