Multi-degree-of-freedom needle forceps for microsurgery robot

Abstract

The invention discloses multi-degree-of-freedom needle forceps for a microsurgical robot, and belongs to the technical field of needle forceps, the multi-degree-of-freedom needle forceps comprise a control end and a needle forceps body, the needle forceps body comprises half forceps bodies rotationally connected through a hinge joint piece, and a needle adjusting piece controlled through an inner control piece is arranged in the half forceps body located on one side; side openings allowing the needle adjusting pieces to move are formed in the side walls of the half forceps bodies, the needle adjusting pieces move in the side openings, and fine adjustment of the orientation of the suture needle is achieved. The pneumatic pistons on the two sides are independently controlled to drive the needle adjusting pieces, the clamping angle of the suture needle can be finely adjusted, the needle adjusting pieces on the two sides are synchronously pushed out to push the clamping position of the suture needle in the jaw, the suture flexibility is improved, the opening and closing push rod controls the jaw to be opened and closed through the offset folded plate mechanism, stable opening and closing actions are achieved in combination with the hinged joint, and the suture needle can be conveniently and rapidly adjusted. After the forceps body is closed, the self-locking push plate is continuously pushed to apply additional locking force to the half forceps bodies, passive mechanical locking is formed, the mechanical self-locking structure makes up the risk of failure of a pressure system, and the surgical safety is doubly guaranteed.

Description

Technical Field

[0001] This invention relates to the field of needle holder technology, and more particularly to a multi-degree-of-freedom needle holder for microsurgical robots. Background Technology

[0002] The needle holder used in surgical robots (such as the da Vinci system) is one of the core tools in robotic surgical instruments. It is specifically designed for precise suturing and knotting operations in robot-assisted minimally invasive surgery. The surgical robot needle holder is the core tool for achieving high-precision and ultra-flexible suturing functions in robotic surgical systems. Combined with high-definition 3D vision, it significantly improves the accuracy and flexibility of suturing operations, and is especially suitable for complex suturing tasks in deep, narrow or microsurgical conditions.

[0003] When surgeons perform minimally invasive surgical wound suturing using surgical robots, they need to use two sets of robotic arms to operate two needle holders to cooperate in suturing the wound. During this process, the suture needle is clamped alternately between the two needle holders. If the suture needle being held by one needle holder is misaligned in terms of location or angle, it needs to be adjusted by the other needle holder. This undoubtedly affects the progress of the surgery. The needle holders do not have the function of automatically adjusting the suture needle, making the operation extremely inconvenient. Furthermore, the current suture needle clamping structure is prone to dropping the suture needle when the operating pressure is lost (pressure system failure, misoperation), which affects the suturing process. Based on this, a multi-degree-of-freedom needle holder for microsurgical robots is proposed. Summary of the Invention

[0004] The purpose of this invention is to solve the problems existing in the prior art, and to propose a multi-degree-of-freedom needle holder for microsurgical robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multi-degree-of-freedom needle holder for a microsurgical robot includes a control end and a needle holder body. The needle holder body includes a half-clamp body rotatably connected by a hinge joint. A needle adjusting plate controlled by an internal control is provided in the half-clamp body on one side. A side opening is provided on the side wall of the half-clamp body for the needle adjusting plate to move. The needle adjusting plate moves within the side opening to achieve fine adjustment of the orientation of the suture needle. The control end includes a control slender shaft, which is equipped with multiple hydraulic control pipes. A front control disc is provided at the end of the control slender shaft, and a U-shaped frame is provided at the end of the front control disc. The U-shaped frame is connected to a support side rod through a steering component, and a support end plate is provided on the support side rod. The hinge joint is connected to the support side rod to support the half clamp body. The support end plate is connected to the control plate through the opening and closing control component. The end of the control plate is connected to the back of the half clamp body through the needle holding self-locking control component.

[0006] As a preferred embodiment, the semi-clamp body consists of a flat conical jaw, a clamp body, and a clamp tail, and the inner wall of the flat conical jaw is provided with an anti-slip layer.

[0007] As a preferred embodiment, the hinge joint includes hinge sleeves disposed at the two sides of the clamp tails and staggered from each other, and a hinge shaft is fixedly disposed between the support side rods and engages with the hinge sleeves.

[0008] As a preferred embodiment, the internal control includes an inner cavity formed within the clamp body, with the end of the adjusting pin located within the inner cavity and slidably connected to the inner cavity via a pneumatic piston.

[0009] As a preferred embodiment, the steering component includes a steering sleeve shaft fixedly mounted on the support side rod, and a steering shaft that is sleeved with the steering sleeve shaft is fixedly connected to the inner wall of the U-shaped frame.

[0010] As a preferred embodiment, the front control panel is equipped with a hydraulic push rod, the output end of which extends forward through the side wall of the U-shaped frame and is fixedly connected to a steering rack, and the outer side wall of the steering sleeve shaft is provided with a ring tooth groove that meshes with the steering rack.

[0011] As a preferred embodiment, the opening and closing control component includes an opening and closing push rod disposed on the support end plate, the output end of the opening and closing push rod being connected to the control panel, and the control panel having self-locking push plates at both ends.

[0012] As a preferred embodiment, the needle-holding self-locking control includes a hidden groove formed on the side wall of the clamp tail, and the inner wall of the hidden groove is rotatably connected to an opening and closing offset baffle via a fixed rotating shaft; The inner wall of the self-locking push plate is provided with a sliding groove, and the inner wall of the sliding groove is slidably connected to a sliding shaft through a sliding side block. The sliding shaft is rotatably connected to the end of the opening and closing offset folding plate.

[0013] As a preferred embodiment, both sides of the U-shaped frame are provided with flexible sealing layers to shield and block the control elements at the operating end.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention features a needle adjustment plate inside the needle-holding clamp. By independently controlling the two pneumatic pistons on both sides to drive the needle adjustment plate, the clamping angle of the suture needle can be finely adjusted without the need for another needle-holding clamp, reducing the number of operation steps. The simultaneous extension of the two needle adjustment plates can move the clamping position of the suture needle in the clamping jaws, avoiding excessive clamping that affects the operation and improving suturing flexibility.

[0015] 2. The present invention sets the opening and closing push rod to control the opening and closing of the jaws through the offset folding plate mechanism, and achieves stable opening and closing action in combination with the hinge joint. When the jaws are closed, the self-locking push plate can be continuously pushed to apply additional locking force to the half jaws, forming a passive mechanical lock. Even if the hydraulic system fails, the clamping force can still be maintained to prevent the suture needle from accidentally falling off. The mechanical self-locking structure compensates for the risk of pressure system failure, providing double protection for surgical safety. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of a multi-degree-of-freedom needle holder for a microsurgical robot proposed in this invention; Figure 2 This is a structural assembly diagram of a multi-degree-of-freedom needle holder for a microsurgical robot proposed in this invention; Figure 3 This is a schematic diagram of the combined structure of the needle holder body in a multi-degree-of-freedom needle holder for a microsurgical robot proposed in this invention. Figure 1 ; Figure 4 This is a schematic diagram of the combined structure of the needle holder body in a multi-degree-of-freedom needle holder for a microsurgical robot proposed in this invention. Figure 2 ; Figure 5 This is a cross-sectional schematic diagram of the needle holder body in a multi-degree-of-freedom needle holder for a microsurgical robot proposed in this invention; Figure 6 This is a schematic diagram of the interior of a half-clamp body in a multi-degree-of-freedom needle holder for a microsurgical robot proposed in this invention; Figure 7 This is a diagram showing the adjustment state of the adjustment plate of a multi-degree-of-freedom needle holder for a microsurgical robot proposed in this invention. Figure 8 This is a schematic diagram of the frame of a multi-degree-of-freedom needle holder for a microsurgical robot proposed in this invention.

[0017] In the diagram: 1. Half clamp body; 2. Adjusting pin plate; 3. Side opening; 4. Slender shaft; 5. Front control panel; 6. U-shaped frame; 7. Support side rod; 8. Support end plate; 9. Control panel; 10. Anti-slip layer; 11. Hinge sleeve; 12. Hinge shaft; 13. Pneumatic piston; 14. Steering sleeve shaft; 15. Steering shaft; 16. Hydraulic push rod; 17. Steering rack; 18. Ring tooth groove; 19. Opening and closing push rod; 20. Self-locking push plate; 21. Fixed rotating shaft; 22. Opening and closing offset folding plate; 23. Sliding groove; 24. Sliding connecting shaft; 25. Flexible sealing layer. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] Example, refer to Figures 1 to 8 A multi-degree-of-freedom needle holder for a microsurgical robot includes a manipulator and a needle holder body. The needle holder body includes a half-clamp body 1 rotatably connected by a hinge joint. The half-clamp body 1 consists of a flat conical jaw, a clamp body, and a clamp tail. The flat conical jaw, clamp body, and clamp tail are integrally formed. An anti-slip layer 10 is provided on the inner sidewall of the flat conical jaw, which can effectively clamp the suture needle.

[0021] Furthermore, the hinge joint includes hinge sleeves 11 disposed at the tails of the two clamps and arranged in a staggered manner. The hinge sleeves 11 disposed between the two half clamps 1 are staggered and can be staggered and fitted onto the hinge shaft 12. The hinge shaft 12, which is fitted onto the hinge sleeves 11, is fixedly disposed between the support side rods 7.

[0022] A needle adjusting plate 2, controlled by an internal control device, is provided in the half-clamp body 1 located on one side. Further, the internal control device includes an inner cavity opened in the clamp body. The end of the needle adjusting plate 2 is located in the inner cavity and is slidably connected to the inner cavity through a pneumatic piston 13. Under the hydraulic power of the hydraulic control tube, the pneumatic piston 13 can be controlled to reciprocate within the inner cavity, thereby controlling the moving distance of the needle adjusting plate 2 and adjusting the suturing angle of the suture needle through the needle adjusting plate 2. The side wall of the semi-clamp body 1 has a side opening 3 for the adjustment plate 2 to move. The adjustment plate 2 moves within the side opening 3 to achieve fine adjustment of the orientation of the suture needle. refer to Figure 7(Rotating gradually from top to bottom), when the clamped suture needle needs to be adjusted in angle, the pneumatic piston 13 on one side can be controlled to move in the inner cavity. During the movement, the needle adjusting plate 2 moves outward and abuts against the suture needle, pushing the end of it that is clamped by the half clamp 1 to move, thereby causing the suture needle to rotate in angle to meet its angle adjustment needs. When the suture needle is moved between the needle holders, causing the suture needle to be clamped too far inward and affecting the suture needle's ability to close the wound, the position of the suture needle needs to be adjusted. This can be achieved by simultaneously controlling the adjustment plates 2 on both sides to move outward.

[0023] During the above process, the clamping force of the half clamp 1 can be controlled by the control end as needed to facilitate the adjustment of the suture needle.

[0024] The control end includes a control slender shaft 4, and a hydraulic control end is installed at the other end of the control slender shaft 4. It is controlled by a control instrument. Multiple hydraulic control pipes are installed inside the control slender shaft 4. These multiple hydraulic control pipes are used to control the hydraulic push rod 16, the opening and closing push rod 19 and the power source of the pressure in the inner cavity, respectively. This is an existing hydraulic control structure, which will not be described in detail here. The control slender shaft 4 is equipped with a front control disk 5 at its end, and a U-shaped frame 6 is equipped at its end. Both sides of the U-shaped frame 6 are equipped with flexible sealing layers 25 to shield and block the operating end. The flexible sealing layer 25 can effectively seal the operating end to facilitate cleaning and disinfection. Its medical-grade silicone design can deform to meet the rotation of the needle holder body.

[0025] The U-shaped frame 6 is connected to a support side rod 7 via a steering component, and a support end plate 8 is provided on the support side rod 7. Further, the steering component includes a steering sleeve shaft 14 fixedly mounted on the support side rod 7. A steering shaft 15 that is sleeved with the steering sleeve shaft 14 is fixedly connected to the inner wall of the U-shaped frame 6. A hydraulic push rod 16 is provided in the front control panel 5. The output end of the hydraulic push rod 16 extends forward through the side wall of the U-shaped frame 6 and is fixedly connected to a steering rack 17. A ring tooth groove 18 that meshes with the steering rack 17 is provided on the outer wall of the steering sleeve shaft 14.

[0026] When it is necessary to rotate the needle holder to control the rotation of the suture needle, it is only necessary to control the hydraulic push rod 16 to move the steering rack 17 connected to its output end, which drives the steering sleeve shaft 14 with the ring tooth groove 18 to rotate, thereby causing the support side rod 7 to drive the needle holder body to rotate, thus realizing the rotation of the suture needle. The rotation angle can be designed to control the rotation accuracy according to the number of teeth and the circumference length of the ring tooth groove 18.

[0027] The hinge joint is connected to the support side rod 7 to support the half clamp body 1. The support end plate 8 is connected to the control plate 9 through the opening and closing control component. The end of the control plate 9 is connected to the back of the half clamp body 1 through the needle holding self-locking control component.

[0028] The opening and closing control component includes an opening and closing push rod 19 mounted on the support end plate 8. The output end of the opening and closing push rod 19 is connected to the control plate 9. The control plate 9 is provided with self-locking push plates 20 at both ends.

[0029] The distance between the two self-locking push plates 20 is just enough to meet the thickness of the two half-clamps 1 after they are clamped together. This allows the self-locking push plates 20 to effectively clamp the clamped needle holder after clamping the half-clamps 1. Even without power, it can ensure effective clamping of the suture needle and effectively prevent the suture needle from falling off.

[0030] Furthermore, the needle-holding self-locking control includes a hidden groove formed on the side wall of the clamp tail, and the inner wall of the hidden groove is rotatably connected to an opening and closing biasing plate 22 via a fixed pivot 21; The inner wall of the self-locking push plate 20 is provided with a sliding groove 23. The inner wall of the sliding groove 23 is slidably connected to a sliding shaft 24 through a sliding side block. The sliding side block is limited and slidably set on the side walls on both sides of the sliding groove 23. The sliding shaft 24 is rotatably connected to the end of the opening and closing offset folding plate 22, which allows one end of the opening and closing offset folding plate 22 to be slidably connected to the self-locking push plate 20.

[0031] When the needle-holding forceps are opened, the control lever 19 controls the operating plate 9 connected to it to move towards the needle-holding forceps body. During the movement, the self-locking push plates 20 on both sides of the operating plate 9 drive the opening and closing offset baffle 22 to move. The opening and closing offset baffle 22 generates a downward oblique pressure on the tail of the needle-holding forceps body. Under the action of the oblique pressure, the tail of the forceps will gradually move closer, and the flat conical jaw of the needle-holding forceps body connected by the hinge joint will open, thereby satisfying the angle for clamping the suture needle. When the control plate 9 is moved forward by the opening and closing lever 19, the self-locking push plate 20 drives the opening and closing offset baffle 22 to rotate, thereby closing the needle-holding forceps. When the two halves of the needle-holding forceps 1 are closed, the control lever 19 continues to move, which causes the self-locking push plate 20 to move forward continuously, thereby clamping and locking the two halves of the forceps 1, thus preventing the clamped suture needle from falling off. When the clamped suture needle needs to be adjusted in angle, the pneumatic piston 13 on one side can be controlled to move in the inner cavity. During the movement, the needle adjusting plate 2 moves outward and abuts against the suture needle, pushing the end of the needle clamped by the half clamp 1 to move, thereby causing the suture needle to rotate in angle to meet the need for angle adjustment. When the suture needle is moved between the needle holders, causing the suture needle to be clamped too far inward and affecting the suture needle's ability to suture the wound, the position of the suture needle needs to be adjusted. This can be achieved by simultaneously controlling the adjustment plates 2 on both sides to move outward, thereby making the suture needle position more convenient for the surgical suturing operation of the needle holders.

[0032] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom needle holder for a microsurgical robot, comprising a manipulating end and a needle holder body, characterized in that, The needle holding clamp body includes a half clamp body (1) rotatably connected by a hinge joint. A needle adjusting piece (2) controlled by an internal control is provided in the half clamp body (1) on one side. A side opening (3) is provided on the side wall of the half clamp body (1) for the needle adjusting piece (2) to move. The needle adjusting piece (2) moves in the side opening (3) to achieve fine adjustment of the orientation of the suture needle. The control end includes a control slender shaft (4), which is equipped with multiple hydraulic control pipes. A front control disk (5) is provided at the end of the control slender shaft (4), and a U-shaped frame (6) is provided at the end of the front control disk (5). The U-shaped frame (6) is connected to a support side rod (7) through a steering component, and a support end plate (8) is provided on the support side rod (7). The hinge joint is connected to the support side rod (7) to support the half clamp body (1). The support end plate (8) is connected to the control plate (9) through the opening and closing control component. The end of the control plate (9) is connected to the back of the half clamp body (1) through the needle holding self-locking control component.

2. The multi-degree-of-freedom needle holder for a microsurgical robot according to claim 1, characterized in that, The half-clamp body (1) consists of a flat conical jaw, a clamp body and a clamp tail, and the inner wall of the flat conical jaw is provided with an anti-slip layer (10).

3. The multi-degree-of-freedom needle holder for a microsurgical robot according to claim 2, characterized in that, The hinge joint includes a hinge sleeve (11) disposed at the two sides of the clamp tail in a staggered manner, and a hinge shaft (12) is fixedly disposed between the support side rods (7) and sleeved with the hinge sleeve (11).

4. The multi-degree-of-freedom needle holder for a microsurgical robot according to claim 3, characterized in that, The internal control includes an inner cavity opened in the clamp body, the end of the adjusting pin (2) is located in the inner cavity, and is sealed and slidably connected to the inner cavity by a pneumatic piston (13).

5. A multi-degree-of-freedom needle holder for a microsurgical robot according to claim 1, characterized in that, The steering component includes a steering sleeve shaft (14) fixedly mounted on the support side rod (7), and a steering shaft (15) that is sleeved with the steering sleeve shaft (14) is fixedly connected to the inner wall of the U-shaped frame (6).

6. A multi-degree-of-freedom needle holder for a microsurgical robot according to claim 5, characterized in that, The front control panel (5) is equipped with a hydraulic push rod (16). The output end of the hydraulic push rod (16) extends forward through the side wall of the U-shaped frame (6) and is fixedly connected to a steering rack (17). The outer side wall of the steering sleeve shaft (14) is provided with a ring tooth groove (18) that meshes with the steering rack (17).

7. A multi-degree-of-freedom needle holder for a microsurgical robot according to claim 2, characterized in that, The opening and closing control component includes an opening and closing push rod (19) disposed on the support end plate (8). The output end of the opening and closing push rod (19) is connected to the control plate (9). The control plate (9) is provided with self-locking push plates (20) at both ends.

8. A multi-degree-of-freedom needle holder for a microsurgical robot according to claim 7, characterized in that, The needle-holding self-locking control includes a hidden groove on the side wall of the clamp tail, and the inner wall of the hidden groove is rotatably connected to an opening and closing offset baffle (22) via a fixed rotating shaft (21). The inner wall of the self-locking push plate (20) is provided with a sliding groove (23), and the inner wall of the sliding groove (23) is slidably connected to a sliding connecting shaft (24) through a sliding side block. The sliding connecting shaft (24) is rotatably connected to the end of the opening and closing offset folding plate (22).

9. A multi-degree-of-freedom needle holder for a microsurgical robot according to claim 1, characterized in that, Both sides of the U-shaped frame (6) are provided with flexible sealing layers (25) to shield and block the control elements of the operating end.

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