Laparoscope clamping device for urinary surgery

Abstract

The invention discloses a laparoscope clamping device for urinary surgery in the technical field of medical instruments, which comprises a base, a mechanical arm is spherically hinged to the top wall of the base, a fixing plate is spherically hinged to the tail end, away from the base, of the mechanical arm, a spherical hole is formed in the fixing plate, a clamping ball is hinged in the spherical hole, a clamping through hole is formed in the center of the clamping ball, and a controller is fixedly connected to the fixing plate. A fixing groove is formed in the fixing plate, a locking assembly is arranged in the fixing groove, a clamping assembly is fixedly connected to the clamping ball, and the locking assembly is in signal connection with the controller. The device is cheap and fine, the steering capacity of the laparoscope is reserved through the flexibility of the spherical hinge, meanwhile, clamping of the clamping ball can be stably triggered through the motor, the electromagnet is switched on to magnetically attract and fix the axial movement of the laparoscope, damage to the surface of the laparoscope by clamping is reduced, meanwhile, the stability of the fixing mode is enhanced, and the fixing effect is improved. And unnecessary injury of the laparoscope to the wound of the patient is avoided.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically a laparoscopic clamping device for urology. Background Technology

[0002] Laparoscopic surgery is a minimally invasive surgical technique that involves making several small incisions in the abdominal wall to insert a laparoscope and surgical instruments to perform procedures within the abdominal cavity. Compared to traditional open surgery, it offers advantages such as less trauma, faster recovery, and shorter hospital stays.

[0003] During this process, the surgeon needs to use a laparoscope to monitor the surgical position and instruments. Therefore, the surgeon needs to hold the laparoscope and instruments for a long time, which makes the surgeon very tired. In addition, the surgery may require multi-view support and multiple laparoscopes to observe at the same time. Therefore, the clamping device used to fix the laparoscope is very important.

[0004] Existing laparoscopic clamping devices often clamp the laparoscope onto a multi-directional track, which is then fixed to a hospital bed or other equipment via different types of bases. This allows for flexible fixation of the laparoscope. However, these tracks still limit the movement trajectory and viewing angle of the laparoscope, which is not conducive to actual surgical operations. A more flexible turning method, where the laparoscope passes through the ball joint of a ball joint, has been demonstrated in patent publication number CN114699184A. However, maintaining stable fixation while turning flexibly is also crucial for the safety of both the human body and the laparoscopic machinery, which is something that existing laparoscopic clamping devices do not possess.

[0005] Therefore, it is necessary to propose a urological laparoscope clamping device that can maximize the flexibility of the laparoscope, stably fix the direction and position of the laparoscope, and avoid damaging the laparoscope instruments. Summary of the Invention

[0006] To address the aforementioned problems, the present invention aims to provide a laparoscopic clamping device for urology. This device utilizes the flexibility of a ball joint to retain the laparoscope's turning ability, while simultaneously and smoothly triggering the clamping of the ball joint via a motor. An electromagnet is then activated to magnetically fix the axial movement of the laparoscope, reducing damage to the laparoscope's surface and enhancing the stability of the fixation method, thus preventing unnecessary injury to the patient's wound from the laparoscope.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: A laparoscopic clamping device for urology includes a base, a robotic arm ball-jointed on the top wall of the base, a fixed plate ball-jointed at the end of the robotic arm away from the base, a spherical hole on the fixed plate, a locking ball hinged in the spherical hole, a clamping through hole in the center of the locking ball, a controller fixedly connected to the fixed plate, a fixed groove inside the fixed plate, a locking component provided in the fixed groove, a clamping component fixedly connected to the locking ball, and a signal connection between the locking component and the controller; and an infrared sensor fixedly connected to the top of the fixed plate, the infrared sensor being signal connected to the controller. The locking component is used to lock the ball position under the control of the controller and trigger the clamping component, which is used to lock the axial movement of the laparoscope by electromagnetic force.

[0008] The basic principle is as follows: after receiving the command, the controller controls the locking component to lock the position of the ball, the locking component triggers the clamping component, and the clamping component locks the axial movement of the laparoscope through electromagnetic force. The design of the spherical hole and the ball ensures the turning flexibility of the laparoscope.

[0009] The beneficial effects of the basic design are: the flexibility of the ball joint fully preserves the laparoscope's turning ability; the use of electromagnetic force achieves stable clamping of the laparoscope, reducing damage to the laparoscope's surface during clamping; and it enhances the stability of the fixation method, avoiding unnecessary damage to the patient's wound caused by the laparoscope.

[0010] Furthermore, the locking assembly includes a locking motor installed in a fixed groove. A fixed wall is fixedly connected in the fixed groove, and a threaded hole is opened on the fixed wall. The output shaft of the locking motor is horizontally oriented towards the locking ball, and a telescopic rod is coaxially fixedly connected to the end of the output shaft. A locking bolt is coaxially fixedly connected to the other end of the telescopic rod. The locking bolt is threadedly engaged with the threaded hole. A locking block is rotatably connected to the end of the locking bolt away from the locking motor. Locking shafts are symmetrically and vertically rotatably connected in the fixed groove. The locking shafts are located on both horizontal sides of the locking block. Locking gears are fixedly sleeved on each locking shaft. The locking gears mesh with both horizontal side walls of the locking block. Locking arms are fixedly connected to the axial side walls of the locking gears. The locking arms extend towards both sides of the locking ball and are fixedly connected to clamping arc plates. Electrode plates are fixedly connected to the side of the clamping arc plates near the locking ball. The locking motor is signal-connected to the controller.

[0011] The beneficial effects of the basic scheme are: 1. The electrode plates on the clamping arc plate further lock the axial movement of the laparoscope through electromagnetic force, enhancing the stability of the clamping. At the same time, the use of electromagnetic force also reduces damage to the surface of the laparoscope.

[0012] 2. The design of the entire locking assembly allows the laparoscope to be stably clamped while maintaining a certain degree of maneuverability. This makes the clamping device adaptable to the needs of different surgical scenarios.

[0013] 3. The locking motor is connected to the controller signal, meaning that the surgeon can easily control the locking components' movements via the controller, thereby clamping and releasing the laparoscope. This control method simplifies the surgical procedure and improves surgical efficiency.

[0014] Furthermore, the sidewalls of the clamping arc plate facing the ball are all covered with a friction layer.

[0015] The beneficial effects of the basic approach are: 1. The increased friction layer significantly improves the friction between the clamping arc plate and the ball, making the clamping more stable and reliable. Even when encountering significant external impacts or vibrations during surgery, stable clamping of the laparoscope can be guaranteed. Stable clamping is one of the keys to surgical success. By increasing the friction layer, this approach further improves the stability of clamping, thereby reducing the surgical risks caused by unstable clamping.

[0016] 2. The laying of the friction layer does not change the basic structure and function of the clamping arc plate. Therefore, this scheme has strong adaptability and can be easily applied to different types of laparoscopic clamping devices.

[0017] Furthermore, the clamping assembly includes a power receiving layer laid on the surface of the ball, the power receiving layer includes a positive power receiving layer and a negative power receiving layer, and a power disconnection strip is separated between the positive power receiving layer and the negative power receiving layer. Electromagnets are installed on both sides of the center of the clamping through hole, and the positive and negative poles of the electromagnets are electrically connected to the positive power receiving layer and the negative power receiving layer respectively. A buffer groove is provided between the top and bottom walls of the electromagnet and the ball clamp. Several wedges are fixedly connected to the top and bottom walls of the electromagnet. The wedges pass through the buffer grooves and enter the ball clamp. A clamping block is slidably fitted at the other end of each wedge. The clamping block extends horizontally into the clamping through hole. Several buffer springs are fixedly connected between the top and bottom walls of the electromagnet and the buffer groove. These springs are used to provide additional axial fixation and buffering when the magnetically attracted laparoscope is subjected to external force and tends to axial displacement, thus preventing the electromagnet from falling off.

[0018] The beneficial effects of the basic design are: 1. Electromagnetic locking uses magnetic force to attract a portion of the laparoscope, rather than clamping it with mechanical pressure. Therefore, this method causes less damage to the surface of the laparoscope, which helps protect the integrity of the laparoscope and extends its service life.

[0019] 2. Electromagnetic locking relies on the energization and de-energization of the electromagnet, which can be easily controlled by the clamping plate. Therefore, surgeons can quickly clamp and release the laparoscope, thereby improving surgical efficiency.

[0020] 3. A buffer device is used to push the clamps to fix the laparoscope a second time when it has an axial displacement tendency, thereby avoiding displacement between the laparoscope and the electromagnet, ensuring the stability and positional accuracy of the laparoscope during the operation, and avoiding unexpected changes in the observation position of the laparoscope.

[0021] Furthermore, the width of the power-off band is greater than the width of the electrode sheet.

[0022] The beneficial effects of the basic scheme are: 1. Designing the width of the power-off strip to be greater than that of the electrode plate can ensure that even if the electrode plate undergoes a slight displacement due to some reason (such as vibration, misoperation, etc.) in the power-off state, it will not directly contact the charged layer of the other pole, thereby avoiding short circuits and potential safety risks.

[0023] 2. Increased width of the disconnect strip means more reliable isolation between the positive and negative terminals. This helps prevent clamping failure or instability due to current fluctuations or instability during electromagnetic locking.

[0024] 3. Although increasing the width of the power-off strip does not directly affect the strength of the electromagnetic lock, it ensures that the electromagnetic lock is more stable and reliable when energized. This is because the presence of the power-off strip reduces the possibility of weakening or failure of the electromagnetic force due to current leakage or short circuit.

[0025] Furthermore, the ball is made of a non-conductive material.

[0026] The beneficial effects of the basic solution are: 1. Because the ball clamp is non-conductive, it effectively isolates the electromagnet in the clamping assembly from the laparoscope (which is usually also made of metal and may be conductive). This reduces the safety risks caused by electrical faults or accidental short circuits, while also protecting the laparoscope from electromagnetic interference or potential electrical damage.

[0027] 2. Using a clamping ball made of non-conductive material means that the magnetic field lines of the electromagnet are more concentrated in the contact area between the clamping arc plate and the laparoscope, reducing the leakage and dispersion of magnetic field lines, thereby enhancing the stability and reliability of clamping.

[0028] 3. In humid or corrosive environments, direct contact between metals can lead to electrochemical corrosion. The ball bearing is made of non-conductive material, avoiding the formation of a galvanic cell between it and the laparoscope, thus reducing the risk of corrosion and extending the equipment's lifespan.

[0029] Furthermore, the bottom wall of the base is threaded with several base bolts, and each base bolt has a pressure plate rotatably connected to its top.

[0030] The beneficial effects of the basic design are: 1. Through the cooperation of the base bolts and pressure plate, this design achieves a stable connection between the device and the operating table or other supporting structures. This fixing method not only improves the stability of the device, but also helps to prevent the device from loosening or shifting due to vibration or external impact during surgery.

[0031] 2. The combination of the base bolts and the pressure plate makes the installation process of the device simpler and faster. The doctor only needs to screw the base bolts into the threaded holes on the bottom wall of the base, then adjust the position of the pressure plate and tighten the bolts. This installation method not only saves time but also reduces the difficulty of installation.

[0032] Furthermore, the top wall of the pressure plate is covered with a friction layer.

[0033] The beneficial effects of the basic design are: 1. By laying a friction layer on the top wall of the pressure plate, this design significantly increases the friction between the device and the operating table or other supporting structures. This increase makes the device more stable during surgery, reducing the risk of slippage or displacement due to vibration or external impact.

[0034] 2. The friction layer not only improves the stability of the device but also helps protect the top wall of the pressure plate from wear. During long-term use, the friction layer can absorb and disperse the frictional force between the pressure plate and the operating table surface, thereby extending the service life of the pressure plate and the entire device.

[0035] Furthermore, the robotic arm comprises several segments, all of which are ball-jointed with each other.

[0036] The beneficial effects of the basic design are: 1. The robotic arm is divided into several articulated segments, a design that allows the robotic arm to bend and extend with multiple degrees of freedom, just like a human arm. This flexibility not only facilitates the surgeon's precise positioning and adjustment of the laparoscopy during surgery, but also improves the adaptability and operability of the surgery.

[0037] 2. The multi-section articulated robotic arm can adapt to surgical areas of different shapes and sizes, as well as surgical operations at different angles and depths. This adaptability allows the device to be widely used in various urological surgeries, meeting the needs of different surgical scenarios.

[0038] Furthermore, a damping layer is laid between the ball joints between the robot arm segments, the ball joint between the robot arm and the base, and the ball joint between the robot arm and the fixed plate. The damping layer is used to adjust and maintain the robot arm angle.

[0039] The benefits of this basic design are: it ensures a secure connection between the various components of the robotic arm. The damping layer generates sufficient friction to prevent the robotic arm from loosening or shifting during surgery, thus improving the stability and safety of the device. The damping layer design allows the surgeon to easily adjust the angle and position of the robotic arm as needed, without requiring further fixation. This design not only improves the precision and controllability of the surgery but also facilitates quick and accurate adjustments by the surgeon during the procedure. Attached Figure Description

[0040] Figure 1 This is an isometric view of the laparoscopic clamping device for urology in an embodiment of the present invention.

[0041] Figure 2 This is a side sectional view of the laparoscopic clamping device for urology in an embodiment of the present invention.

[0042] Figure 3 This is a top sectional view of the fixing plate in an embodiment of the present invention.

[0043] Figure 4 This is a side cross-sectional view of the ball in an embodiment of the present invention.

[0044] The reference numerals in the accompanying drawings of the instruction manual include: 1. Base; 2. Pressure plate; 3. Base bolt; 4. Damping layer; 5. Robotic arm; 6. Fixing plate; 7. Controller; 8. Clamping ball; 9. Positive electrode receiving layer; 10. Power disconnect strip; 11. Clamping through hole; 12. Negative electrode receiving layer; 13. Locking motor; 14. Telescopic rod; 15. Fixing wall; 16. Electromagnet; 17. Locking block; 18. Locking bolt; 19. Locking gear; 20. Clamping arc plate; 21. Electrode plate; 22. Locking arm; 23. Locking shaft; 24. Fixing groove; 25. Wedge block; 26. Clamping block; 27. Buffer spring. Detailed Implementation

[0045] The following detailed description illustrates the specific implementation method: Example 1

[0046] The basics are as follows: Figure 1 , Figure 2 , Figure 3 and Figure 4As shown: A laparoscopic clamping device for urology includes a base 1, a robotic arm 5 ball-jointed on the top wall of the base 1, a fixing plate 6 ball-jointed at the end of the robotic arm 5 away from the base 1, a spherical hole on the fixing plate 6, a retaining ball 8 hinged in the spherical hole, a clamping through hole 11 in the center of the retaining ball 8, a controller 7 bonded to the fixing plate 6, a fixing groove 24 inside the fixing plate 6, a locking component installed in the fixing groove 24, a clamping component bonded to the retaining ball 8, and a signal connection between the locking component and the controller 7; the locking component is used to lock the position of the retaining ball 8 and trigger the clamping component under the control of the controller 7, and the clamping component is used to lock the axial movement of the laparoscope by electromagnetic force.

[0047] An infrared sensor is fixedly connected to the top of the fixing plate 6. The infrared sensor is connected to the controller 7. The infrared sensor can monitor in real time whether the doctor's hand is holding the laparoscopic equipment and analyze the real-time data to the controller 7. When the infrared sensor detects that the doctor's hand has left the laparoscope and the controller 7 has not activated the locking component in time, the controller 7 receives the data information and promptly activates the locking component to control the position of the locking ball 8 to achieve the clamping function.

[0048] The locking assembly includes a locking motor 13 installed in a fixing groove 24. A fixing wall 15 is integrally formed in the fixing groove 24, and a threaded hole is opened on the fixing wall 15. The output shaft of the locking motor 13 is horizontally oriented towards the locking ball 8, and a telescopic rod 14 is coaxially welded to the end of the output shaft. A locking bolt 18 is coaxially welded to the other end of the telescopic rod 14. The locking bolt 18 is threadedly engaged with the threaded hole. A locking block 17 is rotatably connected to the end of the locking bolt 18 away from the locking motor 13. A lock is rotatably connected to a symmetrical vertical pin in the fixing groove 24. The fixed shaft 23 and the locking shaft 23 are located on both horizontal sides of the locking block 17. Locking gears 19 are bonded to the locking shaft 23. The locking gears 19 mesh with both horizontal side walls of the locking block 17. Locking arms 22 are integrally formed on the axial side walls of the locking gears 19. The locking arms 22 extend toward both sides of the ball 8 and are integrally formed with clamping arc plates 20. Electrode plates 21 are bonded to the side of the clamping arc plates 20 near the ball 8. The locking motor 13 is connected to the controller 7. Friction layers are laid on the side walls of the clamping arc plates 20 facing the ball 8.

[0049] The base 1 has several base bolts 3 threaded into its bottom wall. Each base bolt 3 has a pin at its top that is rotatably connected to a pressure plate 2. The top wall of the pressure plate 2 is covered with a friction layer. The robotic arm 5 includes several segments, which are all connected by ball joints. The ball joints between the segments of the robotic arm 5, the ball joint between the robotic arm 5 and the base 1, and the ball joint between the robotic arm 5 and the fixed plate 6 are all covered with a damping layer 4 between the internal hinge ball and the hinge seat. The damping layer 4 is used to adjust and maintain the angle of the robotic arm 5.

[0050] The specific implementation process is as follows: Before using this laparoscopic clamping device for minimally invasive abdominal surgery, the surgeon first fixes the clamping device to the operating table or other equipment using the base 1. By loosening the base bolt 3, the pressure plate 2 is lowered, expanding the internal space of the base 1. Then, the base 1 is inserted into a plane, such as the operating table plane or other plane. Finally, the base bolt 3 is tightened, and the pressure plate 2 is lifted, pressing the pressure plate 2 and the base 1 onto the plane. Figure 1 As shown, the friction layer laid on the pressure plate 2 can effectively prevent the base 1 from slipping off the plane, thereby enhancing the stability of the clamping device.

[0051] After the base 1 is fixed, the shape and position of the robotic arm 5 are adjusted by the hinges between the segments of the robotic arm 5. The horizontal height and orientation of the fixing plate 6 are flexibly adjusted. The ball 8 is brought close to the top of the micro-incision. Then, each hinge point is fixed by the damping layer 4. It can only rotate when the surgeon applies force to adjust the angle of the robotic arm 5 segments, avoiding the shaking of the clamping device during the operation and facilitating operation. Then, the laparoscope is inserted into the patient's wound through the clamping through hole 11 on the ball 8 for observation. When it is necessary to move the laparoscope, the direction and position of the laparoscope can be easily adjusted by the ball-joint relationship between the ball 8 and the fixing plate 6. At this time, the laparoscope can also move axially in the clamping through hole 11 very flexibly, thereby realizing multi-angle observation and avoiding insufficient understanding of the surgical situation.

[0052] When the surgeon needs to fix the position and angle of the laparoscope, the locking motor 13 is started by pressing the function button on the controller 7. The locking motor 13 drives the locking bolt 18 to rotate through the telescopic rod 14. The locking bolt 18 moves towards the locking motor 13 due to the influence of the threaded hole on the fixing wall 15, thereby pulling the locking block 17. The locking block 17 drives the locking gears 19 on both sides to rotate on the locking shaft 23 through meshing, causing the end of the locking arm 22 to be displaced. Finally, the clamping arc plate 20 clamps the ball 8. The friction layer on the clamping arc plate 20 can prevent the ball 8 from loosening due to the weight of the laparoscope. At the same time, the clamping method can also effectively prevent the ball 8 from moving during the clamping process. The controller 7 is equipped with at least the function buttons for starting the locking motor 13 to pull the locking block 17 to clamp the ball 8, reversing the starting of the locking motor 13 to push the locking block 17 to release the ball 8, and switching the power on and off.

[0053] Furthermore, if the doctor's hand leaves the laparoscope and the function button is not pressed in time, the infrared sensor can detect the abnormality in time and control the locking motor 13 to start in time to achieve the corresponding locking function, reducing the occurrence of unexpected situations and thus affecting the surgical operation.

[0054] The mechanical motion clamping method for fixing the ball 8 frees up the surgeon's hands compared to manual methods. It is also low-cost and does not require overly demanding operating environments and equipment, making it suitable for promotion and widespread adoption in hospitals at different stages of development.

[0055] Example 2

[0056] The difference from the above embodiments is that, as shown in the appendix Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown: The clamping assembly includes a power-receiving layer laid on the surface of the ball 8, which includes a positive power-receiving layer 9 and a negative power-receiving layer 12. A power-disconnecting strip 10 separates the positive power-receiving layer 9 and the negative power-receiving layer 12. Electromagnets 16 are installed on both sides of the center of the clamping through hole 11. The positive and negative poles of the electromagnets 16 are electrically connected to the positive power-receiving layer 9 and the negative power-receiving layer 12, respectively. Buffer grooves are opened between the top and bottom walls of the electromagnets 16 and the ball 8. Several wedges 25 are welded to the top and bottom walls of the electromagnets 16. All wedges 25 pass through the buffer groove and enter the ball 8. The other end of each wedge 25 is slidably fitted with a clamping block 26. The clamping block 26 extends horizontally into the clamping through hole 11. Several buffer springs 27 are welded between the top and bottom walls of the electromagnet 16 and the buffer groove. These springs are used to provide additional axial fixation and buffering when the magnetically attracted laparoscope is subjected to external force and tends to axial displacement, so as to prevent the electromagnet 16 from falling off. The width of the de-energizing band 10 is greater than the width of the electrode plate 21. The ball 8 is made of non-conductive material.

[0057] The specific implementation process is as follows: The power supply for the controller 7 and electrode plate 21 can come from the battery installed in the controller, or it can be powered directly by connecting the plug to the socket. In addition, considering the reusability of this device, the controller 7, except for the electronic components, is made of high-temperature resistant metal or plastic. It can be sterilized together with other parts of this device by low-temperature plasma sterilization, radiation sterilization and ethylene oxide gas sterilization.

[0058] Because it is necessary to simultaneously fix the ball bearing 8 and the laparoscope, that is, to fix the directional and axial movements of the laparoscope, while the clamping arc plate 20 clamps the ball bearing 8, the electrode plates 21 on the clamping arc plate 20 can contact the positive electrode receiving layer 9 and the negative electrode receiving layer 12 on both sides of the ball bearing 8, thereby conducting the circuit of the electromagnet 16 to generate magnetic force, firmly adsorbing the laparoscope in the clamping through hole 11, and fixing the axial movement of the laparoscope. Figure 1As shown, the power-off strip 10 prevents the electrode pad 21 from simultaneously contacting the positive electrode receiving layer 9 and the negative electrode receiving layer 12, thus preventing a short circuit. The ball 8, made of non-conductive materials such as plastic, can prevent leakage and magnetic field dispersion. Compared with traditional clamping methods, magnetic adsorption obviously reduces damage to the surface of the laparoscope and extends the service life of the instrument. Moreover, this process is directly controlled by the mechanical movement of the clamping arc plate 20, which can reduce the cost of electrical signal control and reduce the possibility of clamping device failure.

[0059] like Figure 4 As shown, when performing surgery after fixing the laparoscope, medical staff may touch the laparoscope. Due to the smooth surface of the laparoscope, it may detach from the electromagnet 16 in the axial direction and cause displacement, which may result in unstable observation or accidental injury to the patient. Therefore, when the laparoscope is touched, the buffer structure on the electromagnet 16 compresses the buffer spring 27 and pushes the wedge 25 in one direction to move the clamping block 26 into the clamping channel, and clamps and fixes the laparoscope again without causing axial displacement between the laparoscope and the electromagnet 16, thus changing the previous fixed position. This ensures the stability of the laparoscope during surgery after clamping and fixing, and guarantees the smoothness of the operation.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0061] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A laparoscopic clamping device for urology, comprising a base (1), characterized in that: The top wall of the base (1) has a ball joint with a mechanical arm (5). The end of the mechanical arm (5) away from the base (1) has a fixed plate (6) with a ball joint. The fixed plate (6) has a spherical hole. A ball (8) is hinged in the spherical hole. A clamping through hole (11) is opened in the center of the ball (8). A controller (7) is fixedly connected to the fixed plate (6). A fixing groove (24) is opened inside the fixed plate (6). A locking component is provided in the fixing groove (24). A clamping component is fixedly connected to the ball (8). The locking component is signal connected to the controller (7). An infrared sensor is fixedly connected to the top of the fixed plate (6). The infrared sensor is signal connected to the controller (7). The locking component is used to lock the position of the ball (8) under the control of the controller (7) and trigger the clamping component, which is used to lock the axial movement of the laparoscope by electromagnetic force.

2. The laparoscopic clamping device for urology according to claim 1, characterized in that: The locking assembly includes a locking motor (13) installed in a fixing groove (24). A fixing wall (15) is fixedly connected in the fixing groove (24). A threaded hole is opened on the fixing wall (15). The output shaft of the locking motor (13) is horizontally oriented towards the locking ball (8). A telescopic rod (14) is coaxially fixedly connected to the end of the output shaft. A locking bolt (18) is coaxially fixedly connected to the other end of the telescopic rod (14). The locking bolt (18) is threadedly engaged with the threaded hole. A locking block (17) is rotatably connected to the end of the locking bolt (18) away from the locking motor (13). The fixing groove (24) is symmetrically vertical. A locking shaft (23) is connected to the locking block (17) on both sides of the horizontal axis. A locking gear (19) is fixedly sleeved on the locking shaft (23). The locking gear (19) meshes with both horizontal side walls of the locking block (17). A locking arm (22) is fixedly connected to the axial side wall of the locking gear (19). The locking arm (22) extends toward both sides of the ball (8) and is fixedly connected to a clamping arc plate (20). An electrode plate (21) is fixedly connected to the side of the clamping arc plate (20) near the ball (8). The locking motor (13) is connected to the controller (7) via signal.

3. The laparoscopic clamping device for urology according to claim 2, characterized in that: The sidewalls of the clamping arc plate (20) facing the ball (8) are covered with a friction layer.

4. The laparoscopic clamping device for urology according to claim 1, characterized in that: The clamping assembly includes a power receiving layer laid on the surface of the ball (8), the power receiving layer includes a positive power receiving layer (9) and a negative power receiving layer (12), and a power disconnect strip (10) is separated between the positive power receiving layer (9) and the negative power receiving layer (12). Electromagnets (16) are installed on both sides of the center of the clamping through hole (11), and the positive and negative poles of the electromagnets (16) are electrically connected to the positive power receiving layer (9) and the negative power receiving layer (12) respectively. A buffer groove is provided between the top and bottom walls of the electromagnet (16) and the ball (8). Several wedges (25) are fixedly connected to the top and bottom walls of the electromagnet (16). The wedges (25) pass through the buffer groove and enter the ball (8). The other end of the wedges (25) is slidably fitted with a clamping block (26). The clamping block (26) extends horizontally into the clamping through hole (11). Several buffer springs (27) are fixedly connected between the top and bottom walls of the electromagnet (16) and the buffer groove. These springs are used to provide additional axial fixation and buffering when the magnetically attracted laparoscope is subjected to external force and has an axial displacement tendency, so as to prevent the magnetic attraction of the electromagnet (16) from falling off.

5. The laparoscopic clamping device for urology according to claim 4, characterized in that: The width of the power-off strip (10) is greater than the width of the electrode sheet (21).

6. The laparoscopic clamping device for urology according to claim 1, characterized in that: The ball (8) is made of a non-conductive material.

7. The laparoscopic clamping device for urology according to claim 1, characterized in that: The base (1) has several base bolts (3) threaded on its bottom wall, and each base bolt (3) has a pressure plate (2) rotatably connected to its top.

8. The laparoscopic clamping device for urology according to claim 7, characterized in that: The top wall of the pressure plate (2) is covered with a friction layer.

9. The laparoscopic clamping device for urology according to claim 1, characterized in that: The robotic arm (5) consists of several segments, all of which are ball-jointed with each other.

10. The laparoscopic clamping device for urology according to claim 9, characterized in that: A damping layer (4) is laid between the ball joints between the segments of the robotic arm (5), the ball joint between the robotic arm (5) and the base (1), and the ball joint between the robotic arm (5) and the fixed plate (6). The damping layer (4) is used to adjust and maintain the angle of the robotic arm (5).

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