Clamping device on needle insertion mechanism and puncture surgical robot

Abstract

The application provides a clamping device on a needle insertion mechanism and a puncture surgery robot, and belongs to the technical field of medical instruments. Specifically, the clamping device comprises a base and a clamping mechanism. The clamping mechanism has a clamping state and a release state. The clamping mechanism comprises an abutting portion. In the clamping state, the abutting portion abuts against the radial protruding portion on the side opposite to the puncture direction, so that when the elongated medical tool moves along the puncture direction with the clamping mechanism for puncture, the abutting portion abuts against the radial protruding portion to prevent the relative displacement of the elongated medical tool and the clamping mechanism in the puncture direction. The abutting portion can exert an axial force on the elongated medical tool in the puncture direction, and the clamping mechanism can ensure the clamping stability of the elongated medical tool, so that the relative displacement of the elongated medical tool and the clamping mechanism is avoided during the puncture process, and the surgical effect is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a clamping device on a needle insertion mechanism and a puncture surgery robot. BACKGROUND

[0002] The puncture surgery robot is a medical robot system that assists doctors in accurately inserting an elongated medical tool, such as a puncture needle, a biopsy needle, an ablation needle, etc., into a patient's body for biopsy, ablation, drainage, injection, etc., through image guidance (such as CT, ultrasound), etc.

[0003] A clamping structure is usually provided at the end of the puncture surgery robot to clamp the elongated medical tool, so that the clamping structure at the end of the robot arm can drive the elongated medical tool to complete the puncture action during the control of the puncture surgery robot.

[0004] The clamping structure adopted by the related technology is usually clamped from the side of the elongated medical tool. The applicant found in actual use that the related technology has the following problems: first, the clamping structure of the related technology usually cannot adapt to different specifications of the elongated medical tool, such as puncture needles of different sizes; second, the clamping force of the clamping structure of the related technology cannot guarantee complete clamping, and there is a risk of slipping, especially after replacing the elongated medical tool of different specifications, the risk of slipping increases, which affects the surgical effect. SUMMARY

[0005] The purpose of the present application is to provide a clamping device on a needle insertion mechanism and a puncture surgery robot, which aims to solve the problem that the clamping structure of the robot arm has a risk of slipping during the puncture process of the elongated medical tool in the related technology.

[0006] Additional aspects and advantages of the present application will be set forth in part in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application.

[0007] According to a first aspect of the present application, a clamping device on a needle insertion mechanism is provided for clamping an elongated medical tool, the elongated medical tool comprising an elongated puncture portion and a radial protruding portion, the radial protruding portion being provided at a proximal end of the elongated puncture portion, an outer contour of the radial protruding portion protruding radially from an outer contour of the elongated puncture portion;

[0008] The clamping device comprises:

[0009] a base, the base being slidably connected to an installation carrier in a puncture direction;

[0010] The clamping mechanism is installed on the base, and has a clamping state and a releasing state for clamping and releasing the elongated medical tool. The clamping mechanism includes an abutting portion. In the clamping state, the abutting portion abuts against the radial protruding portion on the side opposite to the puncture direction, so that when the elongated medical tool moves along with the clamping mechanism in the puncture direction for puncture, the abutting portion abuts against the radial protruding portion on the side opposite to the puncture direction, thereby preventing the elongated medical tool from moving relative to the clamping mechanism in the puncture direction.

[0011] In an exemplary embodiment of the present application, the clamping mechanism includes a clamping portion that can be opened and closed perpendicularly to the puncture direction. The clamping portion includes an upper clamping portion and a lower clamping portion that are arranged at intervals in the puncture direction. In the clamping state, the upper clamping portion is closed to radially clamp the upper portion of the radial protruding portion, and the lower clamping portion is closed to radially clamp the lower portion of the radial protruding portion or the elongated puncture portion close to the lower portion of the radial protruding portion. In the releasing state, the upper clamping portion and the lower clamping portion are simultaneously opened to enable the elongated medical tool to exit from the clamping portion.

[0012] The abutting portion is a lower surface of the upper clamping portion facing the puncture direction. When the upper clamping portion is closed, the lower surface abuts against the radial protruding portion.

[0013] In an exemplary embodiment of the present application, the clamping portion includes a pair of clamping frames that can be opened and closed perpendicularly to the puncture direction. The upper clamping portion includes a pair of clamping arms and a pair of elastic adjusting members. The pair of clamping arms are movably installed on the pair of clamping frames in the radial direction. The pair of clamping arms are oppositely provided with a pair of grooves for forming a clamping opening for clamping the radial protruding portion. The pair of elastic adjusting members are installed between the pair of clamping arms and the corresponding clamping frames. The pair of elastic adjusting members apply elastic pre-tightening force to the pair of clamping arms in the radial direction.

[0014] In an exemplary embodiment of the present application, the clamping portion includes a fixed clamping portion and a movable clamping portion. The movable clamping portion is configured to be rotatably closed and opened relative to the fixed clamping portion perpendicularly to the puncture direction.

[0015] The clamping mechanism further includes a driving mechanism, a driving mechanism mounting seat, and a transmission mechanism. The driving mechanism is fixedly installed on the driving mechanism mounting seat. The driving mechanism mounting seat is fixedly connected with the base. The transmission mechanism is connected between the driving mechanism and the movable clamping portion. The driving mechanism drives the movable clamping portion to be rotatably closed and opened through the transmission mechanism.

[0016] In an exemplary embodiment of the present application, the driving mechanism is an electric motor.

[0017] The transmission mechanism comprises a first gear wheel mounted on the motor shaft of the motor, and a sector gear wheel rotatably mounted on the driving mechanism mounting base through a rotating shaft, wherein when the motor drives the first gear wheel to rotate the sector gear wheel, the sector gear wheel rotates around the rotating shaft to rotate the movable clamping part to close or open.

[0018] In an exemplary embodiment of the present application, the driving mechanism mounting base comprises a horizontal extension frame, and the rotating shaft is fixedly arranged on the horizontal extension frame.

[0019] The clamping mechanism further comprises a support base connected between the base and the driving mechanism mounting base.

[0020] The horizontal extension frame of the driving mechanism is rotatably connected to the support base through a pivot.

[0021] In an exemplary embodiment of the present application, the support base comprises a connecting plate fixedly connected to the base, and a fixed plate, one end of which is connected to the connecting plate, and the other end of which extends out two ear plates in the puncture direction, and the horizontal extension frame is rotatably connected to the two ear plates through a pivot.

[0022] In an exemplary embodiment of the present application, a first force collecting structure is further provided, which is fixedly mounted on the fixed plate, and the detection end of the first force collecting structure is connected to the horizontal extension frame, and the first force collecting structure is used to detect the force received by the elongated medical tool in the puncture direction.

[0023] In an exemplary embodiment of the present application, the abutting part on the radial protruding part is the proximal end surface of the radial protruding part.

[0024] Alternatively, the outer contour of the radial protruding part is shaped with a profile surface that is radially inwardly inclined from the distal end to the proximal end, and the abutting part on the radial protruding part is the inclined profile surface.

[0025] In an exemplary embodiment of the present application, a second force collecting structure and a force receiving structure are further provided, the force receiving structure is mounted on the mounting carrier, the force receiving structure comprises an auxiliary ring through which the elongated puncture part of the elongated medical tool passes, and the second force collecting structure is used to detect the force received in the direction perpendicular to the puncture direction of the elongated medical tool.

[0026] In an exemplary embodiment of the present application, the second force collecting structure comprises a first force sensor and a second force sensor, and the first force sensor and the second force sensor are respectively used for detecting the force received by the elongated medical tool at two angles perpendicular to the puncture direction.

[0027] In an exemplary embodiment of the present application, the detection direction of the first force sensor and the detection direction of the second force sensor are perpendicular to each other.

[0028] In an exemplary embodiment of the present application, the first force sensor and the second force sensor are both one-dimensional push-pull force gauges.

[0029] The force receiving structure comprises a fixed block and a clamping block, one end of the fixed block is fixedly connected to the mounting carrier, the other end of the fixed block is connected to the clamping block through clamping, and the auxiliary ring is arranged on the clamping block.

[0030] Linear guide rail sliders are arranged on the fixed block, the linear guide rail sliders have two groups, and the sliding directions of the two groups of linear guide rail sliders are respectively parallel to the detection directions of the two one-dimensional push-pull force gauges.

[0031] According to a second aspect of the present application, a puncture operation robot is provided, comprising the clamping device described above.

[0032] The exemplary embodiments of the present application can have the following partial or all beneficial effects:

[0033] In the clamping device provided in the example embodiments of the present application, the clamping mechanism is mounted on the base, and has a clamping state and a release state. In the clamping state, the clamping mechanism clamps the elongated medical tool, and in the release state, the elongated medical tool can be put into or withdrawn from the clamping mechanism. The clamping mechanism further includes an abutting portion that cooperates with the clamping portion in the clamping state. Specifically, the abutting portion abuts against the radial protruding portion (e.g., the needle handle of the puncture needle) of the elongated medical tool on the side thereof facing away from the puncture direction, so as to apply an abutting force to the radial protruding portion from the axial side thereof facing away from the puncture direction. When the elongated medical tool moves along the puncture direction for puncture with the clamping mechanism, the abutting portion abuts against the radial protruding portion, thereby preventing the relative displacement of the elongated medical tool and the clamping mechanism in the puncture direction. Compared with the related art that only applies a clamping force to the elongated medical tool in the radial direction, the clamping device provided in the example embodiments of the present application clamps the elongated medical tool while abutting against the elongated medical tool in the axial direction, so that the elongated medical tool can avoid the relative displacement with the clamping mechanism in the axial direction even if it is subjected to greater resistance during puncture, i.e., the elongated medical tool can avoid slipping. In addition, since the present application mainly avoids slipping by means of the abutting portion, the clamping portion can be designed according to the requirements of adapting to different specifications of the elongated medical tool, thereby improving the applicability.

[0034] In the clamping device provided in the example embodiments of the present application, the first force collecting structure is arranged on the fixed plate, and the detection end of the first force detecting structure is connected to the horizontally extending frame, so that the first force collecting structure can detect the force received by the elongated medical tool in the puncture direction thereof. The second force collecting structure includes a first force sensor and a second force sensor, which are respectively used to detect the force received by the elongated medical tool in two of the angles perpendicular to the puncture direction. In this way, the force of the elongated medical tool in the puncture direction and in two of the angles perpendicular to the puncture direction during puncture can be collected, so as to obtain the force information of the elongated medical tool during puncture. Meanwhile, the force collecting structure adopts a one-dimensional push-pull force gauge, which has a low cost and can detect the force received by the elongated medical tool in multiple directions.

[0035] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application. It is to be understood that the drawings are only schematic, and that they do not purport to be to scale with respect to one another. The embodiments will be described with reference to the drawings in which:

[0037] Figure 1 A structure schematic diagram of a clamping device in an embodiment of the application is shown;

[0038] Figure 2 A side view of the clamping device in an embodiment of the application is shown;

[0039] Figure 3 A front view of the clamping device in an embodiment of the application is shown;

[0040] Figure 4 A connection structure schematic diagram of a second force collection structure in the clamping device in an embodiment of the application is shown;

[0041] Figure 5 A first angle structure schematic diagram of a driving mechanism in the clamping device in an embodiment of the application is shown;

[0042] Figure 6 A second angle structure schematic diagram of the driving mechanism in the clamping device in an embodiment of the application is shown.

[0043] Legend of reference signs:

[0044] 1, mounting carrier; 2, clamping mechanism; 21, movable clamping part; 22, fixed clamping part; 23, upper clamping part; 24, lower clamping part; 25, elastic adjusting member; 3, elongated medical tool; 31, elongated puncture part; 32, radial protruding part; 4, base; 5, support seat; 51, connecting plate; 52, fixed plate; 53, ear plate; 6, pivot; 7, driving mechanism mounting seat; 71, horizontally extending frame; 8, force receiving structure; 81, auxiliary ring; 82, clamping block; 83, fixed block; 9, second force collection structure; 91, first force sensor; 92, second force sensor; 10, first force collection structure; 11, motor; 12, linear guide rail sliding block; 13, sector gear; 14, rotating shaft; 15, first gear. DETAILED DESCRIPTION

[0045] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed descriptions will be omitted. Furthermore, the drawings are merely illustrative of this application and are not necessarily drawn to scale.

[0046] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples in the accompanying drawings. It is understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component described as "lower." When a structure is "upper" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0047] The terms “a,” “one,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects. Example 1

[0048] This embodiment provides a specific implementation of a clamping device on a needle insertion mechanism. The clamping device is used to hold a slender medical tool 3. The slender medical tool 3 includes a slender puncture portion 31 and a radial protrusion 32. The radial protrusion 32 is fixedly connected to the proximal end of the slender puncture portion 31 or integrally formed with the distal end of the slender puncture portion 31. The outer contour of the radial protrusion 32 protrudes radially from the outer contour of the slender puncture portion 31. In some examples, the slender medical tool 3 can be a puncture needle, a biopsy needle, an ablation needle, etc., inserted into the human body for operations such as biopsy, ablation, drainage, and injection. In this embodiment, the slender medical tool 3 is a puncture needle, the radial protrusion 32 is the handle of the puncture needle, and the slender puncture portion 31 is the shaft of the puncture needle. The handle is fixed to the proximal end of the shaft. The handle and shaft can be fixedly connected or integrally formed; this is not specifically limited herein.

[0049] In this embodiment, as Figure 1 and Figure 2As shown, the clamping device includes a base 4 and a clamping mechanism 2, the base 4 is slidably connected to a mounting carrier 1 in the puncture direction. The mounting carrier 1 can be a structure at the end of a mechanical arm for supporting the clamping device, for example, a support seat, the base 4 is slidably connected to the support seat, in some examples, the support seat can be jointly formed with the clamping device to form a needle insertion mechanism for the puncture needle. The mechanical arm can be applied to a puncture surgery robot, or can be fixed on a surgery bed for use, which is not particularly limited herein. The mounting carrier 1 is not limited to be a structure at the end of a mechanical arm, in some examples, the mounting carrier 1 can also be a fixed structure for mounting the clamping mechanism 2, for example, a fixed support frame provided on a surgery bed. Specifically, in the embodiment, the clamping mechanism 2 is mounted on the mounting carrier 1 through the base 4, and in the process of sliding, the base 4 drives the clamping mechanism 2 and the elongated medical tool 3 clamped by the clamping mechanism 2 to slide in the puncture direction, thereby completing the puncture action.

[0050] The clamping mechanism 2 is mounted on the base 4, and the clamping mechanism 2 has a clamping state and a release state. In the clamping state, the clamping mechanism 2 clamps the puncture needle, and under the operation of the mechanical arm or the surgeon, the clamping mechanism 2 clamps the puncture needle to perform the puncture work. In the release state, the clamping mechanism 2 is in an open state, and at this time the surgeon can complete the assembly of the puncture needle, that is, the puncture needle is placed into the clamping mechanism 2, or when the puncture work is completed, the mechanical arm or the surgeon can control the clamping mechanism to complete the withdrawal action, that is, the clamping mechanism exits the puncture needle, that is, the puncture needle exits from the clamping mechanism.

[0051] In the embodiment, the clamping mechanism 2 includes an abutting portion, when the clamping mechanism 2 clamps the elongated medical tool 3, the abutting portion abuts against the needle handle on the side away from the puncture direction, so that when the elongated medical tool 3 moves along the puncture direction for puncture with the clamping mechanism 2, the abutting portion abuts against the needle handle to prevent the puncture needle and the clamping mechanism 2 from relatively moving in the puncture direction. Specifically, in the puncture process, the puncture needle will be subjected to resistance in the process of penetrating into the human tissue, and the puncture needle will have a tendency to move in the direction away from the puncture direction when subjected to the resistance. The abutting portion in the clamping mechanism 2 can abut against the needle handle, so that when the puncture needle has a tendency to move in the direction away from the puncture direction due to the resistance in the puncture process, the abutting portion can apply an abutting force along the puncture direction to the puncture needle, which can avoid the resistance on the puncture needle being too large to cause the puncture needle and the clamping mechanism to relatively move in the puncture direction, that is, the puncture needle slips. At the same time, the clamping mechanism 2 also clamps the puncture needle laterally (or radially) through the clamping portion, to ensure the clamping stability of the clamping mechanism 2 to the elongated medical tool 3, to avoid the relative displacement between the elongated medical tool 3 and the clamping mechanism 2 in the puncture process, and to ensure the surgery effect.

[0052] In the embodiment, the clamping mechanism 2 comprises a clamping part which can be opened and closed perpendicularly to the puncture direction, the clamping part comprises an upper clamping part 23 and a lower clamping part 24 which are arranged at intervals along the puncture direction, in the clamping state, the upper clamping part 23 is closed to clamp the upper part of the radial protruding part 32 in the radial direction, the lower clamping part 24 is closed to clamp the lower part of the radial protruding part 32 or the elongated puncture part 31 close to the lower part of the radial protruding part 32 in the radial direction; in the release state, the upper clamping part 23 and the lower clamping part 24 are opened at the same time to enable the elongated medical tool 3 to exit from the clamping part. The abutting part is the lower surface of the upper clamping part 23 which faces the puncture direction, and the lower surface abuts on the radial protruding part 32 when the upper clamping part 23 is closed. Specifically, the opening and closing direction of the clamping part is perpendicular to the puncture direction, the upper clamping part 23 and the lower clamping part 24 can clamp the upper part and the lower part of the radial protruding part 32 respectively, the lower surface of the upper clamping part 23 can abut on the radial protruding part 32, the force along the puncture direction can be applied to the radial protruding part 32, and then the movement of the elongated medical tool 3 in the puncture direction can be limited, so that the relative position between the elongated medical tool 3 and the clamping mechanism 2 can be kept unchanged during the puncture process.

[0053] In the embodiment, as shown in Figure 2 and Figure 3 , the clamping part comprises a pair of clamping frames which can be opened and closed perpendicularly to the puncture direction, the upper clamping part 23 comprises a pair of clamping arms and a pair of elastic adjusting members 25, the pair of clamping arms are movably installed on the pair of clamping frames in the radial direction, the pair of clamping arms are oppositely provided with a pair of grooves which are used to form the clamping opening of the radial protruding part 32, the pair of elastic adjusting members 25 are installed between the pair of clamping arms and the corresponding clamping frames, and the pair of elastic adjusting members 25 apply the elastic pre-tightening force in the radial direction to the pair of clamping arms. The pair of clamping frames switches the clamping mechanism 2 between the clamping state and the release state during the opening and closing process, when the clamping frames are closed and the clamping mechanism 2 is in the clamping state, the pair of clamping arms clamp the upper part of the radial protruding part 32, and the lower surface of the pair of clamping arms forms the abutting part which is used to apply the force along the puncture direction to the radial protruding part 32. When the pair of clamping arms clamps the radial protruding part 32, the grooves of the end parts of the pair of clamping arms form the clamping opening which is used to clamp the radial protruding part 32, and because the elastic adjusting members 25 are arranged between the clamping arms and the clamping frames, the clamping mechanism 2 in the embodiment can clamp the elongated medical tool 3 with different specifications and sizes, when the radial size of the elongated medical tool 3 is larger, the radial extension distance of the clamping arms is shorter when the grooves of the clamping arms abut on the radial protruding part 32, and the lower surface of the clamping arms can apply the force along the puncture direction to the radial protruding part 32; when the radial size of the elongated medical tool 3 is smaller, the radial extension distance of the clamping arms is longer when the clamping grooves abut on the radial protruding part 32, and under the action of the elastic adjusting members 25, the clamping arms can also abut tightly on the radial protruding part 32, so that the lower surface of the clamping arms can apply the force along the puncture direction to the radial protruding part 32.

[0054] Specifically, the elastic adjusting member 25 can be a compression spring connected between the clamping frame and the clamping arm, and the compression spring has an elastic force for moving the pair of clamping arms in a direction of approaching each other. By arranging the elastic adjusting member 25, the position of the clamping arm does not need to be adjusted when assembling the elongated medical tool 3 of different specifications and sizes, and the clamping arm can be automatically abutted to the radial protrusion 32 by the elastic force of the elastic adjusting member 25.

[0055] In the embodiment, the clamping part includes a fixed clamping part 22 and a movable clamping part 21, and the movable clamping part 21 is configured to be rotatable closed and opened relative to the fixed clamping part 22 perpendicular to the puncture direction. The clamping mechanism 2 further includes a driving mechanism, a driving mechanism mounting seat 7, and a transmission mechanism. The driving mechanism is fixedly installed on the driving mechanism mounting seat 7, the driving mechanism mounting seat 7 is fixedly connected with the base 4, and the transmission mechanism is connected between the driving mechanism and the movable clamping part 21. The driving mechanism drives the movable clamping part 21 to rotate closed and opened through the transmission mechanism. Specifically, the movable clamping part 21 in the clamping part is arranged to be movable opened, and the movable clamping part 21 can be rotated opened or closed relative to the fixed clamping part 22. When the clamping part is rotated closed, the clamping mechanism 2 enters a clamping state, and the clamping mechanism 2 clamps the radial protrusion 32 of the elongated medical tool 3. When the clamping part is rotated opened, the clamping mechanism 2 enters a release state, and the elongated medical tool 3 can exit the clamping mechanism 2 or the elongated medical tool 3 can be replaced.

[0056] Specifically, as shown in Figure 5 and Figure 6 The driving mechanism is a motor 11, and the transmission mechanism includes a first gear 15 installed on a motor shaft of the motor 11 and a sector gear 13 rotatably installed on the driving mechanism mounting seat 7 through a rotating shaft 14. The sector gear 13 is in meshing connection with the first gear 15, and the other end of the sector gear 13 is connected with the movable clamping part 21. When the motor 11 drives the first gear 15 to rotate, the first gear 15 drives the sector gear 13 to rotate around the rotating shaft 14, thereby driving the movable clamping part 21 to rotate. By controlling the motor 11 to rotate forward and reverse, the movable clamping part 21 can be moved in two directions of rotating opened and closed relative to the fixed clamping part 22. Specifically, the clamping part includes two clamping frames, one of which is fixedly arranged to form the fixed clamping part 22, and the other of which is movably arranged to form the movable clamping part 21. The movably arranged clamping frame is connected with the sector gear 13 and can be driven by the sector gear 13 to rotate opened or closed.

[0057] The driving mechanism mounting base 7 comprises a horizontal extension frame 71, the rotating shaft 14 is fixed on the horizontal extension frame 71, the clamping mechanism 2 further comprises a support base 5, the support base 5 is connected between the base 4 and the driving mechanism mounting base 7, and the horizontal extension frame 71 of the driving mechanism is rotatably connected to the support base 5 through the pivot 6. Specifically, the extension direction of the horizontal extension frame 71 is perpendicular to the puncture direction, the axis of the rotating shaft 14 is parallel to the puncture direction, the rotating shaft 14 is fixed on the bottom surface of the horizontal extension frame 71 and extends downward, and the sector gear 13 is rotatably installed on the rotating shaft 14. The axis of the pivot 6 is perpendicular to the puncture direction, and the horizontal extension frame 71 is rotatably installed on the pivot 6.

[0058] Specifically, the support base 5 comprises a connecting plate 51 and a fixed plate 52, the connecting plate 51 is used for fixed connection with the base 4, one end of the fixed plate 52 is connected to the connecting plate 51, and the other end of the fixed plate 52 extends outwards in the puncture direction and has two ear plates 53, the pivot 6 is connected between the two ear plates 53, and the horizontal extension frame 71 is rotatably installed on the pivot 6, so that the horizontal extension frame 71 can rotate around the pivot 6.

[0059] In the embodiment, the first force collecting structure 10 is further included, the first force collecting structure 10 is fixedly installed on the fixed plate 52, the detection end of the first force collecting structure 10 is connected with the horizontal extension frame 71, and the first force collecting structure 10 is used for detecting the force received by the elongated medical tool 3 in the puncture direction thereof.

[0060] The sector gear 13 is installed on the horizontal extension frame 71 through the rotating shaft 14, one end of the sector gear 13 is engaged with the first gear 15, the other end is connected with the movable clamping part 21, the fixed clamping part 22 is fixed on the horizontal extension frame 71, the movable clamping part 21 is rotatably closed, and the fixed clamping part 22 is clamped to the elongated medical tool 3. After the clamping mechanism 2 is clamped to the elongated medical tool 3, the elongated medical tool 3 generally punctures downward in the puncture process, the elongated medical tool 3 has a tendency to move upward after being resisted by the human tissue, the tendency of the elongated medical tool 3 to move upward drives the clamping mechanism 2 to move upward, the tendency of the clamping mechanism 2 to move upward drives the sector gear 13 to move upward, the tendency of the sector gear 13 to move upward drives the horizontal extension frame 71 to rotate around the pivot 6, and the horizontal extension frame 71 transmits the force to the force collecting structure when rotating around the pivot 6, so that the force collecting structure can detect the force received by the elongated medical tool 3 in the puncture direction thereof.

[0061] In the embodiment, the abutting part on the radial protrusion 32 is the proximal end surface of the radial protrusion 32. Specifically, the proximal end surface of the radial protrusion 32 in the puncture direction is the upper end surface of the radial protrusion 32, and the abutting part can directly abut against the upper end surface of the radial protrusion 32 to provide the elongated medical tool 3 with a force in the puncture direction, thereby preventing the elongated medical tool 3 from moving relative to the clamping mechanism 2 due to resistance of the human tissue during the puncture.

[0062] In some other embodiments, the outer contour of the radial protrusion 32 is shaped as a profile surface that is inclined radially inward from the distal end to the proximal end, and the abutting part on the radial protrusion 32 is the inclined profile surface. Under the action of the elastic force of the elastic adjusting member 25, the clamping arm abuts against the profile surface of the radial protrusion 32, and under the action of the elastic force, the clamping arm does not move in the reverse direction, so that the clamping arm can be kept abutting against the radial protrusion 32, and the lower surface of the clamping arm can apply a force in the puncture direction to the radial protrusion 32.

[0063] In the embodiment, the second force collecting structure 9 and the force receiving structure 8 are further included, wherein the force receiving structure 8 is installed on the installation carrier 1, the force receiving structure 8 provides an installation position for the second force collecting structure 9, and the force receiving structure 8 includes an auxiliary ring 81, and the second force collecting structure 9 can detect the force applied to the auxiliary ring 81 perpendicularly to the puncture direction. The elongated puncture part 31 of the elongated medical tool 3 passes through the auxiliary ring 81. When the doctor adjusts the angle of the elongated medical tool 3, the elongated medical tool 3 will displace perpendicularly to the puncture direction, and the elongated medical tool 3 will drive the auxiliary ring 81 to move perpendicularly to the puncture direction when the elongated medical tool 3 displaces horizontally. When the auxiliary ring 81 moves, the second force collecting structure 9 can detect the force applied to the auxiliary ring 81, which is the force applied to the elongated medical tool 3 perpendicularly to the puncture direction.

[0064] In the embodiment, as shown in Figure 4 the second force collecting structure 9 includes a first force sensor 91 and a second force sensor 92, and the first force sensor 91 and the second force sensor 92 are respectively used to detect the force applied to the elongated medical tool 3 at two angles perpendicularly to the puncture direction. The detection directions of the two force sensors are located in the same plane, and the plane is perpendicular to the puncture direction. In the plane, after the forces at the two angles are known, the resultant force of the two forces in the plane can be obtained through calculation of the coordinate system, which is the force applied to the elongated medical tool 3 perpendicularly to the puncture direction.

[0065] Further, the detection directions of the first force sensor 91 and the second force sensor 92 are perpendicular to each other, so as to form a rectangular coordinate system in the plane perpendicular to the puncture direction, and the calculation of the resultant force can be more convenient.

[0066] In the embodiment, the first force sensor 91 and the second force sensor 92 are both one-dimensional push-pull force gauges, the force receiving structure 8 includes a fixed block 83 and a clamping block 82, one end of the fixed block 83 is fixedly connected to the mounting carrier 1, the other end is connected with the clamping block 82 in a clamping manner, the auxiliary ring 81 is arranged on the clamping block 82, and the linear guide sliding blocks 12 are arranged between the two one-dimensional push-pull force gauges and the fixed block 83. The sliding directions of the two groups of linear guide sliding blocks 12 are respectively parallel to the detection directions of the two one-dimensional push-pull force gauges. Since the one-dimensional push-pull force gauge can only detect the force in one direction, and the slender medical tool 3 will twist when the angle is adjusted, so that the one-dimensional push-pull force gauge will be affected by the torque and cannot be accurately detected. Therefore, the linear guide sliding blocks 12 are arranged between the one-dimensional push-pull force gauges and the fixed block 83, so that the one-dimensional push-pull force gauges can only move linearly with the sliding blocks in the linear guide sliding blocks 12, thereby enabling the one-dimensional push-pull force gauges to detect only the force in the extension direction of the linear guide sliding blocks 12, and the detection data is more accurate.

[0067] In the embodiment, the force collecting structure adopts three one-dimensional push-pull force gauges, one of which is used to detect the force in the puncture direction of the slender medical tool 3, and the other two are used to detect the force perpendicular to the puncture direction of the slender medical tool 3, thereby realizing the detection of the force in multiple dimensions of the slender medical tool 3. The traditional six-dimensional force sensor is expensive, and the embodiment adopts three one-dimensional push-pull force gauges, which has a low cost and can also detect the force received by the slender medical tool in multiple dimensions. Embodiment 2

[0068] The embodiment provides a specific implementation of a puncture surgery robot, which includes the clamping device on the needle insertion mechanism in Embodiment 1. The puncture surgery robot includes a mechanical arm, and the end of the mechanical arm provides a mounting carrier 1 for mounting the clamping device.

[0069] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

Claims

1. A clamping device on a needle insertion mechanism, characterized in that A clamping device for clamping an elongated medical tool, the elongated medical tool comprising an elongated puncture portion and a radial protrusion portion, the radial protrusion portion being fixedly provided at a proximal end of the elongated puncture portion, an outer contour of the radial protrusion portion being radially protruded from an outer contour of the elongated puncture portion; The clamping device comprises: a base, the base being slidably connected to a mounting carrier along a puncture direction; a clamping mechanism, the clamping mechanism being mounted on the base, the clamping mechanism having a clamping state and a releasing state for clamping and releasing the elongated medical tool, the clamping mechanism comprising an abutting portion, in the clamping state, the abutting portion abutting against the radial protrusion portion on a side opposite to the puncture direction, so that when the elongated medical tool is punctured along the puncture direction with the clamping mechanism moving, the abutting portion abuts against the radial protrusion portion on the side opposite to the puncture direction, to prevent the elongated medical tool from moving relative to the clamping mechanism along the puncture direction; the clamping mechanism comprising a clamping portion, the clamping portion being openable and closable perpendicular to the puncture direction, the clamping portion comprising an upper clamping portion and a lower clamping portion, the upper clamping portion and the lower clamping portion being spaced apart along the puncture direction, in the clamping state, the upper clamping portion being closed to radially clamp an upper portion of the radial protrusion portion, the lower clamping portion being closed to radially clamp a lower portion of the radial protrusion portion or the elongated puncture portion close to the lower portion of the radial protrusion portion, in the releasing state, the upper clamping portion and the lower clamping portion being simultaneously opened to allow the elongated medical tool to exit from the clamping portion; the abutting portion being a lower surface of the upper clamping portion facing the puncture direction, the lower surface abutting against the radial protrusion portion when the upper clamping portion is closed; the clamping portion comprising a pair of clamping frames, the upper clamping portion comprising a pair of clamping arms and a pair of elastic adjusting members, the pair of clamping arms being movably mounted on the pair of clamping frames along a radial direction, the pair of clamping arms being oppositely provided with a pair of grooves for forming a clamping opening for clamping the radial protrusion portion, the pair of elastic adjusting members being mounted between the pair of clamping arms and the corresponding clamping frames, the pair of elastic adjusting members applying an elastic pre-tightening force to the pair of clamping arms along a radial direction inwardly.

2. The clamping device on needle advancing mechanism according to claim 1, characterized in that, the clamping portion comprising a fixed clamping portion and a movable clamping portion, the movable clamping portion being configured to be rotatably closed and opened relative to the fixed clamping portion perpendicular to the puncture direction; the clamping mechanism further comprising a driving mechanism, a driving mechanism mounting base and a transmission mechanism, the driving mechanism being fixedly mounted on the driving mechanism mounting base, the driving mechanism mounting base being fixedly connected to the base, the transmission mechanism being connected between the driving mechanism and the movable clamping portion, the driving mechanism driving the movable clamping portion to be rotatably closed and opened through the transmission mechanism.

3. The clamping device on a needle advancing mechanism according to claim 2, characterized in that the driving mechanism being an electric motor. The transmission mechanism comprises a first gear mounted on a motor shaft of the motor, and a sector gear rotatably mounted on the driving mechanism mounting base via a rotating shaft, wherein when the motor drives the first gear to rotate the sector gear, the sector gear rotates around the rotating shaft to rotate the movable clamping part to close or open.

4. The clamping device on needle advancing mechanism according to claim 3, characterized in that The driving mechanism mounting base comprises a horizontal extension frame, and the rotating shaft is fixedly arranged on the horizontal extension frame. The clamping mechanism further comprises a support base connected between the base and the driving mechanism mounting base. The horizontal extension frame of the driving mechanism is rotatably connected to the support base via a pivot.

5. The clamping device on needle advancing mechanism according to claim 4, characterized in that The support base comprises a connecting plate fixedly connected to the base, and a fixed plate having one end connected to the connecting plate and the other end extending in a puncture direction and having two ear plates, and the horizontal extension frame is rotatably connected to the two ear plates via a pivot.

6. The clamping device on a needle advancing mechanism according to claim 5, characterized in that The first force collecting structure is fixedly mounted on the fixed plate, and a detection end of the first force collecting structure is connected to the horizontal extension frame, and the first force collecting structure is used for detecting a force received by the elongated medical tool in the puncture direction.

7. The holding device on a needle advancing mechanism according to any one of claims 1 to 5, wherein The abutting part on the radial protruding part is a proximal end surface of the radial protruding part. Alternatively, an outer contour of the radial protruding part is shaped as a contour surface that is inclined radially inward from the distal end to the proximal end, and the abutting part on the radial protruding part is the inclined contour surface.

8. The holding device on needle advancing mechanism according to claim 1, wherein The second force collecting structure and a force receiving structure are further included, the force receiving structure is mounted on the mounting carrier, the force receiving structure comprises an auxiliary ring through which the elongated puncture part of the elongated medical tool passes, and the second force collecting structure is used for detecting a force received in a direction perpendicular to the puncture direction of the elongated medical tool.

9. The clamping device on a needle advancing mechanism according to claim 8, characterized in that The second force collecting structure comprises a first force sensor and a second force sensor, and the first force sensor and the second force sensor are respectively used for detecting a force received by the elongated medical tool in two angles perpendicular to the puncture direction.

10. The clamping device on a needle advancing mechanism according to claim 9, characterized in that The detection direction of the first force sensor and the detection direction of the second force sensor are perpendicular to each other.

11. The clamping device on a needle advancing mechanism according to claim 10, characterized in that The first force sensor and the second force sensor are both one-dimensional push-pull gauges. The force receiving structure comprises a fixed block and a clamping block, one end of the fixed block is fixedly connected to the mounting carrier, the other end is connected to the clamping block via clamping, and the auxiliary ring is arranged on the clamping block. The clamping device further comprises linear guide rails, the linear guide rails are arranged on the fixed block, and the linear guide rails have two groups, and the sliding directions of the two groups of linear guide rails are respectively parallel to the detection directions of the two one-dimensional push-pull gauges.

12. A puncture surgical robot characterized by, The clamping device on the needle insertion mechanism according to any one of claims 1-11 is included.

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