Forceps clip system and surgical robot

Abstract

The invention belongs to the technical field of medical instruments, and discloses a forceps holder system and a surgical robot. The forceps holder system comprises grasping forceps, a conducting tube and a driving device. One end of the grasping forceps can be opened and closed for clamping, a flowing channel is formed in the grasping forceps, and the grasping forceps are provided with a conducting hole communicated with the flowing channel; one end of the conducting pipe is communicated with the flowing channel, and the other end is communicated with the suction machine and the flusher; the driving device is connected with the other end of the grasping forceps to control the grasping forceps to act. When the forceps holder system is used, not only can clamping be carried out, but also suction or flushing can be carried out, a structure does not need to be independently arranged for suction and flushing, a patient does not need to be subjected to an operation, a suction and flushing control doctor and a grasping forceps control doctor can be the same, and the operation is convenient. By means of the structure, a doctor can concentrate on operation in the operation process, it is ensured that the suction and flushing effects are good, meanwhile, the whole operation process of the operation can be simplified, and therefore the operation difficulty is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more particularly to clamping systems and surgical robots. Background Technology

[0002] When surgical robots are used in laparoscopic surgery, the instruments are controlled by a special drive device to ensure that the instruments can produce pitch, swing or rotation. For example, the grasping forceps need to move to a designated position and maintain a certain posture to accurately grasp the corresponding tissue. At the same time, it is also necessary to flush the fluid near the tissue or aspirate the tissue to ensure a clear field of vision.

[0003] In the existing technology, when the instrument is a grasping forceps, the surgeon usually uses the corresponding drive device to control the movement and grasping action of the grasping forceps, while irrigation and aspiration are performed by inserting a separate aspiration instrument, which is operated by another doctor.

[0004] However, when instruments for irrigation and aspiration are inserted separately, not only is a separate incision required on the patient's skin, but frequent communication between two doctors is also necessary during the procedure. Since the surgical time is very tight, it is required to quickly understand each other's intentions. The coordination between the two doctors is quite difficult, and problems such as poor aspiration or irrigation effects are easily caused, resulting in a complicated and difficult overall surgical procedure. Summary of the Invention

[0005] The purpose of this invention is to provide a clamping system and a surgical robot, which solves the problem that in the prior art, the need to add a separate suction device during the irrigation and aspiration process in the surgical operation. When using this device, not only does it require a separate incision on the patient's body surface, but it also requires two doctors to communicate repeatedly in a short period of time and quickly understand each other's intentions, which makes the coordination difficult and easily leads to poor irrigation or aspiration effects. This results in a complicated and difficult overall surgical procedure.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] In a first aspect, this application provides a clamping system comprising:

[0008] A gripper, one end of which can be opened and closed for clamping, a flow channel is formed inside the gripper, and the gripper has a through hole communicating with the flow channel;

[0009] The guide tube is connected at one end to the flow channel and at the other end to the suction machine and the flushing device;

[0010] A drive unit is connected to the other end of the gripper to control the gripper's movement.

[0011] Optionally, the through hole includes a first through hole and a second through hole, wherein the first through hole is formed on the end face of the gripper away from the through tube, and the second through hole is formed on the side of the gripper.

[0012] Optionally, multiple second vias are distributed.

[0013] Optionally, the clamping system further includes:

[0014] The electrocoagulation wire has one end electrically connected to the gripper and the other end connected to a power source, and the gripper has an electrocoagulation function.

[0015] Optionally, the clamping system further includes:

[0016] The first diversion tube has one end connected to the guide tube and the other end connected to the suction port of the suction machine.

[0017] The second diversion pipe is connected at one end to the guide pipe and at the other end to the flushing port of the flusher.

[0018] Optionally, the clamping system further includes:

[0019] A control valve is provided in the second shunt pipe to open or close the second shunt pipe.

[0020] Optionally, the driving device includes:

[0021] Drive components;

[0022] The gear set is connected to the drive component;

[0023] A yaw control line is connected at one end to the gear set and at the other end to the gripper to control the yaw movement of the gripper;

[0024] The pitch control line is connected at one end to the gear set and at the other end to the gripper to control the pitch movement of the gripper.

[0025] The opening and closing control line is connected at one end to the gear set and at the other end to the gripper to control the opening and closing of the gripper.

[0026] Secondly, this application also provides a surgical robot, which includes:

[0027] Console;

[0028] The clamping system as described in any one of claims 1 to 7 is disposed on the control console;

[0029] The control module is located on the console and connected to the drive unit, suction machine, and flushing device of the clamping system.

[0030] Optionally, the control module includes:

[0031] A first pedal is connected to the suction machine and the flushing device to control the start and stop of the suction machine and the flushing device.

[0032] Optionally, when the time for stepping on the first pedal is less than a time threshold, the first pedal is in suction mode, which is used to control the start and stop of the suction machine. When the time for stepping on the first pedal is greater than the time threshold, the first pedal is in flushing mode, which is used to control the start and stop of the flushing machine.

[0033] The beneficial effects of this invention are:

[0034] Firstly, by setting through holes and flow channels on the clamps, and connecting them to a suction machine and a flushing device via a connecting tube, and then controlling the clamps to move to the designated position via a drive device, the suction machine or flushing device can be activated. Once activated, the suction machine can extract the corresponding fluid through the through holes, flow channels, and connecting tubes. Similarly, when the flushing device is activated, the flushing fluid can be directed to the designated location through the connecting tubes, flow channels, and through holes for flushing. Therefore, this clamping system can not only clamp but also perform suction or flushing, eliminating the need for separate instruments for suction and flushing, and thus eliminating the need for incisions on the patient. Furthermore, the same surgeon can operate both the suction and flushing devices, allowing one surgeon to focus on the entire operation, ensuring better suction and flushing results, and simplifying the overall surgical procedure, thereby effectively reducing the difficulty of the surgery.

[0035] Secondly, when the surgical robot is in use, it can control the clamping system through the control module. The clamping system can also perform suction and flushing while clamping, which simplifies the entire surgical procedure, reduces the difficulty, and helps to improve the success rate of the surgery. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the clamping system connected via a wrist rotation mechanism in an embodiment of the present invention;

[0037] Figure 2 This is a cross-sectional view of the clamping system connected by a wrist rotation mechanism in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the clamping system in this embodiment of the invention, showing the clamps connected by a straight shank mechanism.

[0039] Figure 4 This is a partial structural diagram of the clamping system connected by a wrist rotation mechanism in an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the internal structure of the driving device of the clamping system in an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the control console of the surgical robot in an embodiment of the present invention.

[0042] In the picture:

[0043] 1. Gripper; 12. First through hole; 13. Second through hole; 14. First shunt pipe; 15. Second shunt pipe; 2. Through pipe; 3. Drive unit; 31. Gear set; 32. Yaw control line; 33. Pitch control line; 34. Opening / closing control line; 4. Wrist rotation mechanism; 5. Straight handle mechanism; 6. Electrostatic wire; 7. Control valve; 8. First pedal; 9. Second pedal; 10. Control console. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0045] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0047] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0048] This application discloses a clamping system and a surgical robot.

[0049] Reference Figures 1 to 3 The clamping system includes a gripper 1, a guide tube 2, and a drive device 3. One end of the gripper 1 can be opened and closed to clamp, and a flow channel is formed inside the gripper 1. The gripper 1 has a guide hole that communicates with the flow channel. One end of the guide tube 2 is connected to the flow channel, and the other end is connected to the suction machine and the flushing device. The drive device 3 is connected to the other end of the gripper 1 to control the movement of the gripper 1.

[0050] Specifically, the gripper 1 consists of two hinged clamping parts, one end of which is connected to the drive device 3. The drive device 3 can be connected to the gripper 1 via a wrist rotation mechanism 4, at which point the gripper 1 can perform swinging, pitching, rotating, and opening / closing movements. Alternatively, the drive device 3 can be connected to the gripper 1 via a straight handle mechanism 5, in which case the gripper 1 can only perform rotation and opening / closing movements. The specific connection between the gripper 1 and the drive device 3 can be configured according to the actual application scenario.

[0051] A flow channel is formed inside the gripper 1. A through hole is opened in the gripper 1 to communicate with the flow channel, allowing liquid to flow into or out of the gripper 1 through the through hole. By setting a connecting pipe 2, the flow channel is connected to both the suction machine and the flushing device. At this time, the flow channel can supply not only the flushing medium but also the suctioned liquid, meaning that the flow channel is a shared channel for both the flushing and suction processes.

[0052] By setting a through hole and flow channel on the gripper 1, and connecting it to the suction machine and irrigator via a connecting tube 2, and then controlling the gripper 1 to move to the designated position via the drive device 3, the suction machine or irrigator can be turned on. Once the suction machine is turned on, the corresponding fluid can be extracted through the through hole, flow channel, and connecting tube 2. When the irrigator is turned on, the irrigating fluid can be flushed to the designated position through the connecting tube 2, flow channel, and through hole for rinsing. Therefore, this clamping system can not only clamp but also perform suction or rinsing, eliminating the need for separate instruments for suction and rinsing, and thus eliminating the need for incisions on the patient. Furthermore, the same surgeon can operate both the suction and rinsing equipment, allowing one surgeon to focus on the operation during the procedure, ensuring better suction and rinsing effects, and simplifying the overall surgical procedure, thereby effectively reducing the difficulty of the surgery.

[0053] Reference Figure 4 Optionally, the through holes include a first through hole 12 and a second through hole 13. The first through hole 12 is formed on the end face of the gripper 1 away from the through tube 2, and the second through hole 13 is formed on the side of the gripper 1. Multiple second through holes 13 are distributed.

[0054] Specifically, the gripper 1 is elongated, with a circular first through hole 12 on the end face of its opening / closing end, and elongated second through holes 13 on its side surface. Multiple second through holes 13 can be distributed along the length and circumference of the gripper 1. In this embodiment, two second through holes 13 are spaced apart along the length of each gripping part. It should be understood that in other embodiments, the shapes of the first through holes 12 and the second through holes 13 can be adjusted according to the required communication area, and are not limited to circular or elongated shapes as exemplified above. Their positions and numbers can also be changed according to the actual size of the gripper 1, and this application does not impose specific limitations in this regard.

[0055] By setting the first through hole 12 and the second through hole 13, the flow channel can form a large communication area with the outside of the gripper 1, so that the flushing medium can be quickly and omnidirectionally flushed out of the gripper 1, and the liquid around the gripper 1 can also be quickly drawn into the flow channel during suction, so as to ensure good suction and flushing effect.

[0056] Optionally, the clamping system also includes an electrocoagulation lead 6. One end of the electrocoagulation lead 6 is electrically connected to the gripper 1, and the other end is connected to a power source, thus enabling the gripper 1 to perform electrocoagulation.

[0057] Specifically, the electrocoagulation function refers to the ability of the gripper 1 to coagulate tissues and blood vessels when energized. One end of the electrocoagulation lead 6 is electrically connected to the gripper 1, and the other end can be equipped with a controller. The controller is equipped with a metal needle, which can be electrically connected to the cable of the energy platform of the surgical robot. The energy platform has a power supply, and the cable is electrically connected to the power supply. The energy platform has a corresponding control switch that can control the power supply and power adjustment.

[0058] By equipping the grasping forceps 1 with an electrocoagulation function, when using the grasping forceps 1, power can be supplied to the grasping forceps 1 through the electrocoagulation wire 6 as needed, enabling the grasping forceps 1 to coagulate tissues and blood vessels, thereby further improving the convenience of surgical operations.

[0059] Reference Figure 2 Optionally, the clamping system also includes a first diversion pipe 14 and a second diversion pipe 15. One end of the first diversion pipe 14 is connected to the guide pipe 2, and the other end is connected to the suction port of the suction machine; one end of the second diversion pipe 15 is connected to the guide pipe 2, and the other end is connected to the flushing port of the flusher.

[0060] Specifically, the end of the guide tube furthest from the gripper 1 can be split in two. One end serves as the first diversion tube 14, connected to the suction machine, while the other end serves as the second diversion tube 15, connected to the flushing device. In this case, the guide tube, the first diversion tube 14, and the second diversion tube 15 form an integrated structure to ensure good sealing at their connection points. In another embodiment, a three-way valve can also be installed at the end of the guide tube furthest from the gripper 1, forming a sealed connection with the first diversion tube 14 and the second diversion tube 15.

[0061] By setting the first diversion pipe 14 and the second diversion pipe 15, the suction machine and the flushing device are kept at a certain distance, so as to reduce the possibility of liquid entering the flushing device during the suction process, and also reduce the possibility of the flushing medium entering the suction machine.

[0062] Optionally, the clamping system also includes a control valve 7. The control valve 7 is disposed in the second branch pipe 15 and is used to open or close the second branch pipe 15.

[0063] Specifically, the control valve 7 can be a duckbill valve. In its natural state, the duckbill valve maintains the isolation of the second diversion pipe 15 due to the elastic pressure. When the flusher is running, the elastic pressure is pushed open under the pressure of the flushing medium, thus opening the second diversion pipe 15. In other embodiments, the control valve 7 can also be replaced by a solenoid valve or a manual valve, etc., and this application does not limit this.

[0064] By setting control valve 7, when the flusher stops running, control valve 7 can keep the second diversion pipe 15 in an isolated state, so that when the suction machine is suctioning, the liquid will not enter the flusher through the second diversion pipe 15.

[0065] Reference Figure 4 and Figure 5 Optionally, the drive unit 3 includes a drive component, a gear set 31, a yaw control line 32, a pitch control line 33, and an opening / closing control line 34. The gear set 31 is connected to the drive component; one end of the yaw control line 32 is connected to the gear set 31, and the other end is connected to the gripper 1 to control the yaw movement of the gripper 1; one end of the pitch control line 33 is connected to the gear set 31, and the other end is connected to the gripper 1 to control the pitch movement of the gripper 1; one end of the opening / closing control line 34 is connected to the gear set 31, and the other end is connected to the gripper 1 to control the opening and closing of the gripper 1.

[0066] Specifically, when the gripper 1 is connected via the wrist rotation mechanism 4, the wrist rotation mechanism 4 is equipped with a yaw control line 32, a pitch control line 33, and an opening / closing control line 34. All three can be made of steel wire to ensure that the overall rigidity and flexibility of the wires meet the requirements. The gear set 31 can be configured with multiple gears according to actual needs; this application does not impose specific limitations on this. The driving component can be a servo motor, which can drive the gear set 31 to meet the corresponding transmission requirements.

[0067] When controlling the action of the gripper 1, the drive unit can be started, which drives the gear set 31 to run, thereby pulling the yaw control line 32, pitch control line 33 and opening / closing control line 34 to move, thus controlling the yaw, pitch and opening / closing of the gripper 1.

[0068] The surgical robot includes a console 10, a clamping system as described above, and a control module. The clamping system is located on the console 10; the control module is located on the console 10 and connected to the drive unit 3 of the clamping system, the suction machine, and the irrigator.

[0069] When in use, this surgical robot can control the clamping system through the control module. The clamping system can also perform suction and flushing while clamping, which simplifies the entire surgical procedure, reduces the difficulty, and helps improve the success rate of the surgery.

[0070] Reference Figure 6 Optionally, the control module includes a first pedal 8. The first pedal 8 is connected to the suction machine and the flushing device to control the start and stop of the suction machine and the flushing device.

[0071] Specifically, the control module includes a first pedal 8 and a second pedal 9. The first pedal 8 can be used to control the electro-cutting function. When the gripper 1 is used, the first pedal 8 is in an idle state, and at this time, the first pedal 8 is connected to the suction machine and the flushing device. The second pedal 9 is used to control the electrocoagulation function of the gripper 1.

[0072] By setting the first pedal 8, doctors can control the suction machine and the irrigator simply by stepping on the first pedal 8, making it convenient for doctors to flexibly switch between suction and irrigation functions.

[0073] Optionally, when the time of stepping on the first pedal 8 is less than a time threshold, the first pedal 8 is in suction mode, which is used to control the start and stop of the suction machine. When the time of stepping on the first pedal 8 is greater than the time threshold, the first pedal 8 is in flushing mode, which is used to control the start and stop of the flusher.

[0074] The time threshold can be set manually, for example, it can be set to 1 second. That is, when the time of stepping on the first pedal 8 is less than 1 second, the suction machine will start on the first step and stop on the second step. Similarly, when the time of stepping on the first pedal 8 is greater than 1 second, the flushing machine will start and stop automatically when stepping is stopped.

[0075] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A clamping system, characterized in that, include: The gripper (1) has one end that can be opened and closed for clamping. A flow channel is formed inside the gripper (1), and the gripper (1) has a through hole that communicates with the flow channel. The guide tube (2) is connected at one end to the flow channel and at the other end to the suction machine and the flushing device; A drive unit (3) is connected to the other end of the gripper (1) to control the movement of the gripper (1).

2. The clamping system according to claim 1, characterized in that, The through hole includes a first through hole (12) and a second through hole (13). The first through hole (12) is opened on the end face of the gripper (1) away from the through tube (2), and the second through hole (13) is opened on the side of the gripper (1).

3. The clamping system according to claim 2, characterized in that, Multiple second through holes (13) are distributed.

4. The clamping system according to claim 1, characterized in that, The clamping system also includes: The electrocoagulation wire (6) is electrically connected at one end to the gripper (1) and at the other end to the power source. The gripper (1) has an electrocoagulation function.

5. The clamping system according to claim 1, characterized in that, The clamping system also includes: The first diversion pipe (14) is connected at one end to the guide pipe (2) and at the other end to the suction port of the suction machine; The second diversion pipe (15) is connected at one end to the guide pipe (2) and at the other end to the flushing port of the flusher.

6. The clamping system according to claim 5, characterized in that, The clamping system also includes: A control valve (7) is provided in the second diversion pipe (15) for opening or closing the second diversion pipe (15).

7. The clamping system according to any one of claims 1 to 6, characterized in that, The driving device includes: Drive components; Gear set (31), connected to the drive component; A yaw control line (32) is connected at one end to the gear set (31) and at the other end to the gripper (1) to control the yaw motion of the gripper (1); The pitch control line (33) is connected at one end to the gear set (31) and at the other end to the gripper (1) to control the pitch movement of the gripper (1); The opening and closing control line (34) is connected at one end to the gear set (31) and at the other end to the gripper (1) to control the opening and closing of the gripper (1).

8. A surgical robot, characterized in that, include: Console (10); The clamping system as described in any one of claims 1 to 7 is disposed on the console (10); The control module is located on the console (10) and connected to the drive unit, suction machine and flushing device of the clamping system.

9. The surgical robot according to claim 8, characterized in that, The control module includes: A first pedal (8) is connected to the suction machine and the flushing device to control the start and stop of the suction machine and the flushing device.

10. The surgical robot according to claim 9, characterized in that, When the time for stepping on the first pedal (8) is less than a time threshold, the first pedal (8) is in suction mode, which is used to control the start and stop of the suction machine. When the time for stepping on the first pedal (8) is greater than a time threshold, the first pedal (8) is in flushing mode, which is used to control the start and stop of the flusher.

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