Gripper and surgical robot

Abstract

The application discloses a kind of gripper and surgical robot, puncture cannula has first positioning part, the gripper includes cannula clamping assembly, the cannula clamping assembly includes first clamping arm and second clamping arm, the first clamping arm or the second clamping arm has the second positioning part matched with the first positioning part, when the puncture cannula is placed between the first clamping arm and the second clamping arm and is clamped mutually, the first positioning part is positioned with the second positioning part abutment cooperation.The gripper is clamped by first clamping arm and second clamping arm to puncture cannula, in the process of clamping, first positioning part on puncture cannula is positioned with second positioning part on first clamping arm or second clamping arm abutment cooperation, and with the improvement of clamping rigidity, the precision that first positioning part and second positioning part can realize automatic positioning also improves, and the fixing and positioning effect of puncture cannula are considered.

Description

Technical Field

[0001] This invention relates to grippers and surgical robots. Background Technology

[0002] In laparoscopic surgical robot systems, the robotic arms and surgical instruments are stably connected and transmit motion to perform surgery. The robotic arms ensure reliable instrument connection and stability. During laparoscopic surgery, the trocar plays a crucial role. The trocar is the only channel for surgical instruments to enter the body, not only opening the way for instrument insertion but also providing support and guidance. Instruments are inserted through the trocar through the skin into the abdominal cavity for surgical procedures.

[0003] Existing methods for securing puncture cannulas using a clamping mechanism attached to the cavity of the fixing seat. During fixation, the puncture cannulas are first inserted into the cavity, and then the clamping mechanism automatically returns to its original position, securing the cannulas to the fixing seat. This method requires a balance between operability and positioning. If positioning requirements are high, the automatic return performance of the clamping mechanism deteriorates, easily leading to incomplete clamping. To ensure the automatic return function of the clamping mechanism, a certain clearance needs to be left, which reduces the positioning requirements. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defect of poor fixation effect of the existing gripper and to provide a gripper and surgical robot.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution:

[0006] A clamp for securing a puncture cannula, the puncture cannula having a first positioning portion, the clamp including a cannula clamping assembly, the cannula clamping assembly including a first clamping arm and a second clamping arm, the first clamping arm or the second clamping arm having a second positioning portion cooperating with the first positioning portion, when the puncture cannula is placed between the first clamping arm and the second clamping arm and clamped together, the first positioning portion and the second positioning portion abut and cooperate for positioning.

[0007] In this solution, the clamp clamps the puncture cannula using a first clamping arm and a second clamping arm. During the clamping process, the first positioning part on the puncture cannula abuts and engages with the second positioning part on the first or second clamping arm for positioning. As the clamping rigidity increases, the accuracy of automatic positioning by the first and second positioning parts also increases, thus achieving both the fixation and positioning effects of the puncture cannula.

[0008] Preferably, the first positioning part is a conical protrusion, and the second positioning part is a conical groove;

[0009] Alternatively, the first positioning part is a conical groove, and the second positioning part is a conical protrusion.

[0010] In this design, the conical protrusion embedded within the conical groove enables self-positioning, and the positioning accuracy increases accordingly with increasing clamping force. Of course, in other designs, the first and second positioning parts can also employ other cooperating positioning structures.

[0011] Preferably, the clamping surface of the first clamping arm has a U-shaped groove in the same direction as the extension of the first clamping arm, the inner cavity of the U-shaped groove matches the shape of the protrusion of the puncture cannula, the U-shaped groove is used to accommodate the protrusion, and the first positioning part is disposed on the protrusion.

[0012] In this solution, the fixation effect is improved by embedding the protrusion of the puncture cannula into a matching U-shaped groove. When the first and second clamping arms clamp, the first and second positioning parts cooperate to position the protrusion within the U-shaped groove, thus improving the clamping and positioning effect.

[0013] Preferably, a guide structure is provided in the U-shaped groove, the guide structure being in the same direction of extension as the first clamping arm, for causing the protrusion to slide along the extension direction of the first clamping arm.

[0014] In this design, the guide structure within the U-shaped groove facilitates the sliding of the protrusion of the puncture cannula into or out of the U-shaped groove, and also facilitates the rapid positioning of the puncture catheter.

[0015] Preferably, the guide structure is a flange, the flange having the same extension direction as the first clamping arm, and the two flanges are respectively disposed on the opposite side walls of the U-shaped groove.

[0016] In this design, the two opposing flanges not only improve the guiding effect of the protrusion of the puncture cannula, but also improve the fixing effect of the protrusion of the puncture cannula abutting against the flange in the U-groove.

[0017] Preferably, the second clamping arm includes a horizontal connecting rod, a locking pressure rod, and a positioning pressure rod. The first end of the horizontal connecting rod is hinged to the first end of the first clamping arm via a first shaft. The second end of the horizontal connecting rod is hinged to the first end of the locking pressure rod via a second shaft. The second end of the locking pressure rod is hinged to the first end of the positioning pressure rod via a third shaft. The second end of the positioning pressure rod is hinged to the second end of the first clamping arm via a fourth shaft. The locking pressure rod has a force-applying part, and the second positioning part is connected to the positioning pressure rod. When the second clamping arm moves to the clamping position, the second shaft, the third shaft, and the fourth shaft are located on the same straight line.

[0018] In this solution, the first clamping arm, the horizontal connecting rod, the fastening pressure rod, and the positioning pressure rod form a four-bar linkage. When the four-bar linkage moves to the clamping position, that is, the second axis, the third axis, and the fourth axis are on the same straight line, the four-bar linkage is at the dead point position, realizing the self-locking of the second clamping arm. There is no need to set up an additional locking mechanism, which simplifies the structural setting and improves the clamping and locking effect.

[0019] Preferably, the extension height of the second positioning part relative to the positioning pressure rod in the clamping direction is adjustable;

[0020] And / or, the horizontal connecting rod is provided with a limiting structure, which is used to abut against the upper surface of the positioning pressure rod.

[0021] In this design, the second positioning part is configured to have an adjustable extension height relative to the positioning pressure rod along the clamping direction, used to adjust the clamping force between the first and second clamping arms. Even when the machining precision of the parts is low, clampers with the same clamping rigidity can be obtained by adjusting the extension height of the second positioning part. During the clamper assembly process, the extension height of the second positioning part can also be adjusted to ensure that the clamping rigidity of each clamper is the same before it leaves the factory.

[0022] When the limiting structure moves to abut against the upper surface of the positioning pressure rod, the horizontal link cannot continue to move, preventing the four-bar linkage consisting of the first clamping arm, the horizontal link, the fastening pressure rod, and the positioning pressure rod from moving to a position beyond the dead point, thus avoiding the clamping device from failing to clamp.

[0023] Preferably, the second clamping arm further includes a fastener and several washers. The fastener passes through a through hole in the second positioning part, and the through holes of the several washers are threadedly connected to the positioning rod. The second positioning part can adjust its extension height relative to the positioning rod in the clamping direction by adjusting the number of washers.

[0024] In this solution, the extension height of the second positioning part relative to the positioning pressure rod along the clamping direction can be adjusted by changing the number of shims, making the operation simple and convenient. Of course, other methods can also be used to adjust the height of the second positioning part in other solutions.

[0025] Preferably, the first clamping arm is made of a non-metallic material.

[0026] In this design, the first gripping arm, made of a non-metallic material, provides insulation between the puncture cannula and the robotic arm, ensuring safety.

[0027] Preferably, the second clamping arm further includes a reinforcing link, the two ends of which are respectively hinged to the first shaft and the fourth shaft.

[0028] In this solution, by setting a reinforcing link, the strength between the first and fourth axes is enhanced, the clamping effect is improved, and the problem of insufficient strength of the first clamping arm is compensated.

[0029] Preferably, the second clamping arm further includes a handle assembly, the handle assembly including a wrench having a gripping portion, a hinge portion and an abutment portion arranged sequentially along the length direction, the hinge portion being hinged to the force-applying portion.

[0030] In this design, the wrench can be flipped so that it can be held by hand to operate the locking lever, causing the locking lever to rise or fall, thereby achieving the clamping or releasing operation of the second clamping arm.

[0031] Preferably, the abutment portion is correspondingly arranged with the horizontal connecting rod. When the wrench is flipped, the abutment portion can abut against the horizontal connecting rod, so that the second axis, the third axis and the fourth axis deviate from the same straight line, thereby unlocking.

[0032] In this solution, when the wrench is flipped, the abutting part of the wrench pushes against the horizontal linkage, causing the four-bar linkage to deviate from the dead point position, thus unlocking the mechanism. The operation is simple and effortless.

[0033] Preferably, the handle assembly further includes an elastic element and a limiting member, the limiting member being installed on the force-applying part, the elastic element being disposed between the wrench and the force-applying part, the elastic element applying a force such that the wrench abuts against the limiting member and the wrench and the force-applying part are located on the same plane.

[0034] In this design, a limiting element is used to restrict the wrench's rotation angle. Under the action of the elastic element, the wrench is initially positioned in the same plane as the force-applying part, which increases the surface area of ​​the force-applying part, making it easier to press down the wrench and engage the lever. When the wrench is rotated to the appropriate position with the lever engaged, it is easy to grip and operate the lever.

[0035] Preferably, there are two handle assemblies, which are symmetrically arranged at both ends of the force-applying part relative to the horizontal link.

[0036] In this design, handle assemblies are provided at both ends of the force-applying part, which increases the area and location of force application, making it easier for users to operate the clamp, and also makes the force-applying part more evenly stressed, thus improving the smoothness of the movement of the second clamping arm.

[0037] A surgical robot includes a robotic arm and a gripper as described above, the gripper being mounted on the robotic arm, the robotic arm having a mounting slot, and a first gripping arm of the gripper being mounted in the mounting slot.

[0038] In this solution, the first gripping arm is installed in the mounting slot of the robotic arm. The outer shell containing the mounting slot can strengthen the first gripping arm, especially when the first gripping arm is made of a non-metallic material.

[0039] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0040] The positive and progressive effects of this invention are as follows: the clamp clamps the puncture cannula by means of a first clamping arm and a second clamping arm. During the clamping process, the first positioning part on the puncture cannula and the second positioning part on the first clamping arm or the second clamping arm abut and cooperate for positioning. Furthermore, as the clamping rigidity is improved, the accuracy of automatic positioning by the first positioning part and the second positioning part will also be improved, thus taking into account both the fixing and positioning effects of the puncture cannula. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of a preferred embodiment of the present invention, showing the puncture cannula and gripper installed on a robotic arm.

[0042] Figure 2 This is a schematic diagram of the structure of the clamping device according to a preferred embodiment of the present invention. Figure 1 .

[0043] Figure 3 This is a schematic diagram of the structure of the clamping device according to a preferred embodiment of the present invention. Figure 2 (Part of the first clamping arm was cut open).

[0044] Figure 4 This is a schematic diagram of the structure of the clamping device according to a preferred embodiment of the present invention. Figure 3 .

[0045] Figure 5 This is a schematic diagram of the structure of the fastening lever and handle assembly according to a preferred embodiment of the present invention. Figure 1 .

[0046] Figure 6 This is a schematic diagram of the structure of the fastening lever and handle assembly according to a preferred embodiment of the present invention. Figure 2 .

[0047] Explanation of reference numerals in the attached figures:

[0048] 10 puncture cannulas

[0049] Protrusion 101

[0050] First Positioning Unit 1011

[0051] First clamping arm 1

[0052] U-shaped groove 11

[0053] Guide structure 12

[0054] Second clamping arm 2

[0055] Second positioning unit 21

[0056] Horizontal link 22

[0057] Limiting structure 221

[0058] 23 Snap-on lever

[0059] Force Department 231

[0060] Positioning rod 24

[0061] First axis 25

[0062] Second axis 26

[0063] Third axis 27

[0064] Fourth axis 28

[0065] Fastener 29

[0066] Gasket 210

[0067] Reinforced connecting rod 211

[0068] Wrench 212

[0069] Grip section 2121

[0070] Hinged part 2122

[0071] Contact part 2123

[0072] Elastic element 213

[0073] Limiting component 214

[0074] robotic arm 20

[0075] Circuit board 30 Detailed Implementation

[0076] The present invention will be described more clearly and completely below by way of embodiments and in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments described herein.

[0077] like Figures 1-6As shown, this embodiment discloses a clamp for fixing a puncture cannula 10. The puncture cannula 10 has a first positioning part 1011. The clamp includes a cannula clamping assembly, which includes a first clamping arm 1 and a second clamping arm 2. The second clamping arm 2 has a second positioning part 21 that cooperates with the first positioning part 1011. When the puncture cannula 10 is placed between the first clamping arm 1 and the second clamping arm 2 and clamped together, the first positioning part 1011 and the second positioning part 21 abut and cooperate for positioning.

[0078] like Figure 1 As shown, in this embodiment, the clamp clamps the puncture cannula 10 by the first clamping arm 1 and the second clamping arm 2. During the clamping process, the first positioning part 1011 on the puncture cannula 10 and the second positioning part 21 on the second clamping arm 2 abut against each other for positioning. As the clamping rigidity increases, the accuracy of automatic positioning of the first positioning part 1011 and the second positioning part 21 also increases, thus taking into account both the fixing and positioning effects of the puncture cannula 10.

[0079] In another embodiment, the second positioning part may also be disposed on the first clamping arm.

[0080] like Figures 1-6 As shown, in this embodiment, the first positioning part 1011 is a conical groove, and the second positioning part 21 is a conical protrusion. By embedding the conical protrusion into the conical groove, self-positioning can be achieved, and the positioning accuracy is also improved accordingly as the clamping force increases.

[0081] In other alternative embodiments, the first positioning part is a conical protrusion and the second positioning part is a conical groove.

[0082] Of course, in other embodiments, the first positioning part and the second positioning part may also adopt other cooperating structures that can achieve positioning.

[0083] like Figures 1-4 As shown, in this embodiment, the clamping surface of the first clamping arm 1 has a U-shaped groove 11 with the same extending direction as the first clamping arm 1. The inner cavity of the U-shaped groove 11 matches the outer shape of the protrusion 101 of the puncture cannula 10. The U-shaped groove 11 is used to accommodate the protrusion 101, and the first positioning part 1011 is provided on the protrusion 101. By embedding the protrusion 101 of the puncture cannula 10 into the matching U-shaped groove 11, the fixing effect is improved. When the first clamping arm 1 and the second clamping arm 2 are clamped, the first positioning part 1011 and the second positioning part 21 cooperate to position the protrusion 101 within the U-shaped groove 11, thereby improving the clamping and positioning effect.

[0084] like Figures 1-4As shown, in this embodiment, a guide structure 12 is provided in the U-shaped groove 11. The guide structure 12 extends in the same direction as the first clamping arm 1, and is used to allow the protrusion 101 to slide along the extension direction of the first clamping arm 1. Through the guide structure 12 in the U-shaped groove 11, it is convenient for the protrusion 101 of the puncture cannula 10 to slide into or out of the U-shaped groove 11, and it is also convenient for the rapid positioning of the puncture catheter.

[0085] like Figures 1-4 As shown, in this embodiment, the guide structure 12 is a flange, and the flange extends in the same direction as the first clamping arm 1. The two flanges are respectively disposed on the opposite side walls of the U-shaped groove 11. The two oppositely disposed flanges not only improve the guiding effect of the protrusion 101 of the puncture cannula 10, but also improve the fixing effect of the protrusion 101 of the puncture cannula 10 abutting against the flange in the U-shaped groove 11.

[0086] In other alternative embodiments, the guide structure may be replaced by a guide rail, guide rod, or other structure with a guiding function instead of a flange.

[0087] like Figures 1-4 As shown, in this embodiment, the second clamping arm 2 includes a horizontal connecting rod 22, a fastening pressure rod 23, and a positioning pressure rod 24. The first end of the horizontal connecting rod 22 is hinged to the first end of the first clamping arm 1 via a first shaft 25. The second end of the horizontal connecting rod 22 is hinged to the first end of the fastening pressure rod 23 via a second shaft 26. The second end of the fastening pressure rod 23 is hinged to the first end of the positioning pressure rod 24 via a third shaft 27. The second end of the positioning pressure rod 24 is hinged to the second end of the first clamping arm 1 via a fourth shaft 28. The fastening pressure rod 23 has a force-applying part 231, which is located at the end of the fastening pressure rod 23 away from the second shaft 26, facilitating the movement of the fastening pressure rod 23 by the force-applying part 231. The second positioning part 21 is connected to the positioning pressure rod 24. When the second clamping arm 2 moves to the clamping position, the second shaft 26, the third shaft 27, and the fourth shaft 28 are located on the same straight line. The first clamping arm 1, the horizontal connecting rod 22, the locking pressure rod 23, and the positioning pressure rod 24 form a four-bar linkage. When the four-bar linkage moves to the clamping position, that is, the second axis 26, the third axis 27, and the fourth axis 28 are on the same straight line, the four-bar linkage is at the dead point position, realizing the self-locking of the second clamping arm 2. There is no need to set up an additional locking mechanism, which simplifies the structural design and improves the clamping and locking effect.

[0088] like Figures 1-4As shown, in this embodiment, the extension height of the second positioning part 21 relative to the positioning pressure rod 24 in the clamping direction is adjustable. Setting the second positioning part 21 to have an adjustable extension height relative to the positioning pressure rod 24 in the clamping direction is used to adjust the clamping force between the first clamping arm 1 and the second clamping arm 2. Even when the machining precision of the parts is low, a clamping device with the same clamping rigidity can be obtained by adjusting the extension height of the second positioning part 21. During the assembly of the clamping device, the clamping rigidity of each clamping device before leaving the factory can be ensured by adjusting the extension height of the second positioning part 21.

[0089] In this embodiment, a limiting structure 221 is provided on the horizontal connecting rod 22, which is used to abut against the upper surface of the positioning pressure rod 24. When the limiting structure 221 moves to abut against the upper surface of the positioning pressure rod 24, the horizontal connecting rod 22 cannot continue to move, preventing the four-bar linkage composed of the first clamping arm 1, the horizontal connecting rod 22, the fastening pressure rod 23 and the positioning pressure rod 24 from moving to a position beyond the dead point, thus avoiding the clamping device from failing to clamp.

[0090] In other alternative embodiments, the limiting structure can be provided on other structures, as long as it satisfies the limitation of the movement range of the four-bar linkage consisting of the first clamping arm, horizontal link, fastening pressure bar and positioning pressure bar, so as to prevent the four-bar linkage from exceeding the dead point and thus failing to clamp.

[0091] like Figure 3 and Figure 4 As shown, in this embodiment, the second clamping arm 2 further includes a fastener 29 and several washers 210. The fastener 29 passes through the through hole of the second positioning part 21, and the through holes of the several washers 210 are threadedly connected to the positioning pressure rod 24. The extension height of the second positioning part 21 relative to the positioning pressure rod 24 in the clamping direction can be adjusted by adjusting the number of washers 210. By adjusting the number of washers 210, the extension height of the second positioning part 21 relative to the positioning pressure rod 24 in the clamping direction can be adjusted, which is simple and convenient to operate. Of course, in other embodiments, other methods can also be used to adjust the height of the second positioning part, for example, by using bolts, lead screws, or racks to adjust the extension height of the second positioning part.

[0092] In this embodiment, the first gripping arm 1 is made of a non-metallic material. The non-metallic material of the first gripping arm 1 enables insulation between the puncture cannula 10 and the robotic arm 20, ensuring safety.

[0093] Of course, in other embodiments, the first clamping arm may also be made of metal.

[0094] like Figures 1-4As shown, in this embodiment, the second clamping arm 2 further includes a reinforcing link 211, with its two ends hinged to the first shaft 25 and the fourth shaft 28, respectively. By providing the reinforcing link 211, the strength between the first shaft 25 and the fourth shaft 28 is enhanced, improving the clamping effect and compensating for the insufficient strength of the first clamping arm 1, especially since the first clamping arm 1 is made of non-metallic material. By providing the reinforcing link, the insulation requirements between the piercing sleeve 10 and the robotic arm 20 are ensured, and the insufficient strength of the first clamping arm 1 is also compensated for.

[0095] like Figures 1-6 As shown, in this embodiment, the second clamping arm 2 further includes a handle assembly, which includes a wrench 212. The wrench 212 has a gripping portion 2121, a hinge portion 2122, and an abutment portion 2123 arranged sequentially along its length. The hinge portion 2122 is hinged to the force-applying portion 231. The wrench 212 is hinged to the force-applying portion 231 through the hinge portion 2122, allowing the wrench 212 to be flipped so that the clamping lever 23 can be operated through the gripping portion 2121 of the wrench 212, causing the clamping lever 23 to descend or rise, thereby realizing the clamping or releasing operation of the second clamping arm 2.

[0096] like Figures 1-6 As shown, in this embodiment, the abutment portion 2123 is correspondingly arranged with the horizontal connecting rod 22. When the wrench 212 is flipped, the abutment portion 2123 abuts against the horizontal connecting rod 22, causing the second shaft 26, the third shaft 27, and the fourth shaft 28 to deviate from the same straight line, thereby unlocking. By flipping the wrench 212, the abutment portion 2123 of the wrench 212 pushes against the horizontal connecting rod 22, causing the four-bar linkage to deviate from the dead point position, thereby unlocking. The operation is simple and effortless.

[0097] like Figure 5 and Figure 6 As shown, in this embodiment, the handle assembly further includes an elastic element 213 and a limiting member 214. The limiting member 214 is installed on the force-applying part 231, and the elastic element 213 is disposed between the wrench 212 and the force-applying part 231. The elastic element 213 applies a force such that the wrench 212 abuts against the limiting member 214 and the wrench 212 and the force-applying part 231 are on the same plane. The limiting member 214 is used to limit the rotation angle of the wrench 212. Under the action of the elastic element 213, the wrench 212 is in an initial position on the same plane as the force-applying part 231, which increases the surface area of ​​the force-applying part 231, making it easier to press down the wrench 212 and engage the lever 23 by hand. When the wrench 212 is rotated to a position with an appropriate angle to engage the lever 23, it is easy to hold and operate the lever 23 by hand.

[0098] like Figures 1-6As shown, in this embodiment, there are two handle assemblies, which are symmetrically arranged at both ends of the force-applying part 231 relative to the horizontal connecting rod 22. Providing handle assemblies at both ends of the force-applying part 231 increases the area and location of force application, making it easier for the user to operate the gripper. It also ensures that the force-applying part 231 is subjected to uniform force, improving the smoothness of the movement of the second gripping arm 2.

[0099] To improve the anti-slip effect, the wrench 212 is also equipped with anti-slip texture.

[0100] like Figure 1 As shown, this embodiment also discloses a surgical robot, which includes a robotic arm 20 and a gripper as described above. The gripper is mounted on the robotic arm 20, and the robotic arm 20 has a mounting groove. The first gripping arm 1 of the gripper is mounted in the mounting groove. By mounting the first gripping arm 1 in the mounting groove of the robotic arm 20, the outer shell containing the mounting groove can strengthen the first gripping arm 1, especially when the first gripping arm 1 is made of a non-metallic material, the strength enhancement effect is particularly significant.

[0101] like Figure 3 and Figure 4 As shown, circuit board 30 is mounted between robotic arm 20 and first gripping arm 1. Circuit board 30 identifies the type of puncture cannula 10 via a Hall sensor.

[0102] In the description herein, it should be understood that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and simplifying the description, 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.

[0103] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A clamp for securing a puncture cannula, the puncture cannula having a first positioning portion, characterized in that, The clamp includes a cannula clamping assembly, which includes a first clamping arm and a second clamping arm. The first clamping arm or the second clamping arm has a second positioning part that cooperates with the first positioning part. When the puncture cannula is placed between the first clamping arm and the second clamping arm and clamped together, the first positioning part and the second positioning part abut and cooperate for positioning.

2. The clamp as described in claim 1, characterized in that, The first positioning part is a conical protrusion, and the second positioning part is a conical groove; Alternatively, the first positioning part is a conical groove, and the second positioning part is a conical protrusion.

3. The clamp as described in claim 1, characterized in that, The clamping surface of the first clamping arm has a U-shaped groove in the same direction as the extension of the first clamping arm. The inner cavity of the U-shaped groove matches the shape of the protrusion of the puncture cannula. The U-shaped groove is used to accommodate the protrusion. The first positioning part is provided on the protrusion.

4. The clamp as described in claim 3, characterized in that, A guide structure is provided in the U-shaped groove. The guide structure is in the same direction as the extension of the first clamping arm and is used to make the protrusion slide along the extension direction of the first clamping arm.

5. The clamp as described in claim 4, characterized in that, The guide structure is a flange, which extends in the same direction as the first clamping arm, and the two flanges are respectively disposed on the opposite side walls of the U-shaped groove.

6. The clamp as claimed in claim 1, characterized in that, The second clamping arm includes a horizontal connecting rod, a locking lever, and a positioning lever. The first end of the horizontal connecting rod is hinged to the first end of the first clamping arm via a first shaft. The second end of the horizontal connecting rod is hinged to the first end of the locking lever via a second shaft. The second end of the locking lever is hinged to the first end of the positioning lever via a third shaft. The second end of the positioning lever is hinged to the second end of the first clamping arm via a fourth shaft. The locking lever has a force-applying portion, and the second positioning portion is connected to the positioning lever. When the second clamping arm moves to the clamping position, the second axis, the third axis and the fourth axis are on the same straight line.

7. The clamp as described in claim 6, characterized in that, The extension height of the second positioning part relative to the positioning pressure rod in the clamping direction is adjustable; And / or, the horizontal connecting rod is provided with a limiting structure, which is used to abut against the upper surface of the positioning pressure rod.

8. The clamp as claimed in claim 7, characterized in that, The second clamping arm also includes a fastener and several shims. The fastener passes through the through hole of the second positioning part, and the through holes of the several shims are threadedly connected to the positioning pressure rod. The extension height of the second positioning part relative to the positioning pressure rod in the clamping direction can be adjusted by adjusting the number of shims.

9. The clamp as claimed in claim 6, characterized in that, The first clamping arm is made of non-metallic material.

10. The clamp as claimed in claim 9, characterized in that, The second clamping arm also includes a reinforcing link, the two ends of which are respectively hinged to the first shaft and the fourth shaft.

11. The clamp as claimed in claim 6, characterized in that, The second clamping arm further includes a handle assembly, which includes a wrench having a gripping portion, a hinge portion, and an abutment portion arranged sequentially along its length, the hinge portion being hinged to the force-applying portion.

12. The clamp as claimed in claim 11, characterized in that, The abutment portion is correspondingly arranged with the horizontal connecting rod. When the wrench is flipped, the abutment portion can abut against the horizontal connecting rod, so that the second axis, the third axis and the fourth axis deviate from the same straight line, thereby unlocking.

13. The clamp as claimed in claim 12, characterized in that, The handle assembly further includes an elastic element and a limiting member. The limiting member is installed on the force-applying part, and the elastic element is disposed between the wrench and the force-applying part. The elastic element applies a force such that the wrench abuts against the limiting member and the wrench and the force-applying part are located on the same plane.

14. The clamp as claimed in claim 13, characterized in that, The number of handle assemblies is two, and the two handle assemblies are symmetrically arranged at both ends of the force-applying part relative to the horizontal connecting rod.

15. A surgical robot, characterized in that, The surgical robot includes a robotic arm and a gripper as described in any one of claims 1-14, the gripper being mounted on the robotic arm, the robotic arm having a mounting slot, and a first gripping arm of the gripper being mounted in the mounting slot.

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