An intelligent robot arm for holding a medical instrument

Abstract

The application discloses a kind of intelligent mechanical arm for clamping medical instrument, it is related to medical clamping instrument technical field, including gripper, a pair of clamping jaw is provided on gripper;Each clamping jaw is provided with a pair of clamping finger surface component.The application is provided by setting clamping finger surface component, wedge-shaped finger surface block can slide in wedge-shaped guide groove, and reset by reset compression spring Provide reset action;When the instrument to be clamped relative gripper generates slip tendency, the clamping surface of wedge-shaped finger surface block can be close to the axis of the instrument to be clamped with its displacement in wedge-shaped guide groove, to form mechanical clamping compensation with slip tendency cooperation, it is favorable to continuously inhibit the cumulative slip of medical instrument, while avoiding only relying on increasing clamping force to maintain clamping stability.

Description

Technical Field

[0001] This invention relates to the field of medical clamping device technology, and in particular to an intelligent robotic arm for clamping medical devices. Background Technology

[0002] With the continuous development of medical robot technology, intelligent robotic arms are increasingly widely used in the field of surgery. Their end effectors are used to hold various medical instruments such as puncture needles, surgical scissors, needle holders, and surgical forceps, assisting or replacing doctors in performing precise operations. During prolonged surgeries, the gripper needs to maintain the stable positional accuracy of the medical instruments; the contact state between its finger surfaces and the instrument surfaces directly affects surgical safety and operational precision. Existing intelligent robotic arms for holding medical instruments typically employ force feedback control, anti-slip textured finger surfaces, or flexible material coatings to improve gripping stability. Some products are also equipped with visual recognition systems to assist in instrument positioning and posture adjustment. However, existing intelligent robotic arms for holding medical instruments still have the following shortcomings during use: During prolonged surgical procedures, bodily fluids such as blood, saline solution, and tissue fluid from the surgical area can easily seep between the gripper fingers and the surface of the medical device, forming a lubricating interface. This leads to micro-slippage at the micrometer level with each gripping adjustment or when the device is subjected to force. While the amplitude of each individual slippage is extremely small, typically below the force sensor detection threshold, and difficult for intelligent control systems to identify and compensate for in real time, the cumulative slippage can reach the millimeter level after dozens or even hundreds of operations. This causes the medical device to move axially or circumferentially relative to the gripper, resulting in the instrument's end-effector deviating from the planned surgical path, affecting surgical precision, and potentially causing accidental damage to surrounding healthy tissues in severe cases. Existing technologies often address slippage by increasing the gripping force or the coefficient of friction of the fingers. However, increasing the gripping force can easily damage precision medical devices or cause the sterile barrier membrane to rupture. Flexible material coatings also experience rapid performance degradation after repeated high-temperature and high-pressure sterilization and increase cleaning dead zones. Summary of the Invention

[0003] The purpose of this application is to provide an intelligent robotic arm for gripping medical devices, which can effectively solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this application provides the following technical solution: an intelligent robotic arm for gripping medical devices, comprising a gripper with a pair of grippers; each gripper has a pair of gripping finger surfaces; the gripping finger surface assembly includes: a wedge-shaped finger surface block, a reset compression spring, and a flow guiding assembly; a pair of wedge-shaped guide grooves are formed on the grippers, and the wedge-shaped finger surface block is slidably connected to the wedge-shaped guide grooves; the length direction of the wedge-shaped guide groove is set at a certain angle with the axis of the gripped device; when the wedge-shaped finger surface block is in the wedge-shaped guide groove... When sliding within the guide groove, the clamping surface of the wedge-shaped finger block approaches or moves away from the axis of the clamped instrument; a reset compression spring is disposed within the wedge-shaped guide groove, with one end connected to the wedge-shaped finger block and the other end connected to the wedge-shaped guide groove; when the reset compression spring loses its restraint, it drives the wedge-shaped finger block to move, so that the wedge-shaped finger block returns to its initial position within the wedge-shaped guide groove; a flow guiding assembly is disposed within the wedge-shaped guide groove and is used to automatically collect the liquid accumulated within the wedge-shaped guide groove.

[0005] Preferably, the flow guiding component includes a one-way drain valve; multiple flow guiding micro-grooves are formed in the wedge-shaped guide groove, and a liquid collection chamber communicating with the multiple flow guiding micro-grooves is formed in the gripper; the one-way drain valve is set at the outlet of the liquid collection chamber; when liquid accumulates in the wedge-shaped guide groove, the liquid is guided into the liquid collection chamber along the flow guiding micro-grooves under the action of gravity; as the liquid in the liquid collection chamber increases, the pressure in the liquid collection chamber increases, thereby driving the one-way drain valve to automatically open and discharge the liquid.

[0006] Preferably, the gripper is provided with an electromagnetic unlocking component; the electromagnetic unlocking component is used to drive the wedge-shaped finger block to slide along the wedge-shaped guide groove in the wedge-shaped opening direction, thereby releasing the locked clamping state of the wedge-shaped finger block.

[0007] Preferably, the electromagnetic unlocking assembly includes multiple electromagnetic drive coil windings, an armature push rod, and a bushing; the electromagnetic drive coil windings are disposed on the gripper, one end of the armature push rod is connected to the wedge-shaped finger block, and the other end of the armature push rod is inserted into the inner ring of the electromagnetic drive coil windings, with the axis of the armature push rod parallel to the length direction of the wedge-shaped guide groove; the bushing is fixed to the inner ring of the electromagnetic drive coil windings and is coaxially sleeved on the armature push rod.

[0008] Preferably, a mounting block is provided on one side of the wedge-shaped finger block, and the armature push rod is hinged to the wedge-shaped finger block through the mounting block.

[0009] Preferably, a buffer component is provided at one end of the wedge-shaped finger block away from the electromagnetic drive coil winding; the buffer component is used to buffer the impact between the wedge-shaped finger block and the side wall of the wedge-shaped guide groove when the wedge-shaped finger block slides to the end of the stroke, thereby reducing the vibration generated by the clamp.

[0010] Preferably, the buffer assembly includes a connecting shaft and a buffer rubber block; the connecting shaft is located on the side of the wedge-shaped finger block away from the electromagnetic drive coil winding, and the buffer rubber block is coaxially located on the connecting shaft.

[0011] Preferably, the gripper is provided with a pre-tightening adjustment component; the pre-tightening adjustment component is used to adjust the initial position of the wedge-shaped finger block in the wedge-shaped guide groove.

[0012] Preferably, the preload adjustment assembly includes a threaded adjustment screw and a rotating block; the threaded adjustment screw is threadedly inserted into the jaws, the rotating block is coaxially connected to the threaded adjustment screw around its axis, and one end of the reset compression spring is fixed to the rotating block, and the other end of the reset compression spring is fixed to the wedge-shaped finger block; the end of the threaded adjustment screw away from the rotating block is provided with multiple anti-slip grooves around its circumference.

[0013] Preferably, the clamp is equipped with a controller, and the controller is connected to the electromagnetic drive coil winding via signal control.

[0014] In summary, the technical effects and advantages of this invention are as follows: This invention, by setting up a clamping finger assembly, allows the wedge-shaped finger block to slide within a wedge-shaped guide groove, with a reset function provided by a reset compression spring. When the clamped device tends to slip relative to the gripper, the clamping surface of the wedge-shaped finger block can move closer to the axis of the clamped device as it moves within the wedge-shaped guide groove, thereby forming a mechanical clamping compensation that matches the slippage tendency. This helps to continuously suppress the cumulative slippage of the medical device, while avoiding the need to rely solely on increasing the clamping force to maintain clamping stability.

[0015] This invention, by setting up a flow guiding component, flow guiding micro-grooves, a liquid collection and storage cavity, and a one-way drain valve, enables the liquid entering the wedge-shaped guide groove to flow into the liquid collection and storage cavity along multiple flow guiding micro-grooves under the action of gravity. When the liquid in the liquid collection and storage cavity increases and the pressure increases, the one-way drain valve is automatically opened to drain the liquid, thereby reducing the continuous accumulation of liquid in the wedge-shaped guide groove, which is beneficial to maintaining the sliding space of the wedge-shaped finger block and facilitating the centralized treatment of the collected liquid.

[0016] This invention, by setting up an electromagnetic unlocking component, an electromagnetic drive coil winding, an armature push rod, a bushing, and a mounting block, enables the electromagnetic drive coil winding to drive the wedge-shaped finger block to slide along the wedge-shaped guide groove in the wedge-opening direction via the armature push rod; the bushing provides coaxial guidance to the armature push rod, and the hinged relationship of the mounting block adapts to the relative rotation during the transmission process, thereby releasing the locked clamping state of the wedge-shaped finger block, which is beneficial for controlled unlocking when medical devices need to be replaced or released.

[0017] This invention, by setting up a buffer assembly, a connecting shaft, a buffer rubber block, a preload adjustment assembly, a threaded adjustment screw, and a rotating block, enables the buffer rubber block to withstand and mitigate the impact when the wedge-shaped finger block reaches the end of its stroke. At the same time, by changing the connection position of the reset compression spring and the initial position of the wedge-shaped finger block through the threaded movement of the threaded adjustment screw relative to the gripper, it takes into account both vibration reduction at the end of the movement and adjustment of the initial clamping state, which is beneficial to maintaining the stability of the gripper's operation and improving its adaptability to different clamping states. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a first-view perspective three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the overall second-view three-dimensional structure of the present invention; Figure 3 This is a three-dimensional structural diagram of the gripper of the present invention; Figure 4 This is a partial cross-sectional three-dimensional structural diagram of the gripper of the present invention from a first perspective; Figure 5 This is a partial cross-sectional three-dimensional structural diagram of the gripper of the present invention from a second perspective; Figure 6 This is a three-dimensional schematic diagram of a portion of the structure of the finger-holding assembly of the present invention; Figure 7 This is a three-dimensional structural diagram of the wedge-shaped finger block of the present invention from a first perspective; Figure 8 This is a three-dimensional structural diagram of the wedge-shaped finger block of the present invention from a second perspective; Figure 9 This is a three-dimensional structural schematic diagram of the pre-tightening adjustment component of the present invention; Figure 10 This is a three-dimensional structural diagram of the electromagnetic drive coil winding of the present invention.

[0020] In the diagram: 1. Clamping device; 2. Gripper; 3. Gripper finger assembly; 31. Wedge-shaped guide groove; 32. Wedge-shaped finger block; 33. Reset compression spring; 34. Flow guiding assembly; 341. Flow guiding micro-groove; 342. Liquid collection chamber; 343. One-way drain valve; 4. Electromagnetic unlocking assembly; 41. Electromagnetic drive coil winding; 42. Armature push rod; 43. Bushing; 44. Mounting block; 45. Buffer assembly; 451. Connecting shaft; 452. Buffer rubber block; 5. Pre-tightening adjustment assembly; 51. Threaded adjusting screw; 52. Rotating block; 53. Anti-slip groove. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: See Figures 1-5 The illustrated intelligent robotic arm for gripping medical devices includes a gripper 1 with a pair of grippers 2. Each gripper 2 has a pair of gripping finger surfaces 3. The gripping finger surface 3 includes wedge-shaped finger surfaces 32, a return compression spring 33, and a flow guiding assembly 34. A pair of wedge-shaped guide grooves 31 are formed on the grippers 2. The wedge-shaped finger surfaces 32 are slidably connected to the wedge-shaped guide grooves 31, and the length direction of the wedge-shaped guide grooves 31 forms a certain angle with the axis of the gripped device. The return compression spring 33 is disposed within the wedge-shaped guide grooves 31, with one end connected to the wedge-shaped finger surfaces 32 and the other end connected to the wedge-shaped guide grooves 31. The flow guiding assembly 34 is disposed within the wedge-shaped guide grooves 31 for automatically collecting liquid accumulated within the wedge-shaped guide grooves 31.

[0023] It should be noted that when clamping a medical device, a pair of grippers 2 cooperate to bring the wedge-shaped finger blocks 32 of each clamping finger assembly 3 into contact with the clamped device. When the clamped device is subjected to axial force and tends to slide relative to the gripper 1, the wedge-shaped finger blocks 32 in contact with the clamped device can slide relative to each other along the wedge-shaped guide groove 31. Since the length direction of the wedge-shaped guide groove 31 forms a certain angle with the axis of the clamped device, the sliding displacement of the wedge-shaped finger blocks 32 can be converted into the displacement of its clamping surface towards or away from the axis of the clamped device. When the wedge-shaped finger blocks 32 move towards the axis of the clamped device, the clamping constraint is mechanically compensated. After the clamping constraint is released, the reset compression spring 33 drives the wedge-shaped finger blocks 32 to move, so that the wedge-shaped finger blocks 32 return to their initial position in the wedge-shaped guide groove 31.

[0024] The engagement of the wedge-shaped guide groove 31 and the wedge-shaped finger block 32 transforms the slippage tendency of the clamped device into a change in the position of the clamping surface, allowing the clamping finger assembly 3 to mechanically compensate for the clamping state without solely relying on continuously increasing the clamping force of the clamper 1. The reset compression spring 33 restores the wedge-shaped finger block 32 to its initial position after the restriction is released, facilitating the repeated clamping and reset actions of the clamping finger assembly 3. The flow guiding assembly 34 collects the liquid accumulated in the wedge-shaped guide groove 31, thereby reducing the continuous impact of the accumulated liquid on the sliding engagement of the wedge-shaped finger block 32 and helping to maintain the stability of the medical device clamping process.

[0025] See Figures 4-5 The flow guiding component 34 includes a one-way drain valve 343. Multiple flow guiding micro-channels 341 are formed within the wedge-shaped guide groove 31, and a liquid collection chamber 342 communicating with the multiple flow guiding micro-channels 341 is formed within the gripper 2. The one-way drain valve 343 is located at the outlet of the liquid collection chamber 342. The flow guiding micro-channels 341, the liquid collection chamber 342, and the one-way drain valve 343 sequentially form a passage for discharging liquid outward from the wedge-shaped guide groove 31, and cooperate with the sliding area of ​​the wedge-shaped finger block 32 in Embodiment 1.

[0026] It should be noted that when fluid from the surgical area enters the wedge-shaped guide groove 31 and accumulates within it, the fluid, under the influence of gravity, enters the guiding micro-groove 341 and then flows along the guiding micro-groove 341 into the fluid collection chamber 342, which is connected to it. As the amount of fluid in the fluid collection chamber 342 increases, the pressure within the fluid collection chamber 342 increases. This increased pressure acts on the one-way drain valve 343 at the outlet of the fluid collection chamber 342, thereby driving the one-way drain valve 343 to automatically open and discharge the fluid. After the one-way drain valve 343 has completed the discharge, it still maintains the unidirectional discharge direction, allowing the fluid to leave the fluid collection chamber 342 along a predetermined path.

[0027] Multiple guide microchannels 341 direct liquid accumulation at different positions in the wedge-shaped guide channel 31 to the collection chamber 342, where the liquid is collected in a relatively concentrated manner. A one-way drain valve 343 automatically drains the liquid using pressure changes within the collection chamber 342. This combination reduces the prolonged retention of liquid in the wedge-shaped guide channel 31, thus maintaining the sliding space between the wedge-shaped guide channel 31 and the wedge-shaped finger block 32, and facilitating centralized processing and subsequent cleaning of the drained liquid.

[0028] See Figure 4 and Figure 6The gripper 2 is equipped with an electromagnetic unlocking component 4, which works in conjunction with the gripping finger surface component 3. The electromagnetic unlocking component 4 drives the wedge-shaped finger surface block 32 to slide along the wedge-shaped guide groove 31 in the wedge-opening direction, thereby releasing the locked gripping state of the wedge-shaped finger surface block 32. This arrangement ensures that the gripping compensation action and the active unlocking action of the wedge-shaped finger surface block 32 are achieved by mechanical cooperation and the electromagnetic unlocking component 4, respectively.

[0029] It should be noted that when the gripper 1 needs to release or replace the medical device, the electromagnetic unlocking component 4 is activated. The electromagnetic unlocking component 4 applies a driving force along the length of the wedge-shaped guide groove 31 to the wedge-shaped finger block 32. Under the action of this driving force, the wedge-shaped finger block 32 slides in the wedge-opening direction, and its clamping surface moves away from the axis of the clamped device according to the wedge-shaped guide relationship, thus gradually releasing the locked clamping state of the wedge-shaped finger block 32. After the release operation is completed and the driving restriction of the electromagnetic unlocking component 4 is removed, the reset compression spring 33 can continue to participate in the reset process of the wedge-shaped finger block 32.

[0030] The electromagnetic unlocking component 4 directly applies the active driving force to the opening direction movement of the wedge-shaped finger block 32, which can overcome the holding effect of the wedge-shaped finger block 32 when it is in a locked clamping state, thereby enabling the clamp 1 to release the clamp as required. This active unlocking method, in conjunction with the reset action of the reset compression spring 33, helps to clearly distinguish between the clamping compensation, active unlocking, and the reset process after the restriction is lifted, facilitating the controlled release of the medical device and subsequent re-clamping.

[0031] See Figure 6 and Figure 10 The electromagnetic unlocking assembly 4 includes multiple electromagnetic drive coil windings 41, an armature push rod 42, and a bushing 43. The electromagnetic drive coil windings 41 are disposed on the gripper 2. One end of the armature push rod 42 is connected to the wedge-shaped finger block 32, and the other end of the armature push rod 42 is inserted into the inner ring of the electromagnetic drive coil windings 41. The axis of the armature push rod 42 is parallel to the length direction of the wedge-shaped guide groove 31. The bushing 43 is fixed to the inner ring of the electromagnetic drive coil windings 41 and is coaxially sleeved on the armature push rod 42.

[0032] It should be noted that after the electromagnetic drive coil winding 41 is started, it generates an electromagnetic drive effect on the armature push rod 42 inserted into the inner ring of the electromagnetic drive coil winding 41, causing the armature push rod 42 to move along its axis. Since the axis of the armature push rod 42 is parallel to the length direction of the wedge-shaped guide groove 31, the axial displacement of the armature push rod 42 can be transmitted to the wedge-shaped finger block 32, and drive the wedge-shaped finger block 32 to slide along the wedge-shaped guide groove 31 in the wedge-opening direction. During the movement of the armature push rod 42, the bushing 43 provides coaxial guidance for the armature push rod 42, so that the movement directions of the electromagnetic drive coil winding 41, the armature push rod 42, and the wedge-shaped guide groove 31 are coordinated with each other.

[0033] Multiple electromagnetic drive coil windings 41 correspond to the unlocking transmission positions of the clamping finger assembly 3, respectively. The armature push rod 42 converts the electromagnetic drive action into the linear displacement of the wedge-shaped finger block 32, while the bushing 43 restricts the lateral offset of the armature push rod 42 during movement. This ensures that the direction of action of the electromagnetic unlocking assembly 4 is consistent with the predetermined sliding direction of the wedge-shaped finger block 32, thereby improving the controllability of the unlocking action and reducing the impact of transmission misalignment on the sliding fit of the wedge-shaped guide groove 31.

[0034] See Figure 6 and Figure 8 A mounting block 44 is provided on one side of the wedge-shaped finger block 32, and the armature push rod 42 and the wedge-shaped finger block 32 are hinged together by the mounting block 44. The mounting block 44 is located on the force transmission path between the armature push rod 42 and the wedge-shaped finger block 32, so that the axial driving force of the armature push rod 42 is transmitted to the wedge-shaped finger block 32 through the mounting block 44.

[0035] It should be noted that when the armature push rod 42 moves along the axis driven by the electromagnetic drive coil winding 41, the armature push rod 42 drives the wedge-shaped finger block 32 to slide along the wedge-shaped guide groove 31 through the mounting block 44. Since the armature push rod 42 and the wedge-shaped finger block 32 are hinged through the mounting block 44, when the wedge-shaped finger block 32 moves along the wedge-shaped guide groove 31 with a certain included angle and produces a relative position change, the hinge can undergo a relative rotation that adapts to the position change, avoiding the direct transmission of the entire relative rotation angle as the lateral displacement of the armature push rod 42.

[0036] The hinged connection of mounting block 44 maintains the transmission of driving force between armature push rod 42 and wedge-shaped finger block 32, while also allowing relative rotation when the direction of movement changes. This facilitates the smooth conversion of axial movement of armature push rod 42 into sliding of wedge-shaped finger block 32 along wedge-shaped guide groove 31. This connection method reduces the possibility of lateral constraints during transmission and helps maintain the repeated unlocking action of electromagnetic unlocking assembly 4.

[0037] See Figures 6-7 A buffer assembly 45 is provided at one end of the wedge-shaped finger block 32 away from the electromagnetic drive coil winding 41. The buffer assembly 45 is located on the side of the wedge-shaped finger block 32 facing the end of the stroke, and is used to buffer the impact between the wedge-shaped finger block 32 and the side wall of the wedge-shaped guide groove 31 when the wedge-shaped finger block 32 slides to the end of the stroke, thereby reducing the vibration generated by the clamp 1.

[0038] It should be noted that during the process of the electromagnetic drive coil winding 41 sliding the wedge-shaped finger block 32 in the wedge-opening direction driven by the armature push rod 42, the wedge-shaped finger block 32 gradually approaches the end of the stroke of the wedge-shaped guide groove 31. When the wedge-shaped finger block 32 reaches the end of the stroke, the buffer assembly 45 first bears the contact action between the rigid part of the wedge-shaped finger block 32 and the side wall of the wedge-shaped guide groove 31, and reduces the instantaneous impact formed when the wedge-shaped finger block 32 stops moving through the buffering process, thereby reducing the transmission of the impact to the gripper 2 and the clamp 1.

[0039] The buffer assembly 45 is located at the end of the stroke of the wedge-shaped finger block 32, where it is subjected to force. It can directly act on the collision process between the wedge-shaped finger block 32 and the side wall of the wedge-shaped guide groove 31, so that the movement of the wedge-shaped finger block 32 is slowed down when it reaches the end. This reduces the vibration of the gripper 1 caused by the unlocking action, which helps to reduce the disturbance of the vibration to other gripping positions of the gripper 1 and the release process of the medical device.

[0040] See Figures 6-7 The buffer assembly 45 includes a connecting shaft 451 and a buffer rubber block 452. The connecting shaft 451 is disposed on the side of the wedge-shaped finger block 32 away from the electromagnetic drive coil winding 41, and the buffer rubber block 452 is coaxially disposed on the connecting shaft 451. The connecting shaft 451 positions the buffer rubber block 452 in the force direction at the end of the stroke of the wedge-shaped finger block 32, so that the buffer rubber block 452 can cooperate with the corresponding sidewall of the wedge-shaped guide groove 31.

[0041] It should be noted that when the wedge-shaped finger block 32 approaches the end of the stroke of the wedge-shaped guide groove 31 under the drive of the armature push rod 42, the buffer rubber block 452, coaxially mounted on the connecting shaft 451, first contacts the corresponding side wall of the wedge-shaped guide groove 31. As the wedge-shaped finger block 32 continues to produce end displacement, the buffer rubber block 452 bears the contact pressure and buffers the remaining movement of the wedge-shaped finger block 32, thereby reducing the direct impact between the rigid part of the wedge-shaped finger block 32 and the side wall of the wedge-shaped guide groove 31.

[0042] The connecting shaft 451 provides coaxial positioning for the buffer rubber block 452, ensuring that the force-bearing position of the buffer rubber block 452 corresponds to the movement direction of the wedge-shaped finger block 32, thus preventing the buffer rubber block 452 from deviating from the predetermined collision area. The buffer rubber block 452 reduces the impact transmission at the end of its stroke through its buffering effect, thereby further reducing the vibration of the gripper 2 and the clamp 1, and contributing to maintaining the motion stability of the electromagnetic unlocking assembly 4 during continuous operation.

[0043] See Figures 4-6 and Figure 9The gripper 2 is equipped with a preload adjustment component 5, which cooperates with the initial state of the reset compression spring 33 and the wedge-shaped finger block 32. The preload adjustment component 5 is used to adjust the initial position of the wedge-shaped finger block 32 in the wedge-shaped guide groove 31, so that the clamping surface of the wedge-shaped finger block 32 can change its initial position relative to the axis of the clamped instrument according to the predetermined clamping state.

[0044] It should be noted that before clamping the medical device, the initial position of the wedge-shaped finger block 32 within the wedge-shaped guide groove 31 is changed by operating the pre-tightening adjustment component 5. After the wedge-shaped finger block 32 generates an initial displacement along the wedge-shaped guide groove 31, the position of its clamping surface relative to the axis of the clamped device changes with the wedge-shaped guide relationship, and the connection state of the reset compression spring 33 adapts to this initial position. After the adjustment is completed, a pair of grippers 2 drive the clamping finger assembly 3 to contact and clamp the medical device, so that subsequent mechanical clamping compensation starts from the adjusted initial position.

[0045] The pre-tightening adjustment component 5 can change the initial position of the wedge-shaped finger block 32 before formal clamping, so that the initial clamping state of the clamping finger assembly 3 has an adjustment margin. By combining this initial position adjustment with the guiding effect of the wedge-shaped guide groove 31 and the reset effect of the reset compression spring 33, the clamper 1 can maintain the corresponding compensation stroke in different initial clamping states, thereby improving the adaptability of the clamping finger assembly 3 to different clamping states.

[0046] Example 2: The technical solution of this example differs from that of Example 1 in that, as described in the following... Figure 4 and Figure 9 The preload adjustment assembly 5 includes a threaded adjusting screw 51 and a rotating block 52. The threaded adjusting screw 51 is threaded into the gripper 2, and the rotating block 52 is coaxially connected to the threaded adjusting screw 51 around its axis. One end of the return compression spring 33 is fixed to the rotating block 52, and the other end of the return compression spring 33 is fixed to the wedge-shaped finger block 32. Multiple anti-slip grooves 53 are formed around the circumference of the end of the threaded adjusting screw 51 away from the rotating block 52.

[0047] It should be noted that when adjusting the initial position of the wedge-shaped finger block 32, a rotational action is applied to the threaded adjusting screw 51 through multiple anti-slip grooves 53. Due to its threaded connection with the clamp 2, the threaded adjusting screw 51 undergoes an axial position change relative to the clamp 2. This axial position change of the threaded adjusting screw 51 causes the rotating block 52 to change position. The rotating block 52, in turn, applies an action to the wedge-shaped finger block 32 via the return compression spring 33, thus adjusting the initial position of the wedge-shaped finger block 32 within the wedge-shaped guide groove 31. The rotating block 52 can rotate coaxially with the threaded adjusting screw 51 around its axis, thereby adapting to the relative movement between the threaded adjusting screw 51 and the return compression spring 33 during the rotation adjustment process.

[0048] The threaded engagement between the threaded adjusting screw 51 and the gripper 2 converts rotational operation into axial position change, which is transmitted to the wedge-shaped finger block 32 via the rotating block 52 and the return compression spring 33. This provides a continuous mechanical transmission path for the initial position adjustment of the wedge-shaped finger block 32. The coaxial rotational connection of the rotating block 52 helps reduce the additional torsion on the return compression spring 33 when the threaded adjusting screw 51 rotates. The multiple anti-slip grooves 53 facilitate the application of rotational operation to the threaded adjusting screw 51, thereby improving the operational convenience and adjustment stability of the preload adjustment assembly 5.

[0049] See Figures 1-4 and Figure 6 The gripper 1 is equipped with a controller, which is connected to the electromagnetic drive coil winding 41 via signal control. The controller is used to provide corresponding control signals to the electromagnetic drive coil winding 41, so that the electromagnetic drive action of the electromagnetic unlocking component 4 can be coordinated with the medical device release operation of the gripper 1; it is understood that the controller is existing technology and will not be described in detail.

[0050] It should be noted that when the gripper 1 needs to release the locked gripping state of the wedge-shaped finger block 32, the controller outputs a control signal to the electromagnetic drive coil winding 41. Under the action of the control signal, the electromagnetic drive coil winding 41 starts and drives the armature push rod 42 to move along the axis. The armature push rod 42 drives the wedge-shaped finger block 32 to slide along the wedge-shaped guide groove 31 in the wedge-opening direction through the mounting block 44, so that the gripping surface of the wedge-shaped finger block 32 gradually moves away from the axis of the gripped instrument, completing the controlled unlocking. After the corresponding control signal is stopped, the electromagnetic drive restriction is released, and the reset compression spring 33 can drive the wedge-shaped finger block 32 to return to its initial position.

[0051] The signal control connection between the controller and the electromagnetic drive coil winding 41 provides the electromagnetic unlocking assembly 4 with a clear control entry point, enabling the electromagnetic drive to be started or stopped according to the release requirements of the clamp 1. The control signal is sequentially converted and transmitted through the electromagnetic drive coil winding 41, armature push rod 42, and mounting block 44 into the sliding displacement of the wedge-shaped finger block 32, thereby achieving controlled release of the locked clamping state. This control process, in conjunction with the mechanical reset process of the reset compression spring 33, facilitates repeatable unlocking and reset actions.

[0052] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent robotic arm for gripping medical devices, comprising a gripper (1) having a pair of grippers (2) disposed thereon; characterized in that, Each of the grippers (2) is provided with a pair of gripping finger surfaces (3); the gripping finger surfaces (3) include: A wedge-shaped finger block (32) is provided with a pair of wedge-shaped guide grooves (31) on the gripper (2). The wedge-shaped finger block (32) is slidably connected to the wedge-shaped guide grooves (31). The length direction of the wedge-shaped guide grooves (31) is set at a certain angle with the axis of the clamped instrument. When the wedge-shaped finger block (32) slides in the wedge-shaped guide grooves (31), the clamping surface of the wedge-shaped finger block (32) is close to or far away from the axis of the clamped instrument. A reset compression spring (33) is disposed in a wedge-shaped guide groove (31). One end of the reset compression spring (33) is connected to a wedge-shaped finger block (32), and the other end of the reset compression spring (33) is connected to the wedge-shaped guide groove (31). When the reset compression spring (33) loses its restraint, the reset compression spring (33) is used to drive the wedge-shaped finger block (32) to move so that the wedge-shaped finger block (32) returns to its initial position in the wedge-shaped guide groove (31). And a flow guide assembly (34), disposed in a wedge-shaped guide groove (31), for automatically collecting liquid accumulated in the wedge-shaped guide groove (31).

2. The intelligent robotic arm for gripping medical devices according to claim 1, characterized in that, The flow guiding component (34) includes a one-way drain valve (343); multiple flow guiding micro-grooves (341) are provided in the wedge-shaped guide groove (31), and a liquid collection chamber (342) communicating with the multiple flow guiding micro-grooves (341) is provided in the gripper (2). The one-way drain valve (343) is located at the outlet of the liquid collection chamber (342). When liquid accumulates in the wedge-shaped guide groove (31), the liquid is introduced into the liquid collection chamber (342) along the flow guiding micro-grooves (341) under the action of gravity. As the liquid in the liquid collection chamber (342) increases, the pressure in the liquid collection chamber (342) increases, thereby driving the one-way drain valve (343) to automatically open and discharge the liquid.

3. The intelligent robotic arm for gripping medical devices according to claim 1, characterized in that, The gripper (2) is provided with an electromagnetic unlocking component (4); the electromagnetic unlocking component (4) is used to drive the wedge-shaped finger block (32) to slide along the wedge-shaped guide groove (31) in the wedge-shaped opening direction, thereby releasing the locking state of the wedge-shaped finger block (32).

4. The intelligent robotic arm for gripping medical devices according to claim 3, characterized in that, The electromagnetic unlocking assembly (4) includes multiple electromagnetic drive coil windings (41), an armature push rod (42), and a bushing (43). The electromagnetic drive coil windings (41) are disposed on the gripper (2). One end of the armature push rod (42) is connected to the wedge-shaped finger block (32), and the other end of the armature push rod (42) is inserted into the inner ring of the electromagnetic drive coil windings (41). The axis of the armature push rod (42) is parallel to the length direction of the wedge-shaped guide groove (31). The bushing (43) is fixed to the inner ring of the electromagnetic drive coil windings (41), and the bushing (43) is coaxially sleeved on the armature push rod (42).

5. The intelligent robotic arm for gripping medical devices according to claim 4, characterized in that, A mounting block (44) is provided on one side of the wedge-shaped finger block (32), and the armature push rod (42) and the wedge-shaped finger block (32) are hinged together by the mounting block (44).

6. The intelligent robotic arm for gripping medical devices according to claim 4, characterized in that, A buffer assembly (45) is provided at one end of the wedge-shaped finger block (32) away from the electromagnetic drive coil winding (41); the buffer assembly (45) is used to buffer the impact between the wedge-shaped finger block (32) and the side wall of the wedge-shaped guide groove (31) when the wedge-shaped finger block (32) slides to the end of the stroke, thereby reducing the vibration generated by the clamp (1).

7. The intelligent robotic arm for gripping medical devices according to claim 6, characterized in that, The buffer assembly (45) includes a connecting shaft (451) and a buffer rubber block (452); the connecting shaft (451) is disposed on the side of the wedge-shaped finger block (32) away from the electromagnetic drive coil winding (41), and the buffer rubber block (452) is coaxially disposed on the connecting shaft (451).

8. The intelligent robotic arm for gripping medical devices according to claim 1, characterized in that, The gripper (2) is provided with a pre-tightening adjustment component (5); the pre-tightening adjustment component (5) is used to adjust the initial position of the wedge-shaped finger block (32) in the wedge-shaped guide groove (31).

9. The intelligent robotic arm for gripping medical devices according to claim 8, characterized in that, The preload adjustment assembly (5) includes a threaded adjustment screw (51) and a rotating block (52); the threaded adjustment screw (51) is threaded into the jaw (2), the rotating block (52) is coaxially connected to the threaded adjustment screw (51) around its axis, and one end of the reset compression spring (33) is fixed to the rotating block (52), and the other end of the reset compression spring (33) is fixed to the wedge-shaped finger block (32); the threaded adjustment screw (51) away from the rotating block (52) has multiple anti-slip grooves (53) around its periphery.

10. The intelligent robotic arm for gripping medical devices according to claim 4, characterized in that, The clamp (1) is equipped with a controller, which is connected to the electromagnetic drive coil winding (41) via signal control.

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