Clamping mechanism, instrument arm and surgical robot

Abstract

The clamping mechanism comprises a shell, a driving button and a clamping portion, the clamping portion is composed of two clamping arms which are oppositely arranged, each clamping arm comprises a driving section and a clamping section, limiting sliding grooves which oppositely extend in the radial direction are formed in the inner walls of the left side and the right side of the shell, and the driving section and the clamping section are arranged on the inner walls of the left side and the right side of the shell. The driving sections of the two clamping arms are arranged in the two limiting sliding grooves in a sliding mode respectively, the driving button axially extends and penetrates through the shell, the rod portion of the driving button is sleeved with a reset spring abutting against the surface of the shell, the bottom of the rod portion of the driving button is fixedly connected with a driving block, and the driving block is located between the two driving sections. First driving inclined planes which are gradually inclined inwards from top to bottom are symmetrically formed on the two sides of the driving block, second driving inclined planes matched with the first driving inclined planes are arranged on the inner side walls of the two driving sections, the first driving inclined planes and the second driving inclined planes are slidably connected in an abutting mode, and the axial movement of the driving button drives the two clamping arms to synchronously move in the radial direction; therefore, the clamping part can be opened and closed.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical robots, in particular to a clamping mechanism, an instrument arm and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the incision size, the difficulty of minimally invasive instruments in minimally invasive surgery has greatly increased, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotic technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] The end of the robotic arm of the surgical robot is connected to the operating instruments used for the surgery. There may be a variety of operating instruments for different surgeries, and the same operating instrument needs to be disassembled and cleaned after use. Therefore, it is necessary to set a clamping device at the end of the robotic arm for quick disassembly and assembly to facilitate the use of the surgical robot.

[0004] Common clamping devices between operating instruments and mechanical arms are disclosed in announcement numbers CN 117536958 A and CN117179905 A. A driving block is provided on the mechanical arm to drive the clamp arm to open and close, to engage or separate with the operating instrument, and to achieve quick assembly and disassembly. The driving block basically uses a pivoting method to drive the clamp arm to open and close. Such a driving method requires sufficient swing space above the housing. At the same time, such a driving method causes the driving block to be subjected to greater pressure, making the connecting rod between the bottom and the housing easily damaged, loosened or broken, which is not conducive to long-term stable use. Utility Model Content

[0005] The purpose of the utility model is to overcome the deficiencies in the prior art and provide a clamping mechanism, an instrument arm and a surgical robot.

[0006] The purpose of the utility model is achieved through the following technical solutions:

[0007] The clamping mechanism comprises a shell, a driving button and a clamping part, the clamping part is composed of two clamping arms arranged opposite to each other, the clamping arms comprise a driving section and a clamping section, the inner walls on the left and right sides of the shell are provided with relatively radially extending limiting slide grooves, the driving sections of the two clamping arms are respectively slidably arranged in the two limiting slide grooves, the driving button extends axially and passes through the shell, a return spring abutting against the shell surface is sleeved on its rod part, a driving block is fixedly connected to the bottom of its rod part, the driving block is located between the two driving sections, and first driving inclined surfaces gradually inclined inwardly from top to bottom are symmetrically formed on both sides of the driving block, a second driving inclined surface matching the first driving inclined surface is provided on the inner side walls of the two driving sections, the first driving inclined surface is slidably abutted against the second driving inclined surface, and the axial movement of the driving button drives the two clamping arms to move radially synchronously to realize the opening and closing of the clamping part.

[0008] Preferably, the driving block is a hollow structure with a hollow interior that matches its outer contour, so that the driving block is composed of two symmetrically inclined insertion rods, the outer side surface of the insertion rod is the first driving inclined surface, a socket is provided in the driving section, and the second driving inclined surface is the inner surface of the socket, and the insertion rod is slidably inserted in the socket so that the first driving inclined surface and the second driving inclined surface are in sliding contact.

[0009] Preferably, the bottom of the insertion rod has an axially extending section, so that the bottom of the first driving inclined surface is connected to an axially extending limiting plane, and the limiting plane is engaged with the insertion hole to limit the upward limit position of the driving block.

[0010] Preferably, the driving block is a solid flat plate surface, and the outer side surface of the flat plate surface is inclined and extended to form the first driving inclined surface.

[0011] Preferably, a sliding plate perpendicular to the flat plate surface is fixedly disposed on the outer side surface of the flat plate surface, the outer surface of the sliding plate is the first driving inclined surface, and the width of the outer surface of the sliding plate is greater than the thickness of the flat plate surface.

[0012] Preferably, the inner side wall of the driving section has a groove matching the first driving inclined surface, the second driving inclined surface is the bottom surface of the groove, and the first driving inclined surface is slidably clamped in the groove to slide against the second driving inclined surface.

[0013] Preferably, the bottom of the driving block has an axially extending section, so that the bottom of the first driving inclined surface is connected to an axially extending first limiting plane, a fixed block is respectively fixed on the inner walls on the left and right sides of the shell, the limiting groove is opened in the fixed block, and the opposite inner sides of the two fixed blocks have an axially extending second limiting plane, and the first limiting plane abuts against the second limiting plane to limit the upward limit position of the driving block.

[0014] Preferably, a fixed block is fixedly provided on the inner walls on the left and right sides of the shell respectively, the limiting slide groove is opened in the fixed block, and a limiting block is fixedly connected to the end of the driving section, the width of the limiting block is greater than the width of the limiting slide groove, and the limiting block abuts against the outer wall of the fixed block to limit the driving section to move only radially along the limiting slide groove.

[0015] Preferably, the top of the shell has a limiting sleeve, the rod is inserted into the limiting sleeve, the head of the driving button is slidably embedded in the limiting sleeve, and the reset spring is built into the limiting sleeve, and its two ends are respectively abutted against the head of the driving button and the bottom of the limiting sleeve.

[0016] An instrument arm comprising a clamping mechanism as described above.

[0017] A surgical robot comprising an instrument arm as described above.

[0018] The beneficial effects of the utility model are mainly reflected in:

[0019] 1. An axially movable driving button is provided to drive the opening and closing of the clamping part, so that the force direction of the driving button is consistent with its extension direction, so as to save the required moving space and make it more labor-saving and easy to operate. Compared with the traditional rotation driving method, this driving method can ensure the service life of the driving button under long-term use, make it more stable and effective, and make it more convenient for the clamping mechanism to clamp or release the operating instrument, improve the disassembly and assembly efficiency, and is more in line with the hand operation habits, making it easy to operate;

[0020] 2. The driving block and the driving segment achieve synchronous movement through the first driving inclined surface and the second driving inclined surface that are in sliding contact, which can ensure the synchronization between the two, and form a surface contact between the two, which can increase the contact area to reduce the pressure and reduce the wear of the contact position between the two, thereby enhancing the stability of long-term use;

[0021] 3. There are many feasible ways to connect the drive block and the drive section. In a preferred embodiment, the bottom plug rod of the drive block is inserted into the socket in the drive section. The socket forms a hard limit on the plug rod so that it can only move along the extension direction of the socket. At the same time, the plug rod also forms a hard limit on the socket, and a stable linkage structure is formed between the two to ensure that the clamping arm will not shake during the radial movement, so as to enhance the stability of the clamping part. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The technical solution of the utility model is further described below in conjunction with the accompanying drawings:

[0023] Figure 1 : A partial schematic diagram of the first embodiment of the clamping mechanism;

[0024] Figure 2 : A cross-sectional view of a first embodiment of a clamping mechanism;

[0025] Figure 3 : A schematic diagram of a first embodiment of a clamping mechanism;

[0026] Figure 4 : A schematic diagram of a first embodiment of a clamping mechanism;

[0027] Figure 5 : A cross-sectional view of a second embodiment of the clamping mechanism;

[0028] Figure 6 : Schematic diagram of the instrument arm. DETAILED DESCRIPTION

[0029] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0030] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0031] like Figures 1 to 6As shown, the utility model discloses a clamping mechanism, including a shell 1, a driving button 2 and a clamping part, wherein the clamping part is composed of two clamping arms 3 arranged opposite to each other, wherein the clamping arms 3 include a driving section 301 and a clamping section 302, and the inner walls on the left and right sides of the shell 1 are provided with relatively radially extending limiting slide grooves 101, and the driving sections 301 of the two clamping arms 3 are respectively slidably arranged in the two limiting slide grooves 101, and the driving button 2 is axially extended and penetrated on the shell 1, and a reset spring 4 abutting against the surface of the shell 1 is sleeved on the rod 201 thereof, and the reset spring 4 abutting against the surface of the shell 1 is sleeved on the rod 201 thereof. A driving block 202 is fixedly connected to the bottom of the rod portion 201, and the driving block 202 is located between the two driving sections 301, and first driving inclined surfaces 203 that are gradually inclined inward from top to bottom are symmetrically formed on both sides of the driving block 202, and second driving inclined surfaces 303 that match the first driving inclined surfaces 203 are arranged on the inner side walls of the two driving sections 301, and the first driving inclined surfaces 203 are slidably abutted against the second driving inclined surfaces 303, and the axial movement of the driving button 2 drives the two clamping arms 3 to move synchronously radially to realize the opening and closing of the clamping portion.

[0032] In this solution, an axially movable driving button 2 is provided to drive the opening and closing of the clamping part, so that the force direction of the driving button 2 is consistent with its extension direction, so as to save the required moving space and make it more labor-saving and easy to operate. Compared with the traditional rotation driving method, such a driving method can ensure the service life of the driving button 2 under long-term use, make it more stable and effective, make it more convenient for the clamping mechanism to clamp or release the operating instrument, improve disassembly and assembly efficiency, and be more in line with the hand operation habits, making it easy to operate.

[0033] The driving block 202 and the driving section 301 achieve synchronous movement through the first driving bevel 203 and the second driving bevel 303 that are in sliding contact with each other, which can ensure the synchronization between the two, and form a surface contact between the two, which can increase the contact area to reduce the pressure and reduce the wear of the contact position between the two, thereby enhancing the stability of long-term use.

[0034] There are many feasible ways to connect the driving block 202 and the driving section 301.

[0035] like Figure 1-Figure 5As shown, it is the first embodiment and also the preferred embodiment of the connection between the two. The driving block 202 is a hollow structure, and its interior has a hollow that matches its outer contour, so that the driving block 202 is composed of two symmetrically inclined insertion rods 2021, and the outer side surface of the insertion rod 2021 is the first driving inclined surface 203. A socket 3011 is provided in the driving section 301, and the second driving inclined surface 303 is the inner surface of the socket 3011. The insertion rod 2021 is slidably inserted in the socket 3011, so that the first driving inclined surface 203 and the second driving inclined surface 303 are slidably abutted.

[0036] In a preferred embodiment, the insertion rod 2021 is inserted into the socket 3011, and the socket 3011 forms a hard limit on the insertion rod 2021, so that it can only move along the extension direction of the socket 3011. At the same time, the insertion rod 2021 also forms a hard limit on the socket 3011 to prevent the clamping arm 3 from shaking. A stable linkage structure is formed between the two to ensure that the clamping arm 3 will not shake during the radial movement, so as to enhance the stability of the clamping part.

[0037] Furthermore, the bottom of the insertion rod 2021 has an axially extending section, so that the bottom of the first driving inclined surface 203 is connected with an axially extending limiting plane 304, and the limiting plane 304 is engaged with the insertion hole 3011 to limit the upper limit position of the driving block 202. The axially extending structural feature of the limiting plane 304 prevents it from entering the insertion hole 3011 and moving along the first driving inclined surface 203, so as to achieve the limiting effect of the upper limit position of the insertion rod 2021.

[0038] In the second embodiment, the driving block 202 is a solid flat plate surface, and the outer side surface of the flat plate surface is inclined and extended to form the first driving inclined surface 203. In the second embodiment, the inner side wall of the driving section 301 is an inclined surface whose inclination matches the first driving inclined surface 203, so as to form the second driving inclined surface 303, which is in sliding contact with the first driving inclined surface 203.

[0039] In the third embodiment, the driving block 202 is different from that in the second embodiment in that the width of the second driving inclined surface 203 is different. In the third embodiment, a sliding plate perpendicular to the outer side surface of the straight plate surface is fixedly provided. The sliding plate is preferably integrally formed with the straight plate surface. The outer surface of the sliding plate is the first driving inclined surface 203, and the width of the outer surface of the sliding plate is greater than the thickness of the straight plate surface.

[0040] Further, in the fourth embodiment, the driving block 202 is as described in the second embodiment or the third embodiment, and the difference is that the inner side wall of the driving section 301 has a groove matching the first driving inclined surface 203, the second driving inclined surface 303 is the groove bottom surface of the groove, and the first driving inclined surface 203 is slidably clamped in the groove to slide against the second driving inclined surface 303. The driving section 301 is provided with a groove to limit the vertical movement of the driving block 202, and provide stability for driving the second driving inclined surface 303.

[0041] like Figure 1 and Figure 4 As shown, a fixed block 102 is fixedly provided on the inner walls on the left and right sides of the shell 1 respectively, and the limiting slide groove 101 is opened in the fixed block 102. A limiting block 305 is fixedly connected to the end of the driving section 301. The width of the limiting block 305 is greater than the width of the limiting slide groove 101, and it abuts against the outer wall of the fixed block 102 to limit the front and rear positions of the clamping arm 3, so that the driving section 301 can only move radially along the limiting slide groove 101.

[0042] Furthermore, the driving section 301 and the clamping section 302 in this solution are an integrated component. Preferably, the clamping section 302 is located in the housing 1 to protect the clamping section 302. The front side of the housing 1 has an opening, and together with the clamping section 302, it forms a plug-in interface for plugging in an operating device. The inner side wall of the clamping section 302 is an outwardly convex locking block, and the connecting end of the operating device is provided with a recess matching the locking block, so that it can be inserted and engaged with the locking block to complete the fixation. In other feasible implementations, the inner side wall of the clamping section 302 may also have other feasible locking structures, such as an arc shape matching the operating device.

[0043] The top of the housing 1 has a limiting sleeve 104, and the axis of the limiting sleeve 104 is provided with a through hole through which the rod 201 can pass. The rod 201 is inserted into the limiting sleeve 104. The top of the driving block 202 is a flat surface, and its top forms a T-shape with the rod 201 to prevent the driving button 2 from popping out. The head of the driving button 2 is slidably embedded in the limiting sleeve 104, and the reset spring 4 is built into the limiting sleeve 104, and its two ends are respectively abutted against the head of the driving button 2 and the bottom of the limiting sleeve 104. The limiting sleeve 104 protects the reset spring 4 from the influence of the external environment and plays a guiding role in the axial movement of the reset spring 4.

[0044] In addition, the present solution also discloses an instrument arm, comprising the clamping mechanism as described above.

[0045] The present solution also discloses a surgical robot, including the instrument arm as described above, the surgical robot also including necessary structures such as a base, an operating instrument, and a connecting arm. The operating instrument is detachably connected to the instrument arm through a clamping mechanism for operation.

[0046] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0047] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the utility model. They are not intended to limit the protection scope of the utility model. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. Clamping mechanism, characterized in that: The invention comprises a housing (1), a driving button (2) and a clamping portion, wherein the clamping portion is composed of two clamping arms (3) arranged opposite to each other, the clamping arms (3) comprising a driving section (301) and a clamping section (302), the inner walls on the left and right sides of the housing (1) are provided with relatively radially extending limiting slide grooves (101), the driving sections (301) of the two clamping arms (3) are respectively slidably arranged in the two limiting slide grooves (101), the driving button (2) extends axially and is penetrated on the housing (1), the rod portion (201) thereof is sleeved with a return spring (4) abutting against the surface of the housing (1), and the rod portion (201) thereof is provided with a return spring (4) abutting against the surface of the housing (1), and the rod portion (201) thereof is provided with a return spring (4) abutting against the surface of the housing (1). ) is fixedly connected to the bottom of the driving button (2), the driving block (202) is located between the two driving sections (301), and first driving inclined surfaces (203) are symmetrically formed on both sides of the driving block (202) and are gradually inclined inward from top to bottom. Second driving inclined surfaces (303) matching the first driving inclined surfaces (203) are arranged on the inner side walls of the two driving sections (301), the first driving inclined surfaces (203) and the second driving inclined surfaces (303) are slidably abutted, and the axial movement of the driving button (2) drives the two clamping arms (3) to move synchronously radially, so as to realize the opening and closing of the clamping portion.

2. The clamping mechanism according to claim 1, characterized in that: The driving block (202) is a hollow structure, and its interior has a hollow portion that matches its outer contour, so that the driving block (202) is composed of two symmetrically inclined insertion rods (2021), the outer side surface of the insertion rods (2021) is the first driving inclined surface (203), the driving section (301) is provided with a plug hole (3011), the second driving inclined surface (303) is the inner surface of the plug hole (3011), and the insertion rod (2021) is slidably inserted into the plug hole (3011), so that the first driving inclined surface (203) and the second driving inclined surface (303) are in sliding contact with each other.

3. The clamping mechanism according to claim 2, characterized in that: The bottom of the insertion rod (2021) has an axial extension section, so that the bottom of the first driving inclined surface (203) is connected to an axially extending limiting plane (304), and the limiting plane (304) is engaged with the insertion hole (3011) to limit the upward limit position of the driving block (202).

4. The clamping mechanism according to claim 1, characterized in that: The driving block (202) is a solid flat plate surface, and the outer side surface of the flat plate surface is inclined and extended to form the first driving inclined surface (203).

5. The clamping mechanism according to claim 4, characterized in that: A sliding plate perpendicular to the flat plate surface is fixedly disposed on the outer side surface of the flat plate surface, the outer surface of the sliding plate is the first driving inclined surface (203), and the width of the outer surface of the sliding plate is greater than the thickness of the flat plate surface.

6. The clamping mechanism according to claim 4 or 5, characterized in that: The inner side wall of the driving section (301) has a groove matching the first driving inclined surface (203); the second driving inclined surface (303) is a groove bottom surface of the groove; the first driving inclined surface (203) is slidably clamped in the groove to slide against the second driving inclined surface (303).

7. The clamping mechanism according to any one of claims 2 to 4, characterized in that: A fixing block (102) is fixedly provided on the inner walls on the left and right sides of the shell (1), the fixing block (102) is provided with the limiting sliding groove (101), and a limiting block (305) is fixedly connected to the end of the driving section (301), the limiting block (305) has a width greater than the width of the limiting sliding groove (101), and abuts against the outer wall of the fixing block (102) to limit the driving section (301) to move only radially along the limiting sliding groove (101).

8. The clamping mechanism according to claim 1, characterized in that: The top of the shell (1) is provided with a limiting sleeve (104), the rod portion (201) is inserted into the limiting sleeve (104), the head of the driving button (2) is slidably embedded in the limiting sleeve (104), and the return spring (4) is built into the limiting sleeve (104), with its two ends respectively abutting against the head of the driving button (2) and the bottom of the limiting sleeve (104).

9. The instrument arm is characterized by: It comprises a clamping mechanism as described in any one of claims 1-8.

10. A surgical robot, characterized in that: Comprising the instrument arm as described in claim 9.

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