Needle holder and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a needle holder and a surgical robot system. The needle holder comprises an arm body and a clamp assembly arranged at the far end of the arm body. The clamp assembly comprises a first clamp and a second clamp matched with the first clamp, and the first clamp comprises a first clamping part located at the far end of the first clamp and a first shearing part arranged at the near end of the first clamping part. The second clamp comprises a second clamping part located at the far end of the second clamp and a second shearing part arranged at the near end of the second clamping part. The needle holder provided by the utility model can be used for clamping a suture needle and performing suture operation, and also can be used for performing suture cutting operation. On the basis, switching of surgical tools can be reduced, and the surgical efficiency can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a needle holder and a surgical robot system. Background Art

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incisions, greatly reducing the patient's recovery time, discomfort experience and post-healing side effects. Laparoscopic surgery, especially single-port laparoscopic surgery, can be performed through a surgical robot system, which can optimize the surgical method through computer remote control technology.

[0003] The needle holder is a surgical tool used to hold the suture needle and suture and tie the tissue. When performing suturing operations during surgery, it is often necessary to switch to the scissors tool to cut the suture after the needle holder performs the suturing. The above steps of switching surgical tools are relatively cumbersome, affecting the continuity of the operation and reducing the efficiency of the operation. Utility Model Content

[0004] In some embodiments, the present disclosure provides a needle holder comprising:

[0005] Arm body; and

[0006] A clamp assembly is arranged at the distal end of the arm body, and the clamp assembly comprises:

[0007] A first clamp, comprising a first clamping portion located at a distal end of the first clamp and a first shearing portion disposed at a proximal end of the first clamping portion; and

[0008] The second clamp comprises a second clamping portion at the distal end of the second clamp and a second shearing portion at the proximal end of the second clamp, and the second clamp cooperates with the first clamp.

[0009] In some embodiments, the first clamp further comprises:

[0010] The first proximal portion includes a rotation space and a first sliding groove and a second sliding groove located on opposite sides of the rotation space.

[0011] In some embodiments, the second clamp further comprises:

[0012] The second proximal portion is at least partially located in the rotation space, and the second proximal portion includes a sliding space and a third sliding groove and a fourth sliding groove located on opposite sides of the sliding space.

[0013] In some embodiments, the needle holder further comprises:

[0014] A connecting seat, fixedly connected to the distal end of the arm body;

[0015] The clamp assembly further comprises:

[0016] A connecting structure, wherein the connecting structure is located at the proximal end of the clamp assembly, the connecting structure is detachably connected to the connecting seat, and the first proximal end portion is fixedly connected to the connecting structure.

[0017] In some embodiments, the needle holder further comprises:

[0018] A driving structure, used to drive the opening and closing of the needle holder, the driving structure comprising:

[0019] A drive wire for receiving a push or pull drive force; and

[0020] A slider is arranged at the distal end of the driving wire, and the slider is connected to the first clamp and the second clamp through a pin structure. One end of the pin structure is connected to the first slide groove and the third slide groove, and the other end of the pin structure is connected to the second slide groove and the fourth slide groove.

[0021] In some embodiments, the first proximal portion comprises:

[0022] A first connecting arm and a second connecting arm, wherein the proximal ends of the first connecting arm and the second connecting arm are fixedly connected to the connecting structure, the first connecting arm and the second connecting arm are relatively arranged on two sides of the rotating space, the first connecting arm comprises a first sliding groove, and the second connecting arm comprises a second sliding groove;

[0023] The second proximal portion comprises:

[0024] A first proximal arm and a second proximal arm, wherein the first proximal arm and the second proximal arm are relatively arranged on two sides of the sliding space, the first proximal arm comprises a third sliding groove, and the second proximal arm comprises a fourth sliding groove.

[0025] In some embodiments, the proximal end of the first shearing portion protrudes from the outer side of the first proximal portion and is fixedly connected to the connecting structure.

[0026] In some embodiments, the second shearing portion is fixedly connected to the proximal end of the second clamping portion or the second shearing portion and the second clamping portion are integrally formed.

[0027] In some embodiments, the connection structure is cylindrical, the connection structure comprises an internal cavity, and the drive wire passes through the internal cavity.

[0028] In some embodiments, the needle holder further comprises:

[0029] The sealing structure is in a cylindrical shape, a part of the inner cylinder of the sealing structure is sealed and connected to the driving wire, and a part of the outer cylinder of the sealing structure is sealed and connected to the inner circumferential surface of the connecting structure.

[0030] In some embodiments, the sealing structure includes a transition section between the inner cylinder and the outer cylinder, and at least a portion of the transition section is telescopic.

[0031] In some embodiments, the arm comprises:

[0032] A first continuum structure, the first continuum structure comprising:

[0033] A first base plate, a plurality of first spacer plates and a plurality of first structural bones, wherein the plurality of first structural bones pass through the plurality of first spacer plates and the first base plate, and the proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure to move.

[0034] In some embodiments, the arm further comprises:

[0035] A second continuum structure, wherein the second continuum structure comprises:

[0036] A second base plate, a plurality of second spacer plates and a plurality of second structural bones, wherein the plurality of second structural bones pass through the plurality of second spacer plates and the second base plate, the proximal ends of the plurality of second structural bones are used to receive a push or pull drive to drive the second continuum structure to move, the first continuum structure is located at the distal end of the second continuum structure, and the plurality of first structural bones pass through the plurality of second spacer plates and the second base plate.

[0037] In some embodiments, the present disclosure provides a surgical robot system, comprising:

[0038] A surgical trolley comprising at least one robotic arm; and

[0039] As in any one of the embodiments of the present disclosure, the needle holder is disposed at the distal end of at least one robotic arm.

[0040] Some embodiments of the present disclosure have one or more of the following technical effects: in addition to clamping the suture needle and performing the suturing operation, the needle holder can also perform the operation of cutting the suture; it is beneficial to reduce the switching of surgical tools required when suturing patient tissues, which helps to improve surgical efficiency; it helps to improve the sealing performance of the needle holder and facilitates the cleaning of the needle holder; it can improve the flexibility of the needle holder's movement, which facilitates the needle holder to perform surgical operations in the patient's body. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0042] Figure 1 A structural schematic diagram showing a partial structure of a needle holder according to some embodiments of the present disclosure;

[0043] Figure 2 A schematic cross-sectional view showing a partial structure of a needle holder according to some embodiments of the present disclosure;

[0044] Figure 3 A schematic diagram showing the structure of a needle holder according to some embodiments of the present disclosure at another angle;

[0045] Figure 4 A schematic cross-sectional view showing a driving structure and a sealing structure according to some embodiments of the present disclosure;

[0046] Figure 5A A schematic diagram showing the structure of an arm of a needle holder according to some embodiments of the present disclosure;

[0047] Figure 5B A schematic structural diagram showing a first continuum of an arm according to some embodiments of the present disclosure;

[0048] Figure 6 A schematic diagram showing the structure of a driving device according to some embodiments of the present disclosure is shown;

[0049] Figure 7 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0050] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0051] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying 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 limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0052] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0053] In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, rear end, or rear part, and the end close to the surgical patient is defined as the distal end, far end, front end, or front part. The end opposite to the proximal end, near part, rear end, or rear part is defined as the distal end, far end, front end, or front part. Alternatively, the end close to the operator (e.g., surgical patient) is defined as the distal end, far end, front end, or front part, and the end opposite to the distal end, far end, front end, or front part is defined as the proximal end, near part, rear end, or rear part. Those skilled in the art will appreciate that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0054] Some embodiments of the present disclosure provide a needle holder. Figure 1 A schematic structural diagram showing a partial structure of a needle holder 100 according to some embodiments of the present disclosure. Figure 2 A schematic cross-sectional view of a partial structure of a needle holder 100 according to some embodiments of the present disclosure is shown. In some embodiments, the needle holder 100 can be used in a surgical robot system, and the surgical robot system can be various suitable surgical robot systems including a laparoscopic surgical robot system. In some embodiments, the needle holder 100 can be mounted at the distal end of at least one robotic arm in the surgical robot system, and the needle holder 100 can perform surgical operations under the control of the surgical robot user.

[0055] like Figure 1 As shown, the needle holder 100 may include an arm 10 and a clamp assembly 20. The clamp assembly 20 may be disposed at the distal end of the arm 10, for example, by welding, bonding, or any other suitable means. Figure 1 or Figure 2 As shown, the clamp assembly 20 may include a first clamp 21 and a second clamp 22. The first clamp 21 may include a first clamping portion 211 located at a distal end of the first clamp 21 and a first shearing portion 212 disposed at a proximal end of the first clamp 211. The second clamp 22 may include a second clamping portion 221 located at a distal end of the second clamp 22 and a second shearing portion 222 disposed at a proximal end of the second clamp 221.

[0056] The first clamp 21 and the second clamp 22 cooperate with each other to perform the surgical operation. In some embodiments, the second clamp 22 can be hinged with the first clamp 21 (for example, in Figure 1 or Figure 2 Point A shown is hinged to the first clamp 21 by a suitable structure such as a pin to cooperate with the first clamp 21. The first clamping portion 211 and the second clamping portion 221 can cooperate with each other to achieve operations such as clamping, for example, clamping a suture needle and clamping the suture needle to perform suturing, suturing and other operations on patient tissue. In some embodiments, structures such as engraved mesh or fine grooves can be provided on the first clamping portion 211 and the second clamping portion 221 to avoid slipping when clamping the suture needle and improve the stability of the clamping. The first shearing portion 212 and the second shearing portion 222 can cooperate with each other to achieve shearing, for example, shearing the suture. In some embodiments, the first shearing portion 212 and the second shearing portion 222 can both include blades, and when the first clamp 21 and the second clamp 22 are opened and closed, the two blades are staggered to achieve shearing.

[0057] In some embodiments, Figure 1 As shown, the first clamp 21 may further include a first proximal portion 213 located at the proximal end of the first clamp 21. In some embodiments, as shown in FIG. Figure 2 As shown, the second clamp 22 may include a second proximal portion 223 located at the proximal end of the second clamp 22 . Figure 3 FIG. 2 is a schematic diagram showing the structure of the needle holder 100 according to some embodiments of the present disclosure at another angle. Figure 3 As shown, the first proximal portion 213 may include a rotation space s1. The second proximal portion 223 may be at least partially located in the rotation space s1. Those skilled in the art may understand that when the needle holder 100 is opened or closed, the second proximal portion 223 of the second clamp 22 may rotate in the rotation space s1.

[0058] In some embodiments, Figure 2As shown, the needle holder 100 may further include a driving structure 30, and the driving structure 30 may be used to drive the opening and closing of the needle holder 100. In the present disclosure, the opening and closing of the needle holder 100 may be driven by any suitable driving structure 30, and the first clamp 21 and the second clamp 22 may include structures that can cooperate with the driving structure 30 to achieve opening and closing under the drive of the driving structure 30. In some embodiments, as Figure 2 As shown, the drive structure 30 may include a drive wire 31 for receiving a push or pull driving force, and a slider 32 disposed at the distal end of the drive wire. The proximal end of the drive wire 31 may receive a push or pull driving force from a surgical robot system (e.g., a drive structure of a surgical robot system). The distal end of the drive wire 31 may be engaged with the slider 32, or fixedly connected in any suitable manner, so that the drive wire 31 can drive the slider 32 to move when receiving the driving force. In some embodiments, the slider 32 may be cylindrical, cubic, or have a special-shaped structure.

[0059] like Figure 1 and Figure 3 As shown, the first proximal portion 213 of the first clamp 21 may include a first slide groove 2131 and a second slide groove 2132. The first slide groove 2131 and the second slide groove 2132 may be used to be slidably connected to the slider 32. The first slide groove 2131 and the second slide groove 2132 may be located in the rotation space s1 (see Figure 3 ). Figures 1 to 3 As shown, the second proximal portion 223 of the second clamp 22 may include a third slide groove 2231 and a fourth slide groove 2232 , and the third slide groove 2231 and the fourth slide groove 2232 may be used to be slidably connected to the slider 32 .

[0060] like Figure 3 As shown, the second proximal portion 223 of the second clamp 22 may further include a sliding space s2. The sliding space s2 allows the slider 32 of the drive device 30 to slide in the sliding space s2. The third slide groove 2231 and the fourth slide groove 2232 may be arranged on both sides of the sliding space s2. It will be appreciated by those skilled in the art that the second proximal portion 223 is at least partially located in the rotation space s1, and thus the sliding space s2 is at least partially located in the rotation space s1. When the slider 32 slides in the sliding space s2, it may be slidably connected to the third slide groove 2231 and the fourth slide groove 2232 located on both sides of the sliding space s2, and the first slide groove 2131 and the second slide groove 2132 located on both sides of the rotation space s1.

[0061] In some embodiments, the slider 32 can be connected by a pin structure 33 (see Figures 1 to 3 ) is connected to the first clamp 21 and the second clamp 22. Figures 1 to 3As shown, one end of the pin structure 33 can be connected to the first slide groove 2131 and the third slide groove 2231, and the other end of the pin structure 33 can be connected to the second slide groove 2132 and the fourth slide groove 2232. The pin structure 33 can be fixedly arranged in the slider 32 along the radial direction of the slider 32, or the pin structure 33 can include two parts fixedly arranged on opposite sides of the slider 32 along the radial direction. It can be understood by those skilled in the art that the pin structure should be interpreted broadly, and can include a columnar component, a columnar protrusion, a bump, etc.

[0062] Those skilled in the art will understand that Figures 1 to 3 In the embodiment, the needle holder 100 is in an open state. When the needle holder 100 is in a closed state, the slider 32 may be located at the proximal end of the sliding space s2. In some embodiments, the drive wire 31 receives a driving force to push the slider 32 connected to its distal end to move from the proximal end to the distal end, for example, to a position such as Figures 1 to 3 The second clamp 22 rotates around point A under the push of the pin structure 33 connected to the slider 32, and the needle holder 100 is opened. When the needle holder 100 is in the open state, the needle holder 100 can be closed under the pull of the slider 32 when the driving wire 31 receives a pulling driving force.

[0063] In some embodiments, Figure 3 As shown, the first proximal portion 213 may include a first connecting arm 2133 and a second connecting arm 2134. The first connecting arm 2133 and the second connecting arm 2134 may be relatively arranged on both sides of the rotation space s1, the first connecting arm 2133 may include a first sliding groove 2131, and the second connecting arm 2134 may include a second sliding groove 2132. In some embodiments, as Figure 3 As shown, the second proximal portion 223 may include a first proximal arm 2233 and a second proximal arm 2234. The first proximal arm 2233 and the second proximal arm 2234 may be relatively arranged on both sides of the sliding space s2, the first proximal arm 2233 may include a third slide groove 2231, and the second proximal arm 2234 may include a fourth slide groove 2232.

[0064] Those skilled in the art can understand that the structures of the first proximal portion 213 and the second proximal portion 223 are not limited to the above structures, and can also be any suitable structures. For example, the second proximal portion 223 can be cylindrical, and the internal cavity of the cylindrical second proximal portion can be a sliding space for the slider 32 to slide, and the third slide groove 2231 and the fourth slide groove 2232 can be arranged on opposite sides of the cylindrical second proximal portion 223.

[0065] In some embodiments, Figure 2 or Figure 3As shown, the needle holder 100 may further include a connection seat 40, which may be fixedly connected to the distal end of the arm body 10. For example, the connection seat 40 may include a connection plate 41 located at the proximal end, and the connection plate 41 may be fixedly connected to the distal end of the arm body 10 by welding or bonding, so that the connection seat 40 is fixedly connected to the distal end of the arm body 10. The clamp assembly 20 may further include a connection structure 23, such as Figure 2 As shown, the connection mechanism 23 can be located at the proximal end of the clamp assembly 20. The connection structure 23 can be detachably connected to the connection seat 40 to facilitate the assembly of the needle holder 100. Figure 2 and Figure 3 As shown, the connection structure 23 may be cylindrical, and the distal end portion of the connection seat 40 may be cylindrical. Figure 2 As shown, the outer surface of the connection structure 23 and the inner surface of the distal end portion of the connection seat 40 may include thread structures that can cooperate with each other, so that the connection structure 23 and the connection seat 40 can be detachably connected through the thread structure.

[0066] The connecting structure 23 may include an internal cavity, such as Figure 2 As shown, the driving wire 31 of the driving structure 30 can pass through the internal cavity of the connecting structure 23. The distal end of the driving wire 31 can pass through the internal cavity to connect the slider 32. The proximal end of the driving wire 31 can pass through the internal cavity, the connecting seat 40 and the middle channel of the arm body 10 to connect the driving device that provides the driving force.

[0067] In some embodiments, the first proximal portion 213 may be fixedly connected to the connection structure 23 (eg, welded, etc.), or integrally formed with the connection structure 23. Figure 3 As shown, the proximal ends of the first connecting arm 2133 and the second connecting arm 2134 of the first proximal portion 213 can be fixedly connected to the connecting structure 23 .

[0068] In some embodiments, the first shearing portion 212 and the first proximal portion 213 of the first clamp 21 may be separate components that are fixedly connected, or may be an integrated component that is integrally formed. Figure 1 or Figure 2 As shown, the proximal end of the first shearing portion 212 can protrude from the outer side of the first proximal end portion 213 and be fixedly connected to the connecting structure 23. Figure 1 or Figure 2 As shown, the proximal end of the first shearing portion 212 can be fixedly connected to the connecting structure 23 by a pin D1. Based on this, it is helpful to increase the length of the first shearing portion 212, and a certain amount of deformation can be reserved, thereby helping to improve the service life of the needle holder 100. Figure 1As shown, the first shearing portion 212 may include a blade portion K located at the distal end, and the blade portion K is located at a position corresponding to the second shearing portion 222 to cooperate with the second shearing portion 222 to achieve a shearing operation.

[0069] In some embodiments, the second shearing portion 222 of the second clamp 22 may be fixedly connected to the proximal end of the second clamping portion 221. Figure 1 or Figure 2 As shown, the second shearing portion 222 can be fixedly connected to the proximal end of the second clamping portion 221 by a pin D2. In some embodiments, the second clamping portion 221 can be integrally formed with the second shearing portion 222.

[0070] In some embodiments, the needle holder 100 may include various forms of sealing structures and adopt various sealing methods for sealing to reduce the contamination of the needle holder 100 (especially the internal structure of the needle holder 100) by the patient's blood and exudates.

[0071] Figure 4 FIG. 1 is a schematic cross-sectional view of a drive structure 30 and a sealing structure 50 according to some embodiments of the present disclosure. In some embodiments, the needle holder 100 may include: Figure 4 The cylindrical sealing structure 50 shown in FIG. Figure 4 As shown, the sealing structure 50 may include an inner cylinder 5a and an outer cylinder 5b, and the outer cylinder 5b may be sleeved outside the inner cylinder 5a. Figure 4 As shown, the sealing structure 50 may further include a transition section 5c between the inner cylinder 5a and the outer cylinder 5b, and at least a portion of the transition section 5c is retractable.

[0072] like Figure 4 As shown, a portion of the inner cylinder 5a of the sealing structure 50 can be sealed and connected to the driving structure 30. For example, the inner surface of a portion of the inner cylinder 5a of the sealing structure 50 can be sealed and connected to the driving wire 31 of the driving structure 30, for example, by bonding, thermoplasticization, fastening through a hoop (for example, the first hoop 51), etc. Figure 2 As shown, the inner cylinder 5a can be located in the rotation space s1 (see Figure 3 The inner cylinder 5a can move axially in the rotating space s1 driven by the driving structure 30.

[0073] A portion of the outer cylinder 5b of the sealing structure 50 may be sealed and connected to the connecting structure 23. For example, Figure 2 As shown, a portion of the outer cylinder 5b of the sealing structure 50 can be sealed and connected to the inner circumferential surface of the connecting structure 23, for example, by any suitable means such as bonding, thermoplasticization, etc. Figure 2 or Figure 4 As shown, the outer cylinder 5b can be connected to the inner cylinder 5a through a transition section 5c.

[0074] Based on this, the sealing structure 50 can seal and isolate the slider 32 and the clamp assembly 20 from the drive wire 31. During surgery, the drive wire 31 is isolated from the surgical environment, thereby preventing body fluids from the patient and bacteria from the outside from entering the interior of the needle holder 100 (for example, the interior of the arm 10 and the connecting seat 40) through the pores during surgery. When cleaning and disinfecting the needle holder 100, the needle holder 100 does not need to be disassembled, and only the exposed part of the needle holder 100 (for example, the clamp assembly 20, etc.) is cleaned, thereby improving the convenience of repeated cleaning and disinfection of the needle holder 100, and reducing or avoiding secondary infection.

[0075] In some embodiments, Figure 4 As shown, the sealing structure 50 may further include a first hoop 51 sleeved on the outer side of the inner tube 5a, so as to seal and fasten the sealing structure 50 and the drive wire 31 or the slider 32. The first hoop 51 can further improve the sealing performance between the sealing structure 50 and the drive wire 31, and help reduce the risk of the sealing structure 50 slipping during telescopic movement. Figure 4 As shown, the sealing structure 50 may further include a second hoop 52 disposed on the inner side of the outer cylinder 5 b , and the second hoop 52 can improve the sealing performance between the outer cylinder 5 b of the sealing structure 50 and the connecting structure 23 .

[0076] In some embodiments, at least a portion of the transition portion 5c may include an elastic and retractable material, such as rubber or thermoplastic elastomer, or a flexible material, such as plastic, non-woven fabric, etc. In some embodiments, at least a portion of the transition portion 5c may include a pleated portion, which can be extended and unfolded or contracted and folded. Based on this, when the needle holder 100 is opened and closed, and the drive structure 30 and the clamp assembly 20 move relative to each other (for example, the slider 32 moves axially in the sliding space s2), the sealing structure 50 can be adaptively deformed, and the inner cylinder 5a of the sealing structure 50 can follow the drive structure 30 under the drive of the drive structure 30. Based on this, the relative movement between the drive structure 30 and the clamp assembly 20 will not be affected while achieving sealing.

[0077] In some embodiments, the connection structure 23 and the sealing structure 50 may also include structures that cooperate with each other to enhance the stability of the connection between the two. Figure 4As shown, the second hoop 52 may include an annular protrusion structure 5d located at the distal end of the outer surface of the second hoop 52, and the connecting structure 23 may include an annular groove (not shown in the figure) located at the distal end and arranged along the circumference. The annular groove of the connecting structure 23 may engage with the annular protrusion structure 5d, thereby facilitating the stability of the connection between the sealing structure 50 and the connecting structure 23. In some embodiments, the second hoop 52 may be disposed on the inner side of the outer tube 5b, and the outer tube 5b may include an annular protrusion structure located at the distal end of the outer surface of the outer tube 5b to connect with the annular recess of the connecting structure 23.

[0078] In some embodiments, the connection between the connection base 40 and the connection structure 23 (eg Figure 2 The threaded connection CP shown can be sealed by filling the connection CP with glue or the like to prevent the patient's blood, exudate, etc. from entering the interior of the needle holder 100 through the connection CP.

[0079] In some embodiments, the arm 10 may be a flexible arm to increase the degree of freedom of the needle holder 100 and enhance the flexibility of the needle holder 100 in performing surgical operations in the body. Figure 5A A schematic structural diagram of the arm 10 of the needle holder 100 according to some embodiments of the present disclosure is shown.

[0080] like Figure 5A As shown, in some embodiments, the arm 10 of the needle holder 100 may include a first continuous structure 11 . Figure 5B FIG. 1 is a schematic diagram showing the structure of the first continuous structure 11 of the arm 10 according to some embodiments of the present disclosure. Figure 5B As shown, the first continuum structure 11 may include a first base plate 11a, a plurality of first spacer plates (eg, Figure 5B The first spacer plates 11b-1, 11b-2, 11b-3) and a plurality of first structural bones (eg, Figure 5B The first structural bones 11c-1, 11c-2, etc. are shown in the figure). The plurality of first structural bones pass through the plurality of first spacer plates and the first base plate 11a, and the proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure 11 to move. In some embodiments, as Figure 5B As shown, the first continuum structure 11 may further include a first fixing plate 11d. The distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate 11d. In some embodiments, the connection seat 40 may include a connection plate 41 located at the proximal end (see Figure 2 or Figure 3), the connecting plate 41 can be fixedly connected to the first fixing plate 11d. In some embodiments, the connecting plate 41 can be metal, and the connecting plate 41 and the first fixing plate 11d can be welded to each other so that the connecting seat 40 and the clamp assembly 20 at the far end of the connecting seat 40 are fixedly connected to the far end of the arm body 10.

[0081] like Figure 5B As shown, a plurality of first spacer plates may be spaced apart to enhance the stability of the plurality of first structural bones when being pushed or pulled. Figure 5B The first continuum structure 11 shown in the figure includes three first spacer disks. Those skilled in the art will appreciate that the number of first spacer disks included in the first continuum structure 11 is not limited to three, and the first continuum structure 11 may include any appropriate number of first spacer disks.

[0082] In some embodiments, the shapes of the first base plate 11a, the first spacer plate and the first fixed plate 11d can be suitable structures such as an annular structure and a disk structure, and the cross-section can be various shapes such as a circle, a rectangle, a polygon and the like.

[0083] In some embodiments, Figure 5A As shown, the arm 10 may further include a second continuum structure 12. The structure of the second continuum structure 12 may be similar to that of Figure 5B The structure of the first continuum structure 11 shown is similar. Figure 5A As shown, the second continuum structure may include a second base plate 12a, a plurality of second spacer plates (eg, Figure 5A The second spacer disk 12b shown) and a plurality of second structural bones (eg, Figure 5A The second structural bones 12c shown in the figure, the plurality of second structural bones 12c pass through the plurality of second spacer plates 12b and the second base plate 12a, and the proximal ends of the plurality of second structural bones 12c are used to receive a push or pull drive to drive the second continuum structure to move. Figure 5A As shown, the first continuum structure 11 is located at the distal end of the second continuum structure 12, and a plurality of first structural bones 11c pass through a plurality of second spacer plates 12b and a second base plate 12a. Figure 5A As shown, the second continuum structure 12 may further include a second fixing plate 12d. The distal ends of the plurality of second structural bones 12c are fixedly connected to the second fixing plate 12d.

[0084] like Figure 5A As shown, a plurality of second spacer plates 12b may be arranged at intervals to enhance the stability of a plurality of second structural bones 12c when being pushed or pulled. Similar to the first continuum structure 11, the second continuum structure may include any suitable number of second spacer plates 12b.

[0085] In some embodiments, the second base plate 12a, the second spacer plate 12b and the second fixed plate 12d may be in the shape of a ring structure, a disc structure or other suitable structures, and the cross-section may be in various shapes such as a circle, a rectangle, a polygon or the like.

[0086] In some embodiments, the arm 10 may further include a first straight rod section 13 disposed between the first continuum structure 11 and the second continuum structure. Figure 5A As shown, the second fixing plate 12d of the second continuum structure can be fixedly connected to the proximal end of the first straight rod segment 13. In some embodiments, the arm body 10 can also include a second straight rod segment 14 connected to the proximal end of the second continuum structure. For example, in a surgical robot system, during a surgical operation performed using the needle holder 100, the needle holder 100 extends into the body from an opening on the patient's body (e.g., an incision or a natural opening, etc.), and the second straight rod segment 14 can pass through the opening.

[0087] Those skilled in the art will appreciate that the structure for increasing the degree of freedom of the arm 10 is not limited to a continuum structure, but may also be a suitable structure such as a snake-bone structure, a combination structure of a rod and a joint, or the like.

[0088] The proximal ends of the plurality of first structural bones 11c and the plurality of second structural bones 12c may be connected to a driving device. Figure 6 FIG. 6 is a schematic diagram showing a structure of a driving device 600 according to some embodiments of the present disclosure. In some embodiments, the driving device 600 may include a first driving mechanism 610. Figure 6 , the first drive mechanism 610 is connected to the proximal end of the needle holder 100. In some embodiments, the plurality of first structural bones ( Figure 6 Not shown, e.g. Figure 5B The first structural bones 11c-1 and 11c-2) and / or the plurality of second structural bones ( Figure 6 Not shown, e.g. Figure 5A The second structural bones 12c in the first continuum 12 are connected to the first driving mechanism 610 through a plurality of second spacer plates 12b and a second base plate 12a. The first driving mechanism 610 drives the first continuum structure 11 to bend in different directions in space by pushing and pulling a plurality of first structural bones, and drives the second continuum structure 12 to bend in different directions in space by pushing and pulling a plurality of second structural bones 12c.

[0089] In some embodiments, the first driving mechanism 610 may include a plurality of double-ended screw assemblies, each of which may include a double-ended screw and a pair of sliders threadedly connected to two threaded segments of the double-ended screw. The double-ended screw can be driven to rotate, thereby driving the pair of sliders to move in opposite directions at the same speed. The pair of sliders can be connected to a pair of symmetrical first structural bones 11c or second structural bones 12c, thereby pushing and pulling the pair of symmetrical first structural bones 11c or second structural bones 12c, driving the first continuum structure 11 or the second continuum 12 structure to bend.

[0090] In some embodiments, the first driving mechanism 610 may include a proximal continuum, and the first continuum structure 11 or the second continuum structure 12 may be connected to the proximal continuum to form a linked dual continuum. The proximal continuum may be driven to bend by a double-headed screw assembly, thereby driving the first continuum structure 11 or the second continuum structure 12 to bend.

[0091] In some embodiments, Figure 6 As shown, the drive device may further include a second drive mechanism 620, which is connected to the arm 10 (eg, Figure 5A The second drive mechanism 620 is connected to the arm body 10 in the patient's body to drive the arm body 10 to advance or retreat, thereby enabling the needle holder 100 to advance or retreat in the patient's body, or to enter or exit the patient's body. In some embodiments, the second drive mechanism 620 can be a linear drive mechanism to drive the arm body 10 to move linearly.

[0092] In some embodiments, the second driving mechanism 620 may include a pedestal and a driving unit, the pedestal may be used to support the first driving mechanism 610, and the driving unit is used to drive the pedestal forward or backward. In some embodiments, the second driving mechanism 620 may include a bracket 621 with a slide groove, and a lead screw 622 is rotatably arranged on the bracket 621. A slider 623 is sleeved on the lead screw 622 as a pedestal, and the slider 623 is threadedly matched with the lead screw 622 and is slidably arranged in the slide groove of the bracket 621. A motor 624 as a second driving unit may be arranged at one end of the bracket 621, and the output shaft of the motor 624 may be fixedly connected to the lead screw 622 through a coupling 625.

[0093] In some embodiments, the second drive mechanism 620 may further include a sleeve 6231 for mounting the first drive mechanism 610. The sleeve 6231 may be mounted on the slider 623, or the sleeve 6231 may be integrally formed with the slider 623. The motor 624 drives the lead screw 622, thereby driving the slider 623 and the sleeve 6231 to move linearly along the slide groove, thereby achieving the feeding movement of the needle holder 100. It can be understood by those skilled in the art that the second drive mechanism 620 is not limited to the above structure, and any drive mechanism capable of achieving the feeding movement of the surgical tool does not depart from the scope of the present disclosure.

[0094] A surgical robot is also provided in some embodiments of the present disclosure. Figure 7 FIG. 1 is a schematic diagram of a surgical robot 1000 according to some embodiments of the present disclosure. Figure 7 As shown, the surgical robot system 1000 may include a surgical trolley 1010 and at least one needle holder as in any one of the embodiments of the present disclosure, for example Figure 1 The needle holder 100 is shown. The surgical trolley 1010 may include at least one robotic arm 1011. The at least one robotic arm 1011 may be as Figure 7 The positioning arm of the surgical robot system shown. The distal end of at least one robotic arm 1011 can carry at least one surgical instrument 1012, such as a needle holder 100, curved scissors, an endoscope, etc.

[0095] In some embodiments, the surgical robot system 1000 may further include a main control trolley 1020. The surgical trolley 1010 and the main control trolley 1020 may be connected via wired transmission or wireless transmission. During surgery, the user may control the surgical instrument 1012 (e.g., the needle holder 100) carried by the surgical trolley 1010 to perform an operation by operating the main operator 1021 of the main control trolley 1020. The surgical trolley 1010 is usually located on the patient's side, responding to the control instructions of the main control trolley 1020 to perform surgical operations on the patient. In some embodiments, the user may also adjust the position and posture of the needle holder 100 by operating the main operator 1021.

[0096] In some embodiments, the surgical trolley 1010 of the surgical robot system 1000 may further include at least one driving device 1013. The at least one driving device 1013 may be disposed between the at least one surgical instrument 1012 and the at least one robotic arm 1011, and the at least one driving device 1013 may be used to drive the at least one surgical instrument 1012 to move and perform a surgical operation. Figure 7 As shown, the surgical trolley 1010 may include a single mechanical arm 1011, and a plurality of drive devices 1013 may be disposed at the distal end of the mechanical arm 1011. The structure of at least one drive device 1013 may be similar to Figure 6The structure of the driving device 600 shown is similar, and will not be described in detail to reduce repetition. Those skilled in the art will appreciate that the surgical trolley of the surgical robot system 1000 may also include a plurality of robotic arms.

[0097] Those skilled in the art will appreciate that the surgical robot 1000 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0098] In some embodiments, the needle holder can perform a shearing operation (e.g., shearing a suture thread) in addition to clamping (e.g., clamping a suture needle) and performing suturing and tying operations. Based on this, it is helpful to reduce the switching of surgical tools required when suturing and tying tissues of patients, thereby helping to improve the efficiency of performing the operation.

[0099] In some embodiments, in the needle holder, the proximal end of the first cutting portion of the first clamp is fixedly connected to the connecting structure, so that the length of the first cutting portion can be increased, and deformation amount is reserved for the first cutting portion, which is beneficial to improving the service life of the needle holder.

[0100] In some embodiments, the needle holder includes a sealing structure, which can form a sealed isolation between the drive wire and the clamp assembly, and isolate the drive wire from the surgical environment during surgery, thereby preventing the patient's body fluids, bacteria, viruses, etc. from entering the interior of the needle holder (for example, the arm body and the interior of the connecting seat) through the pores during surgery. When cleaning and disinfecting the needle holder, the needle holder can be left unassembled and only the exposed part of the needle holder (for example, the first clamp, the second clamp, etc.) can be cleaned, thereby improving the convenience of repeated cleaning and disinfection of the needle holder.

[0101] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A needle holder, characterized in that: include: Arm body; as well as A clamp assembly is arranged at the distal end of the arm body, and the clamp assembly comprises: A first clamp, comprising a first clamping portion located at a distal end of the first clamp and a first shearing portion disposed at a proximal end of the first clamp; as well as The second clamp comprises a second clamping portion at the distal end of the second clamp and a second shearing portion at the proximal end of the second clamp, and the second clamp cooperates with the first clamp.

2. The needle holder according to claim 1, characterized in that The first clamp also includes: The first proximal portion includes a rotation space and a first sliding groove and a second sliding groove located on opposite sides of the rotation space.

3. The needle holder according to claim 2, characterized in that The second clamp further comprises: The second proximal portion is at least partially located in the rotation space, and the second proximal portion includes a sliding space and a third sliding groove and a fourth sliding groove located on opposite sides of the sliding space.

4. The needle holder according to claim 3, characterized in that Also includes: A connecting seat, fixedly connected to the distal end of the arm body; The clamp assembly further comprises: A connecting structure, wherein the connecting structure is located at the proximal end of the clamp assembly, the connecting structure is detachably connected to the connecting seat, and the first proximal end portion is fixedly connected to the connecting structure.

5. The needle holder according to claim 4, characterized in that The first proximal portion comprises: A first connecting arm and a second connecting arm, wherein the proximal ends of the first connecting arm and the second connecting arm are fixedly connected to the connecting structure, the first connecting arm and the second connecting arm are relatively arranged on two sides of the rotating space, the first connecting arm comprises a first sliding groove, and the second connecting arm comprises a second sliding groove; The second proximal portion comprises: A first proximal arm and a second proximal arm, wherein the first proximal arm and the second proximal arm are relatively arranged on two sides of the sliding space, the first proximal arm comprises a third sliding groove, and the second proximal arm comprises a fourth sliding groove.

6. The needle holder according to claim 4, characterized in that The proximal end of the first shearing portion protrudes from the outer side of the first proximal end portion and is fixedly connected to the connecting structure.

7. The needle holder according to claim 4, characterized in that Also includes: A driving structure, used to drive the opening and closing of the needle holder, the driving structure comprising: A driving wire for receiving a pushing or pulling driving force; as well as A slider is arranged at the distal end of the driving wire, and the slider is connected to the first clamp and the second clamp through a pin structure. One end of the pin structure is connected to the first slide groove and the third slide groove, and the other end of the pin structure is connected to the second slide groove and the fourth slide groove.

8. The needle holder according to claim 7, characterized in that The connecting structure is in a cylindrical shape and includes an internal cavity, and the driving wire passes through the internal cavity.

9. The needle holder according to claim 8, characterized in that Also includes: The sealing structure is in a cylindrical shape, a part of the inner cylinder of the sealing structure is sealed and connected to the driving wire, and a part of the outer cylinder of the sealing structure is sealed and connected to the inner circumferential surface of the connecting structure.

10. The needle holder according to claim 9, characterized in that The sealing structure comprises a transition section between the inner cylinder and the outer cylinder, and at least a portion of the transition section is retractable.

11. The needle holder according to any one of claims 1 to 10, characterized in that The second shearing portion is fixedly connected to the proximal end of the second clamping portion or the second shearing portion and the second clamping portion are integrally formed.

12. The needle holder according to any one of claims 1 to 10, characterized in that The arm body comprises: A first continuum structure, the first continuum structure comprising: A first base plate, a plurality of first spacer plates and a plurality of first structural bones, wherein the plurality of first structural bones pass through the plurality of first spacer plates and the first base plate, and the proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure to move.

13. The needle holder according to claim 12, characterized in that The arm body also includes: A second continuum structure, wherein the second continuum structure comprises: A second base plate, a plurality of second spacer plates and a plurality of second structural bones, wherein the plurality of second structural bones pass through the plurality of second spacer plates and the second base plate, the proximal ends of the plurality of second structural bones are used to receive a push or pull drive to drive the second continuum structure to move, the first continuum structure is located at the distal end of the second continuum structure, and the plurality of first structural bones pass through the plurality of second spacer plates and the second base plate.

14. A surgical robot system, characterized in that: include: A surgical trolley, comprising at least one robotic arm; as well as The needle holder according to any one of claims 1 to 13, wherein the needle holder is disposed at the distal end of the at least one mechanical arm.

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