Clamping device and endoscope robot

Abstract

The utility model provides a clamping device and an endoscopic robot, and belongs to the technical field of endoscopic surgical instruments, specifically, the clamping device comprises a supporting piece, a ball head structure and a locking mechanism; the ball head structure is provided with a channel; the supporting piece is provided with a supporting face and a first through opening. The locking mechanism has a locking state and an unlocking state. According to the clamping device provided by the embodiment of the invention, the locking mechanism has the locking state and the unlocking state in which the ball head structure is allowed to rotate relative to the supporting piece, and by changing the state of the locking mechanism, the ball head structure can be locked or unlocked so as to adjust the angle of the endoscope. When the locking mechanism is in the unlocking state, the angle of the endoscope can be adjusted so that an operator can operate the endoscope more conveniently, after the angle of the endoscope is adjusted, the locking mechanism is switched to the locking state, the relative positions of the ball head structure and the supporting piece are fixed, the angle of the endoscope can be adjusted easily and conveniently, the posture of a joint arm or a mechanical arm does not need to be reset, and operation is more convenient. The adjusting process is simple and rapid.

Description

Technical Field

[0001] The present application relates to the technical field of endoscopic surgical instruments, and in particular to a clamping device and an endoscopic robot. Background Art

[0002] Endoscopic neurosurgery is a minimally invasive surgical technique that uses an endoscope to enter the brain or spinal cord through a small incision to treat various neurological diseases. Endoscopic surgery requires the cooperation of two surgeons: one performing the surgery while the other holds and adjusts the endoscope. This requires extensive training and coordination, making it difficult to perform the surgery. The surgeon's handheld endoscope is unstable, especially when held for extended periods, placing a significant workload on the surgeon and reducing its stability.

[0003] Currently, some solutions for fixing the endoscope have been proposed in the prior art, such as fixing the endoscope by the end of an articulated arm or a robotic arm. Although these solutions can stably fix the endoscope for a long time, when the position / angle of the endoscope needs to be adjusted, it is usually necessary to reset the posture of the articulated arm or the robotic arm and reinstall the endoscope. The process of adjusting the position / angle of the endoscope is relatively complicated and time-consuming. Utility Model Content

[0004] The purpose of this application is to provide a clamping device and an endoscope robot, aiming to solve the problem in the related art that the existing endoscope is fixed at the end of an articulated arm or a mechanical arm. When the position / angle of the endoscope needs to be adjusted, it is usually necessary to reset the posture of the articulated arm or the mechanical arm and reinstall the endoscope. The process of adjusting the position / angle of the endoscope is complicated and time-consuming.

[0005] Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

[0006] According to a first aspect of the present application, there is provided a clamping device comprising: a support member, a ball head structure, and a locking mechanism;

[0007] The ball head structure is provided with a channel for installing an endoscope;

[0008] The support member is used to support the ball head structure, and the support member has a support surface that cooperates with the spherical surface of the ball head structure so that the ball head structure can rotate relative to the support member, and a first through hole for the endoscope to pass through;

[0009] The locking mechanism is provided on the support member, and has a locking state for locking the ball head structure on the support surface of the support member and an unlocking state for allowing the ball head structure to rotate relative to the support member.

[0010] In an exemplary embodiment of the present application, the locking mechanism is configured to be able to adjust the locking force between the spherical surface of the ball head structure and the supporting surface.

[0011] In an exemplary embodiment of the present application, the locking mechanism includes a clamping member and a locking structure, the clamping member has a second through-hole for the endoscope to pass through, the second through-hole corresponds to the first through-hole, the clamping member is suitable for cooperating with the support member to form a clamping structure to clamp the ball head structure inside the clamping structure; the locking structure is used to lock the clamping member and the support member to lock the ball head structure.

[0012] In an exemplary embodiment of the present application, the first end of the clamping member is hingedly connected to the support member so that the clamping member can be rotated relative to the support member to open or close;

[0013] The locking structure includes one or more sub-locking structures arranged along the circumferential edges of the clamping member and the support member, and the sub-locking structure includes sub-threaded holes formed on the corresponding edges of the clamping member and the support member and an adjusting screw for cooperating with the sub-threaded hole. When the clamping member is closed relative to the support member, the clamping structure and the ball head structure are locked by screwing the adjusting screw into the sub-threaded hole, and the locking force between the clamping structure and the ball head structure is adjusted by adjusting the depth of the adjusting screw screwed into the sub-threaded hole.

[0014] In an exemplary embodiment of the present application, the support member and the clamping member are both annular, and the support surface of the support member and the clamping surface of the clamping member are both formed into spherical surfaces that match the spherical surface of the ball head structure.

[0015] In an exemplary embodiment of the present application, the clamping member and the supporting member are provided separately;

[0016] The locking structure includes at least two sub-locking structures arranged along the circumferential edges of the clamping member and the support member, and the sub-locking structure includes sub-threaded holes formed on the edges of the clamping member and the support member and adjusting screws for cooperating with the sub-threaded holes. After the clamping member is set on the support member, the clamping structure and the ball head structure are locked by screwing the adjusting screw into the sub-threaded hole, and the locking force between the clamping structure and the ball head structure is adjusted by adjusting the depth of the adjusting screw screwed into the sub-threaded hole.

[0017] In an exemplary embodiment of the present application, the locking mechanism includes a threaded locking hole and an adjusting screw passing through the side wall of the support member, the adjusting screw having a locking end. In the locked state, the adjusting screw is screwed into the threaded locking hole radially inward along the support member so that the locking end presses the ball head structure; in the unlocked state, the adjusting screw is screwed out of the threaded locking hole radially outward along the support member so that the locking end loosens the ball head structure.

[0018] In an exemplary embodiment of the present application, a sleeve is further included, which is installed in the channel of the ball head structure, and the sleeve is used to install the endoscope.

[0019] According to a second aspect of the present application, an endoscopic robot is further provided, comprising a robotic arm and the above-mentioned clamping device, wherein the clamping device is detachably connected to the robotic arm.

[0020] In an exemplary embodiment of the present application, the clamping device is connected to the robotic arm via bolts or quick-connect connectors.

[0021] The exemplary embodiments of the present application may have some or all of the following beneficial effects:

[0022] The clamping device provided in the exemplary embodiment of the present application includes a support member, a ball head structure, and a locking structure. The ball head structure is used to install an endoscope. The support member is used to support the ball head structure. The support member has a support surface that cooperates with the spherical surface of the ball head structure so that the ball head structure can rotate relative to the support member. The locking mechanism is provided on the support member. The locking mechanism has a locking state that locks the ball head structure on the support surface of the support member and an unlocked state that allows the ball head structure to rotate relative to the support member. By changing the state of the locking mechanism, the ball head structure can be locked or unlocked to adjust the angle of the endoscope. When the locking mechanism is in the unlocked state, the angle of the endoscope can be adjusted to make it easier for the operator to operate. After the angle of the endoscope is adjusted, the locking mechanism switches to the locked state, fixing the relative position of the ball head structure and the support member. This makes it simple and convenient to adjust the angle of the endoscope without resetting the posture of the articulated arm or the robotic arm. The adjustment process is simple and fast.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0025] Figure 1 A schematic structural diagram of the clamping device in Example 1 of the present application is shown;

[0026] Figure 2 Shows a front view of the clamping device in Example 1 of the present application;

[0027] Figure 3 A partial exploded view of the clamping device in Example 1 of the present application is shown;

[0028] Figure 4 A cross-sectional view of the clamping device in Example 1 of the present application is shown;

[0029] Figure 5 A schematic structural diagram of the support member in Example 1 of the present application is shown;

[0030] Figure 6 A schematic structural diagram of the clamping member in Example 1 of the present application is shown;

[0031] Figure 7 A schematic diagram of the structure of an alternative locking mechanism in Example 1 of the present application is shown.

[0032] Description of reference numerals:

[0033] 1. Support member; 11. Support surface; 12. First through-hole; 13. Threaded locking hole; 2. Clamping member; 21. Second through-hole; 22. Clamping surface; 3. Adjusting screw; 4. Locking mechanism; 5. Sleeve; 6. Ball head structure; 61. Channel; 7. Connector; 8. Robotic arm; 9. Adjusting screw; 91. Locking end; 10. Sub-threaded hole. DETAILED DESCRIPTION

[0034] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed descriptions will be omitted. Furthermore, the figures are merely schematic illustrations of the present application and are not necessarily drawn to scale.

[0035] While relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It should be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through the other structure.

[0036] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first" and "second" are used only as labels and do not limit the quantity of their objects.

[0037] Example 1

[0038] This embodiment provides a specific implementation of the clamping device, such as Figure 1 and Figure 2 As shown, it includes a support member 1, a ball head structure 6 and a locking mechanism 4; wherein, the ball head structure 6 is provided with a channel 61 for installing an endoscope, and the endoscope is installed in the channel 61 of the ball head structure 6; the support member 1 is used to support the ball head structure 6, and the support member 1 has a supporting surface 11 that cooperates with the ball head structure 6 so that the ball head structure 6 can rotate relative to the support member 1, and the support member 1 also has a first through hole 12 for the endoscope to pass through, and the locking mechanism 4 is arranged on the support member 1, and the locking mechanism 4 has a locking state that locks the ball head structure 6 on the supporting surface 11 of the support member 1 and an unlocking state that allows the ball head structure 6 to rotate relative to the support member 1. Among them, the endoscope is installed in the channel 61 on the ball head structure 6, and the ball head structure 6 is installed on the support 1. The ball head structure 6 is based on the rotational cooperation between the spherical surface and the support surface. When the locking mechanism 4 is in the unlocked state, the angle of the endoscope can be adjusted to make it easier for the operator to operate. After adjusting the angle of the endoscope, the locking mechanism 4 switches to the locked state to fix the relative position of the ball head structure 6 and the support 1, making the angle adjustment of the endoscope simple and convenient, without resetting the posture of the articulated arm or the robotic arm 8, and the adjustment process is simple and fast.

[0039] In this embodiment, the endoscope can be either a flexible or rigid endoscope. A flexible endoscope, such as a gastroscope or colonoscope, is used to perform examinations and treatments through the body's natural cavities (e.g., the digestive tract, respiratory tract, and urinary tract). A rigid endoscope is primarily used for medical examinations and treatments, primarily for accessing sterile tissues and organs or through surgical incisions into sterile cavities such as the abdominal cavity and thoracic cavity. In this embodiment, a flexible endoscope is preferably used for holding a rigid endoscope.

[0040] In this embodiment, the locking mechanism 4 is configured to be able to adjust the locking force between the spherical surface of the ball head structure 6 and the supporting surface. The locking force between the spherical surface of the ball head structure 6 and the supporting surface can be adjusted according to actual needs so that the clamping state can adapt to more usage scenarios.

[0041] In this embodiment, Figure 2 and Figure 3 As shown, the locking mechanism 4 includes a clamping member 2 and a locking structure. The clamping member 2 has a second through-hole 21 for the endoscope to pass through. The second through-hole 21 corresponds to the first through-hole 12 so that the endoscope can pass through. The clamping member 2 can cooperate with the support member 1 to form a clamping structure to clamp the ball head structure 6 inside the clamping structure. The locking structure is used to lock the clamping member 2 and the support member 1 to lock the ball head structure 6. By controlling the locking degree of the clamping member 2 and the support member 1 by the locking structure, the locking force between the ball head structure 6 and the support surface is adjusted.

[0042] like Figure 5 and Figure 6 As shown, a first through opening 12 is provided on the support member 1, and a second through opening 21 is provided on the clamping member 2. The first through opening 12 and the second through opening 21 are correspondingly arranged so that the endoscope can pass through. The clamping member 2 and the support member 1 clamp the ball head structure 6. The first through opening 12 and the second through opening 21 are formed in the direction of the channel 61 of the ball head structure 6, so that the channel 61 of the ball head structure 6 can pass through the first through opening 12 and the second through opening 21, and thus the endoscope installed in the channel 61 can pass through the first through opening 12 and the second through opening 21.

[0043] In this embodiment, the first end of the clamping member 2 is hingedly connected to the support member 1 so that the clamping member 2 can be rotated to open or close relative to the support member 1; the locking structure includes one or more sub-locking structures arranged along the circumferential edges of the clamping member 2 and the support member 1, and the sub-locking structure includes a sub-threaded hole 10 formed on the corresponding edges of the clamping member 2 and the support member 1 and an adjusting screw 3 for cooperating with the sub-threaded hole 10. When the clamping member 2 is rotated and closed relative to the support member 1, the clamping structure and the ball head structure 6 are locked by screwing the adjusting screw 3 into the sub-threaded hole 10; the locking force between the clamping structure and the ball head structure 6 is adjusted by adjusting the depth of the adjusting screw 3 screwed into the sub-threaded hole 10.

[0044] Further, if Figure 3 As shown, the first end of the clamping member 2 is hinged to the support member 1 via a rotating shaft, so that the clamping member 2 can be rotated to open or close relative to the support member 1. A through hole is formed at the ends of the clamping member 2 and the support member 1 to allow the rotating shaft to pass through. The axis of the through hole is perpendicular to the axis of the first through opening 12 and the second through opening 21. The clamping member 2 can rotate around the rotating shaft, or the clamping member 2 can drive the rotating shaft to rotate within the through hole.

[0045] In this embodiment, Figure 2 and Figure 3 As shown, a sub-locking structure is provided on the circumferential edge of the support member 1 and the clamping member 2, and is arranged opposite the hinged end of the clamping member 2 and the support member 1, so that the sub-locking structure can maximize the locking effect. In other embodiments, multiple sub-locking structures can be provided, and the multiple sub-locking structures can be evenly arranged or randomly arranged on the circumferential edge of the clamping member 2 and the support member 1. There is no specific limitation on the layout of the sub-locking structures, as long as they can lock the clamping member 2 and the support member 1 according to actual circumstances.

[0046] Further, if Figure 5 and Figure 6 As shown, the support member 1 and the clamping member 2 are both annular, and the supporting surface 11 of the support member 1 and the clamping surface 22 of the clamping member 2 are both formed into spherical surfaces that match the spherical surface of the ball head structure 6, so that when the ball head structure 6 is clamped, they can better fit with the surface of the ball head structure 6, avoiding damage to the ball head structure 6 caused by the special-shaped structure when clamping.

[0047] In some other embodiments, the support member 1 and the clamping member 2 may also be square, polygonal or other shapes, as long as the supporting surface 11 of the support member 1 and the clamping surface 22 of the clamping member 2 are both formed into spherical surfaces that match the spherical surface of the ball head structure 6 and can clamp the ball head structure 6, there is no specific restriction on the shape of the support member 1 and the clamping member 2.

[0048] In some other embodiments, the clamping member 2 and the support member 1 are arranged separately, that is, the clamping member 2 and the support member 1 are connected only by a sub-locking structure, and there is no other connecting structure between the clamping member 2 and the support member 1; the locking structure includes at least two sub-locking structures arranged along the circumferential edges of the clamping member 2 and the support member 1, and the sub-locking structure includes a sub-threaded hole 10 formed on the edge of the clamping member 2 and the support member 1 and an adjusting screw 3 for cooperating with the sub-threaded hole 10. After the clamping member 2 is arranged on the support member 1, the clamping structure and the ball head structure 6 are locked by screwing the adjusting screw 3 into the sub-threaded hole 10, and the locking force between the clamping structure and the ball head structure 6 is adjusted by adjusting the depth of the adjusting screw 3 screwed into the sub-threaded hole 10.

[0049] In some other embodiments, such as Figure 7 As shown, the locking mechanism 4 can also be a threaded locking hole 13 and an adjusting screw 9 that passes through the side wall of the support member 1. The adjusting screw 9 has a locking end 91. The side wall of the support member 1 is provided with a threaded locking hole 13. The adjusting screw 9 is installed in the threaded locking hole 13 by threaded engagement. When the adjusting screw 9 rotates in the threaded locking hole 13, the locking end 91 of the adjusting screw 9 moves toward or away from the surface of the ball head structure 6, so that the locking end 91 of the adjusting screw 9 can tighten the ball head structure 6 or loosen the restriction on the ball head structure 6. In the locked state, the adjusting screw 9 is screwed into the threaded locking hole 13 radially inwardly of the support member 1 so that the locking end 91 tightens the ball head structure 6, thereby fixing the ball head structure 6 relative to the support member 1; in the unlocked state, the adjusting screw 9 is screwed out of the threaded locking hole 13 radially outwardly of the support member 1 so that the locking end 91 loosens the ball head structure 6, allowing the ball head structure 6 to rotate relative to the support member 1. In this case, the support member 1 is in the shape of a half shell, which can be a large hemispherical shape, that is, the support member 1 can cover the maximum width of the ball head structure to prevent the ball head structure from detaching from the support member 1, or it can be as follows Figure 7 The annular shell shape shown can also be several support blocks arranged at intervals, and the several support blocks together form a support surface 11 for supporting the ball head structure 6. There is no specific restriction on the shape of the support member 1, as long as it can support the ball head structure 6 and will not slide out of the support member 1 when the locking mechanism 4 is locked.

[0050] In this embodiment, Figure 4 As shown, the device further includes a sleeve 5 installed in the channel 61 of the ball head structure 6, and the endoscope is installed in the sleeve 5. The hollow space in the sleeve 5 can accommodate the endoscope. It should be noted that for a specific clamping device, the diameter of its channel 61 is fixed. By installing sleeves of different inner diameters into the channel 61, it can adapt to endoscopes of different specifications and models (different diameters). In some other embodiments, the diameter of the channel 61 can be specially designed so that a certain model of endoscope can be directly installed in the channel 61 of the ball head structure 6.

[0051] Example 2

[0052] This embodiment provides a specific implementation of the endoscopic robot, including the clamping device in Example 1, which is detachably connected to the robotic arm 8 to facilitate replacement of different clamping devices or other components.

[0053] Furthermore, the clamping device is connected to the robotic arm 8 via a connector 7. Specifically, the clamping device is connected to the robotic arm 8 via bolts or quick-connect connectors, which has a simple structure and is easy and convenient to install and disassemble.

[0054] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the embodiments of the present invention. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not covered by this application. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims.

Claims

1. A clamping device, characterized in that: include: Support member (1), ball head structure (6), locking mechanism (4); The ball head structure (6) is provided with a channel (61) for installing an endoscope; The support member (1) is used to support the ball head structure (6), and the support member (1) has a support surface (11) that cooperates with the spherical surface of the ball head structure (6) so that the ball head structure (6) can rotate relative to the support member (1), and a first through hole (12) for the endoscope to pass through; The locking mechanism (4) is arranged on the support member (1), and the locking mechanism (4) has a locking state in which the ball head structure (6) is locked on the support surface (11) of the support member (1), and an unlocking state in which the ball head structure (6) is allowed to rotate relative to the support member (1).

2. The clamping device according to claim 1, characterized in that The locking mechanism (4) is configured to be able to adjust the locking force between the spherical surface of the ball head structure (6) and the supporting surface (11).

3. The clamping device according to claim 1 or 2, characterized in that: The locking mechanism (4) comprises a clamping member (2) and a locking structure. The clamping member (2) has a second through-hole (21) for the endoscope to pass through, and the second through-hole (21) corresponds to the first through-hole (12). The clamping member (2) is suitable for cooperating with the support member (1) to form a clamping structure to clamp the ball head structure (6) inside the clamping structure; the locking structure is used to lock the clamping member (2) and the support member (1) to lock the ball head structure (6).

4. The clamping device according to claim 3, characterized in that The first end of the clamping member (2) is hingedly connected to the support member (1) so that the clamping member (2) can be rotated relative to the support member (1) to open or close; The locking structure includes one or more sub-locking structures arranged along the circumferential edges of the clamping member (2) and the support member (1), and the sub-locking structure includes a sub-threaded hole (10) formed on the corresponding edges of the clamping member (2) and the support member (1) and an adjusting screw (3) for cooperating with the sub-threaded hole (10). When the clamping member (2) is closed relative to the support member (1), the clamping structure and the ball head structure (6) are locked by screwing the adjusting screw (3) into the sub-threaded hole (10), and the locking force between the clamping structure and the ball head structure (6) is adjusted by adjusting the depth of the adjusting screw (3) screwed into the sub-threaded hole (10).

5. The clamping device according to claim 4, characterized in that: The support member (1) and the clamping member (2) are both annular, and the support surface (11) of the support member (1) and the clamping surface (22) of the clamping member (2) are both formed into spherical surfaces that match the spherical surface of the ball head structure (6).

6. The clamping device according to claim 3, characterized in that: The clamping member (2) and the supporting member (1) are arranged separately; The locking structure comprises at least two sub-locking structures arranged along the circumferential edges of the clamping member (2) and the support member (1), and the sub-locking structure comprises a sub-threaded hole (10) formed on the edges of the clamping member (2) and the support member (1) and an adjusting screw (3) for cooperating with the sub-threaded hole (10). After the clamping member (2) is arranged on the support member (1), the clamping structure and the ball head structure (6) are locked by screwing the adjusting screw (3) into the sub-threaded hole (10), and the locking force between the clamping structure and the ball head structure (6) is adjusted by adjusting the depth of the adjusting screw (3) screwed into the sub-threaded hole (10).

7. The clamping device according to claim 1 or 2, characterized in that: The locking mechanism (4) comprises a threaded locking hole (13) penetrating the side wall of the support member (1) and an adjusting screw (9), wherein the adjusting screw (9) has a locking end (91). In the locked state, the adjusting screw (9) is screwed into the threaded locking hole (13) inwardly along the radial direction of the support member (1) so that the locking end (91) presses against the ball head structure (6); in the unlocked state, the adjusting screw (9) is screwed out of the threaded locking hole (13) inwardly along the radial direction of the support member (1) so that the locking end (91) loosens the ball head structure (6).

8. The clamping device according to claim 1, characterized in that: It also includes a sleeve (5) installed in the channel (61) of the ball head structure (6), and the sleeve (5) is used to install the endoscope.

9. An endoscopic robot, characterized in that: It comprises a mechanical arm (8) and a clamping device according to any one of claims 1 to 8, wherein the clamping device is detachably connected to the mechanical arm (8).

10. The endoscopic robot according to claim 9, characterized in that: The clamping device is connected to the mechanical arm (8) via bolts or quick-connect connectors.

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