End tool for surgical robot

Abstract

The utility model relates to the technical field of medical instruments, in particular to an end tool for a surgical robot, which is provided with a support plate, scales are arranged on the support plate, a linear module is mounted on the support plate, a rotary driver is arranged on the linear module, and a rotary support plate is arranged at the output end of the rotary driver. An instrument clamping unit is arranged on the rotary supporting plate, the instrument clamping unit comprises a first clamping jaw and a second clamping jaw, clamping springs are arranged at the clamping ends of the first clamping jaw and the second clamping jaw, and high-precision positioning of surgical instruments can be achieved through combined use of the linear module and the rotary driver; the linear module is responsible for accurate movement in the horizontal or vertical direction, the rotary driver is responsible for accurate angle adjustment, flexible angle adjustment can be carried out, the angle of the surgical instrument can be adjusted in real time according to the surgical process and the condition of a patient, and therefore the surgical task can be better completed.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, and in particular to an end tool for a surgical robot. Background Art

[0002] The surgical robot end tool, as a vital component of the medical surgical robot system, is the core device for performing surgical operations and achieving precise minimally invasive treatment. It is designed to assist surgeons in performing more precise and safe operations in complex surgical environments. It fully considers the complexity of human anatomy and the precision requirements of surgical operations, enters the body through tiny incisions, greatly reduces the patient's trauma and bleeding, and accelerates the postoperative recovery process.

[0003] While existing surgical robotic end-tools have achieved significant progress in surgical precision and minimally invasive procedures, they still suffer from several significant shortcomings. First, the stability and adjustability of the gripping units of some end-tools need to be improved, resulting in a lack of adaptability to different types of surgical instruments, which limits the choice of instruments during surgery. Furthermore, some end-tools lack sufficient flexibility and real-time performance in angle adjustment, making it difficult to fully meet the demand for fine-tuning the angle of surgical instruments during surgery, limiting the flexibility and efficiency of surgical operations. Summary of the Invention

[0004] To solve the above problems, the present application provides an end tool for a surgical robot, which is provided with a support plate, a scale is provided on the support plate, a linear module is installed on the support plate, a rotary drive is provided on the linear module, a rotating support plate is provided at the output end of the rotary drive, an instrument clamping unit is provided on the rotating support plate, and the instrument clamping unit includes a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are rotatably mounted on the rotating support plate, and the clamping ends of the first clamping jaw and the second clamping jaw are provided with clamping springs.

[0005] In one embodiment, the first clamping jaw is provided with a first rotating tooth, and the second clamping jaw is provided with a second rotating tooth, and the first rotating tooth and the second rotating tooth are engaged with each other.

[0006] In one embodiment, a first bearing is provided in the first clamping jaw, a first fixed pin is provided in the first bearing, a second bearing is provided in the second clamping jaw, a second fixed pin is provided in the second bearing, and the first fixed pin and the second fixed pin are fixedly mounted on the rotating support plate.

[0007] In one embodiment, a first spring support column is provided on the first clamping jaw, a second spring support column is provided on the second clamping jaw, and both ends of the clamping spring are respectively mounted on the first spring support column and the second spring support column.

[0008] In one embodiment, the clamping surfaces of the first clamping jaw and the second clamping jaw are arc-shaped.

[0009] In one embodiment, a pressing rod is provided at the rear end of the second clamping jaw.

[0010] In one embodiment, the rotation driver is a servo motor.

[0011] The beneficial effects of the present invention are:

[0012] The present application discloses an end tool for a surgical robot, comprising a support plate, a scale provided on the support plate, a linear module mounted on the support plate, a rotary drive provided on the linear module, a rotary support plate provided at the output end of the rotary drive, an instrument clamping unit provided on the rotary support plate, the instrument clamping unit comprising a first clamping jaw and a second clamping jaw, the clamping ends of the first clamping jaw and the second clamping jaw being provided with a clamping spring. The linear module is capable of reciprocating along a specific direction on the support plate, the rotational motion of the rotary drive drives the rotary support plate and the instrument clamping unit thereon to rotate together, and the clamping spring at the clamping end provides a certain clamping force for the instrument clamping unit, thereby achieving the clamping or release of surgical instruments (such as a drill bit, a puncture needle, a biopsy needle, etc.). By setting up a combination of a linear module and a rotary drive, high-precision positioning of surgical instruments can be achieved. The linear module is responsible for precise movement in the horizontal or vertical direction, while the rotary drive is responsible for precise angle adjustment. The combination of the two enables the surgical instruments to be flexibly adjusted in angle, so that the angle of the surgical instruments can be adjusted in real time according to the surgical progress and patient condition, thereby better completing the surgical task; the first clamping jaw and the second clamping jaw are clamped by a clamping spring, and can clamp a variety of surgical instruments (such as drill bits, puncture needles, biopsy needles, etc.). It has strong adaptability, is easy to operate, and facilitates rapid replacement of surgical instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of the utility model;

[0014] Figure 2 This is the front view of the utility model;

[0015] Figure 3 Schematic diagram of the structure of the instrument clamping unit;

[0016] Figure 4 This is an exploded view of the instrument clamping unit;

[0017] Explanation of symbols in the figure:

[0018] 1. Support plate;

[0019] 2. Scale;

[0020] 3. Linear module;

[0021] 4. Rotary drive;

[0022] 5. Rotate the support plate;

[0023] 6. Instrument clamping unit;

[0024] 61, first clamping jaw; 611, first rotating tooth; 612, first bearing; 613, first fixing pin;

[0025] 62, second clamping jaw; 621, second rotating tooth; 622, second bearing; 623, second fixing pin;

[0026] 7. Clamping spring; 71. First spring support column; 72. First spring support column. DETAILED DESCRIPTION

[0027] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0028] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0029] like Figure 1-3 As shown, an end tool for a surgical robot is provided with a support plate 1, a scale 2 is provided on the support plate 1, a linear module 3 is installed on the support plate 1, a rotary drive 4 is provided on the linear module 3, a rotating support plate 5 is provided at the output end of the rotary drive 4, an instrument clamping unit 6 is provided on the rotating support plate 5, and the instrument clamping unit 6 includes a first clamping jaw 61 and a second clamping jaw 62, the first clamping jaw 61 and the second clamping jaw 62 are rotatably installed on the rotating support plate 5, and a clamping spring 7 is provided at the clamping end of the first clamping jaw 61 and the second clamping jaw 62.

[0030] Specifically, the rotary driver 4 is a servo motor, and the support plate 1 serves as the basic structure of the entire end tool, providing a stable support platform. The scale 2 provided on the support plate 1 is used to indicate or record the moving position of the linear module 3, helping the doctor to accurately control the position of the surgical instrument. The linear module 3 can move back and forth along a specific direction on the support plate 1. By controlling the movement of the linear module, the rotary driver 4 and the surgical instruments connected thereto can be accurately positioned. The rotary driver 4 is mounted on the linear module 3 and can receive instructions from the control system to perform rotational movement. The output end of the rotary driver 4 is connected to the rotary support plate 5, so the rotational movement of the rotary driver 4 will drive the rotary support plate 5 and the instrument clamping unit 6 thereon to rotate together. The rotary support plate 5 serves as a bridge connecting the rotary driver 4 and the instrument clamping unit 6, which can not only transmit the rotational movement of the rotary driver 4, but also support and fix the instrument clamping unit 6. The instrument clamping unit 6 includes a first clamping jaw 61 and a second clamping jaw 62, which are rotatably mounted on the rotating support plate 5. The clamping spring 7 at the clamping end provides a certain clamping force for the instrument clamping unit 6, thereby achieving the clamping or release of surgical instruments (such as drill bits, puncture needles, biopsy needles, etc.), ensuring that the surgical instruments will not accidentally fall off during the operation. By setting up the combined use of the linear module 3 and the rotary drive 4, high-precision positioning of the surgical instruments can be achieved. The linear module 3 is responsible for precise movement in the horizontal or vertical direction, while the rotary drive 4 is responsible for precise adjustment of the angle. The combination of the two enables the surgical instruments to be flexibly adjusted in angle, so that the angle of the surgical instruments can be adjusted in real time according to the surgical progress and the patient's condition, thereby better completing the surgical task. The first clamping jaw 61 and the second clamping jaw 62 are clamped by the clamping spring 7, and can clamp various types of surgical instruments (such as drill bits, puncture needles, biopsy needles, etc.). They have strong adaptability, are easy to operate, and are convenient for rapid replacement of surgical instruments.

[0031] like Figure 4 As shown, the first clamping jaw 61 is provided with a first rotating tooth 611 , and the second clamping jaw 62 is provided with a second rotating tooth 621 . The first rotating tooth 611 and the second rotating tooth 621 are engaged with each other.

[0032] Specifically, when the first jaw 61 and the second jaw 62 engage with each other through the rotating teeth, they can maintain a high degree of synchronization, which means that in the process of clamping or releasing the surgical instrument, the two jaws will move simultaneously and at the same speed, thereby ensuring that the surgical instrument is clamped or released evenly and stably, thereby achieving precise clamping of the surgical instrument; the meshing structure of the first rotating teeth 611 and the second rotating teeth 621 provides additional stability, preventing the first jaw 61 and the second jaw 62 from accidentally moving or dislocating due to external force or vibration during the operation, thereby ensuring the safety and accuracy of the surgical operation.

[0033] like Figure 3、 4 As shown, a first bearing 612 is provided in the first clamping jaw 61, a first fixed pin 613 is provided in the first bearing 612, a second bearing 622 is provided in the second clamping jaw 62, a second fixed pin 623 is provided in the second bearing 622, and the first fixed pin 613 and the second fixed pin 623 are fixedly mounted on the rotating support plate 5.

[0034] Specifically, first and second bearings 612, 622 are disposed within first and second jaws 61, 62 to reduce friction and resistance during the jaws' rotation or opening and closing, ensuring smooth rotation and smoother jaw opening and closing, thereby improving surgical efficiency. First and second fixed pins 613, 623 are each fixedly mounted on rotating support plate 5, ensuring the jaws' stability during rotation or opening and closing. They restrict movement in degrees of freedom other than rotation, thereby improving the jaws' positioning accuracy and enabling the surgical robot to maintain stable and accurate operational performance during complex surgeries.

[0035] like Figure 3 As shown, a first spring support column 71 is provided on the first clamping jaw 61, and a second spring support column 72 is provided on the second clamping jaw 62. Both ends of the clamping spring 7 are respectively installed on the first spring support column 71 and the second spring support column 72.

[0036] Specifically, a pressing rod is provided at the tail end of the second clamping jaw 62. The pre-tightening force of the clamping spring 7 enables the first clamping jaw 61 and the second clamping jaw 62 to automatically maintain a clamping state when there is no external force. When the clamped object needs to be released, the clamping jaw can be opened by simply pressing the pressing rod.

[0037] like Figure 4 As shown, the clamping surfaces of the first clamping jaw 61 and the second clamping jaw 62 are arc-shaped.

[0038] Specifically, the arc-shaped clamping surface increases the contact area between the clamping jaws and the object, thereby improving the stability of the clamping. Even in dynamic environments, such as when the robot arm is moving or vibrating, it can maintain a firm grip on the object, reducing errors caused by unstable or offset clamping, and improving the accuracy and reliability of the operation.

[0039] Compared with the prior art, the present invention has the following advantages:

[0040] The present application discloses an end tool for a surgical robot, comprising a support plate 1, a scale 2 provided on the support plate 1, a linear module 3 mounted on the support plate 1, a rotary drive 4 provided on the linear module 3, a rotary support plate 5 provided at the output end of the rotary drive 4, an instrument clamping unit 6 provided on the rotary support plate 5, and the instrument clamping unit 6 including a first clamping jaw 61 and a second clamping jaw 62, the clamping ends of the first clamping jaw 61 and the second clamping jaw 62 being provided with a clamping spring 7. The linear module 3 is capable of reciprocating along a specific direction on the support plate 1, and the rotational movement of the rotary drive 4 drives the rotary support plate 5 and the instrument clamping unit 6 thereon to rotate together. The clamping spring 7 at the clamping end provides a certain clamping force for the instrument clamping unit 6, thereby achieving the clamping or release of surgical instruments (such as drill bits, puncture needles, biopsy needles, etc.). By setting up the combined use of the linear module 3 and the rotary driver 4, high-precision positioning of surgical instruments can be achieved. The linear module 3 is responsible for precise movement in the horizontal or vertical direction, while the rotary driver 4 is responsible for precise angle adjustment. The combination of the two enables the surgical instruments to be flexibly adjusted in angle, so that the angle of the surgical instruments can be adjusted in real time according to the surgical progress and patient condition, thereby better completing the surgical task; the first clamping jaw 61 and the second clamping jaw 62 are clamped by the clamping spring 7, and can clamp various types of surgical instruments (such as drill bits, puncture needles, biopsy needles, etc.), have strong adaptability, are easy to operate, and facilitate rapid replacement of surgical instruments.

[0041] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

[0042] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

Claims

1. An end tool for a surgical robot, comprising a support plate (1), a scale (2) provided on the support plate (1), a linear module (3) mounted on the support plate (1), a rotary drive (4) provided on the linear module (3), a rotary support plate (5) provided at the output end of the rotary drive (4), and an instrument clamping unit (6) provided on the rotary support plate (5), characterized in that: The instrument clamping unit (6) comprises a first clamping jaw (61) and a second clamping jaw (62), wherein the first clamping jaw (61) and the second clamping jaw (62) are rotatably mounted on the rotating support plate (5), and clamping ends of the first clamping jaw (61) and the second clamping jaw (62) are provided with a clamping spring (7).

2. The end tool for a surgical robot according to claim 1, characterized in that: The first clamping jaw (61) is provided with a first rotating tooth (611), and the second clamping jaw (62) is provided with a second rotating tooth (621), and the first rotating tooth (611) and the second rotating tooth (621) are meshed with each other.

3. The end tool for a surgical robot according to claim 1, characterized in that: A first bearing (612) is provided in the first clamping jaw (61), a first fixed pin (613) is provided in the first bearing (612), a second bearing (622) is provided in the second clamping jaw (62), a second fixed pin (623) is provided in the second bearing (622), and the first fixed pin (613) and the second fixed pin (623) are fixedly mounted on the rotating support plate (5).

4. The end tool for a surgical robot according to claim 1, characterized in that: The first clamping jaw (61) is provided with a first spring support column (71), the second clamping jaw (62) is provided with a second spring support column (72), and the two ends of the clamping spring (7) are respectively mounted on the first spring support column (71) and the second spring support column (72).

5. The end tool for a surgical robot according to claim 1, characterized in that: The clamping surfaces of the first clamping jaw (61) and the second clamping jaw (62) are arc-shaped.

6. The end tool for a surgical robot according to claim 1, characterized in that: A pressing rod is provided at the tail end of the second clamping jaw (62).

7. The end tool for a surgical robot according to claim 1, characterized in that: The rotary driver (4) is a servo motor.

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