Multi-joint surgical instrument forceps head structure

Abstract

The utility model relates to the field of surgical robots, and discloses a multi-joint surgical instrument forceps head structure which comprises a wrist joint, a plurality of deflection joints and a plurality of forceps heads. The pushing rod penetrates through the wrist joint, and one end of the pushing rod is in threaded transmission connection with the wrist joint; the forcep head comprises a first forcep clamp and a second forcep clamp which are hinged through a hinge shaft; one end of the pushing rod penetrates through the wrist joint to be movably connected with the first forceps holder and the second forceps holder, and the first forceps holder and the second forceps holder are driven to do opening and closing movement. Through threaded transmission of the pushing rod, the structure is stable and reliable, the tong head control precision is high, the clamping force of the tong head structure can be effectively improved, and the service life of the tong head structure can be effectively prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical robot technical field, especially to multi -joint. BACKGROUND

[0002] The forceps head of the surgical robot is a key tool in the surgical robot system, which is used for various surgical operations such as clamping, cutting, suturing, etc. The forceps head of the surgical robot is usually designed with multiple joints to simulate the range of motion and degrees of freedom of the human hand. These joints can move and rotate flexibly to adapt to different surgical needs and provide greater flexibility and accuracy. This wrist movement can adjust the angle and position of the forceps during surgery to better perform surgical operations and adapt to complex anatomical structures. To adapt to different types of surgical operations, the clamps of different forceps tools use opening and closing actions to achieve different operations such as clamping, cutting, suturing, and electrocoagulation. The forceps head of the surgical robot is controlled through a console, and the doctor controls the movement of the forceps through the handle on the console. In the prior art, steel wire ropes, tungsten wire ropes, etc. are generally used to drive the clamps to complete the opening and closing actions of the clamps. Due to the inherent elongation and aging problems of the traction ropes, the control precision and stability of the forceps opening and closing are affected.

[0003] In the Chinese patent document with publication number CN220045962U and utility model name "a needle holder, surgical instrument and surgical robot", a needle holder is disclosed. The rotation of the forceps head is driven by moving the first traction rope and the second traction rope, which makes the first forceps head and the second forceps head move towards or away from each other around the forceps head hinge shaft, realizing the opening and closing of the forceps head. Due to the large elongation of the traction wire itself, it is easy to cause deviation of the control precision of the forceps head and insufficient clamping force. The traction rope bears a large tension force when opening and closing, so its service life is also relatively low, which increases the instability of the forceps head structure. SUMMARY

[0004] The purpose of the utility model is to provide a multi-joint surgical instrument forceps head structure, which makes the forceps head structure stable and improves the control precision and clamping force of the forceps head.

[0005] To solve the above technical problems, the embodiment of the utility model provides a technical scheme, which includes:

[0006] A multi-joint surgical instrument forceps head structure includes:

[0007] A wrist joint includes multiple deflection joints;

[0008] A push rod is arranged through the wrist joint, and one end of the push rod is threadedly connected with the wrist joint;

[0009] A forceps head includes a first clamp and a second clamp which are hingedly arranged through a hinge shaft;

[0010] One end of the push rod passes through the wrist joint and is movably connected with the first jaw and the second jaw respectively, and drives the first jaw and the second jaw to open and close. Through the threaded transmission of the push rod, the structure is stable and reliable, the control precision of the jaw is high, and the clamping force and service life of the jaw structure can be effectively improved.

[0011] Further, the push rod is provided with a rotating head towards the jaw, one end of the first jaw and the second jaw is provided with a driving guide hole, the driving head is fixedly provided with a connecting shaft, the free end of the connecting shaft is slidably connected with the driving guide hole, the driving head can drive the connecting shaft to reciprocate along the driving guide hole, and drives the first jaw and the second jaw to open and close. Through the threaded transmission of the push rod and the sliding fit of the connecting shaft and the driving guide hole, compared with the jaw structure driven by the traction rope, the influence of the inherent elongation, aging and other problems of the traction rope on the opening and closing control precision of the jaw can be effectively avoided. The sliding fit of the connecting shaft and the driving guide hole is a mechanical fit between hard material structures, the structure is stable and reliable, the control precision of the jaw is high, and the clamping force and service life of the jaw structure can be effectively improved.

[0012] Further, the driving guide hole includes a first driving guide hole provided at one end of the first jaw towards the wrist joint, and a second driving guide hole provided at one end of the second jaw towards the wrist joint, the first driving guide hole and the second driving guide hole are both long circular holes, and the first driving guide hole and the second driving guide hole are offset arranged along the long axis direction. By offsetting the first driving guide hole and the second driving guide hole along the long axis direction, the first driving guide hole and the second driving guide hole are symmetrically arranged with the connecting shaft as the center axis. When the connecting shaft slides along the first driving guide hole and the second driving guide hole, the first jaw and the second jaw can be driven to move in opposite directions, realizing the opening and closing control of the jaw. Through the symmetrical arrangement of the offset angle of the first driving guide hole and the second driving guide hole, the first jaw and the second jaw can move towards each other or away from each other at the same time, improving the stability of the opening and closing of the first jaw and the second jaw.

[0013] Further, the wrist joint is provided with a pair of ears protruding towards one end of the jaw, a guide hole and a positioning hole are correspondingly provided on the ears, the end of the connecting shaft is slidably connected with the guide hole, and the end of the hinge shaft is rotatably connected with the positioning hole. Through the guide hole, the movement path of the connecting shaft is limited, and the stability of the movement of the connecting shaft is increased.

[0014] Further, the guide hole is an oblong hole, and a long axis of the guide hole is arranged in the same direction as an axial direction of the wrist joint. By arranging the long axis of the guide hole in the same direction as the axial direction of the wrist joint, the stability of the linear motion of the transmission head can be effectively increased, and when the transmission head is in threaded transmission with the wrist joint, the influence of the lateral force on the threaded transmission structure is reduced, and the reliability and service life of the jaw structure are increased.

[0015] Further, one side of the first jaw and the second jaw corresponding to the opening and closing motion is a clamping surface, and the clamping surface intersects with the rotation direction of the first jaw and the second jaw. By arranging the clamping surface to intersect with the rotation direction, the first jaw and the second jaw can abut each other in the motion direction, so that the clamping force between the first jaw and the second jaw is increased.

[0016] Further, the wrist joint comprises a first joint, a second joint and a third joint arranged in sequence, the first joint is movably connected with the second joint, the second joint is movably connected with the third joint, and the plane in which the first joint and the second joint move relative to each other is perpendicular to the plane in which the second joint and the third joint move relative to each other. By movably connecting the first joint, the second joint and the third joint, the flexibility of the wrist joint is increased, so that the wrist joint can drive the jaw to bias in multiple directions.

[0017] Further, the push rod comprises a driving rod connected with the driving device, a transmission rod provided with a transmission head, and a connecting rod connecting the driving rod and the transmission rod, and the driving rod and the connecting rod and the connecting rod and the transmission rod are movably connected. By movably connecting the driving rod, the connecting rod and the transmission rod, the bias of the wrist joint can be effectively matched to realize the bias of the wrist joint.

[0018] Further, a deflection connecting block is arranged between the driving rod and the connecting rod, the deflection connecting block is provided with a deflection shaft protruding in the circumferential direction, one end of the driving rod is hinged to the deflection connecting block through the deflection shaft, and one end of the connecting rod is hinged to the deflection connecting block through the deflection shaft. By arranging the deflection connecting block and the deflection shaft, the flexibility of the connection between the driving rod, the connecting rod and the transmission rod is effectively increased, and the stability of the overall rotational connection of the push rod is also increased.

[0019] Further, a plurality of traction ropes are arranged, one end of each traction rope is connected with the driving device, and the other end is fixedly connected with the wrist joint, and the traction ropes can drive the wrist joint and the jaw to deflect in multiple directions. By arranging the traction ropes, an acting force can be applied to the wrist joint to drive the wrist joint and the jaw to deflect, thereby increasing the flexibility of the jaw structure and the convenience of use. BRIEF DESCRIPTION OF DRAWINGS

[0020] One or more embodiments are illustrated by way of example in the drawings in which like reference numerals indicate similar elements, and as such, the drawings should be considered for purposes of illustration only. The drawings are not necessarily to scale, with emphasis being placed on illustrating the principles of the embodiments.

[0021] Figure 1 is a three-dimensional structure schematic diagram of the forceps head structure of the multi-joint surgical instrument in the embodiment of the utility model;

[0022] Figure 2 is an exploded structure schematic diagram of the forceps head structure of the multi-joint surgical instrument in the embodiment of the utility model;

[0023] Figure 3 is a disassembled structure schematic diagram of the forceps head and the pushing rod in the forceps head structure of the multi-joint surgical instrument in the embodiment of the utility model;

[0024] Figure 4 is a deflection connecting block structure schematic diagram in the embodiment of the utility model.

[0025] Mark explanation: 10, pushing rod; 11, driving rod; 12, connecting rod; 13, transmission rod; 14, transmission head; 15, deflection connecting block; 151, body; 152, deflection shaft; 20, wrist joint; 30, forceps head; 40, traction rope; 21, first joint; 22, second joint; 23, third joint; 231, upper connecting end; 232, lower connecting end; 2321, guide hole; 2322, positioning hole; 31, first forceps clamp; 311, first hinged hole; 312, first driving guide hole; 32, second forceps clamp; 321, second hinged hole; 322, second driving guide hole; 33, hinged shaft; 34, connecting shaft; 35, clamping surface; DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the utility model more clear, the following will be combined with the drawings to make a detailed description of each embodiment of the utility model. However, those skilled in the art can understand that in each embodiment of the utility model, many technical details are proposed in order to make the reader better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in each claim of the present application can be realized.

[0027] It should be noted that if the present application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, motion condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0028] For example, Figures 1-4As shown, one embodiment of the utility model relates to a kind of multi-joint surgical instrument clamp head structure, including wrist joint 20 and the push rod 10 being set to the axial through wrist joint 20, the one end of the push rod 10 is connected with the threaded drive of wrist joint 20, and its end portion is equipped with transmission head 14;The wrist joint 20 includes multiple deflection joints, multiple deflection joints are movably connected, can be deflected along fixed direction movement;The one end of transmission head 14 is connected with clamp head 30 by connecting shaft 34, the clamp head 30 includes first jaw 31 and second jaw 32 by hinged shaft 33 hinged setting, the one end of first jaw 31 and second jaw 32 towards transmission head 14 is equipped with drive guide hole, the two free ends of connecting shaft 34 are slidably fitted in the drive guide hole, the transmission head 14 is relatively fixedly arranged with connecting shaft 34, the transmission head 14 is between drive guide hole, the transmission head 14 can drive the linear motion of connecting shaft 34 relative to clamp head 30, to drive first jaw 31 and second jaw 32 opening and closing movement by the sliding fit of connecting shaft 34 and drive guide hole 2321.

[0029] In one embodiment, a multi-joint surgical instrument pliers head structure is involved, the driving guide hole includes a first driving guide hole 312 provided at one end of the first jaw 31 towards the wrist joint 20, and a second driving guide hole 322 provided at the second jaw 32 towards the wrist joint 20, the first driving guide hole 312 and the second driving guide hole 322 are both long round holes, the first driving guide hole 312 and the second driving guide hole 322 are arranged offset along the long axis direction, so that when the transmission shaft drives the connecting shaft 34 to move linearly towards the pliers head 30, through the sliding fit of the connecting shaft 34 with the first driving guide hole 312 and the second driving guide hole 322, the first jaw 31 and the second jaw 32 are driven to move away from each other, realizing the opening action of the first jaw 31 and the second jaw 32, when the transmission shaft drives the connecting shaft 34 to move linearly away from the pliers head 30, through the sliding fit of the connecting shaft 34 with the first driving guide hole 312 and the second driving guide hole 322, the first jaw 31 and the second jaw 32 are driven to move towards each other, realizing the closing action of the first jaw 31 and the second jaw 32. In order to ensure the clamping force of the opening and closing action of the pliers head 30, one side of the first jaw 31 and the second jaw 32 corresponding to the opening and closing movement is a clamping surface 35, the clamping surface 35 intersects the rotation direction of the first jaw 31 and the second jaw 32, preferably, the clamping surface 35 is perpendicular to the rotation direction of the first jaw 31 and the second jaw 32. Through the threaded transmission of the push rod 10 and the sliding fit of the connecting shaft 34 with the driving guide hole, compared with the pliers head 30 structure driven by the traction rope 40, the influence of the inherent extension rate, aging and other problems of the traction rope 40 on the opening and closing control accuracy of the pliers head 30 can be effectively avoided, the sliding fit of the connecting shaft 34 with the driving guide hole is a mechanical fit between hard material structures, the structure is stable and reliable, the control accuracy of the pliers head 30 is high, and the clamping force and service life of the pliers head 30 structure can be effectively improved.

[0030] In one embodiment, a multi-joint surgical instrument pliers head structure is involved, the wrist joint 20 is provided with two ears protruding towards one end of the pliers head 30, the two ears are symmetrically arranged, the transmission head 14 is located between the two ears, the two ears are correspondingly provided with a guide hole 2321 and a positioning hole 2322, the guide hole 2321 is a long round hole, the long axis direction of the guide hole 2321 is consistent with the linear motion direction of the transmission head 14, the connecting shaft 34 is arranged between the two ears, the two ends of the connecting shaft 34 are slidably connected with the guide hole 2321, the hinge shaft 33 is arranged between the two ears, the two ends of the hinge shaft 33 are respectively connected with the positioning hole 2322 through the first hinge hole 311 and the second hinge hole 321. Through the arrangement of the guide hole 2321, the stability of the linear motion of the transmission head 14 can be effectively increased, when the transmission head 14 is in threaded transmission with the wrist joint 20, the influence of the lateral force on the threaded transmission structure is reduced, the reliability and service life of the pliers head 30 structure are increased.

[0031] In one embodiment, a multi-joint surgical instrument jaw structure is involved, including a wrist joint 20, the wrist joint 20 including a first joint 21, a second joint 22 and a third joint 23 arranged in sequence, the first joint 21 being movably connected with the second joint 22, and the second joint 22 being movably connected with the third joint 23, the plane in which the first joint 21 and the second joint 22 move relative to each other being perpendicular to the plane in which the second joint 22 and the third joint 23 move relative to each other. In one exemplary example, the first joint 21 and the second joint 22 are in meshing transmission connection, and preferably, the third joint 23 includes an upper connecting end 231 and a lower connecting end 232, the upper connecting end 231 being arranged towards the second joint 22, the upper connecting end 231 being in meshing transmission connection with the second joint 22, and the lower connecting end 232 being arranged towards the jaw 30, most of the lower connecting end 232 including two symmetrically arranged ears, the transmission head 14 and the jaw 30 being located between the two ears. Of course, according to requirements, the first joint 21 and the second joint 22, and the second joint 22 and the third joint 23 can also be in other mechanical movable connection modes such as hinged connection.

[0032] In one embodiment, a multi-joint surgical instrument jaw structure is involved, including a push rod 10, the push rod 10 including a driving rod 11 connected with a driving device, a transmission rod 13 provided with a transmission head 14, and a connecting rod 12 connecting the driving rod 11 and the transmission rod 13, the driving rod 11 and the connecting rod 12, and the connecting rod 12 and the transmission rod 13 being movably connected, the driving device including but not limited to a motor and the like, one end of the driving rod 11 being connected with a motor power output shaft through a shaft coupling, the transmission head 14 converting the rotation of the motor into linear motion through its threaded transmission with the third joint 23, so as to realize the opening and closing control of the jaw 30. In one exemplary example, a deflection connecting block 15 is arranged between the driving rod 11 and the connecting rod 12, the deflection connecting block 15 including a body 151, four deflection shafts 152 being circumferentially and protrudingly arranged on the body 151, the deflection shafts 152 being arranged at an interval of 90°, one end of the driving rod 11 being hinged with the deflection connecting block 15 through the deflection shaft 152, and one end of the connecting rod 12 being hinged with the deflection connecting block 15 through the deflection shaft 152. Through the arrangement of the deflection shaft 152, the deflection direction between the driving rod 11 and the connecting rod 12 is consistent with the deflection direction between the first joint 21 and the second joint 22, and the deflection direction between the connecting rod 12 and the transmission rod 13 is consistent with the deflection direction between the second joint 22 and the third joint 23.

[0033] In one embodiment, a multi-joint surgical instrument jaw structure is involved, including a plurality of traction ropes 40, one end of the traction rope 40 is connected with a power device, the other end is fixedly connected with a third joint 23, the traction rope 40 is fixedly arranged at the edge of the third joint 23, through the driving of the traction rope 40, the third joint 23 can drive the jaw 30 to deflect in multiple directions, the deflection direction of the third joint 23 is consistent with the deflection direction between the first joint 21 and the second joint 22 or the deflection direction between the second joint 22 and the third joint 23. In one exemplary embodiment, the traction rope 40 is 4, which is arranged at the edge of the third joint 23 in different directions, through the driving of the traction rope 40, the third joint 23 and the jaw 30 can be effectively driven to deflect in the front, rear, left and right four directions, effectively increasing the flexibility of the jaw 30 structure and the convenience of use.

[0034] The multi-joint surgical instrument jaw structure provided by the utility model, compared with the jaw structure driven by the traction rope in the prior art, can effectively avoid the influence of the inherent elongation, aging and other problems of the traction rope on the jaw opening and closing control precision, through the screw transmission of the pushing rod and the sliding fit of the connecting shaft and the driving guide hole, the sliding fit of the connecting shaft and the driving guide hole is the mechanical fit between hard material structures, so that the jaw structure is stable and reliable, the jaw control precision is high, and the clamping force and service life of the jaw structure can be effectively improved.

[0035] Those skilled in the art can understand that the above-mentioned embodiments are specific embodiments for implementing the utility model, and in actual application, various changes can be made in form and details without departing from the spirit and scope of the utility model.

Claims

1. A multi-joint surgical instrument forceps head structure, characterized in that: include a wrist joint (20), including multiple deflection joints; A push rod (10) is provided through the wrist joint (20), and one end of the push rod (10) is threadedly connected to the wrist joint (20); A pliers head (30) comprising a first pliers (31) and a second pliers (32) hingedly connected via a hinge shaft (33); One end of the push rod (10) passes through the wrist joint (20) and is movably connected to the first clamp (31) and the second clamp (32) respectively, driving the first clamp (31) and the second clamp (32) to perform opening and closing movements.

2. The multi-joint surgical instrument forceps structure according to claim 1, characterized in that: The push rod (10) is provided with a transmission head (14) toward the clamp head (30); one end of the first clamp (31) and the second clamp (32) is provided with a drive guide hole; the transmission head (14) is fixed with a connecting shaft (34); the free end of the connecting shaft (34) is slidably matched with the drive guide hole; the transmission head (14) can drive the connecting shaft (34) to reciprocate along the drive guide hole, thereby driving the first clamp (31) and the second clamp (32) to open and close.

3. The multi-joint surgical instrument forceps structure according to claim 2, characterized in that: The driving guide hole comprises a first driving guide hole (312) provided at one end of the first clamp (31) toward the wrist joint (20), and a second driving guide hole (322) provided at the second clamp (32) toward the wrist joint (20), wherein the first driving guide hole (312) and the second driving guide hole (322) are both oblong holes, and the first driving guide hole (312) and the second driving guide hole (322) are offset along their long axis directions, and the offset angles of the first driving guide hole (312) and the second driving guide hole (322) are symmetrically provided with the connecting axis (34) as the center axis.

4. The multi-joint surgical instrument forceps structure according to claim 2, characterized in that: The wrist joint (20) is provided with a pair of ears protruding toward one end of the pliers head (30), and the ears are provided with a guide hole (2321) and a positioning hole (2322) respectively. The end of the connecting shaft (34) is slidably connected to the guide hole (2321), and the end of the hinge shaft (33) is rotatably connected to the positioning hole (2322).

5. The multi-joint surgical instrument forceps structure according to claim 4, characterized in that: The guide hole (2321) is an oblong hole, and the long axis of the guide hole (2321) is arranged in the same direction as the axial direction of the wrist joint (20).

6. The multi-joint surgical instrument forceps structure according to claim 1, characterized in that: A surface corresponding to the opening and closing movement of the first clamp (31) and the second clamp (32) is a clamping surface (35), and the clamping surface (35) intersects with the rotation direction of the first clamp (31) and the second clamp (32).

7. The multi-joint surgical instrument forceps structure according to claim 1, characterized in that: The wrist joint (20) includes a first joint (21), a second joint (22), and a third joint (23) arranged in sequence, wherein the first joint (21) is movably connected to the second joint (22), and the second joint (22) is movably connected to the third joint (23), and the plane where the first joint (21) and the second joint (22) move relative to each other is perpendicular to the plane where the second joint (22) and the third joint (23) move relative to each other.

8. The multi-joint surgical instrument forceps structure according to claim 7, characterized in that: The push rod (10) comprises a drive rod (11) connected to a drive device, a transmission rod (13) provided with a transmission head (14), and a connecting rod (12) connecting the drive rod (11) and the transmission rod (13); the drive rod (11) and the connecting rod (12), as well as the connecting rod (12) and the transmission rod (13), are movably connected.

9. The multi-joint surgical instrument forceps structure according to claim 8, characterized in that: A deflection connection block (15) is provided between the driving rod (11) and the connecting rod (12); the deflection connection block (15) is provided with a deflection shaft (152) protruding along the circumferential direction; one end of the driving rod (11) facing the connecting rod (12) is hinged to the deflection connection block (15) through the deflection shaft (152); and one end of the connecting rod (12) facing the driving rod (11) is hinged to the deflection connection block (15) through the deflection shaft (152).

10. The multi-joint surgical instrument forceps structure according to any one of claims 1 to 9, characterized in that: It comprises a plurality of traction ropes (40), one end of each traction rope (40) is connected to a driving device, and the other end is fixedly connected to the wrist joint (20). The traction rope can drive the wrist joint (20) and the clamp head (30) to deflect in multiple directions.

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