Clamping device and surgical robot system
By designing a variable clamping device, utilizing the relative movement of the first and second covers and the locking mechanism of the elastic clamping element, the applicability and damage issues of the clamping device to instruments of different sizes are solved, achieving stable clamping and reducing radiation exposure.
Patent Information
- Application Number
- CN202422885815.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-25
- Publication Date
- 2026-01-27
- Estimated Expiration
- 2034-11-25
AI Technical Summary
Existing clamping devices are prone to damaging instruments when clamping puncture instruments and are not applicable to instruments of different sizes. Furthermore, prolonged radiation exposure in the CT room is harmful to doctors' health.
A clamping device comprising a first cover, a second cover, and an elastic clamping member is designed. By means of the relative movement of the first cover and the second cover, and by means of the elastic compression and locking mechanism of the elastic clamping member, a variable clamping of the puncture instrument can be achieved. This device is suitable for instruments of different sizes and reduces the risk of damage through elastic contact.
It achieves stable and secure clamping of puncture instruments, reduces the risk of instrument damage, is suitable for instruments of various sizes, and reduces the radiation exposure of doctors in the CT room.
Smart Images
Figure CN223831161U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical device technology, and in particular to clamping devices and surgical robot systems. Background Technology
[0002] Aspiration, or puncture, is a diagnostic and treatment technique that involves inserting a puncture instrument into a patient's body cavity to extract secretions for testing, injecting gas or contrast agents into the cavity for imaging examinations, or injecting medication into the cavity. Currently, aspiration is often performed under CT image guidance. However, because CT scans involve radiation, prolonged exposure to this environment can pose significant health risks to doctors. Therefore, when performing aspiration under CT image guidance, a robot is typically placed inside the CT room. The puncture instrument is held in place by a clamping device attached to the robot's distal joint via a puncture end structure. The doctor remotely controls the robot from outside the CT room via a main control device, guiding the puncture instrument into the CT scanner's scanning cavity to complete the puncture. In related technologies, conventional clamping devices apply considerable clamping force to prevent the instrument from falling out, which can easily damage it. Furthermore, conventional clamping devices are not compatible with puncture instruments of different sizes. Utility Model Content
[0003] Therefore, it is necessary to provide a clamping device and a surgical robot system. The clamping device has high clamping stability when clamping and fixing puncture instruments, is not easy to damage the puncture instruments, and has strong versatility, suitable for puncture instruments of different sizes.
[0004] A clamping device, the clamping device comprising:
[0005] First cover;
[0006] The second cover; and
[0007] An elastic clamping member is connected between the first cover and the second cover and has a clamping cavity for a puncture instrument to pass through;
[0008] The first cover and the second cover are configured to move relative to each other to reduce the size of the clamping cavity by elastically compressing the elastic clamping member, and the first cover and the second cover are lockable to prevent the elastic clamping member from recovering from deformation by elastic force.
[0009] In some embodiments, the first cap and the second cap are configured to rotate relative to each other about a first direction to reduce the size of the clamping cavity by elastically compressing the elastic clamping member along a second direction, wherein the first direction is the axial direction of the puncture instrument and the second direction is perpendicular to the first direction.
[0010] In some embodiments, the elastic clamping member includes a torsion spring, the torsion spring including a spring coil and a first pin and a second pin respectively connected to both ends of the spring coil, the spring coil having the clamping cavity, the first pin being connected to the first cover, and the second pin being connected to the second cover.
[0011] In some embodiments, the first cover includes an elastic arm, and the second cover includes a toothed ring base, wherein one of the elastic arm and the toothed ring base has an outer toothed ring and the other has an inner toothed ring; the outer toothed ring and the inner toothed ring can engage with each other under the elastic force of the elastic arm to lock the relative rotational position of the first cover and the second cover.
[0012] In some embodiments, the outer gear ring and the inner gear ring are configured as ratchet teeth;
[0013] When the first cover and the second cover rotate relative to each other in the first direction, the outer gear ring and the inner gear ring remain engaged to suppress the rebound of the torsion spring; the elastic arm is configured to move operablely so that when the outer gear ring and the inner gear ring are in a disengaged state, the torsion spring recovers through elastic force deformation.
[0014] In some embodiments, one of the first cover and the second cover is provided with a locking block and the other is provided with a locking groove, wherein the locking block is engaged with the locking groove to prevent the first cover and the second cover from moving away from each other relative to each other along the first direction.
[0015] In some embodiments, the first cover and the second cover are threaded together and are sleeved outside the elastic clamping member. At least one of the first cover and the second cover has a first inclined surface that is inclined relative to the first direction, and the elastic clamping member has a second inclined surface that is inclined relative to the first direction. During the relative rotation of the first cover and the second cover to tighten, the first inclined surface abuts against the second inclined surface to elastically compress the elastic clamping member along the second direction to reduce the size of the clamping cavity.
[0016] In some embodiments, the elastic clamping member is a metal or plastic part, and the elastic clamping member has a plurality of grooves.
[0017] In some embodiments, the elastic clamping member includes a first elastic portion and a second elastic portion arranged at intervals along the first direction, and at least one of the first elastic portion and the second elastic portion has the second inclined surface;
[0018] Both the first elastic portion and the second elastic portion are provided with a plurality of grooves, and the positions of the grooves on the first elastic portion and the second elastic portion are aligned or staggered.
[0019] In some embodiments, the elastic clamping member is a silicone or rubber component, and the elastic clamping member has an adsorption hole that penetrates the cavity wall of the clamping cavity.
[0020] In some embodiments, the first cap and the second cap are configured to move closer to each other in a first direction to reduce the size of the clamping cavity by elastically compressing the elastic clamping member in a second direction, wherein the first direction is the axial direction of the puncture instrument and the second direction is perpendicular to the first direction.
[0021] In some embodiments, the first cover and the second cover are sleeved outside the elastic clamping member, and at least one of the first cover and the second cover has a third inclined surface that is inclined relative to the first direction. The elastic clamping member has a fourth inclined surface that is inclined relative to the first direction. During the relative movement of the first cover and the second cover, the third inclined surface abuts against the fourth inclined surface to elastically compress the elastic clamping member along the second direction to reduce the size of the clamping cavity.
[0022] In some embodiments, one of the first cover and the second cover has a resilient hook, and the other has a plurality of locking slots arranged along the first direction; during the relative movement of the first cover and the second cover closer together, the resilient hook can engage with any one of the locking slots to lock the relative position of the first cover and the second cover.
[0023] A surgical robot system, the surgical robot system including the above-described clamping device.
[0024] In some embodiments, the surgical robot system includes a drive unit connected to the gripping device to drive the gripping device to move.
[0025] In the aforementioned clamping device and surgical robot system, an elastic clamping member is connected between the first and second covers. When the first and second covers move relative to each other, they can elastically compress the elastic clamping member, thereby reducing the size of the clamping cavity within it. This allows the elastic clamping member to hold the puncture instrument securely, achieving elastic clamping. Furthermore, the first and second covers can lock together to prevent the elastic clamping member from recovering from deformation due to elastic force, ensuring that the clamping cavity of the elastic clamping member stably maintains its current size. This ensures a firm and stable clamping of the puncture instrument, preventing it from easily falling out. In summary, because the size of the clamping cavity of the elastic clamping member can be compressed and reduced during the relative movement of the first and second covers—meaning the size of the clamping cavity is variable—it can be applied to puncture instruments of different sizes, exhibiting high versatility. Since the elastic clamping member is elastic, its clamping method is elastic contact, not rigid contact, thus ensuring a firm grip on the puncture instrument while minimizing damage. Attached Figure Description
[0026] Figure 1 This is a schematic diagram of the clamping device holding a puncture instrument in one embodiment of this application.
[0027] Figure 2 This is a schematic diagram of a clamping device in one embodiment of this application.
[0028] Figure 3 This is an exploded view of the clamping device in one embodiment of this application.
[0029] Figure 4 This is a perspective sectional view of the clamping device in one embodiment of this application.
[0030] Figure 5 This is a schematic diagram of the assembly of the second cover and the elastic clamping member in one embodiment of this application.
[0031] Figure 6 This is a schematic diagram of the assembly of the first cover and the elastic clamping member in one embodiment of this application.
[0032] Figure 7 This is a schematic diagram of an elastic clamping member in another embodiment of this application.
[0033] Figure 8 This is a schematic diagram of the assembly of the second cover and the elastic clamping member in another embodiment of this application.
[0034] Figure 9 This is a schematic diagram of the assembly of the first cover and the elastic clamping member in another embodiment of this application.
[0035] Figure 10 This is a cross-sectional view of the internal gear ring and the external gear ring meshing in another embodiment of this application.
[0036] Figure 11 This is a schematic diagram of the first cover in another embodiment of this application.
[0037] Figure 12 This is a schematic diagram of the clamping device in another embodiment of this application.
[0038] Figure 13 This is a cross-sectional view of the clamping device in another embodiment of this application.
[0039] Figure 14 This is an exploded view of the clamping device in another embodiment of this application.
[0040] Figure 15 This is a schematic diagram of the clamping device in another embodiment of this application.
[0041] Figure 16 This is an exploded view of the clamping device in another embodiment of this application.
[0042] Figure 17This is a cross-sectional view of the clamping device in another embodiment of this application.
[0043] Figure 18 This is a schematic diagram of a surgical robot system in one embodiment of this application.
[0044] Figure 19 This is a schematic diagram of an elastic clamping member in one embodiment of this application.
[0045] Figure 20 This is a schematic diagram of an elastic clamping member in another embodiment of this application.
[0046] Figure 21 This is a schematic diagram of an elastic clamping member in another embodiment of this application.
[0047] Figure 22 This is a schematic diagram of an elastic clamping member in another embodiment of this application.
[0048] Figure label:
[0049] 10. Clamping device;
[0050] 100. First cover; 110. First cover body; 111. Notch; 112. Observation window; 120. Elastic arm; 121. Internal gear ring; 130. First protrusion; 131. First mounting groove; 140. Locking block; 150. First inclined surface; 160. Grip surface; 170. Third inclined surface; 180. Elastic hook;
[0051] 200, Second cover; 210, Second cover body; 220, Gear ring base; 221, Outer gear ring; 230, Second protrusion; 231, Second mounting groove; 240, Slot; 250, Locking groove;
[0052] 300, elastic clamping element; 310, torsion spring; 311, spring coil; 312, first pin; 313, second pin; 320, second inclined surface; 330, groove; 340, suction hole; 350, fourth inclined surface; 360, clamping cavity; 300a, first elastic part; 300b, second elastic part; 300c, recessed part;
[0053] 400. Puncture instruments; 410. Needles; 420. Needle handles;
[0054] 500. Drive unit. Detailed Implementation
[0055] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0056] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0057] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0058] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0059] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0060] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.
[0061] See Figures 1 to 4 An embodiment of this application provides a clamping device 10 including a first cover 100, a second cover 200, and an elastic clamping member 300. The elastic clamping member 300 is connected between the first cover 100 and the second cover 200 and has a clamping cavity 360 for a puncture instrument 400 to pass through. The first cover 100 and the second cover 200 are configured to move relative to each other to reduce the size of the clamping cavity 360 by elastically compressing the elastic clamping member 300, and the first cover 100 and the second cover 200 can lock each other to prevent the elastic clamping member 300 from recovering from deformation by elastic force.
[0062] In the above embodiment, the elastic clamping member 300 is connected between the first cover 100 and the second cover 200. When the first cover 100 and the second cover 200 move relative to each other, they can elastically compress the elastic clamping member 300, thereby reducing the size of the clamping cavity 360 in the elastic clamping member 300. The elastic clamping member 300 holds the puncture instrument 400 tightly, thus achieving elastic clamping of the puncture instrument 400. Furthermore, the first cover 100 and the second cover 200 can lock each other to prevent the elastic clamping member 300 from recovering from deformation due to elastic force, allowing the clamping cavity 360 of the elastic clamping member 300 to stably maintain its current size, thereby firmly and stably clamping the puncture instrument 400 and preventing it from easily falling off. In summary, since the size of the clamping cavity 360 of the elastic clamping member 300 can be compressed and reduced when the first cover 100 and the second cover 200 move relative to each other, that is, the size of the clamping cavity 360 is variable, it can be applied to puncture instruments 400 of different sizes and has high versatility. Since the elastic clamping member 300 is elastic, its clamping method for the puncture instrument 400 is elastic contact rather than rigid contact, so it can firmly hold the puncture instrument 400 while not easily damaging the puncture instrument 400.
[0063] See Figure 1 Specifically, the puncture instrument 400 can be any one of a coaxial puncture needle, biopsy needle, ablation needle, or particle implantation needle. The puncture instrument 400 includes a connected needle tube 410 and a needle handle 420, and the clamping device 10 in this embodiment clamps the needle tube 410. In different models of puncture instruments 400, the shape of the needle handle 420 may differ, but the shape of the needle tube 410 is generally cylindrical. Compared to clamping needle handles 420 of varying shapes, clamping the needle tube 410 increases the applicability of the clamping device 10.
[0064] See Figures 2 to 4 ,as well as Figures 12 to 14 In some embodiments, the first cover 100 and the second cover 200 are configured to rotate relative to each other about a first direction to reduce the size of the clamping cavity 360 by elastically compressing the elastic clamping member 300 along a second direction, wherein the first direction is the axial direction of the puncture instrument 400 and the second direction is perpendicular to the first direction.
[0065] Specifically, the second direction is the radial direction of the needle tube 410 in the puncture instrument 400, which is also the radial direction of the clamping cavity 360. Since the elastic clamping member 300 is connected between the first cover 100 and the second cover 200, when the first cover 100 and the second cover 200 rotate relative to each other around the first direction, they will squeeze the elastic clamping member 300, causing it to undergo elastic deformation along the radial direction of the clamping cavity 360, thereby reducing the radial dimension of the clamping cavity 360. This allows the cavity wall of the clamping cavity 360 to elastically hold the puncture instrument 400, thus achieving elastic clamping of the puncture instrument 400.
[0066] See Figures 3 to 6In some embodiments, the elastic clamping member 300 includes a torsion spring 310, the torsion spring 310 includes a spring coil 311, and a first pin 312 and a second pin 313 respectively connected to both ends of the spring coil 311. The spring coil 311 has a clamping cavity 360, the first pin 312 is connected to the first cover 100, and the second pin 313 is connected to the second cover 200.
[0067] Specifically, the coil 311 of the torsion spring 310 is hollow to form a clamping cavity 360, and the coil 311 is fitted onto the outside of the needle tube 410 of the puncture instrument 400. The first pin 312 and the second pin 313 are both bent relative to the coil 311. When the first cover 100 and the second cover 200 rotate relative to each other in a first direction, the first pin 312 will rotate relative to the second pin 313, reducing the inner diameter of the coil 311, that is, reducing the radial dimension of the clamping cavity 360, so that the coil 311 elastically grips the puncture instrument 400, thereby achieving elastic clamping of the puncture instrument 400.
[0068] See Figure 3 , Figure 4 and Figure 6 In some embodiments, the first cover 100 includes a first cover body 110 and a first protrusion 130 connected to the first cover body 110. A first mounting groove 131 is provided on the first protrusion 130, and the first pin 312 is engaged in the first mounting groove 131.
[0069] See Figure 3 , Figure 4 and Figure 5 In some embodiments, the second cover 200 includes a second cover body 210 and a second protrusion 230 connected to the second cover body 210. A second mounting groove 231 is provided on the second protrusion 230, and the second pin 313 is engaged in the second mounting groove 231.
[0070] During installation, first, the second pin 313 is inserted into the second mounting slot 231. Then, the first cover 100 and the second cover 200 are connected, and their relative positions are adjusted so that the first pin 312 is inserted into the first mounting slot 131. Preferably, an observation window 112 is provided on the first cover body 110 to allow the operator to observe whether the torsion spring 310 is installed in place.
[0071] See Figures 7 to 9 In some embodiments, the elastic clamping member 300 includes two sets of torsion springs 310 arranged along a first direction, the first pins 312 of the two sets of torsion springs 310 being connected to the first cover 100, and the second pins 313 of the two sets of torsion springs 310 being connected to the second cover 200.
[0072] Specifically, the first pins 312 of the two sets of torsion springs 310 are connected to the first cover 100, and the second pins 313 of the two sets of torsion springs 310 are connected to the second cover 200 in the same way as in the previous embodiment. The spring coils 311 of the two sets of torsion springs 310 can be respectively fitted onto different positions on the outside of the needle tube 410, so that the two sets of spring coils 311 respectively hold the needle tube 410 at different positions. By setting two sets of torsion springs 310, the clamping area of the needle tube 410 can be increased, making it less prone to slippage during clamping and providing greater firmness.
[0073] In other embodiments, a greater number of torsion springs 310 may be provided, for example, three, four or five sets of torsion springs 310 arranged along the first direction.
[0074] See Figures 7 to 9 In some embodiments, the two sets of first pins 312 are connected to each other, and / or the two sets of second pins 313 are connected to each other.
[0075] Specifically, in the embodiment shown in the accompanying drawings, the first pins 312 of the two sets of torsion springs 310 are connected to each other, thereby connecting the two sets of torsion springs 310 into one unit. In this way, the installation and removal of the two sets of torsion springs 310 can be completed in one go, making the operation more convenient.
[0076] In other embodiments, the second pins 313 of the two sets of torsion springs 310 may be connected to each other.
[0077] As mentioned earlier, when the first cover 100 and the second cover 200 rotate relative to each other in the first direction, they cause the first pin 312 to rotate relative to the second pin 313, reducing the inner diameter of the spring coil 311, which in turn reduces the radial dimension of the clamping cavity 360. This allows the spring coil 311 to elastically grip the puncture instrument 400, achieving elastic clamping of the puncture instrument 400. However, under the restoring force of the torsion spring 310, the first cover 100 and the second cover 200 tend to rotate in opposite directions. If they rotate in opposite directions, the inner diameter of the spring coil 311 will increase, which in turn increases the radial dimension of the clamping cavity 360, causing the puncture instrument 400 to fall out of the clamping cavity 360.
[0078] Based on the above issues, please refer to Figures 3 to 6 In some embodiments, the first cover 100 includes an elastic arm 120, and the second cover 200 includes a toothed ring base 220. Of the elastic arm 120 and the toothed ring base 220, one has an outer toothed ring 221 and the other has an inner toothed ring 121. The outer toothed ring 221 and the inner toothed ring 121 can mesh with each other under the elastic force of the elastic arm 120 to lock the relative rotational position of the first cover 100 and the second cover 200.
[0079] Specifically, one end (connecting end) of the elastic arm 120 is connected to the first cover body 110, and the other end (free end) is suspended; the toothed ring base 220 is connected to the second cover body 210. In the embodiment shown in the attached drawings, at least a portion of the inner sidewall of the elastic arm 120 is provided with teeth to form an inner toothed ring 121; at least a portion of the outer sidewall of the toothed ring base 220 is provided with teeth to form an outer toothed ring 221.
[0080] The elastic arm 120 is sleeved on the outside of the gear ring base 220. The elastic force of the elastic arm 120 causes its free end to have a tendency to rotate elastically toward the gear ring base 220, thereby realizing the meshing of the outer gear ring 221 and the inner gear ring 121. When the first cover 100 and the second cover 200 rotate relative to each other in the first direction, the outer gear ring 221 and the inner gear ring 121 also rotate relative to each other, and their meshing position changes. However, in different meshing positions, the relative rotation position of the first cover 100 and the second cover 200 can be locked, which prevents the first cover 100 and the second cover 200 from rotating in the opposite direction under the action of the torsion spring 310, thus preventing clamping failure and improving clamping reliability.
[0081] If both the outer gear ring 221 and the inner gear ring 121 can be made of spur gear type teeth, the relative rotational position of the first cover 100 and the second cover 200 can be locked by the friction between the teeth of the outer gear ring 221 and the inner gear ring 121 at different meshing positions. When it is necessary to release the puncture instrument 400, the friction between the teeth of the outer gear ring 221 and the inner gear ring 121 is overcome, causing the first cover 100 and the second cover 200 to rotate in opposite directions, gradually reducing the compression on the torsion spring 310. Under its own rebound force, the torsion spring 310 gradually rebounds, and the inner diameter of the spring coil 311 will gradually increase to release the puncture instrument 400. Alternatively, the free end of the elastic arm 120 can be pulled directly, causing it to overcome the elastic force and rotate away from the toothed ring base 220, thereby separating the outer toothed ring 221 and the inner toothed ring 121. At this time, the torsion spring 310 will rebound under the action of the rebound force, and drive the first cover 100 and the second cover 200 to rotate in opposite directions. The inner diameter of the spring ring 311 increases to release the puncture instrument 400.
[0082] In other embodiments, the toothed ring base 220 may be sleeved on the outside of the elastic arm 120, and at least a portion of the inner sidewall of the toothed ring base 220 may be provided with teeth to form an inner toothed ring 121; at least a portion of the outer sidewall of the elastic arm 120 may be provided with teeth to form an outer toothed ring 221.
[0083] See Figures 4 to 6 ,as well as Figure 10In some embodiments, the outer gear ring 221 and the inner gear ring 121 are configured as ratchet teeth. When the first cover 100 and the second cover 200 rotate relative to each other in a first direction, the outer gear ring 221 and the inner gear ring 121 remain engaged to suppress the rebound of the torsion spring 310; the elastic arm 120 is configured to move operably so that when the outer gear ring 221 and the inner gear ring 121 are in a disengaged state, the torsion spring 310 recovers by elastic deformation.
[0084] Specifically, the ratchet tooth profile refers to the direction of tooth extension (from the root surface to the tip surface), which is radially inclined relative to the gear, that is, radially inclined relative to the first cover 100 and the second cover 200. This configuration increases the contact area between the outer gear ring 221 and the inner gear ring 121, and only allows the first cover 100 and the second cover 200 to rotate relative to each other in the first direction, preventing them from rotating relative to each other in the opposite direction. This improves stability after locking the position and more firmly and stably clamps the puncture instrument 400. At this point, if it is necessary to release the puncture instrument 400, only the free end of the elastic arm 120 can be pulled, causing its free end to overcome the elastic force and rotate towards the side away from the gear ring base 220, thus separating the outer gear ring 221 and the inner gear ring 121.
[0085] exist Figure 10 In the illustrated embodiment, the extension directions of both sidewalls of the tooth are inclined relative to the radial direction of the first cover 100 and the second cover 200. In other embodiments, it may also be configured such that the extension direction of only one sidewall of the tooth is inclined relative to the radial direction of the first cover 100 and the second cover 200, while the extension direction of the other sidewall may coincide with the radial direction of the first cover 100 and the second cover 200.
[0086] See Figures 4 to 6 ,as well as Figure 11 In some embodiments, the first cover 100 includes a plurality of elastic arms 120, and the second cover 200 includes a plurality of toothed ring bases 220 corresponding one-to-one with the plurality of elastic arms 120.
[0087] Specifically, each elastic arm 120 is provided with an outer toothed ring 221 as described in the aforementioned embodiment. This arrangement increases the contact area between the teeth of the outer toothed ring 221 and the inner toothed ring 121, thereby improving the locking stability.
[0088] See Figures 4 to 6 In some embodiments, one of the first cover 100 and the second cover 200 is provided with a locking block 140 and the other is provided with a locking groove 240. The locking block 140 is locked in the locking groove 240 to prevent the first cover 100 and the second cover 200 from moving away from each other in a first direction.
[0089] Specifically, in the embodiment shown in the attached drawings, the first cover 100 is provided with a locking block 140 connected to the first cover body 110, and the second cover body 210 of the second cover 200 is provided with a locking groove 240. During assembly, the locking block 140 is aligned with the locking groove 240, the elastic force of the locking block 140 is overcome, the locking block 140 is pressed along the second direction, and the locking block 140 is pushed into the locking groove 240 along the first direction. The locking block 140 will expand outward under its rebound force, thereby locking into the locking groove 240.
[0090] By elastically engaging the locking block 140 with the slot 240, the relative positions of the first cover 100 and the second cover 200 along the first direction can be locked, preventing them from moving away from each other along the first direction. Furthermore, during the relative rotation of the first cover 100 and the second cover 200, the locking block 140 abuts against the wall of the slot 240 to indicate that the relative rotation has reached its limit. Of course, in other embodiments, the slot 240 can also be designed as a complete ring, increasing the angular range of relative rotation between the first cover 100 and the second cover 200.
[0091] See Figure 6 In some embodiments, a notch 111 is provided between the card block 140 and the first cover body 110, thereby reducing the difficulty of the card block 140 elastically engaging into the card slot 240 through elastic deformation, making the operation more convenient.
[0092] See Figure 6 In some embodiments, multiple sets of matching snap-fit blocks 140 and slots 240 are provided to further reduce the probability of the first cover 100 and the second cover 200 separating along the first direction.
[0093] See Figures 12 to 14 In some embodiments, the first cover 100 and the second cover 200 are threaded together and are sleeved on the outside of the elastic clamping member 300. At least one of the first cover 100 and the second cover 200 has a first inclined surface 150 that is inclined relative to the first direction, and the elastic clamping member 300 has a second inclined surface 320 that is inclined relative to the first direction. During the process of the first cover 100 and the second cover 200 rotating relative to each other to tighten, the first inclined surface 150 abuts against the second inclined surface 320 to elastically compress the elastic clamping member 300 along the second direction to reduce the size of the clamping cavity 360.
[0094] Specifically, in the first cover 100 and the second cover 200, one is fitted over the other and the two are threaded together. The elastic clamping member 300 is hollow to form a clamping cavity 360. One end of the elastic clamping member 300 extends into the first cover 100 along a first direction, and the other end extends into the second cover 200. In the embodiment shown in the attached drawings, the inner sidewalls of both the first cover 100 and the second cover 200 are provided with first inclined surfaces 150, and the outer sidewall of the elastic clamping member 300 is provided with two sets of second inclined surfaces 320 corresponding to the two sets of first inclined surfaces 150. In other embodiments, the first inclined surfaces 150 may be provided only on the inner sidewall of one of the first cover 100 and the second cover 200, and the outer sidewall of the elastic clamping member 300 may be provided with a corresponding set of second inclined surfaces 320.
[0095] As the first cover 100 and the second cover 200 rotate relative to each other in the first direction and gradually tighten, the two sets of first inclined surfaces 150 will gradually approach and fit against the corresponding second inclined surface 320, compressing the corresponding second inclined surface 320. This causes the elastic clamping member 300 to elastically deform along the second direction, reducing its internal cavity size, that is, reducing the size of the clamping cavity 360, thereby holding the puncture instrument 400 tightly. Since the first cover 100 and the second cover 200 are threadedly connected, they can naturally lock their relative positions. When no external force is applied, the two will neither rotate relative to each other in the opposite direction in the first direction, nor will they move or separate relative to each other in the first direction. When it is necessary to release the puncture instrument 400, simply rotate the first cover 100 and the second cover 200 in opposite directions in the first direction. As the two move away from each other, the compression on the elastic clamping member 300 can be released. The elastic clamping member 300 will deform and recover under its own rebound force, and the size of the clamping cavity 360 will increase.
[0096] See Figures 12 to 13 In some embodiments, the elastic clamping member 300 is a silicone or rubber member, and the elastic clamping member 300 has an adsorption hole 340 that penetrates the cavity wall of the clamping cavity 360.
[0097] By creating the suction hole 340, a negative pressure suction force can be provided when the elastic clamp 300 clamps the puncture instrument 400, thereby increasing the friction between the elastic clamp 300 and the puncture instrument 400 and improving the clamping stability.
[0098] See Figure 12 and Figure 14 In some embodiments, the elastic clamping member 300 is a metal or plastic part, and the elastic clamping member 300 is provided with a plurality of grooves 330.
[0099] Specifically, the elastic clamping member 300 has a certain degree of elasticity. By providing deformation space through several grooves 330, the difficulty of elastic deformation when squeezed by the first cover 100 and the second cover 200 is reduced, thereby reducing the clamping difficulty. When a metal part is selected as the elastic clamping member 300, there is greater friction between the elastic clamping member 300 and the needle tube 410, resulting in higher clamping stability and firmness for the needle tube 410, and the needle tube 410 is less likely to fall off. In a specific embodiment, a stainless steel part can be selected as the elastic clamping member 300.
[0100] See Figures 19 to 22 In some embodiments, the elastic clamping member 300 includes a first elastic portion 300a and a second elastic portion 300b arranged at intervals along a first direction. At least one of the first elastic portion 300a and the second elastic portion 300b has a second inclined surface 320. Both the first elastic portion 300a and the second elastic portion 300b are provided with a plurality of grooves 330, and the positions of the grooves 330 on the first elastic portion 300a and the second elastic portion 300b are aligned or staggered.
[0101] In the embodiment shown in the attached drawings, both the first elastic portion 300a and the second elastic portion 300b have a second inclined surface 320, and both the first elastic portion 300a and the second elastic portion 300b are provided with a plurality of grooves 330 that penetrate themselves along a first direction. By providing a plurality of grooves 330, the difficulty of deformation of the first elastic portion 300a and the second elastic portion 300b can be further reduced.
[0102] The number of grooves 330 on the first elastic part 300a and the second elastic part 300b may be equal or unequal. The specific number of grooves 330 is not limited and can be created according to requirements. For example, Figure 19 and Figure 20 In the embodiment shown, three grooves 330 are provided on both the first elastic part 300a and the second elastic part 300b. Figure 21 and Figure 22 In the embodiment shown, four grooves 330 are provided on both the first elastic part 300a and the second elastic part 300b.
[0103] Furthermore, the widths of the grooves 330 along the circumferential direction of the elastic clamping member 300 in the first elastic portion 300a and the second elastic portion 300b may be equal or unequal. Similarly, the depths of the grooves 330 along the radial direction of the elastic clamping member 300 in the first elastic portion 300a and the second elastic portion 300b may be equal or unequal.
[0104] The grooves 330 can be evenly distributed on the first elastic portion 300a and the second elastic portion 300b, for example... Figure 19 and Figure 20In the embodiment shown, the included angle between adjacent grooves 330 on the first elastic part 300a and the second elastic part 300b is 120 degrees. Figure 21 and Figure 22 In the illustrated embodiment, the included angle between adjacent grooves 330 on the first elastic portion 300a and the second elastic portion 300b is 90 degrees. Of course, the grooves 330 may also be non-uniformly distributed on the first elastic portion 300a and the second elastic portion 300b.
[0105] In some embodiments, the elastic clamping member 300 further includes a recessed portion 300c connected between the first elastic portion 300a and the second elastic portion 300b, the recessed portion 300c being concave relative to the first elastic portion 300a and the second elastic portion 300b. By providing the concave portion 300c, the first elastic portion 300a and the second elastic portion 300b are separated as much as possible in the first direction, making them easier to deform by the compression of the first cover 100 and the second cover 200. Of course, in other embodiments, the recessed portion 300c may not be provided.
[0106] See Figure 12 In some embodiments, the first cover 100 and / or the second cover 200 are provided with a planar gripping surface 160 to facilitate gripping by the operator.
[0107] In the aforementioned embodiments, the first cover 100 and the second cover 200 rotate relative to each other about a first direction, thereby elastically compressing the elastic clamping member 300 along a second direction. (See also...) Figures 15 to 17 In other embodiments, the first cover 100 and the second cover 200 are configured to move closer to each other in a first direction to reduce the size of the clamping cavity 360 by elastically compressing the elastic clamping member 300 in a second direction, wherein the first direction is the axial direction of the puncture instrument 400 and the second direction is perpendicular to the first direction.
[0108] See Figures 15 to 17 Furthermore, in some embodiments, the first cover 100 and the second cover 200 are sleeved on the outside of the elastic clamping member 300, and at least one of the first cover 100 and the second cover 200 has a third inclined surface 170 that is inclined relative to the first direction, and the elastic clamping member 300 has a fourth inclined surface 350 that is inclined relative to the first direction. During the relative movement and approach of the first cover 100 and the second cover 200, the third inclined surface 170 abuts against the fourth inclined surface 350 to elastically compress the elastic clamping member 300 along the second direction to reduce the size of the clamping cavity 360.
[0109] In this embodiment, the third inclined surface 170 and the fourth inclined surface 350 cooperate to achieve a clamping method, which is consistent with... Figures 12 to 14 In the embodiment shown, the first inclined surface 150 and the second inclined surface 320 cooperate to achieve clamping in the same way, which will not be described again here.
[0110] See Figures 15 to 17 In some embodiments, one of the first cover 100 and the second cover 200 has an elastic hook 180, and the other has a plurality of locking slots 250 arranged along a first direction; during the relative movement of the first cover 100 and the second cover 200, the elastic hook 180 can be engaged in any one of the locking slots 250 to lock the relative position of the first cover 100 and the second cover 200.
[0111] Specifically, in the embodiment shown in the attached drawings, the first cover 100 has an elastic hook 180, and the second cover 200 has a plurality of locking grooves 250 arranged along a first direction. When the first cover 100 and the second cover 200 move closer to each other, the elastic hook 180 can slide into any one of the locking grooves 250 and prevent the first cover 100 and the second cover 200 from moving away from each other. Similar to the release method of the ratchet teeth in the previous embodiment, if it is necessary to release the puncture instrument 400, only the free end of the elastic hook 180 can be pulled, so that its free end overcomes the elastic force and rotates to the side away from the locking groove 250, allowing the elastic hook 180 to disengage from the locking groove 250, and then the first cover 100 and the second cover 200 can be pulled to move away from each other.
[0112] Preferably, the locking groove 250 is annular, and multiple sets of elastic hooks 180 are provided, each set of elastic hooks 180 can be engaged in the locking groove 250 to improve the locking firmness.
[0113] See Figure 1 and Figure 18 The surgical robot system provided in one embodiment of this application includes the clamping device 10 in any of the foregoing embodiments.
[0114] See Figure 1 and Figure 18 In some embodiments, the surgical robot system includes a drive unit 500 connected to the gripping device 10 to drive the gripping device 10 to move.
[0115] Specifically, the driving device can be a robotic arm, which is connected to the clamping device 10 through its end joint, thereby driving the clamping device 10 to move, realize the position adjustment of the puncture instrument 400, and complete operations such as needle insertion and needle withdrawal.
[0116] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0117] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A clamping device (10), characterized in that, The clamping device (10) includes: First cover (100); The second cover (200); and An elastic clamp (300) is connected between the first cover (100) and the second cover (200) and has a clamping cavity (360) for a puncture instrument (400) to pass through; The first cover (100) and the second cover (200) are configured to move relative to each other to reduce the size of the clamping cavity (360) by elastically squeezing the elastic clamp (300), and the first cover (100) and the second cover (200) are able to lock each other to suppress the elastic clamp (300) from recovering from deformation by elastic force.
2. The clamping device (10) according to claim 1, characterized in that, The first cap (100) and the second cap (200) are configured to rotate relative to each other about a first direction to reduce the size of the clamping cavity (360) by elastically compressing the elastic clamp (300) along a second direction, wherein the first direction is the axial direction of the puncture instrument (400) and the second direction is perpendicular to the first direction.
3. The clamping device (10) according to claim 2, characterized in that, The elastic clamping member (300) includes a torsion spring (310), the torsion spring (310) includes a spring coil (311), and a first pin (312) and a second pin (313) respectively connected to both ends of the spring coil (311). The spring coil (311) has the clamping cavity (360). The first pin (312) is connected to the first cover (100), and the second pin (313) is connected to the second cover (200).
4. The clamping device (10) according to claim 3, characterized in that, The first cover (100) includes an elastic arm (120), and the second cover (200) includes a toothed ring base (220). Of the elastic arm (120) and the toothed ring base (220), one has an outer toothed ring (221), and the other has an inner toothed ring (121). The outer toothed ring (221) and the inner toothed ring (121) can mesh with each other under the elastic force of the elastic arm (120) to lock the relative rotational position of the first cover (100) and the second cover (200).
5. The clamping device (10) according to claim 4, characterized in that, The outer gear ring (221) and the inner gear ring (121) are constructed in the form of ratchet teeth; When the first cover (100) and the second cover (200) rotate relative to each other in the first direction, the outer toothed ring (221) and the inner toothed ring (121) remain engaged to suppress the rebound of the torsion spring (310); the elastic arm (120) is configured to move operably so that when the outer toothed ring (221) and the inner toothed ring (121) are in a disengaged state, the torsion spring (310) recovers through elastic force deformation.
6. The clamping device (10) according to claim 2, characterized in that, Of the first cover (100) and the second cover (200), one is provided with a locking block (140) and the other is provided with a locking groove (240). The locking block (140) is engaged in the locking groove (240) to prevent the first cover (100) and the second cover (200) from moving away from each other relative to each other in the first direction.
7. The clamping device (10) according to claim 2, characterized in that, The first cover (100) and the second cover (200) are threaded together and are sleeved on the outside of the elastic clamping member (300). At least one of the first cover (100) and the second cover (200) has a first inclined surface (150) that is inclined relative to the first direction. The elastic clamping member (300) has a second inclined surface (320) that is inclined relative to the first direction. During the process of the first cover (100) and the second cover (200) rotating relative to each other to tighten, the first inclined surface (150) abuts against the second inclined surface (320) to elastically compress the elastic clamping member (300) along the second direction to reduce the size of the clamping cavity (360).
8. The clamping device (10) according to claim 7, characterized in that, The elastic clamping member (300) is a metal or plastic part, and the elastic clamping member (300) has a plurality of grooves (330).
9. The clamping device (10) according to claim 8, characterized in that, The elastic clamping member (300) includes a first elastic portion (300a) and a second elastic portion (300b) arranged at intervals along the first direction, and at least one of the first elastic portion (300a) and the second elastic portion (300b) has the second inclined surface (320); Both the first elastic portion (300a) and the second elastic portion (300b) are provided with a plurality of grooves (330), and the positions of the grooves (330) on the first elastic portion (300a) and the second elastic portion (300b) are aligned or staggered.
10. The clamping device (10) according to claim 7, characterized in that, The elastic clamping member (300) is a silicone or rubber part, and the elastic clamping member (300) has an adsorption hole (340) that penetrates the cavity wall of the clamping cavity (360).
11. The clamping device (10) according to claim 1, characterized in that, The first cap (100) and the second cap (200) are configured to move closer to each other in a first direction to reduce the size of the clamping cavity (360) by elastically compressing the elastic clamp (300) in a second direction, wherein the first direction is the axial direction of the puncture instrument (400) and the second direction is perpendicular to the first direction.
12. The clamping device (10) according to claim 11, characterized in that, The first cover (100) and the second cover (200) are sleeved on the outside of the elastic clamping member (300), and at least one of the first cover (100) and the second cover (200) has a third inclined surface (170) that is inclined relative to the first direction. The elastic clamping member (300) has a fourth inclined surface (350) that is inclined relative to the first direction. During the relative movement and approach of the first cover (100) and the second cover (200), the third inclined surface (170) abuts against the fourth inclined surface (350) to elastically compress the elastic clamping member (300) along the second direction and reduce the size of the clamping cavity (360).
13. The clamping device (10) according to claim 12, characterized in that, Of the first cover (100) and the second cover (200), one has an elastic hook (180), and the other has a plurality of locking slots (250) arranged along the first direction; during the relative movement and approach of the first cover (100) and the second cover (200), the elastic hook (180) can engage with any one of the locking slots (250) to lock the relative position of the first cover (100) and the second cover (200).
14. A surgical robot system, characterized in that, The surgical robot system includes the clamping device (10) according to any one of claims 1 to 13.
15. The surgical robot system according to claim 14, characterized in that, The surgical robot system includes a drive unit (500) connected to the clamping device (10) to drive the clamping device (10) to move.