Mechanical arm capable of fixing surgical tools

Abstract

The tail end of the mechanical arm is connected with a snakelike joint, the snakelike joint comprises a plurality of unit joints and a tail end joint which are connected in sequence, the first unit joint is connected with the tail end of the mechanical arm through a fixing seat, the last unit joint is connected with the tail end joint, and the tail end joint is connected with the tail end joint. A clamping mechanism is connected to the tail end joint in the horizontal direction, a first calibration plate is connected to the tail end joint in the vertical direction, a joint through hole is formed in the middle of each unit joint, a pull wire mechanism is arranged in the fixing base and connected with a pull wire, and the pull wire penetrates through all the joint through holes and then is connected with the tail end joint. The snakelike joint capable of being positioned and clamped is introduced into the mechanical arm, so that the flexibility and the accuracy of the mechanical arm when the mechanical arm is applied to surgical operation can be greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of surgical instrument technology, and in particular to a robotic arm that can fix surgical tools. Background Technology

[0002] In the field of medical surgery, the technology of using robotic arms to fix surgical tools has been widely used, but there are still shortcomings in the existing technology.

[0003] Existing robotic arms suffer from limited flexibility when securing surgical instruments. Although many robotic arms employ numerous rigid joint structures to achieve multi-angle adjustment, they still struggle to flexibly adjust the position and angle of surgical instruments in complex surgical environments. During minimally invasive surgery, surgeons expect robotic arms to precisely deliver instruments to narrow and tricky areas inside the body; however, the limited range of motion and freedom of traditional robotic arms makes it difficult for instruments to accurately reach their target locations. Furthermore, the large size of robotic arms can also negatively impact the smooth operation of the surgery. Utility Model Content

[0004] To address one or more technical problems in the prior art, this utility model provides a robotic arm capable of securing surgical tools, the robotic arm including a robotic arm end effector:

[0005] The robotic arm has a serpentine joint at its end, which includes multiple unit joints connected in sequence and an end joint. The first unit joint is connected to the end of the robotic arm via a fixed base, and the last unit joint is connected to the end joint. A clamping mechanism is connected to the end joint in the horizontal direction, and a first calibration plate is connected to the end joint in the vertical direction. One end of each unit joint has a groove structure, and the other end has a protrusion structure. Adjacent unit joints are spliced ​​by embedding the protrusion structure into the groove structure. A joint through hole is provided in the middle of each unit joint. A pull wire mechanism is provided inside the fixed base, and a pull wire is connected to the pull wire mechanism. The pull wire passes through all the joint through holes and is connected to the end joint.

[0006] Preferably, the bottom of the housing of the fixed base is connected to a fixed base insertion mechanism, and the fixed base is connected to the front of the end of the robotic arm through the fixed base insertion mechanism.

[0007] Preferably, the housing is provided with a fixing hole for inserting a fixing screw, and the fixing seat is connected to the side of the end of the robotic arm by the fixing screw.

[0008] Preferably, a guide is also connected to the end of the robotic arm. The guide includes a guide body, a guide insertion mechanism is connected to the bottom of the guide body, the guide body is connected to the front of the end of the robotic arm through the guide insertion mechanism, a telescopic rod is sleeved on the guide body, a quick-connect clamp is connected to the top of the telescopic rod, and a second calibration plate is also connected to the guide body.

[0009] Preferably, a shaping sleeve is detachably installed on the outer side of the serpentine joint, the shaping sleeve comprising two semi-cylindrical magnetic sleeve bodies.

[0010] Preferably, the clamping mechanism includes at least two opposing grippers, the gripping axes of which are parallel to the normal of the positioning surface of the first calibration plate.

[0011] Preferably, the clamping mechanism includes a first clamping jaw, a second clamping jaw, a first clamping body, a pressure block, a first side cover, a first spring, and a pressing handle;

[0012] The gripping axes of the first and second grippers are parallel to the normal to the positioning surface of the first calibration plate;

[0013] The bottom of the first clamping body is connected to the end joint. The first gripper is located on the top right side of the first clamping body. The top of the first clamping body has a first hole. The middle of the first clamping body has a second hole that communicates with the first hole. The pressure block is movably embedded in the first hole and the second hole. The second gripper is connected to the right side of the pressure block. The first side cover is fastened to the left side of the second hole. The left side of the first side cover has a first sliding groove. The right side of the pressure block is slidably connected to the first sliding groove. The first spring abuts between the pressure block and the first clamping body. The bottom of the pressing handle is connected to the pressure block.

[0014] Preferably, the clamping mechanism includes a third clamping jaw, a fourth clamping jaw, a second clamping body, and a first threaded handle;

[0015] The gripping axes of the third and fourth grippers are parallel to the normal to the positioning surface of the first calibration plate.

[0016] The bottom of the second clamping body is connected to the end joint. The third gripper is located at the left end of the second clamping body. The inner side of the second clamping body is provided with a second sliding groove. The right end of the second clamping body is provided with a boss. The middle part of the boss is provided with a first screw hole. The first threaded handle includes a first screwing component and a first screw rod connected to each other. The fourth gripper is connected to the bottom of the first screw rod. The first screw rod and the first screw hole are threadedly connected. The tail of the fourth gripper is slidably connected to the second sliding groove.

[0017] Preferably, the clamping mechanism includes a fifth clamping jaw, a sixth clamping jaw, a third clamping body, a second threaded handle, a pivot pin, and a second spring;

[0018] The gripping axes of the fifth and sixth grippers are parallel to the normal to the positioning surface of the first calibration plate;

[0019] The bottom of the third clamping body is connected to the end joint. The top of the third clamping body is provided with a second screw. The middle part of the second threaded handle is provided with a second threaded hole. The second threaded hole is threadedly connected to the second screw. The middle part of the third clamping body is provided with a third hole and a fourth hole that are perpendicular to each other. The shaft pin passes through the third hole. The fifth jaw and the sixth jaw are hinged by the shaft pin and pass through the fourth hole. The inner side of the clamping part of the fifth jaw is provided with a first protrusion. The inner side of the clamping part of the sixth jaw is provided with a second protrusion. The second spring abuts between the first protrusion and the second protrusion. The tail of the fifth jaw is provided with a first contact point. The outer side of the clamping part of the sixth jaw is provided with a second contact point. The first contact point and the second contact point both abut against the bottom of the second threaded handle.

[0020] Preferably, the clamping mechanism includes a seventh clamping jaw, an eighth clamping jaw, a fourth clamping body, a first threaded sleeve, a second threaded sleeve, a second side cover, and a third threaded handle;

[0021] The gripping axes of the seventh and eighth grippers are parallel to the normal to the positioning surface of the first calibration plate.

[0022] The bottom of the fourth clamping body is connected to the end joint. The top of the fourth clamping body has a fifth hole, and the middle of the fourth clamping body has a sixth hole communicating with the fifth hole. The first threaded sleeve and the second threaded sleeve are both embedded in the sixth hole. The seventh jaw is connected to the right side of the first threaded sleeve, and the eighth jaw is connected to the right side of the second threaded sleeve. The second side cover is fastened to the left side of the sixth hole. The right side of the second side cover, from bottom to top, includes a third sliding groove, a bushing, and a fourth sliding groove. The left side of the first threaded sleeve is connected to the... The third slide groove is slidably connected, the left side of the second threaded sleeve is slidably connected to the fourth slide groove, the third threaded handle is inserted into the sixth hole from the fifth hole, the third threaded handle includes, from bottom to top, a lower screw, a lower positioning member, a rotating shaft, an upper positioning member, an upper screw, and a second screwing member, the thread direction of the lower screw is opposite to that of the upper screw, the lower screw is threadedly connected to the first threaded sleeve, the upper screw is threadedly connected to the second threaded sleeve, the lower positioning member and the upper positioning member are respectively locked on the lower and upper sides of the bushing, and the rotating shaft is rotatably connected to the bushing;

[0023] When the clamping mechanism clamps surgical tools of different sizes, the relative positions between the clamping axes of the seventh and eighth jaws and the normal to the positioning surface of the first calibration plate remain constant.

[0024] The beneficial effects of this utility model are:

[0025] This invention introduces a serpentine joint, enabling the robotic arm end to have multi-directional and wide-range flexible adjustment capabilities, which can accurately deliver surgical tools to complex and narrow areas inside the human body, meeting the high precision requirements of minimally invasive surgery for tool position and angle.

[0026] This utility model provides two connection methods: a fixed base insertion mechanism and a fixed hole. These can be connected to the front or side of the end of the robotic arm, respectively, to meet the needs of different surgical scenarios for the utilization of space at the end of the robotic arm and the installation position of tools, thereby improving the flexibility and operability of surgical operations.

[0027] In this invention, the first calibration plate connected to the distal joint provides a precise positioning basis for the surgical navigation system, ensuring accurate and stable positional relationships of surgical tools, enabling precise initial calibration and continuous tracking of surgical tools, and improving the accuracy and reliability of surgical operations.

[0028] This utility model provides various types of clamping mechanisms, including press handle type, threaded handle type, centering clamping type, etc., to meet the needs of quick clamping and replacement of different surgical tools. They are easy to operate and have reliable clamping. Moreover, some clamping mechanisms can maintain a constant relative position between the clamping axis and the normal of the positioning surface of the calibration plate when clamping surgical tools of different thicknesses, without the need for recalibration, thus effectively improving surgical efficiency. Attached Figure Description

[0029] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0030] Figure 1 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 1 ;

[0031] Figure 2 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 2 ;

[0032] Figure 3 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 3 ;

[0033] Figure 4This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 4 ;

[0034] Figure 5 yes Figure 4 Sectional view along the middle AA direction;

[0035] Figure 6 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 5 ;

[0036] Figure 7 yes Figure 6 Sectional view along the BB direction;

[0037] Figure 8 The explosion of the fixing seat according to the embodiment of this utility model Figure 1 ;

[0038] Figure 9 The explosion of the fixing seat according to the embodiment of this utility model Figure 2 ;

[0039] Figure 10 The explosion of the clamping mechanism according to the embodiment of this utility model Figure 1 ;

[0040] Figure 11 The explosion of the clamping mechanism according to the embodiment of this utility model Figure 2 ;

[0041] Figure 12 The explosion of the clamping mechanism according to the embodiment of this utility model Figure 3 ;

[0042] Figure 13 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 6 ;

[0043] Figure 14 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 7 ;

[0044] Figure 15 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 8 ;

[0045] Figure 16 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 9 ;

[0046] Figure 17 The explosion of the clamping mechanism according to the embodiment of this utility model Figure 4 ;

[0047] Figure 18 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 10 ;

[0048] Figure 19 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 10 one;

[0049] Figure 20 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 10 two;

[0050] Figure 21 The explosion of the clamping mechanism according to the embodiment of this utility model Figure 5 ;

[0051] Figure 22 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 10 three;

[0052] Figure 23 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 10 Four;

[0053] Figure 24 This is a schematic diagram showing the connection of the fixing base, the serpentine joint, and the clamping mechanism according to an embodiment of the present utility model. Figure 10 five;

[0054] Figure 25 The explosion of the clamping mechanism according to the embodiment of this utility model Figure 6 ;

[0055] Figure 26 The explosion of the clamping mechanism according to the embodiment of this utility model Figure 7 ;

[0056] Figure 27 This is a schematic diagram showing the connection between the fixed base, the serpentine joint, and the clamping mechanism and the robotic arm according to an embodiment of the present invention. Figure 1 ;

[0057] Figure 28 This is a schematic diagram showing the connection between the fixed base, the serpentine joint, and the clamping mechanism and the robotic arm according to an embodiment of the present invention. Figure 2 ;

[0058] Figure 29 This is a schematic diagram showing the connection between the fixed base, the serpentine joint, and the clamping mechanism and the robotic arm according to an embodiment of the present invention. Figure 3 ;

[0059] Figure 30 This is a schematic diagram showing the connection between the fixed base, the serpentine joint, and the clamping mechanism and the robotic arm according to an embodiment of the present invention. Figure 4 ;

[0060] Figure 31 This is a schematic diagram of a shaping sleeve according to an embodiment of the present utility model;

[0061] Figure 32 This is a schematic diagram showing the connection between the fixed base, the serpentine joint, and the clamping mechanism and the robotic arm according to an embodiment of the present invention. Figure 5 ;

[0062] In the picture:

[0063] 1. Fixing base; 11. Housing; 111. Fixing hole; 112. Upper end cover; 113. Lower end cover; 12. Slider; 121. Wedge hole; 13. Wedge pin; 131. Internal threaded hole; 14. Screw handle; 141. Turret part; 142. Upper rotating shaft; 143. Screw part; 144. Lower rotating shaft; 15. Fixing base insertion mechanism; 2. Snake joint; 21. Unit joint; 211. Joint through hole; 22. End joint; 3. Clamping mechanism; 311. First gripper; 312. Second gripper; 313. First clamping body; 31 31. First hole; 3132. Second hole; 314. Pressure block; 315. First side cover; 3151. First slide groove; 316. First spring; 317. Press handle; 321. Third gripper; 322. Fourth gripper; 323. Second clamping body; 3231. Second slide groove; 3232. Boss; 3233. First screw hole; 324. First threaded handle; 3241. First screwing component; 3242. First screw; 331. Fifth gripper; 3311. First protrusion; 3312. First contact point; 332. Sixth gripper. 3321, Second protrusion; 3322, Second contact point; 333, Third clamping body; 3331, Second screw; 3332, Third hole; 3333, Fourth hole; 334, Second threaded handle; 3341, Second threaded hole; 335, Shaft pin; 336, Second spring; 341, Seventh jaw; 342, Eighth jaw; 343, Fourth clamping body; 3431, Fifth hole; 3432, Sixth hole; 344, First threaded sleeve; 345, Second threaded sleeve; 346, Second side cover; 3461, Third slide groove; 462. Bushing; 3463. Fourth Slide Groove; 347. Third Threaded Handle; 3471. Lower Screw; 3472. Lower Positioning Part; 3473. Rotating Shaft; 3474. Upper Positioning Part; 3475. Upper Screw; 3476. Second Tightening Part; 4. Pull Wire; 51. First Calibration Plate; 52. Second Calibration Plate; 53. Calibration Plate Connector; 6. Robotic Arm; 61. Robotic Arm End; 7. Guide; 71. Guide Body; 72. Guide Insertion Mechanism; 73. Telescopic Rod; 74. Quick Pipe Clamp; 8. Shaping Sleeve; 81. Magnetic Sleeve. Detailed Implementation

[0064] This invention can be applied to the field of surgical robots. The clamping mechanism and the snake joint can be installed at the end of the robotic arm on the operating table. The movement posture of the robotic arm can be controlled by the control system on the operating table, thereby controlling the position of the end of the fixing device. When the preset position is reached, the robotic arm can be fixed and the spatial position can be adjusted by adjusting the snake joint.

[0065] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. In fact, those skilled in the art will recognize that modifications and variations can be made to the present application without departing from the scope or spirit thereof. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the present application encompass such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0066] In the description of this application, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and do not require that this application be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. The terms "connected," "linked," and "set up" used in this application should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0067] like Figures 1-32 As shown, a robotic arm capable of fixing surgical tools, the robotic arm 6 includes a robotic arm end cap 61, characterized in that:

[0068] A serpentine joint 2 is connected to the end of the robotic arm 61. The serpentine joint 2 includes multiple unit joints 21 connected in sequence and an end joint 22. The first unit joint 21 is connected to the end of the robotic arm 61 through a fixed base 1, and the last unit joint 21 is connected to the end joint 22. A clamping mechanism 3 is connected to the end joint 22 in the horizontal direction, and a first calibration plate 51 is connected to the end joint 22 in the vertical direction. One end of the unit joint 21 is a groove structure, and the other end of the unit joint 21 is a protrusion structure. Adjacent unit joints 21 are spliced ​​by embedding the protrusion structure into the groove structure. A joint through hole 211 is provided in the middle of the unit joint 21. A pull wire mechanism is provided inside the fixed base 1. The pull wire mechanism is connected to a pull wire 4. The pull wire 4 passes through all the joint through holes 211 and is connected to the end joint 22.

[0069] The serpentine joint 2 (or universal serpentine joint) can be mounted to the end effector 61 of the robotic arm via the mounting base 1, significantly enhancing the robotic arm 6's automatic positioning and wide-range adjustment capabilities. The clamping mechanism 3 at the front end of the serpentine joint 2 can be used to clamp various surgical tools, such as endoscopes, puncture needles, probes, catheters, and adapters. The clamping mechanism 3 can be designed as a quick-release structure, allowing for rapid clamping simply by pressing or turning, and the clamping range can be adaptive to different sizes. The end effector of the serpentine joint 2 is equipped with a calibration plate, enabling the surgical navigation system to track the position of surgical tools in real time and achieve precise navigation.

[0070] The suture passes through the joint holes of all unit joints and connects to the end joint. This connection method allows the suture to apply tension to each unit joint. When the suture is taut, it restricts the relative movement between the unit joints. One end of each unit joint has a groove structure, and the other end has a protrusion structure. Adjacent unit joints are joined by the protrusion fitting into the groove. Under normal conditions, the unit joints can move relative to each other, but under the tension generated by the taut suture, the groove and protrusion between the unit joints fit tightly together. Under the action of pressure and friction, they cannot rotate or shift freely, thus ensuring that the serpentine joint can be stably maintained after being adjusted to a suitable posture, preventing changes in posture due to external forces or vibrations during surgery.

[0071] The calibration plate in this invention can be a black and white intersecting plate, or a calibration plate with intersecting reflective layers of different colors. The calibration plate is used for calibration and positioning in surgical robots. The calibration plate can have a planar design for ease of manufacturing and identification, or a curved design. When using a curved design, it is preferable to use a calibration plate with intersecting reflective layers, because in some environments, there is interference from ambient light, which allows for more accurate identification of corner points in special environments. The calibration plate can have a QR code similar to a normal black and white barcode, or a QR code with a reflective layer. The calibration plate can be curved or planar; currently, planar substrates are mainly used in surgical applications.

[0072] Preferably, the groove structure is a spherical groove structure and the protrusion structure is a spherical protrusion structure, which can realize smooth deformation of the serpentine joint in multiple directions.

[0073] In the specific design, both ends of the pull cable can be connected to the slider 12 or the end joint 22 via components such as protrusions, bushings, or screws for easy dragging. The pull cable can be made of stainless steel wire, titanium alloy wire, nylon wire, polyester fiber wire, carbon fiber wire, Kevlar wire, etc.

[0074] Numerous existing wire-pulling mechanisms exist in the prior art, which can achieve wire pulling through various means, such as electric drive or compressed air drive. Electric drive, for example, uses the rotation of a motor, gears, or shaft to pull the wire; compressed air drive utilizes the pneumatic locking process of a pneumatic arm in existing technology. This invention can, of course, also employ existing electric drive and compressed air drive technologies. Furthermore, this invention also provides an embodiment of a manually driven wire-pulling mechanism:

[0075] The fixed base 1 includes a housing 11, a slider 12, a wedge pin 13, and a screw handle 14;

[0076] The slider 12 is disposed inside the housing 11. The slider 12 is provided with a wedge-shaped hole 121. The wedge-shaped pin 13 slides through the wedge-shaped hole 121. The wedge-shaped pin 13 is provided with an internal threaded hole 131. The screw handle 14 includes, from top to bottom, a knob part 141, an upper rotating shaft 142, a screw part 143 and a lower rotating shaft 144. The screw part 143 is threadedly connected to the internal threaded hole 131. The upper rotating shaft 142 and the lower rotating shaft 144 are rotatably connected to the upper and lower ends of the housing 11, respectively.

[0077] The slider 12 is connected to a pull wire 4, which passes through all the joint through holes 211 and is connected to the end joint 22.

[0078] Preferably, the upper end of the housing 11 is provided with an upper end cover 112, and the lower end of the housing 11 is provided with a lower end cover 113. The upper rotating shaft 142 is connected to the upper end cover 112, and the lower rotating shaft 144 is connected to the lower end cover 113. The upper end cover 112 and the lower end cover 113 can be integrally formed with the rest of the housing 11 or can be assembled from parts.

[0079] In practical use, the fixing base 1 is first installed on the operating table or robotic arm, and then the surgical tool is fixed to the device via the clamping mechanism 3. The position of the slider 12 is controlled by rotating the screw handle 14, thereby adjusting the tension of the pull wire 4 to make the snake joint 2 adjustable. At this time, the doctor can manually adjust the posture of the snake joint 2 according to the surgical needs, so that the surgical tool reaches the appropriate position and angle. After adjustment, the screw handle 14 is rotated again to tighten the pull wire 4. The pull wire 4 locks all unit joints 21 and end joints 22, locking the snake joint 2 in the current posture, thereby fixing the position of the surgical tool and ensuring its stability during the operation.

[0080] In one specific embodiment of this utility model, a fixing seat insertion mechanism 15 is connected to the bottom of the housing 11, and the fixing seat 1 is connected to the front of the end of the robotic arm 61 through the fixing seat insertion mechanism 15.

[0081] In actual surgical procedures, especially in minimally invasive surgeries requiring robotic arm assistance, this fixation method fully leverages the robotic arm's motion precision and flexibility. By mounting surgical instruments at the end of the robotic arm, surgeons can utilize the arm's precise motion control to move the instruments quickly and accurately to the surgical area. Simultaneously, due to the high-precision connection of the fixation base insertion mechanism 15, the position and orientation of the surgical instruments precisely correspond to the robotic arm's motion coordinate system. The surgical navigation system can monitor the instrument's position in real time using feedback from the robotic arm, enabling a more intelligent and automated surgical procedure. Furthermore, the quick-connect design facilitates preoperative preparation and postoperative disassembly, improving overall surgical efficiency.

[0082] In one specific embodiment of the present invention, the housing 11 is provided with a fixing hole 111 for inserting a fixing screw, and the fixing seat 1 is connected to the side of the end of the robotic arm 61 by a fixing screw.

[0083] In some complex surgical scenarios, the end effector of a robotic arm may need to mount multiple tools or devices simultaneously. By connecting and mounting the fixation base, serpentine joint, and clamping mechanism to the side of the robotic arm's end effector, space within the robotic arm can be utilized efficiently, avoiding interference with other devices. Simultaneously, this connection method ensures the strength of the connection between the fixation base, serpentine joint, and clamping mechanism and the robotic arm, guaranteeing the stability of the surgical tools during the procedure. Furthermore, side mounting facilitates operation at specific surgical angles, allowing surgeons to select the most suitable mounting position based on surgical needs, improving surgical flexibility and operability.

[0084] In one specific embodiment of this utility model, a guide 7 is also connected to the end of the robotic arm 61. The guide 7 includes a guide body 71, a guide insertion mechanism 72 is connected to the bottom of the guide body 71, the guide body 71 is connected to the front of the end of the robotic arm 61 through the guide insertion mechanism 72, a telescopic rod 73 is sleeved on the guide body 71, a quick-connect clamp 74 is connected to the top of the telescopic rod 73, and the guide body 71 is also connected to a second calibration plate 52.

[0085] Depending on the application scenario during surgery, the guide 7 in this invention can be connected together with the serpentine joint 2 to the end of the robotic arm 61 for use; the guide 7 and the serpentine joint 2 can also be connected separately to the end of the robotic arm 61 for use.

[0086] Switching the surgical instruments from the guide 7 to the clamping mechanism on the serpentine joint 2 allows for more flexible and precise surgical operations. This design combines the advantages of the guide's rapid positioning with the serpentine joint's flexible adjustment, improving both the efficiency of initial surgical positioning and ensuring the flexibility and precision of the surgical procedure.

[0087] like Figure 32 As shown, in practical use, taking an endoscope as an example, the endoscope body is installed on the quick-access clamp 74 via an adapter. The robotic arm 6 can quickly and accurately locate the lesion with the endoscope, achieving precise stereotactic positioning. After positioning, the guide 7 can be removed at any time. When more flexible surgical operations are required, the endoscope can be switched from the guide 7 to the clamping mechanism on the serpentine joint 2. The guide 7 is equipped with a telescopic rod 73 (front joint) to avoid situations where it cannot be flexibly switched with the serpentine joint 2.

[0088] In surgical procedures requiring high-precision positioning, such as brain surgery and spinal surgery, the guide 7 provides precise initial guidance for surgical instruments. Before the surgery begins, the surgical instruments are mounted on the quick-release clamps 74 of the guide 7. The robotic arm 6 then moves the guide 7 quickly and accurately to the approximate location of the surgical area. At this point, the surgical navigation system calibrates the initial position of the instruments using the second calibration plate 52, allowing the surgeon to make fine adjustments as needed.

[0089] In one specific embodiment of the present invention, a shaping sleeve 8 is detachably installed on the outer side of the serpentine joint 2. The shaping sleeve 8 includes two semi-cylindrical magnetic sleeves 81.

[0090] Before use, the serpentine joint may be bent or irregular, affecting the positioning accuracy of the surgical instrument. The shaping sleeve 8, composed of two semi-cylindrical magnetic sleeves 81, attracts each other magnetically. Furthermore, since the serpentine joint 2 is mostly made of ferromagnetic materials (such as stainless steel), the magnetic sleeve 8 can directly attract and tightly adhere to the outside of the serpentine joint 2. During the installation of the shaping sleeve 8, the serpentine joint 2 can smoothly reach a straightened state, laying the foundation for subsequent precise adjustment and positioning. During minimally invasive surgery, a straightened serpentine joint can more accurately guide the surgical instrument to the target position, avoiding path deviations caused by joint bending and improving the precision of the surgical operation. This allows the surgical navigation system to quickly find the calibration position each time, achieving precise positioning. After reaching the calibration position, the shaping sleeve 8 can be removed, allowing the surgical instrument to flexibly change direction.

[0091] In one specific embodiment of the present invention, the clamping mechanism 3 includes at least two opposing grippers, the gripping axes of the two grippers being parallel to the normal of the positioning surface of the first calibration plate 51.

[0092] The end of the serpentine joint 2 is an end joint 22 with an interface to a first calibration plate 51 (or marker, navigation marker). The first calibration plate 51 can be a visible cursor calibration plate, an infrared cursor calibration plate, or a magnetic marker plate. The function of the first calibration plate 51 is to accurately calibrate and continuously track the position of the surgical tool in the surgical navigation system. By setting the first calibration plate 51 on the end joint 22, the positional relationship between the calibration plate and the surgical tool fixed by the clamping mechanism 3 can be ensured to be accurate and stable, thereby improving the accuracy and reliability of surgical navigation.

[0093] Preferably, the first calibration plate 51 is connected to the end joint 22 via a calibration plate connector 53. The bottom of the first calibration plate 51 and the top of the calibration plate connector 53 have mutually fitting raised and recessed structures to ensure that the calibration plate will not rotate after installation. The gripping axes of the first and second grippers are as follows: Figure 4 , 16 Line b shown in Figures 20 and 24, the normal to the positioning surface of the first calibration plate 51 is as follows: Figure 4 , 16 Line a shown in 20 and 24.

[0094] In addition to being designed as a gripper, the clamping mechanism 3 can also be designed as a quick-release pipe clamp, an adapter, or a magnetic tool.

[0095] In this embodiment, a first calibration plate is added, and the gripping axis is parallel to the normal of the positioning surface. This design correlates the gripping direction of the robotic arm on the surgical tool with the positioning surface of the calibration plate, providing a precise positioning basis for the surgical navigation system. In the prior art, the positioning of surgical tools mainly relies on the surgeon's experience or simple auxiliary markings, lacking precise positioning benchmarks and systematic positioning methods. This embodiment, by introducing a calibration plate and specific geometric relationships, achieves precise initial calibration and continuous tracking of the surgical tool, making an innovative improvement in positioning technology. Achieving precise positioning with the help of a surgical navigation system significantly improves the accuracy of surgical operations, avoids damage to surrounding tissues, and promotes the advancement of surgical techniques.

[0096] The clamping mechanism 3 in this utility model has several types, and four embodiments are given below:

[0097] Example 1, Type 1 clamping mechanism, such as Figures 1-12 As shown:

[0098] The clamping mechanism 3 includes a first clamping jaw 311, a second clamping jaw 312, a first clamping body 313, a pressure block 314, a first side cover 315, a first spring 316, and a pressing handle 317;

[0099] The gripping axes of the first gripper 311 and the second gripper 312 are parallel to the normal of the positioning surface of the first calibration plate 51;

[0100] The bottom of the first clamping body 313 is connected to the end joint 22. The first gripper 311 is located on the top right side of the first clamping body 313. The top of the first clamping body 313 has a first hole 3131. The middle part of the first clamping body 313 has a second hole 3132 that communicates with the first hole 3131. The pressure block 314 is movably embedded in the first hole 3131 and the second hole 3132. The second gripper 312 is connected to the right side of the pressure block 314. The first side cover 315 is fastened to the left side of the second hole 3132. The left side of the first side cover 315 has a first sliding groove 3151. The right side of the pressure block 314 is slidably connected to the first sliding groove 3151. The first spring 316 abuts against the pressure block 314 and the first clamping body 313. The bottom of the pressing handle 317 is connected to the pressure block 314.

[0101] In practical use, pressing the handle 317 causes the pressure block 314 to slide under the pressure, moving the second gripper 312 away from the first gripper 311, thereby releasing the grip on the surgical instrument. At this point, the surgical instrument can be removed or replaced. When the handle 317 is released, the elastic force of the first spring 316 acts on the pressure block 314, pushing it to slide, which in turn moves the second gripper 312 closer to the first gripper 311, thus clamping the surgical instrument. This design makes the clamping mechanism 3 easy to operate, enabling quick and reliable fixation and replacement of surgical instruments, meeting the needs of frequent tool changes during surgery, and improving surgical efficiency.

[0102] Example 2, second type of clamping mechanism, such as Figures 13-17 As shown:

[0103] The clamping mechanism 3 includes a third jaw 321, a fourth jaw 322, a second clamping body 323, and a first threaded handle 324;

[0104] The gripping axes of the third gripper 321 and the fourth gripper 322 are parallel to the normal of the positioning surface of the first calibration plate 51.

[0105] The bottom of the second clamping body 323 is connected to the end joint 22. The third gripper 321 is located at the left end of the second clamping body 323. The inner side of the second clamping body 323 is provided with a second sliding groove 3231. The right end of the second clamping body 323 is provided with a boss 3232. The middle part of the boss 3232 is provided with a first screw hole 3233. The first threaded handle 324 includes a first screwing member 3241 and a first screw 3242 connected to each other. The fourth gripper 322 is connected to the bottom of the first screw 3242. The first screw 3242 and the first screw hole 3233 are threadedly connected. The tail of the fourth gripper 322 is slidably connected to the second sliding groove 3231.

[0106] In practical use, rotating the first threaded handle 324 clockwise causes the first screw 3242 to screw into the first threaded hole 3233, pushing the fourth gripper 322 along the second groove 3231 towards the third gripper 321, thereby gradually clamping the surgical instrument. Conversely, rotating the first threaded handle 324 counterclockwise causes the first screw 3242 to unscrew, and the fourth gripper 322 moves away from the third gripper 321 in the second groove 3231, releasing the surgical instrument. The clamping mechanism 3 uses a threaded transmission method, which has the advantages of large clamping force and high stability, ensuring that the surgical instrument is firmly fixed during operation and will not loosen due to external force or vibration, thus guaranteeing the safety and accuracy of the surgery.

[0107] Example 3, the third type of clamping mechanism, such as Figures 18-21 As shown:

[0108] The clamping mechanism 3 includes a fifth jaw 331, a sixth jaw 332, a third clamping body 333, a second threaded handle 334, a shaft pin 335, and a second spring 336;

[0109] The gripping axes of the fifth gripper 331 and the sixth gripper 332 are parallel to the normal to the positioning surface of the first calibration plate 51;

[0110] The bottom of the third clamping body 333 is connected to the end joint 22. The top of the third clamping body 333 is provided with a second screw 3331. The middle of the second threaded handle 334 is provided with a second threaded hole 3341, which is threadedly connected to the second screw 3331. The middle of the third clamping body 333 is provided with a third hole 3332 and a fourth hole 3333 that are perpendicularly connected to each other. A pivot pin 335 passes through the third hole 3332. The fifth jaw 331 and the sixth jaw 332 are hinged together by the pivot pin 335. Inserted in the fourth hole 3333, the fifth jaw 331 has a first protrusion 3311 on the inner side of its clamping part, and the sixth jaw 332 has a second protrusion 3321 on the inner side of its clamping part. The second spring 336 abuts between the first protrusion 3311 and the second protrusion 3321. The tail of the fifth jaw 331 has a first contact point 3312, and the outer side of the clamping part of the sixth jaw 332 has a second contact point 3322. Both the first contact point 3312 and the second contact point 3322 abut against the bottom of the second threaded handle 334.

[0111] In practical use, rotating the second threaded handle 334 clockwise causes it to move downwards along the second screw 3331, applying downward pressure to the first contact point 3312 and the second contact point 3322 at its bottom. Since the first contact point 3312 and the second contact point 3322 are connected to the fifth jaw 331 and the sixth jaw 332 respectively, this pressure drives the two jaws to rotate inwards around the pivot pin 335, thereby clamping the surgical instrument. Simultaneously, the second spring 336 is compressed, storing elastic potential energy. When it is necessary to release the surgical instrument, rotating the second threaded handle 334 counterclockwise causes it to move upwards, reducing the pressure on the first contact point 3312 and the second contact point 3322. Under the elastic force of the second spring 336, the two jaws rotate outwards, releasing the surgical instrument. This design makes the clamping mechanism 3 compact, easy to operate, and reliable, meeting the needs for rapid clamping and replacement of surgical instruments of different diameters during surgery. Clamping Mechanism 3

[0112] Example 4, the fourth type of clamping mechanism, such as Figures 22-26 As shown:

[0113] The clamping mechanism 3 includes a seventh jaw 341, an eighth jaw 342, a fourth clamping body 343, a first threaded sleeve 344, a second threaded sleeve 345, a second side cover 346, and a third threaded handle 347.

[0114] The gripping axes of the seventh gripper 341 and the eighth gripper 342 are parallel to the normal of the positioning surface of the first calibration plate 51;

[0115] The bottom of the fourth clamping body 343 is connected to the end joint 22. The top of the fourth clamping body 343 is provided with a fifth hole 3431, and the middle of the fourth clamping body 343 is provided with a sixth hole 3432 that communicates with the fifth hole 3431. The first threaded sleeve 344 and the second threaded sleeve 345 are both embedded in the sixth hole 3432. The seventh jaw 341 is connected to the right side of the first threaded sleeve 344, and the eighth jaw 342 is connected to the right side of the second threaded sleeve 345. The second side cover 346 is fastened to the left side of the sixth hole 3432. The right side of the second side cover 346 includes, from bottom to top, a third sliding groove 3461, a bushing 3462, and a fourth sliding groove 3463. The left side of the first threaded sleeve 344 slides with the third sliding groove 3461. The left side of the second threaded sleeve 345 is slidably connected to the fourth slide groove 3463. The third threaded handle 347 is inserted into the sixth hole 3432 from the fifth hole 3431. The third threaded handle 347 includes, from bottom to top, a lower screw 3471, a lower positioning member 3472, a rotating shaft 3473, an upper positioning member 3474, an upper screw 3475, and a second screwing member 3476. The thread direction of the lower screw 3471 is opposite to that of the upper screw 3475. The lower screw 3471 is threadedly connected to the first threaded sleeve 344. The upper screw 3475 is threadedly connected to the second threaded sleeve 345. The lower positioning member 3472 and the upper positioning member 3474 are respectively locked on the lower and upper sides of the bushing 3462. The rotating shaft 3473 is rotatably connected to the bushing 3462.

[0116] When clamping surgical tools of different sizes, the relative position between the clamping axes of the seventh jaw 341 and the eighth jaw 342 and the normal of the positioning surface of the first calibration plate 51 remains constant.

[0117] In practical use, turning the third threaded handle 347 causes the first threaded sleeve 344 and the second threaded sleeve 345 to move in opposite directions due to the opposite thread directions of the lower screw 3471 and the upper screw 3475. For example, rotating the third threaded handle 347 clockwise causes the first threaded sleeve 344 to move to the right under the drive of the lower screw 3471, and the second threaded sleeve 345 to move to the left under the drive of the upper screw 3475. This causes the seventh jaw 341 and the eighth jaw 342 to move towards each other, clamping the surgical instrument. Conversely, rotating the third threaded handle 347 counterclockwise causes the two threaded sleeves to move in opposite directions, causing the jaws to separate and releasing the surgical instrument. This centered clamping design ensures that the surgical instrument remains centered during clamping, avoiding tool position deviation caused by jaw offset. Meanwhile, since the relative position between the clamping axes of the seventh jaw 341 and the eighth jaw 342 and the normal of the positioning surface of the first calibration plate 51 remains constant when the clamping mechanism 3 clamps surgical tools of different thicknesses, the surgical navigation system can always accurately track the position of the surgical tools. No matter how the thickness of the tools changes, there is no need to recalibrate, which greatly improves the efficiency and accuracy of the surgical operation.

[0118] The lower screw 3471 has opposite thread directions to the upper screw 3475. During the locking process, the seventh clamping jaw 341 and the eighth clamping jaw 342 can be driven to move towards each other simultaneously, thereby achieving centering clamping. Taking an endoscope as an example of a surgical instrument, this centering clamping mechanism in this embodiment can ensure that the distance between the first calibration plate 51 and the center line of the clamped endoscope remains constant.

[0119] The following is a specific embodiment of using the robotic arm of this invention to fix surgical tools:

[0120] S1. The surgical instruments are fixed to the end of the robotic arm 61 via the clamping mechanism 3, the serpentine joint 2 and the fixing seat 1;

[0121] S2. Rotate the knob 141 counterclockwise to loosen the cable 4 and put the serpentine joint 2 into an adjustable state;

[0122] S3. Install the shaping sleeve 8 on the outside of the serpentine joint 2 to straighten the serpentine joint 2; the shaping sleeve 8 includes two semi-cylindrical magnetic sleeves 81;

[0123] S4. Rotate the knob 141 clockwise to tighten the cable 4 and put the serpentine joint 2 in an unadjustable state. At this time, the relative position between the first calibration plate 51 and the fixed seat 1 is restored to the initial state.

[0124] S5. In the initial state, the surgical navigation system performs initial calibration of the position of the surgical tools through the first calibration plate 51;

[0125] S6. After the initial calibration is completed, the surgical navigation system continuously tracks the position of the surgical tools through the first calibration plate 51;

[0126] S7. Remove the shaping sleeve 8 and rotate the knob 141 counterclockwise to adjust the position of the surgical tool;

[0127] S8. The position of the surgical instruments is adjusted to meet the surgical needs by moving the robotic arm 6 and manually changing the posture of the serpentine joint 2 by the operator.

[0128] S9. After adjusting the position of the surgical instrument, rotate the knob 141 clockwise to fix the position of the surgical instrument.

[0129] The accuracy of the initial calibration is ensured by the assistance of the orthotic sleeve 8 (or position maintainer), while the adjustability of the serpentine joint 2 meets the positional adjustment needs arising during surgery due to complex anatomical structures or changes in surgical steps. The entire process is simple to operate, requiring no complex auxiliary equipment, reducing surgical preparation time and operational difficulty, while improving the safety and success rate of the surgery.

[0130] The twisting technique, located at the knob 141, offers the technical advantage of keeping the lesion away from the surgical site, which is of great significance for ensuring surgical safety and improving surgical quality. In actual endoscopic surgical scenarios, the tissues surrounding the lesion are relatively fragile and sensitive, and any unnecessary contact may lead to serious consequences. The twisting technique at the tail end can effectively avoid this risk, reduce disturbance to the lesion and surrounding tissues, lower the risk of infection, and improve the precision and stability of the operation.

[0131] In summary, by introducing a positionable and gripping serpentine joint into the robotic arm, this invention can significantly improve the flexibility and precision of the robotic arm when used in surgical procedures.

[0132] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robotic arm capable of securing surgical tools, said robotic arm (6) including a robotic arm end effector (61), characterized in that: The end of the robotic arm (61) is connected to a serpentine joint (2). The serpentine joint (2) includes multiple unit joints (21) connected in sequence and an end joint (22). The first unit joint (21) is connected to the end of the robotic arm (61) through a fixed seat (1). The last unit joint (21) is connected to the end joint (22). The end joint (22) is connected to a clamping mechanism (3) in the horizontal direction and a first calibration plate (51) in the vertical direction. One end of the unit joint (21) is a groove structure and the other end of the unit joint (21) is a protrusion structure. Adjacent unit joints (21) are spliced ​​by embedding the protrusion structure into the groove structure. The unit joint (21) is provided with a joint through hole (211) in the middle. The fixed seat (1) is provided with a pull wire mechanism. The pull wire mechanism is connected with a pull wire (4). The pull wire (4) passes through all the joint through holes (211) and is connected to the end joint (22).

2. The robotic arm according to claim 1, characterized in that: The bottom of the housing (11) of the fixed base (1) is connected to a fixed base insertion mechanism (15), and the fixed base (1) is connected to the front of the end of the robotic arm (61) through the fixed base insertion mechanism (15).

3. The robotic arm according to claim 2, characterized in that: The housing (11) is provided with a fixing hole (111) for inserting a fixing screw, and the fixing seat (1) is connected to the side of the end of the robotic arm (61) by a fixing screw.

4. The robotic arm according to claim 3, characterized in that: A guide (7) is also connected to the end of the robotic arm (61). The guide (7) includes a guide body (71). The bottom of the guide body (71) is connected to a guide insertion mechanism (72). The guide body (71) is connected to the front of the end of the robotic arm (61) through the guide insertion mechanism (72). The guide body (71) is fitted with a telescopic rod (73). The top of the telescopic rod (73) is connected to a quick-connect clamp (74). The guide body (71) is also connected to a second calibration plate (52).

5. The robotic arm according to claim 1, characterized in that: The outer side of the serpentine joint (2) is detachably fitted with a shaping sleeve (8), which includes two semi-cylindrical magnetic sleeves (81).

6. The robotic arm according to any one of claims 1 to 5, characterized in that: The clamping mechanism (3) includes at least two opposing jaws, the clamping axes of which are parallel to the normal of the positioning surface of the first calibration plate (51).

7. The robotic arm according to claim 6, characterized in that: The clamping mechanism (3) includes a first clamping jaw (311), a second clamping jaw (312), a first clamping body (313), a pressure block (314), a first side cover (315), a first spring (316), and a pressing handle (317). The gripping axes of the first gripper (311) and the second gripper (312) are parallel to the normal of the positioning surface of the first calibration plate (51); The bottom of the first clamping body (313) is connected to the end joint (22). The first gripper (311) is located on the top right side of the first clamping body (313). The top of the first clamping body (313) is provided with a first hole (3131). The middle part of the first clamping body (313) is provided with a second hole (3132) that communicates with the first hole (3131). The pressure block (314) is movably embedded in the first hole (3131) and the second hole (3132). Two grippers (312) are connected to the right side of the pressure block (314), the first side cover (315) is fastened to the left side of the second hole (3132), the left side of the first side cover (315) is provided with a first sliding groove (3151), the right side of the pressure block (314) is slidably connected to the first sliding groove (3151), the first spring (316) abuts between the pressure block (314) and the first clamping body (313), and the bottom of the pressing handle (317) is connected to the pressure block (314).

8. The robotic arm according to claim 6, characterized in that: The clamping mechanism (3) includes a third clamping jaw (321), a fourth clamping jaw (322), a second clamping body (323), and a first threaded handle (324). The gripping axes of the third gripper (321) and the fourth gripper (322) are parallel to the normal of the positioning surface of the first calibration plate (51); The bottom of the second clamping body (323) is connected to the end joint (22). The third clamping claw (321) is located at the left end of the second clamping body (323). The inner side of the second clamping body (323) is provided with a second sliding groove (3231). The right end of the second clamping body (323) is provided with a boss (3232). The middle part of the boss (3232) is provided with a first screw hole (3233). The first threaded handle (324) includes a first screwing member (3241) and a first screw (3242) connected to each other. The fourth clamping claw (322) is connected to the bottom of the first screw (3242). The first screw (3242) and the first screw hole (3233) are threadedly connected. The tail of the fourth clamping claw (322) is slidably connected to the second sliding groove (3231).

9. The robotic arm according to claim 6, characterized in that: The clamping mechanism (3) includes a fifth jaw (331), a sixth jaw (332), a third clamping body (333), a second threaded handle (334), a pivot pin (335), and a second spring (336). The gripping axes of the fifth gripper (331) and the sixth gripper (332) are parallel to the normal of the positioning surface of the first calibration plate (51); The bottom of the third clamping body (333) is connected to the end joint (22). The top of the third clamping body (333) is provided with a second screw (3331). The middle of the second threaded handle (334) is provided with a second threaded hole (3341). The second threaded hole (3341) is threadedly connected to the second screw (3331). The middle of the third clamping body (333) is provided with a third hole (3332) and a fourth hole (3333) that are perpendicular to each other. The axle pin (335) passes through the third hole (3332). The fifth jaw (331) and the sixth jaw (332) are hinged by the axle pin (335). The fifth jaw (331) is connected and inserted into the fourth hole (3333). The inner side of the clamping part of the fifth jaw (331) is provided with a first protrusion (3311), and the inner side of the clamping part of the sixth jaw (332) is provided with a second protrusion (3321). The second spring (336) abuts between the first protrusion (3311) and the second protrusion (3321). The tail of the fifth jaw (331) is provided with a first contact point (3312), and the outer side of the clamping part of the sixth jaw (332) is provided with a second contact point (3322). The first contact point (3312) and the second contact point (3322) abut against the bottom of the second threaded handle (334).

10. The robotic arm according to claim 6, characterized in that: The clamping mechanism (3) includes a seventh jaw (341), an eighth jaw (342), a fourth clamping body (343), a first threaded sleeve (344), a second threaded sleeve (345), a second side cover (346), and a third threaded handle (347). The gripping axes of the seventh gripper (341) and the eighth gripper (342) are parallel to the normal of the positioning surface of the first calibration plate (51); The bottom of the fourth clamping body (343) is connected to the end joint (22). The top of the fourth clamping body (343) is provided with a fifth hole (3431). The middle part of the fourth clamping body (343) is provided with a sixth hole (3432) that communicates with the fifth hole (3431). The first threaded sleeve (344) and the second threaded sleeve (345) are both embedded in the sixth hole (3432). The seventh gripper (341) is connected to the end joint (22). On the right side of the first threaded sleeve (344), the eighth jaw (342) is connected to the right side of the second threaded sleeve (345). The second side cover (346) is fastened to the left side of the sixth hole (3432). The right side of the second side cover (346) includes, from bottom to top, a third sliding groove (3461), a bushing (3462), and a fourth sliding groove (3463). The left side of the first threaded sleeve (344) is slidably connected to the third sliding groove (3461). Next, the left side of the second threaded sleeve (345) is slidably connected to the fourth slide groove (3463), and the third threaded handle (347) is inserted into the sixth hole (3432) from the fifth hole (3431). The third threaded handle (347) includes, from bottom to top, a lower screw (3471), a lower positioning member (3472), a rotating shaft (3473), an upper positioning member (3474), an upper screw (3475), and a second screwing member (3476). The lower screw (3471) and the upper screw (3475) have opposite thread directions. The lower screw (3471) is threadedly connected to the first threaded sleeve (344), and the upper screw (3475) is threadedly connected to the second threaded sleeve (345). The lower positioning member (3472) and the upper positioning member (3474) are respectively engaged on the lower and upper sides of the bushing (3462). The rotating shaft (3473) is rotatably connected to the bushing (3462). When the clamping mechanism (3) clamps surgical tools of different thicknesses, the relative position between the clamping axis of the seventh clamp (341) and the eighth clamp (342) and the normal of the positioning surface of the first calibration plate (51) remains constant.

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