Opening and closing clamp and surgical robot

Abstract

The embodiment of the present application provides an opening and closing clamp and a surgical robot, the opening and closing clamp comprising an opening and closing assembly, a control assembly and a detection assembly, the opening and closing assembly being adapted to be linked with a surgical instrument end, the opening and closing assembly comprising an opening and closing piece, the opening and closing piece being used for being held by a finger, so that the movement of the surgical instrument end is controlled by using the opening and closing assembly, the control assembly being adapted to connect or disconnect the linkage between the opening and closing assembly and the surgical instrument end, the detection assembly comprising a detection piece and a trigger piece, the detection piece being connected to the control assembly, the trigger piece being arranged on the opening and closing piece, the trigger piece being arranged to generate a first trigger signal when the finger holds the opening and closing piece and to generate a second trigger signal when the finger is separated from the opening and closing piece, the detection piece being adapted to transmit the first trigger signal and the second trigger signal to the control assembly, and the control assembly being adapted to control the connection or disconnection between the opening and closing assembly and the surgical instrument end according to the first trigger signal and the second trigger signal. The opening and closing clamp of the present application can avoid false touch and increase safety.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an opening and closing clamp and a surgical robot. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming its shortcomings while inheriting its advantages.

[0003] The minimally invasive surgical robot based on this technology consists of a surgeon's console (master hand), a patient surgical platform (slave hand), and a display device. The surgeon operates the input device on the surgeon's console and transmits the input to the patient surgical platform, which is connected to remotely operated surgical instruments. The surgeon's console (master hand) includes a robotic arm and an opening and closing clamp connected to the end of the robotic arm. By controlling the opening and closing of the clamp, the opening and closing angle of the clamp is synchronized with the opening and closing of the end-effector's gripping forceps, thus realizing the surgical execution action of the surgical instrument's end.

[0004] When doctors use clips for surgical procedures, they may need to remove the clips for a short break or leave the room briefly. If the clips are accidentally touched during the removal process, it may cause movement of the instruments held in the hand, resulting in medical risks. Utility Model Content

[0005] This application provides an opening and closing clamp and a surgical robot, which can avoid accidental contact and increase safety.

[0006] In a first aspect, embodiments of this application provide an opening and closing clamp, including an opening and closing component, a control component, and a detection component. The opening and closing component is adapted to be linked with the end of a surgical instrument. The opening and closing component includes an opening and closing member for gripping by a finger, so as to control the movement of the end of the surgical instrument using the opening and closing component. The control component is adapted to connect or disconnect the linkage between the opening and closing component and the end of the surgical instrument. The detection component includes a detection member and a trigger member. The detection member is connected to the control component, and the trigger member is disposed on the opening and closing member. The trigger member is configured to generate a first trigger signal when a finger grips the opening and closing member and to generate a second trigger signal when the finger leaves the opening and closing member. The detection member is adapted to transmit the first trigger signal and the second trigger signal to the control component. The control component controls the connection or disconnection between the opening and closing component and the end of the surgical instrument according to the first trigger signal and the second trigger signal.

[0007] This application incorporates a detection component whose trigger can detect in real time whether a finger is gripping or detaching from the opening / closing mechanism. Corresponding to gripping and detachment, the trigger generates two different trigger signals. The detection component transmits these signals to a control component. The control component maintains the connection between the opening / closing mechanism and the surgical instrument tip based on the finger gripping signal, and disconnects the connection based on the finger detaching signal. In this way, when the doctor's finger leaves the opening / closing mechanism, the detection and control components work together to disconnect the mechanism from the surgical instrument tip. Even if the finger accidentally touches the mechanism during the process from the moment it leaves the contact surface to complete detachment, it will not cause movement of the surgical instrument tip, ensuring safety during detachment and avoiding medical risks.

[0008] In one possible implementation, the trigger has a first state and a second state, and when a finger grips and releases the gripper, it causes the trigger to switch between the first state and the second state to generate a first trigger signal and a second trigger signal.

[0009] This application sets the trigger to have two different states, so that the detection element can detect two different trigger signals. The two states of the trigger correspond to the finger gripping and disengaging from the detachment, thus making it possible to clearly determine whether the finger has disengaged from the detachment.

[0010] In one possible implementation, the detection element is a pressure sensor, one end of the trigger element abuts against the sensing part of the pressure sensor, and the other end is positioned close to the end face of the opening and closing element for the fingers to grip. When the fingers grip and release the opening and closing element, the trigger element is adapted to transmit different pressures to the pressure sensor, so that the trigger element is in a first state of transmitting a larger pressure to the pressure sensor and a second state of transmitting a smaller pressure to the pressure sensor.

[0011] By analyzing the different forces exerted on the trigger when a finger presses and releases it, the trigger is divided into a first state and a second state. The detection element is set as a pressure sensor, which can detect the pressure values ​​exerted on the trigger when a finger grips and releases the trigger, thereby determining whether the finger has released the trigger.

[0012] In one possible implementation, the trigger is an elastic structural member, and a pressing part is provided at the end of the trigger away from the detection member, which is for pressing by a finger.

[0013] By setting the trigger to an elastic structure, the reaction force on the fingers can be buffered, which helps to avoid finger injury from being squeezed and increases the comfort of gripping.

[0014] In one possible implementation, the detection element is an electrical signal sensor, the trigger element is a strain gauge, the strain gauge signal is connected to the electrical signal sensor, and the opening and closing assembly also includes a finger sleeve made of elastic material. The finger sleeve is surrounded by an insertion space for the finger to insert into. The strain gauge is embedded in the finger sleeve. When the finger grips and releases the opening and closing assembly, the trigger element generates deformations of different sizes or directions, so that the trigger element is in a first state and a second state.

[0015] By setting the trigger as a strain gauge, the resistance of the strain gauge changes when it deforms. The detection element is set as an electrical signal sensor, which can detect the resistance value of the strain gauge. The difference in resistance can then be used to determine whether the finger has detached from the assembly.

[0016] In one possible implementation, the detection element is a distance sensor, and the trigger element is movably connected to the opening and closing element. The distance sensor is located on the movement path of the trigger element. When the finger grips and releases the opening and closing element, the trigger element can reciprocate toward or away from the distance sensor, so that the trigger element is in a first state close to the distance sensor and a second state far away from the distance sensor.

[0017] By setting the trigger to move closer to the detector when the finger grips the opening / closing device, and further away from the detector when the finger releases the device, the distance between the trigger and the detector can be used to determine whether the finger has detached from the device.

[0018] In one possible implementation, the opening and closing assembly includes a housing, and the opening and closing element includes an opening and closing body and a gripping part. One end of the opening and closing body is rotatably disposed on the housing, and the other end is adapted to connect to the gripping part. The gripping part is adapted to be gripped by fingers, and a detection component is disposed on the end face of the gripping part for contact with fingers.

[0019] By setting the opening and closing body, the opening and closing parts can be rotatably set in the housing. By setting the grip, it can be gripped by fingers, and the grip can be used to install the detection component, so that the detection component can detect whether the fingers are gripping or leaving the grip in real time.

[0020] In one possible implementation, the end face of the grip portion that comes into contact with the fingers is a concave curved surface.

[0021] By making the end face of the grip that comes into contact with the fingers curved, it can better fit the fingers and ensure comfortable grip.

[0022] In one possible implementation, the opening and closing assembly includes two opening and closing parts, both of which are rotatably disposed on the housing. The rotation axes of the two opening and closing parts are parallel, and an elastic element is connected between the two opening and closing parts. When the two opening and closing parts rotate, the elastic element can be stretched or compressed. The end of the opening and closing body used for rotation is also provided with an engagement part. When the two opening and closing parts are rotatably disposed on the housing, the engagement parts of the two opening and closing parts engage with each other.

[0023] By setting the two opening and closing parts to mesh, the rotation of the two opening and closing parts can be synchronized, ensuring that the rotation amplitude of the two opening and closing parts is consistent, thereby ensuring consistent action accuracy.

[0024] Secondly, embodiments of this application provide a surgical robot, including the opening and closing clamps mentioned above. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0026] Figure 1 A schematic diagram of the opening and closing clip provided in this application;

[0027] Figure 2 A cross-sectional view of the opening and closing clip provided in this application;

[0028] Figure 3 Another cross-sectional view of the opening and closing clip provided in this application;

[0029] Figure 4 Another sectional view of the opening and closing clip provided in this application;

[0030] Figure 5 An exploded view of the opening and closing components provided in this application.

[0031] Explanation of reference numerals in the attached figures:

[0032] 10. Drive assembly; 11. Drive shaft; 12. Drive body; 13. Drive component; 14. Fixed end; 20. Control assembly; 21. Control board; 22. Electrical connector; 30. Opening / closing assembly; 31. Housing; 311. Receiving cavity; 312. Perforation; 32. Connecting part; 33. Opening / closing component; 331. Grip part; 3311. Grip end face; 332. Opening / closing body; 333. Finger sleeve; 334. Engaging part; 34. Connecting frame; 341. Receiving groove; 342. Receiving groove; 343. Connecting shaft; 35. Elastic component; 40. Detection assembly; 41. Detection component; 42. Trigger; 43. Pressing part; 44. Rebound component. Detailed Implementation

[0033] As described in the background section above, a physician control console controls the opening and closing of the surgical instruments' ends on a patient surgical platform to perform surgical procedures. Existing physician control consoles include a robotic arm and an opening / closing clamp connected to the robotic arm's end effector. The clamp includes an opening / closing element that can be opened and closed, which can be held to control the movement of the surgical instrument's end effector. The operation of the physician control platform mainly includes master hand operation, motion capture, and signal generation. Specifically, the physician sits at the control console, holding their fingers on the opening / closing element. The clamp integrates high-precision sensors (such as optical encoders, potentiometers, or torque sensors). When the physician performs a "pinching" or "opening" motion with their fingers on the opening / closing element, these sensors detect changes in finger position and posture in real time and at high speed. The sensor data is immediately converted into digital signals, which include the direction, speed, and amplitude of the physician's hand movements. These command signals are processed and transmitted from the physician control console to the surgical instrument's end effector at the operating table via a high-speed data cable or wireless network.

[0034] During surgery, surgeons sometimes need to release the opening mechanism, for example, due to hand fatigue from holding it for a long time. However, as the surgeon removes their fingers from the opening mechanism, they may accidentally touch it, causing it to move and potentially injuring the end of the surgical instrument. This accidental movement of the instrument's end can easily pose a medical risk and threaten the patient's health.

[0035] To address the aforementioned issues, this application provides an opening and closing clip that improves upon traditional opening and closing clips. The improved clip can sense whether a finger has detached. When a finger leaves the clip, the connection between the clip and the end of the surgical instrument is broken, and the clip's movement will not control the movement of the instrument's end. Even if a finger accidentally touches the clip, it will not cause movement of the instrument's end, thus avoiding medical risks.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] See Figure 1 and Figure 2As shown, this application provides an opening and closing clamp and a surgical robot using the opening and closing clamp. The opening and closing clamp of this application includes an opening and closing component 30, a control component 20, and a detection component 40. The opening and closing component 30 is the operating structure of the opening and closing clamp. The opening and closing component 30 is adapted to be linked with the end effector of a surgical instrument. The opening and closing component 30 is used to capture the movement of a finger. The opening and closing component 30 includes an opening and closing member 33, which is used for gripping by a finger. The opening and closing member 33 is movably set. When a finger grips the opening and closing member 33, the movement of the opening and closing member 33 can be controlled by the action of "gripping" or "opening". By capturing the movement of the opening and closing member 33, the movement of the end effector of the surgical instrument can be controlled.

[0038] As an intermediate connection structure, the control component 20 can transmit the activity information of the opening and closing component 33 to the end of the surgical instrument. In other words, the control component 20 can be used to connect or disconnect the linkage between the opening and closing component 30 and the end of the surgical instrument.

[0039] A detection component 40 is disposed on the opening / closing member 33 and is signal-connected to the control component 20. The detection component 40 is suitable for detecting whether a finger is in contact with the opening / closing member 33. It can be understood that finger contact with the opening / closing member 33 and finger removal from the opening / closing member 33 are two different states. The detection component 40 can detect both states of the finger and generate two different signals based on these states. The detection component 40 can cooperate with the control component 20, transmitting the detected signals to the control component 20. The control component 20 then controls the connection and disconnection between the opening / closing member 30 and the end of the surgical instrument based on the signals transmitted by the detection component 40. For example, when a finger grasps the opening / closing member 33, the detection component 40 transmits detection information to the control component 20, which ensures the linkage between the opening / closing member 30 and the end of the surgical instrument based on the detection information. When the finger leaves the opening / closing member 33, the detection component 40 transmits detection information to the control component 20, which then disconnects the linkage between the opening / closing member 30 and the end of the surgical instrument based on the detection information.

[0040] Specifically, the detection component 40 includes a detection element 41 and a trigger element 42. The detection element 41 is signal-connected to the control component 20, and the trigger element 42 is disposed on the opening / closing component 33. The trigger element 42 is configured to generate a first trigger signal when a finger grips the opening / closing component 33 and a second trigger signal when the finger leaves the opening / closing component 33. The detection element 41 is adapted to transmit the first and second trigger signals to the control component 20, and the control component 20 controls the connection or disconnection between the opening / closing component 30 and the end of the surgical instrument according to the first and second trigger signals.

[0041] This application incorporates a detection component 40. The trigger 42 of the detection component 40 can detect in real time whether a finger is gripping or detaching from the opening / closing component 33. Corresponding to gripping and detachment from the opening / closing component 33, the trigger 42 can generate two different trigger signals. The detection component 41 can transmit the trigger signals to the control component 20. The control component 20 can maintain the connection between the opening / closing component 30 and the surgical instrument tip based on the signal of finger gripping the opening / closing component 33, and disconnect the connection based on the signal of finger detachment from the opening / closing component 33. In this way, when the doctor's finger leaves the opening / closing component 33, the connection between the opening / closing component 30 and the surgical instrument tip can be broken through the cooperation of the detection component 40 and the control component 20. Even if the finger accidentally touches the opening / closing component 33 during the process from the moment the finger leaves the contact surface to the moment it completely detaches, the surgical instrument tip will not move, ensuring safety during the finger detachment process and avoiding medical risks.

[0042] See Figures 1 to 4 As shown, in some possible implementations, the trigger 42 of this application has a first state and a second state. When a finger grips and releases the opening / closing member 33, it causes the trigger 42 to switch between the first state and the second state to generate a first trigger signal and a second trigger signal. That is, when a finger grips the opening / closing member 33, it can indirectly or directly contact the trigger 42. At this time, the trigger 42 is in the first state and generates the first trigger signal. When the finger releases the opening / closing member 33, the trigger 42 is in the second state and generates the second trigger signal. The gripping and releasing of the finger causes the trigger 42 to switch between the first state and the second state.

[0043] It should be noted that the state change of the trigger 42 can be a change in position, a change in shape, or a change in the magnitude of force. These state changes of the trigger 42 generate different signals. The detection element 41 is selected to detect these signals and uses these signals as trigger signals to transmit to the control component 20.

[0044] In some embodiments, the opening / closing member 33 of this application includes a gripping portion 331, which is adapted for finger gripping. A detection component 40 is disposed on the gripping portion 331 so that when the finger grips the gripping portion 331, it can directly or indirectly contact at least a portion of the structure of the detection component 40 for easy detection. Specifically, the gripping portion 331 is configured to have a gripping end face 3311 that conforms to the finger. The area of ​​the gripping end face 3311 is larger than the contact area of ​​the finger to ensure that the compression area between the gripping portion 331 and the finger is large enough, which can both avoid finger pain and ensure stability when the finger is gripping. The trigger member 42 of the detection component 40 is disposed on the gripping end face 3311 of the gripping portion 331.

[0045] It should be noted that the gripping end face 3311 can be configured in various shapes, such as circular or square, depending on the actual processing requirements. Furthermore, the gripping end face 3311 can be a flat surface, a convex surface, or a concave surface. In this application, the gripping end face 3311 is a concave curved surface, which allows it to conform to the convex curved surface of the fingers, ensuring comfort during gripping.

[0046] See Figures 1 to 4 As shown, in some embodiments, the first and second states of the trigger 42 can be states subjected to forces of different magnitudes, in which case the detection element 41 detects the magnitude of the force applied to the trigger 42. Specifically, the detection element 41 is a pressure sensor, one end of the trigger 42 abuts against the sensing part of the pressure sensor, and the other end is positioned near the end face of the opening / closing member 33 for the fingers to grip. When the fingers grip the opening / closing member 33, the gripping force of the fingers on the opening / closing member 33 can be transmitted to the trigger 42, which then transmits this force to the detection element 41. When the fingers are removed from the opening / closing member 33, the gripping force is removed, the force on the trigger 42 is eliminated, and the force transmitted from the trigger 42 to the detection element 41 is reduced to zero. Therefore, when a finger grips the opening / closing component 33 and when it disengages from it, a larger gripping force can be applied to the trigger 42, and no pressure can be applied to the trigger 42. The detection element 41 generates two pressure values ​​accordingly. A larger pressure value indicates that the trigger 42 is in the first state, at which point the finger is gripping the opening / closing component 33. Zero pressure indicates that the trigger 42 is in the second state, at which point the finger is disengaged from the trigger 33. Through the cooperation of the pressure detection element 41 and the trigger 42, it is possible to detect in real time whether a finger is gripping the opening / closing component 33.

[0047] It should be noted that the trigger 42 can be a part of the structure of the opening / closing member 33, or it can be a structure independent of the opening / closing member 33. In this application, the trigger 42 and the opening / closing member 33 are separately arranged. The detection member 41 is connected to the gripping part 331 of the opening / closing member 33. Part of the structure of the trigger 42 is movable inside the gripping part 331, and another part of the structure is disposed close to the gripping end face 3311, or protrudes from the gripping end face 3311. In this application, the gripping part 331 is provided with a channel for the trigger 42 to be inserted. This channel is opened from the triggering end face toward the detection member 41. Part of the structure of the trigger 42 passes through this channel, and another part protrudes from the triggering end face or is disposed flush with the triggering end face. When a finger grips the trigger 42, the finger squeezes the triggering end face. At this time, the finger squeezes the trigger 42, and the trigger 42 transmits the gripping force of the finger to the detection member 41.

[0048] In some embodiments, the trigger 42 is an elastic structural member. For example, the trigger 42 can be made of materials such as silicone or rubber, or it can be a spring. By setting the trigger 42 as an elastic structural member, the reaction force on the fingers can be buffered, ensuring the comfort of the fingers gripping the device.

[0049] It is worth mentioning that when the fingers grip the grip portion 331, the fingers press the end of the trigger member 42 away from the detection member 41. To ensure comfort when pressing, a pressing portion 43 is provided at the end of the trigger member 42 away from the detection member 41. The pressing portion 43 is made of flexible material and has a large pressing surface, which increases the contact area. The pressing portion 43 is for the fingers to press. By providing the pressing portion 43, the fingers can press on the pressing portion 43, and the pressing force is transmitted to the trigger member 42 through the pressing portion 43. The pressing portion 43 can also increase the pressing area of ​​the fingers and reduce the pressure on the fingers.

[0050] In some embodiments, the first and second states of the trigger 42 can also be differences arising from different degrees of deformation. Specifically, the detection element 41 is an electrical signal sensor, and the trigger 42 is a strain gauge, with the strain gauge signal connected to the electrical signal sensor. When the strain gauge deforms, its resistance changes accordingly. The detection element 41 can be used to detect the resistance of the strain gauge, thereby determining the degree of deformation of the trigger 42, and correspondingly determining whether the finger is gripping the opening / closing element 33.

[0051] It should be noted that this application uses the stretching and contraction states of the trigger 42 as the first and second states of the trigger 42. The resistance of the trigger 42 when stretched is different from that when contracted. To achieve the stretching and contraction of the trigger 42, the opening and closing assembly 30 of this application also includes a finger sleeve 333. The finger sleeve 333 is formed by connecting a strip or band structure to the gripping part 331. The finger sleeve 333 can be glued to the gripping part 331 or fixed to the gripping part 331 by screws or other structures. When the finger sleeve 333 is connected to the gripping part 331, it is bent. The bent finger sleeve 333 and the gripping end face 3311 of the gripping part 331 form an insertion space for finger insertion. The finger can be directly inserted into this insertion space so that the finger can be fixed to the opening and closing assembly 33 by the binding part.

[0052] It should be noted that the finger sleeve 333 of this application is made of elastic material. The insertion space between the binding part and the gripping end face 3311 can be slightly smaller than the size of the finger to ensure that the finger sleeve 333 can deform when the finger is inserted into the insertion space, and can return to its original shape when the finger is removed from the insertion space. Therefore, a strain gauge can be embedded in the finger sleeve 333. The strain gauge can stretch with the finger sleeve 333 and contract with the finger sleeve 333. In this way, when the finger grips the opening and closing part 33, the finger sleeve 333 is in a stretched state, and the trigger 42 is also in a stretched first state. When the finger is removed from the opening and closing part 33, the finger sleeve 333 returns to its original shape, and the trigger 42 returns to its original shape along with the finger sleeve 333, in the second state.

[0053] By using strain gauges and finger sleeves 333, the trigger 42 can be in two different states when the finger grips and releases the opening / closing component 33. The corresponding detection element 41 can detect the difference in resistance of the trigger 42 in the two different states, and determine whether the trigger 42 is stretched based on the different resistances, thereby determining whether the finger is gripping the opening / closing component 33. In addition, the finger sleeves 333 can also stabilize the position of the finger relative to the opening / closing component 33, ensuring the grip stability between the finger and the opening / closing component 33, thus ensuring the accuracy when operating the opening / closing component 33.

[0054] In some embodiments, the trigger 42 can also be configured as a movable member that moves relative to the grip portion 331. The trigger 42 forms a first state and a second state in different positions, and the detection member 41 can transmit different signals to the control component 20 according to the different positions of the trigger 42. Specifically, the detection member 41 is a distance sensor. The trigger 42 is movably connected to the grip portion 331 of the opening and closing member 33. The distance sensor is located on the movement path of the trigger 42. The trigger 42 can move toward or away from the distance sensor. Therefore, when the trigger 42 moves, the detection member 41 can detect the position of the trigger 42. For example, when a finger grips the grip portion 331, the finger can press the trigger 42 to move toward the detection member 41. After the finger grips the grip portion 331, the trigger 42 is closest to the detection member 41, that is, the trigger 42 is in the first state. At this time, the detection member 41 can detect the distance of the trigger 42. When the finger is released from the opening and closing member 33, the trigger 42 can move away from the distance sensor. At this time, the trigger 42 is in the second state, that is, it is farthest from the detection member 41. By gripping and releasing the gripping part 331 with the fingers, the position of the trigger 42 relative to the detection part 41 can be changed. The different position information of the trigger 42 detected by the detection part 41 can be transmitted to the control component 20 to determine whether the fingers have released the gripping part 331.

[0055] More specifically, in order to ensure that the trigger 42 can automatically return to its original position after the finger leaves the grip 331, a spring-loaded member 44 needs to be provided on the trigger 42. The spring-loaded member 44 is an elastic structural member, such as a spring. When the finger presses the trigger 42 and moves toward the detector 41, it squeezes the spring-loaded member 44, causing the spring-loaded member 44 to generate a rebound force opposite to the direction of movement of the trigger 42. When the finger leaves the grip 331, the rebound force of the spring-loaded member 44 forces the trigger 42 to return to its original position.

[0056] See Figures 1 to 4As shown, in some embodiments, the control component 20 includes a control board 21 and an electrical connector 22, with the detection component 41 connected to the control board 21 via the electrical connector 22. The control board 21 is the starting point and key hub of the signal transmission link; it is responsible for processing and forwarding signals but is not directly connected to the end of the surgical instrument. The core function of the control board 21 is similar to a "local collection and preprocessing structure." As mentioned above, the sensors inside the opening and closing component 30 generate raw electrical signals (usually analog signals), which are first connected to the control board 21. The control board 21 can act as a wiring center, bringing together all the scattered sensor signals. The control board 21 integrates analog-to-digital converters and other signal conditioning chips, responsible for filtering (removing noise), amplifying, and then converting these collected analog signals into digital signals (0s and 1s). This process is equivalent to translating the raw, coarse "sensory information" into a "standard language" that a computer can understand. The control board 21 is also equipped with processing components such as a microprocessor, which can perform some preliminary calculations that require rapid response, such as converting sensor data into meaningful spatial coordinates to ensure that the data is accurate before leaving the operator's hand. The control board 21 packages all the data from the fingers, wrist, and arm into one or more standard format data streams, and connects to the main computer of the main control console via cables and connectors to realize data transmission.

[0057] See Figure 1 , Figure 2 and Figure 5 As shown, in some possible implementations, the opening and closing assembly 30 includes a housing 31, which serves as the overall structure of the opening and closing assembly 30. The opening and closing member 33 can be directly or indirectly connected to the housing 31. The housing 31 can also be directly or indirectly connected to the robotic arm of the doctor's control platform, with the opening and closing clamp connected to the robotic arm.

[0058] Specifically, the opening / closing component 33 also includes an opening / closing body 332, one end of which is rotatably mounted on the housing 31, and the other end is adapted to connect to the gripping part 331. The opening / closing body 332 of this application can be made of a metal material or a non-metal material with high bending strength. For example, when the opening / closing body 332 is made of a metal material, alloy steel or stainless steel can be used; when the opening / closing body 332 is made of a non-metal material, ceramic materials or composite materials such as carbon fiber can be used. No special limitation is made here, as long as the strength of the opening / closing body 332 is guaranteed.

[0059] It is understandable that the gripping part 331 and the opening and closing body 332 can be integrally formed or separately set. When the gripping part 331 and the opening and closing body 332 are separately set, the gripping part 331 can be detachably connected to the opening and closing body 332 through a snap-fit ​​structure, fastening structure or screws.

[0060] Referring to Figures 1-2, in some embodiments, a connecting frame 34 is fixedly connected inside the housing 31, and the opening / closing member 33 is rotatably connected to the connecting frame 34. Specifically, the end of the opening / closing body 332 away from the gripping part 331 can be rotatably connected to the connecting frame 34. A receiving cavity 311 is provided inside the housing 31, and the connecting frame 34 is located within the receiving cavity 311. The connecting frame 34 is fixedly connected to the housing 31 by screws. A receiving groove 342 is provided on the connecting frame 34 along a rotation axis perpendicular to the opening / closing member 33, and the receiving groove 342 extends through the connecting frame 34. A connecting shaft 343 is also provided on the connecting frame 34, and the connecting shaft 343 is located within the receiving groove 342. The end of the opening / closing body 332 away from the gripping part 331 is rotatably connected to the connecting shaft 343.

[0061] It should be noted that the housing 31 is provided with a through hole 312, which is connected to the receiving cavity 311 and the receiving groove 342. The end of the opening and closing body 332 away from the gripping part 331 can extend into the receiving groove 342 through the through hole 312 and be rotatably connected to the connecting shaft 343 in the receiving groove 342.

[0062] In some embodiments, the opening and closing assembly 30 includes two opening and closing members 33 with identical structures. Both opening and closing members 33 are rotatably connected to the connecting frame 34, and their rotation axes are parallel, allowing them to rotate relative to or away from each other. An elastic member 35 is connected between the two opening and closing members 33, which can stretch or compress the elastic member 35 when the two opening and closing members 33 rotate. In the initial state, when the fingers are not holding the opening and closing members 33, the elastic member 35 is neither stretched nor contracted. When the two opening and closing members 33 are held by two fingers respectively, and the fingers drive the two opening and closing members 33 to rotate relative to each other, the two opening and closing members 33 squeeze the elastic member 35, causing the elastic member 35 to compress and deform. At this time, the elastic member 35 provides elastic force to the two opening and closing members 33. This elastic force forms a feedback force to the user's fingers, so that the user can get clear force feedback when applying small or large forces to the two opening and closing members 33, thereby allowing the user to more accurately control the two opening and closing members 33 to move towards each other.

[0063] It should be noted that the two opening and closing parts 33 are located on opposite sides of the connecting frame 34. When the elastic element 35 is connected to the two opening and closing parts 33, it will inevitably pass through the connecting frame 34. Therefore, a receiving groove 341 is also provided on the connecting frame 34. The receiving groove 341 is provided through the connecting frame 34, and the elastic element 35 can be accommodated in the receiving groove 341 so as to pass through the connecting frame 34 and connect between the two opening and closing parts 33.

[0064] In some embodiments, the rotating end of the opening and closing body 332 is further provided with a meshing part 334, which is a gear structure. When the two opening and closing members 33 are rotatably disposed on the housing 31, the meshing parts 334 of the two opening and closing members 33 mesh together. By providing a meshing part 334 at the end of the opening and closing body 332, the rotating ends of the two opening and closing bodies 332 can be meshed together, thus ensuring that the rotation amplitude of the two opening and closing members 33 is consistent and the rotation is synchronized.

[0065] In some embodiments, the opening and closing clamp further includes a drive assembly 10, which includes a drive body 12 and a fixed end 14. The fixed end 14 is connected to one end of the drive body 12 and is used to connect to the robotic arm of the doctor's console. A drive element 13 is provided inside the drive body 12, which can be a drive motor. The opening and closing assembly 30 also includes a connecting part 32, which is connected to one end of the housing 31 and rotatably connected to the drive body 12. A drive shaft 11 is provided inside the drive body 12 and is driveably connected to the drive element 13. The drive shaft 11 is rotatably connected to the drive body 12, and the drive element 13 can drive the drive shaft 11 to rotate. The drive shaft 11 is fixedly connected to the connecting part 32, so that the drive element 13 can drive the connecting part 32 to rotate through the drive shaft 11, thereby driving the opening and closing assembly 30 to rotate.

[0066] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A type of opening and closing clip, characterized in that, include: An opening and closing assembly is adapted to be linked with the end of a surgical instrument. The opening and closing assembly includes an opening and closing element for gripping with fingers, so as to control the movement of the end of the surgical instrument using the opening and closing assembly. A control component, adapted to connect or disconnect the linkage between the opening / closing component and the end of the surgical instrument; as well as A detection component includes a detection element and a trigger element. The detection element is connected to the control component, and the trigger element is disposed on the opening / closing component. The trigger element is configured to generate a first trigger signal when a finger grasps the opening / closing component and a second trigger signal when the finger leaves the opening / closing component. The detection element is adapted to transmit the first trigger signal and the second trigger signal to the control component. The control component controls the connection or disconnection of the opening / closing component and the end of the surgical instrument according to the first trigger signal and the second trigger signal.

2. The opening and closing clamp according to claim 1, characterized in that, The trigger has a first state and a second state. When the finger grips and releases the gripper, it causes the trigger to switch between the first state and the second state to generate the first trigger signal and the second trigger signal.

3. The opening and closing clamp according to claim 2, characterized in that, The detection element is a pressure sensor. One end of the trigger is abutted against the sensing part of the pressure sensor, and the other end is disposed near the end face of the opening and closing member for the fingers to grip. When the fingers grip and release the opening and closing member, the trigger is adapted to transmit different pressures to the pressure sensor, so that the trigger is in a first state of transmitting a larger pressure to the pressure sensor and a second state of transmitting a smaller pressure to the pressure sensor.

4. The opening and closing clamp according to claim 3, characterized in that, The trigger is an elastic structural component, and a pressing part is provided at the end of the trigger away from the detection component, the pressing part being pressed by a finger.

5. The opening and closing clamp according to claim 2, characterized in that, The detection element is an electrical signal sensor, the trigger element is a strain gauge, the strain gauge signal is connected to the electrical signal sensor, the opening and closing assembly also includes a finger sleeve, the finger sleeve is made of elastic material, the finger sleeve is surrounded by an insertion space for the finger to insert, the strain gauge is embedded in the finger sleeve, when the finger grasps and releases the opening and closing assembly, the trigger element generates deformation of different sizes or directions, so that the trigger element is in a first state and a second state.

6. The opening and closing clamp according to claim 2, characterized in that, The detection element is a distance sensor, the trigger element is movably connected to the opening and closing element, and the distance sensor is located on the movement path of the trigger element. When the finger grips and releases the opening and closing element, the trigger element can reciprocate toward or away from the distance sensor, so that the trigger element is in a first state close to the distance sensor and a second state far away from the distance sensor.

7. The opening and closing clamp according to claim 1, characterized in that, The opening and closing assembly includes a housing, and the opening and closing component includes an opening and closing body and a gripping part. One end of the opening and closing body is rotatably disposed on the housing, and the other end is adapted to connect to the gripping part. The gripping part is adapted to be gripped by fingers, and the detection component is disposed on the end face of the gripping part for contact with fingers.

8. The opening and closing clamp according to claim 7, characterized in that, The end face of the gripping part that comes into contact with the fingers is a concave curved surface.

9. The opening and closing clamp according to claim 7, characterized in that, The opening and closing assembly includes two opening and closing parts, both of which are rotatably mounted on the housing. The rotation axes of the two opening and closing parts are parallel, and an elastic element is connected between the two opening and closing parts. When the two opening and closing parts rotate, the elastic element can be stretched or compressed. The end of the opening and closing body used for rotation is also provided with a meshing part. When the two opening and closing parts are rotatably mounted on the housing, the meshing parts of the two opening and closing parts mesh with each other.

10. A surgical robot, characterized in that, Includes the opening and closing clamp as described in any one of claims 1-9.

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