Instrument assembly and surgical robot

Abstract

Disclosed are an instrument assembly and a surgical robot. The instrument assembly comprises an instrument box (100), an instrument rod (200), a clamping member (300), and a traction member (400). The clamping member (300) is connected to the instrument box (100) by means of the instrument rod (200), so that the clamping member (300) can be fixed. A clip applier (500) can be mounted between a first clamping piece (310) and a second clamping piece (320) of the clamping member (300), and a first traction portion (410) can drive the first clamping piece (310) and the second clamping piece (320) to move towards each other, so that the clip applier (500) is clamped, and thus the clip applier (500) can act on a surgical site and be separated from the clamping member (300). When the first clamping piece (310) and the second clamping piece (320) move away from each other, the distance between the first clamping piece (310) and the second clamping piece (320) can be increased, and a second traction portion (420) can drive an unused clip applier (500) to move to the space between the first clamping piece (310) and the second clamping piece (320), so that the unused clip applier (500) can be mounted on the clamping member (300). The operation convenience of the instrument assembly and the operation efficiency can be improved.

Description

Instrument components and surgical robots

[0001] This application claims priority to Chinese Patent Application No. 202411630235.9, filed on November 15, 2024, entitled “Device Components and Surgical Robot”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to a device component and a surgical robot, belonging to the field of medical device technology. Background Technology

[0003] 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. In surgical robots, the instrument box and the instrument's end effector are connected via instrument rods. The clamping mechanism is one of the commonly used end effectors; it can fix the clamps to the target surgical site, such as blood vessels, to achieve hemostasis.

[0004] Since the clamping forceps are consumable parts, a new clamping forceps needs to be installed at the end of the instrument after the clamping forceps are used up. However, the current clamping forceps installation process is complicated and inefficient, which leads to a decrease in the efficiency of surgical operations. Summary of the Invention

[0005] This application provides an instrument assembly and a surgical robot, which solves the problem of low operating efficiency of surgical robots due to the complex installation of clamps in related technologies.

[0006] In a first aspect, this application provides a device assembly, comprising:

[0007] Instrument box;

[0008] An instrument rod is connected to the instrument box on one side. The instrument rod has a receiving area for accommodating clamps, and the clamps are movably disposed in the receiving area.

[0009] A clamping member is connected to the side of the instrument rod opposite to the instrument box. The clamping member includes a first clamping piece and a second clamping piece disposed opposite to each other. The clamping area is between the first clamping piece and the second clamping piece and is connected to the receiving area. The clamping member is configured such that the first clamping piece and the second clamping piece can move towards or away from each other to close or open the clamping member.

[0010] The traction member is configured to drive the first clamping plate and the second clamping plate to move toward each other to close the clamping member. When the first clamping plate and the second clamping plate move away from each other to open the clamping member, the traction member is configured to drive the clamping clamp in the receiving area to move to the clamping area.

[0011] In the instrument assembly proposed in this application, the clamping member is connected to the clamping member via an instrument rod, allowing the clamping member to be fixed. A clamping forceps can be mounted between the first and second clamping plates of the clamping member. A first traction unit can drive the first and second clamping plates to move towards each other, clamping the clamping forceps and allowing them to be applied to the surgical site and disengaged from the clamping member. When the first and second clamping plates move away from each other, the distance between them increases, and the second traction unit can drive unused clamping forceps to move between the first and second clamping plates, allowing them to be mounted on the clamping member. Thus, the traction unit enables surgical operations using the instrument assembly and allows unused clamping forceps to be mounted on the clamping member, improving the ease of operation and efficiency of the instrument assembly.

[0012] In some embodiments, the traction member includes a first traction portion, the first clamping piece and the second clamping piece are movably connected, and the first traction portion is configured to press against opposite sides of the first clamping piece and the second clamping piece, so that the first clamping piece and the second clamping piece move toward each other.

[0013] By pressing the first clamping plate and the second clamping plate with the first traction part, the first clamping plate and the second clamping plate can be moved towards each other under pressure, thereby realizing the clamping action.

[0014] In some embodiments, the first traction portion includes a traction groove, and the first traction portion is configured to move toward or away from the clamping member such that at least a portion of the clamping member is located within the traction groove, or that the clamping member is located outside the traction groove;

[0015] When at least part of the clamping member is located in the traction groove, the opposing inner walls of the traction groove press against the opposite sides of the first clamping piece and the second clamping piece, so that the first clamping piece and the second clamping piece move towards each other.

[0016] After the first clamping piece and the second clamping piece are located in the traction groove, the inner wall of the traction groove can act on the first clamping piece and the second clamping piece, causing the first clamping piece and the second clamping piece to move towards each other under pressure.

[0017] In some embodiments, the first clamping piece and the second clamping piece are elastically connected. When the clamping member is located outside the traction groove, the elastic force between the first clamping piece and the second clamping piece drives the first clamping piece and the second clamping piece to move in opposite directions.

[0018] After the first clamping piece and the second clamping piece move toward each other, there can be an elastic force between them. The elastic force of the first clamping piece and the second clamping piece can drive the first clamping piece and the second clamping piece to move away from each other and reset.

[0019] In some embodiments, the traction member further includes a second traction portion, which is configured to drive the clamping pliers toward the clamping member to the clamping area when the first traction portion moves away from the clamping member so that the clamping member is located outside the traction groove.

[0020] The second traction unit can drive the clamping pliers to move to the clamping area, so that the clamping pliers can be mounted on the clamping member.

[0021] In some embodiments, the traction member further includes a traction rope, a first traction wheel, and a second traction wheel. The first traction wheel is rotatably disposed on the instrument rod, and the second traction wheel is rotatably disposed on the instrument box. The traction rope is wound around the first traction wheel and the second traction wheel. The traction rope includes a first rope segment and a second rope segment located on both sides of the first traction wheel. The first rope segment is in upper limit engagement with the first traction part in the direction toward the clamping member, and the second rope segment is fixed relative to the second traction part.

[0022] When the first traction wheel and the second traction wheel rotate in the first direction, the first rope segment drives the first traction part to move toward the clamping member;

[0023] When the first traction wheel and the second traction wheel rotate in the second direction, the second rope segment drives the second traction part to move toward the clamping member, and the first direction and the second direction are opposite to each other.

[0024] By sliding the traction rope, the first and second traction units can be moved separately, allowing the first traction unit to expand the clamping member outward or move the clamping forceps into the clamping area. This eliminates the need for separate components to drive the first and second traction units, simplifying the structure of the instrument assembly.

[0025] In some embodiments, the traction member further includes an elastic portion connected to the first traction member. When the second traction member moves toward the clamping member, the elastic force of the elastic portion can drive the first traction member to move away from the clamping member.

[0026] The elastic part can drive the first traction part to move away from the clamping member and reset. In this way, when the second traction part moves towards the clamping member, the first traction part is not driven by the traction rope, thus avoiding the second traction part moving towards the clamping member in sync with the stroke of the first traction part, thereby simplifying the structure of the instrument assembly.

[0027] In some embodiments, the receiving area may accommodate a plurality of clamps, which are arranged sequentially in a direction toward the clamping member, and the first traction unit is configured to drive the plurality of clamps to move sequentially to the clamping area.

[0028] Multiple clamps can be loaded into the accommodating area at once, so that it is not necessary to reinstall the clamps after each clamp is consumed, thus improving the operational efficiency of the instrument assembly.

[0029] In some embodiments, the second traction part includes a connecting block and a support plate. The connecting block is connected to the traction rope, and the support plate is connected to the connecting block. The support plate has a plurality of limiting protrusions and is located at the bottom of a plurality of clamping clamps. The plurality of limiting protrusions are respectively positioned to engage with the plurality of clamping clamps in the direction toward the clamping member.

[0030] Multiple limiting protrusions on the support plate respectively engage with multiple clamping clamps in the direction toward the clamping component. Thus, when the connecting block moves toward the clamping component along with the traction rope, the multiple limiting protrusions can push the multiple clamping clamps toward the clamping component respectively.

[0031] In some embodiments, the instrument assembly further includes a limiting member disposed on the instrument rod, the limiting member engaging with the plurality of clamping clamps in a direction away from the clamping member;

[0032] The support piece is elastically connected to the connecting block. The limiting protrusion has a guide surface on the side facing away from the clamping member. When the second traction part moves away from the clamping member, the clamping clamp presses against the guide surface, so that the support piece moves away from the clamping clamp until the limiting protrusion is located on the bottom side of the clamping clamp.

[0033] By setting a limiting component, the movement of the clamping pliers away from the clamping component can be restricted, thereby ensuring that the distance between the multiple clamping pliers and the clamping component can be gradually reduced after the second traction unit pushes the clamping pliers multiple times.

[0034] Secondly, based on the instrument components described above, this application also provides a surgical robot, including the instrument components described above.

[0035] The surgical robot proposed in this application, including the instrument components described above, makes the operation of the surgical robot more convenient and improves its efficiency. Attached Figure Description

[0036] The above and other objects, features, and advantages of embodiments of this application will become more readily understood through the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application will be described by way of example and non-limitation, wherein:

[0037] Figure 1 is a schematic diagram of the device components according to an embodiment of this application;

[0038] Figure 2 is a schematic diagram of the traction component of the device assembly according to an embodiment of this application;

[0039] Figure 3 is a schematic diagram of the clamping component of the instrument assembly according to an embodiment of this application;

[0040] Figure 4 is a schematic diagram of the instrument assembly of this application with the clamp installed;

[0041] Figure 5 is a schematic diagram of the clamping forceps in the instrument assembly of an embodiment of this application;

[0042] Figure 6 is a schematic diagram of the internal structure of the device assembly according to an embodiment of this application;

[0043] Figure 7 is a schematic diagram of the traction rope of the device assembly according to an embodiment of this application;

[0044] Figure 8 is a schematic diagram of the first traction part of the device assembly and the clamping member cooperating according to an embodiment of this application;

[0045] Figure 9 is a schematic diagram of the first traction part of the instrument assembly according to an embodiment of this application;

[0046] Figure 10 is a schematic diagram of the second traction wheel of the instrument assembly according to an embodiment of this application;

[0047] Figure 11 is a schematic diagram of the support plate of the instrument assembly in an embodiment of this application cooperating with multiple clamps;

[0048] Figure 12 is a schematic diagram of the second traction section of the instrument assembly according to an embodiment of this application.

[0049] Reference numerals: 100-Instrument box, 200-Instrument rod, 210-Accommodation area, 300-Clamping member, 310-First clamping piece, 311-Clamping groove, 320-Second clamping piece, 330-Clamping area, 400-Traction member, 410-First traction part, 411-Traction groove, 420-Second traction part, 421-Connecting block, 422-Support piece, 430-Limiting protrusion, 431-Guide surface, 440-Traction rope, 441-First rope segment, 442-Second rope segment, 450-First traction wheel, 460-Second traction wheel, 470-Elastic part, 500-Applying clamp, 510-First clamping arm, 520-Second clamping arm, 600-Limiting member. Detailed Implementation

[0050] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0051] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] 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. In surgical robots, the instrument box and the instrument's end effector are connected via instrument rods. The clamping mechanism is one of the commonly used end effectors; it can fix the clamps to the target surgical site, such as blood vessels, to achieve hemostasis.

[0057] Since the clamping forceps are consumable parts, a new clamping forceps needs to be installed at the end of the instrument after the clamping forceps are used up. However, the current clamping forceps installation process is complicated and inefficient, which leads to a decrease in the efficiency of surgical operations.

[0058] In the instrument assembly proposed in this application, the clamping member is connected to the clamping member via an instrument rod, allowing the clamping member to be fixed. A clamping forceps can be mounted between the first and second clamping plates of the clamping member. A first traction unit can drive the first and second clamping plates to move towards each other, clamping the clamping forceps and allowing them to be applied to the surgical site and disengaged from the clamping member. When the first and second clamping plates move away from each other, the distance between them increases, and the second traction unit can drive unused clamping forceps to move between the first and second clamping plates, allowing them to be mounted on the clamping member. Thus, the traction unit enables surgical operations using the instrument assembly and allows unused clamping forceps to be mounted on the clamping member, improving the ease of operation and efficiency of the instrument assembly.

[0059] The surgical robot proposed in this application, including the instrument components described above, makes the operation of the surgical robot more convenient and improves its efficiency.

[0060] The instrument components and surgical robot provided in this application will be described in detail below with reference to specific embodiments.

[0061] This application discloses an instrument assembly, as shown in Figures 1 and 2, comprising an instrument box 100, an instrument rod 200, a clamping member 300, and a traction member 400. This instrument assembly can be used in surgical robots.

[0062] The instrument case 100 is the basic component of the instrument assembly of this application. The instrument case 100 provides a mounting base for at least some other components of the instrument assembly and serves to protect those components. The instrument case 100 can be made of metal, giving it better structural strength, thus improving its durability and reliability. Alternatively, the instrument case 100 can be made of polymer materials, allowing it to maintain a certain structural strength while remaining relatively lightweight.

[0063] The instrument rod 200 is a slender rod-shaped structure with a relatively long length and a relatively small outer diameter, allowing it to be easily inserted into the surgical site. One end of the instrument rod 200 is connected to the instrument case 100, and the clamping member 300 can be connected to the end of the instrument rod 200 opposite to the instrument case 100, creating a large gap between the clamping member 300 and the instrument case 100. Moving the instrument case 100 allows the clamping member 300 to move accordingly, enabling it to be positioned at the surgical site.

[0064] Referring to Figure 3, the clamping member 300 includes a first clamping piece 310 and a second clamping piece 320, configured such that the first clamping piece 310 and the second clamping piece 320 can move towards or away from each other. When the first clamping piece 310 and the second clamping piece 320 move towards each other, the distance between them decreases, allowing the clamping member 300 to perform a clamping or cutting operation. When the first clamping piece 310 and the second clamping piece 320 rotate away from each other, increasing the distance between them, the clamping member 300 can release, allowing the first clamping piece 310 and the second clamping piece 320 to move towards each other again for clamping or cutting operations.

[0065] Referring to Figure 4, a clamping plier 500 may be provided between the first clamping piece 310 and the second clamping piece 320. The clamping plier 500 may specifically include a titanium clamp and is a disposable consumable. Specifically, the area between the first clamping piece 310 and the second clamping piece 320 is a clamping area 330. When the first clamping piece 310 and the second clamping piece 320 move towards each other, the space of the clamping area 330 decreases; when the first clamping piece 310 and the second clamping piece 320 move away from each other, the space of the clamping area 330 increases. The clamping plier 500 may be provided in the clamping area 330.

[0066] Referring to Figure 5, the clamp 500 may include a first clamping arm 510 and a second clamping arm 520. The first clamping arm 510 and the second clamping arm 520 are arranged opposite to each other and connected. When the clamp 500 is subjected to clamping force, the first clamping arm 510 and the second clamping arm 520 can move towards each other. When the clamping member 300 is located at the surgical site, the movement of the first clamping piece 310 and the second clamping piece 320 towards each other can cause the first clamping arm 510 and the second clamping arm 520 of the clamp 500 to move towards each other, thereby allowing the clamp 500 to clamp the tissue structure at the surgical site and achieve the purpose of fixing the tissue structure.

[0067] Referring to Figures 2 to 4, the traction member 400 is disposed on the instrument rod 200. The traction member 400 is configured to drive the first clamping plate 310 and the second clamping plate 320 to move toward each other, thereby reducing the distance between the first clamping plate 310 and the second clamping plate 320, so that the clamping member 300 can perform clamping or cutting operations.

[0068] Referring to Figure 6, the instrument lever 200 is provided with a receiving area 210 for accommodating the clamping forceps 500. Correspondingly, unused clamping forceps 500 can be placed in the receiving area 210 of the instrument lever 200. The receiving area 210 of the instrument lever 200 is connected to the clamping area 330 between the first clamping plate 310 and the second clamping plate 320. When the clamping area 330 between the first clamping plate 310 and the second clamping plate 320 is not yet equipped with clamping forceps 500, or when the clamping forceps 500 in the clamping area 330 between the first clamping plate 310 and the second clamping plate 320 have been used and consumed, the first clamping plate 310 and the second clamping plate 320 can move in opposite directions to increase the distance between the first clamping plate 310 and the second clamping plate 320, and the space of the clamping area 330 increases accordingly. The traction member 400 can also drive the clamping forceps 500 within the receiving area 210 of the instrument bar 200 to move to the clamping area 330 between the first clamping plate 310 and the second clamping plate 320, thereby allowing unused clamping forceps 500 to be installed in the clamping area 330 between the first clamping plate 310 and the second clamping plate 320. Thus, when the first clamping plate 310 and the second clamping plate 320 move towards each other, the unused clamping forceps 500 can be applied to the surgical site to fix the tissue structure.

[0069] The receiving area 210 within the instrument rod 200 is a hollow structure within the instrument rod 200. A support platform can be provided on the inner wall of the receiving area 210, and the clamp 500 can be provided on the support platform so that the clamp 500 can be fixed within the receiving area 210.

[0070] Therefore, the traction member 400 can not only control the first clamping plate 310 and the second clamping plate 320 to move towards each other to consume the clamping pliers 500, but also drive unused clamping pliers 500 to replenish the clamping area 330 between the first clamping plate 310 and the second clamping plate 320, so that clamping pliers 500 can be added. This eliminates the need for separate components to control the clamping action of the first clamping plate 310 and the second clamping plate 320, and also eliminates the need for separate components to load the clamping pliers 500 into the clamping area 330, thereby reducing the number of components in the instrument assembly of this application, making the instrument assembly more compact and lower in cost.

[0071] In some embodiments, referring to FIG3, in order to fix the clamping pliers 500 to the clamping area 330, clamping grooves 311 may be provided on the outer walls of the first clamping piece 310 and the second clamping piece 320 respectively, and the first clamping arm 510 and the second clamping arm 520 of the clamping pliers 500 are respectively embedded in the clamping grooves 311 of the first clamping piece 310 and the clamping grooves 311 of the second clamping piece 320.

[0072] In some embodiments, referring to Figures 6 and 7, in order for the traction member 400 to drive the first clamping plate 310 and the second clamping plate 320 to move towards each other, the traction member 400 may include a first traction portion 410. The first traction portion 410 may be disposed on the instrument rod 200, and the first traction portion 410 may be pressed on the opposite sides of the first clamping plate 310 and the second clamping plate 320, that is, the first traction portion 410 is pressed on the side of the first clamping plate 310 facing away from the second clamping plate 320, and also on the side of the second clamping plate 320 facing away from the first clamping plate 310. In this way, the first clamping plate 310 and the second clamping plate 320 can be subjected to opposing forces, causing the first clamping plate 310 and the second clamping plate 320 to move towards each other to perform a clamping action.

[0073] In addition, the pressure of the first traction part 410 on the opposite sides of the first clamping piece 310 and the second clamping piece 320 can also be adjusted. The greater the clamping force of the first traction part 410 on the first clamping piece 310 and the second clamping piece 320, the more fully the first clamping piece 310 and the second clamping piece 320 can move towards each other, thereby making the clamping force of the clamping member 300 greater.

[0074] In some embodiments, referring to Figures 7 to 9, in order for the first traction portion 410 to be pressable on the opposite sides of the first clamping piece 310 and the second clamping piece 320, the first clamping piece 310 and the second clamping piece 320 are allowed to move towards each other to clamp. The first traction portion 410 may be provided with a traction groove 411, and the first traction portion 410 is configured to move toward or away from the clamping member 300, such that at least a portion of the clamping member 300 is located within the traction groove 411, or that the clamping member 300 is located outside the traction groove 411. Specifically, when the first traction part 410 moves toward the clamping member 300, the opening of the traction groove 411 of the first traction part 410 can be configured to face the clamping member 300, so that at least part of the clamping member 300 can extend into the traction groove 411 through the opening of the traction groove 411. At this time, the opposite sides of the first clamping piece 310 and the second clamping piece 320 can be opposite to and in contact with the inner wall of the traction groove 411 respectively. The opposite inner walls of the traction groove 411 can be pressed against the opposite sides of the first clamping piece 310 and the second clamping piece 320, so that the first clamping piece 310 and the second clamping piece 320 move toward each other after being subjected to opposing forces.

[0075] Specifically, in this application, one end of the first clamping piece 310 can be connected to one end of the second clamping piece 320, and the other end of the first clamping piece 310 can be separated from the other end of the second clamping piece 320. In the direction from the end where the first clamping piece 310 and the second clamping piece 320 are connected to the end where they are separated, the distance between the first clamping piece 310 and the second clamping piece 320 can be increased, thus making the width of the portion where the first clamping piece 310 and the second clamping piece 320 are connected in the clamping member 300 relatively small. The width of the traction groove 411 can be set to be greater than the width of the portion where the first clamping piece 310 and the second clamping piece 320 are connected in the clamping member 300, so that the portion where the first clamping piece 310 and the second clamping piece 320 are connected can extend into the traction groove 411. The width of the traction groove 411 is smaller than the width of the separated portion of the first clamping piece 310 and the second clamping piece 320 in the clamping member 300. Thus, when the traction member 400 gradually extends into the traction groove 411, the opposing inner walls of the traction groove 411 can press against the first clamping piece 310 and the second clamping piece 320, causing the first clamping piece 310 and the second clamping piece 320 to move towards each other and perform a clamping action.

[0076] In some embodiments, the first clamping piece 310 and the second clamping piece 320 are elastically connected to allow them to move in opposite directions. When the first clamping piece 310 and the second clamping piece 320 move towards each other, an elastic force is generated between them. When the first clamping piece 310 and the second clamping piece 320 are no longer subjected to the force that causes them to move in opposite directions, the elastic force between them can drive them to move in opposite directions, thereby forming a clamping area 330 with sufficient space to accommodate the clamping clamp 500.

[0077] When the first traction part 410 moves away from the clamping member 300, causing the clamping member 300 to move out of the traction groove 411 of the first traction part 410, the inner wall of the traction groove 411 is no longer pressed against the opposite sides of the first clamping piece 310 and the second clamping piece 320. The elastic force between the first clamping piece 310 and the second clamping piece 320 can drive the first clamping piece 310 and the second clamping piece 320 to move away from each other. In this way, there is no need to set up an additional mechanism for driving the first clamping piece 310 and the second clamping piece 320 to move away from each other, thereby reducing the number of parts of the instrument assembly of this application, so as to reduce the cost of the instrument assembly and make the structure of the instrument assembly more compact.

[0078] Specifically, the clamping member 300 can be made of an elastic material, so that the first clamping piece 310 and the second clamping piece 320 can be elastically connected.

[0079] In some embodiments, referring to FIG6, when the first traction part 410 of this application moves away from the clamping member 300, the second traction part 420 moves toward the clamping member 300 to drive the clamping clamp 500 to move between the first clamping piece 310 and the second clamping piece 320, thereby improving the operating efficiency of the instrument assembly of this application. Specifically, when the first traction part 410 moves away from the clamping member 300, the clamping member 300 moves out of the traction groove 411 of the first traction part 410, and the inner wall of the traction groove 411 is no longer pressed against the opposite sides of the first clamping piece 310 and the second clamping piece 320. The elastic force between the first clamping piece 310 and the second clamping piece 320 can drive the first clamping piece 310 and the second clamping piece 320 to move away from each other, thereby increasing the space of the clamping area 330 between the first clamping piece 310 and the second clamping piece 320. At this time, the second traction unit 420 drives the clamping clamp 500 to move toward the clamping area 330, so that the clamping clamp 500 can be moved from the receiving area 210 to the clamping area 330, thereby allowing the clamping clamp 500 to be installed on the clamping member 300. In this way, the process of the first clamping piece 310 and the second clamping piece 320 moving in opposite directions and the process of the clamping clamp 500 being installed in the clamping area 330 can be carried out simultaneously, which can improve the installation efficiency of the clamping clamp 500 and thus improve the operating efficiency of the instrument assembly.

[0080] In some embodiments, referring to Figures 6, 7, and 10, so that when the first traction part 410 moves away from the clamping member 300, the second traction part 420 can move synchronously towards the clamping member 300, the traction member 400 of this application may also include a traction rope 440, a first traction wheel 450, and a second traction wheel 460. The first traction wheel 450 is rotatably mounted on the instrument box 100, and the second traction wheel 460 is rotatably mounted on the instrument rod 200, located on the side of the instrument rod 200 away from the instrument box 100. The traction rope 440 is wound around the first traction wheel 450 and the second traction wheel 460, which support the traction rope 440. When the first traction wheel 450 and the second traction wheel 460 rotate in opposite directions, they can drive the traction rope 440 to move in different directions.

[0081] The traction rope 440 includes a first rope segment 441 and a second rope segment 442, which are connected and located on both sides of a first traction wheel 450. The first rope segment 441 has a first end, and the second rope segment 442 has a second end, which are the two ends of the traction rope 440. Both the first and second ends are connected to a second traction wheel 460. The second traction wheel 460 can be connected to the drive box of the surgical robot, which can drive the second traction wheel 460 to rotate, thereby allowing the traction rope 440 to slide. The first rope segment 441 and the second rope segment 442 are located on both sides of the first traction wheel 450, such that the sliding directions of the first rope segment 441 and the second rope segment 442 are opposite to each other.

[0082] Specifically, both the first and second ends of the traction rope 440 are connected to the side wall of the second traction wheel 460. When the second traction wheel 460 rotates in the first direction, the first rope segment 441 is gradually released from the second traction wheel 460, and the first rope segment 441 slides towards the clamping member 300. The second rope segment 442 can gradually wrap around the second traction wheel 460, so that the second rope segment 442 slides away from the clamping member 300. The first rope segment 441 and the first traction part 410 are in upper limit engagement in the direction towards the clamping member 300. When the first rope segment 441 slides towards the clamping member 300, it can drive the first traction part 410 to move towards the clamping member 300, so that the first traction part 410 can press against the first clamping plate 310 and the second clamping plate 320, so that the first clamping plate 310 and the second clamping plate 320 move towards each other, thereby allowing the clamping forceps 500 to be fixed to the tissue structure of the surgical site.

[0083] When the second traction wheel 460 rotates in a second direction opposite to the first direction, the first rope segment 441 gradually winds around the second traction wheel 460, and the first rope segment 441 slides entirely away from the clamping member 300. The second rope segment 442 can be gradually released from the second traction wheel 460, so that the second rope segment 442 slides entirely toward the clamping member 300. The second rope segment 442 is fixed relative to the second traction part 420. When the second rope segment 442 slides toward the clamping member 300, the second rope segment 442 can drive the second traction part 420 to move toward the clamping member 300. Thus, the second traction part 420 can drive the clamping clamp 500 to move from the receiving area 210 to the clamping area 330 between the first clamping piece 310 and the second clamping piece 320.

[0084] In some embodiments, referring to FIG7, in order to enable the first traction portion 410 to move away from the clamping member 300 and prevent the first traction portion 410 from pressing against the clamping member 300, the traction member 400 may also include an elastic portion 470. The elastic portion 470 is connected to the first traction portion 410, and when the second traction portion 420 moves toward the clamping member 300, the elastic force of the elastic portion 470 can drive the first traction portion 410 to move away from the clamping member 300.

[0085] Specifically, one end of the elastic part 470 can be connected to the clamping member 300, and the other end of the elastic part 470 can be connected to the first traction part 410. Specifically, the end of the clamping member 300 near the instrument box 100 can be fixedly connected to the instrument rod 200, and one end of the elastic part 470 is connected to the end of the clamping member 300 near the instrument box 100. Furthermore, the elastic part 470 can also be configured to be directly connected to the instrument rod 200; this application does not limit this. When the first traction part 410 moves toward the clamping member 300 under the drive of the traction rope 440, it can act on the elastic part 470, causing the elastic part 470 to deform under force and generate elastic force. When the second rope segment 442 of the traction rope 440 drives the second traction part 420 to move toward the clamping member 300, the first rope segment 441 slides away from the clamping member 300, so that the traction rope 440 no longer drives the first traction part 410 to move toward the clamping member 300. At this time, the elastic force of the elastic part 470 can drive the first traction part 410 to move away from the clamping member 300, so that the first traction part 410 no longer presses against the clamping member 300. In this way, the clamping area 330 space between the first clamping piece 310 and the second clamping piece 320 can be expanded, so that the clamping clamp 500 can be moved into the clamping area 330.

[0086] Specifically, the elastic part 470 can be a tension spring. When the first traction part 410 moves toward the clamping member 300, the tension spring can be stretched, and the elastic restoring force of the tension spring can drive the first traction part 410 to move away from the clamping member 300. Alternatively, the tension spring can be compressed when the first traction part 410 moves toward the clamping member 300, so that the elastic restoring force of the tension spring can also drive the first traction part 410 to move away from the clamping member 300.

[0087] The number of elastic parts 470 can also be set to multiple, and multiple elastic parts 470 can be connected to the first traction part 410, so that the first traction part 410 can move more fully away from the clamping member 300.

[0088] In some embodiments, referring to FIG6, to further improve the operational efficiency of the instrument assembly of this application, the receiving area 210 of the instrument lever 200 is configured to accommodate multiple clamps 500, which are arranged sequentially in the direction toward the clamping member 300, i.e., the distance between the multiple clamps 500 and the clamping member 300 gradually decreases in the direction toward the clamping member 300. The first traction unit 410 is configured to sequentially drive the multiple clamps 500 from the receiving area 210 to the clamping area 330.

[0089] Specifically, when the first traction part 410 moves away from the clamping member 300, and the first clamping piece 310 and the second clamping piece 320 move away from each other, causing the clamping area 330 to expand, the second traction part 420 can drive the clamping forceps 500, which is closest to the clamping area 330, to move into the clamping area 330. Subsequently, the clamping member 300 is moved to the surgical site, and the first traction part 410 moves toward the clamping member 300, so that the first traction part 410 presses against the first clamping piece 310 and the second clamping piece 320, thereby pressing the first clamping piece 310 and the second clamping piece 320 against the clamping forceps 500, so that the clamping forceps 500 can be fixed to the tissue structure of the surgical site. The first traction part 410 can move away from the clamping member 300 again, so that the first clamping piece 310 and the second clamping piece 320 move away from each other to expand the clamping area 330. At this time, the second traction part 420 can drive the clamping clamp 500, which is closest to the clamping member 300 in the accommodating area 210, to move into the clamping area 330, so that the clamping clamp 500 can be fixed to the tissue structure.

[0090] In some embodiments, referring to Figures 11 and 12, in order for the second traction unit 420 to drive the plurality of clamping clamps 500 to move toward the clamping member 300, the second traction unit 420 may be provided with a connecting block 421 and a support plate 422. The connecting block 421 is connected to the traction rope 440 and specifically fixedly connected to the second rope segment 442. The support plate 422 is connected to the connecting block 421 and is located on one side of the bottom of the plurality of clamping clamps 500. The support plate 422 is provided with a plurality of limiting protrusions 430, which respectively engage with the plurality of clamping clamps 500 in the direction toward the clamping member 300. When the second rope segment 442 slides toward the clamping member 300, it can drive the connecting block 421 to move toward the clamping member 300, thereby causing the support plate 422 and the multiple limiting protrusions 430 provided on the support plate 422 to move toward the clamping member 300. Each limiting protrusion 430 can drive the corresponding clamping clamp 500 to move toward the clamping member 300, so that the multiple clamping clamps 500 can move sequentially into the clamping area 330.

[0091] In some embodiments, referring to Figures 4 and 6, in order to enable the second traction unit 420 to drive the clamping clamp 500 when moving toward the clamping member 300, and to prevent the second traction unit 420 from driving the clamping clamp 500 to move away from the clamping member 300 when moving away from the clamping member 300, the instrument assembly may also include a limiting member 600. The limiting member 600 is disposed on the instrument rod 200, and the limiting member 600 and the clamping clamp 500 are engaged in a limiting engagement in the direction away from the clamping member 300. The support plate 422 is elastically connected to the connecting block 421, so that the support plate 422 can be bent relative to the connecting block 421. The limiting protrusion 430 has a guide surface 431 on the side facing away from the clamping member 300. When the second traction part 420 moves away from the clamping member 300, the clamping pliers 500 press against the guide surface 431, causing the support piece 422 to move away from the clamping pliers 500 until the limiting protrusion 430 is located on the bottom side of the clamping pliers 500. In this way, the limiting protrusion 430 and the clamping pliers 500 will not be locked in the direction away from the clamping member 300, and the support piece 422 as a whole can move freely away from the clamping member 300. During this process, the limiting member 600 can limit the clamping pliers 500 in the direction away from the clamping member 300, preventing the clamping pliers 500 from moving away from the clamping member 300.

[0092] Specifically, when the second traction part 420 moves toward the clamping member 300, the second traction part 420 can abut against the side of the clamping pliers 500 facing away from the clamping member 300 and push the clamping pliers 500 toward the clamping member 300. When the second traction part 420 moves away from the clamping pliers 500, the second traction part 420 abuts against the side of the clamping pliers 500 facing the clamping member 300, and the limiting member 600 can be set to abut against the side of multiple clamping pliers 500 facing away from the clamping member 300. In this way, the clamping pliers 500 act on the guide surface 431 of the limiting protrusion 430, so that the support piece 422 as a whole bends relative to the connecting block 421 in a direction away from the clamping pliers 500, so that the limiting protrusion 430 and the clamping pliers 500 no longer limit each other, and the clamping pliers 500 can remain in an inconvenient position so that the clamping pliers 500 can be driven back to the clamping area 330.

[0093] The number of limiting members 600 can be set to multiple, with multiple limiting members 600 correspondingly disposed on one side of the bottom of multiple clamping clamps 500, and abutting against the side of the clamping clamp 500 facing away from the clamping member 300. The limiting member 600 is also an elastic structural member. When the clamping clamp 500 moves toward the clamping member 300, the clamping clamp 500 can press against the limiting member 600, causing the limiting member 600 to move downward of the clamping clamp 500. This causes the limiting member 600 and the clamping clamp 500 to be misaligned in the direction toward the clamping member 300, so as to avoid the limiting member 600 interfering with the movement of the clamping clamp 500 toward the clamping member 300.

[0094] Therefore, the instrument assembly of this application can be equipped with multiple clamps 500 during use. By rotating the second traction wheel 460, multiple clamps 500 can be fixed to the tissue structure in sequence, and multiple clamps 500 can be installed in the clamping area 330 in sequence, making the instrument assembly easy to operate and more efficient.

[0095] Based on the instrument components described above, this application also proposes a surgical robot that includes the instrument components described above.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A medical device assembly, characterized in that, include: Instrument box (100); The instrument rod (200) is connected to the instrument box (100) on one side. The instrument rod (200) has a receiving area (210) for accommodating a clamp (500). The clamp (500) is movably disposed in the receiving area (210). A clamping member (300) is connected to the side of the instrument rod (200) away from the instrument box (100). The clamping member (300) includes a first clamping piece (310) and a second clamping piece (320) disposed opposite to each other. The clamping area (330) is between the first clamping piece (310) and the second clamping piece (320). The clamping area (330) communicates with the receiving area (210). The clamping member (300) is configured such that the first clamping piece (310) and the second clamping piece (320) can move towards or away from each other to close or open the clamping member (300). The traction member (400) is configured to drive the first clamping piece (310) and the second clamping piece (320) to move toward each other to close the clamping member (300). When the first clamping piece (310) and the second clamping piece (320) move away from each other to open the clamping member (300), the traction member (400) is configured to drive the clamping clamp (500) in the receiving area (210) to move to the clamping area (330).

2. The instrument assembly according to claim 1, characterized in that, The traction member (400) includes a first traction part (410) and a second traction part (420). The first clamping piece (310) and the second clamping piece (320) are movably connected. The first traction part (410) is configured to press against the opposite sides of the first clamping piece (310) and the second clamping piece (320) so that the first clamping piece (310) and the second clamping piece (320) move towards each other. When the clamping member (300) is opened, the second traction part (420) is configured to drive the clamping clamp (500) in the receiving area (210) to move to the clamping area (330).

3. The instrument assembly according to claim 2, characterized in that, The first clamping piece (310) and the second clamping piece (320) are elastically connected. When the first traction part (410) is not pressed on the opposite sides of the first clamping piece (310) and the second clamping piece (320), the elastic force between the first clamping piece (310) and the second clamping piece (320) drives the first clamping piece (310) and the second clamping piece (320) to move opposite to each other.

4. The instrument assembly according to claim 2 or 3, characterized in that, The first traction part (410) includes a traction groove (411) and is configured to move toward or away from the clamping member (300) such that at least a portion of the clamping member (300) is located within the traction groove (411) or the clamping member (300) is located outside the traction groove (411). When at least a portion of the clamping member (300) is located within the traction groove (411), the opposing inner walls of the traction groove (411) press against the opposite sides of the first clamping piece (310) and the second clamping piece (320) to cause the first clamping piece (310) and the second clamping piece (320) to move toward each other.

5. The instrument assembly according to claim 2, characterized in that, The traction member (400) further includes a traction rope (440), a first traction wheel (450), and a second traction wheel (460). The first traction wheel (450) is rotatably disposed on the instrument rod (200), and the second traction wheel (460) is rotatably disposed on the instrument box (100). The traction rope (440) is wound around the first traction wheel (450) and the second traction wheel (460). The traction rope (440) includes a first rope segment (441) and a second rope segment (442) located on both sides of the first traction wheel (450). The first rope segment (441) is in upper limit engagement with the first traction part (410) in the direction toward the clamping member (300), and the second rope segment (442) is fixed relative to the second traction part (420). When the first traction wheel (450) and the second traction wheel (460) rotate in the first direction, the first rope segment (441) drives the first traction part (410) to move toward the clamping member (300); When the first traction wheel (450) and the second traction wheel (460) rotate in the second direction, the second rope segment (442) drives the second traction part (420) to move toward the clamping member (300), and the first direction and the second direction are opposite to each other.

6. The instrument assembly according to claim 4, characterized in that, The traction member (400) further includes an elastic part (470), which is connected to the first traction member (410). When the second traction member (420) moves toward the clamping member (300), the elastic force of the elastic part (470) can drive the first traction member (410) to move away from the clamping member (300).

7. The instrument assembly according to claim 2, characterized in that, The accommodating area (210) can accommodate a plurality of clamping clamps (500), which are arranged sequentially in the direction toward the clamping member (300). The second traction unit (420) is configured to drive the plurality of clamping clamps (500) to move sequentially to the clamping area (330).

8. The instrument assembly according to claim 7, characterized in that, The second traction unit (420) includes a connecting block (421) and a support plate (422). The connecting block (421) is movably disposed on the instrument rod (200). The support plate (422) is connected to the connecting block (421). The support plate (422) has a plurality of limiting protrusions (430). The support plate (422) is located at the bottom of a plurality of clamping clamps (500). The plurality of limiting protrusions (430) are respectively positioned to engage with the plurality of clamping clamps (500) in the direction toward the clamping member (300).

9. The instrument assembly according to claim 8, characterized in that, The instrument assembly further includes a limiting member (600), which is disposed on the instrument rod (200) and engages with the plurality of clamping clamps (500) in a direction away from the clamping member (300). The support piece (422) is elastically connected to the connecting block (421). The limiting protrusion (430) has a guide surface (431) on the side facing away from the clamping member (300). When the second traction part (420) moves away from the clamping member (300), the clamping clamp (500) presses against the guide surface (431) so that the support piece (422) moves away from the clamping clamp (500) until the limiting protrusion (430) is located on the bottom side of the clamping clamp (500).

10. A surgical robot, characterized in that, Includes the instrument assembly as described in any one of claims 1-9.

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