阅读说明：本技术 一种外科手术机器人夹钳执行单元 (Surgical operation robot clamp execution unit ) 是由 不公告发明人 于 2019-10-18 设计创作，主要内容包括：本发明公开了一种外科手术机器人夹钳执行单元,属于医疗器械领域,包括：第一夹钳(11)和第二夹钳(12),第一夹钳和第二夹钳通过两者末端的第一销孔(16)铰接,第一夹钳和第二夹钳的背面分别设有第一连接座(112)和第二连接座(122)；铰接座(17),其设有第二销孔(171),铰接座能够相对外管绕着外管轴向自转以使得执行单元相对外管转动；销钉(15),销钉将第一销孔和第二销孔连接以使得第一夹钳和第二夹钳的末端铰接在铰接座上；第一连接杆(13)和第二连接杆(14),第一连接杆的一端和第一连接座铰接,第二连接杆的一端和第二连接座铰接,第一连接杆和第二连接杆的另一端和内杆(22)铰接。(The invention discloses a surgical operation robot clamp execution unit, belonging to the field of medical instruments, comprising: the clamp comprises a first clamp (11) and a second clamp (12), wherein the first clamp and the second clamp are hinged through a first pin hole (16) at the tail ends of the first clamp and the second clamp, and a first connecting seat (112) and a second connecting seat (122) are respectively arranged on the back surfaces of the first clamp and the second clamp; the hinge seat (17) is provided with a second pin hole (171), and can rotate around the axial direction of the outer pipe relative to the outer pipe so that the execution unit can rotate relative to the outer pipe; a pin (15) connecting the first pin hole and the second pin hole so that the tail ends of the first clamp and the second clamp are hinged on the hinge seat; the connecting rod comprises a first connecting rod (13) and a second connecting rod (14), wherein one end of the first connecting rod is hinged to a first connecting seat, one end of the second connecting rod is hinged to a second connecting seat, and the other ends of the first connecting rod and the second connecting rod are hinged to an inner rod (22).)

1. A surgical robotic jaw actuation unit, comprising:

the clamp comprises a first clamp (11) and a second clamp (12), wherein the first clamp and the second clamp are hinged through a first pin hole (16) at the tail ends of the first clamp and the second clamp, and a first connecting seat (112) and a second connecting seat (122) are respectively arranged on the back surfaces of the first clamp and the second clamp;

the hinge seat (17) is provided with a second pin hole (171), and can rotate around the axial direction of the outer pipe relative to the outer pipe so that the execution unit can rotate relative to the outer pipe;

a pin (15) connecting the first pin hole and the second pin hole so that the tail ends of the first clamp and the second clamp are hinged on the hinge seat;

the inner rod (22) is hinged to one end of the first connecting rod (13) and the other end of the second connecting rod (14);

the inner rod can be driven by the driving unit to move axially along the inner rod, and the axial movement of the inner rod pulls the first connecting rod and the second connecting rod to drive the first clamp and the second clamp to rotate around the second pin hole so as to open and close the first clamp and the second clamp;

the inner rod can be driven by the driving unit to rotate around the axial direction of the inner rod so as to drive the first clamp, the second clamp and the hinge base to rotate relative to the outer tube, and the rotating direction is the axial direction of the outer tube.

2. A surgical robotic gripper according to claim 1, wherein the first and second coupling sockets each have a slot in which the first/second link is pivotally connected to the first/second coupling socket such that the first link and the first gripper have only one degree of rotational freedom and the second link and the second gripper have only one degree of rotational freedom.

3. A surgical robotic clamp as claimed in claim 2, wherein the first clamp is provided with a first recess (111) in its rear face and the second clamp is provided with a second recess (121) in its rear face, the first recess being located between the first connecting seat and the first pin hole and the second recess being located between the second connecting seat and the first pin hole, the first and second recesses being such that the first/second clamp and the first/second connecting rod do not interfere with each other.

4. A surgical robotic clamp as claimed in claim 3, wherein said articulated seat (17) is provided with an upper and a lower recess (172), through which the first and second connecting rods pass respectively.

5. A surgical robotic forceps as claimed in claim 4, characterised in that the actuation unit includes bearings (18) by which the articulated seat and the outer tube are connected to enable rotation of the articulated seat relative to the outer tube.

6. A surgical robotic clamp as claimed in claim 5, wherein the inner rod includes a fixed head to which the first and second links are hingedly connected.

7. Surgical robotic forceps comprising an execution unit (1) according to any of claims 1-6, an extension (2) and a drive unit (3), wherein the two ends of the extension are connected to the execution unit and the drive unit, respectively, the drive unit controls the execution unit to perform a surgical operation through the extension, and the extension comprises an outer tube (21) and an inner rod (22), and the inner rod is positioned in the outer tube.

Technical Field

The present invention relates to the field of surgical instruments.

Background

The obstetrics and gynecology department is one of four main subjects of clinical medicine, and is mainly used for researching the etiology, pathology, diagnosis and prevention of female reproductive organ diseases, the physiological and pathological changes of pregnancy and childbirth, the prevention and diagnosis and treatment of high-risk pregnancy and dystocia, female reproductive endocrine, family planning, female health care and the like. The deep research of the medical basic theories of modern molecular biology, oncology, genetics, reproductive endocrinology, immunology and the like and the progress of the clinical medical diagnosis and treatment detection technology widen and deepen the development of the gynecologic obstetrics, and play an important role in ensuring the health and reproductive health of women and preventing and treating various surgical diseases.

Surgical robots are used more and more in the field of obstetrics and gynecology, in which forceps, which are instruments often used in surgery, are generally provided with a distal end for performing various surgical operations and a proximal end for driving, the proximal end controlling the distal end, as shown in fig. 1, a conventional clamp is generally provided with two grooves at the end of the clamp, the opening and closing of the clamp are controlled by a groove of a pulling piece (such as a part 85 in figure 1), and the groove on one hand causes the execution section of the clamp to occupy large space, due to the friction between the parts pulling the pull groove and the clamp groove and the position of the hinge between the pull groove and the clamp, the design of the pull groove can ensure that the clamp is violent in opening and closing, the opening and closing of the clamp are not slow, and a large pull force is required to close the clamp. Further, when the existing clamp is used, the clamp can only be opened and closed by pulling, the clamp head cannot be rotated, and a separate rotating part must be arranged for rotating.

Disclosure of Invention

The invention aims to: a surgical robot clamp applicable to obstetrics and gynecology department is disclosed, which can open and close the clamp easily and flexibly on one hand, and can control the rotation of the clamp on the other hand.

The surgical robot forceps comprise an execution unit, an extension part and a driving unit, wherein two ends of the extension part are respectively connected with the execution unit and the driving unit, the driving unit controls the execution unit to perform surgical operation through the extension part, the extension part comprises an outer tube and an inner rod, the inner rod is positioned in the outer tube, and the surgical robot forceps are characterized in that the execution unit comprises:

the clamp comprises a first clamp and a second clamp, wherein the first clamp and the second clamp are hinged through first pin holes at the tail ends of the first clamp and the second clamp, and the back surfaces of the first clamp and the second clamp are respectively provided with a first connecting seat and a second connecting seat;

the hinge seat is provided with a second pin hole and can rotate around the axial direction of the outer pipe relative to the outer pipe so that the execution unit can rotate relative to the outer pipe;

the pin connects the first pin hole and the second pin hole so that the tail ends of the first clamp and the second clamp are hinged to the hinge seat;

the inner rod is hinged to one end of the first connecting rod;

the inner rod can be driven by the driving unit to move axially along the inner rod, and the axial movement of the inner rod pulls the first connecting rod and the second connecting rod to drive the first clamp and the second clamp to rotate around the second pin hole so as to open and close the first clamp and the second clamp;

the inner rod can be driven by the driving unit to rotate around the axial direction of the inner rod so as to drive the first clamp, the second clamp and the hinge base to rotate relative to the outer tube, and the rotating direction is the axial direction of the outer tube.

As an improvement, the first connecting seat and the second connecting seat are respectively provided with a groove, the first connecting rod/the second connecting rod is hinged with the first connecting seat/the second connecting seat in the groove, so that the first connecting rod and the first clamp only have one rotational degree of freedom, and the second connecting rod and the second clamp only have one rotational degree of freedom.

As an improvement, the back surface of the first clamp is provided with a first concave part, the back surface of the second clamp is provided with a second concave part, the first concave part is positioned between the first connecting seat and the first pin hole, the second concave part is provided between the second connecting seat and the first pin hole, and the first concave part and the second concave part enable the first clamp/the second clamp and the first connecting rod/the second connecting rod not to interfere with each other.

As an improvement, the hinge seat is provided with an upper groove and a lower groove, and the first connecting rod and the second connecting rod respectively penetrate through the upper groove and the lower groove.

As a modification, the actuating unit comprises a bearing, and the hinge base and the outer tube are connected through the bearing so that the hinge base can rotate relative to the outer tube.

As an improvement, the inner rod comprises a fixed head, and a first connecting rod and a second connecting rod are hinged on the fixed head.

The clamp disclosed by the invention can be used for conveniently and easily opening and closing the clamp, and meanwhile, the clamping head can be pulled and rotated by using one part, so that the clamp is convenient and quick.

Drawings

FIG. 1 is a prior art clamp;

FIG. 2 is a schematic view of a clamp according to embodiment 1;

FIG. 3 is a schematic diagram of an execution unit of embodiment 1;

FIG. 4 is a schematic view of a drive unit of embodiment 1;

FIG. 5 is a component diagram of a drive unit of embodiment 1;

FIG. 6 is a component diagram of a drive unit of embodiment 1;

FIG. 7 is a clamp of embodiment 2;

FIG. 8 is an execution unit of embodiment 2;

FIG. 9 is an execution unit of embodiment 2;

FIG. 10 is a schematic view of example 3;

FIG. 11 is a schematic view of the first and second elongated portions separated;

figure 12 is a schematic view of a first inner rod;

figure 13 is a schematic view of a first inner rod;

figure 14 is a schematic view of a first inner rod;

figure 15 is a second inner rod schematic;

FIG. 16 is a schematic view of a fastener;

figure 17 is a schematic view of a fastener.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.