CN118453135A - Mechanical arm for minimally invasive abdominal surgery - Google Patents

Abstract

The invention provides a mechanical arm for minimally invasive abdominal surgery, which belongs to the technical field of medical instruments and comprises the following components: the device comprises a grabbing component, an adjusting component and a bracket component, wherein the adjusting component is connected with the grabbing component; the adjusting assembly is suitable for driving the gripping assembly to swing towards the first direction and/or the second direction; the bracket component is connected with the adjusting component; the bracket component is suitable for adjusting the grabbing component to swing towards the first direction and/or the second direction; the support assembly comprises an adjusting handle and a traction wire, and the adjusting handle correspondingly pulls the gripping assembly to swing in the first direction and/or the second direction through the traction wire when swinging in the first direction and/or the second direction. According to the scheme, the handle is connected with the traction wire to control the gripping assembly to be adjusted in any direction, so that the limitation of the practical application range is avoided, meanwhile, the sensitive adjustment angle can be guaranteed, the operation difficulty is reduced, and the operation duration is reduced.

Description

Mechanical arm for minimally invasive abdominal surgery

Technical Field

The invention relates to the technical field of medical instruments, in particular to a mechanical arm for minimally invasive abdominal surgery.

Background

The laparoscope operation is suitable for treating some benign diseases and early tumors, can also be used for minimally invasive operations of diseases such as thyroid, mammary gland, varicose veins of lower limbs and the like, and has the characteristics of small incision, small scar, low postoperative adhesion probability, quick recovery of patients and the like.

In general, laparoscopic surgery involves making a number of small incisions 5-12 mm in diameter in the abdomen, inserting a miniature camera and an elongated surgical tool into the incisions, and completing the surgery through a screen display.

The degree of freedom of the devices such as the grasping forceps and the electrotome used in the laparoscopic surgery in the prior art is low, the pathological change position is difficult to reach in complex cases, the grasping range of the grasping forceps used in the traditional laparoscopic surgery is limited, meanwhile, the angle and the range cannot be sensitively adjusted, the operation difficulty is high when difficult symptoms are encountered, and the operation time is long.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defect of limited grasping range of the grasping forceps in the prior art, so as to provide the mechanical arm for minimally invasive abdominal surgery.

The invention provides a mechanical arm for minimally invasive abdominal surgery, which comprises:

a gripping assembly adapted to grip;

The adjusting assembly is connected with the grabbing assembly; the adjustment assembly is adapted to drive the gripping assembly to oscillate in a first direction and/or a second direction;

The bracket component is connected with the adjusting component; the bracket assembly is suitable for adjusting the swing of the gripping assembly towards the first direction and/or the second direction; the bracket component comprises an adjusting handle and traction wires, wherein the number of the traction wires is at least two; one end of the traction wire is fixedly connected with the adjusting handle, and the other end of the traction wire is fixedly connected with the adjusting assembly; the adjusting handle correspondingly pulls the gripping assembly to swing in the first direction and/or the second direction through the pulling wire when swinging in the first direction and/or the second direction.

Preferably, the bracket assembly further comprises an annular base, a first bracket and a second bracket; the first bracket is connected with the annular base through a pin; the second bracket is connected with the annular base through a pin; the second bracket is connected with the adjusting handle; the traction wire is provided with four traction wires; wherein the two traction wires control the adjusting component to swing in a first direction through the first bracket; the other two traction wires control the adjusting component to swing in a second direction through the second bracket.

Preferably, the bracket assembly further comprises a knob structure, and the knob structure is fixed on the second bracket; the second bracket is connected with the adjusting handle through a knob structure; the knob structure is rotated and simultaneously drives the second support to synchronously rotate, the second support rotates and drives the first support to synchronously rotate, and meanwhile, the grabbing component is driven to rotate along the direction of the central axis of the grabbing component.

Preferably, the adjusting assembly comprises a universal joint and a universal shaft; the universal shaft is rotationally connected with the universal joint; the universal shaft comprises a shaft main body and a shaft post; the four shaft posts are uniformly arranged on the outer side of the shaft main body; shaft grooves corresponding to the shaft posts are formed in two sides of the universal joint; the universal joint and the universal shaft are at least two.

Preferably, the adjusting component comprises a ball head and a cup; the cup is rotationally connected with the ball head, and one end of the cup, which is far away from the ball head, is fixedly connected with the grabbing component.

Preferably, the method further comprises:

the connecting rod is arranged between the adjusting component and the bracket component; a through hole is formed in the connecting rod along the axis direction; the through hole is adapted to receive a traction wire.

Preferably, the gripping assembly comprises:

A grip housing connected to the adjustment assembly;

The first clamping jaw is detachably connected with the clamping shell;

and the second clamping jaw is movably connected with the first clamping jaw.

Preferably, the method further comprises:

the transmission block is connected with the second clamping jaw;

The switch button is rotationally connected with the adjusting handle and is provided with an arc-shaped guide groove; the adjusting handle is provided with a guide rail, and the arc-shaped guide groove is connected with the guide rail through a wire harness pin; the wire harness pin moves along the guide rail in the rotation process of the switch button and the adjusting handle; the wire harness pin is connected with the transmission block through an opening and closing wire harness; the wire harness pin drives the transmission block to move along the direction of the guide rail; driving the second clamping jaw to be far away from or close to the first clamping jaw through the movement of the transmission block;

a locking structure disposed between the switch button and the adjustment handle; when the second clamping jaw is close to the first clamping jaw and is in a clamping state, the locking structure fixes the positions of the switch button and the adjusting handle so as to enable the first clamping jaw to keep in the clamping state.

As a preferable scheme, the periphery of the gripping shell is provided with a plurality of connecting holes, and the connecting holes are suitable for being fixedly connected with the traction wire; a locking slot is formed in the inner side of the gripping shell; the locking slot is suitable for accommodating the end part of the first clamping jaw away from the working end; the inner side of the gripping shell is also provided with a locking guide groove which is communicated with the locking slot.

Preferably, the method further comprises:

The wire harness connecting piece is arranged between the transmission block and the opening and closing wire harness; the wire harness connecting piece is detachably connected with the transmission block; a connecting rod is arranged at one side of the wire harness connecting piece; the connecting rod is adapted to be inserted into the driving block.

The technical scheme of the invention has the following advantages:

1. The invention provides a mechanical arm for minimally invasive abdominal surgery, which comprises: the device comprises a grabbing component, an adjusting component and a bracket component, wherein the adjusting component is connected with the grabbing component; the adjusting assembly is suitable for driving the gripping assembly to swing towards the first direction and/or the second direction; the bracket component is connected with the adjusting component; the bracket component is suitable for adjusting the grabbing component to swing towards the first direction and/or the second direction; the bracket component comprises an adjusting handle and traction wires, and the number of the traction wires is at least two; one end of the traction wire is fixedly connected with the adjusting handle, and the other end of the traction wire is fixedly connected with the adjusting assembly; when the adjusting handle swings in the first direction and/or the second direction, the traction wire correspondingly pulls the gripping assembly to swing in the first direction and/or the second direction. According to the scheme, the handle is connected with the traction wire to control the gripping assembly to be adjusted in any direction, so that the limitation of the practical application range is avoided, meanwhile, the sensitive adjustment angle can be guaranteed, the operation difficulty is reduced, and the operation duration is reduced.

2. The mechanical arm for minimally invasive abdominal surgery provided by the invention has four traction wires, and can swing the grabbing component in four directions, so that the application range of the grabbing component is further improved, and the adjustment sensitivity of the grabbing component is further increased by multi-direction adjustment.

3. The mechanical arm for minimally invasive abdominal surgery provided by the invention is also provided with the knob structure, and by arranging the knob structure, the swing direction of the grasping assembly and the swing direction of the adjusting handle can be ensured to be the same, and the surgery difficulty is reduced.

4. The mechanical arm for minimally invasive abdominal surgery is further provided with the transmission block and the switch button, and the switch button is enabled to move along the guide rail by pressing the switch button, so that the transmission block is enabled to move to drive the second clamping jaw to be far away from or close to the first clamping jaw, and the grabbing action of the second clamping jaw and the first clamping jaw is achieved.

5. The mechanical arm for minimally invasive abdominal surgery provided by the invention is characterized in that the inner side of the grasping shell is provided with the locking slot and the locking guide groove communicated with the locking slot, the first clamping jaw is firstly inserted into the locking slot, and then the first clamping jaw moves along the locking guide groove, so that the stable connection between the first clamping jaw and the grasping shell is realized.

6. The mechanical arm for minimally invasive abdominal surgery is further provided with the wire harness connecting piece, one side of the wire harness connecting piece is provided with the connecting rod, the first clamping jaw drives the transmission block to move in the process of moving along the locking guide groove, and the transmission block is correspondingly connected with the connecting rod in the process of moving, so that the transmission block is detachably connected with the opening and closing wire harness.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of the whole structure of a mechanical arm for minimally invasive abdominal surgery.

Fig. 2 is a schematic structural view of a first bracket of a mechanical arm for minimally invasive abdominal surgery according to the present invention.

Fig. 3 is a schematic structural view of a second bracket of a mechanical arm for minimally invasive abdominal surgery according to the present invention.

Fig. 4 is a schematic structural view of a bracket base of a mechanical arm for minimally invasive abdominal surgery.

Fig. 5 is a schematic structural view of an adjusting handle of a mechanical arm for minimally invasive abdominal surgery.

Fig. 6 is a schematic structural view of a switch button of a mechanical arm for minimally invasive abdominal surgery.

Fig. 7 is a schematic view of a connecting rod of a mechanical arm for minimally invasive abdominal surgery.

Fig. 8 is a schematic structural view of an adjusting assembly of a mechanical arm for minimally invasive abdominal surgery.

Fig. 9 is a schematic structural view of an adjusting connector of a mechanical arm for minimally invasive abdominal surgery.

Fig. 10 is a schematic structural view of a cardan shaft of a robotic arm for minimally invasive abdominal surgery according to the present invention.

Fig. 11 is a schematic structural view of two clamping jaws of a mechanical arm for minimally invasive abdominal surgery.

Fig. 12 is a schematic structural view of a first clamping jaw of a mechanical arm for minimally invasive abdominal surgery.

Fig. 13 is a schematic structural view of a grasping housing of a mechanical arm for minimally invasive abdominal surgery according to the present invention.

Fig. 14 is a schematic structural view of a driving block of a mechanical arm for minimally invasive abdominal surgery.

Fig. 15 is a schematic structural view of a harness connector of a mechanical arm for minimally invasive abdominal surgery.

Fig. 16 is a schematic structural view of a ball head of a mechanical arm for minimally invasive abdominal surgery.

Fig. 17 is a schematic view of a second jaw closed state of a mechanical arm for minimally invasive abdominal surgery.

Fig. 18 is a schematic view showing an open state of a second jaw of a mechanical arm for minimally invasive abdominal surgery.

Fig. 19 is a schematic view of the working state of a mechanical arm for minimally invasive abdominal surgery.

Fig. 20 is a cross-sectional view of a switch button of a robotic arm for minimally invasive abdominal surgery.

Fig. 21 is a cross-sectional view of a second position of a switch button of a robotic arm for minimally invasive abdominal surgery, provided by the present invention.

Fig. 22 is a schematic structural view of an elastic clamping end of a mechanical arm for minimally invasive abdominal surgery.

Fig. 23 is a schematic structural view of a fixing and combining end of a mechanical arm for minimally invasive abdominal surgery.

Reference numerals illustrate:

1. A grip assembly; 11. a grip housing; 111. locking the slot; 112. locking the guide groove; 12. a first jaw; 121. a clamping structure; 13. a second jaw; 131. engaging the chute; 2. an adjustment assembly; 21. a universal joint; 211. a shaft groove; 22. a universal shaft; 221. a shaft body; 222. a shaft post; 23. ball head; 24. a cup head; 25. adjusting the connection structure; 3. a bracket assembly; 31. an annular base; 32. a first bracket; 33. a second bracket; 34. a knob structure; 35. an adjusting handle; 351. a guide rail; 36. a switch button; 361. an arc-shaped guide groove; 4. a connecting rod; 5. a transmission block; 51. the connecting slide hole; 6. opening and closing the wire harness; 7. a harness connection member; 71. an insertion rod; 8. a harness pin; 9. a locking structure; 91. an elastic clamping end; 92. fixing the joint ends.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

As shown in fig. 1, the present embodiment provides a mechanical arm for minimally invasive abdominal surgery, including: a gripping assembly 1, an adjusting assembly 2 and a bracket assembly 3, wherein the gripping assembly 1 is adapted to grip, the adjusting assembly 2 is connected with the gripping assembly 1, and the adjusting assembly 2 is adapted to drive the gripping assembly 1 to swing in a first direction and/or a second direction. Wherein the adjusting component 2 is connected with the grabbing component 1; the adjustment assembly 2 is adapted to drive the gripping assembly 1 to oscillate in a first direction and/or a second direction; the bracket component 3 is connected with the adjusting component 2; the bracket assembly 3 is adapted to adjust the swing of the grip assembly 1 towards the first direction and/or the second direction; the bracket component 3 comprises an adjusting handle 35 and traction wires, and the number of the traction wires is at least two; one end of the traction wire is fixedly connected with the adjusting handle 35, and the other end of the traction wire is fixedly connected with the adjusting assembly 2; the adjusting handle 35 correspondingly pulls the gripping assembly 1 to swing in the first direction and/or the second direction through the pulling wire when swinging in the first direction and/or the second direction. The handle is connected with the traction wire to control the gripping assembly 1 to be adjusted in any direction, so that the limitation of the practical application range is avoided, meanwhile, the sensitive adjustment angle can be ensured, the operation difficulty is reduced, and the operation duration is reduced.

In this embodiment, the first direction and the second direction are perpendicular to each other, wherein the first direction may be a left-right direction, the second direction may be a front-back direction, and if the gripping module 1 is to be moved in the left-front direction, the gripping module 1 may be driven to move in the first direction and the second direction at the same time.

The grasping assembly 1 may be replaced according to the operation requirement, such as grasping forceps, separating forceps, electric coagulation hook, curved scissors, anastomat, rongeur, curette, cartilage grasping forceps, electric planing tool, etc.

Further, the bracket assembly 3 further comprises an annular base 31, a first bracket 32 and a second bracket 33; as shown in fig. 2, wherein the first bracket 32 is connected with the annular base 31 by a pin; fixing holes are formed in the end part of the first bracket 32 and the position of the annular base 31 corresponding to the end part of the first bracket 32, and the first bracket 32 is rotationally connected with the annular base 31 through pins; the second bracket 33 is connected with the annular base 31 through a pin; as shown in fig. 3, the second base is provided with a fixing hole similar to the first base, and the second bracket 33 is connected with the adjusting handle 35; the traction wire has four traction wires; wherein the two traction wires control the adjusting component 2 to swing in a first direction through the first bracket 32; the other two traction wires control the adjusting assembly 2 to swing in the second direction through the second bracket 33.

The first support 32 and the second support 33 are long rods with semicircular shapes, wherein the first support 32 and the second support 33 are arranged to intersect, and in this embodiment, the first support 32 and the second support 33 are arranged vertically.

It should be noted that two of the four traction wires are respectively connected to two sides of the adjustment handle 35 along two sides of the first bracket 32; the other two traction wires are respectively connected with the other two sides of the adjusting handle 35 along the two sides of the second bracket 33, and finally the four traction wires are respectively connected with the front, back, left and right directions of the adjusting handle 35; in order to ensure that the traction wire can move along the shape direction of the first bracket 32 and the second bracket 33, wire harness channels are formed in the first bracket 32 and the second bracket 33, wherein two ends of the wire harness channel in the first bracket 32 are respectively formed at the end part of the first bracket 32 and the middle part of the first bracket 32, and other wire harness channels are similar. It should be noted that, a channel suitable for the wire harness to pass through is also formed in the annular base 31, as shown in fig. 4, and fixing holes for fixing the constraint line are formed in positions of the annular base 31 corresponding to the first bracket 32 and the second bracket 33.

In the process of swinging the adjusting handle 35 back and forth and left and right, the pulling wires are synchronously pulled, so that the swinging of the adjusting handle 35 is transferred to the adjusting assembly 2, and the swinging of the gripping assembly 1 is controlled. It should be noted that, the adjusting handle 35 not only can swing in the front, back, left and right directions, but also can swing in any direction such as the left oblique money, the right oblique front, and the like, and the traction wire can synchronously transmit the swing of the grasping assembly 1 in any direction to the adjusting assembly 2 and drive the grasping assembly 1 to swing in any direction.

In order to ensure the consistency of the swinging direction of the adjustment handle 35 and the grip unit 1, a constraint line connected to the left side of the adjustment unit 2 needs to be connected to the right side of the adjustment handle 35, and a constraint line connected to the front side of the adjustment unit 2 needs to be connected to the rear side of the adjustment handle 35, and the other is similar. For example, the adjusting handle 35 swings towards the front side, the adjusting handle 35 pulls the constraint line located at the rear side of the adjusting handle 35, when pulling the constraint line located at the rear side of the adjusting handle 35, the adjusting assembly 2 swings towards the rear side, so that the constraint line connected with the front side of the adjusting assembly 2 is connected with the rear side of the adjusting handle 35, at this time, the adjusting handle 35 swings towards the front side, and the adjusting handle 35 corresponds to pulling the constraint line located at the front side of the adjusting handle 35, so that the consistency of the rotation direction of the knob structure 34 and the grasping assembly 1 is ensured.

Further, the bracket assembly 3 further comprises a knob structure 34, the knob structure 34 is fixed on the second bracket 33, the second bracket 33 is connected with the adjusting handle 35 through the knob structure 34, the second bracket 33 is driven to synchronously rotate while the knob structure 34 is rotated, the second bracket 33 rotates to drive the first bracket 32 to synchronously rotate, and meanwhile, the grabbing assembly 1 is driven to rotate along the axis direction of the grabbing assembly. It should be noted that, when the direction of the adjusting handle 35 is determined, the knob structure 34 is turned, and the swing direction of the gripping assembly 1 is unchanged, and the gripping assembly 1 rotates along the axis direction thereof, so as to further increase the gripping angle of the gripping assembly 1, change the gripping range of the gripping assembly 1.

It should be noted that, the knob structure 34 is fixedly connected with the second bracket 33, and is designed as an integral molding in this embodiment, and an anti-slip structure is further disposed on the outer surface of the knob structure 34 for facilitating rotation, and it should be noted that, in this embodiment, the knob structure 34 has an accommodating space inside, and the end portion of the adjusting handle 35, which is close to the second bracket 33, is adapted to be placed in the knob structure 34.

In this embodiment, as shown in fig. 5, the adjustment handle 35 is cylindrical, a through hole is provided in the axial direction of the adjustment handle 35, and in order to ensure the connection between the adjustment handle 35 and the knob structure 34, an annular groove is provided at one end of the adjustment handle 35 near the knob structure 34, and the adjustment handle 35 is rotationally connected with the knob through the annular groove.

Further, as shown in fig. 10, the adjusting assembly 2 includes a universal joint 21 and a universal shaft 22, and the universal shaft 22 is rotatably connected with the universal joint 21; the universal shaft 22 includes a shaft body and a shaft post 222; the axle column 222 has four of its four, four axle posts 222 are uniformly disposed outside the axle body; shaft grooves 211 corresponding to the shaft posts 222 are formed in two sides of the universal joint 21; the universal joint 21 and the universal shaft 22 each have at least two.

It should be noted that, two shaft grooves 211 are respectively provided on the upper and lower sides of the universal joint 21, and the two shaft grooves 211 located on the same side are oppositely provided; the shaft groove 211 is specifically a protrusion provided on the universal joint 21, and the shaft groove 211 is provided on the protrusion. In the practical use process, due to the rotational connection of the universal joints 21 and the universal shafts 22, the adjacent universal joints 21 can rotate at a certain angle in the axial direction of the adjusting assembly 2, in the embodiment, the universal shafts 22 are provided with two universal joints 21, and through practical measurement, the adjusting assembly 2 can drive the movable range of the grabbing assembly 1 to be 0-162 degrees. It should be noted that the up-down motion principle of the gripping assembly 1 is consistent with the left-right motion principle, and the transmission path is that the up-down motion operation of the adjusting handle 35 is transmitted to the first bracket 32, the second bracket 33 and the annular base 31, so that the four traction wires are driven to have different expansion and contraction amounts, and are transmitted to the gripping assembly 1 through the adjusting assembly 2 to perform synchronous motion. As shown in fig. 8, in order to ensure the connection between the universal joint 21 and the connecting rod 4, an adjusting connection structure 25 is provided between the universal joint 21 and the connecting rod 4, as shown in fig. 9, one side of the adjusting connection structure 25 is connected with the universal joint 21, the other side is connected with the connecting rod 4, one side of the adjusting connection structure 25, which is close to the universal joint 21, is provided with a groove suitable for being connected with the universal shaft 22, one side of the adjusting connection structure 25, which is connected with the connecting rod 4, is provided with two protrusions, and the two protrusions are provided with connecting holes and are connected with the connecting rod 4 by means of pins.

It should be noted that the number of universal joints 21 and universal shafts 22 may be further increased, thereby achieving a further increase in the range of motion of the gripping assembly 1. For example, if the number of universal joints 21 is increased from two to three, the movable range of the grip assembly 1 becomes 0 ° -216 °. It should be noted that the movable range refers to the range of the included angle between the leftmost end and the rightmost end of the grasping assembly 1 capable of swinging in the same plane.

Further, as an alternative embodiment, as shown in fig. 16, the adjusting assembly 2 includes a ball head 23 and a cup head 24; the cup head 24 is rotatably connected with the ball head 23, one end of the cup head 24 away from the ball head 23 is fixedly connected with the gripping assembly 1, and it is noted that the cup head 24 needs to surround most of the ball head 23, and the cup head 24 and the ball head 23 rotate in any direction in a sliding friction mode. It should be noted that the size of the ball head 23 may be increased to increase the rotation range of the cup head 24.

It should be noted that the cup head 24 may rotate about the center of the ball head 23 by 0 ° -140 °.

Further, as shown in fig. 7, a connecting rod 4 is further provided, and the connecting rod 4 is disposed between the adjusting assembly 2 and the bracket assembly 3; a through hole is formed in the connecting rod 4 along the axis direction; the through hole is adapted to receive a traction wire. It should be noted that the length of the connecting rod 4 can be adjusted according to actual requirements.

Further, the grip assembly 1 comprises a jaw housing, a first jaw 12 and a second jaw 13; wherein the jaw housing is connected with the adjusting assembly 2; the first clamping jaw 12 is detachably connected with the clamping shell 11; the second clamping jaw 13 is movably connected with the first clamping jaw 12; it should be noted that, the first clamping jaw 12 is a fixed clamp, mutually meshed engagement surfaces are provided on adjacent side walls of the first clamping jaw 12 and the second clamping jaw 13, specifically, connection holes are provided on the first clamping jaw 12 and the second clamping jaw 13, and the first clamping jaw 12 and the second clamping jaw 13 are in rotational connection through cooperation of pins and the connection holes, as shown in fig. 11, wherein an engagement chute 131 is further provided at the bottom of the second clamping jaw 13. The gripping action of the gripping assembly 1 is achieved by controlling the rotation of the first jaw 12 and the second jaw 13.

As shown in fig. 14, further, a transmission block 5 and a switch button 36 are provided, and the transmission block 5 is connected with the engagement chute 131 of the second clamping jaw 13; the driving block 5 can move along the axial direction of the gripping assembly 1, and the driving block 5 moves in the engagement chute 131 during the movement of the driving block 5. As shown in fig. 18, the second clamping jaw 13 is driven to synchronously move along with the transmission block 5 during the movement process of the transmission block 5, so that the transmission block 5 can control the second clamping jaw 13 to be close to or far away from the first clamping jaw 12.

As shown in fig. 6, the switch button 36 is rotatably connected with the adjusting handle 35, an arc-shaped guide groove 361 is arranged on the switch button 36, a guide rail 351 is arranged on the adjusting handle 35, and the arc-shaped guide groove 361 is connected with the guide rail 351 through a wire harness pin 8; the wire harness pin 8 moves along the guide rail 351 when the switch button 36 and the adjusting handle 35 rotate, the wire harness pin 8 is connected with the transmission block 5 through the wire harness 6, the wire harness pin 8 drives the transmission block 5 to move along the guide rail 351, and the second clamping jaw 13 is driven to be far away from or close to the first clamping jaw 12 through the movement of the transmission block 5.

A locking structure 9 is also provided, the locking structure 9 being arranged between the switch button 36 and the adjustment handle 35; when the second jaw 13 is in the clamped state, close to the first jaw 12, the locking structure 9 secures the position of the switch knob 36 with the adjustment handle 35, so that the first jaw 12 remains in the clamped state.

When the switch button 36 is rotated to drive the second jaw 13 to approach the first jaw 12, the switch button 36 will rotate in the direction of the adjustment handle 35, so that in order to keep the second jaw 13 in a state of approaching the first jaw 12, the operator needs to apply a force to the switch button 36 continuously, and the operator will not be burdened in a short time, but the individual operation time is prolonged, and a long time will be burdened by applying a force to the switch button 36, so that the locking structure 9 is provided, and when the second jaw 13 is in a working state of approaching the first jaw 12, the state of keeping the second jaw 13 by the locking structure 9 will not change, and the operator may not need to apply a force to the switch button 36 continuously, and the use feeling of the operator can be effectively improved by providing the locking structure 9.

It should be noted that, in order to further increase the convenience of use, the locking structure 9 may be specifically in a manner of fastening a fastening structure or bolting, in this embodiment, as shown in fig. 22, a form of self-locking snap fastener is specifically used, as shown in fig. 23, the specific structure includes an elastic fastening end 91 and a fixed fastening end 92, the elastic fastening end 91 and the fixed fastening end 92 are respectively disposed on the adjusting handle 35 and the switch button 36, the elastic fastening end 91 and the fixed fastening end 92 are correspondingly installed, the elastic fastening end 91 is synchronously close to the fixed fastening end 92 when the switch button 36 is close to the adjusting handle 35 in the use process, when the fixed fastening end 92 is abutted to the elastic fastening end 91, the elastic fastening end 91 locks the fixed fastening end 92, so as to realize the self-locking function, if the elastic fastening end 91 is required to be unlocked and pressed again, the fixed fastening end 92 is separated from the elastic fastening end 91, and it should be noted that the self-locking structure is widely used, for example, the garbage bin presses the switch, and the glasses box presses the switch, etc. so that the details are not repeated.

As shown in fig. 21, the switch knob 36 is rotatably connected to the adjustment knob 35 by means of a pin. In order to ensure that the switch button 36 can rebound after being pressed in an actual use process, the elastic component can be connected with the switch button 36, and it should be noted that, as shown in fig. 20, in a static state, the gripping component 1 is in a closed loop state, the switch button 36 is pressed, and the transmission block 5 is pulled by the opening and closing wire bundle 6 to enable the second clamping jaw 13 to be far away from the first clamping jaw 12, so that the opening and closing action of the gripping component 1 is realized. As shown in fig. 17, the opening and closing harness 6 is located inside the adjustment handle 35 and connected to the transmission block 5 through the inside of the connection rod 4.

Further, a plurality of connecting holes are formed in the periphery of the gripping shell 11, and the connecting holes are suitable for being fixedly connected with the traction wires; the inner side of the gripping housing 11 is provided with a locking slot 111; the locking socket 111 is adapted to receive the end of the first jaw 12 remote from the working end; the inner side of the gripping housing 11 is further provided with a locking guide groove 112, and the locking guide groove 112 is communicated with the locking slot 111.

It should be noted that, as shown in fig. 12, the end of the first clamping jaw 12 away from the engagement surface is provided with a clamping structure 121, as shown in fig. 13, the first clamping jaw 12 is inserted into the locking slot 111 in the use process, and in order to ensure stable connection, the first clamping jaw 12 is further moved along the locking guide slot 112, and the first clamping jaw 12 is clamped with the gripping housing 11 by the clamping structure 121, so that the first clamping jaw 12 and the gripping housing 11 are ensured not to fall off. The specific locking guide groove 112 is arc-shaped, after the first clamping jaw 12 is inserted into the locking slot 111, the first clamping jaw 12 rotates along the axial direction of the first clamping jaw 12, the first clamping jaw 12 can move along the locking guide groove 112 in the rotation process, and in order to further ensure the locking effect of the first clamping jaw 12, the width of the locking guide groove 112 can be gradually reduced along the moving direction of the first clamping jaw 12.

Further, as shown in fig. 15, a harness connector 7 is further provided, and the harness connector 7 is provided between the transmission block 5 and the opening/closing harness 6; the wire harness connecting piece 7 is detachably connected with the transmission block 5; an insertion rod 71 is provided on one side of the harness connecting piece 7; the insertion rod 71 is adapted to be inserted into the transmission block 5. It should be noted that, the insertion rod 71 is an arc rod, and the connection sliding hole 51 is provided at a position of the transmission block 5 corresponding to the insertion rod, and the wire harness connector 7 is driven to rotate while the first clamping jaw 12 rotates along the axis direction of the first clamping jaw, and the insertion rod 71 is inserted into the connection sliding hole 51 in the transmission block 5 during the rotation of the transmission block 5. The quick disassembly of the gripping assembly 1 is achieved in this device by means of rotation.

It should be noted that, as shown in fig. 19, the direction of the holding assembly 1 is the same as the direction of the connecting rod 4 when the holding assembly 1 is in a static state, the holding assembly 1 can swing in any direction towards the space by pulling the pulling wire, and when the maximum swing range of the holding assembly 1 can reach 360 degrees, the swing track of the holding assembly 1 in the space is spherical. In this embodiment, the swing track of the gripping assembly 1 in space is in the shape of a ball cone.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (10)

1. A robotic arm for minimally invasive abdominal surgery, comprising:

A gripping assembly (1) adapted to perform a gripping;

An adjusting component (2) connected with the gripping component (1); the adjustment assembly (2) is adapted to drive the gripping assembly (1) to oscillate towards the first direction and/or the second direction;

The bracket component (3) is connected with the adjusting component (2); the bracket assembly (3) is suitable for adjusting the swing of the gripping assembly (1) towards the first direction and/or the second direction; the bracket assembly (3) comprises an adjusting handle (35) and traction wires, wherein the number of the traction wires is at least two; one end of the traction wire is fixedly connected with the adjusting handle (35), and the other end of the traction wire is fixedly connected with the adjusting assembly (2); the adjusting handle (35) correspondingly pulls the gripping assembly (1) to swing in the first direction and/or the second direction through the pulling wire when swinging in the first direction and/or the second direction.

2. A robotic arm for minimally invasive abdominal surgery according to claim 1, characterized in that the holder assembly (3) further comprises an annular base (31), a first holder (32) and a second holder (33); the first bracket (32) is connected with the annular base (31) through a pin; the second bracket (33) is connected with the annular base (31) through a pin; the second bracket (33) is connected with the adjusting handle (35); the traction wire is provided with four traction wires; wherein two traction wires control the adjusting component (2) to swing in a first direction through the first bracket (32); the other two traction wires control the adjusting component (2) to swing in a second direction through the second bracket (33).

3. A robotic arm for minimally invasive abdominal surgery according to claim 2, characterized in that the bracket assembly (3) further comprises a knob structure (34), the knob structure (34) being fixed to the second bracket (33); the second bracket (33) is connected with the adjusting handle (35) through a knob structure (34); the knob structure (34) is rotated and simultaneously drives the second bracket (33) to synchronously rotate, the second bracket (33) is rotated and drives the first bracket (32) to synchronously rotate, and simultaneously, the grabbing component (1) is driven to rotate along the direction of the central axis of the grabbing component.

4. A robotic arm for minimally invasive abdominal surgery according to claim 1, characterized in that the adjustment assembly (2) comprises a universal joint (21) and a universal shaft (22); the universal shaft (22) is rotationally connected with the universal joint (21); the universal shaft (22) comprises a shaft body and a shaft post (222); the four shaft posts (222) are arranged on the outer side of the shaft main body uniformly, and the four shaft posts (222) are arranged on the outer side of the shaft main body uniformly; shaft grooves (211) corresponding to the shaft posts (222) are formed in two sides of the universal joint (21); the universal joint (21) and the universal shaft (22) are at least two.

5. A robotic arm for minimally invasive abdominal surgery according to claim 1, characterized in that the adjustment assembly (2) comprises a bulb (23) and a cup head (24); the cup head (24) is rotationally connected with the ball head (23), and one end, far away from the ball head (23), of the cup head (24) is fixedly connected with the grabbing assembly (1).

6. The robotic arm for minimally invasive abdominal surgery of claim 1, further comprising:

a connecting rod (4) arranged between the adjusting assembly (2) and the bracket assembly (3); a through hole is formed in the connecting rod (4) along the axis direction; the through hole is adapted to receive a traction wire.

7. A robotic arm for minimally invasive abdominal surgery according to claim 1, characterized in that the gripping assembly (1) comprises:

a grip housing (11) connected to the adjustment assembly (2);

a first clamping jaw (12) detachably connected with the gripping housing (11);

the second clamping jaw (13) is movably connected with the first clamping jaw (12).

8. The robotic arm for minimally invasive abdominal surgery of claim 7, further comprising:

the transmission block (5) is connected with the second clamping jaw (13);

The switch button (36) is rotationally connected with the adjusting handle (35), and an arc-shaped guide groove (361) is formed in the switch button (36); the adjusting handle (35) is provided with a guide rail (351), and the arc-shaped guide groove (361) is connected with the guide rail (351) through a wire harness pin (8); the wire harness pin (8) moves along the guide rail (351) in the rotating process of the switch button (36) and the adjusting handle (35); the wire harness pin (8) is connected with the transmission block (5) through the opening and closing wire harness (6); the wire harness pin (8) drives the transmission block (5) to move along the direction of the guide rail (351); driving the second clamping jaw (13) to move away from or close to the first clamping jaw (12) through the movement of the transmission block (5);

A locking structure (9) arranged between the switch button (36) and the adjustment handle (35); when the second clamping jaw (13) is close to the first clamping jaw (12) and is in a clamping state, the locking structure (9) fixes the position of the switch button (36) and the adjusting handle (35) so as to enable the first clamping jaw (12) to keep in the clamping state.

9. The mechanical arm for minimally invasive abdominal surgery according to claim 8, characterized in that the outer circumference of the gripping housing (11) is provided with a number of connection holes adapted to be fixedly connected with the traction wire; a locking slot (111) is formed in the inner side of the gripping shell (11); the locking socket (111) is adapted to receive an end of the first jaw (12) remote from the working end; the inner side of the gripping shell (11) is also provided with a locking guide groove (112), and the locking guide groove (112) is communicated with the locking slot (111).

10. The robotic arm for minimally invasive abdominal surgery of claim 9, further comprising:

A harness connecting member (7) provided between the transmission block (5) and the opening/closing harness (6); the wire harness connecting piece (7) is detachably connected with the transmission block (5); a connecting rod (4) is arranged at one side of the wire harness connecting piece (7); the connecting rod (4) is suitable for being inserted into the transmission block (5).