CN221654470U - Gripping jaw part, mechanical arm unit and surgical robot - Google Patents

Abstract

The present application relates to the technical field of medical devices, and discloses a grasping forceps component, a mechanical arm unit and a surgical robot. The grasping forceps component includes a grasping forceps, a main body, a connecting assembly and a driving assembly. The grasping forceps includes two clamp heads, a slide is provided inside the main body, and the grasping forceps is connected to the main body; one end of the connecting assembly is connected to the grasping forceps, and the other end is connected to the driving assembly. The driving assembly can drive the connecting assembly, and the driving force of the driving assembly on the connecting assembly is adjustable; wherein the connecting assembly is a rigid connecting member; or, the connecting assembly includes a hydraulic cylinder and a hydraulic pipe, and the driving assembly includes a hydraulic pump, one end of the hydraulic pipe is connected to the hydraulic pump, and the other end is connected to the hydraulic cylinder, and the hydraulic cylinder has a driving end, and the driving end is connected to the grasping forceps. The grasping forceps component, the mechanical arm unit and the surgical machine provided by the present application can meet different clamping force requirements and are relatively easy to operate.

Description

Grippers, arm units and surgical robots

Technical Field

The present application relates to the technical field of medical devices, and in particular to a grasping forceps component, a robotic arm unit and a surgical robot.

Background Art

With the rapid development of medical technology, the current trend of clinical surgery has gradually changed to miniaturization of incisions. For example, laparoscopic surgery has developed from open to minimally invasive, and then from minimally invasive to minimally invasive surgery assisted by surgical robots. On the basis of minimally invasive multi-port laparoscopic surgery, the number of minimally invasive single-port laparoscopic surgeries has gradually increased, so minimally invasive single-port laparoscopic surgery assisted by surgical robots is an inevitable trend.

In traditional surgical robot-assisted minimally invasive single-port surgery, a robotic arm is required to drive a grasping forceps component for auxiliary operation. The grasping forceps component generally includes a grasping forceps and a driving component that drives the grasping forceps head to clamp and move. Traditional surgical robots need to use a variety of grasping forceps components with different clamping forces when facing different clamping force requirements, which makes the operation more complicated.

Utility Model Content

The present application provides a grasping forceps component, a robotic arm unit and a surgical robot, which can meet different clamping force requirements and are relatively easy to operate.

In a first aspect, an embodiment of the present application provides a grasping forceps component, comprising a grasping forceps, a main body, a connecting assembly and a driving assembly, wherein the grasping forceps comprises two clamp heads, a slideway extending along the length direction of the main body is provided inside the main body, at least part of the connecting assembly is movably disposed in the slideway, and the grasping forceps is connected to the main body;

One end of the connecting component is connected to the grasping forceps, and the other end of the connecting component is connected to the driving component. The driving component can drive the connecting component to drive the two clamp heads to move closer to or separate from each other, and the driving force of the driving component on the connecting component is adjustable;

The connecting component is a rigid connecting piece;

Alternatively, the connecting assembly includes a hydraulic cylinder and a hydraulic pipe, the driving assembly includes a hydraulic pump, one end of the hydraulic pipe is connected to the hydraulic pump, the other end of the hydraulic pipe is connected to the hydraulic cylinder, the hydraulic cylinder has a driving end movable in the slide, and the driving end is connected to the grabber.

In some embodiments, the connecting component is a rigid connecting member; the connecting component includes a curved connecting member and at least two linear connecting members, the curved connecting member and the linear connecting member can be slidably disposed in the slideway, and the curved connecting member connects two adjacent linear connecting members.

In some embodiments, the drive assembly includes:

Drive motor;

A winding wheel, rotatably connected to the driving motor;

A driving rope has one end wound around the winding wheel and the other end connected to the linear connecting member.

In some embodiments, the main body includes a flexible joint and at least two rigid parts, the flexible joint connects two adjacent rigid parts, the slide includes a first slide arranged in the flexible joint and a second slide arranged in the rigid parts, the curved connecting member is slidably arranged in the first slide, and the linear connecting member is slidably arranged in the second slide.

In some embodiments, the connecting component is a rigid connecting component; the elongation of the connecting component in the length direction of the main body is 0.1% to 0.8%.

In some embodiments, the grasping forceps further include an elastic member, and opposite ends of the elastic member are respectively connected to the push-pull member and the first rotating member.

In some embodiments, the grasping forceps further comprises:

A push-pull member, movably disposed in the slideway, the push-pull member being connected to the connecting assembly;

Two connecting rods are arranged one by one corresponding to the two pliers heads, and the connecting rods include a first part and a second part that are rotatably connected, the first part is rotatably connected to the push-pull member, the second part is hinged to the pliers head through a first rotating member, and the first rotating member is fixedly connected to the main body member, the driving component can pull the connecting component to drive the push-pull member to move in the slideway, and drive the two pliers heads to approach or separate from each other through the two connecting rods.

In some embodiments, the two pliers heads are rotatably connected via a second rotating member and the second rotating member is fixedly connected to the main body; the grasping forceps further comprises:

A push-pull member, movably disposed in the slideway, the push-pull member being connected to the connecting assembly;

A sliding member, the sliding member is fixedly connected to the push-pull member;

Two limit members are arranged corresponding to the two pliers heads one by one, the limit members are connected to the pliers heads, the second rotating member is located between the limit members and the pliers heads in the length direction of the main body member, the limit member is provided with a limit groove, the length direction of the limit groove is arranged at an angle with the moving direction of the push-pull member in the slideway, the sliding member is slidably arranged in the limit groove, the driving assembly can pull the connecting assembly to drive the push-pull member to move in the slideway, and make the sliding member slide in the limit groove, so that the two pliers heads are close to or separated from each other.

In a second aspect, an embodiment of the present application provides a robotic arm unit, the robotic arm unit comprising:

Robotic arm;

In the grasping forceps component as described in the first aspect, the main body is connected to the robot arm.

In a third aspect, an embodiment of the present application provides a surgical robot comprising a robotic arm unit as described in the second aspect.

The grabbing forceps component provided in the embodiment of the present application has the beneficial effect that: since the connecting component is a rigid connecting member, or the connecting component includes a hydraulic cylinder and a hydraulic pipe, the driving component includes a hydraulic pump, one end of the hydraulic pipe is connected to the hydraulic pump, and the other end of the hydraulic pipe is connected to the hydraulic cylinder, the hydraulic cylinder has a driving end that can move in a slideway, and the driving end is connected to the grabbing forceps. Therefore, in the process of driving the connecting component by the driving component to drive the two clamp heads to move closer to or separate from each other, the connecting component can transmit the driving force of the driving component to the clamp heads more accurately, and the force loss during the transmission process is small and the force loss ratio is controllable, so that when adjusting the driving force of the driving component on the connecting component, the clamping force of the clamp heads can be adjusted more accurately to adapt to different clamping force requirements, and the operation is relatively simple.

The beneficial effects of the robotic arm unit provided in the present application compared to the prior art and the beneficial effects of the surgical robot provided in the present application compared to the prior art are similar to the beneficial effects of the grasping forceps component provided in the present application compared to the prior art, and will not be repeated here.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

FIG1 is a schematic diagram of the structure of a surgical robot in one embodiment of the present application;

FIG2 is a schematic structural diagram of a grasping forceps component in the surgical robot shown in FIG1 ;

FIG3 is a schematic structural diagram of a main body and a connecting assembly in the grasping forceps component shown in FIG2 ;

FIG4 is a schematic diagram of a partial structure of the main body shown in FIG3 ;

FIG5 is a schematic diagram of a partial structure of the connection assembly shown in FIG3 ;

FIG6 is a schematic diagram of a partial structure of a drive assembly in the grasping forceps component shown in FIG2 ;

FIG7 is a partial enlarged view of a portion A of the drive assembly shown in FIG6;

FIG8 is a schematic structural diagram of the grasping forceps in the grasping forceps assembly shown in FIG2 ;

FIG9 is a schematic structural diagram of a grasping forceps in another embodiment;

FIG10 is a control logic diagram of the grasping forceps component shown in FIG2 ;

FIG11 is a schematic structural diagram of a main body and a connecting assembly of a grasping forceps component in yet another embodiment;

FIG12 is a schematic diagram of a partial structure of a drive assembly in the grasping forceps component shown in FIG11;

FIG. 13 is a schematic structural diagram of the grasping forceps in the grasping forceps component shown in FIG. 11 .

The meanings of the marks in the figure are:

100. Surgical robots;

10. Grasping forceps parts;

11. Grasping forceps;

111, pliers head; 112, push-pull member; 113, connecting rod; 1131, first part; 1132, second part; 114, first rotating member; 115, elastic member; 116, second rotating member; 117, sliding member; 118, limiting member; 1181, limiting groove;

12. Main body;

121, slideway; 122, flexible joint; 1221, first slideway; 123, rigid part; 124, guide groove;

13. Connect components;

131. Bend connector; 132. Linear connector; 133. Hydraulic pipe;

14. Drive components;

140, driving motor; 141, winding wheel; 142, driving rope; 143, hydraulic pump;

15. Controller;

20. Robotic arm;

200. Patient.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

References to "one embodiment", "some embodiments" or "an embodiment" described in the specification of this application mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some other embodiments", "in some other embodiments", etc., which appear at different places in this specification, do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. In addition, in one or more embodiments, particular features, structures or characteristics may be combined in any suitable manner.

In order to illustrate the technical solution of the present application, a description is given below with reference to specific drawings and embodiments.

With the rapid development of medical technology, the current trend of clinical surgery has gradually changed to miniaturization of wounds. For example, laparoscopic surgery has developed from open to minimally invasive, and then from minimally invasive to minimally invasive surgery assisted by surgical robots. On the basis of minimally invasive multi-port laparoscopic surgery, the number of minimally invasive single-port laparoscopic surgeries has gradually increased, so minimally invasive single-port laparoscopic surgery assisted by surgical robots is an inevitable trend. Although the current robot-assisted minimally invasive single-port surgery reduces the number of multi-port 4-6 puncture holes, it is still not a true single-port, and additional holes are still needed to allow assistants to assist in the operation. The reason is that the surgical instruments of the current single-port robot have a single function, and in order to avoid interference of instruments under the single port, most of the instrument rods are flexible designs, resulting in the stiffness and load of the instrument itself being greatly reduced compared to the rigid instrument rod, so that larger and heavier tissues and organs cannot be fully operated, and require the assistance of assistants.

In traditional surgical robot-assisted minimally invasive single-port surgery, a robotic arm is required to drive the grasping forceps component for auxiliary operation. The grasping forceps component generally includes a grasping forceps and a driving component that drives the clamping movement of the grasping forceps head. Since the driving component generally drives the clamping movement of the clamp head through an instrument rod, and most of the instrument rods are flexible in design, the driving force of the driving component will be lost in the process of the driving component driving the clamping movement of the clamp head, making it impossible to accurately adjust the clamping force of the clamp head. Therefore, when facing different clamping force requirements, a variety of grasping forceps components with different clamping forces are required, and the operation is more complicated.

In order to solve the above problems, please refer to Figures 1, 2 and 3. On the first aspect, an embodiment of the present application provides a grasping forceps component 10, including a grasping forceps 11, a main body 12, a connecting assembly 13 and a driving assembly 14. The grasping forceps 11 include two clamp heads 111. The interior of the main body 12 is provided with a slide 121 extending along the length direction of the main body 12 (parallel to the direction indicated by the hollow arrow in Figure 3). At least a part of the connecting assembly 13 is movably arranged in the slide 121, and the grasping forceps 11 is connected to the main body 12.

It is understandable that the main body 12 may be slender in shape and may be a flexible arm. A portion of the connecting components 13 may be movably disposed in the slideway 121, and another portion of the connecting components 13 may be disposed outside the slideway 121; or, all of the connecting components 13 may be movably disposed in the slideway 121.

One end of the connecting component 13 is connected to the grasping forceps 11, and the other end of the connecting component 13 is connected to the driving component 14. The driving component 14 can drive the connecting component 13 to drive the two forceps heads 111 to move closer to or apart from each other. The driving force of the driving component 14 on the connecting component 13 is adjustable.

In this embodiment, the connecting component 13 is a rigid connecting member.

The connecting component 13 is a rigid connecting component, that is, the connecting component 13 has a certain rigidity in the length direction of the main body 12, so as to be able to transmit the driving force of the driving component 14 to the clamp head 111 more accurately, and to ensure that the force loss in the transmission process is small and the force loss ratio is controllable. Among them, the connecting component 13 has a certain rigidity in the length direction of the main body 12, which can mean that the connecting component 13 cannot be deformed in the length direction of the main body 12, or it can also mean that the elongation of the connecting component 13 in the length direction of the main body 12 is less than or equal to 0.8%.

The driving assembly 14 may include a servo motor, a gear rotatably connected to the servo motor, and a rack matched with the gear, the rack is connected to the connecting assembly 13, the servo motor drives the gear to rotate, and the gear drives the rack to move along the length direction of the main body 12. The driving force of the gear on the rack can be adjusted by adjusting the servo motor, and then the driving force of the rack on the connecting assembly 13 can be adjusted. Alternatively, the driving assembly 14 may include a telescopic module, the telescopic end of the telescopic module is connected to the connecting assembly 13, the telescopic end drives the connecting assembly 13 to move along the length direction of the main body 12, and the driving force of the telescopic end on the connecting assembly 13 can be adjusted by adjusting the telescopic module.

The grasping forceps component 10 provided in the embodiment of the present application has a rigid connecting component 13. Therefore, when the connecting component 13 is driven by the driving component 14 to drive the two clamp heads 111 to move closer to or apart from each other, the connecting component 13 can transmit the driving force of the driving component 14 to the clamp heads 111 more accurately, and the force loss in the transmission process is small and the force loss ratio is controllable. Therefore, when the driving force of the driving component 14 on the connecting component 13 is adjusted, the clamping force of the clamp heads 111 can be adjusted more accurately to adapt to different clamping force requirements, and the operation is relatively simple.

It is understandable that in conventional grasping forceps components, the driving force of the driving component 14 on the connecting component 13 cannot be precisely adjusted, so when facing different clamping force requirements, a variety of grasping forceps components 10 with different clamping forces are required to cooperate.

The grasping forceps component 10 provided in the embodiment of the present application can transmit the driving force of the driving component 14 to the forceps head 111 more accurately, and the force loss during the transmission process is small and the force loss ratio is controllable, so that the clamping force of the forceps head 111 can be adjusted more accurately to adapt to different clamping force requirements. Therefore, different clamping modes can be provided to achieve the effect of replacing multiple devices with one device.

Please refer to Figures 3 and 5. Since some of the current main parts 12 can be bent, in order to enable the connecting component 13 to bend with the main part 12, in some embodiments, the connecting component 13 includes a curved connecting member 131 and at least two linear connecting members 132. The curved connecting member 131 and the linear connecting member 132 can both be slidably disposed in the slide 121, and the curved connecting member 131 connects two adjacent linear connecting members 132.

By adopting the above solution, when the main body 12 is bent, the two adjacent linear connectors 132 can be bent at a certain angle by bending the connector 131 , so that the linear connector 132 can be bent along with the main body 12 .

The driving assembly 14 can pull the connecting assembly 13 so that the two clamp heads 111 are moved closer to or away from each other, and the pulling force of the driving assembly 14 on the connecting assembly 13 is adjustable. With such a configuration, the linear connecting member 132 can be bent along with the main body 12, while only a certain rigidity of the connecting assembly 13 in the length direction of the main body 12 is required.

Optionally, the elongation of the connecting component 13 in the length direction of the main body 12 is 0.1% to 0.8%. With such a configuration, the driving force of the driving component 14 can be more accurately transmitted to the clamp head 111 through the connecting component 13, the force loss during the transmission process is small, the force loss ratio is controllable, and the connecting component 13 can be made easier.

It can be understood that the elongation of the curved connector 131 in the length direction of the main body 12 and the elongation of the linear connector 132 in the length direction of the main body 12 are both 0.1% to 0.8%. Alternatively, the elongation of the curved connector 131 in the length direction of the main body 12 is greater than 0.8%, and the elongation of the linear connector 132 in the length direction of the main body 12 is less than 0.8%, so as to ensure that the elongation of the connecting component 13 in the length direction of the main body 12 is 0.1% to 0.8%. Alternatively, the elongation of the curved connector 131 in the length direction of the main body 12 is less than 0.1%, and the elongation of the linear connector 132 in the length direction of the main body 12 is greater than 0.1%, so as to ensure that the elongation of the connecting component 13 in the length direction of the main body 12 is 0.1% to 0.8%.

Specifically, the curved connector 131 may be a metal wire, and the linear connector 132 may be a metal rod, and the metal may be copper, nickel or titanium, etc. The rigid connecting rod may be made of a metal material with relatively low elongation and good welding performance, and the curved connector 131 may be a metal wire with relatively low elongation. The curved connector 131 and the linear connector 132 may be spliced by welding.

Please refer to FIG. 4 , optionally, the main body 12 includes a flexible joint 122 and at least two rigid members 123, the flexible joint 122 connects two adjacent rigid members 123, the slideway 121 includes a first slideway 1221 disposed in the flexible joint 122 and a second slideway (not shown in the figure) disposed in the rigid member 123, the curved connecting member 131 is slidably disposed in the first slideway 1221, and the linear connecting member 132 is slidably disposed in the second slideway. With such a configuration, the connecting component 13 can be bent with the main body 12, and the connecting component 13 can be completely disposed in the slideway 121.

It can be understood that, when the connecting component 13 is bent along with the main body 12 , the curved connecting member 131 can also be slidably disposed in the second slideway, and the linear connecting member 132 can also be slidably disposed in the first slideway 1221 .

Please refer to Figures 6 and 7 together. In this embodiment, the driving assembly 14 includes a driving motor 140, a winding wheel 141 and a driving rope 142. The winding wheel 141 is rotatably connected to the driving motor 140. One end of the driving rope 142 is wound around the winding wheel 141, and the other end is connected to the linear connector 132. In this way, the driving motor 140 can drive the winding wheel 141 to rotate, so as to drive the driving rope 142 to pull the connecting assembly 13, so that the two clamp heads 111 are close to each other.

It should be noted that the driving motor 140 can be a servo motor. The traction force of the winding wheel 141 on the driving rope 142 can be adjusted by adjusting the driving motor 140, thereby adjusting the driving force of the driving rope 142 on the linear connecting member 132. The driving rope 142 has a certain stiffness in the length direction of the main body 12, and its specific stiffness can refer to the stiffness of the linear connecting member 132.

The main body 12 is further provided with a guide groove 124 for accommodating the connecting component 13 , and the connecting component 13 enters the slideway 121 through the guide groove 124 .

Optionally, the grasping forceps component 10 may further include a controller 15 , which is electrically connected to the driving motor 140 , and the grasping forceps component 10 is used to adjust the driving force of the driving motor 140 .

Please refer to Figures 2, 3 and 8. In this embodiment, the grasping forceps 11 also includes a push-pull member 112 and two connecting rods 113. The push-pull member 112 is movably arranged in the slide 121, and the push-pull member 112 is connected to the connecting assembly 13; the two connecting rods 113 are arranged in a one-to-one correspondence with the two clamp heads 111, and the connecting rod 113 includes a first part 1131 and a second part 1132 that are rotatably connected. The first part 1131 is rotatably connected to the push-pull member 112, and the second part 1132 is hinged to the clamp head 111 through a first rotating member 114, and the first rotating member 114 is fixedly connected to the main body 12. The driving assembly 14 can pull the connecting assembly 13 to drive the push-pull member 112 to move in the slide 121, and drive the two clamp heads 111 to approach or separate from each other through the two connecting rods 113.

By adopting the above scheme, the driving component 14 can pull the connecting component 13 to drive the push-pull member 112 to move in the slide 121, and drive the two clamp heads 111 to approach each other through the two connecting rods 113, and the grasping forceps 11 are in a closed state for grasping and clamping operations. The driving component 14 can also push the connecting component 13 to drive the push-pull member 112 to move in the slide 121, and drive the two clamp heads 111 to separate from each other through the two connecting rods 113, and the grasping forceps 11 are in an open state.

It should be noted that the first rotating member 114 may be a rotating pin.

Optionally, the grasping forceps 11 further includes an elastic member 115, which may be a spring or elastic rubber, etc., and opposite ends of the elastic member 115 are respectively connected to the push-pull member 112 and the first rotating member 114. In this arrangement, when the driving assembly 14 does not pull the connecting assembly 13, the push-pull member 112 is brought close to the first rotating member 114 by the elastic member 115, so that the two clamp heads 111 are separated from each other, and the grasping forceps 11 are in an open state.

It is understandable that the elastic member 115 may not be provided, and the driving assembly 14 pushes the connecting assembly 13 so that the push-pull member 112 approaches the first rotating member 114, thereby separating the two clamp heads 111 from each other and the grasping forceps 11 are in an open state.

Please refer to Figure 9. In another embodiment, the two pliers heads 111 are rotatably connected through a second rotating member 116, and the second rotating member 116 is fixedly connected to the main body 12; the grasping forceps 11 also include a push-pull member 112, a sliding member 117 and two limit members 118, the push-pull member 112 is movably arranged in the slideway 121, and the push-pull member 112 is connected to the connecting assembly 13; the sliding member 117 is fixedly connected to the push-pull member 112; the two limit members 118 are arranged one by one with the two pliers heads 111, the limit members 118 are connected to the pliers heads 111, and the second The rotating member 116 is located between the limit member 118 and the clamp head 111 in the length direction of the main body 12. The limit member 118 is provided with a limit groove 1181. The length direction of the limit groove 1181 is set at an angle to the moving direction of the push-pull member 112 in the slide 121. The sliding member 117 is slidably arranged in the limit groove 1181. The driving component 14 can pull the connecting component 13 to drive the push-pull member 112 to move in the slide 121, and make the sliding member 117 slide in the limit groove 1181, so that the two clamp heads 111 are close to each other.

By adopting the above scheme, the driving component 14 can pull the connecting component 13 to drive the push-pull member 112 to move in the slide 121, and drive the two forceps heads 111 to approach each other through the two connecting rods 113, and the grasping forceps 11 are in a closed state to grasp and clamp the tissue of the patient 200. The driving component 14 can also push the connecting component 13 to drive the push-pull member 112 to move in the slide 121, and drive the two forceps heads 111 to separate from each other through the two connecting rods 113, and the grasping forceps 11 are in an open state.

Please refer to FIG10 . When the grasping forceps component 10 provided in the above embodiment is used, the user controls the servo motor through the controller 15 to enter the "non-damage grasping" mode. At this time, the servo motor provides a driving force F1 (smaller), the gripping force of the grasping forceps 11 is smaller, and a pulling operation can be performed. When the driving force needs to be switched, the electric cutting foot pedal of the controller 15 can be stepped on to switch to the "strong grasping" mode. At this time, the servo motor provides a driving force F2 (larger), the gripping force of the grasping forceps 11 is larger, and a pulling operation can be performed. If it is necessary to continue switching, the electric cutting foot pedal of the controller 15 can be continued to be stepped on.

The grasping forceps component 10 provided in the above embodiment can be switched into a dual mode, integrating electrocoagulation operation, non-destructive grasping operation, and strong grasping operation. One instrument can complete the left-hand assisted electrocoagulation tissue hemostasis operation, separation and non-destructive fixation of tissue to expose the surgical field of view, clamping of external detection equipment and large-sized organs or tumors, and needle holding and suturing operations for thicker organs. It can not only solve the problem of limited use of instrument types in single-hole mode, but also overcome the problem that the structure of the instrument itself cannot fully operate on heavier tissues and organs, forcing the addition of auxiliary holes. It is more convenient when performing surgery on patient 200.

Please refer to Figures 11 to 13. In another embodiment, the connecting assembly 13 includes a hydraulic cylinder and a hydraulic pipe 133, and the driving assembly 14 includes a hydraulic pump 143. One end of the hydraulic pipe 133 is connected to the hydraulic pump 143, and the other end of the hydraulic pipe 133 is connected to the hydraulic cylinder. The hydraulic cylinder has a driving end that can move in the slide 121, and the driving end is connected to the grasping forceps 11 to drive the two forceps heads 111 to move closer to or separate from each other.

By adopting the above scheme, the pressure generated by the hydraulic pump 143 can be transmitted to the hydraulic cylinder more accurately, and the force loss ratio during the transmission process can be controlled, so that the hydraulic pressure generated by the hydraulic pump 143 can be transmitted to the clamp head 111 more accurately through the conductive medium (such as hydraulic oil, etc.) in the hydraulic pipe 133, and the clamp head 111 can be adjusted more accurately when adjusting the driving force of the driving component 14 on the connecting component 13 to adapt to different clamping force requirements, and the operation is relatively simple. In addition, the internal layout space of the grasping forceps component 10 will be further saved, thereby reducing the diameter of the grasping forceps component 10.

It can be understood that, considering the energy loss of hydraulic oil during the working process, the hydraulic pump 143 can be calibrated in advance, and different operating speeds can be set for the hydraulic pump 143 according to different clamping force requirements, so as to accurately control the driving force of the grasping forceps 11 and accurately adjust the clamping force of the clamp head 111.

It should be noted that, unlike the above-mentioned embodiment, when the driving component 14 includes a hydraulic pump 143, the connecting component 13 includes a hydraulic cylinder and a hydraulic pipe 133 connecting the hydraulic cylinder and the hydraulic pump 143, and the hydraulic cylinder has a driving end, and the driving end of the hydraulic cylinder is connected to the grasping forceps 11, the grasping forceps 11 may not be provided with an elastic member 115, and the grasping forceps 11 can be controlled to open and close by the hydraulic cylinder only by driving the driving end of the hydraulic cylinder to move back and forth along the length direction of the main body 12 in the slide 121 through the hydraulic pipe 133.

In a second aspect, an embodiment of the present application provides a robotic arm unit, which includes a robotic arm 20 and a grasping forceps component 10 as in the first aspect, and a main body 12 is connected to the robotic arm 20 .

In the mechanical arm unit provided in the embodiment of the present application, since the connecting component 13 is a linear connecting member 132, or the connecting component 13 includes a hydraulic cylinder and a hydraulic pipe 133, the driving component 14 includes a hydraulic pump 143, one end of the hydraulic pipe 133 is connected to the hydraulic pump 143, and the other end of the hydraulic pipe 133 is connected to the hydraulic cylinder, and the hydraulic cylinder has a driving end that can move in the slideway 121, and the driving end is connected to the grasping forceps 11. Therefore, in the process of driving the connecting component 13 by the driving component 14 to drive the two clamp heads 111 to approach or separate from each other, the connecting component 13 can transmit the driving force of the driving component 14 to the clamp heads 111 more accurately, and the force loss in the transmission process is small and the force loss ratio is controllable, so that when adjusting the driving force of the driving component 14 on the connecting component 13, the clamping force of the clamp heads 111 can be adjusted more accurately to adapt to different clamping force requirements, and the operation is relatively simple.

In a third aspect, an embodiment of the present application provides a surgical robot 100, comprising a robotic arm unit as in the second aspect.

In the robot provided by the embodiment of the present application, since the connecting component 13 is a linear connecting member 132, or the connecting component 13 includes a hydraulic cylinder and a hydraulic pipe 133, the driving component 14 includes a hydraulic pump 143, one end of the hydraulic pipe 133 is connected to the hydraulic pump 143, and the other end of the hydraulic pipe 133 is connected to the hydraulic cylinder, and the hydraulic cylinder has a driving end that can move in the slideway 121, and the driving end is connected to the grasping forceps 11. Therefore, in the process of driving the connecting component 13 by the driving component 14 to drive the two clamp heads 111 to approach or separate from each other, the connecting component 13 can transmit the driving force of the driving component 14 to the clamp heads 111 more accurately, and the force loss in the transmission process is small and the force loss ratio is controllable, so that when the driving force of the driving component 14 on the connecting component 13 is accurately adjusted, the clamping force of the clamp heads 111 can be adjusted more accurately to adapt to different clamping force requirements, and the operation is relatively simple.

It should be noted that the surgical robot 100 provided in the embodiment of the present application may be a single-port surgical robot 100, and the surgical robot 100 may also include a base, a computer system, an operation monitor, a control monitor, input and output devices, and the like.

The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims (10)

1. The grabbing clamp is characterized by comprising grabbing clamps (11), a main body piece (12), a connecting assembly (13) and a driving assembly (14), wherein the grabbing clamps (11) comprise two clamp heads (111), a slideway (121) extending along the length direction of the main body piece (12) is arranged in the main body piece (12), at least part of the connecting assembly (13) is movably arranged in the slideway (121), and the grabbing clamps (11) are connected with the main body piece (12);

One end of the connecting component (13) is connected with the grasping forceps (11), the other end of the connecting component (13) is connected with the driving component (14), the driving component (14) can drive the connecting component (13) to drive the two forceps heads (111) to be close to or separated from each other, and the driving force of the driving component (14) on the connecting component (13) is adjustable; wherein,

The connecting component (13) is a rigid connecting piece;

Or the connecting assembly comprises a hydraulic cylinder and a hydraulic pipe (133), the driving assembly (14) comprises a hydraulic pump (143), one end of the hydraulic pipe (133) is communicated with the hydraulic pump (143), the other end of the hydraulic pipe (133) is communicated with the hydraulic cylinder, the hydraulic cylinder is provided with a driving end capable of moving in the slideway (121), and the driving end is connected with the grasping forceps (11).

2. The grasper component of claim 1 wherein the connection assembly (13) is a rigid connection;

The connecting assembly (13) comprises a bending connecting piece (131) and at least two linear connecting pieces (132), wherein the bending connecting piece (131) and the linear connecting pieces (132) are slidably arranged in the slideway (121), and the bending connecting pieces (131) are connected with two adjacent linear connecting pieces (132).

3. The grasper assembly of claim 2 wherein the drive assembly (14) includes:

a drive motor (140);

A reel (141) rotatably connected to the drive motor (140);

And a driving rope (142) having one end wound around the reel (141) and the other end connected to the linear connector (132).

4. The grasper member (10) of claim 2, wherein the body member (12) includes a flexible joint (122) and at least two rigid members (123), the flexible joint (122) connecting adjacent two of the rigid members (123), the runner (121) including a first runner (1221) disposed within the flexible joint (122) and a second runner disposed within the rigid member (123), the curved connector (131) slidably disposed within the first runner (1221), the linear connector (132) slidably disposed within the second runner.

5. The grasper member of claim 1, characterized in that the connection assembly (13) is a rigid connection, the connection assembly (13) having an elongation of 0.1% to 0.8% in the length direction of the body member (12).

6. The grasper component of any one of claims 1 to 5, characterized in that the grasper (11) further comprises:

The push-pull piece (112) is movably arranged in the slideway (121), and the push-pull piece (112) is connected with the connecting component (13);

The two connecting rods (113) are arranged in one-to-one correspondence with the two clamp heads (111), the connecting rods (113) comprise a first part (1131) and a second part (1132) which are connected in a rotating mode, the first part (1131) is connected with the push-pull piece (112) in a rotating mode, the second part (1132) is hinged to the clamp heads (111) through a first rotating piece (114), the first rotating piece (114) is fixedly connected with the main body piece (12), the driving assembly (14) can pull the connecting assembly (13) to drive the push-pull piece (112) to move in the slideway (121), and the two clamp heads (111) are driven to be close to or separated from each other through the two connecting rods (113).

7. The grasper member of claim 6, wherein the grasper (11) further includes an elastic member (115), opposite ends of the elastic member (115) being connected to the push-pull member (112) and the first rotary member (114), respectively.

8. The grasper component according to any one of claims 1 to 5, characterized in that two of the jaws (111) are rotatably connected by a second rotation element (116) and the second rotation element (116) is fixedly connected to the body element (12); the grasper (11) further comprises:

The push-pull piece (112) is movably arranged in the slideway (121), and the push-pull piece (112) is connected with the connecting component (13);

The sliding piece (117), the sliding piece (117) is fixedly connected with the push-pull piece (112);

Two locating parts (118), with two binding clip (111) one-to-one sets up, locating part (118) with binding clip (111) are connected, second rotation piece (116) are in on the length direction of main part (12) locating part (118) with between binding clip (111), be equipped with spacing groove (1181) on locating part (118), the length direction of spacing groove (1181) with push-and-pull piece (112) are in the direction of movement in slide (121) becomes the contained angle setting, slider (117) slidable locates in spacing groove (1181), drive assembly (14) can stimulate coupling assembling (13) drive push-and-pull piece (112) are in move in slide (121), and make slider (117) are in slide in spacing groove (1181), so that two binding clip (111) are close to each other or separate.

9. A robotic arm unit, the robotic arm unit comprising:

a robot arm (20);

The grasper member (10) of any one of claims 1 to 8, the body member (12) being connected to the robotic arm (20).

10. A surgical robot comprising the mechanical arm unit according to claim 9.