CN117653344A

CN117653344A - Positioning clamping instrument, clamping device, using method of clamping device and surgical robot

Info

Publication number: CN117653344A
Application number: CN202311674957.XA
Authority: CN
Inventors: 许小玥; 刘欢; 钱树生
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2023-12-06
Filing date: 2023-12-06
Publication date: 2024-03-08

Abstract

The application relates to the technical field of medical instruments and provides a positioning clamping instrument, a clamping device, a using method thereof and a surgical robot, wherein the positioning clamping instrument comprises a first clamping piece and a second clamping piece which are oppositely arranged, and the first clamping piece and the second clamping piece jointly define a limiting channel for limiting a needle; the positioning clamping device comprises an adjusting part, the first clamping piece and/or the second clamping piece are/is connected with the adjusting part, the adjusting part can enable the first clamping piece and/or the second clamping piece to approach each other so as to reduce the limiting channel, and the adjusting part can enable the first clamping piece and/or the second clamping piece to be away from each other so as to enlarge the limiting channel. The positioning and clamping device, the using method thereof and the surgical robot can adapt to puncture needles with different needle diameters, can adapt to different needle clamping states and are good in universality.

Description

Positioning clamping instrument, clamping device, using method of clamping device and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a positioning clamping instrument, a clamping device, a using method of the clamping device and a surgical robot.

Background

At present, a manual positioning and needle insertion puncture method is adopted for a biopsy puncture operation (such as lung puncture and the like) or an ablation operation of chest and abdomen guided by most CT (Computed Tomography) in clinic, wherein the biopsy puncture operation is an operation method for performing pathological diagnosis by puncturing to obtain a tissue sample, and the ablation operation is a treatment method for utilizing heat energy to cause coagulation necrosis of focus tissues and cells at high temperature or utilizing cryoablation to cause necrosis of cells at low temperature and finally being absorbed by a body so as to achieve the purpose of removing local focuses.

The traditional manual positioning and needle insertion and puncture method has extremely high requirements on the experience of operators, and the operators are required to construct a proper needle insertion route on the body surface of a patient according to CT images and accurately puncture, so that the expected puncture effect cannot be achieved with little carelessness. Although positioning and clamping instruments for assisting in puncture are used for assisting in puncture at present, the positioning and clamping instruments cannot adapt to puncture needles with different needle diameters, cannot adapt to different needle clamping states and are poor in universality.

Disclosure of Invention

The application provides a positioning clamping device, a using method thereof and a surgical robot, which can adapt to puncture needles with different needle diameters, adapt to different needle clamping states and have better universality.

In a first aspect, embodiments of the present application provide a positioning and clamping apparatus, where the positioning and clamping apparatus includes a first clamping member and a second clamping member that are disposed opposite to each other, and the first clamping member and the second clamping member together define a limiting channel for limiting a puncture needle; the positioning clamping device comprises an adjusting component, wherein the first clamping piece and/or the second clamping piece are/is connected with the adjusting component, the adjusting component can enable the first clamping piece and/or the second clamping piece to be close to each other so as to reduce the limiting channel, and the adjusting component can enable the first clamping piece and/or the second clamping piece to be away from each other so as to enlarge the limiting channel.

In some of these embodiments, the first clamping member has a first body portion and a first clamping portion connected, the second clamping member has a second body portion and a second clamping portion connected, the first clamping portion and the second clamping portion together defining the limiting channel; the adjusting part includes:

the supporting component is used for supporting the first clamping part and the second clamping part respectively;

the power assembly is connected with the abutting assembly and is used for driving the abutting assembly to abut against the first clamping part and/or the second clamping part so that the first clamping part is close to the second clamping part;

The power component is further used for driving the supporting component to be far away from the first clamping part, so that the first clamping part is far away from the second clamping part under the action of self elastic force, and is further used for driving the supporting component to be far away from the second clamping part, so that the second clamping part is far away from the first clamping part under the action of self elastic force.

In some embodiments, the propping assembly includes a first propping member and a second propping member, the first propping member is disposed on one side of the first clamping portion away from the second clamping portion, the first propping member is used for propping the first clamping portion, the second propping member is disposed on one side of the second clamping portion away from the first clamping portion, and the second propping member is used for propping the second clamping portion; the first supporting piece and the second supporting piece are both connected with the power assembly, the power assembly can enable the first supporting piece and the second supporting piece to be close to each other, so that the first clamping portion and the second clamping portion are close to each other, the power assembly can enable the first supporting piece and the second supporting piece to be far away from each other, so that the first clamping portion is far away from the second clamping portion under the action of self elastic force, and the second clamping portion is far away from the first clamping portion under the action of self elastic force.

In some of these embodiments, the power assembly comprises:

the first rotating piece is provided with a first connecting part and a first limiting part which are connected, the first connecting part penetrates through the first clamping part along a first direction, the first abutting piece is movably sleeved on the first connecting part, the first abutting piece is positioned between the first limiting part and the first clamping part, and the first limiting part abuts against the first abutting piece;

the second rotating piece is provided with a second connecting part and a second limiting part which are connected, the second connecting part penetrates through the second clamping part along a second direction and is fixedly connected with the first connecting part in a direction parallel to the first direction, the second connecting part can synchronously rotate with the first connecting part, the second direction is opposite to the first direction, the second abutting piece is movably sleeved on the second connecting part, the second abutting piece is positioned between the second limiting part and the second clamping part, and the second limiting part abuts against the second abutting piece; wherein,

the first connecting portion is provided with a threaded hole, the second connecting portion is provided with external threads, the threaded hole is provided with internal threads matched with the external threads, the first rotating piece and the second rotating piece synchronously rotate, the external threads and the internal threads are in threaded connection, and the first abutting piece and the second abutting piece are close to each other or far away from each other.

In some embodiments, the first connection portion is provided with a limiting plug, the second connection portion is provided with a limiting jack, and the limiting plug is cooperatively inserted into the limiting jack along the second direction, so that the second connection portion can rotate synchronously with the first connection portion.

In some embodiments, the second connecting portion is provided with a clamping hole, the clamping hole penetrates through an inner hole wall of the limiting insertion hole, the limiting insertion block is provided with a clamping block, and the clamping block is clamped into the clamping hole, so that the second connecting portion can be fixedly connected with the first connecting portion in a direction parallel to the first direction.

In some embodiments, the external threads include a first external thread and a second external thread, the threaded holes include a first threaded hole and a second threaded hole, the first external thread and the second external thread are respectively disposed at two ends of the second rotating member, the first threaded hole is disposed at the first connecting portion, the first threaded hole is provided with a first internal thread adapted to the first external thread, the second threaded hole is disposed at the second connecting portion, the second threaded hole is provided with a second internal thread adapted to the second external thread, and a rotation direction of the second internal thread is opposite to a rotation direction of the first internal thread, so that the first rotating member and the second rotating member rotate synchronously, the second external thread and the second internal thread are in threaded connection, and the first abutting member and the second abutting member can approach each other or keep away from each other.

In some embodiments, the power assembly comprises a first slider and a first elastic piece, wherein the first elastic piece drives the first slider to prop against the first clamping part; and/or the power assembly comprises a second sliding block and a second elastic piece, and the second elastic piece drives the second sliding block to prop against the second clamping part.

In some of these embodiments, the first clamping member has a first body portion and a first clamping portion connected, the second clamping member has a second body portion and a second clamping portion connected, the first clamping portion and the second clamping portion together defining the limiting channel; the adjusting component comprises a propping component, wherein the propping component is used for propping the first clamping part and the second clamping part respectively;

the abutment assembly comprises:

the support piece is arranged between the first clamping piece and the second clamping piece, and the first clamping piece and the second clamping piece are connected with the support piece;

the bearing piece, the first clamping part and the second clamping part are positioned on one side of the supporting piece, and the bearing piece, the first main body part and the second main body part are positioned on the other side of the supporting piece;

The rotating piece is rotatably sleeved on the bearing piece, the bearing piece and the rotating piece are located on the same side of the supporting piece, two opposite ends of the rotating piece are respectively propped against the first main body part and the second main body part, the first clamping part and the second clamping part are mutually close by rotating the rotating piece relative to the bearing piece along a third direction, the first clamping part and the second clamping part can be far away from the second clamping part under the action of self elastic force of the first clamping part by rotating the rotating piece relative to the bearing piece along a fourth direction, and the second clamping part is far away from the first clamping part under the action of self elastic force of the second clamping part, and the third direction and the fourth direction are opposite.

In some of these embodiments, the first clamping member is provided with a first clamping surface and a second clamping surface that form an angle, the second clamping member is provided with a third clamping surface and a fourth clamping surface that form an angle, and the first clamping surface, the second clamping surface, the third clamping surface and the fourth clamping surface are all configured to contact the puncture needle.

In a second aspect, embodiments of the present application provide a clamping device, including:

the positioning and clamping instrument of the first aspect;

and the mechanical arm is connected with the positioning and clamping instrument.

In some of these embodiments, the positioning and clamping instrument includes a body member, the first clamping member and the second clamping member are both coupled to the body member, and the body member is detachably coupled to the robotic arm.

In some embodiments, the main body member is provided with a plugging portion, the mechanical arm is provided with a plugging portion, and the plugging portion is in plugging fit with the plugging portion so as to realize detachable connection of the main body member and the positioning and clamping device.

In some embodiments, the clamping device comprises a sterile cover, wherein the sterile cover is arranged on the mechanical arm; the clamping device comprises an adapter plate connected with one end of the sterile cover, wherein the adapter plate is provided with a mounting hole, and the mounting hole is communicated with the inner space of the sterile cover; the positioning and clamping device comprises a main body part, wherein the first clamping part and the second clamping part are connected with the main body part, the main body part is provided with a mounting part, the mounting part penetrates through the mounting hole and is connected with the mechanical arm, the mechanical arm or the main body part is detachably connected with the adapter plate, and the main body part shields the orifice of the mounting hole.

In some embodiments, the adapter plate is provided with a connecting groove, a first clamping part is arranged on the side wall of the connecting groove, the mounting hole is formed in the bottom wall of the connecting groove, the end part of the mechanical arm is accommodated in the connecting groove, and the mechanical arm is provided with an installation clamping part which is in clamping fit with the installation clamping part so as to realize detachable connection of the adapter plate and the mechanical arm.

In some embodiments, the adapter plate is provided with a second clamping portion, the main body piece is provided with a connecting clamping portion, and the second clamping portion is in clamping fit with the connecting clamping portion so as to realize detachable connection of the adapter plate and the main body piece.

In a third aspect, an embodiment of the present application provides a method for using the clamping device according to the second aspect, including:

covering the mechanical arm with a sterile cover;

connecting the positioning and clamping device with the mechanical arm;

the puncture needle is placed in the limiting channel of the positioning and clamping instrument, and puncture is performed;

and taking out the puncture needle from the limit channel.

In a fourth aspect, embodiments of the present application provide a surgical robot comprising a gripping device according to the second aspect.

The embodiment of the application provides a location centre gripping apparatus, beneficial effect lies in: because the positioning clamping device comprises the first clamping piece and the second clamping piece which are oppositely arranged, the first clamping piece and the second clamping piece jointly define a limiting channel for limiting the puncture needle, the positioning clamping device comprises an adjusting part, the first clamping piece and/or the second clamping piece are connected with the adjusting part, when the puncture needle with different needle diameters is required to be used for puncturing or different needle clamping states are required to be adapted, the positioning clamping device can be driven by the mechanical arm to move to the vicinity of the tissue to be punctured, then the first clamping piece and/or the second clamping piece are made to be close to each other through the adjusting part, so that the limiting channel is reduced, or the first clamping piece and/or the second clamping piece are made to be away from each other through the adjusting part, so that the limiting channel is enlarged, the puncture needle with different needle diameters or the puncture requirements of different needle clamping states are met, and finally the puncture needle is placed into the limiting channel for puncturing, so that the puncture needle with different needle diameters can be adapted to the puncture needle with different needle clamping states, and the universality is better.

The clamping device that this application provided compares in prior art's beneficial effect, the clamping device's that this application provided application method compares in prior art's beneficial effect and the surgical robot that this application provided compares in prior art's beneficial effect, all compares in prior art's beneficial effect with the location clamping instrument that this application provided similarly, and this is unnecessary for description.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a surgical robot according to a first embodiment of the present application;

FIG. 2 is a schematic view of a structure of a clamping device in the surgical robot shown in FIG. 1;

FIG. 3 is a schematic view of the positioning and clamping instrument of the clamping device shown in FIG. 2;

FIG. 4 is an exploded view of the positioning and clamping instrument of FIG. 2;

FIG. 5 is a schematic view of the adjustment member of the positioning and clamping instrument of FIG. 2;

FIG. 6 is a schematic structural view of an adjusting member in a second embodiment of the present application;

FIG. 7 is a schematic view of a positioning and clamping instrument in a third embodiment of the present application;

FIG. 8 is a schematic view of a positioning and clamping instrument in a fourth embodiment of the present application;

FIG. 9 is an exploded view of the positioning and clamping instrument and the robotic arm of the surgical robot shown in FIG. 1;

Fig. 10 is a schematic structural view of a first clamping member, a second clamping member and a main body member in a fifth embodiment of the present application;

FIG. 11 is a top view of the first clamping member, the second clamping member and the body member of the positioning clamping instrument of FIG. 2;

FIG. 12 is an enlarged view of a portion of FIG. 11 at A;

FIG. 13 is a schematic view of the positioning clamping instrument, the mechanical arm, the dust cap, and the adapter plate of the surgical robot shown in FIG. 1;

FIG. 14 is a schematic view of the positioning and clamping instrument of FIG. 13;

fig. 15 is a schematic structural view of the interposer shown in fig. 13;

fig. 16 is a schematic structural view of an interposer in a sixth embodiment of the present application;

fig. 17 is a schematic structural view of a positioning and clamping instrument, a mechanical arm, a dust cover, and an adapter plate in a surgical robot in a seventh embodiment of the present application;

fig. 18 is a schematic structural view of the interposer shown in fig. 17;

FIG. 19 is a schematic view of the positioning clamping instrument, dust cap and adapter plate of the surgical robot in an eighth embodiment of the present application;

FIG. 20 is an exploded view of the positioning clamp apparatus, the robotic arm, the dust cap, and the adapter plate of FIG. 19;

fig. 21 is a schematic structural view of the interposer shown in fig. 20;

Fig. 22 is a schematic structural view of a first clamping member, a second clamping member, a main body member, and an adapter plate in a ninth embodiment of the present application;

fig. 23 is a schematic structural view of a first clamping member, a second clamping member, a main body member, and an adapter plate in a tenth embodiment of the present application;

fig. 24 is a schematic structural view of a first clamping member, a second clamping member, a main body member, and an adapter plate in an eleventh embodiment of the present application;

fig. 25 is a schematic structural view of a first clamping member, a second clamping member, a main body member, and an adapter plate in a twelfth embodiment of the present application.

The meaning of the labels in the figures is:

1000. a clamping device;

100. positioning and clamping the instrument;

101. a limiting channel; 102. a body member; 1021. a plug-in part; 1022. a stop portion; 1023. a mounting part; 1024. a connection clamping part; 1025. a guide part; 1026. a receiving groove;

10. a first clamping member;

11. a first body portion; 12. a first clamping part; 13. a first groove; 14. a first jaw; 15. a first fixing claw; 16. a first clamping surface; 17. a second clamping surface;

20. a second clamping member;

21. a second body portion; 22. a second clamping portion; 23. a second groove; 24. a second jaw; 25. a second fixing claw; 26. a third clamping surface; 27. a fourth clamping surface;

30. An adjusting member;

31. a holding component;

311. a first supporting piece; 3111. a threaded hole; 3112. a first threaded hole; 312. a second supporting piece; 3121. a second threaded hole;

32. a power assembly;

321. a first rotating member; 3211. a first connection portion; 32111. limiting plug blocks; 32112. a clamping block; 3212. a first limit part;

322. a second rotating member; 3221. a second connecting portion; 32211. an external thread; 32212. limiting jack; 32213. a clamping hole; 32214. a first external thread; 32215. a second external thread; 3222. a second limit part;

33. a slide block;

34. an elastic member;

35. a support;

36. a carrier; 361. Adjusting the external thread;

37. a rotating member; 371. Adjusting the threaded hole;

200. a mechanical arm;

210. a first arm; 220. a second arm; 230. installing a clamping part; 240. releasing the button; 250. a target ball cover;

300. an aseptic cover;

400. an adapter plate;

410. a mounting hole; 420. a connecting groove; 430. a first clamping part; 440. flanging; 450. a second clamping part;

500. a protective film;

2000. a puncture needle;

3000. and (3) a patient.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be 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 be indirectly connected to the other element.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Reference in the specification to "one embodiment," "some embodiments," or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

For the purpose of illustrating the technical aspects of the present application, reference is made to the following description taken in conjunction with the accompanying drawings and examples.

Referring to fig. 1, 2 and 3, in one aspect, a clamping device 1000 is provided in a first embodiment of the present application for a surgical robot, where the clamping device 1000 includes a positioning clamping device 100 and a mechanical arm 200 connected to the positioning clamping device 100, the positioning clamping device 100 includes a first clamping member 10 and a second clamping member 20 that are disposed opposite to each other, and the first clamping member 10 and the second clamping member 20 together define a limiting channel 101 for limiting a puncture needle 2000.

The positioning and clamping device 100 comprises an adjusting component 30, wherein the first clamping piece 10 and/or the second clamping piece 20 are/is connected with the adjusting component 30, the adjusting component 30 can enable the first clamping piece 10 and/or the second clamping piece 20 to be close to each other so as to reduce a limiting channel 101 to clamp the puncture needle 2000, and the adjusting component 30 can enable the first clamping piece 10 and/or the second clamping piece 20 to be far away from each other so as to enlarge the limiting channel 101 to separate the positioning and clamping device 100 from the puncture needle 2000.

It can be understood that the positioning and clamping device 100 can be driven by the mechanical arm 200 to move to the vicinity of the tissue to be punctured, an optimal needle insertion route is planned by the pose adjustment of the mechanical arm 200 and the needle insertion point is kept stable, at this time, the extending direction of the limiting channel 101 is the predetermined puncture direction (the predetermined puncture direction can be the direction indicated by the dashed line in fig. 2), then a doctor only needs to insert a needle from the limiting channel 101 established by the positioning and clamping device 100, and then the puncture needle 2000 is used to complete a corresponding operation mode for the focal point tissue of the patient 3000, so that the puncture needle 2000 can accurately insert the needle from the predetermined puncture direction, and the puncture direction consistent with the planned puncture direction before operation is ensured, thereby realizing the expected puncture effect.

The positioning and clamping device 100 may be used alone, that is, the positioning and clamping device 100 may be used alone without being connected to the mechanical arm 200. The positioning and clamping instrument 100 may also be used in conjunction with other operating components besides the robotic arm 200.

It is also understood that the needle 2000 may be a needle/biopsy/ablation needle to perform different surgical procedures. The positioning and clamping device 100 may be made of metal or plastic, may be a machined part or an injection molded part, and may be subjected to cleaning and sterilization verification, and then aseptically packaged for delivery, and the mechanical arm 200 may be made of metal. The robotic arm 200 is an execution unit of a surgical robot that plans a suitable path by combining images scanned by patient 3000CT (Computed Tomography, electronic computer tomography) and then the robotic arm 200 positions the positioning and clamping device 100 to the needle insertion point by movement.

In the clamping device 1000 provided in the embodiment of the present application, since the clamping device 1000 includes the mechanical arm 200 and the positioning clamping device 100 connected to the mechanical arm 200, the positioning clamping device 100 includes the first clamping member 10 and the second clamping member 20 that are disposed opposite to each other, the first clamping member 10 and the second clamping member 20 together define the limiting channel 101 for limiting the puncture needle 2000, and the positioning clamping device 100 includes the adjusting component 30, and the first clamping member 10 and/or the second clamping member 20 are connected to the adjusting component 30. Therefore, when the puncture needle 2000 with different needle diameters is required to be used for puncture or to adapt to different needle clamping states, the mechanical arm 200 can be used for driving the positioning and clamping device 100 to move to the vicinity of the tissue to be punctured, then the adjusting component 30 is used for enabling the first clamping piece 10 and/or the second clamping piece 20 to approach each other so as to reduce the limiting channel 101 and clamp the puncture needle 2000, or the adjusting component 30 is used for enabling the first clamping piece 10 and/or the second clamping piece 20 to be away from each other so as to enlarge the limiting channel 101, so that the positioning and clamping device 100 and the puncture needle 2000 are separated, the puncture requirements of the puncture needles 2000 with different needle diameters or different needle clamping states are met, and finally the puncture needle 2000 is placed into the limiting channel 101 for puncture, so that the puncture needle with different needle diameters can be adapted to different needle clamping states, and the universality is good.

According to the clamping device 1000 provided by the embodiment of the application, the positioning clamping instrument 100 is combined with the mechanical arm 200, the accurate design of a puncture path can be realized by controlling the mechanical arm 200 with high precision, and a doctor is stably guided to insert a needle from the path, so that an expected puncture effect is achieved. The positioning and clamping apparatus 100 provided in the embodiment of the application has universality, and the positioning and clamping apparatus 100 can be installed on different mechanical arms 200 and robot products through different installation interfaces, so that most of thoracic and abdominal puncture (biopsy and ablation) operations in clinic can be realized.

Wherein, different needle clamping states are that some scenes need to completely clamp the puncture needle 2000 to keep it motionless, and some scenes need to loosen the puncture needle 2000 to a certain extent, so that the needle inserting operation of doctors is convenient.

Clinical puncture has the demand of multi-needle puncture, and the clamping device 1000 provided by the embodiment of the application can sequentially provide planning of a needle feeding route for doctors and guide the needles to enter, and can realize the separation of the positioning clamping instrument 100 and the puncture needle 2000 after completing the puncture of one needle, so that the puncture of the next needle can be performed.

The positioning and clamping device 100 provided by the embodiment of the application can realize the clamping and guiding of the puncture needle 2000 with the specification of 10G-22G and most of ablation needles on the market, and can cover the clinical requirements of most thoracoabdominal punctures.

Alternatively, the first clamping member 10 and the second clamping member 20 are each connected with the adjusting member 30, and the adjusting member 30 may bring the first clamping member 10 and the second clamping member 20 toward each other or away from each other. By the arrangement, when the limiting channel 101 is reduced and the limiting channel 101 is increased, the center of the limiting channel 101 is ensured not to change, so that the condition that the center of the puncture needle 2000 is deviated relative to the mechanical arm 200 when the puncture needle 2000 with different needle diameters is adapted is avoided, and the puncture needle 2000 is always arranged on the symmetrical planes of the first clamping piece 10 and the second clamping piece 20 and cannot deviate.

Alternatively, the adjusting member 30 may include two telescopic cylinders having telescopic ends connected to the first and second clamps 10 and 20, respectively. Alternatively, the adjusting part 30 may include two linear modules, where the linear modules include a screw, a motor rotationally connected to the screw, and a moving block cooperatively disposed on the screw, and the motor drives the screw to rotate, so that the moving block moves on the screw, and the two moving blocks of the two linear modules are respectively connected with the first clamping member 10 and the second clamping member 20.

Referring to fig. 4 and 5 together, in the present embodiment, the first clamping member 10 has a first body portion 11 and a first clamping portion 12 connected to each other, the first body portion 11 is connected to the mechanical arm 200, the second clamping member 20 has a second body portion 21 and a second clamping portion 22 connected to each other, the second body portion 21 is connected to the mechanical arm 200, and the first clamping portion 12 and the second clamping portion 22 together define a limiting channel 101; the adjusting component 30 comprises an abutting component 31 and a power component 32, wherein the abutting component 31 is used for abutting the first clamping part 12 and the second clamping part 22 respectively; the power assembly 32 is connected with the abutting assembly 31, and the power assembly 32 is used for driving the abutting assembly 31 to abut against the first clamping portion 12 and/or the second clamping portion 22, so that the first clamping portion 12 is close to the second clamping portion 22; the power assembly 32 is further configured to drive the abutting assembly 31 away from the first clamping portion 12, so that the first clamping portion 12 is away from the second clamping portion 22 under the action of its own elastic force, and the power assembly 32 is further configured to drive the abutting assembly 31 away from the second clamping portion 22, so that the second clamping portion 22 is away from the first clamping portion 12 under the action of its own elastic force.

By adopting the above scheme, the limiting channel 101 can be reduced and increased through the adjusting component 30, and the structure of the adjusting component 30 is simpler.

It will be appreciated that since the first clamping portion 12 is connected to the first body portion 11, the first clamping portion 12 has a cantilever-like structure with respect to the first body portion 11, and thus the first clamping portion 12 itself has a certain elasticity. Since the second clamping portion 22 is connected to the second main body portion 21, the second clamping portion 22 has a cantilever-like structure with respect to the second main body portion 21, so that the second clamping portion 22 itself has a certain elasticity. Since the first body 11 is connected to the first clamping portion 12, when the power assembly 32 drives the abutting assembly 31 to move away from the first clamping portion 12, the first clamping portion 12 can deform and move away from the second clamping portion 22 under the action of its own elastic force compared with the first body 11. The second clamping portion 22 has a certain elasticity, that is, because the second main body portion 21 is connected with the second clamping portion 22, when the power assembly 32 drives the abutting assembly 31 to be away from the second clamping portion 22, the second clamping portion 22 member can deform and be away from the first clamping portion 12 under the action of the self-elasticity compared with the second main body portion 21.

The first clamping portion 12 needs to have a certain deformation capability, and generates elastic force after being deformed, and the elastic force is within the yield range of the material of the first clamping portion 12 after being deformed. The second clamping portion 22 needs to have a certain deformability, which generates elastic force after deformation, and is within the yield range of the material of the second clamping portion 22 after deformation. The material of the first clamping portion 12 and the material of the second clamping portion 22 in this embodiment may be medical grade PC (Polycarbonate), although other materials that meet the strength and the washout requirements are also possible.

Optionally, the holding assembly 31 includes a first holding member 311 and a second holding member 312, the first holding member 311 is disposed on a side of the first clamping portion 12 facing away from the second clamping portion 22, the first holding member 311 is configured to hold the first clamping portion 12, the second holding member 312 is disposed on a side of the second clamping portion 22 facing away from the first clamping portion 12, and the second holding member 312 is configured to hold the second clamping portion 22; the first abutting piece 311 and the second abutting piece 312 are connected with the power assembly 32, the power assembly 32 can enable the first abutting piece 311 and the second abutting piece 312 to be close to each other so as to enable the first clamping portion 12 and the second clamping portion 22 to be close to each other, the power assembly 32 can enable the first abutting piece 311 and the second abutting piece 312 to be far away from each other so as to enable the first clamping portion 12 to be far away from the second clamping portion 22 under the action of self elastic force, and enable the second clamping portion 22 to be far away from the first clamping portion 12 under the action of self elastic force.

By doing so, the first abutting piece 311 and the second abutting piece 312 can be made to approach each other or to be away from each other, so that the restricting passage 101 can be reduced and enlarged.

In the present embodiment, the power assembly 32 includes a first rotating member 321 and a second rotating member 322. The first rotating member 321 has a first connection portion 3211 and a first limiting portion 3212 that are connected, the first connection portion 3211 penetrates through the first clamping portion 12 along a first direction (a first direction is a direction indicated by an arrow J in fig. 4), the first abutting member 311 is movably sleeved on the first connection portion 3211, the first abutting member 311 is located between the first limiting portion 3212 and the first clamping portion 12, and the first limiting portion 3212 abuts against the first abutting member 311; the second rotating member 322 has a second connecting portion 3221 and a second limiting portion 3222 that are connected, the second connecting portion 3221 penetrates the second clamping portion 22 along a second direction (a second direction is a direction indicated by an arrow K in fig. 4) and is fixedly connected with the first connecting portion 3211 in a direction parallel to the first direction, the second connecting portion 3221 can rotate synchronously with the first connecting portion 3211, the second direction is opposite to the first direction, the second abutting member 312 is movably sleeved on the second connecting portion 3221, the second abutting member 312 is located between the second limiting portion 3222 and the second clamping portion 22, and the second limiting portion 3222 abuts against the second abutting member 312.

Wherein, the first connecting portion 3211 is provided with a threaded hole 3111, the second connecting portion 3221 is provided with an external thread 32211, the threaded hole 3111 is provided with an internal thread adapted to the external thread 32211, the first rotating member 321 and the second rotating member 322 are synchronously rotated, so that the external thread 32211 and the internal thread are in threaded connection, and the first supporting member 311 and the second supporting member 312 are close to each other or far from each other.

Through adopting above-mentioned scheme, only need with first rotating member 321 and second rotating member 322 synchronous rotation, alright make first support and hold piece 311 and second support and hold piece 312 and be close to each other or keep away from each other to can make first clamping part 12 and second clamping part 22 be close to each other or keep away from each other, and then can reduce and increase spacing passageway 101.

The external thread 32211 may be a customized thread, and the thread profile is related to the holding force of the first clamping portion 12 and the second clamping portion 22 after rotation and the force level of the user, so that customization can be realized; the thread leads, which relate to the number of turns required to tighten when clamping the first clamping portion 12 and the second clamping portion 22, may also be modified to achieve customization.

It will be appreciated that the positioning and clamping device 100 provided in the embodiments of the present application may be controlled from both left and right directions, so that a doctor may avoid one side of the positioning and clamping device 100 that is blocked by the patient 3000 in some surgical postures, and thus operate the positioning and clamping device 100 on the other side. The size of the limiting channel 101 of the clamping and the tightness degree of the clamping puncture needle 2000 are adjusted by the first rotating piece 321 and the second rotating piece 322, meanwhile, the number of turns of the first rotating piece 321 and the second rotating piece 322 in the process from the clamping to the releasing can be only 1, and the problems of hand pain and the like after multiple times of use of a user can be avoided.

Specifically, the first rotating member 321 and the second rotating member 322 can customize the labels in the corresponding rotating directions, so that the user can conveniently identify the screwing and unscrewing directions of the first rotating member 321 and the second rotating member 322, and particularly, the laser carving, silk screen printing and die carving modes can be adopted.

In order to better limit the position of the first clamping member 10 and the second clamping member 20, the first clamping member 10 is optionally provided with a first recess 13 for receiving the first abutment member 311; the second clamping member 20 is provided with a second recess 23 for receiving the second abutment member 312.

By the arrangement, when the first propping piece 311 and the second propping piece 312 are close to or far away from each other, the first propping piece 311 and the second propping piece 312 are respectively limited in the first groove 13 and the second groove 23, so that the first propping piece 311 and the second propping piece 312 cannot shake obviously, cannot fall out of the first groove 13 and the second groove 23, and meanwhile, the extrusion force of the first propping piece 311 to the first clamping part 12 and the extrusion force of the second propping piece 312 to the second clamping part 22 can be ensured to be the same, so that the clamped puncture needle 2000 is always on the symmetrical surfaces of the first clamping part 12 and the second clamping part 22 and cannot deflect.

Specifically, the first clamping member 10 and the second clamping member 20 may each be provided as a cylindrical boss, and the inner wall surfaces of the first groove 13 and the second groove 23 are each circular arc surfaces, the diameters of which are consistent with the boss.

Referring to fig. 3, 4 and 5, in the present embodiment, the first connection portion 3211 is provided with a limiting plug 32111, the second connection portion 3221 is provided with a limiting jack 32212, and the limiting plug 32111 is cooperatively inserted into the limiting jack 32212 along the second direction, so that the second connection portion 3221 can rotate synchronously with the first connection portion 3211. By such arrangement, the second connecting portion 3221 and the first connecting portion 3211 can be rotated synchronously, complete linkage is achieved, and the second connecting portion 3221 and the first connecting portion 3211 are simpler in structure while the second connecting portion 3221 does not fall off.

It is appreciated that the stop block 32111 may be a cylindrical block that is an interference fit with the stop receptacle 32212. Alternatively, the spacing block 32111 may be a prismatic block that is an interference or clearance fit with the spacing receptacle 32212. Alternatively, the limiting plug 32111 may be a flat head, and the limiting jack 32212 is configured as a flat head hole.

Wherein, two spacing plugs 32111 may be provided, and the spacing plugs 32111 are spaced apart, and the spacing plugs 32111 have a certain elasticity so as to be inserted into the spacing insertion holes 32212.

Optionally, the second connecting portion 3221 is provided with a clamping hole 32213, the clamping hole 32213 penetrates through an inner hole wall of the limiting jack 32212, the limiting plug 32111 is provided with a clamping block 32112, and the clamping block 32112 is clamped into the clamping hole 32213, so that the second connecting portion 3221 can be fixedly connected with the first connecting portion 3211 in a direction parallel to the first direction. By doing so, the second connection portion 3221 and the first connection portion 3211 can be structurally simplified while the second connection portion 3221 and the first connection portion 3211 can be fixedly connected in a direction parallel to the first direction.

Referring to fig. 6, unlike the first embodiment, in the second embodiment, the external screw 32211 includes a first external screw 32214 and a second external screw 32215, the screw hole 3111 includes a first screw hole 3112 and a second screw hole 3121, the first external screw 32214 and the second external screw 32215 are respectively provided at two ends of the second rotating member 322, the first screw hole 3112 is provided at the first connection portion 3211, the first screw hole 3112 is provided with a first internal screw adapted to the first external screw 32214, the second screw hole 3121 is provided at the second connection portion 3221, the second screw hole 3121 is provided with a second internal screw adapted to the second external screw 32215, and the second internal screw is rotated in a direction opposite to the first internal screw, so that the first rotating member 321 and the second rotating member 322 are synchronously rotated, the second external screw 32215 and the second internal screw are screwed, and the first abutting member 311 and the second abutting member 312 are made to approach each other or separate from each other.

Through adopting above-mentioned scheme, can be when rotating first rotating member 321 and second rotating member 322 synchronous for first piece 311 and second piece 312 that supports are held to holding can be comparatively fast be close to each other or keep away from each other, thereby can make first clamping part 12 and second clamping part 22 be close to each other or keep away from each other more fast, and then can reduce more fast and increase spacing passageway 101.

Specifically, the second internal thread may be a left-handed thread, and the first internal thread may be a right-handed thread. Alternatively, the second internal thread may be a right-handed thread and the first internal thread may be a left-handed thread.

Referring to fig. 7, unlike the first embodiment, in the third embodiment, the power assembly 32 includes a first slider 33 and a first elastic member 34, and the first elastic member 34 drives the first slider 33 to abut against the first clamping portion 12; and/or, the power assembly 32 includes a second slider 33 and a second elastic member 34, where the second elastic member 34 drives the second slider 33 to abut against the second clamping portion 22.

By adopting the above scheme, the first elastic piece 34 can automatically drive the first sliding block 33 to prop against the first clamping part 12 or the second elastic piece 34 can automatically drive the second sliding block 33 to prop against the second clamping part 22, so that the first clamping part 12 and the second clamping part 22 are close to or far away from each other, and the limiting channel 101 can be reduced and enlarged.

It is understood that the first elastic member 34 and the second elastic member 34 may each be a spring or rubber having elasticity, or the like.

Referring to fig. 8, unlike the first embodiment, in the fourth embodiment, the first clamping member 10 has a first body portion 11 and a first clamping portion 12 connected, the first body portion 11 is connected with the mechanical arm 200, the second clamping member 20 has a second body portion 21 and a second clamping portion 22 connected, the second body portion 21 is connected with the mechanical arm 200, and the first clamping portion 12 and the second clamping portion 22 together define a limiting channel 101; the adjusting member 30 includes an abutment assembly 31, and the abutment assembly 31 is configured to abut against the first clamping portion 12 and the second clamping portion 22, respectively.

The abutment assembly 31 comprises a support 35, a carrier 36 and a rotator 37. The supporting member 35 is disposed between the first clamping member 10 and the second clamping member 20, and the first clamping member 10 and the second clamping member 20 are connected to the supporting member 35.

The first clamping portion 12 and the second clamping portion 22 are located on one side of the support 35, and the carrier 36, the first body portion 11 and the second body portion 21 are located on the other side of the support 35.

The rotating member 37 is rotatably sleeved on the carrier 36, the carrier 36 and the rotating member 37 are located on the same side of the supporting member 35, and opposite ends of the rotating member 37 respectively abut against the first body portion 11 and the second body portion 21, by rotating the rotating member 37 relative to the carrier 36 in a third direction (a third direction is a direction indicated by an arrow M in fig. 4), the first clamping portion 12 and the second clamping portion 22 can be made to approach each other, and by rotating the rotating member 37 relative to the carrier 36 in a fourth direction (a direction indicated by an arrow N in fig. 4), the first clamping portion 12 and the second clamping portion 22 can be made to be far away from the second clamping portion 22 under the action of their own elastic forces, and the second clamping portion 22 can be made to be far away from the first clamping portion 12 under the action of their own elastic forces, the third direction being a direction opposite to the fourth direction.

By adopting the above-described arrangement, the first clamping portion 12 and the second clamping portion 22 can be brought closer to or further away from each other by only rotating the rotating member 37 in the third direction or the fourth direction with respect to the carrier 36, so that the restricting passage 101 can be reduced and enlarged.

It will be appreciated that the third direction may be clockwise and the fourth direction counter-clockwise. Alternatively, the fourth direction is clockwise and the third direction is counter-clockwise.

In the present embodiment, the carrier 36 is provided with an adjusting external thread 361, the rotating member 37 is provided with an adjusting threaded hole 371, and the adjusting threaded hole 371 is provided with an adjusting internal thread adapted to the adjusting external thread 361. By rotating the rotating member 37 in the third direction (the third direction is the direction indicated by the arrow M in fig. 4) with respect to the carrier 36, the rotating member 37 can be moved away from the support 35 and the first clamping portion 12 and the second clamping portion 22 can be brought close to each other, and by rotating the rotating member 37 in the fourth direction (the fourth direction is the direction indicated by the arrow N in fig. 4) with respect to the carrier 36, the rotating member 37 can be moved toward the support 35 and the first clamping portion 12 of the first clamping portion 12 and the second clamping portion 22 can be moved away from the second clamping portion 22 by their own elastic forces and the second clamping portion 22 can be moved away from the first clamping portion 12 by their own elastic forces.

Optionally, an extension is provided at the end of the rotator 37 remote from the carrier 36. By the arrangement, when the rotating member 37 needs to be rotated relative to the bearing member 36, an operator can hold the extending portion to rotate the rotating member 37, and the operation is simpler and more convenient.

In particular, the extension may be a handle.

In other embodiments, the rotating member 37 is configured as a cam, and by rotating the rotating member 37 relative to the carrier 36, different portions of the cam can abut against the first body portion 11 and the second body portion 21, so that the first clamping portion 12 and the second clamping portion 22 can be moved closer to each other or away from each other.

Referring to fig. 3 and 4, in the first embodiment, the first clamping member 10 is provided with at least two first clamping jaws 14, the second clamping member 20 is provided with at least two second clamping jaws 24, and the first clamping jaws 14 and the second clamping jaws 24 are staggered in the axial direction of the puncture needle 2000.

By adopting the scheme, the puncture needle 2000 can be better limited by the first clamping jaw 14 and the second clamping jaw 24, and the limiting channel 101 can be established according to the outlines of the first clamping jaw 14 and the second clamping jaw 24.

Specifically, the first clamping jaw 14 is arranged on the right, the first clamping jaw 14 can be arranged in three, the second clamping jaw 24 is arranged on the left, and the second clamping jaw 24 can be arranged in two.

Wherein, the first clamping jaw 14 and the second clamping jaw 24 can tightly hold the puncture needle 2000 by self structure, and corresponding limit channels 101 are established according to the outline of the puncture needle. The limiting channel 101 is consistent with a pre-operative planned channel, and penetration accuracy is ensured by positioning the clamping instrument 100 configuration (including the profile of the first clamping jaw 14 and the second clamping jaw 24, part machining accuracy, finish of the first abutment 311 and the second abutment 312, etc.).

Alternatively, the first clamping member 10 is provided with a first fixing claw 15, the second clamping member 20 is provided with a second fixing claw 25, and the first fixing claw 15 and the second fixing claw 25 are disposed opposite to each other. By such arrangement, the puncture needle 2000 is prevented from being laterally bent when the puncture needle 2000 is clamped by the first clamping jaw 14 and the second clamping jaw 24, and the puncture positioning accuracy of the positioning and clamping device 100 is correspondingly ensured.

It will be appreciated that without the first and second holding claws 15, 25, the first or second holding claws 14, 24 will press the piercing needle 2000 toward the first or second holding claws 14, 24, causing deflection of the needle insertion, and the deflection will increase with the depth of the target point, affecting the accuracy of the needle insertion.

Referring to fig. 2, 4 and 9, in a first embodiment, a robotic arm 200 is detachably coupled to the positioning and clamping device 100.

By adopting the above scheme, the mechanical arm 200 and the positioning and clamping device 100 are conveniently connected together.

Wherein, the positioning and clamping device 100 can be designed as disposable consumable, and is disposable after operation, and has no trouble of washing and eliminating.

Specifically, the robotic arm 200 and the positioning and clamping device 100 may be coupled together by means of a bolting, screwing, snap-fit connection, or magnetic attraction.

In this embodiment, the mechanical arm 200 includes a first arm 210 and a second arm 220 that are connected, the second arm 220 is detachably connected to the positioning and clamping device 100, and the second arm 220 and the positioning and clamping device 100 form an end mechanism. The first arm 210 and the second arm 220 may be detachably connected by a quick release handle provided at the end of the first arm 210. The second arm 220 is detachably connected to the positioning and clamping instrument 100.

The uppermost end of the second arm 220 is a mounting interface with the first arm 210 that is removably coupled to the positioning and clamping instrument 100. According to different robots, different interfaces can be designed, a section of hollowed-out part is downwards arranged, and a doctor can conveniently hold the robot by hand when taking the tail end.

A registration target ball is mounted directly in front of the lower end of the second arm 220 for registration of the robot. The registration refers to a target ball registration mode adopted by the robot, and the coordinate is established by scanning the target ball under CT, extracting the center of the ball, and performing space conversion after the relation between the CT coordinate system and the robot coordinate system is obtained, so that the needle insertion route is conveniently planned.

For attractive appearance and cleaning protection, a target ball cover 250 is arranged outside the target ball to cover the target ball, so that the target ball is ensured to be in a closed space and is not influenced by collision and dust.

Specifically, the clamping apparatus includes a main body member 102, and the first clamping member 10 and the second clamping member 20 are both connected to the main body member 102, and the main body member 102 and the mechanical arm 200 are detachably connected.

As one embodiment, the main body 102 is provided with an inserting portion 1021, and the mechanical arm 200 is provided with an inserting portion, and the inserting portion 1021 is in inserting engagement with the inserting portion, so as to realize detachable connection between the main body 102 and the positioning and clamping device 100. So configured, the robotic arm 200 and the positioning and clamping device 100 may be removably coupled together.

Alternatively, in the first embodiment, the mechanical arm 200 is provided with a release button 240, and pressing the release button 240 can disconnect the mechanical arm 200 from the main body member 102 without being manually pulled out by a doctor. The release buttons 240 may be provided in two and the two release buttons 240 are located at both sides of the second arm 220, respectively. The two release buttons 240 are mechanical and have no electrical structure, and here the release button 240 has only a simple spring structure, and no jamming or unreleasing occurs, so that it is ensured that the positioning clamping device 100 needs to be released even in an emergency, where the button will not fail.

It will be appreciated that the entire second arm 220 and positioning and clamping instrument 100 are passive, with only the first arm 210 being active, so that the user is not at risk of electrical shock when touching the second arm 220 and positioning and clamping instrument 100. The mounting interface of the second arm 220 may be adjusted to align with the user when the positioning and clamping instrument 100 is preoperatively installed, facilitating the user to directly load the positioning and clamping instrument 100.

It will be appreciated that the body member 102 may include a first body portion 11 and a second body portion 21.

Optionally, the main body 102 is provided with a stopper 1022, and the mechanical arm 200 is provided with a mating portion that is in plug-fit with the stopper 1022 to limit the relative positions of the mechanical arm 200 and the main body 102 in a direction perpendicular to the plug-in direction of the mating portion and the stopper 1022 (the plug-in direction is indicated by an arrow L in fig. 9). So configured, the relative positions of the robotic arm 200 and the body member 102 can be better constrained to facilitate coupling the robotic arm 200 and the positioning and clamping device 100 together.

Specifically, the stop 1022 may be provided with a stop buckle, and the mating portion may be provided to mate with the card hole. The mating portion is in plug-in fit with the stop 1022, so as to connect the mechanical arm 200 and the positioning and clamping device 100 together in the vertical direction.

In the present embodiment, one of the stopper 1022 and the engaging portion is provided as a cylindrical portion, and the other of the stopper 1022 and the engaging portion is provided as a first hole that engages with the cylindrical portion, and at least two stopper 1022 and engaging portion are provided. By doing so, the relative positions of the mechanical arm 200 and the positioning and clamping device 100 can be better restricted, and the structures of the stopper 1022 and the mating portion can be simplified.

Referring to fig. 10, in the fifth embodiment, one of the stop portion 1022 and the mating portion is configured as a truncated cone portion, and the other of the stop portion 1022 and the mating portion is configured as a second hole mated with the truncated cone portion, unlike the first embodiment. By doing so, the relative positions of the mechanical arm 200 and the positioning and clamping device 100 can be better restricted, and the structures of the stopper 1022 and the mating portion can be simplified.

Referring to fig. 11 and 12, in the first embodiment, the first clamping member 10 is provided with a first clamping surface 16 and a second clamping surface 17 that form an angle, the second clamping member 20 is provided with a third clamping surface 26 and a fourth clamping surface 27 that form an angle, and the first clamping surface 16, the second clamping surface 17, the third clamping surface 26 and the fourth clamping surface 27 are all used for contacting the puncture needle 2000.

By adopting the scheme, the puncture needle 2000 with different needle diameters can be clamped through the first clamping surface 16, the second clamping surface 17, the third clamping surface 26 and the fourth clamping surface 27, and the puncture needle 2000 is ensured not to be eccentric.

The relative positional relationship among the first clamping surface 16, the second clamping surface 17, the third clamping surface 26 and the fourth clamping surface 27 can be determined through simulation, so as to ensure that the first clamping member 10 and the second clamping member 20 ensure that the puncture needle 2000 is on the same axis when the puncture needles 2000 with different needle diameters are clamped.

When performing percutaneous puncture operation on chest and abdomen, no matter the hand-held biopsy gun is adopted for biopsy or the percutaneous puncture robot is adopted for puncture biopsy, corresponding sterile protection work is required. Wherein, the puncture instrument or the disposable sterile instrument which can be repeatedly decontaminated can be protected without adopting the form of the sterile cover 300; however, the aseptic cover 300 is necessary for protecting the components such as the robot arm 200 which cannot be decontaminated.

Therefore, referring to fig. 12 and 13, in the first embodiment, the clamping device 1000 includes a sterile cover 300, and the sterile cover 300 is covered on the mechanical arm 200.

By adopting the scheme, the mechanical arm 200 can be protected by using the sterile cover 300, and repeated decontamination work of the mechanical arm 200 is avoided.

Specifically, the material of the aseptic cover 300 may be PE (polyethylene) or TPU (Thermoplastic Polyurethane, thermoplastic polyurethane elastomer).

In the conventional clamping device 1000, a manner of pressing the sterile cover 300 by using screws is adopted to realize sterile isolation, and the structures from inside to outside are the mechanical arm 200, the sterile cover 300 and the surgical instrument respectively. This approach can make the mounting of sterile cover 300 cumbersome, and the need to use tools to tighten the bolts can be a great inconvenience to the practitioner.

Referring to fig. 14 to 15 together, in the present embodiment, the clamping device 1000 includes an adapter plate 400 connected to one end of the aseptic enclosure 300, the adapter plate 400 is provided with a mounting hole 410, and the mounting hole 410 is communicated with the inner space of the aseptic enclosure 300; the positioning and clamping device 100 comprises a main body member 102, wherein the first clamping member 10 and the second clamping member 20 are connected with the main body member 102, the main body member 102 is provided with a mounting portion 1023, the mounting portion 1023 passes through a mounting hole 410 and is connected with a mechanical arm 200, the mechanical arm 200 or the main body member 102 is detachably connected with an adapter plate 400, and the main body member 102 covers an orifice of the mounting hole 410.

By adopting the scheme, a layer of installation relation exists between the positioning and clamping device 100 and the sterile cover 300, so that the fixation and protection of the sterile cover 300 can be better realized, and the operation is simple and convenient.

In the present embodiment, the robot arm 200 is detachably connected with the adapter plate 400.

By arranging the adapter plate 400, only one step of installation is needed, so that the mechanical arm 200 needing to be protected and the positioning and clamping instrument 100 not needing to be protected can be completely and well isolated.

The adapter plate 400 and the aseptic cover 300 can be integrally packaged and delivered, and the adapter plate 400 and the aseptic cover 300 are sterilized and packaged together and then directly delivered for use.

Optionally, the adapter plate 400 is provided with a connecting slot 420, a first clamping part 430 is arranged on a side wall of the connecting slot 420, a mounting hole 410 is formed in a bottom wall of the connecting slot 420, an end part of the mechanical arm 200 is accommodated in the connecting slot 420, the mechanical arm 200 is provided with a mounting clamping part 230, and the first clamping part 430 is matched with the mounting clamping part 230 in a clamping manner, so that the adapter plate 400 is detachably connected with the mechanical arm 200. By the arrangement, the adapter plate 400 can be more conveniently connected with the mechanical arm 200 in a detachable manner, and the adapter plate 400 is prevented from falling off in the operation process.

It will be appreciated that one or more of the first retaining portion 430 and the mounting clip portion 230 may be provided. The first clamping portion 430 may be provided as a recess and the mounting clamping portion 230 as a protrusion; alternatively, the first catching part 430 may be provided as a protrusion and the mounting catching part 230 may be provided as a recess.

In the present embodiment, the first clamping portion 430 is provided as a protrusion, and the mounting clamping portion 230 is provided as a recess. By this arrangement, the deformation of the adapter plate 400 can be reduced, and the normal installation of the positioning and clamping device 100 can be ensured.

It will be appreciated that the protrusions may create a certain friction with the robotic arm 200 so that the adapter plate 400 can be hung on the robotic arm 200 with the sterile cover 300.

Optionally, a flange 440 is disposed at an end of the adapter plate 400 facing the mechanical arm 200, a notch of the connecting slot 420 is formed in the flange 440, and the aseptic cover 300 is connected with the flange 440. By such arrangement, the aseptic cover 300 and the adapter plate 400 are conveniently connected together, and the flange 440 can ensure that the notch portion of the connecting groove 420 is surrounded by the positioning and clamping apparatus 100, so that the intercommunication between the bacteria space and the aseptic space is not caused.

Specifically, the upper or lower surface of the flange 440 is adhered to the aseptic cover 300 with a hollow portion in the middle.

Optionally, the clamping device 1000 includes a protective film 500, where the protective film 500 is disposed on a surface of the adapter plate 400 facing away from the mechanical arm 200, and the protective film 500 covers the orifice of the mounting hole 410. So arranged, impurities can be prevented from entering the inner space of the shielding film 500 through the mounting hole 410.

Specifically, the protective film 500 may be a tearable film, and may be peeled off when in use.

Referring to fig. 16, unlike the first embodiment, in the sixth embodiment, the sterile cover 300 is sleeved on the adapter plate 400 and the sterile cover 300 is connected to the outer surface of the adapter plate 400. So configured, it is convenient to connect sterile cover 300 with adapter plate 400.

Specifically, the aseptic cover 300 is adhered to the outer surface of the adapter plate 400 without a gap at the adhesion, and a complete aseptic isolation effect can be achieved.

Referring to fig. 17 and 18, unlike the first embodiment, in the seventh embodiment, two first clamping portions 430 and two mounting clamping portions 230 are provided, and the two first clamping portions 430 are respectively located at opposite side walls of the connecting slot 420.

By adopting the above scheme, the first clamping part 430 and the mounting clamping part 230 can be provided with obvious sound and hand feeling feedback when being mounted in place, and more visual mounting hand feeling can be brought to doctors.

Referring to fig. 19 to 21, unlike the first embodiment, in the eighth embodiment, the main body member 102 is detachably connected to the adapter plate 400, wherein the adapter plate 400 is provided with a second clamping portion 450, the main body member 102 is provided with a connection clamping portion 1024, and the second clamping portion 450 is in clamping fit with the connection clamping portion 1024, so as to realize the detachable connection between the adapter plate 400 and the main body member 102.

By adopting the above scheme, the adapter plate 400 is conveniently and detachably connected with the main body member 102.

It will be appreciated that one or more of the second clamping portion 450 and the connection clamping portion 1024 may be provided. The second clamping portion 450 may be configured as a recess and the connecting clamping portion 1024 configured as a protrusion; alternatively, the second clamping portion 450 may be configured as a protrusion and the connection clamping portion 1024 configured as a recess.

Referring to fig. 22, unlike the eighth embodiment, in the ninth embodiment, the main body 102 is provided with at least two guiding portions 1025, wherein the two guiding portions 1025 are respectively located at two sides of the connection clamping portion 1024, and the guiding portions 1025 are used for slidably contacting with the connection clamping portion 1024.

By adopting the above-described configuration, the connection locking portion 1024 can be guided by the guide portion 1025 when the adapter plate 400 and the main body 102 are connected together.

Alternatively, the connection clip 1024 may be a protrusion.

Referring to fig. 23, unlike the ninth embodiment, in the tenth embodiment, the second clamping portion 450 is configured as a U-shaped hook.

By adopting the above-described scheme, the deformation amount of the second clamping portion 450 can be increased, thereby facilitating the connection of the first clamping portion 430 and the mounting clamping portion 230.

It is understood that when the second clamping portion 450 is configured as a U-shaped hook, the connecting clamping portion 1024 may be a protrusion.

Referring to fig. 24, unlike the eighth embodiment, in the eleventh embodiment, the main body 102 is provided with a receiving slot 1026, and the connection clamping portion 1024 is formed inside the receiving slot 1026, and the receiving slot 1026 is used for receiving the connection clamping portion 1024.

Through adopting above-mentioned scheme, not only conveniently link together keysets 400 and main part 102 detachably, and can hide the connection joint portion 1024 in the storage tank 1026, avoid connecting joint portion 1024 and other spare part to take place the problem of interference, and overall effect can be better in the outward appearance.

Referring to fig. 25, unlike the eighth embodiment, in the twelfth embodiment, the second clamping portion 450 is configured as a protrusion, the connection clamping portion 1024 is configured as a recess, the arrangement direction of the adapter plate 400 and the main body member 102 forms an included angle with the length direction of the recess, and the second clamping portion 450 is slidably clamped in the connection clamping portion 1024.

By adopting the above scheme, the second clamping portion 450 and the connecting clamping portion 1024 are conveniently connected together, and the adapter plate 400 is not easy to fall off in use.

It can be appreciated that when the second clamping portion 450 is slidably clamped in the connecting clamping portion 1024, the adapter plate 400 is not easy to fall off when in use until the plane on the back of the adapter plate 400 abuts against the plane on the back of the positioning and clamping device 100, i.e. is mounted in place.

In the ninth embodiment, the tenth embodiment, the eleventh embodiment, and the twelfth embodiment, the adapter plate 400 does not participate in the process of installing the positioning and clamping device 100 and the robot arm 200, and does not affect the installation accuracy of the positioning and clamping device 100 and the robot arm 200. In other embodiments, if the adapter plate 400 participates in the cooperation of the positioning clamping apparatus 100 and the mechanical arm 200, the thickness thereof affects the accuracy, and the size of the adapter plate 400 may be controlled to reduce the risk of affecting the accuracy.

In another aspect, an embodiment of the present application provides a method for using the clamping device 1000, including:

in the first step, the sterile cover 300 is covered on the robot 200.

In a second step, the positioning and clamping device 100 is connected to the robotic arm 200.

Specifically, the robotic arm 200 has planned the penetration path in advance, and the positioning and clamping instrument 100 only provides the needle insertion limiting channel 101.

Third, the puncture needle 2000 is placed in the limiting channel 101 of the positioning and clamping device 100, and is punctured.

Specifically, the puncture needle 2000 required for the operation is placed into the passage between the first clamp 10 and the second clamp 20 from the outside, and the puncture is performed.

Finally, the puncture needle 2000 is taken out from the limiting channel 101.

Fourth, after the puncture is in place, the mechanical arm 200 is withdrawn, so that the puncture needle 2000 can be released, and the puncture needle 2000 is moved out of the limiting channel 101.

According to the application of the clamping device 1000, as the clamping device 1000 comprises the mechanical arm 200 and the positioning clamping device 100 connected with the mechanical arm 200, the positioning clamping device 100 comprises the first clamping piece 10 and the second clamping piece 20 which are oppositely arranged, the first clamping piece 10 and the second clamping piece 20 jointly define the limiting channel 101 for limiting the puncture needle 2000, the positioning clamping device 100 comprises the adjusting component 30, and the first clamping piece 10 and/or the second clamping piece 20 are connected with the adjusting component 30. Therefore, when the puncture needle 2000 with different needle diameters is required to be used for puncture or to adapt to different needle clamping states, the mechanical arm 200 can be used for driving the positioning and clamping device 100 to move to the vicinity of the tissue to be punctured, then the adjusting component 30 is used for enabling the first clamping piece 10 and/or the second clamping piece 20 to approach each other so as to reduce the limiting channel 101 and clamp the puncture needle 2000, or the adjusting component 30 is used for enabling the first clamping piece 10 and/or the second clamping piece 20 to be away from each other so as to enlarge the limiting channel 101, so that the positioning and clamping device 100 and the puncture needle 2000 are separated, the puncture requirements of the puncture needles 2000 with different needle diameters or different needle clamping states are met, and finally the puncture needle 2000 is placed into the limiting channel 101 for puncture, so that the puncture needle with different needle diameters can be adapted to different needle clamping states, and the universality is good.

Optionally, the third and fourth steps may be repeated for a scenario requiring multiple needle sticks until the last needle 2000 is completed, and the positioning and clamping device 100 is removed and disposed of as a medical device waste.

The method for using the clamping device 1000 provided in the above embodiment includes:

first, the quick release handle at the end of the first arm 210 is opened, the second arm 220 is mounted on the interface of the first arm 210, and then the quick release handle is reset to clamp the second arm 220, so that the first arm 210 and the second arm 220 are connected.

Next, the aseptic cover 300 is sleeved into the second arm 220 and the first arm 210 from bottom to top, and the adapter plate 400 at the tail of the aseptic cover 300 is gently clamped into the bottom of the second arm 220, so that the aseptic cover is not loosened.

Again, the positioning clamp apparatus 100 is mounted to the second arm 220.

Specifically, the two raised sockets 1021 of the positioning and clamping device 100 are loaded upward (via the transparent adapter plate 400) after being aligned with the two sockets under the second arm 220 until a crisp sound is heard indicating that the installation is in place.

Next, the puncture needle 2000 (puncture needle/ablation needle) is placed into the limiting path 101 in the positioning and holding instrument 100 from the outside, and the first rotating member 321 and the second rotating member 322 are screwed so that the first holding member 311 and the second holding member 312 come close to each other, thereby bringing the first holding portion 12 and the second holding portion 22 close to each other to clamp the puncture needle 2000, and the puncture is performed after a proper degree of clamping is achieved.

Then, after the puncture, the first rotating member 321 and the second rotating member 322 are released so that the first abutting member 311 and the second abutting member 312 are away from each other, the first clamping member 10 and the second clamping member 20 of the positioning clamping device 100 are opened, the puncture needle 2000 is released, the mechanical arm 200 is withdrawn, and the operation is repeated at the time of the multi-puncture needle 2000 operation.

Finally, after the operation is completed, the positioning clamping device 100, the sterile cover 300, the adapter plate 400 and the clamping jaw are all disconnected from the second arm 220 and thrown away together.

In yet another aspect, embodiments of the present application provide a surgical robot that includes a clamping device 1000 as described above.

In the surgical robot provided by the embodiment of the application, since the clamping device 1000 includes the mechanical arm 200 and the positioning clamping device 100 connected to the mechanical arm 200, the positioning clamping device 100 includes the first clamping member 10 and the second clamping member 20 that are disposed oppositely, the first clamping member 10 and the second clamping member 20 together define the limiting channel 101 for limiting the puncture needle 2000, and the positioning clamping device 100 includes the adjusting component 30, and the first clamping member 10 and/or the second clamping member 20 are connected to the adjusting component 30. Therefore, when the puncture needle 2000 with different needle diameters is required to be used for puncture or to adapt to different needle clamping states, the mechanical arm 200 can be used for driving the positioning and clamping device 100 to move to the vicinity of the tissue to be punctured, then the adjusting component 30 is used for enabling the first clamping piece 10 and/or the second clamping piece 20 to approach each other so as to reduce the limiting channel 101 and clamp the puncture needle 2000, or the adjusting component 30 is used for enabling the first clamping piece 10 and/or the second clamping piece 20 to be away from each other so as to enlarge the limiting channel 101, so that the positioning and clamping device 100 and the puncture needle 2000 are separated, the puncture requirements of the puncture needles 2000 with different needle diameters or different needle clamping states are met, and finally the puncture needle 2000 is placed into the limiting channel 101 for puncture, so that the puncture needle with different needle diameters can be adapted to different needle clamping states, and the universality is good.

It will be appreciated that the surgical robot provided in the embodiments of the present application may further include a control unit, a sensor unit, a base unit, and the like.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The positioning and clamping device is characterized in that the positioning and clamping device (100) comprises a first clamping piece (10) and a second clamping piece (20) which are oppositely arranged, and a limiting channel (101) for limiting a puncture needle (2000) is defined by the first clamping piece (10) and the second clamping piece (20) together; the positioning clamping device (100) comprises an adjusting component (30), wherein the first clamping piece (10) and/or the second clamping piece (20) are/is connected with the adjusting component (30), the adjusting component (30) can enable the first clamping piece (10) and/or the second clamping piece (20) to approach towards each other so as to reduce the limiting channel (101), and the adjusting component (30) can enable the first clamping piece (10) and/or the second clamping piece (20) to be away from each other so as to enlarge the limiting channel (101).

2. The positioning clamping instrument according to claim 1, characterized in that the first clamping member (10) has a first body portion (11) and a first clamping portion (12) connected, the second clamping member (20) has a second body portion (21) and a second clamping portion (22) connected, the first clamping portion (12) and the second clamping portion (22) together defining the limiting channel (101); the adjusting member (30) includes:

a holding assembly (31) for holding the first clamping portion (12) and the second clamping portion (22) respectively;

the power assembly (32) is connected with the supporting assembly (31), and the power assembly (32) is used for driving the supporting assembly (31) to support the first clamping part (12) and/or the second clamping part (22) so that the first clamping part (12) is close to the second clamping part (22);

the power assembly (32) is further used for driving the supporting and holding assembly (31) to be away from the first clamping part (12) so that the first clamping part (12) is away from the second clamping part (22) under the action of self elastic force, and the power assembly (32) is further used for driving the supporting and holding assembly (31) to be away from the second clamping part (22) so that the second clamping part (22) is away from the first clamping part (12) under the action of self elastic force.

3. The positioning and clamping instrument according to claim 2, wherein the abutting assembly (31) comprises a first abutting member (311) and a second abutting member (312), the first abutting member (311) is arranged on one side of the first clamping portion (12) away from the second clamping portion (22), the first abutting member (311) is used for abutting the first clamping portion (12), the second abutting member (312) is arranged on one side of the second clamping portion (22) away from the first clamping portion (12), and the second abutting member (312) is used for abutting the second clamping portion (22); the first propping piece (311) and the second propping piece (312) are both connected with the power assembly (32), the power assembly (32) can enable the first propping piece (311) and the second propping piece (312) to be close to each other so as to enable the first clamping part (12) and the second clamping part (22) to be close to each other, and the power assembly (32) can enable the first propping piece (311) and the second propping piece (312) to be far away from each other so as to enable the first clamping part (12) to be far away from the second clamping part (22) under the action of self-elasticity, and enable the second clamping part (22) to be far away from the first clamping part (12) under the action of self-elasticity.

4. A positioning and clamping instrument according to claim 3, wherein the power assembly (32) comprises:

the first rotating piece (321) is provided with a first connecting part (3211) and a first limiting part (3212) which are connected, the first connecting part (3211) penetrates through the first clamping part (12) along a first direction, the first supporting piece (311) is movably sleeved on the first connecting part (3211), the first supporting piece (311) is positioned between the first limiting part (3212) and the first clamping part (12), and the first limiting part (3212) is abutted with the first supporting piece (311);

the second rotating member (322) is provided with a second connecting portion (3221) and a second limiting portion (3222) which are connected, the second connecting portion (3221) penetrates through the second clamping portion (22) along a second direction and is fixedly connected with the first connecting portion (3211) in a direction parallel to the first direction, the second connecting portion (3221) can rotate synchronously with the first connecting portion (3211), the second direction is opposite to the first direction, the second abutting member (312) is movably sleeved on the second connecting portion (3221), the second abutting member (312) is located between the second limiting portion (3222) and the second clamping portion (22), and the second limiting portion (3222) abuts against the second abutting member (312); wherein,

The first connecting portion (3211) is provided with a threaded hole (3111), the second connecting portion (3221) is provided with an external thread (32211), the threaded hole (3111) is provided with an internal thread matched with the external thread (32211), the first rotating member (321) and the second rotating member (322) synchronously rotate, the external thread (32211) and the internal thread are in threaded connection, and the first abutting member (311) and the second abutting member (312) are close to each other or far away from each other.

5. The positioning and clamping instrument according to claim 4, wherein the first connection portion (3211) is provided with a limiting plug (32111), the second connection portion (3221) is provided with a limiting jack (32212), and the limiting plug (32111) is cooperatively inserted into the limiting jack (32212) along the second direction, so that the second connection portion (3221) can rotate synchronously with the first connection portion (3211).

6. The positioning and clamping instrument according to claim 5, wherein the second connecting portion (3221) is provided with a clamping hole (32213), the clamping hole (32213) penetrates through an inner hole wall of the limiting insertion hole (32212), the limiting insertion block (32111) is provided with a clamping block (32112), and the clamping block (32112) is clamped into the clamping hole (32213), so that the second connecting portion (3221) can be fixedly connected with the first connecting portion (3211) in a direction parallel to the first direction.

7. The positioning and clamping instrument according to claim 4, characterized in that the external threads (32211) comprise a first external thread (32214) and a second external thread (32215), the threaded holes (3111) comprise a first threaded hole (3112) and a second threaded hole (3121), the first external thread (32214) and the second external thread (32215) are respectively provided at both ends of the second rotating member (322), the first threaded hole (3112) is provided at the first connecting portion (3211), the first threaded hole (3112) is provided with a first internal thread adapted to the first external thread (32214), the second threaded hole (3121) is provided at the second connecting portion (3221) hole, the second threaded hole (3121) is provided with a second internal thread adapted to the second external thread (32215), the direction of rotation of the second internal thread is opposite to that of the first internal thread, the first rotating member (321) and the second rotating member (322) are rotated synchronously such that the first external thread (563) and the second external thread (78) can be held against each other and the second member (312) are rotated synchronously.

8. The positioning and clamping instrument according to claim 2, characterized in that the power assembly (32) comprises a first slider (33) and a first elastic member (34), the first elastic member (34) driving the first slider (33) against the first clamping portion (12); and/or the power assembly (32) comprises a second sliding block (33) and a second elastic piece (34), and the second elastic piece (34) drives the second sliding block (33) to abut against the second clamping part (22).

9. The positioning clamping instrument according to claim 1, characterized in that the first clamping member (10) has a first body portion (11) and a first clamping portion (12) connected, the second clamping member (20) has a second body portion (21) and a second clamping portion (22) connected, the first clamping portion (12) and the second clamping portion (22) together defining the limiting channel (101); the adjusting part (30) comprises an abutting assembly (31) for abutting the first clamping part (12) and the second clamping part (22) respectively;

the holding assembly (31) includes:

the support piece (35) is arranged between the first clamping piece (10) and the second clamping piece (20), and the first clamping piece (10) and the second clamping piece (20) are connected with the support piece (35);

-a carrier (36), the first clamping portion (12) and the second clamping portion (22) being located on one side of the support (35), the carrier (36), the first body portion (11) and the second body portion (21) being located on the other side of the support (35);

the rotating piece (37), rotationally cover is located carrier (36), carrier (36) with carrier (37) are located the same side of support piece (35), just the opposite both ends of rotor (37) respectively with first main part (11) with second main part (21) are held against, through relative carrier (36) rotate along third direction rotor (37), can make first clamping part (12) with second clamping part (22) are close to each other, through relative carrier (36) rotate along fourth direction rotor (37), can make first clamping part (12) with second clamping part (22) first clamping part (12) keep away from under its self elastic force second clamping part (22), and can make second clamping part (22) keep away from under its self elastic force first clamping part (12), the third direction is the opposite direction of fourth direction.

10. The positioning and gripping instrument according to any of the claims 1 to 9, characterized in that the first gripping member (10) is provided with an angled first gripping surface (16) and a second gripping surface (17), the second gripping member (20) is provided with an angled third gripping surface (26) and a fourth gripping surface (27), the first gripping surface (16), the second gripping surface (17), the third gripping surface (26) and the fourth gripping surface (27) being adapted to be in contact with the piercing needle (2000).

11. A clamping device, comprising:

the positioning and clamping instrument (100) according to any of the claims 1 to 10;

and the mechanical arm (200) is connected with the positioning and clamping instrument.

12. Clamping device according to claim 11, characterized in that the positioning clamping instrument (100) comprises a body member (102), the first clamping member (10) and the second clamping member (20) being both connected to the body member (102), the body member (102) being detachably connected to the robot arm (200).

13. Clamping device according to claim 12, characterized in that the body member (102) is provided with a plug-in part (1021), the mechanical arm (200) is provided with a plug-in part, and the plug-in part (1021) is in plug-in fit with the plug-in part, so that the body member (102) and the positioning and clamping instrument (100) are detachably connected.

14. The clamping device according to claim 11, wherein the clamping device (1000) comprises a sterile cover (300), the sterile cover (300) being provided over the robotic arm (200); the clamping device (1000) comprises an adapter plate (400) connected with one end of the sterile cover (300), wherein the adapter plate (400) is provided with a mounting hole (410), and the mounting hole (410) is communicated with the inner space of the sterile cover (300); the positioning and clamping device (100) comprises a main body piece (102), the first clamping piece (10) and the second clamping piece (20) are connected with the main body piece (102), the main body piece (102) is provided with a mounting part (1023), the mounting part (1023) penetrates through the mounting hole (410) and is connected with the mechanical arm (200), the mechanical arm (200) or the main body piece (102) is detachably connected with the adapter plate (400), and the main body piece (102) shields the orifice of the mounting hole (410).

15. The clamping device according to claim 14, wherein the adapter plate (400) is provided with a connecting groove (420), a first clamping portion (430) is arranged on a side wall of the connecting groove (420), the mounting hole (410) is formed in a bottom wall of the connecting groove (420), an end portion of the mechanical arm (200) is accommodated in the connecting groove (420), the mechanical arm (200) is provided with a mounting clamping portion (230), and the first clamping portion (430) is in clamping fit with the mounting clamping portion (230) so as to detachably connect the adapter plate (400) with the mechanical arm (200).

16. The clamping device according to claim 15, wherein the adapter plate (400) is provided with a second clamping portion (450), the main body member (102) is provided with a connecting clamping portion (1024), and the second clamping portion (450) is in clamping fit with the connecting clamping portion (1024) so as to realize detachable connection of the adapter plate (400) with the main body member (102).

17. A method of using a clamping device as claimed in any one of claims 12 to 16, comprising:

covering the mechanical arm (200) with a sterile cover (300);

connecting the positioning and clamping device (100) with the mechanical arm (200);

placing a puncture needle (2000) into the limit channel (101) of the positioning and clamping instrument (100) and performing puncture;

and taking out the puncture needle (2000) from the limit channel (101).

18. Surgical robot, characterized in that it comprises a clamping device (1000) according to any of claims 12 to 16.