CN116784958A - Puncture devices and surgical robots - Google Patents
Puncture devices and surgical robots Download PDFInfo
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- CN116784958A CN116784958A CN202310937194.7A CN202310937194A CN116784958A CN 116784958 A CN116784958 A CN 116784958A CN 202310937194 A CN202310937194 A CN 202310937194A CN 116784958 A CN116784958 A CN 116784958A
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- clamped
- inclined surface
- radio frequency
- frequency identification
- top block
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3478—Endoscopic needles, e.g. for infusion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Oral & Maxillofacial Surgery (AREA)
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Abstract
The invention provides a puncture device and a surgical robot, and relates to the technical field of medical instruments. The puncture device comprises an abdomen puncture outfit, comprises a sleeve, a clamped part and a radio frequency identification tag, wherein the clamped part is arranged on the outer peripheral surface of the sleeve, the clamped part is provided with an inner cavity, and the radio frequency identification tag is arranged in the inner cavity; the clamping mechanism is used for being arranged on the mechanical arm end effector and comprises clamping jaws and a radio frequency identification reading device, the clamping jaws are used for clamping the clamped part, and after the clamped part is clamped by the clamping jaws, the radio frequency identification reading device identifies information stored in the radio frequency identification tag. The invention not only can sense the installation of the abdominal puncture outfit, but also can identify the model of the abdominal puncture outfit so as to determine the subsequent surgical procedure to be executed, thereby providing great convenience for the surgery.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a puncture device and a surgical robot.
Background
Robot-assisted minimally invasive surgery typically requires the use of a penetrator. Robotic surgery is a high-precision minimally invasive surgical technique, and a doctor can perform high-precision and high-sensitivity surgery by using a robotic arm and a camera. In robotic surgery, a doctor typically uses a plurality of piercers, inserts a robotic arm into, for example, the abdominal cavity of a patient, and performs a surgical operation. Robotic surgical penetrators are typically more slender and delicate than conventional surgical penetrators to facilitate manipulation in a small space. These penetrators are typically made of a high strength material that can penetrate the skin and abdominal cavity without damaging patient tissue, providing access to the abdominal cavity for the robotic arm. Robot-assisted minimally invasive surgery is generally less invasive and faster recovery time, but still requires highly trained specialists to perform the procedure to ensure surgical safety and efficacy.
In the prior art, a puncture outfit clamping mechanism is usually arranged at the tail part of an end effector of a mechanical arm of a surgical robot, but most of clamping mechanisms only have the function of installing the puncture outfit because of different types and kinds of puncture outfits, and the types of the puncture outfit cannot be identified, so that the surgical efficiency is affected.
Disclosure of Invention
To solve at least the above problems to a certain extent, the present invention provides, in a first aspect, a puncture device comprising: the abdomen puncture outfit comprises a sleeve, a clamped part and a radio frequency identification tag, wherein the clamped part is arranged on the outer peripheral surface of the sleeve, the clamped part is provided with an inner cavity, and the radio frequency identification tag is arranged in the inner cavity; the clamping mechanism is used for being installed on the mechanical arm end effector and comprises clamping jaws and a radio frequency identification reading device, the clamping jaws are used for clamping the clamped part, and after the clamped part is clamped by the clamping jaws, the radio frequency identification reading device identifies information stored in the radio frequency identification tag.
Optionally, the material of the clamped portion includes any one of metal, ceramic and glass.
Optionally, two clamping jaws are provided, each clamping jaw comprises a head, and the two heads are used for synchronously moving towards each other, so that the two heads are abutted to two sides of the clamped part.
Optionally, the fixture includes frame, protection shield and baffle, the both ends of frame are all established to uncovered, the protection shield is connected in one of them uncovered, another the uncovered is last to be connected the baffle, the radio frequency identification reading device is located the protection shield is dorsad the one side of head, just the radio frequency identification reading device install in inside the frame, the both sides of protection shield with form between the frame inside wall and supply two the logical groove of head, works as by the both sides of clamping part is pressed from both sides by two when clamping jaw, by the upper and lower both sides of clamping part respectively the butt in the upper and lower both sides of protection shield.
Optionally, the fixture still includes presses the part, slides kicking block, spring and locating shaft, two the clamping jaw still includes the afterbody, two the locating shaft connect respectively in interior bottom wall and the interior roof of frame, two the middle part of clamping jaw overlaps respectively locates two on the locating shaft, it locates to slide the kicking block the diapire middle part in the frame, be equipped with on the sliding kicking block and supply the shrinkage pool of spring one end holding, the spring other end connect in on the baffle, the both sides of sliding kicking block with correspond afterbody sliding connection, press the part be used for driving the sliding kicking block towards the baffle direction slides, wherein, works as the sliding kicking block towards the baffle direction slides, two the head is released with the butt state of being held in clamping part both sides.
Optionally, the two sides of the sliding top block each comprise a first inclined surface part, a second inclined surface part and a third inclined surface part, the first inclined surface part is close to the baffle, the third inclined surface part is far away from the baffle, the second inclined surface part is connected with the first inclined surface part and the third inclined surface part, wherein,
when the tail part is abutted with the first inclined surface part, the head part is abutted on the corresponding side of the clamped part, and the rotation of the clamping jaw around the positioning shaft is limited;
when the second inclined surface portion and the third inclined surface portion move in the direction corresponding to the head portion, the rotation restriction of the clamping jaw around the positioning shaft is released.
Optionally, a sliding groove is formed in the inner bottom wall of the frame, and the sliding groove is used for being in sliding connection with the sliding top block.
Optionally, the pressing component includes a handle, a first connecting rod and a second connecting rod, one end of the second connecting rod is rotatably connected to the frame, the other end of the second connecting rod is rotatably connected to one end of the handle and one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected to the sliding top block.
Optionally, the top wall of the frame is provided with a slot, and the slot is used for the first connecting rod to pass through.
In a second aspect, the present invention provides a surgical robot comprising a robotic end effector on which is mounted a lancing device as described above.
Compared with the prior art, the invention has the following beneficial effects:
by clamping the clamped portion with the clamping jaw, the puncture device is fixed by the clamping mechanism, and at the same time, the clamping mechanism is mounted to the arm end effector, so that, for example, an abdominal puncture operation can be performed. And the inner cavity of the clamped part is also provided with a radio frequency identification tag, such as an RFID chip, and when the clamped part is clamped by the clamping jaw, the radio frequency identification reader in the clamping mechanism can identify information stored in the radio frequency identification tag, such as information corresponding to the specific type of the puncture outfit, and the like. Therefore, the device not only can be used for clamping the puncture outfit, but also can be used for detecting whether the puncture outfit of a specific type is clamped, namely, the device can be used for installing the induction puncture outfit, and the model of the puncture outfit can be identified, so that a follow-up operation program to be executed can be clarified, and greater convenience is provided for operation.
Drawings
FIG. 1 is a schematic view of a structure of an abdominal puncture outfit according to an embodiment of the present invention after the abdominal puncture outfit is clamped;
FIG. 2 is a schematic diagram of an embodiment of the present invention;
FIG. 3 is a front view of an embodiment of the present invention;
FIG. 4 is a cross-sectional view taken along A-A in FIG. 3;
FIG. 5 is a schematic view of a clamping mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic view of the inside of the clamping mechanism according to the embodiment of the present invention;
FIG. 7 is a schematic view of a sliding top block according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a frame according to an embodiment of the present invention.
Reference numerals illustrate:
1. a puncture outfit; 11. a sleeve; 12. a clamped portion; 13. a radio frequency identification tag; 2. a clamping mechanism; 21. a frame; 211. slotting; 212. a chute; 22. a pressing member; 221. a handle; 222. a first link; 223. a second link; 23. a clamping jaw; 231. a head; 232. tail part; 24. a sliding top block; 241. a first inclined surface portion; 242. a second inclined surface portion; 243. a third inclined surface portion; 25. a spring; 26. a protective plate; 27. a radio frequency identification reading device; 28. positioning a shaft; 29. a baffle; 100. a robotic arm end effector.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present specification, descriptions of the terms "embodiment," "one embodiment," "some embodiments," "illustratively," and "one embodiment" and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or implementation of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same examples or implementations. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or implementations.
The terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. As such, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
The Z axis in the drawing represents vertical, i.e., up and down, and the positive direction of the Z axis (i.e., the arrow pointing to the Z axis) represents up, and the negative direction of the Z axis represents down; the X-axis in the drawing indicates the horizontal direction and is designated as the left-right position, and the positive direction of the X-axis (i.e., the arrow of the X-axis points) indicates the left side, and the negative direction of the X-axis indicates the right side; the Y-axis in the drawing indicates the front-back position, and the positive direction of the Y-axis (i.e., the arrow of the Y-axis is directed) indicates the front side, and the negative direction of the Y-axis indicates the rear side. It should also be noted that the foregoing Z-axis, Y-axis, and X-axis are meant to be illustrative only and not indicative or implying that the apparatus or component in question must be oriented, configured or operated in a particular orientation, and therefore should not be construed as limiting the invention.
As shown in fig. 1, 2 and 3, an embodiment of the present invention provides a puncture device, including:
the abdomen puncture outfit 1 comprises a sleeve 11, a clamped part 12 and a radio frequency identification tag 13, wherein the clamped part 12 is arranged on the outer peripheral surface of the sleeve 11, the clamped part 12 is provided with an inner cavity, and the radio frequency identification tag 13 is arranged in the inner cavity;
a clamping mechanism 2 for mounting on the end effector 100 of the mechanical arm, the clamping mechanism 2 comprising a clamping jaw 23 and a radio frequency identification reading device 27, the clamping jaw 23 being adapted to clamp the clamped portion 12, wherein,
when the clamped portion 12 is clamped by the clamping jaw 23, the rfid reading device 27 recognizes the information stored in the rfid tag 13.
Specifically, the abdominal puncture device 1 is a medical instrument for puncturing the abdomen, and is generally used when an operation is required in the abdominal cavity of a patient. The abdominal puncture device 1 is generally composed of an elongated needle which penetrates the skin and abdominal tissues into the abdominal cavity or organs of the abdomen and a cannula 11 which is then withdrawn, the cannula 11 being left on the surface of the abdomen and being advanced through a passage in the abdominal cavity of the patient by the doctor in order to deliver surgical instruments or other drugs through this passage into the abdominal cavity of the patient. The clamped portion 12 may be integrally formed on the outer peripheral surface of the sleeve 11, the interior of the clamped portion 12 may be integrally formed with an inner cavity, and the rfid tag 13 may be attached to a side surface of the inner cavity. The radio frequency identification tag 13 can be arranged in the reusable or disposable abdomen puncture outfit 1 for the mechanical arm of the operation robot.
In the present embodiment, the clamping jaw 23 clamps the clamped portion 12 to fix the abdominal puncture device 1 by the clamping mechanism 2, and at the same time, the clamping mechanism 2 is attached to the robot arm end effector 100, so that, for example, an abdominal puncture operation can be performed. And the inner cavity of the clamped part 12 is also provided with a radio frequency identification tag 13, such as an RFID chip, and when the clamped part 12 is clamped by the clamping jaw 23, the radio frequency identification reading device 27 in the clamping mechanism 2 can identify information stored in the radio frequency identification tag 13, such as information corresponding to a specific type of the puncture outfit. Therefore, the device not only can be used for clamping the abdomen puncture outfit 1, but also can be used for detecting whether the abdomen puncture outfit 1 of a specific type is clamped, namely, the device not only can sense the installation of the abdomen puncture outfit 1, but also can identify the model of the abdomen puncture outfit 1 so as to clearly define the follow-up operation procedures required to be executed, and provides great convenience for the operation.
As shown in fig. 4, the clamped portion 12 may be made of any one of metal, ceramic and glass.
In this embodiment, since the inner cavity is provided in the clamped portion 12 of the abdominal puncture outfit 1, the radio frequency identification tag 13 is provided in the inner cavity, and the abdominal puncture outfit 1 used repeatedly needs to be sterilized at high temperature, the inner cavity needs to have strict sealing performance, and the clamped portion 12 needs to be penetrated by radio signals without affecting signal transmission, for example, metal, ceramic, glass, etc. are selected.
As shown in fig. 5 and 6, alternatively, two clamping jaws 23 are provided, and each of the two clamping jaws 23 includes a head 231, and the two heads 231 are used for synchronously moving toward each other so that the two heads 231 abut against both sides of the clamped portion 12.
In this embodiment, after the clamped portion 12 is placed between the two clamping jaws 23, the two heads 231 of the two clamping jaws 23 can move synchronously toward each other until both sides of the clamped portion 12 are clamped, thereby fixing the sleeve 11.
As shown in fig. 1, 5 and 6, alternatively, the clamping mechanism 2 includes a frame 21, a protection plate 26 and a baffle 29, two ends of the frame 21 are opened, the protection plate 26 is connected in one of the openings, the baffle 29 is connected to the other opening, the rfid reader 27 is arranged on one side of the protection plate 26 opposite to the head 231, the rfid reader 27 is mounted in the frame 21, through grooves for the two heads 231 are formed between two sides of the protection plate 26 and the inner side wall of the frame 21, and when two sides of the clamped portion 12 are clamped by the two clamping jaws 23, the upper and lower sides of the clamped portion 12 are respectively abutted to the upper and lower sides of the protection plate 26.
In this embodiment, two ends of the frame 21 are formed into openings integrally, wherein the openings at one end of the frame 21 and the ports of the mechanical arm end effector 100 are arranged in the same direction, so that the heads 231 of the two clamping jaws 23 extend out, the openings at the other end of the frame 21 are positioned inside the mechanical arm end effector 100, through grooves for the two heads 231 are formed between two sides of the protecting plate 26 and the inner side wall of the frame 21, so that the two sides of the clamped portion 12 are abutted by the heads 231 of the two clamping jaws 23, namely, the left and right sides of the clamped portion 12 are abutted in the X-axis direction in the figure, and the upper and lower sides of the clamped portion 12 are abutted against the upper and lower sides of the protecting plate 26, namely, in the Z-axis direction in the figure, so that the upper, lower, left and right sides of the clamped portion 12 are limited, the movement of the clamped portion 12 in four directions is limited, the shaking condition of the clamped portion 12 is avoided, and the stability of the sleeve 11 is improved; the protective plate 26 is also made of a material that does not affect signal transmission, such as metal, ceramic, glass, etc.
As shown in fig. 1 and 5, optionally, the clamping mechanism 2 further includes a pressing component 22, a sliding top block 24, a spring 25 and positioning shafts 28, the two clamping jaws 23 further include tail portions 232, the two positioning shafts 28 are respectively connected to an inner bottom wall and an inner top wall of the frame 21, middle portions of the two clamping jaws 23 are respectively sleeved on the two positioning shafts 28, the sliding top block 24 is slidably disposed in the middle portion of the inner bottom wall of the frame 21, a concave hole for accommodating one end of the spring 25 is disposed on the sliding top block 24, the other end of the spring 25 is connected to the baffle 29, two sides of the sliding top block 24 are slidably connected with the corresponding tail portions 232, the pressing component 22 is used for driving the sliding top block 24 to slide towards the baffle 29, and when the sliding top block 24 slides towards the baffle 29, the two head portions 231 release the abutting state with two sides of the clamped portion 12.
In the present embodiment, the middle portions of the clamping jaws 23 can rotate about the positioning shaft 28, so that the heads 231 of the two clamping jaws 23 can be moved closer to or farther from each other, so that the clamped portion 12 can be clamped or unclamped, and the sleeve 11 can be attached or detached.
As shown in fig. 5, 6 and 7, alternatively, both sides of the sliding top block 24 include a first inclined surface portion 241, a second inclined surface portion 242 and a third inclined surface portion 243, the first inclined surface portion 241 is close to the baffle 29, the third inclined surface portion 243 is far from the baffle 29, the second inclined surface portion 242 connects the first inclined surface portion 241 and the third inclined surface portion 243, wherein,
when the tail 232 abuts against the first inclined surface portion 241, the head 231 abuts against the side corresponding to the clamped portion 12, and the rotation of the jaw 23 about the positioning shaft 28 is restricted;
when the second slope 242 and the third slope 243 move in the direction of the corresponding head 231, the rotation restriction of the jaw 23 about the positioning shaft 28 is released.
Specifically, the first inclined surface portion 241 approaches the baffle 29, that is, the first inclined surface portion 241 is far from the head 231, and the third inclined surface portion 243 is far from the baffle 29, that is, the third inclined surface portion 243 approaches the head 231, the transition between the first inclined surface portion 241 and the third inclined surface portion 243 is performed through the second inclined surface portion 242, and when the tail 232 abuts against the first inclined surface portion 241, the sliding top block 24 is pushed by the spring 25 at this time, so that the first inclined surface portion 241 applies a pushing force to the tail 232, thereby clamping the clamped portion 12 through the head 231; when the sliding top block 24 moves toward the shutter 29, the spring 25 is gradually compressed, and the tail 232 gradually slides from the first inclined surface portion 241 to the second inclined surface portion 242 and the third inclined surface portion 243 in order, and the tail 232 does not contact with the second inclined surface portion 242 and the third inclined surface portion 243, so that the tail 232 has a movable space, and the rotation restriction of the holding jaw 23 about the positioning shaft 28 is released.
In this embodiment, the spring 25 applies force to the sliding top block 24 to make the tail 232 abut against the first inclined surface portion 241, so as to limit the rotation of the clamping jaw 23 around the positioning shaft 28, and the first inclined surface portion 241 can also apply a pushing force to the tail 232, so that the head 231 can stably clamp the clamped portion 12, and further fix the abdominal puncture outfit 1; when the sliding top block 24 is pushed towards the baffle 29, the spring 25 is gradually compressed, the tail 232 moves away from the first inclined surface part 241, the second inclined surface part 242 and the third inclined surface part 243 gradually move to the tail 232 position, so that the tail 232 has a movable space, the rotation restriction of the clamping jaws 23 around the positioning shaft 28 is released, the heads 231 of the two clamping jaws 23 can be broken away from two sides of the clamped part 12, and the sleeve 11 is released; when the sleeve 11 is installed, the sliding top block 24 is pushed towards the baffle 29, so that the two clamping jaws 23 can freely rotate, after the two clamping jaws 23 are broken off, the clamped part 12 is placed between the heads 231 of the two clamping jaws 23, then the sliding top block 24 is released, the spring 25 is restored to the original state, the sliding top block 24 is pushed back to the original position, the first inclined surface part 241 is abutted with the tail part 232, the movement of the tail part 232 is limited, and further the movement of the head part 231 is limited, so that the clamped part 12 is clamped.
As shown in fig. 8, the inner bottom wall of the frame 21 is optionally provided with a slide groove 212, the slide groove 212 being for sliding connection with the sliding top block 24.
In this embodiment, the middle part of the inner bottom surface of the frame 21 is provided with the sliding groove 212, and the lower surface of the sliding top block 24 may be integrally formed with a sliding portion, and the sliding portion is slidably disposed in the sliding groove 212, so that the sliding top block 24 can move in a direction approaching or separating from the baffle 29.
As shown in fig. 5 and 6, alternatively, the pressing member 22 includes a handle 221, a first link 222, and a second link 223, one end of the second link 223 is rotatably connected to the frame 21, the other end of the second link 223 is rotatably connected to the handle 221 and one end of the first link 222, and the other end of the first link 222 is rotatably connected to the sliding top block 24.
Specifically, the lower end of the handle 221 is integrally formed with two hinge parts, one end of the first link 222 is rotatably connected to the middle parts of the two hinge parts through a rotating shaft, two ends of the rotating shaft are also rotatably connected to one ends of the second link 223 respectively, the other ends of the two second links 223 are rotatably connected to the upper part of the frame 21 through another rotating shaft, and the other ends of the first link 222 extend obliquely downward toward the baffle 29 and are hinged to the sliding top block 24.
In this embodiment, pressing the handle 221 causes the end of the second link 223 hinged to the handle 221 to rotate clockwise, and the first link 222 moves in the direction of the shutter 29 as a whole, thereby driving the sliding top block 24 to slide in the direction of the shutter 29, compressing the spring 25, releasing the handle 221, releasing the spring 25, and sliding the sliding top block 24 away from the shutter 29.
As shown in fig. 5 and 8, the top wall of the frame 21 is optionally provided with a slot 211, the slot 211 being provided for the first link 222 to pass through.
In this embodiment, since both ends of the frame 21 are opened, the slot 211 is disposed in the middle of the top wall of the frame 21 toward the baffle 29, specifically, the top surface of the sliding top block 24 is provided with a hinge seat, and the corresponding end of the first link 222 is rotationally connected with the hinge seat through a rotation shaft, so that when the sliding top block 24 moves, the hinge seat can move in the slot 211, and thus the blocking condition of the sliding top block 24 is not caused.
Another embodiment of the present invention provides a surgical robot including a robot arm end effector 100, the robot arm end effector 100 having the above-described piercing device mounted thereon, and thus having the same advantages as the above-described piercing device.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and such changes and modifications would fall within the scope of the invention.
Claims (10)
1. A lancing device, comprising:
the puncture outfit (1) comprises a sleeve (11), a clamped part (12) and a radio frequency identification tag (13), wherein the clamped part (12) is arranged on the outer peripheral surface of the sleeve (11), the clamped part (12) is provided with an inner cavity, and the radio frequency identification tag (13) is arranged in the inner cavity;
the clamping mechanism (2) is used for being installed on the mechanical arm end effector (100), the clamping mechanism (2) comprises clamping jaws (23) and a radio frequency identification reading device (27), the clamping jaws (23) are used for clamping the clamped portion (12), and when the clamped portion (12) is clamped by the clamping jaws (23), the radio frequency identification reading device (27) is used for identifying information stored in the radio frequency identification tag (13).
2. The puncture device according to claim 1, wherein the material of the held portion (12) comprises any one of metal, ceramic and glass.
3. Puncturing device according to claim 1, wherein said jaws (23) are provided with two, both said jaws (23) comprising heads (231), both said heads (231) being adapted to move synchronously towards each other such that both said heads (231) abut against both sides of said clamped portion (12).
4. A puncture device according to claim 3, characterized in that the clamping mechanism (2) comprises a frame (21), a protective plate (26) and a baffle (29), two ends of the frame (21) are respectively provided with an opening, the protective plate (26) is connected in one opening, the other opening is connected with the baffle (29), the radio frequency identification reading device (27) is arranged on one side of the protective plate (26) opposite to the head (231), the radio frequency identification reading device (27) is arranged in the frame (21), through grooves for the two heads (231) are formed between two sides of the protective plate (26) and the inner side wall of the frame (21), and when two sides of the clamped part (12) are clamped by the two clamping jaws (23), the upper side and the lower side of the clamped part (12) are respectively abutted against the upper side and the lower side of the protective plate (26).
5. The puncturing device according to claim 4, wherein the clamping mechanism (2) further comprises a pressing member (22), a sliding top block (24), a spring (25) and a positioning shaft (28), the two clamping jaws (23) further comprise tail portions (232), the two positioning shafts (28) are respectively connected to the inner bottom wall and the inner top wall of the frame (21), the middle portions of the two clamping jaws (23) are respectively sleeved on the two positioning shafts (28), the sliding top block (24) is slidably arranged in the middle portion of the inner bottom wall of the frame (21), a concave hole for accommodating one end of the spring (25) is formed in the sliding top block (24), the other end of the spring (25) is connected to the baffle plate (29), two sides of the sliding top block (24) are slidably connected with the corresponding tail portions (232), the pressing member (22) is used for driving the sliding top block (24) to slide towards the baffle plate (29), and when the sliding top block (24) slides towards the baffle plate (29), the two sides of the sliding top block (24) are in the direction, and the two sides of the baffle plate (231) are clamped against the two sides of the baffle plate (12).
6. The puncturing device as claimed in claim 5, wherein the sliding top block (24) comprises a first inclined surface portion (241), a second inclined surface portion (242) and a third inclined surface portion (243) on both sides, wherein the first inclined surface portion (241) is close to the barrier (29), the third inclined surface portion (243) is far from the barrier (29), the second inclined surface portion (242) connects the first inclined surface portion (241) and the third inclined surface portion (243),
when the tail part (232) is abutted with the first inclined surface part (241), the head part (231) is abutted on the corresponding side of the clamped part (12), and the rotation of the clamping jaw (23) around the positioning shaft (28) is limited;
when the second inclined surface portion (242) and the third inclined surface portion (243) move in the direction corresponding to the head portion (231), the rotation restriction of the clamping jaw (23) around the positioning shaft (28) is released.
7. Puncturing device according to claim 5, wherein the inner bottom wall of the frame (21) is provided with a sliding groove (212), which sliding groove (212) is adapted for sliding connection with the sliding top block (24).
8. The puncture device according to claim 6, wherein the pressing member (22) comprises a handle (221), a first link (222) and a second link (223), one end of the second link (223) is rotatably connected to the frame (21), the other end of the second link (223) is rotatably connected to one end of the handle (221) and the first link (222), and the other end of the first link (222) is rotatably connected to the sliding top block (24).
9. Puncturing device according to claim 8, wherein the top wall of the frame (21) is provided with a slot (211), said slot (211) being provided for the passage of the first link (222).
10. A surgical robot comprising a robotic end effector (100), said robotic end effector (100) having the lancing device according to any one of claims 1-9 mounted thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310937194.7A CN116784958A (en) | 2023-07-27 | 2023-07-27 | Puncture devices and surgical robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310937194.7A CN116784958A (en) | 2023-07-27 | 2023-07-27 | Puncture devices and surgical robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116784958A true CN116784958A (en) | 2023-09-22 |
Family
ID=88043930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310937194.7A Pending CN116784958A (en) | 2023-07-27 | 2023-07-27 | Puncture devices and surgical robots |
Country Status (1)
| Country | Link |
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| CN (1) | CN116784958A (en) |
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| WO2019014880A1 (en) * | 2017-07-19 | 2019-01-24 | 深圳和而泰智能控制股份有限公司 | Electric device capable of automatically identifying drill bit, drill bit, and electric tool |
| CN116370087A (en) * | 2023-04-25 | 2023-07-04 | 苏州康多机器人有限公司 | A clamping mechanism for trocar casing at the end of mechanical arm |
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| JP2007330504A (en) * | 2006-06-15 | 2007-12-27 | Ge Medical Systems Global Technology Co Llc | Ultrasonic diagnostic device, ultrasonic probe and puncture needle attachment |
| CN207306683U (en) * | 2016-06-30 | 2018-05-04 | 广东杜曼医学科技有限公司 | A kind of ultrasonic probe puncture frame with RFID |
| US20180021098A1 (en) * | 2016-07-20 | 2018-01-25 | Intuitive Surgical Operations, Inc. | Surgical cannulas, and related systems and methods |
| WO2019014880A1 (en) * | 2017-07-19 | 2019-01-24 | 深圳和而泰智能控制股份有限公司 | Electric device capable of automatically identifying drill bit, drill bit, and electric tool |
| CN208126403U (en) * | 2018-05-16 | 2018-11-20 | 揭阳市华誉电子科技有限公司 | A kind of tag recognition manipulator |
| CN116370087A (en) * | 2023-04-25 | 2023-07-04 | 苏州康多机器人有限公司 | A clamping mechanism for trocar casing at the end of mechanical arm |
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