CN114831736B - Clamping instrument with force feedback for natural cavity tract operation - Google Patents

Abstract

The application provides a clamping instrument with force feedback for natural cavity surgery, which comprises a handle, two clamping nozzle assemblies, a driving mechanism and a force feedback assembly, wherein the driving mechanism at least drives one clamping nozzle assembly to rotate relative to the handle so that one ends of the two clamping nozzle assemblies, which are far away from the handle, are close to or far away from each other; the force feedback assembly comprises an elastic deformation unit, a displacement unit and a control unit, wherein the elastic deformation unit responds to the force application size of the clamping nozzle assembly and generates elastic deformation positively related to the force application size, the displacement unit and the clamping nozzle assembly follow up and respond to the deformation size of the elastic deformation unit and generate displacement change positively related to the deformation amount, and the control unit receives the displacement change size and outputs the force application size of the clamping nozzle assembly so as to realize force sensing of an operator. According to the application, the expansion and contraction amount of the elastic deformation unit is indirectly measured through the displacement unit, so that the force application size of the clamping nozzle assembly is obtained, the position arrangement of the displacement unit is flexible, and the requirement on the internal space of the clamping apparatus is reduced.

Description

Clamping instrument with force feedback for natural cavity tract operation

Technical Field

The application belongs to the technical field of medical appliances, and particularly relates to a clamping appliance with force feedback for natural cavity surgery.

Background

The surgical instruments suitable for natural cavity surgery cannot realize force feedback effect by simply installing components such as a force sensor and the like due to space geometric constraint of an access port and the tail end of the surgical instrument, so that the commonly used natural cavity surgical instruments are often researched more in visual feedback and space freedom degree, and the surgical instruments with force feedback are rare at present.

The master-slave design adopted by the prior natural cavity surgical robot can lead operators to almost completely lose the force sense interaction information, reduce or completely eliminate the sense of interaction force between tools and human tissues, and is a relatively large regretta and pain point for the application and popularization of the surgical robot in the natural cavity surgery all the time. To solve this problem, many researchers have been actively developing force sensors and force sensing technologies.

Disclosure of Invention

The application aims to solve the technical problems in the prior art, and aims to provide a clamping device with force feedback for natural cavity tract operation.

In order to achieve the above purpose, the application adopts the following technical scheme: the clamping instrument for the natural cavity tract surgery with the force feedback comprises a handle, two clamping nozzle assemblies, a driving mechanism and a force feedback assembly, wherein the two clamping nozzle assemblies are arranged at the front end of the handle and are oppositely arranged; the force feedback assembly adopts one of the following structures:

structure one: the force feedback assembly comprises an elastic deformation unit, a displacement detection unit and a control unit, wherein the elastic deformation unit is in contact with the clamping nozzle assembly and responds to the force application size of the clamping nozzle assembly and generates elastic deformation positively related to the force application size, the displacement detection unit responds to the deformation size of the elastic deformation unit and measures the expansion and contraction amount of the elastic deformation unit, and the control unit receives the expansion and contraction amount and outputs the force application size of the clamping nozzle assembly so as to realize force sensing of an operator;

and (2) a structure II: the force feedback assembly comprises an elastic deformation unit, a displacement unit and a control unit, wherein the elastic deformation unit is in contact with the clamping nozzle assembly and responds to the force application size of the clamping nozzle assembly and generates elastic deformation positively related to the force application size, the displacement unit and the clamping nozzle assembly follow up and respond to the deformation size of the elastic deformation unit and generate displacement change positively related to the deformation amount, and the control unit receives the displacement change size and outputs the force application size of the clamping nozzle assembly so as to realize force perception of an operator;

and (3) a structure III: the force feedback assembly comprises an elastic deformation unit, an angle measurement unit and a control unit, wherein the elastic deformation unit is in contact with the active nozzle clamping assembly and responds to the force application size of the active nozzle clamping assembly and generates elastic deformation positively related to the force application size, the angle deformation unit and the active nozzle clamping assembly follow-up and responds to the deformation size of the elastic deformation unit and generates angle change positively related to the deformation amount, the angle measurement unit detects the angle change, and the control unit receives the angle change size and outputs the force application size of the active nozzle clamping assembly so as to realize force sensing of an operator.

In the first technical scheme, the displacement detection unit is arranged to directly measure the expansion and contraction amount of the elastic deformation unit, so that the force application size of the clamping nozzle assembly is obtained, and the force sensing of an operator is realized; in the second structure, the displacement unit is arranged, the displacement unit and the clamping nozzle assembly follow-up and respond to the deformation of the elastic deformation unit and generate displacement change positively related to the deformation, so that the expansion and contraction of the elastic deformation unit is measured indirectly, the position arrangement of the displacement unit is flexible, and the requirement on the internal space of the clamping apparatus is reduced. In the third structure, by arranging the angle measuring unit, the deformation of the elastic deformation unit is measured to generate the angle change positively related to the deformation, so that the expansion and contraction amount of the elastic deformation unit is obtained, and the force application size of the nozzle clamping assembly is obtained.

In a preferred embodiment of the present application, in the first, second and third structures, the active gripper assembly includes an active gripper rotatably connected to the handle, and an active clamping plate elastically connected to the active gripper by an elastic deformation unit for clamping the object to be clamped.

In the technical scheme, the elastic deformation unit is arranged between the active clamping plate and the active clamping nozzle and is directly connected with the active clamping plate, so that the measurement result of the force feedback unit is more accurate.

In a preferred embodiment of the present application, in the first structure, the displacement detecting unit includes a distance sensor mounted on the active tip or the active splint for detecting a relative displacement between the active tip and the active splint; or in the second structure, the displacement unit comprises a driving cylinder which is connected with the driving nozzle assembly through a transmission mechanism and is positioned in the handle, and a driven cylinder which is connected with the driving cylinder through two fluid pipes and is positioned outside the handle, a distance sensor is arranged outside the handle, a signal output end of the distance sensor is connected with the control unit, the elastic deformation quantity generated by the elastic deformation unit enables a piston rod of the driving cylinder to displace through the transmission mechanism, the piston rod of the driving cylinder enables the piston rod of the driven cylinder to displace, and the distance sensor is used for measuring the moving distance of the piston rod of the driven cylinder; or in the third structure, the angle deformation unit comprises a connecting rod fixedly connected with the driving clamping plate and capable of rotating relative to the handle, and the rotation center of the connecting rod is concentric with the rotation center of the driving clamping nozzle; the angle measuring unit is used for measuring the relative angle between the connecting rod and the driving clamp mouth.

In the first technical scheme, the distance sensor is arranged to detect the relative displacement between the driving clamping mouth and the driving clamping plate, so that the expansion and contraction amount of the elastic deformation unit is obtained. In the second structure, through setting up the initiative jar and the passive jar, the elastic deformation that elastic deformation unit took place makes the piston rod action of initiative jar through drive mechanism, and the action of the piston rod of initiative jar can directly pass through two fluid pipes and will the load and the displacement that the initiative jar received go out, and the work of drive passive jar, the displacement distance of the piston rod of passive jar will be directly caught by the distance sensor and transmit to the control unit. In the third structure, the connecting rod fixedly connected with the driving clamping plate is arranged, and the expansion and contraction amount of the elastic deformation unit is measured indirectly by measuring the relative angle between the connecting rod and the driving clamping nozzle.

In a preferred embodiment of the application, the driving cylinder comprises a first cylinder body fixed relative to the driving clamping nozzle, a first piston arranged in the first cylinder body and in sliding connection with the first cylinder body, and a first piston rod fixedly connected with the first piston, wherein one end of the first piston rod, which is far away from the first piston, is connected with the driving clamping plate through a transmission mechanism; the passive cylinder comprises a second cylinder body fixedly arranged, a second piston arranged in the second cylinder body and in sliding connection with the first cylinder body, and a second piston rod fixedly connected with the second piston; when the clamping plates of the two clamping nozzle assemblies clamp objects to be clamped, the clamping plates of the driving clamping nozzle assemblies enable the first piston rod to move relative to the first cylinder body through the transmission mechanism, and the second piston rod moves along with the first piston rod.

In a preferred embodiment of the present application, in the second structure, the first piston divides the interior of the first cylinder into two pressure chambers, the second piston divides the interior of the second cylinder into two pressure chambers, one end of the two fluid pipes communicates with the two pressure chambers of the first cylinder, respectively, and the other end of the two fluid pipes communicates with the two pressure chambers of the second cylinder, respectively.

In another preferred embodiment of the present application, in the second structure, a second piston rod is disposed through the second cylinder, and one end of the second piston rod, which is far away from the distance sensor, is connected with a damping buffer mechanism; the damping buffer mechanism comprises a fixed cylinder body, a sliding plate which is arranged inside the cylinder body and is in sliding connection with the cylinder body, and a resistance spring which is pressed between the sliding plate and the bottom of the cylinder body, wherein one end of the second piston rod, which is far away from the distance sensor, is fixedly connected with the sliding plate, and the resistance spring is arranged at one end of the sliding plate, which is far away from the second piston rod.

In the technical scheme, the damping buffer mechanism is used for realizing damping buffer effect on the movement process of the driving cylinder and the driven cylinder, so that the driving cylinder and the driven cylinder work more stably, and the service lives of the driving cylinder and the driven cylinder are prolonged.

In another preferred embodiment of the present application, in the second structure, the transmission mechanism is a link mechanism, and the link mechanism includes a driving rod with one end directly or indirectly connected to the driving clamping plate, and a transmission link connected to the driving rod in a rotating manner, where the driving rod can rotate relative to the handle and has a rotation center concentric with the rotation center of the driving clamping mouth, and one end of the transmission link away from the driving rod is connected to the piston rod of the driving cylinder in a rotating manner.

In the technical scheme, the connecting rod mechanism is simple in structure, small in occupied space and suitable for long-distance force transmission.

In another preferred embodiment of the application, a first rotating shaft is fixedly connected to the handle, a driving clamping nozzle of the driving clamping nozzle assembly is rotationally connected with the first rotating shaft, and a driven clamping nozzle assembly is fixedly connected with the handle or the first rotating shaft; or the handle is provided with a first rotating shaft and a second rotating shaft, the driving clamping nozzle of the driving clamping nozzle assembly is rotationally connected with the handle through the first rotating shaft, the driven clamping nozzle assembly is rotationally connected with the handle through the second rotating shaft, the driving mechanism drives the driving clamping nozzle of the driving clamping nozzle assembly to rotate around the first rotating shaft, the driving clamping nozzle of the driving clamping nozzle assembly is fixedly connected with a driving gear coaxial with the first rotating shaft, and the driven clamping nozzle assembly is fixedly connected with a driven gear coaxial with the second rotating shaft and externally meshed with the driving gear.

In the technical scheme, two structures are provided, wherein the two clamping nozzle assemblies are connected with the handle, the driven clamping nozzle assembly is fixed relative to the handle, and the driving mechanism only drives the driving clamping nozzle to actively rotate; and secondly, the driving clamping nozzle assembly and the driven clamping nozzle assembly are rotationally connected with the handle, the driving mechanism drives the driving clamping nozzle to rotate, and under the transmission action of the driving gear and the driven gear, the driven clamping nozzle rotates along with the driving clamping nozzle assembly, but the rotation directions of the driving clamping nozzle assembly and the driven clamping nozzle assembly are opposite.

In another preferred embodiment of the application, the driving mechanism comprises a motor capable of rotating positively and negatively, a disc fixedly or rotatably arranged on the handle, and two pull ropes fixedly connected with the driving clamping nozzle, the circle center of the disc is concentric with the rotation center of the driving clamping nozzle, the two pull ropes wind around the disc and then are wound on an output shaft of the motor, the two pull ropes wind on the disc in opposite directions, and the winding directions of the two pull ropes on the output shaft of the motor are opposite; or the driving mechanism comprises a motor capable of rotating positively and negatively, a disc fixedly or rotatably arranged on the handle, a pull rope fixedly connected with the driving clamping nozzle and a reset spring arranged between the driving clamping nozzle and the handle, and the pull rope is wound on an output shaft of the motor after bypassing the disc.

In the above-mentioned technical scheme, two kinds of structures that have provided drive initiative clamp mouth subassembly pivoted are all through the wire winding and the loose line messenger initiative clamp mouth rotation of stay cord, and the arrangement of stay cord position is nimble, reduces the requirement to the interior space of centre gripping apparatus.

In another preferred embodiment of the application, a tensioning device for tensioning the pull rope is further arranged in the handle, the tensioning device comprises a tensioning wheel and/or a baffle plate, the baffle plate is fixed in the handle, and a threading hole for the pull rope to pass through is formed in the baffle plate.

In the technical scheme, the tensioning wheel and the partition plate are used for keeping the two pull ropes tight at any time, and the two pull ropes can be prevented from being wound and interweaved together.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 is a schematic structural view of a clamping device for natural orifice surgery with force feedback according to a first embodiment of the present application.

Fig. 2 is a schematic view of a driving and driven nozzle assembly connected to a handle in accordance with a third embodiment of the present application.

Fig. 3 is a schematic structural view of a clamping device for natural orifice surgery with force feedback according to a fourth embodiment of the present application.

Fig. 4 is a schematic structural view of a clamping device for natural orifice surgery with force feedback according to a fifth embodiment of the present application.

Reference numerals in the drawings of the specification include: handle 1, driving cylinder 2, first cylinder 201, first piston 202, first piston rod 203, driven cylinder 3, second cylinder 301, second piston 302, second piston rod 303, fluid pipe 4, first rotation shaft 501, second rotation shaft 502, object to be clamped 6, driving nip assembly 7, driving nip 701, driving nip 702, guide frame 703, driven nip assembly 8, driven nip 801, driven nip 802, nip spring 9, driving rod 10, transmission link 11, connecting rod 12, motor 13, disk 14, tight rope 15, tight rope 16, tensioner 17, spacer 18, damping buffer mechanism 19, cylinder 191, sliding plate 192, resistance spring 193, driving gear 20, driven gear 21, distance sensor 22, angle measurement unit 23.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present application, it should be understood that the terms "longitudinal," "transverse," "vertical," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the application.

In the description of the present application, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.

Example 1

The application provides a clamping device (simply referred to as clamping device) with force feedback for natural cavity operation, which is shown in fig. 1, and in a preferred embodiment, the clamping device comprises a hollow handle 1, two clamping mouth assemblies, a driving mechanism and a force feedback assembly, wherein the two clamping mouth assemblies are arranged at the front end of the handle 1 and are opposite to each other. The two nozzle assemblies are respectively a driving nozzle assembly 7 and a driven nozzle assembly 8, for example, the driving nozzle assembly 7 is arranged on the left side, and the driven nozzle assembly 8 is arranged on the right side. The driving mechanism at least drives the driving nozzle component 7 to rotate relative to the handle 1 so that one ends of the two nozzle components far away from the handle 1 are close to each other or far away from each other, namely, the driven nozzle component 8 does not rotate relative to the handle 1, or the driven nozzle component 8 is rotationally connected with the handle 1 and rotates together with the driving nozzle component 7.

In this embodiment, the force feedback assembly includes an elastic deformation unit, a displacement unit and a control unit, where the elastic deformation unit contacts with the nozzle assembly and responds to the force application magnitude of the nozzle assembly and generates elastic deformation positively related to the force application magnitude, the displacement unit follows the nozzle assembly and responds to the deformation magnitude of the elastic deformation unit and generates displacement variation positively related to the deformation magnitude, and the control unit receives the displacement variation magnitude and outputs the force application magnitude of the nozzle assembly, so as to realize force sensing of an operator.

In this embodiment, the active gripper assembly 7 includes an active gripper 701 rotatably connected to the handle 1, and an active clamping plate 702 elastically connected to the active gripper 701 by an elastic deformation unit, where the active clamping plate 702 is located inside (i.e. on the right side in fig. 1) the active gripper 701, the elastic deformation unit includes a plurality of gripper springs 9, one end of the gripper springs 9 is fixedly connected to the active clamping plate 702, and the other end of the gripper springs 9 is fixedly connected to the active gripper 701. Preferably, the driving clamping plate 702 is fixedly connected with a guide frame 703, the guide frame 703 penetrates through a guide hole on the driving clamping nozzle 701 and is partially positioned at the outer side (i.e. the left side in fig. 1) of the driving clamping nozzle 701, and a movable gap for swinging the guide frame 703 within a small angle (such as 1 ° -2 °) relative to the driving clamping nozzle 701 is arranged between the guide frame 703 and the guide hole. The structure of the driven clamping nozzle assembly 8 is the same as that of the driving clamping nozzle assembly 7, the driven clamping nozzle assembly 8 and the driving clamping nozzle assembly 7 are arranged in bilateral symmetry, and the driven clamping nozzle assembly 8 comprises a driven clamping nozzle 801, a driven clamping plate 802 and a guide frame 703. Specifically, the front end of the handle 1 is fixedly connected with a first rotating shaft 501, the driving nozzle 701 is rotatably connected with the first rotating shaft 501, and the driven nozzle assembly 8 is fixedly connected with the handle 1 or the first rotating shaft 501, i.e. the driven nozzle 801 cannot rotate relative to the handle 1.

When the clamping apparatus of the present application is used, if neither the driving clamping plate 702 nor the driven clamping plate 802 is in contact with or in contact with but is not yet applying force to the object 6 to be clamped (e.g., focal tissue, etc.), neither the elastic deformation units connected to the driving clamping plate 702 nor the driven clamping plate 802 are subjected to force, and thus the force feedback unit does not feel any feedback effect of force. Only when the driving clamping plate 702 and the driven clamping plate 802 touch the object 6 to be clamped and apply force, the elastic deformation unit deforms, the displacement unit detects the deformation of the elastic deformation unit and generates displacement change positively related to the deformation, and the control unit receives the displacement change and outputs the force application of the clamping nozzle assembly, so that force sensing of an operator is realized.

In a preferred embodiment, the displacement unit comprises a driving cylinder 2 which is connected with the driving nozzle assembly 7 through a transmission mechanism and is positioned in the handle 1, and a driven cylinder 3 which is connected with the driving cylinder 2 through two fluid pipes 4 and is positioned outside the handle 1, a distance sensor 22 is arranged outside the handle 1, and a signal output end of the distance sensor 22 is connected with the control unit.

Specifically, the driving cylinder 2 includes a first cylinder 201 fixedly connected with the driving clamping nozzle 701, a first piston 202 disposed inside the first cylinder 201 and slidably connected with the first cylinder 201, and a first piston rod 203 fixedly connected with the first piston 202, wherein the right end of the first piston rod 203 is connected with a guide frame 703 fixedly connected with the driving clamping plate 702 through a transmission mechanism. The passive cylinder 3 includes a second cylinder 301 fixedly provided, a second piston 302 provided inside the second cylinder 301 and slidably connected to the first cylinder 201, and a second piston rod 303 fixedly connected to the second piston 302, and preferably the cross-sectional areas of the first piston rod 203 and the second piston rod 303 are equal.

When the clamping plates of the two clamping mouth assemblies clamp an object 6 to be clamped, the clamping mouth springs 9 are elastically deformed, the elastic deformation amount enables the first piston rod 203 to displace through the transmission mechanism, as the driving cylinder 2 and the driven cylinder are connected through the two fluid pipes 4, the action of the first piston rod 203 can directly transmit the load and displacement received by the driving cylinder 2 through the two fluid pipes 4, the driven cylinder 3 is driven to work, the second piston rod 303 is enabled to displace, displacement variation positively related to the elastic deformation amount of the elastic deformation unit (the clamping mouth springs 9 here) is generated, the moving distance of the second piston rod 303 is directly captured by the distance sensor 22 and transmitted to the control unit, and the moving distance of the second piston rod 303 is converted into the stress of the driving clamping plate 702 by the control unit, so that force sensing of an operator is realized.

In the present embodiment, the first piston 202 divides the interior of the first cylinder 201 into two pressure chambers, the second piston 302 divides the interior of the second cylinder 301 into two pressure chambers, one end of the two fluid pipes 4 communicates with the two pressure chambers of the first cylinder 201, and the other end of the two fluid pipes 4 communicates with the two pressure chambers of the second cylinder 301, respectively.

Preferably, the second piston rod 303 penetrates through the second cylinder 301, the distance sensor 22 is arranged on the right side of the second piston rod 303, the left end of the second piston rod 303 is connected with the damping buffer mechanism 19, and the damping buffer mechanism 19 is used for realizing damping buffer effect on the movement process of the driving cylinder 2 and the driven cylinder 3. Specifically, the damping buffer mechanism 19 includes a cylinder 191 having an opening at a right end thereof, a slide plate 192 provided inside the cylinder 191 and slidably connected to the cylinder 191, and a resistance spring 193 provided between a left side of the slide plate 192 and a bottom of the cylinder 191, and a left end of the second piston rod 303 is fixedly connected to a right end of the slide plate 192.

In the present application, assuming that the hooke coefficients of the two jaw springs 9 connected to the two jaw assemblies are k1 and the deformation amount of the jaw spring 9 connected to the active jaw assembly 7 is Δx1, the clamping force acting on the clamping object at this time is k1×Δx1. After the conversion of the guide frame 703 and the transmission mechanism, the movement amount of the first piston rod 203 of the master cylinder 2 is Δx2. After hydraulic transmission to the passive cylinder 3 through the two fluid pipes 4, the movement amount of the second piston rod 303 is Δx3, and Δx3 is captured by the distance sensor 22. Δx2=k2×Δx1, k2 is a movement coefficient of the first piston rod 203 due to deformation of the elastic deformation unit, which may be experimentally measured or may be calculated by r2/r1, where r2 is a length of the driving rod 10 between the first rotation shaft 501 and the active tip assembly 7, and r1 is a length of the driving rod 10 between the first rotation shaft 501 and the transmission link 11. Δx3=k3×Δx2=k3×k2×Δx1, where k3 is a transmission coefficient of the linear motion of the first piston rod 203 and the second piston rod 303, when the cross-sectional areas of the first piston 202 and the second piston 302 are equal, k3=1, it is obvious that there is a positive correlation between Δx1 and Δx3, so that the indirect measurement of the stress of the nozzle spring 9 connected to the two nozzle assemblies can be achieved by converting and analyzing the signals of the distance sensor 22, and the indirect measurement is fed back to the operator's hand through the force operator, so as to achieve real-time force sensing during the operation of the operator.

In another preferred embodiment, the transmission mechanism is a link mechanism, and the link mechanism includes a driving rod 10 (for example, the driving rod 10 is fixedly connected or rotatably connected to a portion of the guide frame 703 located outside the driving nip 701) having one end directly or indirectly connected to the driving nip 702, and a transmission link 11 rotatably connected to the driving rod 10, and the transmission link 11 is located inside the handle 1. The middle part of the driving rod 10 is rotatably connected with the handle 1, and the rotation center of the driving rod 10 is concentric with the rotation center of the driving nozzle 701, for example, the driving rod 10 is also rotatably connected with the first rotating shaft 501, and one end of the transmission connecting rod 11 away from the driving rod 10 is rotatably connected with the right end of the first piston rod 203.

When clamping the object 6 to be clamped, the driving clamp nozzle 701 compresses the clamp nozzle spring 9 to rotate clockwise, the driving clamp nozzle 701 enables the first cylinder 201 to rotate anticlockwise, the driving clamp plate 702 compresses the clamp nozzle spring 9 to move leftwards relative to the driving clamp plate 702, the guide frame 703 also moves leftwards relative to the driving clamp nozzle 701, the driving rod 10 connected with the guide frame 703 rotates anticlockwise relative to the driving clamp plate 702, a movable gap is formed between the driving rod 10 and the first rotating shaft 501, the driving rod 10 can swing within a small angle (for example, 1 ° -2 °), and the driving rod 10 enables the first piston rod 203 to move rightwards relative to the first cylinder 201 through the transmission connecting rod 11.

In this embodiment, the driving mechanism includes a motor 13 capable of rotating in forward and reverse directions, a disc 14 fixedly or rotatably mounted at the front end of the handle 1, and two pull ropes fixedly connected with the driving grip 701. The motor 13 is mounted outside the handle 1, and an output shaft of the motor 13 extends into the handle 1 through a side wall of the handle 1. The center of the disc 14 is concentric with the rotation center of the active clamp 701, and the disc 14 is provided with a wire groove. The stay cords are steel wire ropes, one of the two stay cords is a tightening rope 15, the other one is a loosening rope 16, the two stay cords are wound on the output shaft of the motor 13 after bypassing the disc 14, the two stay cords are clamped into the wire grooves of the disc 14, the directions of the connected stay cords wound on the disc 14 are opposite, and the winding directions of the two stay cords on the output shaft of the motor 13 are opposite.

When the clamping device is used, the output shaft of the motor 13 rotates positively, so that the tightening rope 15 winds on the output shaft of the motor 13, meanwhile, the loosening rope 16 pays off on the output shaft of the motor 13, and the tightening rope 15 winds to pull the driving clamping nozzle 701 to rotate clockwise, so that the driving clamping nozzle assembly 7 and the driven clamping nozzle assembly 8 are close to each other, and the object 6 to be clamped is clamped conveniently. When the clamping device is required to loosen the object 6 to be clamped, the output shaft of the motor 13 is reversed, so that the loose rope 16 winds on the output shaft of the motor 13, meanwhile, the tight rope 15 winds on the output shaft of the motor 13, and the loose rope 16 winds to pull the driving clamping nozzle 701 to rotate anticlockwise, so that the driving clamping nozzle assembly 7 and the driven clamping nozzle assembly 8 are far away from each other. In the present embodiment, since both the rope 15 and the rope 16 are wound around the disc 14 and the center of the disc 14 is concentric with the rotation center of the active grip 701, the length of the winding of the rope 15/the rope 16 is equal to the length of the unwinding of the rope 16/the rope 15.

In another preferred embodiment, a tensioning device for tensioning two pull ropes is further arranged inside the handle 1, the tensioning device comprises a tensioning wheel 17 and/or a partition 18, the tensioning wheel 17 and the partition 18 are preferably arranged at the same time, the partition 18 is fixed inside the handle 1, for example, a plurality of partition 18 are arranged at intervals along the length direction of the handle 1, and threading holes for the pull ropes to pass through are formed in the partition 18. The two pull ropes reversely bypass the disc 14 and then reversely bypass the tensioning wheel 17, and then sequentially pass through the threading holes in the partition plate 18 and then are wound on the output shaft of the motor 13. The tensioning wheel 17 and the partition 18 are used for keeping the two pull ropes tight at all times, and the wires of the two pull ropes can be prevented from being wound and interweaved together.

Example two

The structural principle of the present embodiment is basically the same as that of the first embodiment, except that the mechanism of the driving mechanism is different, and only one pull rope is provided in the present embodiment. Specifically, in this embodiment, the driving mechanism includes a motor 13 capable of rotating in the forward and reverse directions, a disc 14 fixedly or rotatably mounted on the handle 1, a pull rope fixedly connected with the driving nozzle 701, and a return spring provided between the driving nozzle 701 and the handle 1, and the pull rope is wound around the output shaft of the motor 13 after bypassing the disc 14.

Initially, under reset spring's effect, initiative clamp mouth subassembly 7 keep away from driven clamp mouth subassembly 8, when needs centre gripping wait to grasp article 6, the output shaft of motor 13 corotation makes this stay cord wire winding on the output shaft of motor 13, and the stay cord wire winding overcomes reset spring's elasticity and in order to pull initiative clamp mouth 701 clockwise rotation, makes initiative clamp mouth subassembly 7 and driven clamp mouth subassembly 8 be close to each other, is convenient for grasp and wait to grasp article 6. When the clamping device is required to loosen the object 6 to be clamped, the output shaft of the motor 13 is reversed, the stay cord is paid out on the output shaft of the motor 13, and the return spring returns to elastic deformation to enable the driving clamping nozzle 701 to rotate anticlockwise, so that the driving clamping nozzle assembly 7 and the driven clamping nozzle assembly 8 are far away from each other.

Example III

The structural principle of this embodiment is basically the same as that of the first and second embodiments, except that the connection modes of the driving and driven nozzle assemblies 7 and 8 and the handle 1 are different. Specifically, as shown in fig. 2, in the present embodiment, a first rotating shaft 501 and a second rotating shaft 502 are provided on a handle 1, a driving nozzle 701 is rotatably connected with the handle 1 through the first rotating shaft 501, a driven nozzle 801 is rotatably connected with the handle 1 through the second rotating shaft 502, a driving gear 20 coaxial with the first rotating shaft 501 is fixedly connected on the driving nozzle 701, and a driven gear 21 coaxial with the second rotating shaft 502 and externally meshed with the driving gear 20 is fixedly connected on the driven nozzle 801.

The driving mechanism drives the driving nozzle 701 to rotate around the first rotation shaft 501, the driving gear 20 rotates along with the driving nozzle 701, the driving gear 20 rotates to enable the driven gear 21 to reversely rotate, and the driven nozzle 801 rotates along with the driven gear 21. I.e. the driven jaw assembly 8 rotates with the driving jaw assembly 7 at the same time, so that the ends of the two jaw assemblies remote from the handle 1 are simultaneously brought closer to each other or are simultaneously moved away from each other.

Example IV

The structural principle of this embodiment is substantially the same as that of the first to third embodiments, except that the force feedback assembly is different in structure and principle. As shown in fig. 3, in the present embodiment, the force feedback assembly includes an elastic deformation unit, a displacement detection unit and a control unit, wherein the elastic deformation unit is the same as the first embodiment, and is a plurality of nozzle springs 9 disposed between the active clamping plate 702 and the active nozzle 701. The elastic deformation unit is in contact with the clamping nozzle assembly, responds to the force application size of the clamping nozzle assembly and generates elastic deformation positively related to the force application size, the displacement detection unit responds to the deformation size of the elastic deformation unit and measures the expansion and contraction amount of the elastic deformation unit, and the control unit receives the expansion and contraction amount of the amount and outputs the force application size of the clamping nozzle assembly to realize force sensing of an operator. Specifically, the displacement detection unit is a micro distance sensor and is a distance sensor 22 fixedly connected with the active tip 701 or the active clamping plate 702 for detecting the relative displacement between the active tip 701 and the active clamping plate 702.

When the clamping plates of the two clamping nozzle assemblies clamp the object 6 to be clamped, the clamping nozzle springs 9 are elastically deformed, and at the moment, the distance sensor 22 detects and detects the relative displacement between the driving clamping nozzle 701 and the driving clamping plate 702, so that the expansion and contraction amount of the elastic deformation unit is obtained. The control unit receives the magnitude of the amount of telescoping detected by the bit distance sensor 22 and outputs the magnitude of the force applied to the nip assembly.

In this embodiment, assuming that the hooke coefficients of the two jaw springs 9 connected to the two jaw assemblies are k1 and the deformation amount of the jaw spring 9 connected to the active jaw assembly 7 is Δx1, the clamping force acting on the clamped object at this time is k1×Δx1. In this embodiment, the clamping force k1×Δx1 of the nozzle assembly is obtained by measuring the relative displacement between the active nozzle 701 and the active clamping plate 702, which is the deformation Δx1 of the nozzle spring 9 connected to the active nozzle assembly 7.

Example five

The structural principle of this embodiment is basically the same as that of the first to fourth embodiments, except that the force feedback assembly is different in structure and principle. As shown in fig. 4, in the present embodiment, the force feedback assembly includes an elastic deformation unit, an angle measurement unit 23, and a control unit, wherein the elastic deformation unit is the same as the first embodiment, and is a plurality of nozzle springs 9 disposed between the active clamping plate 702 and the active nozzle 701. The elastic deformation unit is in contact with the active nozzle assembly 7 and responds to the force application size of the active nozzle assembly 7 and generates elastic deformation positively related to the force application size, the angle deformation unit and the active nozzle assembly 7 follow up and responds to the deformation size of the elastic deformation unit and generates angle change positively related to the deformation amount, the angle measurement unit detects the angle change, and the control unit receives the angle change size and outputs the force application size of the active nozzle assembly 7 so as to realize force sensing of an operator.

Specifically, the angle deforming unit includes a connecting rod 12 directly or indirectly connected to the driving clamping plate 702 and rotatable relative to the handle 1, one end of the connecting rod 12 is fixedly connected to or rotatably connected to the guide frame 703, the other end of the connecting rod 12 is rotatably connected to the handle 1, and a rotation center of the connecting rod 12 connected to the handle 1 is concentric with a rotation center of the driving clamping nozzle 701, for example, the connecting rod 12 is also rotatably connected to the handle 1 through the first rotation shaft 501. The angle measuring unit 23 is used for measuring the relative angle between the connecting rod 12 and the active tip 701, and the angle measuring unit 23 is an angle sensor installed between the connecting rod 12 and the active tip 701.

In this embodiment, by setting the angle measurement unit 23, the relative angle between the active nozzle 701 and the connecting rod 12 is measured, so as to obtain the relative angle between the active nozzle 701 and the active clamping plate 702, and thus obtain the expansion and contraction amount of the elastic deformation unit, so as to obtain the force application size of the nozzle assembly.

The control unit obtains the force applied by the clamping nozzle assembly, and feeds the force back to the hand of the operator through the force operator, so that the real-time force sense of the operator in the operation process is realized. For example, an operator controls the operation of the clamping apparatus through a knob, a control handle and the like, the control unit obtains the force application magnitude of the clamping nozzle assembly and feeds back synchronous and same force to the knob or the control handle, the resistance can be different when the knob or the control handle is operated, the prior art can be adopted specifically, for example, but not limited to, the resistance can be applied to the knob or the control handle by utilizing the motor or the magnetic field force, a plurality of electromagnets are preferably arranged around the knob or the control handle, and the resistance control applied to the knob or the control handle is realized by controlling the energizing current magnitude of the electromagnets in the operation direction.

In the description of the present specification, reference to the terms "preferred implementation," "one embodiment," "some embodiments," "example," "a particular example" or "some examples" and the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.

Claims (6)

1. The clamping instrument for the natural cavity tract operation with the force feedback is characterized by comprising a handle, two clamping nozzle assemblies, a driving mechanism and a force feedback assembly, wherein the two clamping nozzle assemblies are arranged at the front end of the handle and are oppositely arranged;

the force feedback assembly comprises an elastic deformation unit, a displacement unit and a control unit, wherein the elastic deformation unit is in contact with the clamping nozzle assembly and responds to the force application size of the clamping nozzle assembly and generates elastic deformation positively related to the force application size, the displacement unit and the clamping nozzle assembly follow up and responds to the deformation size of the elastic deformation unit and generates displacement change positively related to the deformation amount, and the control unit receives the displacement change size and outputs the force application size of the clamping nozzle assembly to realize force sensing of an operator;

the active clamping nozzle assembly comprises an active clamping nozzle which is rotationally connected with the handle, and an active clamping plate which is elastically connected with the active clamping nozzle through an elastic deformation unit and used for clamping an object to be clamped;

the displacement unit comprises a driving cylinder which is connected with the driving nozzle assembly through a transmission mechanism and is positioned in the handle, and a driven cylinder which is connected with the driving cylinder through two fluid pipes and is positioned outside the handle, a distance sensor is arranged outside the handle, a signal output end of the distance sensor is connected with the control unit, the elastic deformation of the elastic deformation unit enables a piston rod of the driving cylinder to displace through the transmission mechanism, the piston rod of the driving cylinder enables the piston rod of the driven cylinder to displace, and the distance sensor is used for measuring the moving distance of the piston rod of the driven cylinder;

the driving cylinder comprises a first cylinder body fixed relative to the driving clamping nozzle, a first piston which is arranged in the first cylinder body and is in sliding connection with the first cylinder body, and a first piston rod fixedly connected with the first piston, and one end of the first piston rod, which is far away from the first piston, is connected with the driving clamping plate through a transmission mechanism; the passive cylinder comprises a second cylinder body fixedly arranged, a second piston which is arranged in the second cylinder body and is in sliding connection with the first cylinder body, and a second piston rod fixedly connected with the second piston; when clamping plates of the two clamping nozzle assemblies clamp an object to be clamped, the clamping plates of the driving clamping nozzle assemblies enable the first piston rod to move relative to the first cylinder body through the transmission mechanism, and the second piston rod moves along with the first piston rod;

the second piston rod penetrates through the second cylinder body, and one end, far away from the distance sensor, of the second piston rod is connected with a damping buffer mechanism; the damping buffer mechanism comprises a fixed cylinder body, a sliding plate and a resistance spring, wherein the sliding plate is arranged inside the cylinder body and is in sliding connection with the cylinder body, the resistance spring is pressed between the sliding plate and the bottom of the cylinder body, one end, away from the distance sensor, of the second piston rod is fixedly connected with the sliding plate, and the resistance spring is arranged at one end, away from the second piston rod, of the sliding plate.

2. The clamp instrument for natural orifice surgery with force feedback according to claim 1, wherein the first piston divides the interior of the first cylinder into two pressure chambers, the second piston divides the interior of the second cylinder into two pressure chambers, one end of the two fluid pipes is respectively communicated with the two pressure chambers of the first cylinder, and the other end of the two fluid pipes is respectively communicated with the two pressure chambers of the second cylinder.

3. The clamping instrument for natural orifice surgery with force feedback according to claim 1, wherein the transmission mechanism is a link mechanism, the link mechanism comprises a driving rod with one end directly or indirectly connected with the driving splint and a transmission link rotatably connected with the driving rod, the driving rod can rotate relative to the handle and the rotation center of the driving rod is concentric with the rotation center of the driving nip, and one end of the transmission link away from the driving rod is rotatably connected with a piston rod of the driving cylinder.

4. A natural orifice surgical gripping apparatus with force feedback as defined in any one of claims 1-3, wherein a first shaft is fixedly connected to the handle, a driving nozzle of the driving nozzle assembly is rotatably connected to the first shaft, and the driven nozzle assembly is fixedly connected to the handle or the first shaft;

or be equipped with first pivot and second pivot on the handle, the initiative of initiative clamp mouth subassembly is pressed from both sides the mouth and is connected with the handle rotation through first pivot, the driven clamp mouth subassembly is connected with the handle rotation through the second pivot, actuating mechanism drive the initiative of initiative clamp mouth subassembly presss from both sides the mouth and winds the first pivot rotates, the rigid coupling has with the coaxial driving gear of first pivot on the initiative clamp mouth of initiative clamp mouth subassembly, the rigid coupling has with the coaxial and with the driven gear of driving gear external engagement of second pivot on the driven clamp mouth subassembly.

5. A natural orifice surgical gripping apparatus with force feedback according to any one of claims 1-3, wherein the driving mechanism comprises a motor capable of rotating in a forward and reverse direction, a disc fixedly or rotatably mounted on the handle, and two pull ropes fixedly connected with the driving gripper, the center of the disc is concentric with the rotation center of the driving gripper, the two pull ropes are wound on the output shaft of the motor after bypassing the disc, the two pull ropes are wound on the disc in opposite directions, and the winding directions of the two pull ropes on the output shaft of the motor are opposite;

or the driving mechanism comprises a motor capable of rotating positively and negatively, a disc fixedly or rotatably arranged on the handle, a pull rope fixedly connected with the driving clamping nozzle, and a reset spring arranged between the driving clamping nozzle and the handle, wherein the pull rope winds the output shaft of the motor after bypassing the disc.

6. The clamping device with force feedback for natural orifice surgery according to claim 5, wherein a tensioning device for tensioning the pull rope is further arranged inside the handle, the tensioning device comprises a tensioning wheel and/or a partition plate, the partition plate is fixed inside the handle, and a threading hole for the pull rope to pass through is formed in the partition plate.