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CN-122005097-A - Clamp system and surgical robot

CN122005097ACN 122005097 ACN122005097 ACN 122005097ACN-122005097-A

Abstract

The invention belongs to the technical field of medical instruments, and discloses a clamping system and a surgical robot. The clamping system comprises a grasping forceps, a guide tube and a driving device. One end of the grasping forceps can be opened and closed to clamp, a flow channel is formed in the grasping forceps, the grasping forceps are provided with a conducting hole communicated with the flow channel, one end of the conducting pipe is communicated with the flow channel, the other end of the conducting pipe is communicated with the suction machine and the flusher, and the driving device is connected with the other end of the grasping forceps to control the grasping forceps to act. With this pincers system when using, not only can carry out the centre gripping, can also suck or wash, then no longer need set up the structure for sucking with wash alone, just no longer need open the patient yet, the doctor of controlling of sucking and washing can be the same with the doctor of controlling of grasping forceps moreover for in the operation process by a doctor concentrate on the operation can, it is better to guarantee to suck and wash the effect, can make simultaneously that the holistic operation flow of operation is simplified, thereby effectively reduced the operation degree of difficulty.

Inventors

  • Su Fengya
  • SUN XIAOWEN
  • Huang Diedi

Assignees

  • 瑞龙诺赋(上海)医疗科技有限公司

Dates

Publication Date
20260512
Application Date
20241112

Claims (10)

  1. 1. A clamping system, comprising: a grasping forceps (1) with one end capable of being opened and closed for clamping, wherein a flow channel is formed in the grasping forceps (1), and the grasping forceps (1) is provided with a through hole communicated with the flow channel; one end of the guide pipe (2) is communicated with the flow channel, and the other end of the guide pipe is communicated with the suction machine and the flusher; And the driving device (3) is connected with the other end of the grasping forceps (1) to control the grasping forceps (1) to act.
  2. 2. The clamping system according to claim 1, characterized in that the through hole comprises a first through hole (12) and a second through hole (13), the first through hole (12) is arranged on the end face of the grasping forceps (1) far away from the through pipe (2), and the second through hole (13) is arranged on the side face of the grasping forceps (1).
  3. 3. A clamping system according to claim 2, characterized in that the second through holes (13) are distributed in plurality.
  4. 4. The clamping system of claim 1, wherein the clamping system further comprises: and one end of the electrocoagulation wire (6) is electrically connected with the grasping forceps (1), the other end of the electrocoagulation wire is connected with a power supply, and the grasping forceps (1) have an electrocoagulation function.
  5. 5. The clamping system of claim 1, wherein the clamping system further comprises: A first shunt tube (14), one end of which is communicated with the conducting tube (2) and the other end of which is communicated with a suction port of the suction machine; and one end of the second shunt tube (15) is communicated with the conducting tube (2), and the other end of the second shunt tube is communicated with a flushing port of the flusher.
  6. 6. The clamping system of claim 5, characterized in that the clamping system further comprises: And a control valve (7) which is arranged on the second shunt pipe (15) and is used for conducting or blocking the second shunt pipe (15).
  7. 7. The clamping system of any one of claims 1 to 6, wherein the drive means comprises: a driving member; a gear set (31) connected to the drive member; a deflection control line (32), one end of which is connected with the gear set (31) and the other end of which is connected with the grasping forceps (1) to control the deflection movement of the grasping forceps (1); a pitch control line (33) having one end connected to the gear set (31) and the other end connected to the grasper (1) to control the pitch movement of the grasper (1); And one end of the opening and closing control line (34) is connected with the gear set (31), and the other end of the opening and closing control line is connected with the grasping forceps (1) to control the opening and closing of the grasping forceps (1).
  8. 8. Surgical robot, characterized by comprising: A console (10); the clamping system according to any of claims 1 to 7, provided to the console (10); And the control module is arranged on the control console (10) and is connected with the driving device of the clamping system, the suction machine and the flusher.
  9. 9. The surgical robot of claim 8, wherein the control module comprises: a first pedal (8) connected to the extractor and the flusher for controlling the start and stop of the extractor and the flusher.
  10. 10. Surgical robot according to claim 9, characterized in that the first pedal (8) is in a suction mode for controlling the start and stop of the suction machine when the first pedal (8) is depressed for less than a time threshold, and in that the first pedal (8) is in a flushing mode for controlling the start and stop of the flusher when the first pedal (8) is depressed for more than a time threshold.

Description

Clamp system and surgical robot Technical Field The invention relates to the technical field of medical instruments, in particular to a clamping system and a surgical robot. Background When the surgical robot is applied to laparoscopic surgery, the instrument can be controlled by a special driving device, so that pitching motion, swinging or rotation and the like of the instrument can be ensured, for example, a grasping forceps needs to be moved to a designated position and kept in a certain pose to accurately grasp corresponding tissues, and meanwhile, liquid near the tissues needs to be washed or the tissues need to be sucked, so that clear vision is ensured. In the prior art, when the instrument is a grasper, there is typically a main surgeon using corresponding driving means to control the movement and grasping action of the grasper, while irrigation and aspiration would be performed by inserting another aspiration instrument separately, which instrument is operated by another surgeon. But when the instrument for solely flushing and sucking is inserted, not only the incision is required to be independently opened on the body surface of a patient, but also two doctors are required to communicate frequently in the operation process, and the operation time is very tense, so that the intention of each other can be required to be understood quickly, the matching difficulty between the two doctors is high, the problem of poor suction or flushing effect is easy to occur, and the whole operation flow of the operation is complicated and the difficulty is high. Disclosure of Invention The invention aims to provide a clamping system and a surgical robot, which solve the problems that in the prior art, because separate suction instruments are needed to be added for flushing and suction in the surgical operation process, when the instruments are used, the incision is needed to be opened on the body surface of a patient independently, and in the use process, two doctors can repeatedly communicate in a shorter time and quickly understand the intention of each other, so that the matching difficulty is high, the phenomenon of poor flushing or suction effect is easy to cause, and the whole operation flow of the operation is complicated and the difficulty is high. To achieve the purpose, the invention adopts the following technical scheme: In a first aspect, the present application provides a clamping system comprising: A grasping forceps with one end capable of being opened and closed to clamp, wherein a flow channel is formed in the grasping forceps, and the grasping forceps are provided with a through hole communicated with the flow channel; one end of the guide pipe is communicated with the flow channel, and the other end of the guide pipe is communicated with the suction machine and the flusher; And the driving device is connected with the other end of the grasping forceps to control the grasping forceps to act. Optionally, the via hole includes a first via hole and a second via hole, the first via hole is disposed on an end surface of the grasping forceps away from the via pipe, and the second via hole is disposed on a side surface of the grasping forceps. Optionally, a plurality of second via holes are distributed. Optionally, the clamping system further comprises: One end of the electric coagulation wire is electrically connected with the grasping forceps, the other end of the electric coagulation wire is connected with a power supply, and the grasping forceps have an electric coagulation function. Optionally, the clamping system further comprises: one end of the first shunt tube is communicated with the conducting tube, and the other end of the first shunt tube is communicated with a suction port of the suction machine; and one end of the second shunt tube is communicated with the conducting tube, and the other end of the second shunt tube is communicated with a flushing port of the flusher. Optionally, the clamping system further comprises: the control valve is arranged on the second shunt pipe and used for conducting or blocking the second shunt pipe. Optionally, the driving device includes: a driving member; The gear set is connected with the driving piece; One end of the deflection control line is connected with the gear set, and the other end of the deflection control line is connected with the grasping forceps to control deflection movement of the grasping forceps; One end of the pitching control line is connected with the gear set, and the other end of the pitching control line is connected with the grasping forceps to control pitching movement of the grasping forceps; And one end of the opening and closing control line is connected with the gear set, and the other end of the opening and closing control line is connected with the grasping forceps to control the opening and closing of the grasping forceps. In a second aspect, the present application also provides a surgical robot comprising: A console; The