Jointing device for joining drive device and surgical instrument and surgical robot

Abstract

A coupling device and a surgical robot for coupling a surgical instrument and a driving device, wherein the coupling device comprises: a coupling plate and a shell having an accommodating cavity, wherein the coupling plate is accommodated in the accommodating cavity; the coupling plate comprises an upper coupling plate and a lower coupling plate, wherein the upper coupling plate and the lower coupling plate are connected to each other via an elastic member, and the upper coupling plate and the lower coupling plate can move relative to each other in the axial direction under the action of the elastic member; the upper coupling plate is used to couple with the surgical instrument, and the lower coupling plate is used to couple with the driving device, so that the surgical instrument and the driving device are sterilely isolated.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a coupling device for coupling a driving device of a surgical device with a surgical instrument, and a surgical robot using the coupling device. Background Art

[0002] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and is widely used. Minimally invasive surgical robots typically include a master console and a slave operating device. The master console is used to send control commands to the slave operating device based on the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform the corresponding surgical operation. The surgical instrument is connected to the drive device of the slave operating device to perform the surgical operation. Therefore, the surgical instrument needs to be sterilized. However, the slave operating device is sterile, so a device is needed to isolate the slave operating device from the surgical instrument to prevent contamination of the surgical instrument. Summary of the Invention

[0004] Based on this, it is necessary to provide a coupling device and a coupling method that enable a surgical instrument to be correctly coupled with a driving device of a slave operating device, as well as a surgical robot using the coupling device.

[0005] A coupling device for coupling a surgical instrument and a driving device, comprising:

[0006] A bonding tray and a housing having a receiving cavity, wherein the bonding tray is received in the receiving cavity;

[0007] The coupling plate includes an upper coupling plate and a lower coupling plate, the upper coupling plate having a first coupling portion for coupling with an instrument of the surgical instrument, and the lower coupling plate having a second coupling portion for coupling with the driving device;

[0008] An elastic member is elastically abutted against the bonding plate between the upper bonding plate and the lower bonding plate.

[0009] Preferably, the upper bonding plate can move relative to the lower bonding plate along the axial direction of the bonding plate.

[0010] Preferably, the upper bonding plate is fixedly connected to or integrally formed with the lower bonding plate, and the housing has a mounting portion for mounting the elastic member.

[0011] Preferably, the first coupling portion comprises a first coupling component and a second coupling component, the first coupling component and the second coupling component are at different distances from the center of the upper engagement disc, or the first coupling component and the second coupling component have different shapes;

[0012] The second coupling portion has a third coupling component and a fourth coupling component. The third coupling component and the fourth coupling component have different distances from the center of the lower bonding disk, or the third coupling component and the fourth coupling component have different shapes.

[0013] Preferably, the entrance of the first coupling part or the second coupling part has a first guiding arc surface and a second guiding arc surface, and the first guiding arc surface and the second guiding arc surface are used to guide the driving device to couple with the second coupling part, and guide the surgical instrument to couple with the first coupling part.

[0014] Preferably, the first coupling portion or the second coupling portion comprises an inclined surface, and the inclined surface is used to fully couple the engagement plate with the driving device and the surgical instrument.

[0015] Preferably, the first coupling portion or the second coupling portion comprises a guiding arc surface and an inclined surface, one end of the guiding arc surface is located at the entrance of the first coupling portion or the second coupling portion, and the other end is connected to the inclined surface.

[0016] Preferably, the lower engaging plate has first and second contact surfaces, and the first contact surface is used to ensure that a first gap exists between the first and second contact surfaces and the surgical instrument when the lower engaging plate is fully coupled to the driving device;

[0017] The upper engaging plate has a second-first contact surface, and the second contact surface is used to ensure that a second gap exists between the second-first contact surface and the surgical instrument when the upper engaging plate is fully coupled to the surgical instrument.

[0018] Preferably, the surgical instrument has an instrument coupling portion, and the first coupling portion is used to be fully coupled with the instrument coupling portion of the surgical instrument. When the surgical instrument is fully coupled with the coupling plate, a third gap exists between the instrument coupling portion and the first coupling portion.

[0019] Preferably, a fourth gap exists between the bonding plate and the inner wall of the accommodating cavity.

[0020] Preferably, the width of the fourth gap in the radial direction of the bonding disc is greater than the width of the third gap in the radial direction of the bonding disc.

[0021] Preferably, an included angle is formed between the inclined surface and the axis of the engagement disc, and the size of the included angle is sufficient to prevent the engagement disc from axially moving after the engagement disc is fully coupled with the driving device and the surgical instrument.

[0022] Preferably, when the second coupling part is fully coupled to the driving device, the lower coupling plate is subjected to a first thrust from the driving device, a first elastic force of the elastic member, and a first friction force between the lower coupling plate and the driving device, wherein the first friction force is greater than the first thrust; or the sum of the first friction force and the first elastic force is greater than the first thrust.

[0023] Preferably, when the first coupling part is fully coupled to the surgical instrument, the upper coupling plate is subjected to a second thrust from the surgical instrument, a second elastic force of the elastic member, and a second friction force between the upper coupling plate and the surgical instrument, wherein the second friction force is greater than the second thrust; or the sum of the second friction force and the second elastic force is greater than the second thrust.

[0024] Preferably, the upper bonding plate has a protrusion, and the required lower bonding plate has a recessed portion, and the protrusion is used to embed into the recess to assemble the upper bonding plate and the lower bonding plate into the bonding plate. When the protrusion is embedded in the recessed portion, the upper bonding plate bonding plate and the lower bonding plate can only move relative to each other in the axial direction.

[0025] Preferably, the first coupling portion and the elastic member are both arranged in the protrusion.

[0026] Preferably, the elastic member includes a shell, an upper tip, a lower tip and a spring, the upper tip and the lower tip respectively have a base installed in the shell, and the spring is installed between the upper tip spring part and the base of the lower tip of the lower elastic part.

[0027] Preferably, the coupling device further comprises a signal receiving and transmitting portion for transmitting signals to and from the driving device and / or the surgical instrument.

[0028] A surgical robot comprising:

[0029] Surgical instruments for performing surgical procedures;

[0030] A power mechanism, the power mechanism comprising one or more driving devices, the driving devices being used to drive and control the surgical instrument;

[0031] A coupling device is used to couple the surgical instrument with the driving device, and the coupling device is the coupling device mentioned above.

[0032] Preferably, the surgical instrument comprises an instrument adapter for engaging with the engagement device and a preventing device for preventing the surgical instrument from rotating infinitely.

[0033] Preferably, the blocking device comprises an annular groove provided on the surgical instrument and a sliding post, one end of the sliding post being fixedly connected to the instrument coupler and the other end being able to slide within the sliding groove, wherein a blocking body is provided within the sliding groove to prevent the sliding post from sliding. The coupling device of the present invention is sterile before use, thereby enabling sterile isolation of the drive assembly and the surgical instrument, thereby preventing contamination of the surgical instrument by the drive assembly. In addition, the present invention integrates the movable elastic member of the drive coupling disc into the coupling device, making the coupling device more stable after the drive assembly and the surgical instrument are coupled. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0035] Figure 2 for Figure 1 Schematic diagram of surgical instruments;

[0036] Figure 3 、 Figure 4 Partial schematic diagrams of different embodiments of the distal end of the surgical instrument of the present invention;

[0037] Figure 5 A schematic diagram of a surgical instrument according to an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of a driving device according to an embodiment of the present invention;

[0039] Figure 7A 、 7B is a schematic diagram of a bonding device according to an embodiment of the present invention;

[0040] Figure 8 An exploded view of a bonding device according to an embodiment of the present invention;

[0041] Figure 9 An exploded view of a splicing tray according to an embodiment of the present invention;

[0042] Figure 10 A cross-sectional view of a bonding device according to another embodiment of the present invention;

[0043] Figure 11 is a cross-sectional view of an elastic member according to another embodiment of the present invention;

[0044] Figure 12 A cross-sectional view of a bonding device according to another embodiment of the present invention;

[0045] Figure 13This figure is a bottom view of the lower bonding plate of one embodiment of the present invention;

[0046] Figure 14 For the present invention Figure 13 A cross-sectional view of the lower bonding plate BB;

[0047] Figure 15 A top view of an upper bonding plate according to an embodiment of the present invention;

[0048] Figure 16 A schematic diagram of a driving disk of a driving device according to an embodiment of the present invention;

[0049] Figures 17A-17C Schematic diagram of the engagement process of the drive adapter and the engagement disk in one embodiment of the present invention;

[0050] Figure 17D for Figure 17C A local enlarged view of point P;

[0051] Figures 18A-18C Schematic diagram of the joining process between the joining disc and the instrument adapter in one embodiment of the present invention;

[0052] Figure 19 、 Figure 20 A schematic diagram of a structure for preventing infinite rotation according to an embodiment of the present invention;

[0053] Figure 21 A cross-sectional view of a surgical instrument, a coupling device, and a driving device fully coupled in accordance with an embodiment of the present invention;

[0054] Figure 22 for Figure 21 Top view of the CC section. DETAILED DESCRIPTION

[0055] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0056] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there can be an intermediate element. When an element is considered to be "coupled to" another element, it can be directly coupled to the other element or there can be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments. The terms "distal" and "proximal" as used herein are directional terms, which are commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during surgery and "proximal" refers to the end closer to the operator during surgery. As used herein, "fully coupled" can be broadly understood to mean any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together so that there is no relative movement between the objects in at least one direction, such as a coupling of a protrusion and a groove, which allows radial relative movement but not axial relative movement. In the specification and claims, the terms "coupled," "joined," and "coupled" are used interchangeably.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] like Figure 1 、 Figure 2 As shown, the surgical robot includes a master console 1 and a slave device 2. The master console 1 is used to send control commands to the slave device 2 based on the doctor's operations to control the slave device 2 and display images captured by the slave device 2. The slave device 2 responds to the control commands sent by the master console 1 and performs corresponding operations. The slave device 2 is also used to capture images inside the body.

[0059] The operating device 2 includes a robotic arm 21, a power mechanism 22 disposed on the robotic arm 21, a surgical instrument 100 disposed on the power mechanism 22, and a sleeve 24 that sleeves the long axis 100 of the surgical instrument 100. The robotic arm 21 is used to adjust the position of the surgical instrument 100; the power mechanism 22 is used to drive the surgical instrument 100 to perform corresponding operations. The end effector 111 of the surgical instrument 100 is used to extend into the body and perform surgical operations and / or obtain in-vivo images through the end instrument located at the distal end. Specifically, as Figure 3 、 Figure 4 As shown, the long shaft 110 of the surgical instrument 100 passes through the sleeve 23, and the end effector 111 thereof extends out of the sleeve 23 and is driven by the power mechanism 22 to perform operations. Figure 3 In the figure, the area where the long axis 110 of the surgical instrument 100 is located inside the sleeve 23 is a rigid area; Figure 4 In the embodiment, the area where the long axis 110 of the surgical instrument 100 is located inside the sleeve 23 is the flexible area, and the sleeve bends along with the flexible area. The sleeve 24 can also be omitted.

[0060] In order to provide a satisfactory sterile environment during surgical robot surgery, it is necessary to isolate sterile instruments and sterile instruments. Generally, the robotic arm 21 and the power mechanism 22 of the operating device 2 are sterile, and the surgical instrument 100 needs to be sterile. A sterile connection device needs to be configured between the sterile power mechanism 120 and the sterile surgical instrument 100 to isolate the sterile power mechanism 120 and the sterile surgical instrument 100.

[0061] The power of the power mechanism 120 (such as the motor power output) is transmitted from the power mechanism 120 through the sterile coupling device to the surgical instrument 100 to drive the surgical instrument to work. However, due to assembly reasons, the power output shaft of the power mechanism and the shaft of the surgical instrument receiving the power driven mechanism will inevitably be misaligned. At this time, the shaft of the driven mechanism of the surgical instrument 100 will perform eccentric rotational motion under the drive of the power mechanism 120. This eccentric motion will cause greater wear on the surgical instrument 100 and the power mechanism 120, and will cause very loud noise during the operation of the surgical robot. Therefore, a more reasonable design of the sterile coupling device is also needed to enable the coupling device to eliminate the above-mentioned undesirable eccentric motion.

[0062] like Figure 5 As shown in FIG7 , one or more drive devices 300 are disposed within the power mechanism 22 . The drive devices 300 are sterile and drive the surgical instrument 100 to perform corresponding surgical operations. These operations include controlling the distal end of the long shaft 110 to perform yaw, rotation, and pitch operations, as well as performing corresponding operations on the end effector 111. The end effector 111 may be a surgical forceps, a cauterizing device, a shearing device, an imaging device, etc. Depending on the type of surgical instrument end effector 111, the drive device 300 drives the end effector 111 to perform the corresponding operation. A sterile joint device 200 is disposed between the drive device 300 and the surgical instrument 100.

[0063] The surgical instrument 100 further includes six instrument adapters 120A-120F. In other embodiments, the number of instrument drivers may be other numbers, such as four. The instrument adapters 120A-120F are disposed within the housing 130. The proximal ends of the instrument adapters 120A-120F are connected to the instrument drive unit 150. The instrument drive unit 150 also includes a plurality of drive wheels (not shown) that drive the long shaft 110 and the end effector 111. The instrument adapters 120A-120F receive controlled driving force from the drive device 300 to drive the drive wheels via drive wires, thereby controlling the movement of the long shaft 110 and the end effector 111. Each instrument adapter 120A-120F moves independently of the other instrument adapters.

[0064] The distal ends of the instrument couplers 120A-120F have the same structure. The structure of the instrument couplers 120A-120F will be described using the instrument coupler 120A that drives the long shaft 110 to rotate as an example. The top surface 122 of the instrument coupler disc of the instrument coupler 120A has an instrument coupling portion 121 that engages with the coupling device 200. The instrument coupling portion 121 has a first instrument coupling component 121A and a second instrument coupling component 121B that are fully coupled with the coupling device 200. In other embodiments, the number of instrument coupling components may also be other numbers, such as 4.

[0065] The surgical instrument 100 has a first signal receiving and transmitting unit 140, which is used to transmit signals to a controller 330 provided in the power device 22. The signals include a signal for verifying the authenticity of the surgical instrument 100 and a determination signal for determining whether the surgical instrument 100 is connected to the coupling device 200. In other embodiments, the controller can also be set on one side of the main operating table 1, or from other locations of the operating device 2, such as from the base of the operating device.

[0066] Figure 6 A perspective view of the proximal engagement surface of the drive assembly 300 is shown. The drive assembly 300 includes six drive adapters 320A-320F. Multiple drive adapters 320A-320F are mounted within a drive housing 310. Each drive adapter 320A-320F is independently controlled by a controller 330 for movement. Each driver independently controls and drives the surgical instrument 100. For example, each drive adapter independently controls the rotation, yaw, pitch, and end-instrument opening and closing of the surgical instrument 100. In other embodiments, the number of drivers may be other, such as four.

[0067] The proximal portion of the drive coupler 320A-320F that engages with the coupling device 200 has the same structure. Taking the drive coupler 320A that controls the rotation of the long shaft 110 as an example, the distal structure of the drive coupler 320A-320F is illustrated. The driver 320A has a drive coupling portion 321 that engages with the coupling device 200. The drive coupling portion 321 has a first drive coupling component 321A and a second drive coupling component 321B that are fully coupled with the coupling device. In other embodiments, the number of drive coupling components can also be other numbers, such as 4.

[0068] A third signal receiving and transmitting unit 340 is provided on the driving device 300. The third signal receiving and transmitting unit 340 is used to receive the signal transmitted from the first signal receiving and transmitting unit 140 of the surgical instrument 100, and output the signal transmitted from the first signal receiving and transmitting unit 140 to the controller 330, or transmit the signal transmitted from the controller 330 to the first signal receiving and transmitting unit 140, so as to control the surgical instrument 100.

[0069] Figure 7 to Figure 9 The structure of the coupling device 200 is shown. The coupling device 200 has a shell 210, which includes a first shell 211 at the distal end of the coupling device and a second shell 212 at the proximal end of the coupling device. The first shell 211 has multiple first cavities 231, and the second shell has multiple second cavities 232 corresponding to the cavities 231. The first cavities 231 and the second cavities 232 cooperate to form multiple accommodating cavities, and the multiple accommodating cavities are used to accommodate coupling discs 220A-220F. The first cavity 231 has a first edge portion 2311 for limiting the axial movement of the coupling discs 220A-220F toward the distal end, and the second cavity 232 has a second edge portion 2312 for limiting the axial movement of the coupling discs 220A-220F toward the proximal end.

[0070] The shell 210 of the coupling device 200 has a second signal receiving part 240, which is electrically connected to the first signal receiving part 140 on the surgical instrument 100 and the third signal receiving part 340 on the driving device, respectively, and is used to electrically connect the first signal receiving part 140 and the third signal receiving part 340 to transmit signals therebetween. The second signal receiving part 240 can also independently transmit a signal to the third signal receiving part 340. The signal can be a determination signal for determining whether the coupling device is properly connected to the driving device 300, or it can be other signals, such as a determination signal for determining whether the coupling device 200 is fully coupled with the driving device 300 or the surgical instrument 100.

[0071] The structures of the plurality of bonding trays 220A-220F are similar, and the bonding tray 220A is used as an example to illustrate the structure of the bonding tray. Figure 9 and Figure 13As shown, the bonding plate 220A has an upper bonding plate 2210 and a lower bonding plate 2230 with basically the same structure. The upper bonding plate 2210 and the lower bonding plate 2230 are connected by an elastic member 2220 in the middle. Under the action of the elastic member 2220, the upper bonding plate 2210 and the lower bonding plate 2230 can move independently of each other in the axial direction.

[0072] The upper engagement disc 2210 has a first contact surface 2211, which is used to contact the instrument engagement portion 121 of the surgical instrument 100 during engagement of the engagement device 200 with the surgical instrument 100. The first contact surface 2211 is provided with a first coupling portion 223 for coupling with the instrument engagement portion 121. Correspondingly, the lower engagement disc 2230 has a second contact surface 2235, which is used to contact the drive engagement portion 321 of the drive device 300 during engagement of the engagement device 200 with the drive device 300. The second contact surface 2235 is provided with a second coupling portion 222 for engaging with the drive engagement portion 321.

[0073] Both the upper and lower bonding trays 2210 and 2230 have a fan-shaped first protrusion 225 and a second protrusion 226, with a fan-shaped recess 229 between the first protrusion 225 and the second protrusion 226. The first protrusion 225 and the second protrusion 226 of the upper bonding tray 2210 can be accommodated in the recess 229 of the lower bonding tray, and correspondingly, the first protrusion 225 and the second protrusion 226 of the lower bonding tray can be accommodated in the recess 229 of the upper bonding tray. Both the upper and lower bonding trays 2210 and 2230 have mounting holes 227 for mounting springs. After the upper bonding tray 2210 and the lower bonding tray 2230 are installed, the centerline A of the first coupling portion 223 and the centerline B of the second coupling portion 222 are perpendicular to each other. Centerline A passes through the center of the first coupling portion 223 and the center of the upper bonding tray 2210, while centerline B passes through the center of the second coupling portion 222 and the center of the lower bonding tray 2230. The first bump 225, the second bump 226 and the recess 229 are not limited to the fan shape. In other embodiments, the first bump 225, the second bump 226 and the recess 229 can be other shapes. For example, the first bump 225 and the second bump 226 are rectangular bumps, and the recess 229 is I-shaped.

[0074] The first coupling member 223A of the first coupling portion 223 is disposed in the first protrusion 225 of the upper engagement disc 2210, and the second coupling member 223B of the first coupling portion 223 is disposed in the second protrusion 226 of the upper engagement disc 2210. The first coupling member 223A is used to couple with the first instrument coupling member 121A during the engagement process between the engagement device 200 and the surgical instrument 100, and the second coupling member 223B is used to couple with the second instrument coupling member 121B during the engagement process between the engagement device 200 and the surgical instrument 100. It will be appreciated that the first coupling member 223A and the second coupling member 223B are not limited to being disposed in the first protrusion 225 and the second protrusion 226. In other embodiments, the first coupling member 223A and the second coupling member 223B may also be disposed in the recess 229.

[0075] In one embodiment, the distance from the outer side of the first coupling component 223A to the center of the upper engagement plate 2210 is greater than the distance from the outer side of the second coupling component 223B to the center of the upper engagement plate 2210. To fully couple the first coupling portion 223 to the instrument interface 121, the distance from the outer side of the first instrument coupling component 121A of the instrument interface 121 to the center of the instrument adapter 120A is greater than the distance from the outer side of the second instrument coupling component 121B to the center of the instrument adapter 120A. The outer side refers to the side radially away from the center.

[0076] In one embodiment, the distance between the inner side of the first coupling component 223A and the center of the upper engagement plate 2210 is shorter than the distance between the outer side of the second coupling component 223B and the center of the upper engagement plate 2210. To fully couple the first coupling portion 223 to the instrument interface 121, the distance between the inner side of the first instrument coupling component 121A of the instrument interface 121 and the center of the instrument adapter 120A is shorter than the distance between the inner side of the second instrument coupling component 121B and the center of the instrument adapter 120A. The inner side refers to the side radially closer to the center.

[0077] In one embodiment, the first coupling component 223A and the second coupling component 223B have different shapes, such as Figure 9As shown, the first coupling component 223A and the second coupling component 223B have different shapes. The outer side of the first coupling component 223A is a groove structure, that is, the first coupling component 223A separates the first protrusion 225 of the upper bonding plate 2210 into two parts, namely the right protrusion 225A and the left protrusion 225B. The outer side of the second coupling component 223B does not penetrate the second protrusion 226 of the upper bonding plate 2210. In this embodiment, not only does the shape of the first coupling component 223A differ from that of the second coupling component 223B, but the distance from the outer side of the first coupling component 223A to the center of the upper bonding plate 2210 is also greater than the distance from the outer side of the second coupling component 223B to the center of the upper bonding plate 2210. At this time, in order to fully couple the first coupling portion 223 with the instrument coupling portion 121, it is only necessary to keep the distance between the outer side of the first instrument coupling component 121A of the instrument coupling portion 121 and the center of the instrument adapter 120A greater than the distance between the outer side of the second instrument coupling component 121B and the center of the instrument adapter 120A. It is not necessary to set the shapes of the first instrument coupling component 121A and the second instrument coupling component 121B to be different. However, the shapes of the first instrument coupling component 121A and the second instrument coupling component 121B are not limited to Figure 9 As shown, in other embodiments, the first instrument coupling component 121A and the second instrument coupling component 121B do not have any similarities. For example, the first instrument coupling component 121A is a cylinder, and the second instrument coupling component 121B is a cuboid.

[0078] Because the first bonding tray 2210 and the second bonding tray 2230 have substantially the same structure, to prevent misassembly of the first bonding tray 2210 and the second bonding tray 2230, anti-misassembly features 228A and 228B are provided on the first protrusion 225 and the second protrusion 226, respectively. The anti-misassembly feature 228B of the first bonding tray cooperates with the anti-misassembly feature 228A of the corresponding second bonding tray, and the anti-misassembly feature 228A of the second bonding tray cooperates with the anti-misassembly feature 228B of the corresponding second bonding tray. After the first bonding tray 2210 and the second bonding tray 2230 are installed, the first bonding tray 2210 and the second bonding tray 2230 can only move independently of each other in the axial direction, and cannot move independently of each other in the radial direction.

[0079] Another embodiment of the bonding device of the present invention is Figures 10 to 12As shown, the bonding tray 420 is in the shape of an "I" character, and the upper bonding tray 4210 of the bonding tray 420 is fixedly connected to the lower bonding tray 4230. Preferably, the upper bonding tray 4210 and the lower bonding tray 4230 are integrally formed into one piece. The elastic member 4220 is fixed to the housing 410. The elastic member 4220 includes an upper tip 4221 facing the proximal end of the bonding device and a lower tip 4222 facing the distal end of the bonding device. Specifically, the housing 410 includes a first housing 411 and a second housing 412. The bonding tray 420 is installed in a cavity formed by the first housing 411 and the second housing 412. The first housing 411 has a first edge portion 4311 that limits the distal movement of the lower bonding tray 4230, and the second housing 412 has a second edge portion 4312 that limits the proximal movement of the upper bonding tray 4210. The first housing 411 and the second housing 412 further include a first inner ring 4111 and a second inner ring 4121, respectively, and the elastic member 4220 is mounted on the first inner ring 4111 and the second inner ring 4121. Therefore, when the driving adapter of the surgical instrument 100 presses against the lower engagement disc 4230, the lower tip 4222 is compressed, so that the lower tip 4222 provides an elastic force that can move the engagement disc 420 toward the distal end of the engagement device. When the instrument driver presses against the upper engagement disc 4210, the upper tip 4221 is compressed, so that the upper tip 4221 can provide an elastic force that can move the engagement disc toward the proximal end of the engagement device.

[0080] like Figure 11 As shown, the elastic member 4220 includes a housing 4225, the base 4223 of the upper tip 4221 and the base 4224 of the lower elastic member 4222 are both installed in the housing 4225, and the spring 4222 is installed between the base 4223 of the upper tip 4221 and the base 4224 of the lower elastic member 4222.

[0081] Preferably, Figure 12 As shown, to more efficiently install the bonding plate 420 into the housing 410, the first inner ring 4111 and the second inner ring 4121 are respectively incomplete inner rings. Specifically, there are multiple elastic members 4220, with the first elastic member 4220A fixed to the first inner ring 4111, and the second elastic member 4222B fixed to the second inner ring 4112. In other embodiments, the first inner ring 4111 and the second inner ring 4112 may simply be a protruding mounting seat for mounting the elastic members 4220.

[0082] like Figure 13 and Figure 14 As shown, Figure 11This is a cross-sectional view of the lower coupling plate 2230 along plane BB. The cross-section of the second coupling component 222B along a plane parallel to plane BB is identical to that of the third coupling component 222A, so the third coupling component 222A is used as an example for illustration. The third coupling component 222A has a first curved guide surface 2231 and a second curved guide surface 2232 on either side of the entrance for guiding the first drive coupling component 321A. The distal end of the first curved guide surface 2231 smoothly transitions into a first inclined surface 2233, while the distal end of the second guide surface 2232 smoothly transitions into a second inclined surface 2234. The angle between the first inclined surface 2233 and the adjacent side surface is θ1, and the angle between the second inclined surface 2234 and the adjacent side surface is θ2, where θ1 is equal to θ2. However, in other embodiments, θ1 and θ2 may differ. When the third coupling member 222A is fully coupled to the first drive coupling member 321A, the first drive coupling member 321A is tightly clamped between the first inclined surface 2233 and the second inclined surface 2234. At this point, the lower coupling plate 2230 and the drive coupling 320A cannot move relative to each other in the axial direction, but can move relative to each other in the radial direction. In other embodiments, the first inclined surface 2233 and the second inclined surface 2234 can also be configured as other shapes, such as arcs, as long as the conditions for fully coupling the third coupling member 222A to the first drive coupling member 321A are met. This condition will be described in detail below during the process of coupling the drive device 300 and the surgical instrument 100 with the coupling device 200.

[0083] like Figure 15 The second contact surface 2211 of the lower engagement tray 2210 is shown as having a first coupling member 223A for coupling with the first instrument coupling member 121A of the instrument engagement tray 120A of the surgical device 100, and a second coupling member 223B for coupling with the second instrument coupling member 121B. Because the upper engagement tray 2210 has substantially the same structure as the lower engagement tray 2230, the detailed structure of the upper engagement tray 2210 will not be further described; the structure of the lower engagement tray 2230 may be referred to.

[0084] The joining process of the driving device 300 , the joining device 200 and the surgical instrument 100 is divided into two stages. The first stage is the joining of the driving device 300 and the joining device 200 . The second stage is the joining of the driving device 300 and the joining device 200 together with the surgical instrument 100 .

[0085] Figure 16The drive coupling 320A is shown as 322. The other drive couplings 230B-320F all have the same drive disc. The drive disc 322 of the drive coupling 320A is used as an example to illustrate the structure of the drive disc. The drive disc 322 has a drive disc 323. The drive disc 323 has a drive disc top surface 324 facing the surgical instrument 100. The drive disc top surface 324 has a first drive coupling component 321A coupled to the third coupling component 222A of the coupling device 200 and a second drive coupling component 321B coupled to the fourth coupling component 222B of the coupling device 200. The bottom surface of the drive disc is connected to a drive shaft 325, which is connected to the power output shaft (e.g., the motor output shaft) of the drive coupling 320A.

[0086] Before the first stage of engagement begins, the drive couplers 320A-320F of the drive device 300 are in an initial position, which is defined based on the initial state of the surgical tool 100 and stored in the controller 330. When the surgical instrument 100 is in the initial state, the long axis 110 of the surgical instrument 100 is in a straight state, i.e., the yaw angle, pitch angle, etc. of the distal end of the long axis 110 are 0 degrees, and the instrument is rotated in a fixed position. If the end effector 111 is a surgical forceps, shearing device, etc., it is in a closed state. It will be understood that the initial state is manually defined and is not limited to the above position. In other embodiments, the initial position of the surgical tool 100 may be different, for example, the distal end of the long axis 110 may be slightly yawed relative to the straight state.

[0087] During the first engagement stage, that is, the driving device 300 is engaged with the engagement device 200, the driving couplers 320A-320F of the driving device 300 are respectively engaged with the engagement disks 220A-220F of the engagement device 200. The driving coupler 320A and the engagement disk 220A are used as an example to illustrate the engagement process of the driving device 300 and the engagement device 200. In this embodiment, the engagement process of other driving couplers and engagement disks is the same as the engagement process of the driving coupler 320A and the engagement disk 220A.

[0088] The controller 330 of the driving device 300 senses whether the coupling device 200 is connected to the driving device 300 through the third signal receiver 340. If the coupling device 200 is correctly connected to the driving device 300, the second signal receiver 240 of the coupling device 200 can send a verification signal to the third signal receiver 340. The controller 330 receives the verification signal to confirm that the coupling device 200 is correctly connected to the driving device 300, and executes the control drive coupling 320A-320F and the coupling disk 220A-220F.

[0089] Figures 17A-17DThe figure shows the process of engaging the drive adapter 320A with the engagement disc 220A. When the engagement device 200 is connected to the drive device 300, the first drive coupling component 321A and the second drive coupling component 321B of the drive adapter 320A contact the second contact surface 2235 of the engagement disc 220A. The lower engagement disc 2230 of the engagement disc 220A moves axially toward the proximal end under the push of the first drive coupling component 321A and the second drive coupling component 321B, compressing the elastic member 2220. The upper engagement disc 2210, under the action of the elastic member 2220, contacts the second edge portion 2312 of the engagement device housing 210.

[0090] Under the control of controller 330, drive adapter 320A rotates from its initial position in a first direction (e.g., clockwise). When first drive coupling component 321A rotates to the second guide arc 2232 of third coupling component 222A, lower coupling plate 2230, under the elastic force of elastic member 2220, moves axially distally, gradually guiding the first drive coupling component into third coupling component 222A. As drive adapter 320A continues to rotate, first drive coupling component 321 slides further into third coupling component 222A until the first drive coupling component 321 and third coupling component 222A are fully coupled. If first and second guide arcs 2231, 2232 are not provided at the entrance of third coupling component 222A, the first drive coupling component 321A would likely jump directly over the entrance of third coupling component 222A due to the excessively fast rotation of drive adapter 320A, without entering third coupling component 222A. In this embodiment, the drive coupler 320A rotates 180 degrees in a first direction from an initial position, then rotates 180 degrees in a second direction opposite to the first direction, and then returns to the initial position. The drive coupler 320A then continues to rotate 180 degrees in the second direction and then rotates 180 degrees in the first direction to return to the initial position, so that the first drive coupling component 321A and the second drive coupling component 321B complete the traversal motion of the coupling disc 220A. Therefore, it is necessary to provide guide arc surfaces on both sides of the entrance of the third coupling component 222A. In other embodiments, the drive coupler 320A can also rotate 360 ​​degrees in only one direction to allow the coupling disc 220 to perform a traversal motion. After the traversal motion is completed, the drive coupler 320A drives the coupling disc 220A back to the initial position.

[0091] Because the shapes of the third coupling component 222A and the fourth coupling component 222B are different, correspondingly, the distance from the outer side of the first drive coupling component 321A to the center of the drive disk is different from the distance from the outer side of the second drive coupling component 321A to the center of the drive disk. This setting can ensure that the third coupling component 222A can only be coupled with the first drive coupling component 321A, but not with the second drive coupling component 321B; similarly, the fourth coupling component 222B can only be coupled with the second drive coupling component 321B, but not with the first drive coupling component 321A. This coupling alignment method is crucial for the surgical instrument 100 to return to its initial position as described later.

[0092] Figure 17C The diagram shows a state in which the drive coupling 320A is fully coupled to the coupling tray 220A. At this point, the first drive coupling component 321A of the drive coupling 320A is fully coupled to the third coupling component 222A of the coupling tray 220A, and the second drive coupling component 321B is fully coupled to the fourth coupling component 222B of the coupling tray 220A. In the fully coupled state, the fully coupled state is described using the example of the first drive coupling component 321A being fully coupled to the third coupling component 222A of the coupling tray 220A. In the fully coupled state, the first inclined surface 2233 and the second inclined surface 2234 of the lower coupling tray 2230 are in close contact with the first drive coupling component 321A. A close contact point P0 exists where the first inclined surface 2233 and the second inclined surface 2234 are in close contact with the first drive coupling component 321A. Figure 17D for Figure 17C Enlarged view of the close contact point P0.

[0093] In the fully coupled state, the lower coupling plate 2230 cannot move relative to the drive coupling 320A in the axial and rotational directions. At this time, the lower coupling plate 2230 is subjected to a thrust Ft1 from the drive coupling 320A toward the lower coupling plate 2230, a friction force Ff1 in the opposite direction of the thrust Ft1, and an elastic force Fs1 from the elastic member 2220.

[0094] Ft1=f(μ1,θ,M1);

[0095] Ff1=g(μ1,θ,M1);

[0096] Fs1=k(μ1,θ,M1);

[0097] μ1 is the friction coefficient between the first drive coupling component 321A and the coupling plate 220A; θ is the angle between the first inclined surface 2233 and the second inclined surface 2234 and the adjacent side surface, where θ=θ1=θ2; M1 is the torque of the drive coupling 320A.

[0098] It is crucial to maintain complete coupling between the drive coupling plate 320A and the coupling plate 220A during the operation of the surgical robot. Therefore, the angle θ needs to satisfy the requirement that the friction force Ff1 is greater than the thrust force Ft1, or the sum of the friction force Ff1 and the elastic force Fs1 is greater than the thrust force Ft1.

[0099] In the fully coupled state, there is a first gap G1 between the second contact surface 2235 of the coupling disk 220A and the top surface 324 of the drive disc of the drive coupling disk 320A. The existence of the first gap G1 is crucial for maintaining the fully coupled state. Therefore, it is necessary to ensure that the distance h2 from the tight contact point P0 to the second contact surface 2235 of the coupling disk 220A is smaller than the distance h1 from the tight contact point P0 to the top surface 324 of the drive disc of the drive coupling 320A.

[0100] The second stage of the engagement process involves the drive device 300 and the engagement device 200 engaging the surgical instrument 100 together. Following the first stage of coupling, the lower engagement plate 2230 of the engagement device 200 has been fully coupled to the drive device 300. Therefore, during the second stage of engagement, the drive device 300 drives the engagement plates 220A-220F of the engagement device 200 to couple the instrument adapters 120A-120F of the surgical instrument 100. The second stage of engagement is illustrated using the process of driving the adapter 320A to engage the engagement plate 220A with the instrument adapter 120A. The engagement process for other engagement plates and other instrument adapters is similar.

[0101] After the surgical instrument 100 is connected to the coupling device 200, the first signal receiver 140 on the surgical instrument 100 transmits a signal to the controller 330 via the second signal receiver 240 on the coupling device 200 and the third signal receiver 340 on the drive device 300. The signal includes a verification signal verifying the authenticity of the surgical instrument 100 and a confirmation signal indicating whether the surgical instrument 100 is correctly connected to the coupling device 200. It will be appreciated that the signals sent by the first signal receiver 330 are not limited to the two signals described above. In other embodiments, the signal may be solely a confirmation signal or may include other signals.

[0102] like Figure 18AAs shown, after surgical instrument 100 is connected to coupling device 200, first instrument coupling component 121A and second instrument coupling component 121B of instrument adapter 120A contact the first contact surface on upper coupling disc 2210. Upper coupling disc 2210 is forced by instrument adapter 120A to move axially distally and compress elastic portion 2220. If controller 330 detects a signal from first signal receiving unit 140 confirming that surgical instrument 100 is properly connected to coupling device 200, controller 330 controls driven coupling disc 320A to rotate in a first direction (e.g., clockwise) from an initial position, which is the same as the initial position described above. Because coupling disc 320A is fully coupled to lower coupling disc 2230 in the second stage, coupling disc 220A rotates in the first direction along with driven coupling disc 320A.

[0103] like Figure 18B As shown, when the guiding arcuate surface of the first coupling component 223A gradually contacts the first instrument coupling component 121A, the first coupling plate 2210 begins to gradually move axially toward the distal end under the elastic force of the elastic portion 2220. As the drive adapter 120A continues to rotate, the first instrument coupling component 121A further slides into the first coupling component 223A via the guiding arcuate surface until the first instrument coupling component 121A and the first coupling component 223A are fully coupled.

[0104] like Figure 18C As shown, the instrument adapter 120A is fully coupled to the coupling disc 220A. At this time, the first instrument coupling component 121A is fully coupled to the first coupling component 223A, and the second instrument coupling component 121B is fully coupled to the second coupling component 223B. Like the lower coupling disc 220A, in the fully coupled state, the upper coupling disc 2210 cannot move relative to the instrument adapter in the axial and rotational directions. At this time, the upper coupling disc 2210 is subjected to a thrust Ft2 from the instrument driver 120A toward the upper coupling disc 2210, a friction force Ff2 in the opposite direction of the thrust Ft2, and an elastic force Fs2 from the elastic member 2220.

[0105] Ft2=y(μ2,α,M2);

[0106] Ff2=s(μ2,α,M2);

[0107] Fs2=t(μ2,α,M2);

[0108] μ2 is the friction coefficient between the first device coupling component 121A and the coupling plate 220A; α is the angle between the inclined surface of the first coupling component 223A and the adjacent side surface of the device (refer to θ), and M2 is the torque of the coupling plate 220A.

[0109] It is more ideal that 0°<θ<10° and 0°<α<10°, so that the engagement plate cannot move axially after being fully coupled with the drive device and the surgical instrument.

[0110] Similarly, during the operation of the surgical robot, the coupling plate 220A and the instrument coupling 120A must always be fully coupled, so the angle α must satisfy the requirement that the friction force Ff2 is greater than the thrust force Ft2, or the sum of the friction force Ff2 and the elastic force Fs2 is greater than the thrust force Ft2.

[0111] Similarly, in the fully coupled state, a second gap G2 exists between the first contact surface 2211 on the upper coupling disk 2210 and the top surface 122 of the instrument coupler disk of the instrument coupler 120A. In order to always maintain the existence of the second gap G2, it is ensured that the distance from the close contact point between the first instrument coupling component 121A and the first coupling component 223A to the first contact surface 2211 of the coupling disk 220A is less than the distance from the close contact point to the top surface 122 of the instrument coupler disk of the instrument coupler 120A.

[0112] Driven by the drive coupler 320A, the coupling disc 220A rotates 180 degrees from its initial position in a first direction, then 180 degrees in a second direction opposite the first direction, back to its initial position. The coupling disc 220A then rotates 180 degrees in the first direction, then 180 degrees in the second direction, back to its initial position. This allows the first coupling member 223A and the second coupling member 223B of the coupling disc 320A to complete the traversal motion of the coupling disc 320A to engage with the instrument coupling disc 320A. After the traversal motion is completed, the drive coupler 320A drives the coupling disc 220A and the instrument drive disc 120A back to their initial positions. Since the initial position is defined based on the initial state of the surgical instrument 100, the surgical instrument 100 now returns to its initial state. Regardless of the state of the surgical instrument 100 before engagement with the engagement device 200, the above-described engagement method allows the surgical instrument 100 to return to its initial state after engagement with the engagement device 200, thereby facilitating operation by the surgeon. Therefore, in this coupling method, configuring the coupling plate 220A of the coupling device 200 to uniquely correspond to the drive coupling 320A and the instrument coupling 120A is crucial for returning the surgical instrument 100 to its original state after coupling. In the prior art, the coupling device, the drive coupling, and the instrument coupling are not uniquely aligned, which can easily prevent the surgical instrument from properly returning to its original state after coupling.

[0113] In one embodiment, to improve the efficiency of the surgical robot and enable the return of the surgical instrument 100 to its initial state within the patient's body, the driver 330 independently controls the manner in which the engagement plates 220A-220F traverse the instrument adapters 120A-120F during the second engagement phase. Specifically, the traversal of the instrument engagement plate that drives the rotation of the longitudinal axis 110 of the surgical instrument 100 is different from the traversal of the other instrument engagement plates. Assuming that the drive coupling 320A is the drive coupling disk that drives the long shaft 110 to rotate, and the other drive coupling disks 320B-320F drive other movements of the long shaft 110 and the end effector 111 (such as yaw, pitch, opening and closing, etc.), the controller 330 controls the drive coupling 320A to drive the coupling disk 220A to traverse the instrument coupling 120A in the same manner as the previous embodiment, that is, the coupling disk 120A is triggered from the initial position to rotate 180 degrees in a first direction and then rotate 180 degrees in a second direction opposite to the first direction to return to the initial device, and then rotate 180 degrees in the second direction and then rotate 180 degrees in the first direction to return to the initial position, so that the coupling disk 220A completes the traversal of the instrument drive coupling disk 120A and then returns to the initial position. The controller 330 controls the other coupling plates 220B-220F to traverse the instrument coupling 120B-120F as follows: the coupling plates 220B-220F are triggered from the initial position to rotate a small angle β in the first direction and then rotate a small angle β in the second direction opposite to the first direction to return to the initial position, and then rotate a small angle β in the second direction and then rotate a small angle β in the first direction to return to the initial position. Preferably, β is greater than 3 degrees and less than 13 degrees.

[0114] Because the surgical instrument 100 needs to be returned to its initial state within the patient's body in this embodiment, the distal end of the long axis 110 of the surgical instrument 100 cannot move significantly within the patient's body, otherwise it will damage the tissue in the patient's body. Therefore, before the surgical instrument 100 is engaged with the engagement device 200, all instrument adapters other than the instrument driver that drives the long axis 110 to rotate are located near the initial position (this position is referred to as the proximal initial position). This allows the surgical instrument 100 to move less significantly within the patient's body during the second stage of engagement, thereby avoiding damage to the patient's tissue. In order for the surgical instrument 100 to correctly return to its initial position from the proximal initial position, the small angle β of the rotation of the engagement plates 220B-220F must be greater than the angle at which the surgical instrument 100 needs to deflect from the proximal position back to the initial position.

[0115] To ensure that the surgical instrument 100 is in the proximal initial position before the second-stage engagement, a mechanism can be provided on the power mechanism 22 to allow only the surgical instrument 100 in the proximal position to pass through the cannula 23. During the second-stage engagement, the surgical instrument 100 is first adjusted to the proximal position. For example, the medical staff only needs to adjust the distal end of the long shaft 110 of the surgical instrument 100 to a substantially straight position to place it in the proximal position. The long shaft 110 is then passed through the cannula 23 and introduced into the patient's body. After the surgical instrument 100 is connected to the engagement device 200, the controller 330 executes the second-stage engagement.

[0116] In one embodiment, when the surgical instrument is near its initial position, the first coupling member 223A and the second coupling member 223B on the coupling disc 220A, which engages the drive coupling 320A that drives the control shaft 110 for rotation, are at different distances from the center of the coupling disc or have different shapes, and the third coupling member 222A and the fourth coupling member 222B on the upper coupling disc 2210 are at different distances from the center of the upper coupling disc or have different shapes, while the first to fourth coupling members of the other coupling discs 220B-220F are at the same distance from the upper or lower coupling disc or have the same shape. This is because the instrument couplings 220B-220F are near their initial position, and coupling members of the same position or shape on the same coupling disc will not affect their return to the initial position.

[0117] In one embodiment, in order to prevent the problem caused by the infinite rotation of the instrument adapter that drives the long shaft 110 of the surgical instrument 100, such as the need for more drive wires for infinite rotation, a blocking device is provided in the instrument adapter that drives the long shaft to rotate. Figure 19 and Figure 20 As shown, it is assumed that the instrument coupler 120A is a driving coupler for driving the long shaft 110 to rotate. The instrument coupler 120A is arranged on the frame 151 of the instrument driving part 150. The frame 151 has an annular groove 124. A section of the annular groove 124 has a blocking body 125. The proximal end of the instrument coupler 120A is fixedly connected to a sliding column 123, and the other end of the sliding column 123 is arranged in the annular groove 124.

[0118] When the instrument adapter 120A rotates, the sliding post 123 is driven to slide in the annular groove 124 . When the sliding post 123 encounters the blocking body 125 , the blocking body 125 prevents the sliding post 123 from sliding further, thereby preventing the instrument adapter 120A from rotating.

[0119] In this embodiment, the instrument adapter 120A cannot rotate 360 ​​degrees due to the presence of the blocking member 125. Therefore, during the second stage of engagement, the engagement disc 220A does not need to traverse the instrument adapter 120A 360 degrees. Instead, the engagement disc 220A can traverse the instrument adapter 120A based on the central angle of the annular groove 124. Preferably, the central angle of the annular groove 124 is 320 degrees. In this case, the engagement disc 220A rotates 160 degrees in a first direction from the initial position, encounters the blocking member 125, then rotates 160 degrees in a second direction opposite the first direction, returning to the initial position. Thereafter, the engagement disc 220A rotates 160 degrees in the second direction, encounters the blocking member 125, and then rotates 160 degrees in the first direction, returning to the initial position.

[0120] Due to assembly reasons, after the drive device 300, the coupling device 200 and the surgical instrument 100 are fully coupled, the axis of the drive coupling discs 320A-320F will inevitably be not concentric with the axis of the corresponding instrument drive discs 120A-120F. Figure 21 and Figure 22 As shown, the drive adapter 320A is coupled to the instrument adapter 120A via the coupling disc 220A. The axis of the drive adapter 320A is D1, and the axis of the instrument adapter 120A is D2. D2 is eccentric to D1 by a distance ΔD. If the drive adapter 320A, the coupling disc 220A, and the instrument adapter 120A were rigidly coupled, the drive adapter 320A would drive the adapter 220 to perform eccentric rotational motion, which would cause significant damage to the drive device 300 and the surgical instrument 100 and generate considerable noise during the motion. Therefore, to eliminate the disadvantages of a rigid coupling, in one embodiment, the drive adapter 320A, the coupling disc 220A, and the instrument adapter 120A are rigidly coupled.

[0121] Specifically, a third gap G3 exists radially between the instrument coupling portion 121 of the instrument coupling 120A and the first coupling portion 223 of the coupling disc 220A. A third gap G3 exists between the drive coupling portion 321 of the drive coupling 320A and the second coupling portion 222 of the coupling disc 220A. A fourth gap G4 exists between the coupling disc 220A and the inner wall of the accommodating cavity of the housing 210. The presence of the third gap G3 and the fourth gap G4 enables the coupling disc 220A to translate radially relative to the drive coupling 120A and the instrument coupling 320A within the accommodating cavity of the housing 210. This translational movement of the coupling disc can mitigate eccentric movement of the drive coupling 220. To completely eliminate the adverse effects of the aforementioned eccentric movement, the radial width of the fourth gap G4 is preferably greater than the radial width of the coupling disc, and the radial width of the third gap G3 is greater than the eccentric distance ΔD, thereby achieving soft engagement between the drive coupling 320A, the coupling disc 220A, and the instrument coupling 120A.

[0122] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0123] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A coupling device for coupling a surgical instrument and a driving device, comprising: A bonding tray and a housing having a receiving cavity, wherein the bonding tray is received in the receiving cavity; The coupling plate includes an upper coupling plate and a lower coupling plate, the upper coupling plate having a first coupling portion for coupling with the instrument adapter of the surgical instrument, and the lower coupling plate having a second coupling portion for coupling with the driving device; an elastic member, the elastic member elastically abutting between the upper bonding plate and the lower bonding plate, the elastic member comprising a housing, an upper tip, a lower tip, and a spring, the upper tip and the lower tip respectively having a base mounted in the housing, and the spring mounted between the bases of the upper tip and the lower tip; The first coupling portion includes a first coupling component and a second coupling component, wherein the distance between the outer side of the first coupling component and the center of the upper bonding plate is different from the distance between the outer side of the second coupling component and the center of the upper bonding plate, or the first coupling component and the second coupling component have different shapes; The second coupling portion includes a third coupling component and a fourth coupling component, wherein the distance between the outer side of the third coupling component and the center of the lower bonding plate is different from the distance between the outer side of the fourth coupling component and the center of the lower bonding plate, or the third coupling component and the fourth coupling component have different shapes; The first coupling portion and the second coupling portion have a first guiding arc surface and a second guiding arc surface at the entrance thereof, wherein the first guiding arc surface and the second guiding arc surface are used to guide the driving device to couple with the second coupling portion and guide the surgical instrument to couple with the first coupling portion; The first coupling portion and the second coupling portion include inclined surfaces, the inclined surfaces being used to fully couple the engagement disc with the drive device and the surgical instrument, and an angle being formed between the inclined surfaces and the axis of the engagement disc, the angle being large enough to prevent the engagement disc from axially moving after being fully coupled to the drive device and the surgical instrument, but to allow relative movement in the radial direction; The upper bonding plate is fixedly connected to the lower bonding plate or is formed integrally therewith, and the housing has a mounting portion for mounting the elastic member.

2. The joining device according to claim 1, wherein: One end of the guide arc surface is located at the entrance of the first coupling portion or the second coupling portion, and the other end is connected to the inclined surface.

3. The joining device according to claim 1, wherein: The lower engaging plate has a first contact surface, and the first contact surface is used to form a first gap between the lower engaging plate and the driving device when the lower engaging plate is fully coupled to the driving device; The upper engaging plate has a second contact surface, and the second contact surface is used to form a second gap between the upper engaging plate and the surgical instrument when the upper engaging plate is fully coupled to the surgical instrument.

4. The joining device according to claim 1, wherein: The lower coupling plate is used to receive a first thrust from the driving device, a first elastic force of the elastic member, and a first friction force between the lower coupling plate and the driving device when the second coupling portion is fully coupled to the driving device, wherein the first friction force is greater than the first thrust; or the sum of the first friction force and the first elastic force is greater than the first thrust.

5. The joining device according to claim 1, wherein: The upper engaging plate is configured to receive a second thrust from the surgical instrument, a second elastic force of the elastic member, and a second frictional force between the upper engaging plate and the surgical instrument when the first coupling portion is fully coupled to the surgical instrument, wherein the second frictional force is greater than the second thrust; Alternatively, the sum of the second friction force and the second elastic force is greater than the second thrust.

6. The joining device according to claim 1, wherein: The coupling device further includes a signal receiving and transmitting portion for transmitting signals to the driving device and / or the surgical instrument.

7. A surgical robot, characterized in that: include: Surgical instruments for performing surgical procedures; A power mechanism, the power mechanism comprising one or more driving devices, the driving devices being used to drive and control the surgical instrument; A coupling device for coupling the surgical instrument and the driving device, wherein the coupling device is the coupling device according to any one of claims 1 to 6.

8. The surgical robot according to claim 7, wherein: The surgical instrument includes an instrument adapter for engaging with the engagement device and a blocking device for blocking unlimited rotation of the surgical instrument.

9. The surgical robot according to claim 8, wherein: The blocking device includes an annular groove and a sliding column arranged on the surgical instrument. One end of the sliding column is fixedly connected to the instrument connector, and the other end slides in the annular groove. A blocking body is provided in the annular groove, and the blocking body is used to prevent the sliding column from sliding.

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