Sterile drape for a surgical system and surgical system

Abstract

The present application discloses a sterile cover for a surgical system, comprising a body configured to cover at least one of a power unit, a robotic arm and a column, and to form a first surface facing the at least one of the power unit, the robotic arm and the column, and a second surface opposite to the first surface, the first surface being located in a non-sterile area and the second surface being located in a sterile area. The present application also provides a surgical system comprising the sterile cover for the surgical system. The present application can ensure that the operating device works normally, and at the same time, minimize or eliminate the need for sterilization of the operating device, thereby improving the service life of the operating device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a sterile cover of a surgical system and a surgical system. Background Art

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

[0003] With technological advancements, minimally invasive surgical systems have matured and are widely used. These systems typically consist of a master console and slave devices. The master console sends control commands to the slave devices based on the surgeon's actions. The slave devices respond to the commands from the master console and perform the corresponding surgical procedures.

[0004] Because the slave operating device is close to the patient's surgical area and easily contaminated during surgery, it needs to be sterilized. However, the slave operating device contains components such as servo motors, sensors, encoders, and motors, which can be damaged when sterilized using conventional methods such as steam, heat, pressure, or chemicals. Summary of the Invention

[0005] The main purpose of the present invention is to provide a sterile cover for a surgical system and a surgical system, aiming to solve the technical problem that existing operating equipment is easily damaged during the disinfection process.

[0006] To achieve the above object, the present invention provides a sterile cover for a surgical system, the surgical system comprising:

[0007] A column, a mechanical arm connected to the column, and a power mechanism connected to the mechanical arm, the sterile cover comprising:

[0008] The body is used to cover at least one of the power mechanism, the robotic arm and the column to form a first surface facing at least one of the power mechanism, the robotic arm and the column, and a second surface opposite to the first surface, the first surface is located in a non-sterile area, and the second surface is located in a sterile area.

[0009] Preferably, the sterile cover also includes an adapter provided on the main body, and the adapter is used to connect with the power mechanism after the main body is covered on the power mechanism, so that the main body forms a moving bag, and the moving bag is used to provide space for the power mechanism to move, so that the power mechanism is still shielded in the non-sterile area during the movement.

[0010] Preferably, the surgical system further comprises a surgical instrument and a connector for connecting the surgical instrument to the power mechanism, and the adapter is used to cooperate with the connector to transmit the actuating force of the power mechanism to the surgical instrument; or

[0011] The adapter comprises a fixing portion fixed on the body and a connector connected to the fixing portion, wherein the connector is used to transmit the actuating force of the power mechanism to the surgical instrument; or

[0012] The adapter is a connector fixed on the body, and the connector is used to transmit the actuating force of the power mechanism to the surgical instrument.

[0013] Preferably, the number of the adapters is at least two.

[0014] Preferably, the adapter includes a first adapter, a second adapter, a third adapter and a fourth adapter respectively fixed on the main body, and the distance between the first adapter and the second adapter is smaller than the distance between the third adapter and the fourth adapter.

[0015] Preferably, the sterile cover further comprises a support plate for carrying the plurality of adapters, and the support plate is detachably connected to the plurality of adapters.

[0016] Preferably, a visual mark is provided on the support plate to indicate the different power mechanisms corresponding to the multiple adapters.

[0017] Preferably, the surgical system also includes a shell for accommodating the power mechanism, the moving bag includes a membrane body mounted on the shell, and a first dynamic membrane located between the membrane body and the adapter, and the first dynamic membrane is used to change its shape when the power mechanism moves to provide space for the power mechanism to move.

[0018] Preferably, the moving bag further comprises a second dynamic membrane located between two adjacent adapters, and the second dynamic membrane is configured to change shape when the power mechanism moves to provide space for the power mechanism to move.

[0019] Preferably, the moving bag further comprises a fixing plate for fixing the membrane body to the shell, so that at least one of the first dynamic membrane and the second dynamic membrane is located outside the shell and covers a side of the power mechanism close to the adapter.

[0020] Preferably, the surgical system also includes a poke card and a poke card clamping portion fixed on the shell, and the poke card clamping portion is used to clamp the poke card; the mobile bag also includes an extension bag connected to or adjacent to the membrane body, and the extension bag is used to be put on the poke card clamping portion to shield the poke card clamping portion from the non-sterile area.

[0021] Preferably, the extension bag has an isolation film for being arranged in the clamping space of the stamp card clamping portion to provide an installation space for the stamp card to be installed on the stamp card clamping portion.

[0022] Preferably, the isolation film is located outside the clamping space, and is pushed into the clamping space by the stamping card when the stamping card is installed in the clamping space.

[0023] Preferably, the extension bag matches the shape of the card-punching clamping portion, and the isolation membrane is located in the clamping space.

[0024] Preferably, the main body also includes a moving bag covering the power mechanism and an arm body membrane covering the robotic arm, one end of the moving bag is connected to or adjacent to the extension bag, and the other end of the moving bag is connected to or adjacent to the arm body membrane.

[0025] Preferably, the surgical system also includes a shell for accommodating the power mechanism, and the moving bag includes a membrane body covering the shell, one end of the membrane body is connected to or adjacent to the extension bag, and the other end of the membrane body is connected to or adjacent to the arm body membrane; the membrane body is provided with an elastic part on the side close to the arm body membrane, so that the membrane body automatically closes at the robotic arm after being put on the shell.

[0026] Preferably, the arm body membrane is provided with a first arm body adhesive portion and a second arm body adhesive portion which are relatively arranged. The first arm body adhesive portion and the second arm body adhesive portion are used to fit together after the arm body membrane is covered on the robotic arm, thereby shielding the robotic arm from the non-sterile area.

[0027] Preferably, the arm body film is provided with an arm body flange at a position corresponding to at least one of the first arm body pasting portion and the second arm body pasting portion.

[0028] Preferably, the end of the arm body membrane away from the power mechanism is provided with a third arm body adhesive portion and a fourth arm body adhesive portion which are relatively arranged. The third arm body adhesive portion and the fourth arm body adhesive portion are used to limit the movement of the arm body membrane on the robotic arm after bonding.

[0029] Preferably, the main body further includes a column membrane covering the column and an arm membrane covering the robotic arm, and the column membrane is connected to or adjacent to the arm membrane.

[0030] Preferably, the column membrane is provided with a first column adhesive portion and a second column adhesive portion which are arranged opposite to each other, and the first column adhesive portion and the second column adhesive portion are used to fit together after being covered on the column, thereby shielding the column from the non-sterile area.

[0031] Preferably, the column film is provided with a first column flange at a position corresponding to at least one of the first column sticking portion and the second column sticking portion.

[0032] Preferably, the first column adhesive portion and the second column adhesive portion are partially adhered to the column film.

[0033] Preferably, a second cylindrical flange is provided at the end of one side of the cylindrical membrane close to the robotic arm.

[0034] Preferably, the flange of the second column is U-shaped.

[0035] Preferably, a plurality of suction pieces are provided on a side of the column membrane close to the robotic arm, and the suction pieces are used to be adsorbed on the column to limit the movement of the column membrane on the column in a direction away from the robotic arm.

[0036] Preferably, at least one bending strip is provided at the end of the column membrane away from the robot arm, and the bending strip is used to be attached to the middle position of the column membrane before the column membrane is unfolded.

[0037] Preferably, the column membrane is provided with a shaping portion at the end on the side close to the robotic arm, and the shaping portion is used to enclose the column when the column membrane is fixed on the column, so that the column membrane fits on the column.

[0038] Preferably, the surgical instrument includes an endoscope, and the endoscope includes a main control box and an endoscope cable connected to the main control box; the sterile cover also includes a protective film covered on the main control box and the endoscope cable to shield the main control box and the endoscope cable in the non-sterile area.

[0039] Preferably, the endoscope also includes a drive box detachably connected to the main control box; the protective film is provided with a connecting portion on one side of the main control box, and the connecting portion is used to be located between the main control box and the drive box when the main control box and the drive box are assembled, thereby shielding the main control box from the non-sterile area and placing the drive box in the sterile area.

[0040] Preferably, an endoscope cable fixing member is provided on the protective film to fix the endoscope cable to the robotic arm or the column.

[0041] Preferably, the surgical system further comprises an electric knife cable connected to the surgical instrument; an electric knife cable fixing member is provided on the protective film to fix the electric knife cable to the robotic arm or the column.

[0042] Preferably, a pull mark is provided on the protective film to indicate the direction of unfolding the protective film.

[0043] Preferably, the protective film is provided with an endoscope flange on a side away from the main control box.

[0044] To achieve the above object, the present invention further provides a surgical system, which includes the sterile cover of the surgical system described above.

[0045] The sterile cover of the surgical system and the surgical system provided by the present invention are provided with a body for covering at least one of the power mechanism, the robotic arm, and the column, thereby forming a first surface facing at least one of the power mechanism, the robotic arm, and the column, and a second surface opposite the first surface, wherein the first surface is located in a non-sterile area and the second surface is located in a sterile area. In this way, while ensuring the normal operation of the slave operating equipment, the need for sterilization of the slave operating equipment can be minimized or eliminated, thereby increasing the service life of the slave operating equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1-1 This is a structural schematic diagram of an embodiment of the present invention in which the sterile cover of the surgical system is an integrally formed structure;

[0047] Figure 1-2 This is a structural schematic diagram of an embodiment of a surgical system of the present invention in which the sterile cover is a split structure;

[0048] Figure 1-3 This is a structural schematic diagram of another embodiment of the surgical system of the present invention in which the sterile cover is a split structure;

[0049] Figure 1-4 This is a structural schematic diagram of another embodiment of the surgical system of the present invention when the sterile cover is a split structure;

[0050] Figure 2 This is a structural diagram of an embodiment of the present invention before the moving bag is covered on the power mechanism;

[0051] Figure 3 for Figure 2 A schematic structural diagram of an embodiment of the moving bag after it is covered by the power mechanism and during the moving process;

[0052] Figure 4 for Figure 2 A schematic structural diagram of another embodiment of the moving bag after it is covered by the power mechanism and during the moving process;

[0053] Figure 5 This is a structural schematic diagram of another embodiment of the present invention before the moving bag is covered on the power mechanism;

[0054] Figure 6 for Figure 5 A schematic structural diagram of an embodiment of the moving bag after it is covered by the power mechanism and during the moving process;

[0055] Figure 7 This is a structural schematic diagram of an embodiment of the specific process of moving the bag to cover the power mechanism and the housing according to the present invention;

[0056] Figure 8 This is a structural diagram of the elastic part of the present invention that enables the membrane to be sleeved on the shell and automatically closed at the mechanical arm A;

[0057] Figure 9 This is a structural diagram of the elastic part of the present invention that enables the membrane to be sleeved on the shell and automatically closed at the mechanical arm B;

[0058] Figure 10 This is a structural schematic diagram of an embodiment of the present invention in which the isolation membrane is located outside the clamping space;

[0059] Figure 11 This is a structural schematic diagram of an embodiment of the present invention in which the isolation film is stuck and abutted into the clamping space;

[0060] Figure 12 This is a structural schematic diagram of an embodiment of the present invention in which the isolation membrane is located in the clamping space;

[0061] Figure 13 This is a structural diagram of an embodiment of an adapter of the present invention;

[0062] Figure 14 It is a structural schematic diagram of another embodiment of the adapter of the present invention;

[0063] Figure 15 This is a structural diagram of another embodiment of the adapter of the present invention;

[0064] Figure 16 This is a structural diagram of an embodiment of the present invention in which four adapters are arranged on a main body;

[0065] Figure 17 This is a structural diagram of an embodiment of a support plate carrying multiple adapters according to the present invention;

[0066] Figure 18 This is a schematic structural diagram of the connector of the present invention connected to the power connection disk and the drive connection disk;

[0067] Figure 19 This is a schematic structural diagram of an embodiment of a connector of the present invention;

[0068] Figure 20 This is a structural diagram of an embodiment of the present invention in which the arm membrane and the membrane body are integrally formed;

[0069] Figure 21 This is a schematic structural diagram of an embodiment of the present invention in which the arm membrane and the membrane body are separate structures;

[0070] Figure 22 This is a schematic structural diagram of an embodiment of the arm membrane of the present invention;

[0071] Figure 23 This is a structural diagram of an embodiment of the present invention in which an arm body membrane is covered on a robotic arm;

[0072] Figure 24 This is a schematic structural diagram of an embodiment of a column membrane of the present invention;

[0073] Figure 25 This is a schematic structural diagram of another embodiment of the column membrane of the present invention;

[0074] Figure 26 This is a schematic structural diagram of another embodiment of the column membrane of the present invention;

[0075] Figure 27 This is a structural schematic diagram of another embodiment of the column membrane of the present invention;

[0076] Figure 28 for Figure 27 A schematic structural diagram of an embodiment of the middle shaping portion;

[0077] Figure 29 A schematic structural diagram of an embodiment of the process of installing the protective film of the present invention on an endoscope;

[0078] Figure 30 for Figure 29 Schematic diagram of the structure after the middle protective film is installed;

[0079] Figure 31 It is a structural schematic diagram of an embodiment of the present invention in which the elastic portion is installed in the groove of the drive box;

[0080] Figure 32 for Figure 31 Schematic diagram of the structure after the middle elastic rope is installed;

[0081] Figure 33 It is a structural schematic diagram of another embodiment of the process of installing the elastic portion into the groove of the drive box of the present invention;

[0082] Figure 34 A schematic structural diagram of another embodiment of the process of installing the protective film of the present invention on an endoscope;

[0083] Figure 35This is a structural schematic diagram of an embodiment of the protective film of the present invention before it is unfolded.

[0084] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0085] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0086] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0087] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0088] In addition, in the present invention, descriptions such as "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0089] like Figure 1-1As shown, the present invention provides a surgical system 1000, which includes a master console 100 and a slave operating device 200. The master console 100 is used to send control commands to the slave operating device 200 based on the doctor's operation, thereby controlling the slave operating device 200. The slave operating device 200 is used to respond to the control commands sent by the master console 100 and perform the corresponding surgical operation. The slave operating device 200 includes a column 21, a robotic arm 22 suspended from the column 21, a power mechanism 23 mounted on the robotic arm 22, a surgical instrument (not shown), and an image display 25. The power mechanism 23 is housed in a housing 220 and is used to receive the surgical instrument and provide actuation force for the surgical instrument. The surgical system 1000 also includes a stamp card (not shown) and a stamp card holder 26 fixed to the housing 220. The stamp card holder 26 is used to hold the stamp card so that the surgical instrument can be inserted through the stamp card into the body. The surgical instrument may further include surgical tools and an endoscope. The surgical tool is used to be inserted into the body under the drive of the power mechanism 23, and the surgical operation is performed through its end effector located at the distal end. The endoscope obtains in-vivo images through its image acquisition unit located at the front end. The image display 25 is used to display the images obtained by the endoscope. The sterile cover 101 of the surgical system shown in dotted lines is an integrally molded structure. That is, the sterile cover 101 simultaneously covers the column 21, the robotic arm 22, and the power mechanism 23.

[0090] like Figure 1-2 As shown, the sterile cover 101 of the surgical system, shown in dotted lines, is a split structure. The sterile cover 101 can be divided into three parts: a column membrane 11 covering the column 21, an arm membrane 12 covering the cantilever of the robotic arm 22, and a mobile bag 13 covering the power mechanism 23 and the mobile arm of the robotic arm 22. It is understood that in other embodiments, the mobile bag 13 can be further split into two parts: a portion covering the power mechanism 23 and another portion covering the mobile arm.

[0091] like Figure 1-3 As shown in FIG, the sterile cover 101 of the surgical system shown in dotted lines is a split structure. Figure 1-2 The difference of the embodiment shown is that no arm body membrane 12 is provided on the cantilever.

[0092] like Figure 1-4 As shown in FIG, the sterile cover 101 of the surgical system shown in dotted lines is a split structure. Figure 1-2 The difference of the illustrated embodiment is that the cantilever portion covers the arm body membrane 12 .

[0093] like Figure 1-1 As shown, the sterile cover 101 includes a body 1 and an adapter (not shown) provided on the body 1. The body 1 is used to cover at least one of the power mechanism 23, the robotic arm 22 and the column 21, and form a first surface a facing at least one of the power mechanism 23, the robotic arm 22 and the column 21, and a second surface b opposite to the first surface. The first surface a is located in the non-sterile area and the second surface b is located in the sterile area. The body 1 can be an integrally formed structure or a split structure. The specific method is the same as above and will not be repeated here.

[0094] It is understandable that the adapter is not a necessary structure. In other embodiments, the sterile cover 101 may not include the adapter.

[0095] Moving Bag

[0096] The moving bag 13 is used to provide a space for the power mechanism 23 to move, so that the power mechanism 23 is still shielded in the non-sterile area during the movement process.

[0097] In one embodiment, Figure 2 This is a schematic diagram of the main body 1 before covering the power mechanism 23, or a schematic diagram of the adapter 10 before connecting to the power mechanism 23. Figure 3 and Figure 4 As shown, the adapter 10 is connected to the power mechanism 23 , so that the main body 1 forms the moving bag 13 at the position of the power mechanism 23 .

[0098] In another embodiment, Figure 5 As shown, the moving bag 13 is in the shape of a bag before being covered on the power mechanism 23. Figure 6 As shown, during the movement of the power mechanism 23, the moving bag 13 generates wrinkles and returns to its original shape when the power mechanism 23 is reset. Each of the moving bags 13 can be independently contracted and expanded.

[0099] Since the power mechanism 23 is close to the patient's operating area, it is easily contaminated during surgery. However, existing conventional disinfection methods are prone to damage to its structure, thereby affecting the normal function of the surgical system. In this embodiment, the adapter 10 connected to the main body 1 is provided, so that the adapter 10 is connected to the power mechanism 23 after the main body 1 covers the power mechanism 23, and the main body 1 forms the moving bag 13. The moving bag 13 is used to provide space for the power mechanism 23 to move, and the power mechanism 23 is still shielded from the non-sterile area during the movement. In this way, the normal operation of the power mechanism 23 can be ensured while minimizing or eliminating the need for disinfection of the power mechanism 23, thereby increasing the service life of the power mechanism 23.

[0100] like Figure 7 As shown, the moving bag 13 includes a membrane body 131 that is sleeved on the housing 220, a first dynamic membrane 132 connected to the membrane body 131 and located between the membrane body 131 and the adapter 10, a second dynamic membrane 133 located between two adjacent adapters 10, and a fixing plate 134 for fixing to the housing 220. The first dynamic membrane 132 and the second dynamic membrane 133 are configured to change shape when the power mechanism 23 moves, thereby providing space for the power mechanism 23 to move. It is understood that when there is only one adapter 10, there is only the first dynamic membrane 132; when there are two or more adapters 10, there are both the first dynamic membrane 132 and the second dynamic membrane 133.

[0101] The fixing piece 134 fixes the membrane body 131 to the shell 220, so that at least one of the first dynamic membrane 132 and the second dynamic membrane 133 is located outside the shell 220 and covers the side of the power mechanism 23 close to the adapter 10. It is understandable that the fixing piece 134 can be a magnetic sheet or an adhesive tape. Specifically, it can be an annular, circular, square, rectangular or other shapes. In other embodiments, if the size of the mobile bag 13 is set appropriately, the mobile bag 13 can be covered on the power mechanism 23 and the shell 220 more snugly without the need for additionally setting the fixing piece 134.

[0102] like Figure 8 As shown, the membrane 131 is provided with an elastic portion 135 on the side close to the robotic arm 22, so that the membrane 131 automatically closes at the robotic arm 22 after being put on the housing 220. The position of the elastic portion 135 can be set as shown in FIG. Figure 8 The A shown in FIG. 1 can also be set as Figure 9The elastic portion 135 can reduce the space or volume occupied by the membrane 131 , thereby making the membrane 131 fit more closely to the housing 220 .

[0103] By providing a moving bag 13 on the body 1 for covering the power mechanism 23, the moving bag 13 provides space for the power mechanism 23 to move, while the power mechanism 23 is shielded from the non-sterile area during movement. This ensures the normal operation of the slave operation device while minimizing or eliminating the need for sterilization of the slave operation device, thereby extending the service life of the slave operation device.

[0104] Extension bag

[0105] like Figure 9 As shown, the main body 1 is further provided with an extension bag 17 on a side away from the power mechanism 23, connected to or adjacent to the membrane 131. The extension bag 17 is used to fit over the card punching clamp 26 to shield the card punching clamp 26 from the non-sterile area. In other words, the extension bag 17 can be integrally formed with the membrane 131 or separated from it. In other words, the extension bag 17 can be part of the moving bag 13 or a separate structure. The specific configuration can be appropriately tailored to actual needs.

[0106] Further, if Figures 10 and 11 As shown, the extension bag 17 has an isolation film 170 for being disposed in the clamping space 260 of the stamp card clamping portion 26 to provide a mounting space for the stamp card to be mounted on the stamp card clamping portion 26 .

[0107] In one embodiment, if Figure 10 As shown, the isolation membrane 170 is located outside the clamping space 260. Figure 11 As shown, when the stamping card 261 is installed in the clamping space 260, the isolation film 170 is pressed into the clamping space 260 by the stamping card 261. In this case, the isolation film 170 is a flexible film. Of course, in other embodiments, the isolation film 170 can also be a deformable hard film.

[0108] In another embodiment, Figure 12 As shown, the shape of the extension bag 17 matches that of the card-stamping portion 26, and the isolation film 170 is located in the clamping space 260. At this time, the extension bag 17 can be a flexible film or a hard film.

[0109] adapter

[0110] like Figure 13As shown, in one embodiment, the surgical system 1000 further includes a connector 18 for connecting the surgical instrument to the power mechanism 23. The connector 18 is configured to cooperate with the adapter 10 to transmit the actuation force of the power mechanism 23 to the surgical instrument. The connector 18 and the adapter 10 may be coupled via a snap-fit ​​mechanism, or may be coupled via magnetic attraction, adhesive bonding, threaded fastening, or other methods. The present invention is not limited to the specific coupling method.

[0111] like Figure 14 As shown, in another embodiment, the adapter 10 includes a fixing portion 19 fixed to the body 1 and a connector 18 connected to the fixing portion 19, and the connector 18 is used to transmit the actuating force of the power mechanism 23 to the surgical instrument. Figure 13 The difference between the embodiment shown is that the connector 18 of this embodiment is a part of the adapter 10, while Figure 13 The connector 18 of the embodiment shown is a structure independent of the adapter 10. This embodiment avoids the need to install the connector 18 on the body 1 during the preoperative preparation process, reduces the number of surgical steps, and thus improves surgical efficiency.

[0112] like Figure 15 As shown, in another embodiment, the adapter 10 is a connector 18 fixed to the body 1, and the connector 18 is used to transmit the actuating force of the power mechanism 23 to the surgical instrument. In this embodiment, the adapter 10 can be fixed to the body 1 by gluing, hot melting, etc. Figure 13 The difference between the embodiment shown is that the connector 18 of this embodiment is equivalent to Figure 13 The adapter 10 of the embodiment shown does not require an additional adapter 10 structure. This embodiment avoids the need to install the connector 18 on the body 1 during the preoperative preparation process, reduces the surgical operation steps, and thus improves surgical efficiency.

[0113] like Figure 16 As shown, the adapter 10 includes at least two adapters 10, each fixed to the body 1. For example, the adapter 10 may include a first adapter, a second adapter, a third adapter, and a fourth adapter, each fixed to the body 1. The distance between the first adapter and the second adapter is smaller than the distance between the third adapter and the fourth adapter. This adapts to the structure of the fixed channel 225, thereby preventing the multiple power mechanisms 23 from tearing and damaging the body 1 during movement.

[0114] like Figure 17As shown, the sterile cover 101 also includes a support plate 31 for carrying the plurality of adapters 10, so that the plurality of adapters 10 are aligned with the corresponding plurality of power mechanisms 23, thereby fixing the plurality of adapters 10 to the corresponding plurality of power mechanisms 23 respectively. It can be understood that the support plate 31 is detachably connected to the plurality of adapters 10. Specifically, the adapter 10 can be pasted on the support plate 31; the adapter 10 can also be fixed to the support plate 31 by snap-fitting; the support plate 31 can also be provided with a fixing structure that matches the structure of the adapter 10, for example, a through-hole structure is provided on the support plate 31 to accommodate the protruding structure of the adapter 10. Further, as Figure 17 As shown, the support plate 31 is provided with a visual identifier 310 to indicate the different power mechanisms 23 corresponding to the multiple adapters 10. The visual identifier 310 is not limited to numbers, letters, or Chinese characters, and can also be a color identifier. The support plate 31 not only facilitates the removal of the multiple adapters 10, but also indicates the power mechanism 23 corresponding to each adapter 10, thereby improving the efficiency of the sterile cover 101.

[0115] like Figure 18 and Figure 19 As shown, in one embodiment, the power mechanism 23 has a power connection disk 226, and the surgical instrument has a drive connection disk 241. The connector 18 includes a connecting body 181 connected to the fixing portion 19, a first connection disk 182 provided on the connecting body 181, and a second connection disk 186 connected to the first connection disk 182. The first connection disk 182 is used to abut against the power connection disk 226, and the second connection disk 186 is used to abut against the drive connection disk 241, so that the power mechanism 23 drives the surgical instrument via the first connection disk 182 and the second connection disk 186. In another embodiment, the power mechanism 23 has a power connecting disk 226, and the surgical instrument has a drive connecting disk 241; the connector 18 includes a connecting body 181 fixed on the main body 1, a first connecting disk 182 provided on the connecting body 181, and a second connecting disk 186 connected to the first connecting disk 182, the first connecting disk 182 is used to abut against the power connecting disk 226, and the second connecting disk 186 is used to abut against the drive connecting disk 241, so that the power mechanism 23 drives the surgical instrument through the first connecting disk 182 and the second connecting disk 186.

[0116] Furthermore, at least two first protrusions 183 extend from the first connection disk 182, with a first recessed area 184 formed between two adjacent first protrusions 183. Two second protrusions 187 extend from the second connection disk 186, with a second recessed area 188 formed between two adjacent second protrusions 187. The first protrusion 183 is configured to be received in the second recessed area 188 and abut against two adjacent second protrusions 187; the second protrusion 187 is configured to be received in the first recessed area 184 and abut against two adjacent first protrusions 183. The first connection disk 182 is provided with a first mounting position 185, so that at least one of the power connection disk 226 and the first connection disk 182 can move relative to the connector 181 along a first direction limited by the first mounting position 185, where the first direction is the extension direction of the first mounting position 185. The second connecting plate 186 is provided with a second mounting position 189 so that at least one of the driving connecting plate 241 and the second connecting plate 186 can move relative to the connecting body 181 along a second direction limited by the second mounting position 189 , and the second direction is the extension direction of the second mounting position 189 .

[0117] The first direction forms an angle with the rotation axis of the first connection disk 182, and the second direction forms an angle with the rotation axis of the second connection disk 186. For example, the first connection disk 182 and the drive connection disk 241 can move relative to the connection body 181 in a direction perpendicular to the rotation axis; the second connection disk 186 and the power connection disk 226 can move relative to the connection body 181 in a direction perpendicular to the rotation axis. The first connection disk 182 and the second connection disk 186 can move independently relative to the connection body 181.

[0118] At least one of the power connecting disk 226 and the first connecting disk 182 is movable relative to the connecting body 181 along the first direction limited by the first mounting position 185, and at least one of the drive connecting disk 241 and the second connecting disk 186 is movable relative to the connecting body 181 along the second direction limited by the second mounting position 189, which can reduce the installation gap between the connector 18 and the power mechanism 23 and the surgical instrument.

[0119] Furthermore, at least one of the first mounting position 185 and the second mounting position 189 is a tapered hole structure, which can further reduce the mounting gap.

[0120] When installing the moving bag 13, you can first pick up the support plate 31 and stretch the elastic portion 135 from the direction of the power mechanism 23, and pull the membrane body 131 away from the power mechanism 23 so that the membrane body 131 is covered on the shell 220. If the extension bag 17 and the membrane body 131 are an integral structure, then the extension bag 17 can be placed on the card clamping portion 26, and the elastic portion 135 automatically closes at the robotic arm 22. Then, the fixing plate 134 is fixed to the shell 220 and the support plate 31 is removed. Next, the adapter 10 is fixed to the power mechanism 23. Finally, the surgical instrument is installed on the power mechanism 23, so that the power mechanism 23 and other structures can be shielded from the non-sterile area during the movement of the surgical instrument. It can be understood that the above installation process is only used to help understand the present application scheme and does not limit the structure and sequence. In other embodiments, some of the structures can be omitted or the sequence can be adjusted.

[0121] By disposing the adapter 10 on the body 1 and utilizing the connector 18 to mate with the adapter 10, or utilizing the connector 18 to mate with the fixing portion 19 of the adapter 10, or directly fixing the connector 18 to the body 1, the actuating force of the power mechanism 23 is transmitted to the surgical instrument. This ensures the normal operation of the slave operating device while minimizing or eliminating the need for sterilization of the slave operating device, thereby extending the service life of the slave operating device.

[0122] Arm membrane

[0123] The main body 1 includes an arm body membrane 12 covering the mechanical arm 22. Figure 20 As shown, the robot arm 22 includes a cantilever 221 and a moving arm 222, and the arm body membrane 12 can be an integral structure or a split structure with the moving bag 13. Specifically, the arm body membrane 12 can be an integral structure with the membrane body 131. Figure 21As shown, the arm body membrane 12 can also be an independent structure adjacent to the membrane body 131. Furthermore, the arm body membrane 12 can be further split into a split structure, such as a part covering the cantilever 221 and another part covering the movable arm 222. At this time, the cantilever 221 can be completely covered by the arm body membrane 12, or it can be not covered by the arm body membrane 12, or it can be partially covered by the arm body membrane 12. When the membrane body 131 and the arm body membrane 12 are split structures, the membrane body 131 can further cover the movable arm 222, and the arm body membrane 12 can only cover the cantilever 221 or not cover the cantilever 221, that is, the arm body membrane 12 is not provided. When the membrane body 131 covers the movable arm 222, the movable bag 13 can be covered on the power mechanism 23, the shell 220 and the movable arm 222 at one time, thereby improving the installation efficiency.

[0124] Because the robotic arm 22 is located near the patient's surgical area, it is easily contaminated during surgery. However, existing conventional disinfection methods can easily damage its structure, thereby affecting the normal function of the surgical system. However, this embodiment provides an arm membrane 12 covering the robotic arm 22, connected to or adjacent to the membrane 131, shielding the robotic arm 22 from the non-sterile area. This ensures the normal operation of the robotic arm 22 while minimizing or eliminating the need for disinfection of the robotic arm 22, thereby increasing its service life.

[0125] like Figure 22 As shown, the arm body membrane 12 is provided with a first arm body adhesive portion 121 and a second arm body adhesive portion 122 which are arranged opposite to each other. The first arm body adhesive portion 121 and the second arm body adhesive portion 122 are used to adhere to each other after the arm body membrane 12 is covered on the robotic arm 22, and shield the robotic arm 22 from the non-sterile area. Specifically, the first arm body adhesive portion 121 and the second arm body adhesive portion 122 can be the round hair surface and the hooked hair surface of the Velcro respectively. The first arm body adhesive portion 121 and the second arm body adhesive portion 122 can also be a magnet and a metal body respectively. The first arm body adhesive portion 121 and the second arm body adhesive portion 122 can also be a button structure. In one embodiment, as Figure 22As shown, the first arm body adhesive portion 121 and the second arm body adhesive portion 122 can all be attached to the main body 1. The first arm body adhesive portion 121 and the second arm body adhesive portion 122 can be strip-shaped structures. Of course, in other embodiments, the first arm body adhesive portion 121 and the second arm body adhesive portion 122 can also be other shapes, such as circular. It is understandable that multiple pairs of the first arm body adhesive portion 121 and the second arm body adhesive portion 122 can be set on the arm body membrane 12 along the length direction of the robotic arm 22. It is understandable that when the first arm body adhesive portion 121 and the second arm body adhesive portion 122 are Velcro structures, the area of ​​cooperation between the two can be adjusted. Therefore, the first arm body adhesive portion 121 and the second arm body adhesive portion 122 can, on the one hand, fix the arm body membrane 12 on the robotic arm 22, and on the other hand, reduce the spatial volume occupied by the arm body membrane 12, so that the arm body membrane 12 fits better on the robotic arm 22.

[0126] Furthermore, the arm body film 12 is provided with an arm body flange 123 at a position corresponding to at least one of the first arm body pasting portion 121 and the second arm body pasting portion 122. The arm body flange 123 can facilitate the operator to put his hand in and avoid contact with the non-sterilized area. In actual operation, two people can respectively put their hands into the arm body flange 123 corresponding to the first arm body pasting portion 121 and the arm body flange 123 corresponding to the second arm body pasting portion 122, and then fit the first arm body pasting portion 121 and the second arm body pasting portion 122 together. Of course, in other embodiments, the left and right hands of one person can also be selected to perform the above operation respectively according to actual needs.

[0127] like Figure 22 and Figure 23 As shown, the end of the arm body membrane 12 on the side away from the power mechanism 23 is provided with a third arm body pasting portion 124 and a fourth arm body pasting portion 125 that are arranged opposite to each other. The third arm body pasting portion 124 and the fourth arm body pasting portion 125 are used to limit the movement of the arm body membrane 12 on the robotic arm 22 after pasting. It can be understood that the first arm body pasting portion 121 and the second arm body pasting portion 122 are not only applicable to the embodiment in which the arm body membrane 12 and the membrane body 131 are integrally formed, but also applicable to the embodiment in which the arm body membrane 12 and the membrane body 131 are split structures. For example, as described above, the membrane body 131 further covers the case in which the movable arm 222. As Figure 22As shown, the third arm body pasting portion 124 and the fourth arm body pasting portion 125 can be partially attached to the main body 1. The third arm body pasting portion 124 and the fourth arm body pasting portion 125 can be a strip-shaped structure. Of course, in other embodiments, the third arm body pasting portion 124 and the fourth arm body pasting portion 125 can be a strip-shaped or circular structure. The third arm body pasting portion 124 and the fourth arm body can also be completely attached to the main body 1. Specifically, the third arm body pasting portion 124 and the fourth arm body pasting portion 125 can be the round hair surface and the hooked hair surface of the Velcro respectively. The third arm body pasting portion 124 and the fourth arm body pasting portion 125 can also be a magnet and a metal body respectively. The third arm body pasting portion 124 and the fourth arm body pasting portion 125 can also be a button structure.

[0128] When installing the arm body membrane 12, one person's two hands can be respectively inserted into the arm body flanges 123 corresponding to the two first arm body adhesive parts 121, and another person's two hands can be respectively inserted into the arm body flanges 123 corresponding to the two second arm body adhesive parts 122. Then, after covering the arm body membrane 12 on the robotic arm 22, the first arm body adhesive parts 121 and the second arm body adhesive parts 122 in relative positions are fit together, and the third arm body adhesive parts 124 and the fourth arm body adhesive parts 125 are fit together, so as to fix the arm body membrane 12 on the robotic arm 22.

[0129] By providing the arm membrane 12 with a first arm-body adhesive portion 121 and a second arm-body adhesive portion 122 that are positioned opposite each other, the first arm-body adhesive portion 121 and the second arm-body adhesive portion 122 are adapted to adhere to each other after being covered on the robotic arm 22, thereby shielding the robotic arm 22 from the non-sterile area. This ensures the normal operation of the slave operating device while minimizing or eliminating the need for sterilization of the slave operating device, thereby extending the service life of the slave operating device.

[0130] cylindrical membrane

[0131] The column membrane 11 is connected to or adjacent to the arm membrane 12. That is, the column membrane 11 and the arm membrane 12 can be an integral structure or a split structure. Figure 24 and Figure 25As shown, the column membrane 11 is provided with a fixing piece 110 to fix the column membrane 11 on the column 21, and the column 21 is shielded in the non-sterile area. Since the column 21 is close to the patient's operating area, it is easily contaminated during surgery. However, the existing conventional disinfection method is easy to damage its structure, thereby affecting the normal function of the surgical system. In this embodiment, the column 21 is shielded in the non-sterile area by providing a column membrane 11 covering the column 21 and being connected to or adjacent to the arm membrane 12. In this way, the normal operation of the column 21 can be ensured while minimizing or eliminating the need for disinfection of the column 21, thereby increasing the service life of the column 21.

[0132] like Figure 24 As shown, the fixing member 110 includes a first column sticking portion 111 and a second column sticking portion 112 which are arranged opposite to each other on the column film 11. The first column sticking portion 111 and the second column sticking portion 112 are used to stick the column film 11 to the column 21 after the column film 11 is covered on the column 21, thereby fixing the column film 11 to the column 21. Figure 24 As shown, the first column sticking portion 111 and the second column sticking portion 112 can be completely attached to the column film 11. Figure 26 As shown, the first column adhesive portion 111 and the second column adhesive portion 112 can also be partially attached to the column film 11. The first column adhesive portion 111 and the second column adhesive portion 112 can be the round and hooked velcro surface, respectively, or can be a magnet and a metal body, respectively, or can be a button structure. It is understood that multiple pairs of the first column adhesive portion 111 and the second column adhesive portion 112 can be provided on the column film 11 along the length of the column 21.

[0133] Further, if Figure 24 As shown, the cylindrical film 11 is provided with a first cylindrical flange 113 at a position corresponding to at least one of the first cylindrical adhesive portion 111 and the second cylindrical adhesive portion 112. The first cylindrical flange 113 can facilitate the operator to insert his hand and avoid contact with the non-sterilized area. During the actual operation, two people can respectively insert their hands into the first cylindrical flange 113 corresponding to the first cylindrical adhesive portion 111 and the cylindrical flange corresponding to the second cylindrical adhesive portion 112, and then fit the first cylindrical adhesive portion 111 and the second cylindrical adhesive portion 112 together. Of course, in other embodiments, the left and right hands of one person can also be selected to perform the above operation according to actual needs.

[0134] like Figure 24As shown, a plurality of suction pieces 114 are provided on the side of the column film 11 close to the robotic arm 22. The suction pieces 114 are used to be adsorbed on the pillar 21 to prevent the column film 11 from moving away from the robotic arm 22 on the pillar 21. Specifically, when the column film 11 is covered on the pillar 21, the upper end of the column film 11 can be first fixed to the pillar 21 using the suction pieces 114, and then the first column adhesive portion 111 and the second column adhesive portion 112 can be attached to fix the column film 11 to the pillar 21.

[0135] It is understood that, assuming the pillar 21 has four sides, one suction piece 114 can be provided on each of the four sides near the upper end of the cantilever 221, one suction piece 114 can be provided on each of two opposing sides, one suction piece 114 can be provided on any two sides, or one suction piece 114 can be provided on any three sides. When the pillar film 11 is applied to the pillar 21, each suction piece 114 can be first secured to the pillar 21, and then the first pillar adhesive portion 111 and the second pillar adhesive portion 112 can be affixed to secure the pillar film 11 to the pillar 21. In other embodiments, the first pillar adhesive portion 111 and the second pillar adhesive portion 112 can be omitted, and multiple suction pieces 114 can be provided on the pillar film 11. For example, three suction pieces 114 can be provided on each of the four sides, from top to bottom.

[0136] Further, if Figure 24 As shown, the end of the cylindrical membrane 11 near the robotic arm 22 is provided with a second cylindrical flange 115. This second cylindrical flange 115 can be U-shaped or square, for example. This second cylindrical flange 115 facilitates the operator's hand access, avoiding contact with non-sterile areas. During actual operation, one or both hands can reach into the second cylindrical flange 115, lift the cylindrical membrane 11, and then attach the suction piece 114 on the cylindrical membrane 11 to the pillar 21.

[0137] Further, if Figure 24 and Figure 25 As shown, at least one bending tape 116 is provided at the end of the cylindrical membrane 11 away from the robotic arm 22. The bending tape 116 is attached to the middle portion of the cylindrical membrane 11 before the cylindrical membrane 11 is unfolded. This prevents the bottom of the cylindrical membrane 11 from dragging on the ground when the cylindrical membrane 11 is unfolded, thereby contaminating the cylindrical membrane 11. The bending tape 116 can be double-sided tape, single-sided tape, or other fixing structures.

[0138] Further, if Figure 27 and Figure 28 As shown, the cylindrical membrane 11 is provided with a shaping portion 117 at the end near the robotic arm 22. This shaping portion 117 is used to enclose the pillar 21 when the cylindrical membrane 11 is fixed to the pillar 21, thereby ensuring that the cylindrical membrane 11 is adhered to the pillar 21. Specifically, the shaping portion 117 is an elastic, bendable structure. When enclosed on the pillar 21, the shaping portion 117 can form a mouth-shaped shape with or without an opening. It is understood that the mouth-shaped shape can vary depending on the specific shape of the pillar 21. For example, in other embodiments, when the cross-section of the pillar 21 is circular, the mouth-shaped shape is correspondingly circular. In this embodiment, the shaping portion 117 allows the cylindrical membrane 11 to fit more closely to the pillar 21, thereby reducing the volume occupied by the cylindrical membrane 11 and further reducing the visual size of the cylindrical membrane 11.

[0139] When installing the column film 11, the bending tape 116 can be torn off first. In one embodiment, one person's hands are inserted into the first column flanges 113 corresponding to the two first column adhesive portions 111, and another person's hands are inserted into the first column flanges 113 corresponding to the two second column adhesive portions 112. The column film 11 is then covered on the column 21, and the suction piece 114 is adsorbed onto the column 21. The first column adhesive portion 111 and the second column adhesive portion 112 are then aligned. In another embodiment, the operator's hands can be inserted into the two second column flanges 115, causing the column film 11 to automatically unfold under the action of gravity. The column film 11 is then moved closer to the column 21, causing the suction piece 114 to adsorb onto the column 21, and the first column adhesive portion 111 and the second column adhesive portion 112 are then aligned. When the shaping portion 117 is provided, the shaping portion 117 can be enclosed within the pillar 21 when the suction sheet 114 is attached to the pillar 21. It should be understood that the above installation process is intended only to facilitate understanding of the present invention and does not limit the structure and sequence. In other embodiments, some of the structures may be omitted or the sequence may be adjusted.

[0140] By providing a cylindrical membrane 11 covering the column 21, and providing a fixing member 110 on the cylindrical membrane 11 to fix the cylindrical membrane 11 to the column 21, the column 21 is shielded from the non-sterile area. In this way, the normal operation of the slave operation device can be ensured while minimizing or eliminating the need for sterilization of the slave operation device, thereby extending the service life of the slave operation device.

[0141] Protective film (endoscope)

[0142] like Figure 29 As shown, the endoscope includes a main control box 240, a drive box 242 detachably connected to the main control box 240, and an endoscope cable 243 connected to the main control box 240. The sterile cover 101 also includes a protective film 50 that is placed over the main control box 240 and the endoscope cable 243 to shield the main control box 240 and the endoscope cable 243 from a non-sterile area. Because the front end of the endoscope is very close to the patient's lesion area, the endoscope is very easy to be contaminated during surgery. However, existing conventional disinfection methods easily damage its structure, thereby affecting the normal function of the endoscope. In contrast, this embodiment provides a protective film 50 that is placed over the main control box 240 and the endoscope cable 243 to shield the main control box 240 and the endoscope cable 243 from a non-sterile area. This ensures the normal operation of the endoscope while minimizing or eliminating the need for disinfection, thereby increasing the service life of the endoscope.

[0143] Further, if Figure 30 As shown, the protective film has an open end M and an end N that are relatively arranged, and the protective film is provided with a connecting portion 51 at the end. The connecting portion is used to be located between the main control box 240 and the driver box 242 when the main control box 240 and the driver box 242 are assembled, thereby shielding the main control box 240 from the non-sterile area and placing the driver box 242 in the sterile area. Specifically, the connecting portion is a hollow structure that extends along the edge of the driver box 242 and matches the shape of the driver box 242. The shape of the connecting portion is adapted to the shape of the main control box 240 or the driver box 242, and can be, for example, circular or square.

[0144] Further, if Figure 29 As shown, the drive box 242 has a bearing portion 244, which is used to carry the connecting portion so that the connecting portion is located between the main control box 240 and the drive box 242 when the main control box 240 and the drive box 242 are assembled. The end can also be an open end. When installing the protective film, the operator can first pass his hand through the end, put the protective film in a folded state on the drive box 242, and carry the connecting portion on the bearing portion. Then, the main control box 240 and the drive box 242 are assembled so that the connecting portion is located between the main control box 240 and the drive box 242, and then the protective film is pulled open along the length direction of the endoscope cable, thereby shielding the main control box 240 and the endoscope cable 243 within the non-sterile area.

[0145] In one embodiment, if Figure 29 As shown, the drive box 242 may further include an extension body 245 extending from the bearing portion toward the main control box 240. At this time, the connecting portion may be sleeved on the extension body to facilitate the alignment and fixation of the connecting portion, thereby improving the installation efficiency of the protective film.

[0146] Further, if Figure 31 and Figure 32 As shown, the protective film may further be provided with an elastic portion 52 at the open end, and the elastic portion is used to be fastened to the drive box 242. Specifically, the drive box 242 is provided with a groove 246, and the groove is used to accommodate the elastic portion. When the connecting portion is installed on the drive box 242, the elastic portion is accommodated in the groove, which prevents the connecting portion from moving on the drive box 242, thereby enabling the main control box 240 and the drive box 242 to be accurately positioned without having to adjust the position of the connecting portion relative to the main control box 240 or the drive box 242, thereby improving installation efficiency.

[0147] Further, if Figure 33 As shown, the body 1 further includes a fitting portion 247 fixed to the protective film, one side of the fitting portion being fitted to the connecting portion, and the other side of the fitting portion being adapted to fit onto the drive box 242. The fitting portion allows the connecting portion to be securely fixed to the drive box 242 when mounted on the supporting portion, thereby preventing the connecting portion from moving on the drive box 242 and enabling precise positioning of the main control box 240 and the drive box 242. It is understood that either the fitting portion or the elastic portion can be selected based on actual needs, or both can be selected.

[0148] Further, if Figure 34 As shown, an endoscope cable fixing member 53 is provided on the protective film to fix the endoscope cable 243 to the robotic arm 22 or the column 21. The endoscope cable fixing member can be a single-sided adhesive structure, a double-sided adhesive structure, a Velcro structure, a magnetic structure, or a button structure fixed to the protective film, or can be a hook structure fixed to the column 21. This embodiment is not limited to a specific number of endoscope cable fixing members. For example, it is not limited to a single endoscope cable fixing member, and can be two, three, or more endoscope cable fixing members.

[0149] Furthermore, the surgical system 1000 also includes an electrosurgical cable (not shown) connected to the surgical instrument. An electrosurgical cable fastener (not shown) is provided on the protective film to secure the electrosurgical cable to the robotic arm 22 or the column 21. Similarly, the electrosurgical cable fastener can be a single-sided adhesive structure, double-sided adhesive structure, Velcro structure, magnetic structure, or button structure fixed to the protective film, or a hook structure fixed to the column 21.

[0150] Further, if Figure 35 As shown, the protective film is provided with a pull mark 55 to indicate the direction of unfolding the protective film. The protective film is provided with an endoscope flange 56 on the side away from the main control box 240. The endoscope flange 56 can facilitate the operator to put his hand in and avoid contact with non-sterile areas. During actual operation, the unfolding position and direction of the protective film can be quickly located by the pull mark 55. When the operator's hand reaches into the endoscope flange 56, the protective film is unfolded in the direction of the pull mark 55, thereby shielding the endoscope cable 243 inside the protective film.

[0151] When installing the protective film, the operator can put one hand into the end and pick up the endoscope with the other hand to fix the connecting part on the drive box 242, and then fix the main control box 240 and the drive box 242 together. Then, another person's hand can be put into the endoscope flange 56 to unfold the protective film in the direction of the pull mark 55, so as to shield the endoscope cable 243 in the protective film.

[0152] By providing a protective film over the main control box 240 and the endoscope cable 243, the main control box 240 and the endoscope cable 243 are shielded from the non-sterile area. This ensures the normal operation of the slave operation device while minimizing or eliminating the need for sterilization of the slave operation device, thereby increasing the service life of the slave operation device.

[0153] It is understood that the movable bag 13, arm membrane 12, and column membrane 11 can be integrally formed or split. In the case of an integrally formed structure, the body 1 can be made of materials such as ultra-high molecular weight polyethylene, low-density polyethylene, high-density polyethylene, nylon, polytetrafluoroethylene, and polypropylene. In the case of a split structure, the different structures can be made of the same or different materials. For example, the column membrane 11 can be made of materials such as low-density polyethylene.

[0154] Furthermore, fillers can be added to the material to affect the friction coefficient, antistatic properties, etc., to reduce the stickiness or static effects of the material, thereby making the installation process of the sterile cover 101 more convenient and efficient. Correspondingly, the body 1 can be made of a single layer, a double layer, or a triple layer. For example, when the body 1 is made of a three-layer material, the first and third layers can be antistatic filler layers, and the middle layer can be a puncture-resistant filler layer (low-density polyethylene).

[0155] No matter described aseptic cover 101 is an integrally formed structure, or a split structure, all can be processed into vacuum state before use. In addition, on the structure with less movement ranges such as column 21 and cantilever 221, the aseptic cover 101 that can also be made to cover is vacuum state.

[0156] The overall thickness of the sterile cover 101 may be 25 μm to 40 μm, and the thickness may be appropriately increased at locations where coordination with other structures is required.

[0157] It is understood that the sterile cover 101 may be provided with a plurality of colored markings to indicate the sterile side and the non-sterile side, thereby facilitating the operation of the operator and avoiding contamination of the sterile cover 101. The sterile cover 101 may also be provided with a plurality of arrow markings to indicate the deployment direction, thereby improving the operating efficiency of the operator.

[0158] The above descriptions are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present description and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A sterile cover for a surgical system, characterized in that: The surgical system includes a column, a robotic arm connected to the column, and at least two power mechanisms connected to the robotic arm, and the sterile cover includes: A body, the body being used to cover at least one of the power mechanism, the robotic arm, and the column, and forming a first surface facing at least one of the power mechanism, the robotic arm, and the column, and a second surface opposite to the first surface, the first surface being located in a non-sterile area, and the second surface being located in a sterile area; the body comprising an arm membrane covering the robotic arm; The sterile cover further includes at least two adapters provided on the body and corresponding to the at least two power mechanisms, the adapters being used to connect with the power mechanisms after the body is covered on the power mechanisms, so that the body forms a moving bag, and the arm membrane is connected to or adjacent to the moving bag; The moving bag includes a dynamic membrane located between two adjacent adapters, and the dynamic membrane is used to change shape when different power mechanisms move to provide movement space for different power mechanisms, while the power mechanisms are still shielded from the non-sterile area during the movement process; The surgical system also includes a shell for accommodating the power mechanism, and the moving bag also includes a membrane body mounted on the shell, and another dynamic membrane located between the membrane body and the adapter. The other dynamic membrane is used to change its shape when the power mechanism moves to provide space for the power mechanism to move.

2. The sterile cover according to claim 1, wherein The surgical system further comprises a surgical instrument and a connector for connecting the surgical instrument to the power mechanism, wherein the adapter is configured to cooperate with the connector to transmit the actuating force of the power mechanism to the surgical instrument; or The surgical system further includes a surgical instrument, the adapter includes a fixing portion fixed to the body and a connector connected to the fixing portion, the connector being used to transmit the actuating force of the power mechanism to the surgical instrument; or The surgical system further includes a surgical instrument. The adapter is a connector fixed on the body. The connector is used to transmit the actuating force of the power mechanism to the surgical instrument.

3. The sterile cover according to claim 1, wherein: The adapter includes a first adapter, a second adapter, a third adapter, and a fourth adapter respectively fixed on the body. The distance between the first adapter and the second adapter is smaller than the distance between the third adapter and the fourth adapter.

4. The sterile cover according to claim 1, wherein: The sterile cover further includes a support plate for carrying the plurality of adapters, and the support plate is detachably connected to the plurality of adapters.

5. The sterile cover according to claim 4, wherein: The support plate is provided with a visual mark to indicate the different power mechanisms corresponding to the multiple adapters.

6. The sterile cover according to claim 1, wherein: The moving bag further comprises a fixing sheet for fixing the membrane body to the shell, so that at least one of the dynamic membranes is located outside the shell and covers a side of the power mechanism close to the adapter.

7. The sterile cover according to claim 1, wherein: The surgical system also includes a shell for accommodating the power mechanism, a puncture card, and a puncture card clamping portion fixed to the shell, wherein the puncture card clamping portion is used to clamp the puncture card; the mobile bag also includes an extension bag connected to or adjacent to the membrane body, wherein the extension bag is used to be covered on the puncture card clamping portion to shield the puncture card clamping portion from the non-sterile area.

8. The sterile cover according to claim 7, wherein: The extension bag has an isolation film for being arranged in the clamping space of the stamp card clamping portion to provide an installation space for the stamp card to be installed on the stamp card clamping portion.

9. The sterile cover according to claim 8, wherein: The isolation film is located outside the clamping space and is pushed into the clamping space by the stamping card when the stamping card is installed in the clamping space.

10. The sterile cover according to claim 8, wherein: The extension bag matches the shape of the card-punching clamping portion, and the isolation film is located in the clamping space.

11. The sterile cover according to claim 7, wherein: One end of the moving bag is connected to or adjacent to the extension bag, and the other end of the moving bag is connected to or adjacent to the arm body membrane.

12. The sterile cover according to claim 11, wherein: One end of the membrane body is connected to or adjacent to the extension bag, and the other end of the membrane body is connected to or adjacent to the arm body membrane; the membrane body is provided with an elastic part on the side close to the arm body membrane, so that the membrane body can automatically close at the robotic arm after being put on the shell.

13. The sterile cover according to claim 11, wherein: The arm body membrane is provided with a first arm body adhesive portion and a second arm body adhesive portion which are arranged opposite to each other. The first arm body adhesive portion and the second arm body adhesive portion are used to fit together after the arm body membrane is covered on the robotic arm, thereby shielding the robotic arm from the non-sterile area.

14. The sterile cover according to claim 13, wherein: The arm body film is provided with an arm body flange at a position corresponding to at least one of the first arm body pasting portion and the second arm body pasting portion.

15. The sterile cover according to claim 1, wherein: The end of the arm body membrane away from the power mechanism is provided with a third arm body pasting part and a fourth arm body pasting part which are arranged opposite to each other. The third arm body pasting part and the fourth arm body pasting part are used to limit the movement of the arm body membrane on the robot arm after pasting.

16. The sterile cover according to claim 1, wherein: The main body further comprises a column membrane covering the column, and the column membrane is connected to or adjacent to the arm membrane.

17. The sterile cover according to claim 16, wherein: The column membrane is provided with a first column adhesive portion and a second column adhesive portion which are arranged opposite to each other. The first column adhesive portion and the second column adhesive portion are used to be adhered after being covered on the column, thereby shielding the column from the non-sterile area.

18. The sterile cover according to claim 17, wherein: The column film is provided with a first column flange at a position corresponding to at least one of the first column sticking portion and the second column sticking portion.

19. The sterile cover according to claim 17, wherein: The first column sticking portion and the second column sticking portion are partially attached to the column film.

20. The sterile cover of claim 16, wherein: The end of the column membrane close to the robot arm is provided with a second column flange.

21. The sterile cover according to claim 20, wherein: The flange of the second column is in a U shape.

22. The sterile cover of claim 16, wherein: A plurality of suction pieces are provided on one side of the column membrane close to the robot arm. The suction pieces are used to be adsorbed on the column to limit the movement of the column membrane on the column in a direction away from the robot arm.

23. The sterile cover of claim 16, wherein: At least one bending belt is provided at the end of the column membrane away from the robot arm, and the bending belt is used to be attached to the middle position of the column membrane before the column membrane is unfolded.

24. The sterile cover of claim 16, wherein: The column membrane is provided with a shaping portion at the end of a side close to the robot arm. The shaping portion is used to enclose the column when the column membrane is fixed on the column, so that the column membrane is attached to the column.

25. The sterile cover of claim 1, wherein: The surgical system also includes surgical instruments, which include an endoscope. The endoscope includes a main control box and an endoscope cable connected to the main control box. The sterile cover also includes a protective film that is covered on the main control box and the endoscope cable to shield the main control box and the endoscope cable in the non-sterile area.

26. The sterile cover of claim 25, wherein: The endoscope also includes a drive box that is detachably connected to the main control box; the protective film is provided with a connecting portion on one side of the main control box, and the connecting portion is used to be located between the main control box and the drive box when the main control box and the drive box are assembled, thereby shielding the main control box from the non-sterile area and placing the drive box in the sterile area.

27. The sterile cover of claim 25, wherein: An endoscope cable fixing piece is provided on the protective film to fix the endoscope cable to the mechanical arm or the column.

28. The sterile cover of claim 25, wherein: The surgical system further includes an electric knife cable connected to the surgical instrument; an electric knife cable fixing member is provided on the protective film to fix the electric knife cable to the robotic arm or the column.

29. The sterile cover of claim 25, wherein: The protective film is provided with a pull mark to indicate the direction of unfolding the protective film.

30. The sterile cover of claim 25, wherein: The protective film is provided with an endoscope flange on a side away from the main control box.

31. A surgical system, characterized in that: The surgical system comprises the sterile cover according to any one of claims 1 to 30.

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