Instrument drive transmission mechanism and assembly mechanism of a surgical robot

Abstract

The present invention discloses an instrument drive transmission mechanism for a surgical robot, comprising: an instrument driver, a sterile adapter, and a surgical instrument. Among them, the adapter transmission member of the sterile adapter is meshed and cooperated with the driver transmission member of the instrument driver through a plurality of teeth evenly arranged on the surfaces of the adapter transmission member and the instrument driver transmission member, and the adapter transmission member of the sterile adapter is cooperated with the instrument transmission member of the surgical instrument through a transmission buckle. In this instrument drive transmission mechanism, the adapter transmission member and the instrument driver transmission member are meshed and cooperated through a plurality of teeth evenly arranged on the adapter transmission member. During installation, the adapter transmission member and the instrument driver transmission member can be cooperated at any angle, enabling quick and precise docking. At the same time, the meshing of multiple teeth has stronger torque transmission performance and is more durable than the cooperation method of a single or two transmission buckles. The present invention also discloses an instrument drive assembly mechanism for a surgical robot.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to an instrument drive transmission mechanism and an assembly mechanism for a surgical robot. Background Art

[0002] Surgical robots can help doctors achieve precise positioning of surgeries, and have advantages such as reducing the patient's wound and thus shortening the postoperative recovery time. Moreover, they have a stable operation platform and can solve problems such as the doctor's tremors, so they are widely used in clinical surgical operations.

[0003] The surgical instruments in a surgical robot usually have an end effector in the form of a surgical tool at one end of a slender tube, such as forceps, scissors, clips, etc. The conventional motion structure of the end effector is to use a wire rope to rotate the end effector to complete the actions of pitching, deflecting, and gripping.

[0004] The surgeon controls the instrument on the surgical side driver at the console side. To meet the usage requirements of different surgical instruments during the surgery, the surgical instrument and the instrument driver are usually designed to be detachable for replacing different surgical instruments during the surgery. At the same time, the surgical instrument is usually capable of being independently sterilized.

[0005] The instrument driver end is usually designed to be non-sterilizable. To ensure sterility during the surgery, a sterile adapter needs to be added between the instrument driver and the instrument during the surgery to isolate the non-sterilizable instrument driver end and the sterilizable instrument end during the surgery.

[0006] The rear end of the surgical instrument is connected to the upper surface of the sterile adapter, and the instrument driver is connected to the lower surface of the sterile adapter. The instrument driver provides driving force to the end effector of the surgical instrument through the sterile adapter to achieve the purpose of completing the actions of pitching, deflecting, and gripping.

[0007] The lower surface of the sterile adapter is connected to the upper surface of the instrument driver, and the connection is stable and does not come off. At the same time, when unlocking is required, the sterile adapter can be conveniently and quickly unlocked and separated from the instrument driver. The rear end of the surgical instrument is connected to the upper surface of the sterile adapter, and the connection is stable and does not come off. It is notified that when unlocking is required, the surgical instrument can be conveniently and quickly unlocked and separated from the sterile adapter.

[0008] The connection between the current instrument driver and the transmission part of the sterile adapter is achieved by symmetrically arranging two buckles on the transmission disk of the instrument driver and providing two buckle positions on the transmission part of the sterile adapter. During installation, it is necessary to first dock the housing of the sterile adapter with the housing of the instrument driver, then identify the presence of the sterile adapter through a sensor. Next, the motor of the instrument driver drives the transmission disk of the instrument driver to rotate, and the angle needs to be adjusted multiple times to find the docking position between the two buckles on the transmission disk of the instrument driver and the buckle positions on the transmission part of the sterile adapter. This method has some problems. When the surfaces of the housing of the sterile adapter and the housing of the instrument driver are successfully docked, before the transmission part of the sterile adapter is successfully docked, since the mounting hole of the transmission part inside the sterile adapter is larger than the diameter of the transmission part of the sterile adapter, the transmission part of the sterile adapter will have a certain inclination angle, and its axis is not necessarily on the rotation axis of the transmission disk of the instrument driver. Therefore, the buckle positions of the sterile adapter will not be exactly on the rotation curves of the two buckles. During docking, the instrument driver needs to drive the transmission disk of the instrument driver to rotate several circles for blind docking. And after the transmission disk of the instrument driver and the transmission part of the sterile adapter are successfully docked, it is also necessary to rotate several times and several circles for testing to determine whether the docking is truly in place. Moreover, for the connection between the two buckles and the buckle positions after the transmission disk of the driver and the transmission part of the sterile adapter are docked, the transmitted torque is only at the two buckles, which is prone to the problem of excessive loss. Summary of the Invention

[0009] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further elaborated in the Detailed Description section. The Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0010] To solve the above technical problems, the present invention designs an instrument drive transmission mechanism for a surgical robot, and the present invention is implemented as follows:

[0011] An instrument drive transmission mechanism for a surgical robot, comprising:

[0012] An instrument driver, including a driver transmission part exposed on the upper surface of the instrument driver;

[0013] A sterile adapter, the lower surface of the sterile adapter is matched with the upper surface of the instrument driver, the sterile adapter includes an adapter transmission part penetrating through the body of the sterile adapter, and the lower part of the adapter transmission part is matched with the instrument driver transmission part;

[0014] Surgical instrument, the rear end of the surgical instrument is fitted to the upper surface of the sterile adapter, the surgical instrument includes an instrument transmission member exposed at the rear end of the surgical instrument, and the instrument transmission member is fitted to the upper part of the adapter transmission member;

[0015] Wherein, the adapter transmission member and the driver transmission member are engaged and fitted through a number of teeth evenly arranged on the surfaces of the adapter transmission member and the instrument driver transmission member, and the adapter transmission member and the instrument transmission member are fitted through a transmission buckle.

[0016] In the instrument drive transmission mechanism of the surgical robot of the present invention, the adapter transmission member and the instrument driver transmission member are engaged and fitted through a number of teeth evenly arranged on the adapter transmission member. During installation, the adapter transmission member and the instrument driver transmission member can be fitted at any angle, enabling quick and precise docking. At the same time, the engagement of multiple teeth has stronger torque transmission performance and is more durable than the cooperation method of a single or two transmission buckles.

[0017] ">Preferably, the lower end of the adapter transmission member includes a first toothed portion, the first toothed portion is evenly distributed with a number of teeth, the teeth on the first toothed portion are arranged radially, the upper end of the instrument driver includes a second toothed portion, the second toothed portion is evenly distributed with a number of teeth, and the teeth on the second toothed portion are arranged radially.

[0018] More preferably, the tooth crest of the teeth of the first toothed portion is a sharp angle or a rounded angle, and / or the tooth crest of the teeth of the second toothed portion is a sharp angle or a rounded angle.

[0019] More preferably, both sides of the tooth crest of the teeth of the first toothed portion have engaging surfaces, both sides of the tooth crest of the teeth of the second toothed portion have engaging surfaces, and the engaging surfaces of the teeth of the first toothed portion and the engaging surfaces of the teeth of the second toothed portion are in clearance fit.

[0020] Preferably, at least one transmission buckle protrudes from the upper surface of the adapter transmission member, at least one of the transmission buckles is eccentrically arranged relative to the rotation axis of the adapter transmission member, the surface of the instrument transmission member has at least one transmission buckle position, at least one of the transmission buckle positions is eccentrically arranged relative to the rotation axis of the instrument transmission member, and the transmission buckle can be in clearance fit with the transmission buckle position.

[0021] More preferably, a cylindrical buckle also protrudes from the upper surface of the adapter transmission member, the height of the cylindrical buckle is greater than the height of the transmission buckle, the cylindrical buckle is coaxial with the rotation axis of the adapter transmission member, there is also a cylindrical buckle position on the surface of the instrument transmission member, the cylindrical buckle position is coaxial with the instrument transmission member, and the cylindrical buckle can be in clearance fit with the cylindrical buckle position.

[0022] More preferably, the two transmission buckles and the cylindrical buckle are of an integral structure, the diameter width of the cylindrical buckle is greater than the width of the transmission buckle, and the cylindrical surface between the two transmission buckle positions on the instrument transmission member is adapted to the cylindrical buckle.

[0023] Preferably, the sterile adapter includes an adapter body, the adapter body is provided with an adapter transmission member mounting hole, the adapter transmission member can rotate in the adapter transmission member mounting hole, a stop portion is provided in the adapter body at the adapter transmission member mounting hole, and the upper portion of the adapter transmission member further includes a positioning portion, and the stop portion can horizontally stop against the positioning portion.

[0024] Preferably, the lower end diameter width of the adapter transmission member is greater than the upper end aperture diameter of the adapter transmission member mounting hole.

[0025] Preferably, the adapter body further includes a back plate, the back plate is perpendicular to the upper surface of the adapter, a guiding groove is provided on the side of the back plate facing the surgical instrument from top to bottom, the width of the upper portion of the guiding groove is greater than the width of the lower portion of the guiding groove, and a protrusion adapted to the lower portion of the guiding groove is provided on the surface of the surgical instrument that cooperates with the back plate.

[0026] More preferably, the mating surface of the sterile adapter and the surgical instrument further has a mating positioning surface.

[0027] More preferably, a fixing buckle protrudes from the upper surface of the sterile adapter, the surface of the fixing buckle has a plurality of guiding surfaces from top to bottom, and a fixing buckle slot is provided on the lower surface of the surgical instrument, and the shape of the fixing buckle slot is adapted to the shape of the fixing buckle.

[0028] The present invention also provides a surgical instrument drive assembly mechanism for a surgical robot, and the solution is as follows:

[0029] A hand instrument drive assembly mechanism for a surgical robot, comprising:

[0030] An instrument driver, including an assembly surface connected to the sterile adapter;

[0031] A sterile adapter, the lower surface of the sterile adapter cooperates with the assembly surface of the instrument driver;

[0032] A surgical instrument box, the lower surface of the surgical instrument box cooperates with the upper surface of the sterile adapter;

[0033] Wherein, the lower surface of the sterile adapter and the assembly surface of the instrument driver are connected by a connecting portion of a hook-shaped mating surface and a connecting portion of a movable buckle, and the upper surface of the sterile adapter and the lower surface of the surgical instrument are connected by at least two movable buckles arranged at intervals.

[0034] For the surgical instrument drive assembly mechanism of the surgical robot of the present invention, the connection between the instrument driver and the sterile adapter is through multiple connection points, and the sterile adapter and the surgical instrument cassette are connected through multiple connection points. The connection method of multiple connection points can make the structure of the mechanism more robust and reduce vibration during use. On the other hand, the instrument driver and the sterile adapter are rigidly connected to a certain extent, making the connection between the instrument driver and the sterile adapter not prone to structural movement or deformation.

[0035] Preferably, the assembly surface of the instrument driver has a fixed buckle, the fixed buckle has a guiding mating surface and a clamping surface, the sterile adapter includes a movable buckle, the movable buckle can be clamped with the fixed buckle, and the lower surface of the sterile adapter further includes a concave structure, and the shape of the concave structure is adapted to the guiding mating surface of the fixed buckle.

[0036] Preferably, a hook-shaped surface protrudes from the lower surface of the sterile adapter, and the assembly surface of the instrument driver has a hook-shaped recess for mating with the hook-shaped surface of the sterile adapter.

[0037] Preferably, an operating part is connected to the connection part of the movable snap of the sterile adapter and the instrument driver, the operating part protrudes from the upper surface of the sterile adapter, and the surgical instrument has a space for accommodating the operating part. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The following drawings of the present invention are used as part of the present invention to understand the present invention. The embodiments of the present invention shown in the drawings and their descriptions are used to explain the principles of the present invention.

[0039] In the drawings:

[0040] Figure 1 Schematic diagram of the assembled structure of the instrument driver, sterile adapter and surgical instrument in the specific embodiment of the present invention

[0041] Figure 2 Schematic diagram of the disassembled state of the instrument driver, sterile adapter and surgical instrument in the specific embodiment of the present invention

[0042] Figure 3 Top view of the instrument driver in the specific embodiment of the present invention

[0043] Figure 4 Schematic diagram of the internal structure of the instrument driver in the specific embodiment of the present invention

[0044] Figure 5 Schematic diagram of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present invention

[0045] Figure 6 Schematic diagram of the structure of the transmission member of the instrument driver in the specific embodiment of the present invention

[0046] Figure 7 Exploded view of the structure of the sterile adapter in the specific embodiment of the present invention

[0047] Figure 8 Schematic diagram of the structure of the lower part of the transmission member of the sterile adapter in the specific embodiment of the present invention

[0048] Figure 9 Exploded view of the transmission connection structure between the sterile adapter and the surgical instrument in the specific embodiment of the present invention

[0049] Figure 10 Schematic diagram of the assembled state structure of the instrument driver and the sterile adapter in the specific embodiment of the present invention

[0050] Figure 11 Schematic diagram of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present invention

[0051] Figure 12 Exploded view of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present invention

[0052] Figure 13 Another view of the exploded view of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present invention

[0053] Figure 14 Partial structure schematic diagram of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present invention

[0054] Figure 15 Magnified detail view of the first fixing buckle of the instrument driver in the specific embodiment of the present invention

[0055] Figure 16 Exploded view of the connection structure between the sterile adapter and the instrument driver in the specific embodiment of the present invention

[0056] Figure 17 Exploded view of the connection structure of the second connection site between the sterile adapter and the instrument driver in the specific embodiment of the present invention

[0057] Figure 18 Exploded view of the structure of the surgical instrument box in the specific embodiment of the present invention

[0058] Figure 19 Schematic diagram of the guiding backplane structure of the sterile adapter in the specific embodiment of the present invention

[0059] Figure 20 Schematic diagram of the back structure of the surgical instrument box in the specific embodiment of the present invention

[0060] Figure 21 Enlarged view of the details of the second fixing buckle of the sterile adapter in the specific implementation manner of the present invention

[0061] Figure 22 Enlarged view of the details of the second fixing buckle of the sterile adapter in the specific implementation manner of the present invention

[0062] Description of reference numerals in the drawings:

[0063] 100 Instrument driver 101 Assembly surface of the instrument driver

[0064] 103 Hook-shaped recess 103a Front part of the hook-shaped recess

[0065] 103a1 Surface constituting the front part of the hook-shaped recess 103b Surface constituting the rear part of the hook-shaped recess

[0066] 103b1 Flat surface 103b2 Curved surface

[0067] 103b3 Inclined surface 1031 Side surface of the hook-shaped recess

[0068] 1032 Upper part of the side surface of the hook-shaped recess 104 First fixing buckle

[0069] 1041 Latching surface of the first fixing buckle 1042 Curved surface structure

[0070] 1043 Fitting surface 1044 Smooth arc surface

[0071] 1045 Sloped curved surface 110 Driving motor

[0072] 120 Output shaft 130 Driver transmission part

[0073] 131 First toothed part 1310 First tooth

[0074] 1311 Tooth peak of the first tooth 1312 Meshing surface of the first tooth

[0075] 1313 First tooth groove 132 Disk surface part

[0076] 1321 Inclined surface part 140 Elastic component

[0077] 141 First spring seat 142 Second spring seat

[0078] 143 Spring 200 Sterile adapter

[0079] 201 Adapter transmission part mounting hole 210 Upper housing of the sterile adapter

[0080] 211 Upper surface of the sterile adapter 212 Stop part

[0081] 213 Second fixing buckle 2131 Engaging surface of the second fixing buckle

[0082] 2132 First guiding surface 2133 Second guiding surface

[0083] 2134 Flat mating surface 2135 Vertical positioning portion

[0084] 2136 Third guiding portion 214 Opening

[0085] 220 Lower housing of the sterile adapter 221 Lower surface of the sterile adapter

[0086] 222 Hook-shaped member 222a Front portion of the hook-shaped member

[0087] 222a1 Surface of the front portion of the hook-shaped member 222b Rear portion of the hook-shaped member

[0088] 222b1 Flat straight surface 222b2 Curved surface

[0089] 222b3 Inclined surface 2221 Side surface of the hook-shaped member

[0090] 2222 Lower end of the side surface of the hook-shaped member 223 Relief portion

[0091] 224 Guide groove 225 Spring

[0092] 226 Concave structure 227 Engaging protrusion

[0093] 230 Adapter transmission member 231 Lower end portion of the adapter transmission member

[0094] 232 Upper end portion of the adapter transmission member 2320 End face of the adapter transmission member

[0095] 2321 Transmission buckle 2321a Larger transmission buckle

[0096] 2321b Smaller transmission buckle 2322 Cylindrical structure

[0097] 2322a Guiding inclined surface 2322b End face of the cylindrical structure

[0098] 233 Second toothed portion 2330 Second tooth

[0099] 2331 Tooth peak of the first tooth 2332 Engaging surface of the second tooth

[0100] 240 First movable member 241 First movable buckle

[0101] 2411 Engaging surface of the first movable buckle 2412 Wedge surface

[0102] 242 First operating portion 243 First operating button

[0103] 244 Guide part 250 Back plate

[0104] 2511 Back plate 2511a Plane of the guide groove

[0105] 2511b Wall of the guide groove 2511c Wall of the guide groove

[0106] 2512 Surface between two guide grooves 2512a Upper part of the surface between two guide grooves

[0107] 2512b Lower part of the surface between two guide grooves 300 Surgical instrument

[0108] 301 Lower surface of the surgical instrument 310 Surgical instrument box

[0109] 311 Instrument transmission part 3110 End face of the instrument transmission part

[0110] 3111 Transmission buckle position 3112 Cylindrical buckle position

[0111] 312 Seat body 3121 Guide rod seat

[0112] 3122 Limit post 3123 Hole

[0113] 313 Protrusion 314 Second fixed buckle embedding position

[0114] 314a Entrance of the second fixed buckle embedding position 315 First operation part insertion position

[0115] 320 Sleeve 330 Second movable buckle assembly

[0116] 331 Second movable part 3311 Second movable buckle

[0117] 33111 Clamping surface of the second movable buckle 3312 Connecting arm

[0118] 3313 Passive part 332 Second operation part

[0119] 3321 Second operation button 3322 Actuating part

[0120] 3323 Guide part of the second operation part 3324 Limit waist hole

[0121] 332 Guide rod 334 Guide part

[0122] 3341 Guide part of the guide part Detailed implementation mode

[0123] In the following description, numerous specific details are given to provide a more thorough understanding of the present invention. However, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without one or more of these details. In other instances, some well-known technical features are not described to avoid obscuring the embodiments of the present invention.

[0124] To thoroughly understand the embodiments of the present invention, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. It should be noted that the ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. The terms "upper", "lower", "front", "rear", "left", "right" and similar expressions used in the present invention are only for illustrative purposes and not for limitation.

[0125] The present invention provides a mechanism for the driving and transmission part and the assembly part of a surgical instrument of a surgical robot. The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0126] In the present invention, the mechanism of the driving and transmission part of the surgical instrument mainly includes three major parts: an instrument driver, a sterile adapter, and a surgical instrument.

[0127] Among them, the instrument driver 100 is installed on the end sliding arm of the surgical robot and can move up and down on the sliding arm. There are several driving motors in the instrument driver, which can be three, four, five, etc. Each motor corresponds to an output shaft. The driving motor transmits power to the actuator of the surgical instrument through the output shaft and the driver transmission part corresponding to the output shaft. The motor of the instrument driver is connected to the output shaft and transmits power to the actuator of the surgical instrument through the transmission structure on the surface of the instrument driver, the transmission structure of the sterile adapter, and the transmission structure of the surgical instrument to drive the pitching, deflection, and gripping actions of the surgical instrument jaw.

[0128] The sterile adapter 200 isolates the direct contact between the instrument driver and the surgical instrument. It is connected to the sterile curtain. The sterile curtain and the sterile adapter wrap the robotic arm and the instrument driver of the surgical robot, so that the robotic arm and the instrument driver are isolated from the outside. The sterile adapter is joined to the upper surface of the instrument driver, and an adapter transmission part is provided on the sterile adapter to transmit power.

[0129] The surgical instrument 300 is engaged with a sterile adapter. The surgical instrument is provided with an instrument transmission member, and through cooperation with the adapter transmission member of the sterile adapter, the pitching, deflection, and gripping actions of the surgical instrument are driven by an instrument driver.

[0130] In an embodiment, to describe the positional relationships of various mechanism components, multiple directional terms are defined. For the explanations of these directional terms, the longitudinal direction of the cannula of the surgical instrument is taken as the Z direction or the vertical direction, the span direction on both sides of the surgical instrument cassette or the instrument driver or the sterile adapter is taken as the X direction, and the extending direction from the back of the surgical instrument to the cannula of the surgical instrument is taken as the Y direction. Among them, "up" and "down" indicate the visual angles of the surgical instrument, the sterile adapter, and the instrument driver during use. "Front" and "back" are based on the back angle between the cannula of the surgical instrument and the back of the surgical instrument cassette. The direction towards the cannula of the surgical instrument can be "front", and the direction towards the back of the surgical instrument cassette is "back". "Left" and "right" are the left and right directions of both sides of the surgical instrument cassette visible from the perspective of directly facing the cannula of the surgical instrument.

[0131] Specifically, the following will elaborate on the specific implementation manners of the present invention in combination with specific embodiments and the accompanying drawings.

[0132] As Figure 1 , it is a schematic structural diagram after the assembly of the instrument driver 100, the sterile adapter 200, and the surgical instrument 300. Among them, the instrument driver 100, the sterile adapter 200, and the surgical instrument 300 have adapted structures on the upper and lower surfaces (i.e., the XY plane) in sequence. As Figure 2 , the upper surface of the instrument driver, the upper surface, the lower surface of the sterile adapter, and the lower surface of the surgical instrument cassette are invisible after assembly.

[0133] First, the connections of the transmission parts of the instrument driver, the sterile adapter, and the surgical instrument in the embodiment will be elaborated in detail.

[0134] The instrument driver 100, as Figure 2 , has a regularly shaped housing with several drive motors 110 inside. Each drive motor is correspondingly connected to an output shaft 120, such that the output components of the instrument driver correspond to the number of drive motors. The upper part of the instrument driver is an assembly surface that can be connected to the assembly surface of the sterile adapter. Among them, Figure 3 , on the assembly surface 101 of the instrument driver, there are installation holes for the output components of the driver (there are assembly components in the figure, not shown). In the embodiment, the output components of the instrument driver include a driver transmission member 130, and the installation holes on the assembly surface of the instrument driver are the installation holes for the driver transmission member. The driver transmission member 130 is located within the installation hole for the driver transmission member, and the upper end of the driver transmission member 130 can protrude from the assembly surface 101 of the instrument driver.

[0135] The output component of the instrument driver, such as Figure 3 and Figure 4 , further includes an elastic component 140 located below the driver transmission member. The elastic component 140 includes a first spring seat 141 fixed to the output shaft, a second spring seat 142 fixed to the instrument driver transmission member 130, and a spring 143 located between the first spring seat 141 and the instrument driver transmission member 130. The first spring seat 141 and the second spring seat 142 enclose the spring in the cavity formed by the first spring seat 141, the second spring seat 142, and the instrument driver transmission member 130 by means of snap connection. In the natural state, due to the thrust of the spring 143 on both spring seats, the edge positions of the first spring seat 141 and the second spring seat 142 can be snap-connected, and the instrument driver transmission member 130 can be lifted and protrude from the assembly surface 101 of the instrument driver.

[0136] The driver transmission member 130 is generally cylindrical in structure, with a circular cross-section, and its axis of rotation is located at the center of the circular structure. The upper end of the driver transmission member 130 is a closed structure, and a first toothed portion 131 is provided at the upper end or the top of its closed structure, such as Figure 6 . The first toothed portion includes a number of first teeth 1310 evenly distributed in the radial direction of the driver transmission member, that is, the distribution structure of the first teeth is radial. The number of the first teeth 1310 can be an odd number or an even number. The top of the first tooth, that is, at the tooth peak 1311, is preferably a sharp angle or a rounded corner, and a platform at the tooth peak is preferably avoided. On both sides of the lower end of each first tooth 1310, there is an engaging surface 1312, which can be a plane in the vertical direction or a slightly inclined surface relative to the vertical direction. Each first tooth 1310 can be set to a structure symmetric with respect to its own midline, or asymmetric, but the first toothed portion 131 is centrosymmetric on the driver transmission member 130. There is a first tooth groove 1313 between two adjacent first teeth 1310. At the upper end of the driver transmission member 130, a guiding and positioning structure can be provided. For example, the top of the driver transmission member has a disk surface portion 132, which can be flush with or exceed the plane where the tooth peaks 1311 of a plurality of first teeth 1310 are located. The disk surface portion 132 can be provided with an inclined surface portion 1321 along the circumferential direction for guiding. Or in some embodiments, there is no disk surface portion at the top of the driver transmission member, and a cylindrical structure is provided at its axis position. Using the same guiding principle, an inclined surface guiding is provided circumferentially at the top of the cylinder (not shown in the figure).

[0137] The sterile adapter 200, such as Figure 7, mainly including three parts: an upper housing 210, a lower housing 220, and an adapter transmission member 230. Among them, the lower surface 221 of the lower housing 220 can cooperate with the assembly surface 101 of the instrument driver, and the upper surface of the upper housing 210 can cooperate with the lower surface 301 of the surgical instrument cassette 310. In the complete housing structure formed by the upper housing 210 and the lower housing 220, an adapter transmission member mounting hole 201 is provided through the upper and lower parts. The adapter transmission member 230 is located within the adapter transmission member mounting hole 201, such that the lower end portion 231 of the adapter transmission member 230 can cooperate with the upper end of the driver transmission member 130, and the upper end portion 232 of the adapter transmission member 230 cooperates with the lower end of the instrument transmission member 311.

[0138] Among them, the body structure of the adapter transmission member 230 is in a cylindrical structure, and the cross-section is circular or annular. Its rotation axis is located at the central part of the circular structure. That is, after the adapter transmission member is docked with the driver transmission member, the adapter transmission member and the adapter transmission member are coaxial. The structure of the adapter can be a structure with one end closed, forming a partition between the driver transmission member and the instrument transmission member in space.

[0139] The lower end portion 231 of the adapter transmission member 230, such as Figure 8 , has a second toothed portion 233. Similar to the first toothed portion, the second toothed portion 233 includes a number of second teeth 2330 evenly distributed along the radial direction of the adapter, and the distribution structure of the teeth is in a radial shape. At the tooth crest 2331 of the second tooth 2330, a sharp angle or a rounded angle is preferred. On both sides of each second tooth 2330, there are meshing surfaces 2332. The meshing surfaces on both sides of the second tooth 2330 can mesh with the opposite meshing surfaces 1312 of two adjacent first teeth 1310. That is, the second tooth 2330 can be inserted into the first tooth groove 1313 formed between two adjacent first teeth 1310, and the meshing surface of the second tooth and the meshing surface of the first tooth form a clearance fit. In the illustrated embodiment, the second toothed portion is located on the inner circumference of the adapter transmission member 230 body, and the first toothed portion is located on the outer circumference of the driver transmission member 130 body. The state where the second toothed portion 233 is combined with the first toothed portion is like the second toothed portion forming a cover on the first toothed portion. In some embodiments, it can also be that the second toothed portion is located on the outer circumference of the adapter body, and the first toothed portion is located on the inner circumference of the driver transmission member body, such that the combined state of the second toothed portion and the first toothed portion is like the second toothed portion being embedded into the first toothed portion. Of course, in some embodiments, the shapes of the first toothed portion and the second toothed portion are exactly the same, and the toothed portions are both exposed structures, and the two are combined to form a complete cylinder. The transmission structures with the same principle of toothed meshing are all equivalent solutions in this embodiment.

[0140] The upper portion 232 of the adapter transmission member 230 is used to connect with the instrument transmission member. Figure 7 The upper end of the adapter transmission member 230 has an end surface 2320 that is configured to closely mate with the end surface of the instrument transmission member 3110. The adapter transmission member also has a transmission buckle 2321 protruding from this end surface. In an embodiment, the same adapter transmission member may be provided with one or more transmission buckles. These buckles, or the two or more buckles, may be eccentrically arranged on the adapter transmission member, i.e., one or more buckles may have a non-axisymmetric, planar-symmetric, or centrally symmetric structure. In the illustrated embodiment, this can be considered as a larger buckle 2321 that passes through the center of the adapter transmission member 230, but with its ends positioned at different distances from the center. In other words, the lengths / sizes of the two transmission buckles 2321a and 2321b are different. In this embodiment, the buckles located at both ends of the center ensure balanced torque transmission. Furthermore, their asymmetric structure ensures a unique alignment between the adapter transmission member and the instrument rear end transmission member when mated.

[0141] The surgical instrument 300 includes a surgical instrument box 310 at the rear end and a surgical instrument (not shown) at the front end, as well as a sleeve 320 connecting the surgical instrument box and the surgical instrument and a transmission mechanism such as a steel wire located in the sleeve.

[0142] As mentioned above, the lower surface 301 of the surgical instrument box 310 cooperates with the upper surface 211 of the sterile adapter 200. The lower end of the surgical instrument box is a mounting seat, on which a column structure for connecting a transmission mechanism such as a steel wire is installed. The lower end of the column structure is fixedly connected to the instrument transmission part 311.

[0143] The structure of the instrument transmission parts, such as Figure 9 , adapted to the adapter transmission member, and having a transmission buckle position 3111 for mating with the transmission buckle 2321. The transmission buckle position 3111 forms an embedded structure on the instrument transmission member 311, that is, the transmission buckle position 3111 is recessed inwardly from the end surface of the instrument transmission member 311. The structure of the transmission buckle position 3111 is adapted to the shape of the transmission buckle 2321, so that the transmission buckle and the transmission buckle position have a clearance fit, or at least are adapted in the direction of power transmission. For example, in the rotational direction of the adapter transmission member 230 and the instrument transmission member 311, the contact points and contact surfaces forming torque are adapted. As long as the transmission buckle 2321 and the transmission buckle position 3111 can be embedded to a certain depth, there is no strict requirement for the depth of the transmission buckle position 3111.

[0144] In an embodiment, Figure 7, a cylindrical buckle 2322 also protrudes from the end face 2320 of the adapter drive member 230. The cylindrical buckle 2322 is coaxial with the rotation axis of the adapter drive member 230, that is, the cylindrical buckle is located at the central position of the adapter drive member. In the embodiment, the height of the cylindrical buckle 2322 is higher than that of the drive buckle 2321, that is, the distance between the end face of the cylindrical buckle and the end face of the adapter drive member is greater than the distance between the end face of the drive buckle and the end face of the adapter drive member. Similarly, as Figure 9 , a cylindrical buckle position 3112 for cooperating with the cylindrical buckle 2322 is provided on the instrument drive member 311. The cylindrical buckle position 3112 has a clearance fit with the cylindrical opening. The cylindrical buckle position 3112 forms a depression on the end face 3110 of the instrument drive member 311. At the same time, the depth of the cylindrical buckle position 3122 can ensure the insertion of the cylindrical buckle and will not hinder the cooperation between the drive buckle 2321 and the drive buckle position 3111. In this way, before the rear-end drive member of the instrument is assembled, the rear end of the instrument is pre-docked with the cylindrical structure first.

[0145] In some embodiments, when the cylindrical buckle and the drive buckle are physically connected, that is, as shown in the figure, the cylindrical buckle and the drive buckle structure are integrated and there is no void space. The diameter width of the cylindrical buckle should be greater than the width of the drive buckle. At the same time, the diameter width of the cylindrical buckle position for cooperating with the cylindrical buckle in the drive buckle position part of the rear-end drive member of the instrument should be greater than the width of the drive buckle. That is, in the figure, the width between the two torque surfaces of the drive buckle 2321 is less than the diameter width of the cylindrical buckle 2322, so that the pre-docking is effective.

[0146] Among them, in the embodiment, for the calibration of the absolute position of the instrument, such as Figure A , the sterile adapter drive member also has a positioning part 2323. The positioning part 2323 is located on the outer periphery of the sterile adapter. There is a stop part 212 on the drive member mounting hole of the sterile adapter. The stop part 212 is roughly located at the position near the upper surface 211 of the upper shell 210 of the sterile adapter. When the stop part 212 and the positioning part 2323 are roughly at the same level, the drive member of the sterile adapter rotates, so that the positioning part 232 rotates to the stop part 212. The stop part 212 stops the positioning part 2323. At this time, the drive member of the sterile adapter cannot continue to rotate. This position can be used as the origin point of the sterile adapter.

[0147] The drive member of the sterile adapter also has a stop part 2324. One or more than two stop parts 2324 are located on the outer periphery of the sterile adapter. They form a stop with the bottom clamping protrusion 227 on the drive member mounting hole of the sterile adapter. When the sterile adapter is not installed, its structure is complete and the drive member is not easy to fall off.

[0148] In one embodiment, on the sterile adapter drive member, the positioning portion is higher than the stop portion. The positioning portion abuts against the stop portion at the upper part of the mounting hole of the sterile adapter drive member, while the stop portion abuts against the engaging protrusion 227 at the lower part of the mounting hole of the sterile adapter drive member.

[0149] In one embodiment, one of the stop portions 2324 and the positioning portion 2323 can be of an integral structure.

[0150] Assembly of the instrument driver, the sterile adapter and the non-driving part of the surgical instrument

[0151] The connection structure between the instrument driver and the sterile adapter is in a snap-fit manner. Specifically, there are two sets of snap-fit positions arranged along both sides of the instrument driver between the instrument driver and the sterile adapter. Each set of snap-fit positions includes at least two snap-fit locations. One set is a rigid fit between the assembly surface of the instrument driver and the assembly surface of the sterile adapter. That is, a part of the snap-fit surface integrally formed on the upper cover of the instrument driver mates with the snap-fit surface integrally formed on the lower housing of the sterile adapter, and a snap connection is formed after the two snap-fit surfaces are mated. The other set is a snap connection in the form of a movable snap.

[0152] Specifically, the assembly surface 101 of the instrument driver and the assembly surface of the sterile adapter are of a structure with matching sizes and shapes. The instrument driver has a hook-shaped recess 103 forming a depression. The surface of the hook-shaped recess 103 is of an integral structure with the assembly surface 101 of the instrument driver. That is, the component constituting the hook-shaped surface is integrally formed with the upper housing of the instrument driver. The hook-shaped recess 103 is located at a position near the front end of the instrument driver.

[0153] In the embodiment, such as Figure 10 , Figure 11 and Figure 12 The hook-shaped recess 103 has a certain width in the left-right span direction of the instrument driver. In the front-back direction of the instrument driver, the hook-shaped recess has a combination of multiple continuous curved surfaces and / or straight surfaces from one end to the other end.

[0154] Correspondingly, the lower surface 221 of the sterile adapter has a protruding hook-shaped member 222. The surface of the hook-shaped member 222 is of an integral structure with the lower surface 221 of the sterile adapter. That is, the component constituting the hook-shaped surface of the sterile adapter is integrally formed with the lower housing of the sterile adapter. The hook-shaped member 222 is located at the front end position of the sterile adapter.

[0155] In the embodiment, there are two hook-shaped members 222, which are respectively located on both sides of the sterile adapter. The hook-shaped member 222 has a certain width in the left-right span direction of the sterile adapter, and this width is approximately the same as the width of the hook-shaped recess. Moreover, in the front-back direction of the sterile adapter, the hook-shaped member has a combination of multiple continuous curved surfaces and straight surfaces from one end to the other end. The hook-shaped recess and the hook-shaped member are visually complementary in shape.

[0156] In the embodiment, as Figure 13 and Figure 14 , the hook-shaped recess 103 mainly includes a front portion 103a near the front side of the instrument driver and a rear portion 103b near the rear side of the instrument. Among them, above the front portion 103a is the solid structure of the upper housing of the instrument driver, and the front portion 103a is a receiving space for receiving the front end of the hook-shaped member. That is, the surface 103a1 that constitutes the front portion 103a is substantially the solid structure of the upper housing of the instrument driver, and has a surface that is approximately "S"-shaped in the left-right span direction of the instrument driver. The surface that constitutes the rear portion 103b has a part of a flat straight surface 103b1 that continues to connect the surface 103a1 that constitutes the front portion, and also has a part of a flat arc surface 103b2 and an inclined surface 103b3 that continue to connect to the assembly surface 101 of the instrument driver.

[0157] Correspondingly, the hook-shaped member mainly includes a front portion 222a located on the front side of the sterile adapter and a rear portion 222b near the rear side of the sterile adapter. The front portion 222a of the hook-shaped member is a solid structure, and the surface 222a1 formed by its solid structure is approximately "S"-shaped in the left-right span direction of the sterile adapter. The front portion 222b of the hook-shaped member is also a solid structure, and its solid structure has a flat straight surface 222b1 that continues to connect the surface 222a1 in the left-right span direction, an arc surface 222b2, and an inclined surface 222b3 that continues to connect to the lower surface 221 of the sterile adapter.

[0158] During installation, the hook-shaped member 222 of the sterile adapter is embedded into the hook-shaped recess 103 of the instrument driver. The hook-shaped surface of the hook-shaped member 222 and the hook-shaped recess 103 of the instrument driver have a component force in the vertical direction through a wedging method, and at the same time, the cooperation between the sterile adapter and the instrument driver in this part does not require external components. More importantly, the cooperation between the sterile adapter and the instrument driver here has a certain rigidity, which to a certain extent avoids the high cumulative tolerances caused by excessive external components, excessive movable components, elastic components, complex components, etc.

[0159] Furthermore, as Figure 12, the hook-shaped detent 103 of the instrument driver may have one or two flat sides 1031, and the sides 1031 may be vertical surfaces or inclined surfaces. At the upper part of the sides 1031, there is a part of a smooth arc surface or curved surface, which is the guiding part 1032 of the hook-shaped detent. Correspondingly, the hook-shaped member 222 of the sterile adapter also has a flat side 2221 that can cooperate with the side 1031 of the hook-shaped detent, and the lower end 2222 of the side surface of the hook-shaped member is also a smooth curved surface or arc surface structure. In this part of the structure, the side 1031 of the hook-shaped detent and the side 2221 of the hook-shaped member can form a tight fit, which can limit the movement of the hook-shaped member 222 in the left-right direction, that is, the X direction, when the hook-shaped member is inserted into the hook-shaped detent, and further limit the movement of the sterile adapter 200 in the X direction. The guiding part 1032 of the hook-shaped detent and the curved surface or arc surface of the lower end 2222 of the hook-shaped member play a guiding role, making it smoother and more natural when the hook-shaped member of the sterile adapter is inserted into the hook-shaped detent of the instrument driver.

[0160] Further, as Figure 12 , at the front side of the lower end of the sterile adapter, that is, in front of the upper end of the hook-shaped member, there is a relief portion 223. The structure of the relief portion 223 is an inclined surface or a smooth arc surface. The inclined surface or smooth arc surface of the relief portion 223 is smoothly transitioned with the hook-shaped surface of the hook-shaped member, that is, the hook-shaped surface of the hook-shaped member and the inclined surface are approximately in a < shape structure in the left side view angle. The upper wing of the < shape is the inclined surface or smooth arc surface of the relief portion, and the lower wing of the < shape is a part of the hook-shaped surface of the hook-shaped member 222.

[0161] The above-mentioned part where the sterile adapter cooperates with the hook-shaped surface of the instrument driver is the first connection site between the two. The sterile adapter and the instrument driver further have a second connection site, and the second connection site is in the form of a movable buckle connection. The second connection site and the first connection site are arranged at a span, that is, there is a span in the front-back direction, that is, the Y direction, on the mating surface of the sterile adapter and the instrument driver.

[0162] Specifically, as Figure 12 and Figure 15 a first fixed buckle 104 is provided on the instrument driver, and the sterile adapter includes a first movable buckle 241. The first movable buckle 241 and the first fixed buckle 104 can form a snap connection in the up-down direction, that is, the first fixed buckle 104 has a snap surface 1041 facing downward, and the movable buckle 241 has a snap surface 2411 facing upward.

[0163] Among them, the first fixing buckle 104 protrudes from the upper surface 101 of the instrument driver and is integrally formed with the upper housing of the instrument driver. The first fixing buckle 104 is in a convex shape and has a snap space at its approximate middle position. This snap space can accommodate the first movable buckle. The top of this space is the snap surface 1041 of the first fixing buckle, enabling the first movable buckle and the first fixing buckle to form a snap connection in the up and down direction.

[0164] A first movable member 240 is provided on the sterile adapter, such as Figure 16 , the first movable buckle 241 is located at the lower part of the movable member 240, the upper part of the first movable member 240 is the first operation part 242, and the first operation part is connected with a first operation button 243. The first movable member 240 also includes a guiding part 244. A guiding groove 224 for accommodating the guiding part is opened on the sterile adapter. The guiding part 244 can be inserted into the guiding groove 224 and move along the direction of the guiding groove. The opening direction of the guiding groove 224 is along the left - right span direction of the sterile adapter, that is, the X - direction. Similarly, the moving direction of the guiding part 244 is also along the left - right span direction of the sterile adapter. The guiding part 244 is located in the guiding groove 224 and abuts against a spring 225 in the groove. The spring 225 provides a thrust force to drive the guiding part 244 or the first movable member 240 towards the left and right sides of the sterile adapter, that is, away from the transmission part of the sterile adapter. In the embodiment, the sterile adapter has two parts: an upper housing 210 and a lower housing 220. The guiding groove 224 is opened on the lower housing 220, and both ends of the guiding groove 224 are closed, so that the moving range of the guiding part 244 can only be within the guiding groove 224. An opening 214 is opened on the upper housing of the sterile adapter, which is roughly above the guiding groove 224. The opening 214 is used to provide a moving space for the operation part. Due to the driving force of the spring, the locking position of the movable member 240 is the position when the movable member abuts against the guiding groove away from the transmission part of the sterile adapter, and the unlocking position of the movable member is the position when the operation part is manually moved to make the movable member close to the transmission part of the sterile adapter. In the illustrated embodiment, the two movable members of the sterile adapter do not produce linkage. Each of them is connected with a spring. During operation, hold the operation buttons of the two movable members respectively and apply force to make the two movable members move towards each other, that is, towards the direction close to the transmission part of the sterile adapter, so as to complete the movement of the movable buckle from the locking position to the unlocking position. In some embodiments, the guiding grooves for accommodating the two guiding parts can be communicated, and a spring is connected between the two guiding parts, which can enable the two guiding parts or the two movable members to produce linkage.

[0165] In the embodiment, the lower end of the first movable buckle 241 also has an inclined wedge surface 2412, such as Figure 17, that is, directly below the clamping surface 2411 of the movable buckle, presenting an ascending inclined plane. During installation, it is not necessary to tightly pinch the first operation button 243. Only by applying a downward force to the sterile adapter, the inclined wedge surface 2412 of the first movable buckle 241 can squeeze against the top end of the first fixed buckle 104, enabling the first movable member 241 to move from the locked position to the unlocked position.

[0166] In the embodiment, as Figure 9 and Figure 16 , the first operation part 242 of the first movable member 240 protrudes from the upper surface 211 of the sterile adapter, that is, the first operation button 243 is located above the upper surface 211 of the sterile adapter. At the same time, there is a first operation part insertion position 315 in the surgical instrument box for accommodating the first operation button 243. During assembly, the surgical instrument box hides the first operation part 242 and the first operation button 243. In some embodiments, the first operation part of the first movable member can be arranged on both sides of the sterile adapter, so that the operation part or operation button of the sterile adapter is exposed.

[0167] The first fixed buckle 104 of the instrument driver also cooperates with the lower surface of the sterile adapter in a specific structural form, so that this part of the movable buckling part not only has the function of buckling, but also has the functions of guiding and close cooperation. Specifically, as Figure 15 , the upper end part of the first fixed buckle 104 of the instrument driver has smooth curved surface structures 1042 on both the front and back sides and both the left and right sides. At the same time, on both sides of the first fixed buckle, there are flat mating surfaces 1043 in the vertical direction. And the lower end part of the first fixed buckle 104 has a smooth arc surface 1044 in the direction close to the rear end of the sterile adapter along the Z-axis direction. The connection between the sterile adapter and the instrument driver is installed from the front end of the instrument driver to the rear end of the instrument driver. Therefore, there is a slope surface 1045 at the front end of the first fixed buckle 104 for guiding, and its rear end is a Z-axis curved surface.

[0168] Correspondingly, as Figure 12 , in the lower housing 220 of the sterile adapter, there is a recessed structure 226 for the first fixed buckle 104 to be embedded. The first movable buckle 241 is located in the first recessed structure 226. The recessed structure 226 has smooth curved surface structures in both the X direction and the Y direction, and can perfectly cooperate with the first fixed buckle 104.

[0169] Here, the second connection site is similar to the aforementioned hook-shaped mating surface, and can also make the cooperation between the fixed buckle and the recessed structure of the sterile adapter for the fixed buckle to be embedded have a certain rigidity, reducing the cumulative tolerance caused by the movable buckling method of the movable buckle and the fixed buckle to a certain extent.

[0170] When the sterile adapter and the instrument driver are installed, the hook-shaped surface of the sterile adapter can be first obliquely inserted into the hook-shaped recess of the instrument driver, and then the rear end of the sterile adapter is pressed down so that the fixing buckle of the instrument driver is inserted into the recess structure of the sterile adapter. Then, by the extrusion of the inclined surface at the lower end of the movable buckle of the sterile adapter and the inclined surface at the upper end of the fixing buckle of the instrument driver, a component force in the X direction is generated, causing the movable part of the sterile adapter to squeeze the spring as a whole and move in the direction of the transmission part of the sterile adapter. Then, the sterile adapter drives the movable part to continue to press down. When the clamping surface of the first movable buckle is lower than the clamping surface of the first fixing buckle, under the thrust of the spring, the first movable buckle is inserted into the first fixing buckle to form a snap connection.

[0171] The connection between the sterile adapter and the surgical instrument is also in the form of a snap connection of the movable buckle. Specifically, as Figure 9 , on the upper surface 211 of the sterile adapter, there are two groups of second fixing buckles 213, that is, the two groups of second fixing buckles 213 are integrally formed with the upper housing 210 of the sterile adapter. The surgical instrument box 310, as Figure 18 , includes a base 312 for installing the wire rope column. The lower end of the wire rope is the transmission connecting part of the surgical instrument. On the base 312, a second movable buckle assembly 330 is provided. The second movable buckle assembly 330 includes a second movable buckle 3311. The second movable buckle 331 can form a snap connection with the second fixing buckle 213 in the vertical direction.

[0172] Among them, as Figure 18 the second movable buckle assembly 330 includes a second movable part 331. The second movable part includes two second movable buckles 3311 and a connecting arm 3312 located between the two second movable buckles. The connecting arm 3312 has a certain length so that the two second movable buckles 3311 are arranged at a span. The connecting arms 3312 of the two second movable buckle assemblies 331 are arranged on the left and right sides of the base, that is, on the left and right sides inside the surgical instrument box. The extending direction of the connecting arm 3312 is along the front and rear direction of the surgical instrument box, that is, the Y direction. The connecting arm 3312 is fixedly connected to the two second movable buckles 3311, making the three into one body.

[0173] Due to the limitations of the transmission part inside the surgical instrument box, the locking position and the unlocking position of the second movable buckle 3311 are both located in the length direction of the connecting arm 3312, that is, the moving direction of the second movable buckle 3311 is along the length direction of the connecting arm 3312. Specifically, the second movable assembly further includes a guide rod 332. Both ends of the guide rod are fixedly connected to the seat body 312 through two guide rod seats 3121. A guide groove (with components assembled in the figure, not shown) for the guide rod to pass through is formed on the connecting arm 3312. The guide rod 332 passes through the guide groove on the connecting arm, so that the connecting arm can only move along the guide rod 3312. Among them, the distance between both ends of the guide rod 332 is the maximum distance that the connecting arm 3312 can move. A spring 333 is sleeved on one end of the guide rod 332, so that one end of the spring 333 abuts against the connecting arm 3312, and the other end of the spring 333 abuts against the guide rod seat 3121. In the natural state, due to the driving force of the spring, the connecting arm 3312 and the second movable buckle 3311 are in the locking position. Correspondingly, the opening direction of the second fixed buckle 213 located on the upper surface of the sterile adapter entering the clamping surface should be towards the moving direction of the second movable buckle 3311. In the embodiment, the guide rod 3312 and the connecting arm 3312 are located inside the surgical instrument box. Therefore, a hole 3123 is formed on the seat body 312 to provide a space for the movement of the second movable buckle 3311 and a position that can be buckled and clamped with the second fixed buckle 213.

[0174] The second movable assembly 330 further includes a second operating part 332. In the embodiment, the moving direction of the operating part 332 is different from the moving direction of the connecting arm 3312. That is, the second operating part 332 is not fixedly connected to the second movable part 331. Specifically, the second movable part 331 has a passive part 3313, and the passive part 3313 is fixedly arranged on the connecting arm 3312. In some embodiments, the passive part 3313 and other components of the second movable part 331 are integrally formed. The second operating part 332 includes an actuating part 3322, and the actuating part 3322 has an actuating surface, so that the passive part 3313 and the actuating surface can form a line contact or a surface contact, and the actuating surface of the actuating part 3322 can follow the moving track of the passive part 3313. In some embodiments, the actuating surface can be an inclined surface or an arc surface, and the passive part can be an inclined surface or an arc surface. In some embodiments, the passive part 3313 can also be set as a bearing, and the passive part can roll on the actuating surface of the actuating part.

[0175] In an embodiment, the second operating part 332 further includes a second operating button 3321. The second operating button 3321 is fixedly connected to the actuating part 3322. The second operating button 3321 is disposed on both sides of the surgical instrument cassette. When the second operating part 332 is used, it needs to be pressed inward from both sides of the surgical instrument towards the instrument cassette. Therefore, the moving direction of the second operating part 332 is along the span direction of the surgical instrument cassette 310, that is, the X direction. The inclined actuating surface 3321 enables the force received by the passive part 3313 to be decomposed into a force along the front-back direction of the surgical instrument cassette 310, that is, a force in the Y direction, so that the actuating part 3322 drives the connecting arm and the second movable buckle to move in the unlocking direction.

[0176] In an embodiment, the second movable assembly 330 further includes a guiding member 334 for guiding the movement of the second operating part. Specifically, the second operating part 332 further includes a second guiding part 3323. The guiding member 334 and the second guiding part 3323 have several surface fits in the span direction of the surgical instrument cassette, that is, the guiding direction of the guiding member and the second guiding part is the X direction. A spring (not shown in the figure) is also connected between the second guiding part and the guiding member, so that one end of the spring abuts against the second operating part 332, and the other end of the spring abuts against the guiding member 334.

[0177] In an embodiment, the second operating part 332 is also provided with a limiting waist-shaped hole 3324, and a limiting post 3122 is fixedly arranged on the seat body 312. The limiting post passes through the limiting waist-shaped hole, so that on the one hand, the second operating part will not come out of the surgical instrument cassette, and on the other hand, the two ends of the limiting waist-shaped hole are the unlocking position and the locking position of the second operating part.

[0178] Before the surgical instrument is snap-connected to the sterile adapter, it is necessary to guide the installation of the surgical instrument and the sterile adapter. The installation guiding structure of the surgical instrument and the sterile adapter will be described in detail below.

[0179] Specifically, as Figure 19 The sterile adapter 200 includes a back plate 250. The back plate is located at the rear of the main body structure 210 of the sterile adapter and is perpendicular to the upper surface of the upper housing 210 of the sterile adapter. The back plate 250 has a side surface facing the surgical instrument, that is, the front side surface 250a of the back plate. The front side surface is docked with the rear part of the surgical instrument cassette 310. The back plate also has a rear side surface 252b. Along the edge of the back plate, it can be bonded to the sterile cloth to isolate the sterile cloth from the surgical instrument, or it can exist in an isolated state, and the sterile cloth is bonded to the main body structure of the sterile adapter.

[0180] The back plate 250, on the one hand, isolates the surgical instrument 300 from the sterile cloth, avoiding contact between the two to prevent frictional damage to the sterile cloth. On the other hand, during installation, it can play a role in guiding and positioning.

[0181] Specifically, the body of the back plate 250 is a plate-like structure. On the front side 251a of the back plate 250, a guiding groove 2511 runs through vertically from top to bottom. As Figure 20 , the surgical instrument box 310 is provided with a protrusion 312 that can cooperate with the guiding groove 2511, that is, the width of the protrusion 312 is not greater than the width of the guiding groove. The structure of the guiding groove 2511 running through from top to bottom enables the surgical instrument to be installed from top to bottom during installation.

[0182] Among them, the structure of the guiding groove 2511 has a plane 2511a perpendicular to the upper surface of the sterile adapter, and this plane is also the XZ plane. This XZ plane restricts the protrusion 312 from moving in the Y direction. During the installation of the surgical instrument, the protrusion directly abuts against a part of the XZ plane, and there is no need to adjust the installation position in the Y direction.

[0183] The guiding groove 2511 also includes parts of two walls 2511b and 2511c perpendicular to the XY plane. Among them, along the Z direction from top to bottom, the distance between the two walls 2511b and 2511c has a part where the distance changes, that is, the width of the guiding groove gradually changes from large to small along the Z direction from top to bottom, that is, the width of the groove gradually changes from wider to narrower. This part of the structure can guide the protrusion to move in the X direction, that is, there is a certain space in the X direction that enables the protrusion to adjust its position. Moreover, at first, when the protrusion 312 is inserted into the guiding groove 2511, less effort is required to align. At the same time, the distance between the two walls 2511b and 2511c has a part where the distance no longer changes, that is, the width of the guiding groove is constant in this part. When the width of the guiding groove 2511 gradually shrinks to completely fit the protrusion, the width of the guiding groove no longer changes, that is, the guiding groove restricts the protrusion from moving in the X direction, and the protrusion continues to move downward in the Z direction.

[0184] In the embodiment, one or more than two guiding grooves can be provided. For example, when two guiding grooves are provided, there is a part of the surface 2512 between the two guiding grooves. In order to enable fine adjustment of the surgical instrument in the Y direction, the upper part 2512a of the surface can be set as an inclined plane to guide the surgical instrument to move in the Y direction. The lower part 2512b of the surface is set as a vertical plane, that is, a plane parallel to the XZ plane, which restricts the surgical instrument from moving in the Y direction.

[0185] The above is the preliminary orientation and preliminary positioning for the docking of the surgical instrument and the sterile adapter. In practice, the sterile adapter of the surgical instrument box can also be provided with precise orientation and precise positioning. In the embodiment, the structure of precise orientation and precise positioning is provided in combination with the connection structure of the non-driving parts of the sterile adapter and the surgical instrument box.

[0186] Specifically, a second fixing buckle 213 protrudes from the upper surface of the sterile adapter. In the embodiment, two groups of second fixing buckles 213 are integrally formed with the upper shell 210 of the sterile adapter. The second fixing buckle 213 of the sterile adapter has a clamping surface 2131, and the direction of the clamping surface 2131 of the second fixing buckle is downward, so that the upper end part of the fixing buckle does not need to be connected to the movable buckle of the surgical instrument box.

[0187] Specifically, as Figure 21 and Figure 22 , at the upper end of the second fixing buckle 213, it has a smooth curved surface structure in both the X direction and the Y direction. In the embodiment, at the upper end of the second fixing buckle 213, a first guiding surface 2132 extends to the left and right sides of the fixing buckle. At the upper end of the fixing buckle, a second guiding surface 2133 extends to the front and back sides of the fixing buckle.

[0188] In the embodiment, on the left and right sides of the second fixing buckle 213, there is also a matching part 2134 that is flat on the YZ plane.

[0189] In the embodiment, the lower end part of the front side of the second fixing buckle, that is, the part located on the second fixing buckle and close to the front end of the sterile adapter, has a curved surface in the Z-axis direction, and this part is the vertical positioning part 2135 of the second fixing buckle.

[0190] In the embodiment, the lower end part of the rear side of the second fixing buckle, that is, the part located on the second fixing buckle and close to the back plate direction, has a slope surface, and this part is the third guiding part 2136 of the fixing buckle.

[0191] In the embodiment, the first guiding surface, the second guiding surface, the flat matching surface, the vertical positioning part and the third guiding part of the second fixing buckle are all continuously and smoothly transitioned.

[0192] Correspondingly, as Figure 9 It should be noted that in the original text, there is no "Figure A" in the Chinese. It may be an error or an incomplete translation request. I have translated it according to the general rules. If there is any specific context or correction needed, please let me know. On the lower surface 301 of the surgical instrument box, there is a second fixing buckle embedding position 314 for the second fixing buckle to be embedded, and the second movable buckle of the surgical instrument is located within the fixing buckle embedding position 314. The second fixing buckle embedding position has a smooth curved surface structure in both the X direction and the Y direction, and can be perfectly matched with the second fixing buckle.

[0193] In the embodiment, at the entrance 314a of the second fixing buckle slot 314, there is a smooth curved surface structure in both the X direction and the Y direction. Inside the fixing buckle slot, there is a curved surface that mates with the upper end of the second fixing buckle 213.

[0194] In the embodiment, the second fixing buckle of the sterile adapter and the recessed structure of the surgical instrument can not only be used for connecting the two, but also play a guiding role. At the same time, due to the cooperation of the surfaces of the two, there is a certain rigidity on the mating surface, which to a certain extent reduces the cumulative tolerance brought by the movable buckling connection method of the movable buckle and the fixed buckle.

[0195] In this embodiment, for the convenience of introducing the installation of the instrument driver, the sterile adapter and the surgical instrument, the assembly of the transmission part and the non-transmission part are described separately. However, in actual operation, the assembly process is a complete and coherent one, and is installed in the order of first installing the sterile adapter on the instrument driver and then installing the surgical instrument on the sterile adapter. The part of the instrument driver is complete, the sterile adapter is complete, and the surgical instrument is also complete. When installing, the following method can be used for installation:

[0196] In an embodiment, the installation process of the sterile adapter and the instrument is as follows: tilt the front end of the sterile adapter downward, first insert the hook-shaped member into the hook-shaped slot of the instrument driver, and be guided by the guiding portion of the hook-shaped slot and the lower end of the hook-shaped member to adjust the slight movement in the left-right direction, i.e., the X direction, of the front end position of the sterile adapter. Then press down the rear end position of the sterile adapter. The fixing buckle of the instrument driver is located on the curved surface structures on both sides and cooperates with the concave structure of the sterile adapter to form a fine adjustment in the X direction at the rear end of the sterile adapter. Then, until the side portion of the hook-shaped slot fits with the side portion of the hook-shaped member, and the mating surfaces on both sides of the fixing buckle fit with the vertical surface of the concave structure. At this time, the side portion of the hook-shaped slot, the side portion of the hook-shaped member, and the mating surfaces on both sides of the fixing buckle form a limit in the X direction, so that the sterile adapter no longer adjusts its position in the X direction. Continue to press down the rear end of the sterile adapter. The first fixing buckle of the instrument driver is located on the curved surface structure at the rear end and cooperates with the concave structure of the sterile adapter to form a guide in the Y direction, capable of adjusting the slight movement of the sterile adapter in the Y direction. At the same time, due to the guiding effect of the concave structure of the sterile adapter and the fixing buckle, the hook-shaped member at the front end of the sterile adapter is pushed forward, and the rear end of the sterile adapter is further pressed down. The lower end of the first movable buckle of the sterile adapter abuts against the upper end of the first fixing buckle of the instrument driver. Due to the action of the inclined surfaces at the lower end of the first movable buckle and the upper end of the fixing buckle, the first movable member moves towards the transmission area of the sterile adapter. Then, continue to press down the rear end of the sterile adapter. When the engaging surface of the first movable buckle moves to the engaging surface of the first fixing buckle, the first movable buckle is reset due to the driving force of the spring. At the same time, the hook-shaped member at the front end of the sterile adapter is pushed forward until the hook-shaped member is completely inserted into the hook-shaped slot, and the hook-shaped surface of the hook-shaped member completely fits with the hook-shaped surface of the hook-shaped slot. And at this time, the Z-axis surface located behind the fixing buckle also completely fits with the concave structure of the sterile adapter. During this process, the transmission member of the sterile adapter and the transmission member of the instrument driver are installed in place in any direction through the toothed portion. The output shaft of the instrument driver lifts the transmission member of the instrument driver and the transmission member of the sterile adapter, so that the stop portion and the positioning portion on the sterile adapter are approximately horizontal. Then, the motor of the instrument driver rotates, driving the transmission member of the instrument driver and the transmission member of the sterile adapter to rotate, so that the positioning portion and the stop portion abut. At this position, the initial position of the transmission member of the sterile adapter can be calibrated.

[0197] The installation process of the surgical instrument and the sterile adapter is as follows: install the rear end of the surgical instrument from top to bottom, move the surgical instrument above the sterile adapter, and make the protrusion of the surgical instrument abut against the plane of the guiding groove on the back plate of the sterile adapter. Then, the surgical instrument moves downward along the guiding groove until the upper part of the guiding groove completes the rough guiding of the surgical instrument. The protrusion on the surgical instrument box prevents the rear part of the surgical instrument from swinging left and right, and the lower part of the guiding groove on the back plate of the sterile adapter roughly positions the surgical instrument. Then, the surgical instrument continues to move downward, and the entrance of the buckle position on the surgical instrument box contacts the upper end of the fixing buckle of the sterile adapter. Then, the cooperation of each surface of the buckle position and the fixing buckle guides the surgical instrument to complete the precise guiding so that the surgical instrument box and the sterile adapter are precisely aligned. After that, the surgical instrument box continues to move downward so that the movable part and the fixed part are buckled. At this time, the transmission part of the surgical instrument is aligned with the sterile adapter, and the cylindrical structure of the transmission part of the sterile adapter is inserted into the cylindrical buckle position of the transmission part of the surgical instrument to generate a pre-docking. At this time, the transmission buckle on the sterile adapter transmission part and the transmission buckle on the surgical instrument transmission part are not aligned in the clamping position, so that the transmission buckle on the sterile adapter transmission part abuts against the surface of the surgical instrument transmission part, and the transmission buckle on the sterile adapter transmission part is pressed downward so that the positioning part is separated from the stopping part. Then, the motor of the instrument driver rotates to drive the transmission part of the sterile adapter to rotate until the transmission buckle on the sterile adapter transmission part and the transmission buckle on the surgical instrument transmission part are aligned and combined in the clamping position to complete the docking installation. At this time, the angle of rotation of the transmission part of the sterile adapter relative to the initial position is the absolute position of the surgical instrument. Based on this absolute position, the action angles of the surgical instrument are determined.

[0198] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of the present invention. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Terms such as "arranged" that appear herein can mean that one component is directly attached to another component or that one component is attached to another component through an intermediate component. Features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0199] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are only for the purpose of illustration and example, and are not intended to limit the present invention within the scope of the described embodiments. Those skilled in the art can understand that more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of protection required by the present invention.

Claims

1. An instrument drive transmission mechanism of a surgical robot, characterized in that, Comprising: An instrument driver, including a driver transmission member exposed on the upper surface of the instrument driver; A sterile adapter, the lower surface of the sterile adapter cooperating with the upper surface of the instrument driver, the sterile adapter including an adapter body and an adapter transmission member penetrating through the adapter body, the adapter transmission member being rotatable relative to the adapter body, the adapter body being provided with a stop portion, the adapter transmission member further including a positioning portion, the positioning portion being capable of abutting against the stop portion to stop the rotation of the adapter transmission member, and the lower portion of the adapter transmission member cooperating with the driver transmission member; A surgical instrument, the rear end of the surgical instrument cooperating with the upper surface of the sterile adapter, the surgical instrument including an instrument transmission member exposed at the rear end of the surgical instrument, the instrument transmission member cooperating with the upper portion of the adapter transmission member; Wherein, the adapter transmission member and the driver transmission member are meshingly engaged through a plurality of teeth uniformly arranged on the surfaces of the adapter transmission member and the driver transmission member, and the adapter transmission member and the instrument transmission member are cooperated through a transmission buckle; The lower end of the adapter transmission member includes a first tooth-shaped portion, the first tooth-shaped portion being uniformly distributed with a plurality of teeth, the teeth on the first tooth-shaped portion being radially arranged, the upper end of the driver transmission member including a second tooth-shaped portion, the second tooth-shaped portion being uniformly distributed with a plurality of teeth, and the teeth on the second tooth-shaped portion being radially arranged; The lower ends of the teeth of the first tooth-shaped portion include tooth crests, the upper ends of the teeth of the second tooth-shaped portion include tooth crests, the tooth crests including two oppositely arranged guiding surfaces, and the two guiding surfaces intersecting at the top of the tooth crest to form a sharp angle or a rounded angle, such that the first tooth-shaped portion and the second tooth-shaped portion can be meshed before the stop portion abuts against the positioning portion; 2. The instrument drive transmission mechanism of the surgical robot according to claim 1, wherein, Both sides of the tooth crest of the teeth of the first tooth-shaped portion have meshing surfaces, both sides of the tooth crest of the teeth of the second tooth-shaped portion have meshing surfaces, the meshing surfaces being connected to the corresponding guiding surfaces, and the meshing surfaces of the teeth of the first tooth-shaped portion and the meshing surfaces of the teeth of the second tooth-shaped portion being in clearance fit; 3. The instrument drive transmission mechanism of the surgical robot according to claim 1, characterized in that, At least one transmission buckle protrudes from the upper surface of the adapter transmission member, at least one of the transmission buckles being eccentrically arranged relative to the rotation axis of the adapter transmission member, the surface of the instrument transmission member having at least one transmission buckle position, at least one of the transmission buckle positions being eccentrically arranged relative to the rotation axis of the instrument transmission member, and the transmission buckle being capable of being in clearance fit with the transmission buckle position; 4. The instrument drive transmission mechanism of the surgical robot according to claim 3, characterized in that, The upper surface of the adapter transmission member further protrudes with a cylindrical buckle, the height of the cylindrical buckle being greater than the height of the transmission buckle, the cylindrical buckle being coaxial with the rotation axis of the adapter transmission member, the surface of the instrument transmission member further having a cylindrical buckle position, the cylindrical buckle position being coaxial with the instrument transmission member, and the cylindrical buckle being capable of being in clearance fit with the cylindrical buckle position; 5. The instrument transmission mechanism of the surgical robot according to claim 4, wherein, The two transmission buckles and the cylindrical buckle are of an integral structure, the diameter width of the cylindrical buckle being greater than the width of the transmission buckle, and the cylindrical surface between the two transmission buckle positions on the instrument transmission member being adapted to the cylindrical buckle.

6. The instrument drive transmission mechanism of the surgical robot according to claim 1, characterized in that, The adapter body further includes a back plate which is perpendicular to the upper surface of the adapter. On the surface of the back plate facing the surgical instrument, a guiding groove is provided from top to bottom. The width of the upper part of the guiding groove is greater than that of the lower part of the guiding groove. On the surface of the surgical instrument that cooperates with the back plate, there is a protrusion that cooperates with the lower part of the guiding groove.

7. The instrument drive transmission mechanism of the surgical robot according to claim 6, characterized in that, The mating surfaces of the sterile adapter and the surgical instrument also have mating and positioning surfaces.

8. The instrument drive transmission mechanism of the surgical robot according to claim 7, characterized in that, On the upper surface of the sterile adapter, a fixing buckle protrudes. The surface of the fixing buckle has a plurality of guiding surfaces from top to bottom. On the lower surface of the surgical instrument, there is a fixing buckle slot, and the shape of the fixing buckle slot is adapted to the shape of the fixing buckle.

9. An instrument drive assembly mechanism of a surgical robot, characterized in that, Comprising: An instrument driver, including a mounting surface connected to the sterile adapter; A sterile adapter, the lower surface of the sterile adapter cooperating with the mounting surface of the instrument driver; A surgical instrument, including a surgical instrument box, the lower surface of the surgical instrument box cooperating with the upper surface of the sterile adapter; Wherein, the lower surface of the sterile adapter is connected to the mounting surface of the instrument driver through the connecting parts of the hook-shaped mating surface and the movable buckle, and the upper surface of the sterile adapter is connected to the lower surface of the surgical instrument box through at least two movable buckles arranged at intervals; The instrument driver, the sterile adapter, and the surgical instrument are driven through the instrument drive transmission mechanism of the surgical robot according to any one of claims 1-8.

10. The instrument drive assembly mechanism according to claim 9, characterized in that, The mounting surface of the instrument driver has a fixing buckle, the fixing buckle has a guiding mating surface and a clamping surface, the sterile adapter includes a movable buckle, the movable buckle can be clamped with the fixing buckle, and the lower surface of the sterile adapter further includes a concave structure, and the shape of the concave structure is adapted to the guiding mating surface of the fixing buckle.

11. The instrument drive assembly mechanism according to claim 9, characterized in that, The lower surface of the sterile adapter protrudes with a hook-shaped surface, and the mounting surface of the instrument driver has a hook-shaped recess for mating with the hook-shaped surface of the sterile adapter.

12. The instrument drive assembly mechanism according to claim 9, wherein, An operating part is connected to the connecting part of the movable buckle of the sterile adapter and the instrument driver. The operating part protrudes from the upper surface of the sterile adapter, and the surgical instrument has a space for accommodating the operating part.

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