A surgical robot

Abstract

The application discloses a surgical robot, which comprises an instrument driver, a sterile adapter connectable with the instrument driver, and a first connecting position of the instrument driver and the sterile adapter is matched through a hook-shaped surface, and a second connecting position of the instrument driver and the sterile adapter is connected through a movable buckle. The surgical robot is connected through the first position of the instrument driver and the sterile adapter, and is connected rigidly to a certain extent, so that the structure of the instrument driver and the sterile adapter is connected closely, the connection of the instrument driver and the sterile adapter is not easy to produce structural movement or deformation, and the first position and the second position are connected, so that the connection structure of the instrument driver and the sterile adapter is more compact and solid, and vibration is reduced during use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a surgical robot. BACKGROUND

[0002] The surgical robot can help the doctor to achieve the accurate positioning of the operation, has the advantages of reducing the patient's wound and shortening the postoperative recovery time. And it has a stable operation platform, which can solve the doctor's tremor and other conditions, so it has a large number of applications in clinical surgery.

[0003] The surgical instrument in the surgical robot usually has a rear end execution mechanism in the form of a surgical tool at one end of an elongated tube, such as a forceps, scissors, clamp, etc. The conventional motion structure of the rear end execution mechanism is to rotate the rear end execution mechanism with a steel wire rope to complete the actions of pitching, deflecting and clamping.

[0004] The surgeon controls the instrument on the driver at the console side. In order to meet the use requirements of different surgical instruments in the operation, the surgical instrument and the instrument driver are usually designed to be detachable, which is used to replace different surgical instruments in the operation. At the same time, the surgical instrument is usually sterilized independently.

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

[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 rear end execution mechanism of the surgical instrument through the sterile adapter to achieve the purpose of completing the actions of pitching, deflecting and clamping.

[0007] The lower surface of the sterile adapter is connected to the upper surface of the instrument driver, which is stable and does not separate. At the same time, when it needs to be unlocked, the sterile adapter can be easily 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, which is stable and does not separate. When it needs to be unlocked, the surgical instrument can be easily and quickly unlocked and separated from the sterile adapter.

[0008] In the prior art, the connection structure of the sterile adapter and the instrument driver is that two buckles are protruded upward and downward in the middle part of the upper cover plastic part of the sterile adapter. The lower buckle is connected to the instrument driver, and the upper buckle is connected to the end of the surgical instrument. This scheme relies on the deformation of the plastic material itself to connect with the instrument driver or the end of the surgical instrument.

[0009] The current scheme has the following main problems: the connection mode of the sterile adapter, the instrument driver and the surgical instrument relies on the plastic buckles on the upper and lower ends of the intermediate part of the sterile adapter for buckling connection, the connection part is arranged in the middle part, when the instrument driver provides driving force to the rear end executive mechanism of the surgical instrument through the sterile adapter to complete the actions of pitching, deflecting and clamping, the instrument driver and the sterile adapter, and the sterile adapter and the surgical instrument are connected only on both sides, and the two ends are not connected, which makes the whole system unbalanced in stress, and is easy to cause structural vibration or instrument overturning.

[0010] The connection mode of the sterile adapter, the instrument driver and the surgical instrument relies on the plastic buckles on the upper and lower ends of the intermediate part of the sterile adapter for buckling connection, the connection mode relies on the plastic deformation of the plastic material for buckling and clamping, the clamping mode is to rotate the clamping instrument driver fixed buckle along the root of the plastic buckle as the axis, if the plastic buckle needs to be completely clamped into the fixed buckle, due to the circular motion relationship, there must be a gap between the plastic buckle and the fixed buckle after buckling, so there is a certain gap between the two buckles after buckling in the existing scheme, which is not stable after buckling, and has a certain influence on the stability of the system.

[0011] In the current scheme, due to the isolated structure of the plastic buckles on both sides of the sterile adapter, when the sterile adapter and the instrument driver are installed, the two plastic buckles need to be aligned, adjusted in angle and position respectively, and the operation steps are too many. Moreover, the buckling points of the plastic buckles are too few, and the plastic buckle has a certain deformation, so that only rough alignment of the sterile adapter and the instrument driver can be achieved, but accurate alignment of the sterile adapter and the instrument driver cannot be achieved. SUMMARY

[0012] A series of simplified concepts are introduced in the summary part, which will be further described in detail in the specific embodiment part. The summary part of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solution, and does not mean to try to determine the protection scope of the claimed technical solution.

[0013] To solve the above technical problems, the present application designs a surgical robot which can make the instrument driver and the sterile adapter connection structure close, and is not easy to produce structural deformation in use. The present application is realized by adopting the following scheme:

[0014] A surgical robot comprises:

[0015] an instrument driver;

[0016] a sterile adapter connectable with the instrument driver;

[0017] The first connection site of the instrument driver and the sterile adapter is matched by a hook-shaped surface, and the second connection site of the instrument driver and the sterile adapter is connected by a movable buckle.

[0018] The surgical robot of the present application, through the connection of the first site of the instrument driver and the sterile adapter, is rigidly connected to some extent, so that the structure is tightly connected, so that the connection of the instrument driver and the sterile adapter is not easy to produce structural activity or deformation, and the first site and the second site are connected, on the one hand, the connection structure of the instrument driver and the sterile adapter is more tightly and solidly, on the other hand, the vibration is reduced during use.

[0019] Preferably, one of the instrument driver and the sterile adapter has a protruding hook-shaped surface at the first connection site, and the other of the instrument driver and the sterile adapter has an embedded site matched with the protruding hook-shaped surface.

[0020] Preferably, the sterile adapter has a hook-shaped surface protruding from the shell structure of the sterile adapter, and the instrument driver has a hook-shaped surface recessed in the shell structure of the instrument driver.

[0021] Preferably, the first connection site has two groups, and the two groups of the first connection site are located on both sides of the mating surfaces of the instrument driver and the sterile adapter.

[0022] Preferably, the hook-shaped surface of the sterile adapter is integrally formed with the shell surface of the sterile adapter.

[0023] Preferably, the hook-shaped surface of the sterile adapter and or the instrument driver has a width in the span direction along both sides of the sterile adapter.

[0024] Preferably, the hook-shaped surface has a combination of multiple continuous curved surfaces and / or straight surfaces.

[0025] Preferably, the first connection site includes at least one connection side surface matching part.

[0026] More preferably, the side surface matching part includes a straight surface matching part.

[0027] More preferably, the side surface matching part has an arc-shaped guide surface on at least one of the mating surfaces of the instrument driver and the sterile adapter.

[0028] Preferably, one of the instrument driver and the sterile adapter has a fixed buckle at the second connection site, and the other of the instrument driver and the sterile adapter has a movable buckle matched with the fixed buckle.

[0029] More preferably, the non-mating surface portion of the movable buckle and / or the fixed buckle has a bevel surface.

[0030] More preferably, the portion of the fixed buckle that is not mating with the movable buckle has a smooth curved surface.

[0031] More preferably, the portion of the fixed buckle that is located in the direction towards the first connection site has a slope curved surface.

[0032] More preferably, the portion of the fixed buckle that is located in the direction away from the first connection site has a vertical curved surface.

[0033] More preferably, the inside of the housing of the instrument driver or the sterile adapter that has the movable buckle has a complete curved surface that is adapted to the fixed buckle. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 Structure diagram of the assembled state of the instrument driver, the sterile adapter and the surgical instrument in the embodiment of the present application

[0035] Figure 2 Structure diagram of the disassembled state of the instrument driver, the sterile adapter and the surgical instrument in the embodiment of the present application

[0036] Figure 3 Side view of the assembled structure state of the instrument driver and the sterile adapter in the embodiment of the present application

[0037] Figure 4 Detail enlarged view of the assembled state of the first connection site of the instrument driver and the sterile adapter in the embodiment of the present application

[0038] Figure 5 Side view of the structure state of the instrument driver and the sterile adapter when not assembled in the embodiment of the present application

[0039] Figure 6 Perspective view of the instrument driver and the sterile adapter when not assembled in the embodiment of the present application

[0040] Figure 7 Structure diagram of the first connection site of the instrument driver and the sterile adapter in the embodiment of the present application

[0041] Figure 8 Structure diagram of the second connection site of the instrument driver and the sterile adapter in the embodiment of the present application

[0042] Figure 9 Structure diagram of the disassembled state of the sterile adapter in the embodiment of the present application

[0043] Figure 10 Schematic diagram of the exploded structure of the second connection site in the embodiment of the present application

[0044] Figure 11 Schematic diagram of the assembly process of the instrument driver and the sterile adapter in the embodiment of the present application

[0045] Explanation of reference signs:

[0046] 100 instrument driver 101 assembly surface of the instrument driver

[0047] 103 hook-shaped recess 103a front part of the hook-shaped recess

[0048] 103a1 face constituting the front part of the hook-shaped recess 103b rear part of the hook-shaped recess

[0049] 103b1 flat face 103b2 curved face

[0050] 103b3 inclined face 1031 side part of the hook-shaped recess

[0051] 1032 guide part of the hook-shaped recess 104 fixing buckle

[0052] 1041 engaging face of the fixing buckle 1042 curved structure of the fixing buckle

[0053] 1043 mating face 1044 smooth curved face

[0054] 1045 slope curved face 130 driver transmission member

[0055] 200 sterile adapter 210 upper housing of the sterile adapter

[0056] 211 upper surface of the sterile adapter 212 opening

[0057] 220 lower housing of the sterile adapter 221 lower surface of the sterile adapter

[0058] 222 hook-shaped member 222a front part of the hook-shaped member

[0059] 222a1 face of the front part of the hook-shaped member 222b rear part of the hook-shaped member

[0060] 222b1 flat face 222b2 curved face

[0061] 222b3 inclined face 2221 side part of the hook-shaped member

[0062] 2222 lower end of the side part of the hook-shaped member 223 relief

[0063] 224 guide groove 225 spring

[0064] 226 Recessed Structure 230 Adapter Transmission Component

[0065] 240 promotional items, 241 promotional discounts

[0066] 2411 The snap-fit ​​surface of the movable buckle; 2412 The beveled wedge surface.

[0067] 242 Operation Section 243 Operation Buttons

[0068] 244 Guiding Section Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0070] This invention provides a mechanism for the drive transmission part and assembly part of a surgical instrument for a surgical robot. The embodiments of this invention are described below with reference to the accompanying drawings.

[0071] In this invention, the mechanism of the surgical instrument drive transmission part mainly includes three parts: instrument driver, sterile adapter, and surgical instrument.

[0072] The instrument actuator 100 is mounted on the end effector sliding arm of the surgical robot and can move up and down on the sliding arm. The instrument actuator contains several drive motors, such as three, four, or five, each with a corresponding output shaft. The motors of the instrument actuator are connected to the output shafts and transmit power to the actuator of the surgical instrument through the transmission structure on the surface of the instrument actuator, the transmission structure of the sterile adapter, and the transmission structure of the surgical instrument, so as to drive the pitching, deflection, and gripping movements of the surgical instrument grippers.

[0073] The sterile adapter 200 isolates the instrument actuator from direct contact with the surgical instruments. It is connected to the sterile curtain. The sterile curtain and the sterile adapter enclose the robotic arm and instrument actuator of the surgical robot, thus isolating the robotic arm and instrument actuator from the outside. The sterile adapter is attached to the upper surface of the instrument actuator. The sterile adapter is equipped with an adapter transmission component to transmit power.

[0074] Surgical instrument 300, which engages with a sterile adapter, is equipped with an instrument drive component. Through cooperation with the adapter drive component of the sterile adapter, the instrument driver drives the pitch, yaw, and gripping movements of the surgical instrument.

[0075] In this embodiment, to describe the positional relationship of the various mechanical components, several directional terms are defined. These directional terms are explained as follows: the longitudinal direction of the surgical instrument cannula is the Z-direction or vertical direction; the span direction of the two sides of the surgical instrument box, instrument driver, or sterile adapter is the X-direction; and the extension direction from the back of the surgical instrument to the surgical instrument cannula is the Y-direction. Among them, "up" and "down" indicate the visual angle of the surgical instrument, sterile adapter, and instrument driver when in use; "front" and "back" are based on the angle between the surgical instrument cannula of the surgical instrument and the back of the surgical instrument box, where the direction towards the surgical instrument cannula can be "front" and the direction towards the back of the surgical instrument box can be "back"; and "left" and "right" are the left and right directions of the two sides of the surgical instrument box that can be seen from the perspective of looking directly at the surgical instrument cannula.

[0076] The following describes the specific implementation of the present invention in conjunction with practical application scenarios.

[0077] Specifically, the instrument driver 100 includes a mounting surface 101 for mating with a sterile adapter. The mounting surface 101 of the instrument driver and the mounting surface of the sterile adapter are matched in size and shape. The mounting surface 101 of the instrument driver 100 has mounting holes for mounting instrument driver transmission components 130. The instrument driver transmission components 130 are located within the mounting holes, and their upper surfaces protrude from the mounting surface of the instrument driver. The number of instrument driver components 130 is the same as the number of output shafts, and can be three, four, five, or more.

[0078] The sterile adapter 200 has its lower surface 221 mates with the mounting surface 101 of the instrument driver, and its upper surface 211 mates with the surgical instrument housing 300 at the rear end of the surgical instrument. The structure of the sterile adapter 200 mainly includes an upper housing 210, a lower housing 220, and a sterile adapter transmission component 230 that runs through the upper and lower housings.

[0079] The instrument driver 110 and the sterile adapter 200 have a transmission area at the transmission connection between the driver transmission component 130 and the sterile adapter transmission component 230, and a non-transmission area at the edge of the instrument driver 110 and the sterile adapter 200 near their assembly surfaces. The connection between the instrument driver and the non-transmission part of the sterile adapter is mainly located in the non-transmission area.

[0080] The connection between the sterile adapter 200 and the instrument driver 100 has a first connection point, which is connected by a hook-shaped surface.

[0081] Specifically, such as Figure 3 , Figure 4 , Figure 5, Figure 6 and Figure 7 The instrument actuator has a recessed hook-shaped insert 103. The hook-shaped surface forming the hook-shaped insert 103 is integrally formed with the mounting surface 101 of the instrument actuator. That is, the part constituting the hook-shaped insert 103 is integrally formed with the upper housing 210 of the instrument actuator. The hook-shaped insert 103 is located near the front end of the instrument actuator.

[0082] Correspondingly, the lower surface 221 of the sterile adapter has a protruding hook-shaped member 222. The hook-shaped surface of the hook-shaped member 222 is integrally formed with the lower surface 221 of the sterile adapter, that is, the hook-shaped member 222 is integrally formed with the lower housing 220 of the sterile adapter. The hook-shaped member 222 is located at the front end of the sterile adapter.

[0083] The hook-shaped surface forming the hook-shaped insert has a combination of multiple continuous curved surfaces and / or straight surfaces.

[0084] In this embodiment, the hook-shaped insert 103 mainly includes a front portion 103a near the front of the instrument actuator and a rear portion 103b near the rear of the instrument. The front portion 103a is above the solid structure of the upper housing of the instrument actuator, and serves as a receiving space for accommodating the front end of the hook-shaped member. In this embodiment, the hook-shaped surface constituting the hook-shaped insert includes the surface constituting the front portion 103a and the surface constituting the rear portion 103b. The surface 103a1 constituting the front portion 103a is essentially the solid structure of the upper housing of the instrument actuator, having a generally "S"-shaped surface in the front-rear span direction of the instrument actuator; that is, from the side view of the instrument actuator, surface 103a1 is generally "S"-shaped. The surface constituting the rear portion 103b has a portion of a flat surface 103b1 continuing from the surface 103a1 constituting the front portion, and also has a portion of a flat arc surface 103b2 and a sloped surface 103b3 continuing from the assembly surface 101 of the instrument actuator.

[0085] In an embodiment, the hook-shaped surface constituting the hook-shaped insert 103 should have a width in the left-right direction of the instrument actuator.

[0086] Correspondingly, the hook-shaped surface of the hook-shaped component has a combination of multiple continuous curved surfaces and / or straight surfaces.

[0087] The hook-shaped component mainly includes a front portion 222a located on the front side of the sterile adapter and a rear portion 222b located near the rear side of the sterile adapter. In the embodiment, the front portion 222a of the hook-shaped component is a solid structure, and the surface 222a1 formed by its solid structure is approximately "S"-shaped in the front-to-back span direction of the sterile adapter, that is, the surface 222a1 is approximately "S"-shaped when viewed from the side. The front portion 222b of the hook-shaped component is also a solid structure, and its solid structure has a straight surface 222b1 that continues the surface 222a1, a curved surface 222b2, and a sloped surface 222b3 that continues the lower surface 221 of the sterile adapter in the left-to-right span direction.

[0088] In an embodiment, the hook-shaped surface of the hook-shaped member should have a width in the left-right direction of the instrument actuator.

[0089] During installation, the hook-shaped component 222 of the sterile adapter is embedded into the hook-shaped insert 103 of the instrument driver. The hook-shaped surface of the hook-shaped component 222 and the hook-shaped insert 103 of the instrument driver are wedge-tightened, and have a component force in the vertical direction, i.e., the Z direction. At the same time, the sterile adapter and the instrument driver can form a rigid connection in this part without the need for external components. This avoids, to some extent, the high cumulative tolerance caused by complex structures, too many external components, and too many movable components.

[0090] The hook-shaped component of the sterile adapter is smaller than or even much smaller than the width of the sterile adapter in the left-right direction. That is, the hook-shaped component is just a small protrusion at the bottom of the sterile adapter. Correspondingly, the hook-shaped insert of the instrument driver is just a small indentation. Therefore, the hook-shaped insert of the instrument driver, the cooperation between the hook-shaped component and the hook-shaped insert, has a lateral cooperation part in addition to the cooperation part in the front-back span direction of the sterile adapter.

[0091] Specifically, the hook-shaped insert 103 of the instrument actuator may have one or two straight sides 1031. The side 1031 may be a vertical surface or an inclined surface. The upper part of the side 1031 has a smooth arc-shaped surface or curved surface, which serves as the guide portion 1032 of the hook-shaped insert. Correspondingly, the hook-shaped member 222 of the sterile adapter also has a straight side 2221 that can mate with the side 1031 of the hook-shaped insert. Furthermore, the lower end 2222 of the side of the hook-shaped member may also be a smooth curved surface or arc-shaped surface. In this structure, the side portion 1031 of the hook-shaped insert and the side portion 2221 of the hook-shaped member can form a tight fit, which can restrict the hook-shaped member 222 from moving in the left-right direction, i.e., the X direction, when the hook-shaped member is inserted into the hook-shaped insert, thereby restricting the sterile adapter 200 from moving in the X direction. The guide portion 1032 of the hook-shaped insert and the curved or arc-shaped surface of the lower end 2222 of the hook-shaped member have a guiding function, making the insertion of the hook-shaped member of the sterile adapter into the hook-shaped insert of the instrument driver smoother and more natural.

[0092] The hook-shaped components of the sterile adapter are located on both sides of the lower surface of the sterile adapter, and the hook-shaped inserts of the instrument driver are located on both sides of the assembly surface of the instrument driver, so that the connection method of the two on the hook-shaped surface is visible after assembly.

[0093] Furthermore, 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 relief portion 223 has a slope or smooth arc surface. The slope or smooth arc surface of the relief portion 223 smoothly transitions with the hook surface of the hook-shaped member. That is, the hook surface of the hook-shaped member and the slope are roughly in the shape of a < when viewed from the left side. The upper wing of the < shape is the slope or smooth arc surface of the relief portion, and the lower wing of the < shape is part of the hook surface of the hook-shaped member 222.

[0094] The portion of the sterile adapter that mates with the hook-shaped surface of the instrument actuator constitutes their first connection point. The sterile adapter and instrument actuator further have a second connection point, which is a snap-fit ​​connection. The second connection point is spaced apart from the first connection point, meaning it spans across the mating surfaces of the sterile adapter and instrument actuator in the front-back direction, i.e., the Y-direction.

[0095] Specifically, the instrument driver is provided with a fixed buckle 104, and the sterile adapter includes a movable buckle 241. The movable buckle 241 and the fixed buckle 104 can be engaged in the vertical direction. That is, the fixed buckle 104 has a downward engaging surface 1041, and the movable buckle 241 has an upward engaging surface 2411.

[0096] The retaining buckle 104 protrudes from the upper surface 101 of the instrument actuator and is integrally formed with the upper housing of the instrument actuator. For example... Figure 9 and Figure 10 The sterile adapter includes a movable part 240, with a movable buckle 241 located at the lower part of the movable part 240. The upper part of the movable part 240 is an operating part 242, connected to an operating button 243. The movable part 240 also includes a guide part 244. A guide groove 224 is provided on the sterile adapter to accommodate the guide part. The guide part 244 can be inserted into the guide groove 224 and move along the direction of the guide groove. The guide groove 224 is oriented along the left-right span direction of the sterile adapter, i.e., the X direction. Similarly, the guide part 244 moves along the left-right span direction of the sterile adapter. The guide part 244 is located within the guide groove 244 and abuts against a spring 225 within the guide groove. The spring 225 provides a thrust to drive the guide part 244 or the movable part 240 to move towards the left and right sides of the sterile adapter, i.e., away from the transmission part of the sterile adapter. In this embodiment, the sterile adapter has two parts: an upper housing 210 and a lower housing 220. A guide groove is formed on the lower housing 220, and both ends of the guide groove 224 are closed, so that the movement range of the guide part 244 is limited to the guide groove 224. The upper housing of the sterile adapter has an opening 212, which is located approximately above the guide groove 224. The opening 212 provides space for the movement of the operating part. Due to the driving force of the spring, the movable part 240 is locked in the position where it abuts against the guide groove and moves away from the transmission part of the sterile adapter. The unlocked position of the movable part is when the operating part is manually moved, so that the movable part moves closer to the transmission part of the sterile adapter. In the illustrated embodiment, the two movable parts of the sterile adapter do not move together. Each of them is connected to a spring. During operation, the operating buttons of the two movable parts are squeezed to apply force, causing the two movable parts to move towards each other, that is, towards the transmission part of the sterile adapter, thereby completing the movement of the movable buckle from the locked position to the unlocked position. In some embodiments, the guide grooves for accommodating the two guides can be connected, and a spring is connected between the two guides, enabling the two guides or two moving parts to move in unison.

[0097] In some embodiments, such as Figure 10 The lower end of the movable buckle 241 also has a wedge surface 2412, which is located directly below the snap-fit ​​surface 2411 of the movable buckle. It is an upward slope. During installation, it is not necessary to squeeze the operation button tightly. Just apply downward force to the sterile adapter, and the wedge surface 2412 of the movable buckle will squeeze the top of the fixed buckle 104, which will allow the movable part to move from the locked position to the unlocked position.

[0098] Furthermore, such as Figure 8The retaining buckle 104 of the instrument actuator also mates with the lower surface of the sterile adapter in a specific structural form, so that this movable fastening part not only has the function of fastening, but also the function of guiding and tight fitting. Specifically, the upper part of the retaining buckle of the instrument actuator has a smooth curved surface structure 1042 on the front and rear sides and the left and right sides. At the same time, there are straight mating surfaces 1043 in the vertical direction on the left and right sides of the retaining buckle, that is, straight mating surfaces on the YZ plane. Furthermore, the rear end of the retaining buckle 104, that is, the direction near the rear end of the sterile adapter, has a smooth arc surface 1044 in the vertical direction around the Z direction.

[0099] Correspondingly, the lower housing 210 of the sterile adapter has a recessed structure 226 for inserting the retaining clip. The first movable clip is located within the first recessed structure 226. The recessed structure 226 has a smooth curved surface structure in both the X and Y directions, which can perfectly match the retaining clip. Similar to the hook-shaped mating surface mentioned above, this provides a certain rigidity to the fit between the retaining clip and the recessed structure of the sterile adapter for inserting the retaining clip, thereby reducing the cumulative tolerance caused by the movable snap-fit ​​method of the retaining clip and the fixed clip to a certain extent.

[0100] In some embodiments, at the front end of the retaining buckle of the instrument driver, i.e., in the direction of the retaining buckle toward the first connection point, the lower end of the retaining buckle also has a sloped surface 1045. Correspondingly, the recessed structure of the sterile adapter also has a surface adapted to the sloped surface.

[0101] The installation process of the sterile adapter and instrument actuator described above is as follows: tilt the front end of the sterile adapter downwards, insert the hook-shaped component into the hook-shaped insert of the instrument actuator, and guide the front end of the sterile adapter to make a slight left-right movement in the X direction, guided by the guide part of the hook-shaped insert and the lower end of the hook-shaped component. Then, press the rear end of the sterile adapter downwards. The curved structure of the instrument actuator's fixing buckle on the left and right sides cooperates with the concave structure of the sterile adapter, forming a slight adjustment of the rear end of the sterile adapter in the X direction. Then, until the side of the hook-shaped insert and the side of the hook-shaped component are in contact, and the mating surfaces on the left and right sides of the fixing buckle are in contact with the vertical surface of the concave structure, the side of the hook-shaped insert, the side of the hook-shaped component, and the mating surfaces on the left and right sides of the fixing buckle form a limit in the X direction, so that the sterile adapter no longer needs to adjust its position in the X direction. As the rear end of the sterile adapter continues to press downwards, the curved structure of the instrument actuator's retaining buckle at the rear end engages with the recessed structure of the sterile adapter, forming a Y-direction guide that can adjust the slight movement of the sterile adapter in the Y direction. Simultaneously, due to the guiding effect of the recessed structure and the retaining buckle, the hook-shaped component at the front end of the sterile adapter continues to push forward, while the rear end of the sterile adapter is pressed further down. The lower end of the movable buckle of the sterile adapter abuts against the upper end of the retaining buckle of the instrument actuator. Due to the action of the inclined surface at the lower end of the movable buckle and the inclined surface at the upper end of the retaining buckle, the movable component moves towards the transmission area of ​​the sterile adapter. Then, as the rear end of the sterile adapter continues to press downwards, when the snap-fit ​​surface of the movable buckle moves to the snap-fit ​​surface of the retaining buckle, the movable buckle resets due to the driving force of the spring. At the same time, the hook-shaped component at the front end of the sterile adapter is pushed forward until the hook-shaped component is fully inserted into the hook-shaped insert. The hook-shaped surface of the hook-shaped component fully engages with the hook-shaped surface of the hook-shaped insert. At this time, the Z-axis surface located behind the retaining buckle also fully engages with the recessed structure of the sterile adapter.

[0102] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A surgical robot, characterized in that, include: Instrument driver; A sterile adapter that can be connected to an instrument driver, the sterile adapter having an upper housing and a lower housing, the upper housing having an opening and the lower housing having a guide groove extending in a left-right direction; The first connection point of the instrument actuator and the sterile adapter engages via a hook-shaped surface. The hook-shaped surface includes a front surface and a rear surface. The front surface is S-shaped when viewed from the side, and the rear surface is continuous with the front surface. The first connection point includes at least one side-fitting portion, which includes a straight-face fitting portion. There are two sets of the first connection points, located on the left and right sides of the mating surfaces of the instrument actuator and the sterile adapter. The instrument driver and the sterile adapter are connected by a second connection point via a movable snap-fit. There are two sets of the second connection points, each located on the mating surface of the instrument driver and the sterile adapter and spaced apart from the first connection point in the front-back direction. Located at the second connection point, the instrument driver has a retaining clip, and the sterile adapter has a movable part. The lower part of the movable part has a movable clip that mates with the retaining clip, and the upper part of the movable part is an operating part. The operating part is connected to an operating button, which is exposed above the upper housing. The movable component also includes a guide portion, which is inserted into the guide groove and abuts against a spring located in the guide groove. The guide portion is movable along the direction of the guide groove. The movable component is movable between a locked position and an unlocked position in a left-right direction. The spring applies a force to the movable component to move it toward the locked position. The operating part is movable in the opening.

2. The surgical robot according to claim 1, characterized in that, Located at the first connection point, one of the instrument driver and the sterile adapter has a protruding hook-shaped surface, and the other of the instrument driver and the sterile adapter has a fitting that engages with the protruding hook-shaped surface.

3. The surgical robot according to claim 2, characterized in that, The sterile adapter has a hook-shaped surface protruding from the sterile adapter housing structure, and the instrument driver has a hook-shaped surface recessed into the instrument driver housing structure.

4. The surgical robot according to claim 1, characterized in that, The hook-shaped surface of the sterile adapter is integrally formed with the shell surface of the sterile adapter.

5. The surgical robot according to claim 1, characterized in that, The hook-shaped surface of the sterile adapter and / or the instrument driver has a width along the left-right span direction of the sterile adapter.

6. The surgical robot according to claim 1, characterized in that, The side mating portion has a guide surface on at least one of the mating surfaces of the instrument actuator and the sterile adapter.

7. The surgical robot according to claim 1, characterized in that, The non-mating surfaces of the movable buckle and / or the fixed buckle have a wedge-shaped surface.

8. The surgical robot according to claim 1, characterized in that, The top of the fixing buckle has a smooth curved surface in the left-right and front-back directions.

9. The surgical robot according to claim 1, characterized in that, The fixing buckle, located in the direction opposite to the first connection point, has a vertical curved surface.

10. The surgical robot according to claim 8 or 9, characterized in that, The housing of the instrument driver or the sterile adapter having the movable buckle has a complete curved surface adapted to the fixed buckle.

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