A joint device, operating equipment and surgical robot

Abstract

The present application provides a coupling device, a slave operating device using the coupling device, and a surgical robot including the slave operating device, wherein the coupling device includes a shell and a coupling disk for coupling an instrument and a driving device, the driving device is poweredly connected to the instrument through the coupling device, the shell of the coupling device includes a cavity, the coupling disk is at least partially accommodated in the cavity, the coupling disk has six degrees of freedom of movement in the cavity, so that the coupling disk can be flipped in the cavity to prevent the coupling disk from being stuck in the cavity, so that the coupling device can successfully complete the coupling of the instrument and the driving device.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a joining device, a slave operating device using the joining device, and a surgical robot comprising the slave operating device. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a master console and a slave operating device. The master console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform corresponding surgical operations.

[0004] The instruments for performing surgical operations are connected to the driving devices on the slave operating devices. The master operating device controls the driving devices to manipulate the movements of the instruments. When in use, the instruments need to be sterilized, while the slave operating devices are generally not sterilized. Therefore, the instruments and the driving devices are generally joined by a sterile joining device to prevent the slave operating device from contaminating the instruments. During the process of the joining device joining the driving device and / or the instrument, it is crucial whether the joining device can successfully complete the joining of the driving device and / or the instrument. If the joining disk of the joining device is stuck during the joining process, the joining device cannot complete the joining of the driving device and / or the instrument. The prior art still does not provide a better solution to this problem. Summary of the invention

[0005] Based on this, in order to solve the above problems, in the first aspect, the present application provides a coupling device, which includes: a shell and a coupling plate for coupling an instrument and a driving device, the shell includes a cavity, at least part of the coupling plate is accommodated in the cavity, and the coupling plate has six degrees of freedom of movement in the cavity.

[0006] In a specific embodiment, the six degrees of freedom movement includes translational movement of the bonding plate along the X, Y, and Z axes of a Cartesian coordinate system, and rotational movement around the X, Y, and Z axes.

[0007] In a specific embodiment, the length of the diagonal line of the bonding plate is less than or equal to the inner diameter of the cavity.

[0008] In a specific embodiment, the cavity includes a first opening and a second opening, and the length of the body diagonal of a cylinder formed by the first opening and the second opening as the bottom surface is smaller than the length of the body diagonal of the bonding plate.

[0009] In a specific embodiment, the cavity includes a first opening and a second opening, and the length of the diagonal line of the cylinder formed by the first opening and the second opening as the bottom surface is greater than the length of the diagonal line of the bonding plate.

[0010] In a specific embodiment, the diameters of the first opening and the second opening are smaller than the diameter of the bonding plate.

[0011] In a specific embodiment, the height of the cavity is smaller than the diagonal length of the bonding plate.

[0012] In a specific embodiment, the difference between the inner diameter of the cavity and the diagonal length of the bonding plate is β, wherein 0.02 mm<β<0.5 mm.

[0013] In a second aspect, the application provides a coupling device, comprising: a shell and a coupling plate for coupling an instrument and a driving device, the shell comprising a cavity, at least a portion of the coupling plate being accommodated in the cavity, the coupling plate having four degrees of freedom of movement in a first state, and the coupling plate having six degrees of freedom of movement in a second state.

[0014] In a specific embodiment, the four degrees of freedom movement include translational movement of the bonding plate along the X, Y, and Z axes of the Cartesian coordinate system, and rotational movement around the Z axis; the six degrees of freedom movement include translational movement of the bonding plate along the X, Y, and Z axes, and rotational movement around the X, Y, and Z axes.

[0015] In a specific embodiment, when the bonding disk is in the first state, the length of the diagonal line of the bonding disk is greater than the inner diameter of the cavity, and when the bonding disk is in the second state, the length of the diagonal line of the bonding disk is less than or equal to the inner diameter of the cavity.

[0016] In a specific embodiment, when the bonding disk is in the second state, the difference between the inner diameter of the cavity and the diagonal length of the bonding disk is β, wherein 0.02 mm<β<0.5 mm.

[0017] In a specific embodiment, the bonding tray further includes a first bonding tray body, a second bonding tray body and an elastic body, wherein the elastic body is connected between the first bonding tray body and the second bonding tray body, and when the bonding tray is transformed from the first state to the second state, the first bonding tray body and the second bonding tray body move relative to each other and compress the elastic body.

[0018] In a specific embodiment, when the bonding tray is in the first state, the height of the bonding tray is equal to the height of the cavity.

[0019] In a specific embodiment, when the bonding tray is in the second state, the height of the bonding tray is smaller than the height of the cavity.

[0020] In a specific embodiment, the cavity includes a first opening and a second opening. When the bonding tray is in the second state, the length of the body diagonal of the bonding tray is less than or equal to the length of the body diagonal of the cylinder formed by the first opening and the second opening as the bottom surface.

[0021] In a specific embodiment, the engagement plate is cylindrical in shape.

[0022] In a specific embodiment, the cavity includes a first opening and a second opening. When the bonding tray is in the second state, the length of the body diagonal of the bonding tray is greater than the length of the body diagonal of the cylinder formed by the first opening and the second opening as the bottom surface.

[0023] In a specific embodiment, the diameters of the first opening and the second opening are smaller than the diameter of the bonding plate.

[0024] In a third aspect, the present application provides a slave operating device, which includes a driving device, an instrument and the above-mentioned coupling device, wherein the driving device is used to drive the instrument to move, and the coupling device is used to couple the driving device and the instrument.

[0025] In a fourth aspect, the present application provides a surgical robot, comprising:

[0026] Main console and slave operating equipment,

[0027] The master operation console is used to send a control command to the slave operation device according to the doctor's operation to control the slave operation device.

[0028] The slave operation device is used to respond to the control command sent by the master operation console and perform corresponding operations.

[0029] The slave operating device comprises the above-mentioned engaging means. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1A A schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present application;

[0031] Figure 1B A schematic diagram of a slave operating device of a surgical robot according to another embodiment of the present application;

[0032] Figure 2 A schematic diagram of a main operating device of a surgical robot according to an embodiment of the present application;

[0033] Figure 3 This is a schematic diagram of an instrument support arm with an instrument installed according to an embodiment of the present application;

[0034] Figure 4 A schematic diagram of an apparatus according to an embodiment of the present application;

[0035] Figure 5 A schematic diagram of a process of engaging a joining device with an instrument and a driving device according to an embodiment of the present application;

[0036] Fig. 6A A partial cross-sectional view of a bonding device according to an embodiment of the present application;

[0037] Figure 6B , Figure 6C for Fig. 6A The schematic diagram of the engagement disc of the engagement device shown is in a flipped state;

[0038] Fig.6D for Fig. 6A A schematic diagram of the embodiment shown in which the splice tray has six degrees of freedom of motion;

[0039] Fig. 7A A schematic diagram of a bonding device according to an embodiment of the present application;

[0040] Figure 7B for Fig. 7A A partial cross-sectional view of the engagement device shown in a first state;

[0041] Figure 7C for Fig. 7A A partial cross-sectional view of the engagement device shown in the second state;

[0042] Fig.7D , Fig. 7E for Fig. 7A The schematic diagram of the bonding device of the embodiment shown is when the bonding plate is flipped in the second state. DETAILED DESCRIPTION

[0043] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0044] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used herein are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Joint" used herein can be broadly understood as two or more objects being connected in a way that the movement of one object affects the movement of another object joined thereto. In the specification and claims, the terms "coupling", "joining" and "connection" can be used interchangeably.

[0045] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery, a clamp, a stapler, a shear, an imaging device (such as an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end effector so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Further, the end effector also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include storage information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system elements.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "and / or" and "and / or" used herein include any and all combinations of one or more related listed items.

[0047] The surgical robot of one embodiment of the present application is as follows: Figure 1A and Figure 2 As shown, the surgical robot includes a slave operating device 10 and a master operating device 20. The slave operating device 10 is located on the patient's side for performing surgical operations, wherein the slave operating device 10 includes multiple robotic arms 11 and instruments 12 mounted on the robotic arms 11. The instruments 12 may be electric cauterizers, clamps, staplers, shears, etc. for performing surgical operations, or cameras or other surgical instruments for acquiring images. The multiple instruments 12 are inserted into the patient's body from different incisions. The robotic arms are configured to be supported by pillars through multiple large arms. In some other embodiments, the robotic arms of the slave operating devices may also be mounted on a wall or ceiling.

[0048] In one embodiment, the robot arm 11 further includes a parallelogram linkage mechanism, and the instrument 12 is detachably mounted on the distal end of the parallelogram linkage mechanism, and the parallelogram linkage mechanism can allow the instrument 12 to move or move multiple mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). The parallelogram linkage mechanism is used to constrain the instrument 12 to move near the remote center of motion (RCM) on the surgical instrument that remains stationary relative to the patient, and the remote center of motion is usually located at the position where the instrument enters the patient's body.

[0049] In one embodiment, the slave operation device 10 includes a plurality of mechanical arms 11, and an instrument support arm 14 is provided at the distal end of the parallelogram mechanism of the mechanical arm 11. The instrument support arm 14 is provided with a driving device 13, and the driving device 13 is used to drive the end effector 17 at the distal end of the instrument 12 to move, and the driving device 13 can move along the proximal end or the distal end of the instrument support arm 14. The instrument 12 is mounted on the driving device 13, and then the instrument 12 can move toward the distal end or the proximal end of the instrument support arm 14 with the driving device 13, so that the distal end of the instrument 12 enters or is withdrawn from the human body.

[0050] During the use of the surgical robot, the entire instrument 12 is sterile, but the mechanical arm 11 and the drive device 13 of the operating device 10 may be sterile. These sterile structures are isolated from the sterile environment by a sterile cover (not shown). Figure 3 As shown, the instrument box 19 of the instrument 12 is connected to the driving device 13 through the connecting device 18. The connecting device 18 is sterile treated during use, so the connecting device 18 can perform sterile isolation on the instrument 12 and the driving device 13.

[0051] The end effector 17 is supported by the instrument shaft 16 of the instrument 12. In one embodiment, the instrument shaft 16 is hollow, and the transmission mechanism in the instrument box 19 is connected to the end effector 17 through a cable. The drive device 13 drives the transmission mechanism to move so that the transmission mechanism retracts or releases the cable and thereby manipulates the movement of the end effector 17.

[0052] The instrument shaft 16 passes through the poking card 15 and is constrained by the poking card 15. The poking card 12 is docked with the instrument support arm 14 through the poking card clamping device, so that the poking card 12 can be driven to move together through the mechanical arm 11. Since the poking card 12 is docked on the instrument support arm 14, the mechanical arm 11 can drive the poking card 12 to rotate around a remote fixed point. At this time, the instrument shaft 16 passing through the poking card 12 also rotates around the remote fixed point, so that the end effector 17 of the instrument 12 has a larger range of motion inside the human body.

[0053] In some other embodiments, another mechanical arm of the slave operating device is constructed differently, such as Figure 1B As shown, multiple instruments 12' of this type of slave operating device 10' are detachably mounted on a power mechanism 13' at the far end of a robotic arm 11'. Multiple instruments 12' enter the human body from an incision, and the robotic arm is controlled to constrain the instruments to move near the remote motion center. For details, please refer to Chinese patent application CN201810664598.2.

[0054] The surgical robot also typically includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a video image acquisition function (e.g., an instrument 12 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 12 with image acquisition capabilities includes an optical device of one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 12 with image acquisition capabilities, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly to be processed and displayed on a video display device.

[0055] The main operating device 20 is located on the operator's side. The main operating device 20 is used to send control commands to the slave operating device 10 and display the images obtained by the slave operating device 10 according to the operator's operation. The operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the master-slave operating device 20. By observing the three-dimensional images in the patient's body, the operator can control the slave operating device 10 to perform related operations (such as performing surgery or obtaining images in the patient's body) in an immersive way. The main operating device 20 includes a main console 21 and an input device 22. The main console 21 includes a display device, an armrest, a control signal processing system and an observation device, wherein the display device is used to display the images obtained by the above-mentioned imaging system. The armrest is used to place the operator's arm and / or hand so that the operator can operate the input device more comfortably, and the observation device is used to observe the image displayed by the display device. According to actual needs, the armrest can also be omitted; or the observation device can be omitted, and direct observation can be performed in this case. The operator controls the movement of the slave operating device 10 by operating the input device 22. The control signal processing system of the main console 21 processes the input signal of the input device 22 and then sends a control command to the slave operating device. The slave operating device 300 is used to respond to the control command sent by the main console 21 and perform corresponding operations.

[0056] See also Figure 4 and Figure 5 As shown, in one embodiment, the transmission mechanism in the instrument box 19 of the instrument 12 is engaged with the engagement disk 282 of the engagement device 280 through the first coupler 121, and the second coupler 231 of the drive device 23 is engaged with the instrument 12 through the engagement device 280, thereby realizing the power connection between the drive device 23 and the instrument 12, so that the drive device 13 can drive the transmission mechanism of the instrument 12 to move by driving the first coupler 121, thereby driving the end effector 17 to move.

[0057] Specifically, the coupling device 280 includes a housing 281, and a plurality of coupling discs 282 are accommodated in a plurality of cavities of the housing 281. Each coupling disc 282 has a first coupling feature 283 (e.g., a groove), and the lower portion of the coupling disc 282 has a first coupling feature (not shown) arranged orthogonally to the upper first coupling feature 283. After the drive device 23 or the main operating device 20 detects that the coupling device 280 is installed on the drive device 23, the actuator (e.g., a motor) in the drive device 23 drives the second coupler 231 to rotate, so that the second coupling feature 232 (e.g., a boss) on the second coupler 231 is coupled with the first coupling feature at the lower portion of the coupling disc 282, thereby achieving the coupling of the coupling device 280 with the drive device 23. After the coupling device 280 and the drive device 23 are completely coupled, the actuator in the drive device 23 can drive the coupling disc 282 of the coupling device 280 to rotate through the second coupler 231.

[0058] After the engagement device 280 is completed with the driving device 23, the instrument 12 is engaged with the engagement device 280. Specifically, after the driving device 23 or the main operating device 20 detects that the instrument 12 is installed on the engagement device 280, the actuator in the driving device 23 drives the second coupler 231 to rotate again, so that the second coupler 231 drives the engagement disk 282 to rotate, so that the first engagement feature 283 on the upper part of the engagement disk 282 is coupled with the second engagement feature 122 on the first coupler 121, thereby achieving the engagement of the instrument 12 with the engagement device 280. After the instrument 12 is connected with the engagement device 280, the driving device 23 and the instrument 12 are connected by power through the connecting device 280, so that the driving device 23 can drive the instrument 12 to move through the engagement device 280.

[0059] During the engagement process between the engagement device 280 and the drive device 23, an unexpected situation may occur, that is, after the engagement device 280 is installed on the drive device 23, the engagement disc 282 of the engagement device 280 may be stuck in the cavity of the shell 281. There are many reasons for this stuck. For example, when the operator installs the engagement device 280 on the drive device 23, the engagement device 280 is tilted, so that the engagement disc 282 is subjected to uneven force when it contacts the second coupler 231, so that the engagement disc 282 is tilted in the cavity, that is, the engagement disc is overturned in the cavity, so that the engagement disc 282 is stuck in the cavity. Once the engagement disc 282 is stuck in the cavity, the second engagement feature 232 of the second coupler 231 of the drive device 23 cannot complete the coupling with the first engagement feature of the engagement disc 282, for example, the second engagement feature 232 cannot slide smoothly into the first engagement feature, so that the engagement device 280 cannot complete the engagement with the drive device 23. In addition, if the engagement plate 283 gets stuck during the operation, the instrument 12 may suddenly fail, which may seriously affect the safety of the operation.

[0060] In order to solve the problem of the engagement disk being stuck and enable the engagement device to smoothly engage with the drive device and the instrument, in one embodiment, Fig. 6A FIG. 3 is a cross-sectional view of the bonding device 380, the cross section of which passes through the center of the bonding disc 382 and is perpendicular to the upper and lower surfaces of the bonding disc 382 (i.e., cut along the diameter of the bonding disc 382). The bonding device 380 includes a housing 381, the housing 381 includes a cavity 384, the bonding disc 382 is cylindrical, at least part of the bonding disc 382 is accommodated in the cavity 384, that is, including a part of the bonding disc 382 accommodated in the cavity 384, and also including the case where the entire bonding disc 382 accommodates the cavity 384. For the convenience of description, Fig. 6AOnly one engagement plate 382 and one cavity 384 are shown. It is to be understood that the engagement device 380 may include a plurality of engagement plates 382 and a plurality of cavities 384, for example, Figure 5 4 splice trays shown.

[0061] The shell 381 also includes lips 3811 and 3812. The lip 3811 forms a first opening 3813 of the cavity 384. The engaging plate 382 engages the instrument 12 through the first opening 3813. The lip 3812 forms a second opening 3814 of the cavity 384. The engaging plate 382 engages the driving device 23 through the second opening. The length of the body diagonal A of the engaging plate 382 is less than the inner diameter B of the cavity 384 (the body diagonal A refers to the diagonal of the rectangular parallelepiped formed by cutting along the diameter of the engaging plate 382), so that the engaging plate 382 can be freely turned over in the cavity 384 without being stuck in the cavity 384. Figure 6B As shown, the engagement plate 382 is turned clockwise at a certain angle in the cavity 384, and can be turned back counterclockwise. Fig. 6A Since the length of the body diagonal line A of the bonding plate 382 is less than the inner diameter length B of the cavity 384, the bonding plate 382 will not get stuck in the cavity 384 when it rotates through the narrowest part of the cavity 384 (i.e., the width of the cavity 384 is the inner diameter B).

[0062] Furthermore, the difference β between the length of the body diagonal A of the coupling disk 382 and the inner diameter length B of the cavity 384, wherein 0.02mm<β<0.5mm, β=|AB|, can allow the coupling disk 382 to flip freely in the cavity 384 and at the same time, the coupling disk 382 can be non-eccentric in the cavity 384, so that the coupling disk 382 can be smoothly coupled with the first coupler 121 and the second coupler 231.

[0063] In one embodiment, the length of the body diagonal A of the bonding disc 382 is equal to the inner diameter length B of the cavity 384. Since the bonding disc 382 and the inner wall of the cavity 384 will have a certain deformation when squeezed, the deformation can also enable the bonding disc 382 to complete the flipping action in the cavity 384. That is, when the bonding disc 382 is flipped, when its body diagonal passes through the narrowest part of the cavity 384, due to the deformation of the bonding disc 382 and the inner wall of the cavity 384, the length of the body diagonal A of the bonding disc 382 will still be smaller than the inner diameter length B of the cavity 384, thereby allowing the bonding disc 382 to flip in the cavity 384 without getting stuck.

[0064] Further, in one embodiment, the length of the body diagonal line E between the cylinders formed by the first opening 3813 and the second opening 3814 as the bottom surface is smaller than the length of the body diagonal line A of the bonding tray 382, ​​so that part of the bonding tray 382 can be flipped out from the first opening 3813 and the second opening 3814, as shown in FIG. Figure 6C As shown, the engagement tray 382 is flipped clockwise through the first opening 3813 and the second opening 3814 and partially flipped out of the cavity 384. In this embodiment, the engagement tray 382 can rotate 360 ​​degrees, thereby allowing the engagement tray 382 to have a larger flip angle.

[0065] In another embodiment, the length of the body diagonal E between the cylinder formed by the first opening 3813 and the second opening 3814 as the bottom surface is greater than the length of the body diagonal A of the coupling disc 382, ​​thereby only allowing the coupling disc 382 to flip over in the cavity 384. When the coupling device 380 is installed on the driving device 23, the inclination angle of the coupling device 380 will not be very large in some application scenarios, for example, it is about 3-5 degrees. Therefore, only allowing the coupling disc 382 to flip over in the cavity 384 can also prevent the coupling disc 382 from getting stuck.

[0066] like Fig.6D As shown, since the bonding disc 382 can be flipped in the cavity 384, the bonding disc 382 has 6 degrees of freedom in the Cartesian coordinate space (i.e., three-dimensional space coordinates) in the cavity 384. The 6 degrees of freedom are translation along the X, Y, and Z axes of the Cartesian coordinate system, rotation around the X and Y axes (i.e., the flipping movement of the bonding disc) and rotation around the Z axis (i.e., the rotation movement of the bonding disc). The six degrees of freedom of movement fully guarantee the movement and rotation of the bonding disc 382 in the cavity 384, so that the bonding disc 382 is not stuck in the cavity 384. It can be understood that the bonding disc 382 does not necessarily need to be a cylinder to realize the 6 degrees of freedom of the bonding disc 382 in the cavity 384. In some embodiments, when the diagonal of the body of a cube or a rectangular bonding disc is less than or equal to the inner diameter of the cavity, the bonding disc can also have 6 free movements in the cavity to prevent the bonding disc from being stuck in the cavity.

[0067] It is understandable that, in the Cartesian coordinate space, in order to allow the bonding disc 382 to move with 6 degrees of freedom in the cavity 384 to solve the problem of the bonding disc 382 getting stuck, it is not necessarily necessary that the length of the body diagonal A of the bonding disc 382 is less than or equal to the inner diameter B of the cavity 384. In some embodiments, when the bonding disc 382 is mounted on the drive device 23, the bonding disc 382 generally will not be tilted at a large angle in the cavity 384, so that the bonding disc 382 generally will not flip to the narrowest part of the cavity 384 (the narrowest part of the cavity, that is, the cavity width is the inner diameter B), so the place where the bonding disc 382 gets stuck in the cavity 384 is generally not at the narrowest part of the cavity 384. Assuming that the width of the cavity 384 where the bonding plate 382 is stuck in the cavity is K, wherein the width K is greater than the inner diameter B of the cavity 384, at this time, although the length of the body diagonal A of the bonding plate 382 is greater than the inner diameter B of the cavity 384, if the length of the body diagonal A of the bonding plate 382 is less than the width K, the bonding plate 382 will still not be stuck in the cavity 384. Of course, in this case, as mentioned above, if the length of the body diagonal A of the bonding plate 382 is less than the inner diameter B of the cavity 384, then the length A of the body diagonal of the bonding plate 382 will of course also be less than the width K.

[0068] Furthermore, in one embodiment, the diameter C of the first opening 3813 and the second opening 3814 is smaller than the diameter D of the bonding tray 382, ​​so that no matter how the bonding tray 382 is flipped, a portion of the bonding tray 382 always remains in the cavity 384, so that the bonding tray 382 will not fall out of the cavity 382 when it is flipped. If the bonding tray is a rectangular parallelepiped or a cube, the diameters of the first opening and the second opening of the cavity are smaller than the length of the diagonal of the bottom surface of the bonding tray, so that the square bonding tray cannot fall out of the cavity.

[0069] In one embodiment, the height of the cavity 384 is greater than the length of the body diagonal A of the bonding tray 382 , so that the bonding tray 382 can be completely flipped 360 degrees in the cavity 384 without partially exposing the bonding tray 382 from the first opening 3813 and the second opening 3814 .

[0070] In one embodiment, Fig. 7A As shown, the coupling device 480 includes a shell 481, the shell 481 includes a plurality of cavities 484, the coupling device 480 includes a plurality of coupling disks 482, 483, at least portions of the coupling disks 482, 483 are accommodated in the cavity 484, the coupling disks 482, 483 can be flipped in the cavity, and have the above-mentioned 6 degrees of freedom of movement in the Cartesian coordinate space, wherein the coupling disk 482 is in a flipped state, and is partially flipped out of the cavity 484.

[0071] Figure 7B-Figure 7CFIG. 4 is a partial cross-sectional view of the bonding device 480 at the bonding plate 482, wherein the cross section passes through the center of the bonding plate 482 and is perpendicular to the upper surface of the bonding device 481. Figure 7B As shown, the housing 481 of the engagement device 480 includes lips 4811 and 4812, wherein the lip 4811 forms a first opening 4813 of the cavity 484, and the lip 4812 forms a second opening 4814 of the cavity 484. The engagement disc 482 is accommodated in the cavity 484, and the engagement disc 482 includes a first engagement disc body 4821, a second engagement disc body 4822, and an elastic body 4823. The first engagement disc body 4821 is engaged with the instrument 12 through the first opening 4813, and the second engagement disc body 4822 is engaged with the drive device 23 through the second opening 4814. Both the first engagement disc body 4821 and the second engagement disc body 4822 have engagement features for engaging with the instrument 12 or the drive device 23. The elastic body 4823 is connected between the first bonding disc body 4821 and the second bonding disc body 4822. The first bonding disc body 4821 and the second bonding disc body 4822 can move relative to each other and compress or stretch the elastic body 4823. The elastic deformation of the elastic body 4823 can make the bonding discs 482, 483 more tightly bonded with the first connector 121 and the second connector 231.

[0072] Furthermore, the bonding tray 482 has a first state and a second state. When the bonding tray 482 is in the first state, Figure 7B As shown, the elastic body 4823 extends naturally, and the elastic force of the elastic body 4823 makes at least one of the first engagement disc body 4821 and the second engagement disc body 4822 abut against the lip edges 4811, 4812. Further, in the first state of the engagement disc 482, the elastic force of the elastic body 4823 makes the upper surface of the first engagement disc body 4821 abut against the lip edge 4811, and the lower surface of the second engagement disc body 4822 abut against the lip edge 4812, that is, the height H of the engagement disc 482 is equal to the height of the cavity 484, so that before the engagement device 480 engages with the drive device 23 or the instrument 12, the engagement disc 480 can be substantially fixed relative to the cavity 384.

[0073] Further, in one embodiment, in the first state, the length of the body diagonal A of the coupling disk 482 is greater than the inner diameter B of the cavity 484, so that in the first state, the coupling disk 482 cannot be flipped in the cavity 484; and, in the first state, the length of the body diagonal A of the coupling disk 482 is also greater than the diameter C of the first opening 4813 and the second opening 4814.

[0074] When the engagement plate 482 is in the second state, Figure 7CAs shown, at this time, the elastic body 4823 is compressed by the first bonding disc body 4821 and the second bonding disc body 4822, so that the length of the body diagonal line A and the height H of the bonding disc 482 are changed. Specifically, in the second state, the length of the body diagonal line A of the bonding disc 482 is less than the inner diameter B of the cavity 484, so that the bonding disc 482 can be freely turned over in the cavity 484 without being stuck, as shown in FIG. Fig.7D As shown, even if the bonding plate 482 turns clockwise and passes through the narrowest part of the cavity 484 (ie, the width of the cavity 484 is the inner diameter B), it will not get stuck.

[0075] Furthermore, when the bonding disk 482 is in the second state, the difference between the length of the body diagonal line A of the bonding disk 482 and the inner diameter length B of the cavity 484 is β, wherein 0.02 mm<β<0.5 mm, β=|AB|.

[0076] Further, in one embodiment, the length of the body diagonal line E between the cylinders formed by the first opening 4813 and the second opening 4814 as the bottom surface is smaller than the length of the body diagonal line A of the bonding plate 482, so that Fig. 7E As shown, part of the coupling tray 482 can be flipped out from the first opening 4813 and the second opening 4814, so that the coupling tray 482 can be flipped 360 degrees.

[0077] In another embodiment, the length of the body diagonal line E between the cylinders formed by the first opening 4813 and the second opening 4814 as the bottom surface is greater than the length of the body diagonal line A of the bonding tray 482 , thereby only allowing the bonding tray 482 to flip over in the cavity 484 .

[0078] In one embodiment, the diameter D of the engagement tray 482 is greater than the diameter C of the first opening 4813 and the second opening 4814 , so that the engagement tray 482 cannot fall out of the cavity 484 no matter how it is turned over.

[0079] As described above, in the first state, the bonding plate 482 has four degrees of freedom of movement in the Cartesian coordinate space, and the four degrees of freedom of movement are the translational movement of the bonding plate 484 along the X, Y, and Z axes of the Cartesian system, and the rotational movement around the Z axis (i.e., the rotation of the bonding plate 484).

[0080] In the second state, the bonding tray 484 has six degrees of freedom, which are translation along the X, Y, and Z axes, rotation about the X and Y axes (i.e., the flipping motion of the bonding tray), and rotation about the Z axis (i.e., the self-rotation motion of the bonding tray). The six degrees of freedom fully ensure the movement and rotation of the bonding tray 482 in the cavity 384 in the second state, so that the bonding tray 482 is not stuck in the cavity 484.

[0081] It is understandable that in the second state, the connection plate 482 is allowed to move with 6 degrees of freedom in the cavity 384 to solve the problem of the connection plate 482 being stuck in the cavity 484, and it is not necessarily required that the length of the body diagonal line A of the connection plate 482 is less than or equal to the inner diameter B of the cavity 484. In some embodiments, since the connection plate 482 will not be tilted at a large angle in the cavity 484 when the connection plate 482 is installed on the drive device 23, the connection plate 482 will not flip to the narrowest part of the cavity 484 (the narrowest part of the cavity is the width of the inner diameter B), so the place where the connection plate 482 is stuck in the cavity 484 is generally not at the narrowest part of the cavity 484. If the width of the cavity 484 where the bonding plate 482 is stuck in the cavity 484 is K, where the width K is greater than the inner diameter B of the cavity 484, then even if the length of the body diagonal A of the bonding plate 482 is greater than the inner diameter B of the cavity 484, if the length of the body diagonal A of the bonding plate 482 is less than the width K, the bonding plate 482 will still not be stuck in the cavity 484.

[0082] In the second state, since the elastic body 4823 is compressed, after the coupling plate 484 is flipped over by an external force (for example, the interference of the second coupling feature 232 on the second coupler 231 of the driving device 23), the restoring elastic force of the elastic body 4823 can cause the coupling plate 484 to automatically flip back to a horizontal position, thereby allowing the coupling plate 484 to smoothly and conveniently complete the coupling operation with the driving device 23 and / or the instrument 12.

[0083] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A bonding device, characterized in that: The coupling device includes: a shell and a coupling plate for coupling a surgical instrument and a driving device, the coupling plate includes a first coupling feature, the first coupling feature is used to combine with a second coupling feature on the surgical instrument and the driving device, the shell includes a cavity, at least part of the coupling plate is accommodated in the cavity, the coupling plate has six degrees of freedom of movement in the cavity; the six degrees of freedom of movement include translational movement of the coupling plate along the X-axis, Y-axis, and Z-axis of a Cartesian coordinate system, and rotational movement around the X-axis, the Y-axis, and the Z-axis, and the length of the body diagonal of the coupling plate is less than or equal to the inner diameter of the cavity.

2. The joining device according to claim 1, characterized in that The cavity comprises a first opening and a second opening, and the length of the body diagonal of a cylinder formed by the first opening and the second opening as bottom surfaces is smaller than the length of the body diagonal of the bonding plate.

3. The joining device according to claim 1, characterized in that: The cavity comprises a first opening and a second opening, and the length of the diagonal line of the cylinder formed by the first opening and the second opening as the bottom surface is greater than the length of the diagonal line of the bonding plate.

4. The joining device according to claim 2 or 3, characterized in that: The diameters of the first opening and the second opening are smaller than the diameter of the bonding plate.

5. The joining device according to claim 1, characterized in that: The height of the cavity is smaller than the length of the diagonal line of the bonding tray.

6. The joining device according to claim 1, characterized in that: The length of the body diagonal of the bonding disk is smaller than the inner diameter of the cavity, and the difference between the inner diameter of the cavity and the body diagonal length of the bonding disk is β, wherein 0.02 mm<β<0.5 mm.

7. The joining device according to claim 1, characterized in that: The bonding plate is in the shape of a cylinder.

8. A bonding device, characterized in that: The coupling device includes: a shell and a coupling plate for coupling a surgical instrument and a driving device, the shell includes a cavity, at least a portion of the coupling plate is accommodated in the cavity, the coupling plate has four degrees of freedom of movement in a first state, and the coupling plate has six degrees of freedom of movement in a second state; the four degrees of freedom of movement include translational movement of the coupling plate along the X-axis, Y-axis, and Z-axis of a Cartesian coordinate system, and rotational movement around the Z-axis; the six degrees of freedom of movement include translational movement of the coupling plate along the X-axis, the Y-axis, and the Z-axis, and rotational movement around the X-axis, the Y-axis, and the Z-axis, the length of the body diagonal of the coupling plate is greater than the inner diameter of the cavity in the first state, and the length of the body diagonal of the coupling plate is less than or equal to the inner diameter of the cavity in the second state.

9. The joining device according to claim 8, characterized in that When the bonding disk is in the second state, the difference between the inner diameter of the cavity and the diagonal length of the bonding disk is β, wherein 0.02 mm<β<0.5 mm.

10. The joining device according to claim 8, characterized in that The bonding tray also includes a first bonding tray body, a second bonding tray body and an elastic body, wherein the elastic body is connected between the first bonding tray body and the second bonding tray body. When the bonding tray is transformed from the first state to the second state, the first bonding tray body and the second bonding tray body move relative to each other and compress the elastic body.

11. The joining device according to claim 8, characterized in that When the bonding tray is in the first state, the height of the bonding tray is equal to the height of the cavity.

12. The joining device according to claim 8, characterized in that When the bonding tray is in the second state, the height of the bonding tray is smaller than the height of the cavity.

13. The joining device according to claim 8, characterized in that The cavity comprises a first opening and a second opening. When the bonding tray is in the second state, the length of the body diagonal of the bonding tray is less than or equal to the length of the body diagonal of a cylinder formed by the first opening and the second opening as the bottom surface.

14. The joining device according to claim 8, characterized in that The cavity comprises a first opening and a second opening. When the bonding tray is in the second state, the length of the body diagonal of the bonding tray is greater than the length of the body diagonal of a cylinder formed by the first opening and the second opening as the bottom surface.

15. The joining device according to claim 13 or 14, characterized in that: The diameters of the first opening and the second opening are smaller than the diameter of the bonding plate.

16. The joining device according to claim 8, characterized in that The bonding plate is in the shape of a cylinder.

17. A slave operating device, characterized in that: The slave operating device comprises a driving device, a surgical instrument and a coupling device according to any one of claims 1 to 16, wherein the driving device is used to drive the surgical instrument to move, and the coupling device is used to couple the driving device and the surgical instrument.

18. A surgical robot, comprising: Main console and slave operating equipment, The master operation console is used to send a control command to the slave operation device according to the doctor's operation to control the slave operation device. The slave operation device is used to respond to the control command sent by the master operation console and perform corresponding operations. The slave operating device comprises the engaging means according to any one of claims 1 to 16.

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