Assembly mechanism of a surgical robot

Abstract

The present invention discloses an assembly mechanism of a surgical robot, which is used to connect an instrument driver, a sterile adapter and a surgical instrument box, wherein the sterile adapter has a first movable buckle connected to a first fixed buckle on the instrument driver, and the surgical instrument has a second movable buckle connected to a second fixed buckle on the sterile adapter, wherein the first movable buckle has a first operating part, the upper end of the first operating part is located above the sterile adapter, and the surgical instrument box has a space for accommodating the first operating part. The surgical instrument box can hide the first operating part of the sterile adapter inside the surgical instrument box, thereby preventing the risk of unlocking the sterile adapter and the instrument driver due to misoperation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an assembly mechanism of a surgical robot. Background Art

[0002] Surgical robots can help doctors achieve precise positioning of the operation, and have the advantages of reducing the patient's wounds and thus shortening the recovery time after surgery. In addition, they have a stable operating platform and can solve the doctor's trembling, so they are widely used in clinical surgical operations.

[0003] The surgical instruments in the surgical robot usually have a rear end actuator in the form of a surgical tool at one end of a slender tube, such as forceps, scissors, clamps, etc. The conventional motion structure of the rear end actuator is to use a wire rope to rotate the rear end actuator to complete the pitch, yaw and gripping movements.

[0004] The surgeon controls the instruments on the operating-side driver on the console. To meet the needs of using different surgical instruments during surgery, surgical instruments and instrument drivers are usually designed to be detachable so as to meet the needs of replacing different surgical instruments during surgery. At the same time, surgical instruments can usually be disinfected and sterilized independently.

[0005] The instrument driver end is usually designed to be non-sterile. To ensure sterility during surgery, a sterile adapter needs to be added between the instrument driver and the instrument to isolate the non-sterile instrument driver end and the sterilizable instrument end during 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 rear end actuator of the surgical instrument through the sterile adapter to achieve the purpose of completing the pitch, deflection and clamping actions.

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

[0008] In the existing assembly mechanism of instrument driver, sterile adapter and surgical instrument, the connection between the instrument driver and the sterile adapter and the connection between the sterile adapter and the surgical instrument are separate and isolated. When in use, the instrument driver and the sterile adapter can be connected first or the sterile adapter and the surgical instrument can be connected first. Similarly, when disassembling, the surgical instrument and the sterile adapter can be detached first or the sterile adapter can be detached first. The non-uniqueness of this operation sequence leads to the user's misoperation of the assembly and disassembly sequence during use, on the one hand, and on the other hand, it also increases the risk of unlocking accidents due to collision and vibration during use. Summary of the invention

[0009] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the 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 scope of protection of the claimed technical solution.

[0010] In order to at least partially solve the above problems, the present invention provides an assembly mechanism for a surgical robot, which can reduce the risk of unlocking caused by misoperation. The present invention is implemented by the following scheme:

[0011] An assembly mechanism of a surgical robot, which is used to connect an instrument driver, a sterile adapter and a surgical instrument box, characterized in that the upper surface of the instrument driver cooperates with the lower surface of the sterile adapter, the upper surface of the instrument driver has a first fixed buckle, and the sterile adapter is provided with a first movable buckle, and the first movable buckle is engaged with the first fixed buckle in a direction parallel to the matching surface of the instrument driver;

[0012] The upper surface of the sterile adapter cooperates with the lower surface of the surgical instrument box, the upper surface of the sterile adapter has a second fixing buckle, the upper cover of the surgical instrument is provided with two movable buckles, the second movable buckle is engaged with the second fixing buckle in a direction parallel to the matching surface of the instrument driver; and

[0013] The first movable buckle is connected to a first operating part, the upper end of the first operating part protrudes from the upper surface of the sterile adapter, and the surgical instrument box has a space for accommodating the first operating part.

[0014] In the above-mentioned assembly mechanism scheme of the surgical robot, the connection between the sterile adapter and the instrument driver, and the connection between the surgical instrument box and the sterile adapter, both adopt a movable buckle snap-on connection method, and the two snap-on connection methods will produce different unlocking methods, wherein the first operating part of the snap-on connection method between the sterile adapter and the instrument driver is arranged above the sterile adapter, and a space for accommodating the first operating part is provided in the surgical instrument box, so that after the installation of the instrument driver, the sterile adapter, and the surgical instrument is completed, the first operating part is hidden and not exposed, at least the connection structure between the sterile adapter and the instrument driver will not be unlocked due to misoperation, so that during the disassembly process of the three, they can only be disassembled in the order of first disassembling the surgical instrument and then disassembling the sterile adapter.

[0015] Preferably, a first operating button is fixedly arranged on the first operating part, and the spatial shape of the surgical instrument for accommodating the first operating part is adapted to the surface of the first operating button. In this scheme, the spatial shape of the surgical instrument for accommodating the first operating part is adapted to the surface of the first operating button. During the installation of the sterile adapter and the surgical instrument box, only when the first movable buckle of the sterile adapter and the first fixed buckle are accurately in place, the first operating button can accurately cooperate with the space in the surgical instrument box. Otherwise, as long as the first movable buckle of the sterile adapter, the first operating part and the first operating button are slightly misaligned, the surgical instrument box and the sterile adapter cannot be docked. Accordingly, when the sterile adapter and the surgical instrument box are installed in place, the space in the surgical instrument box restricts the first operating part from moving in all directions, and also restricts the first operating part and the first movable buckle from moving freely. As long as the surgical instrument box and the sterile adapter are slightly separated, the sterile adapter and the instrument driver cannot be separated.

[0016] Preferably, the sterile adapter is provided with a first movable part, the first movable buckle and the first operating part are both located on the first movable part, and the first movable part is connected to an elastic part that makes the first movable buckle approach a snap-fit ​​buckle position.

[0017] More preferably, the upper surface of the sterile adapter is provided with a hole for providing movement of the first operating part.

[0018] Preferably, two groups of first fixing buckles are symmetrically arranged on the instrument driver, and the two groups of first fixing buckles are located on both sides of the transmission part of the instrument driver; two groups of first movable buckles are symmetrically arranged on the sterile adapter, and the two groups of first movable buckles are located on the left and right sides of the transmission part of the adapter, and the two groups of first movable buckles are respectively engaged with the two groups of first fixing buckles;

[0019] The surface of the instrument driver also has a hook-shaped concave surface portion, and the lower surface of the sterile adapter has a hook-shaped convex surface portion, and the hook-shaped convex surface portion of the sterile adapter can be embedded in the hook-shaped concave surface portion of the instrument driver.

[0020] More preferably, the surface portion of the hook-shaped recess on the instrument driver is arranged to span the first fixed buckle on the instrument driver, and the surface portion of the hook-shaped protrusion on the sterile adapter is arranged to span the first movable buckle on the sterile adapter.

[0021] Preferably, the surgical instrument box has a second movable buckle assembly, the second movable buckle assembly includes a second movable part and a second operating part, the second movable part includes a second movable buckle and a passive part, the second movable buckle is fixedly connected to the passive part, the second operating part includes an actuating part and a second operating button, the second operating button is fixedly connected to the actuating part, and the actuating part limits the moving trajectory of the passive part.

[0022] More preferably, the actuating portion of the second operating portion is an inclined surface, the inclined surface has components in left and right directions and front and rear directions of the surgical instrument box, and the passive portion is in line contact or surface contact with the inclined surface.

[0023] More preferably, a guide assembly is provided on the surgical instrument box, and the second movable member is restricted by the guide assembly and moves only in the front-rear direction of the surgical instrument box.

[0024] More preferably, the second fixing buckles on the upper surface of the sterile adapter are provided with two groups, the two groups of the second fixing buckles are located on both sides of the transmission part of the sterile adapter, each group of the second fixing buckles includes at least two second fixing buckles, and at least two second fixing buckles are arranged in a span;

[0025] There are two second movable members, each of which includes at least two second movable buckles, and at least two second movable buckles are fixed and arranged in a span.

[0026] Preferably, the second operating portion is fixedly connected with a second operating button, and the second operating buttons are located on both sides of the surface of the surgical instrument box. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following drawings of the present invention are used to understand the present invention as part of the present invention. The embodiments of the present invention are shown in the drawings and the description thereof is used to explain the principle of the present invention.

[0028] In the attached figure:

[0029] Figure 1Schematic diagram of the assembly completion state of the instrument driver, sterile adapter and surgical instrument in the embodiment of the present invention

[0030] Figure 2 Schematic diagram of the disassembled state of the instrument driver, sterile adapter and surgical instrument in the embodiment of the present invention

[0031] Figure 3 is a side view of the instrument driver and the sterile adapter in the embodiment of the present invention after assembly

[0032] Figure 4 is a side view of the state when the instrument driver and the sterile adapter are not assembled in the embodiment of the present invention

[0033] Figure 5 Schematic diagram of the structure of the first connection point between the instrument driver and the sterile adapter in an embodiment of the present invention

[0034] Figure 6 Schematic diagram of the disassembled state of the connection structure between the instrument driver and the sterile adapter in the embodiment of the present invention

[0035] Figure 7 Schematic diagram of the disassembled state of the sterile adapter and the surgical instrument in the embodiment of the present invention

[0036] Figure 8 This is a schematic diagram of the structure of the first fixing buckle in an embodiment of the present invention.

[0037] Fig. 9 Schematic diagram of the disassembled structure of the sterile adapter in the embodiment of the present invention

[0038] Fig.10 Schematic diagram of the decomposition structure of the surgical instrument box in the embodiment of the present invention

[0039] Description of reference numerals:

[0040] 100 instrument driver 101 mounting surface of instrument driver

[0041] 103 hook-shaped trap 103a front part of hook-shaped trap

[0042] 103a1 constitutes the front surface of the hook-shaped trap 103b constitutes the rear surface of the hook-shaped trap

[0043] 103b1 flat surface 103b2 curved surface

[0044] 103b3 The side of the hook-shaped depression of the inclined surface 1031

[0045] 1032 hook-shaped guide portion 104 first fixing buckle

[0046] 1041: snap-fit ​​surface of the first fixing buckle 1042: curved surface structure of the first fixing buckle

[0047] 1043 mating surface 1044 smooth arc surface

[0048] 1045 Slope Curved Surface 200 Sterile Adapter

[0049] 210 Upper housing of sterile adapter 211 Upper surface of sterile adapter

[0050] 212 opening 213 second fixing buckle

[0051] 220 Lower housing of sterile adapter 221 Lower surface of sterile adapter

[0052] 222 hook-shaped member 222a front portion of the hook-shaped member

[0053] 222a1 Front surface of the hook-shaped member 222b Rear surface of the hook-shaped member

[0054] 222b1 flat surface 222b2 curved surface

[0055] 222b3 Inclined surface 2221 Side portion of hook-shaped member

[0056] 2222 The lower end 223 of the side of the hook-shaped member gives way

[0057] 224 guide groove 225 recessed structure

[0058] 230 adapter transmission member 240 first movable member

[0059] 241 first movable buckle 2411 locking surface of the first movable buckle

[0060] 2412 inclined wedge surface 242 first operating portion

[0061] 243 first operation button 244 first guide portion

[0062] 300 surgical instrument 301 lower surface of surgical instrument

[0063] 312 seat body 3121 guide rod seat

[0064] 3122 limit column 3123 hole

[0065] 2124 first operating part insertion position 330 second movable buckle assembly

[0066] 331 second movable member 3311 second movable buckle

[0067] 33111 snap-fit ​​surface of second movable buckle 3312 connecting arm

[0068] 3313 passive part 332 second operating part

[0069] 3321 operation button 3322 actuation portion

[0070] 3323 second guide part 3324 limiting waist hole

[0071] 332 guide rod 334 guide piece

[0072] 3341 Guide part of guide DETAILED DESCRIPTION

[0073] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present invention, some technical features well known in the art are not described.

[0074] In order to thoroughly understand the embodiments of the present invention, a detailed structure 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" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in the present invention are for illustrative purposes only and are not limiting.

[0075] This embodiment provides a surgical robot surgical instrument and a mechanism of a driving transmission part. The following is an explanation of the embodiments of the present invention in conjunction with the accompanying drawings.

[0076] In this embodiment, the mechanism of the surgical instrument driving and transmission part mainly includes three parts, an instrument driver, a sterile adapter and a surgical instrument.

[0077] The instrument driver is installed on the end sliding arm of the surgical robot and can move up and down on the sliding arm. There are several drive motors in the instrument driver, which can be three, four or five, etc. Each motor has an output shaft. The motor of the instrument driver is connected to the output shaft to transmit 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, so as to drive the pitch, deflection and gripping actions of the surgical instrument gripper.

[0078] The sterile adapter isolates the instrument driver from direct contact with the surgical instrument. It is connected to the sterile curtain. The sterile curtain and the sterile adapter wrap the robotic arm and instrument driver of the surgical robot to isolate the robotic arm and instrument driver from the outside. The sterile adapter is engaged on the upper end surface of the instrument driver. The sterile adapter is provided with an adapter transmission part to transmit power.

[0079] The surgical instrument is engaged with the sterile adapter. The surgical instrument is provided with an instrument transmission member, and the pitch, deflection and clamping actions of the surgical instrument are driven by the instrument driver through cooperation with the adapter transmission member of the sterile adapter.

[0080] The mechanism of the driving transmission part of the surgical instrument is specifically described below in combination with specific embodiments and drawings.

[0081] First, in the embodiment, in order to describe the positional relationship of each mechanism component, a plurality of directional nouns are defined. The explanation of these directional nouns is that the longitudinal direction of the sleeve of the surgical instrument is the Z direction, the span direction of the back plate of the sterile adapter is the X direction, and the extension direction from the back plate of the sterile adapter to the sleeve of the surgical instrument is the Y direction, wherein "up" and "down" indicate the visual angles of the instrument driver, the sterile adapter, and the surgical instrument when in use, and "front" and "back" are based on the angle between the surgical instrument sleeve of the surgical instrument and the back of the surgical instrument box as the basic direction, wherein the direction of the surgical instrument sleeve can be "front", and the back direction of the surgical instrument box is "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 sleeve.

[0082] like Figure 1 , is a schematic diagram of the structure of the instrument driver 100, the sterile adapter 200 and the surgical instrument 300 after assembly. The instrument driver 100, the sterile adapter 200 and the surgical instrument 300 have matching structures on the upper and lower surfaces (i.e., the XY plane) respectively, so that the upper surface of the instrument driver, the upper surface and lower surface of the sterile adapter and the lower surface of the surgical instrument box are not visible after assembly. Figure 2 , is a schematic diagram of the disassembled state of the instrument driver 100, the sterile adapter 200 and the surgical instrument 300.

[0083] Specifically, the instrument driver 100 includes an assembly surface 101 for matching with the sterile adapter, and the assembly surface 101 of the instrument driver and the assembly surface of the sterile adapter are in a structure that matches in size and shape. The assembly surface 101 of the instrument driver 100 is provided with an installation hole for installing the instrument driver transmission member, and the instrument driver transmission member 130 is located in the installation hole, and the upper surface of the instrument driver transmission member 130 protrudes from the assembly surface of the instrument driver. The number of the instrument driver members 130 is the same as the number of the output shafts, and can be three, four, five or more.

[0084] The sterile adapter 200 has a lower surface 221 that matches the assembly surface 101 of the instrument driver, and an upper surface 211 that matches the surgical instrument box 300 at the rear end of the surgical instrument. The structure of the sterile adapter 200 mainly includes an upper shell 210, a lower shell 220, and a sterile adapter transmission member 230 that passes through the upper shell and the lower shell.

[0085] The part of the instrument driver 110 and the sterile adapter 200 located at the transmission connection between the driver transmission member 130 and the sterile adapter transmission member 230 is the transmission area, and the area located near the edge of the assembly surface of the instrument driver 110 and the sterile adapter 200 is the non-transmission area. The connection between the instrument driver and the non-transmission part of the sterile adapter is mainly located in the non-transmission area.

[0086] Connection of instrument drivers to sterile adapters

[0087] The connection structure between the instrument driver 100 and the sterile adapter 200 is in a buckle-connected manner. Among them, the instrument driver 100 and the sterile adapter 200 are provided with two groups of buckle positions along the left and right sides of the instrument driver. Each group of buckle positions includes at least two buckle positions. One group is a rigid fit between the assembly surface of the instrument driver and the assembly surface of the sterile adapter. That is, the upper cover of the instrument driver is integrally formed with a part of the buckle surface and the lower shell of the sterile adapter is integrally formed with the buckle surface, and the two buckle surfaces are matched to form a snap connection. The other group is buckled in the form of a movable snap connection.

[0088] Specifically, Figure 2 , Figure 3 and Figure 4 The assembly surface 101 of the instrument driver 100 and the assembly surface of the sterile adapter are in a structure that matches in size and shape. There is a snap-on connection site with a rigid surface match between the instrument driver and the sterile adapter. In an embodiment, Figure 4 , Figure 5The instrument driver has a partially concave hook-shaped trap 103, and the surface forming the hook-shaped trap is in an integral structure with the assembly surface 101 of the instrument driver, that is, the portion forming the hook-shaped trap 103 is integrally formed with the upper housing 210 of the instrument driver. Correspondingly, the lower surface 221 of the sterile adapter has a partially protruding hook-shaped member 222, and the hook-shaped member 222 of the sterile adapter is in an integral structure with the lower surface 221 of the sterile adapter, that is, the hook-shaped member 222 of the sterile adapter is integrally formed with the lower housing 220 of the sterile adapter. During installation, the hook-shaped member 222 of the sterile adapter is embedded into the hook-shaped recess 103 of the instrument driver. By wedging, it has a component force in the vertical direction, and at the same time, the cooperation between the sterile adapter 200 and the instrument driver 100 in this part does not require the use of 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 higher cumulative tolerances caused by too many external components, too many movable components, elastic components, complex components, etc.

[0089] In the embodiment, the hook-shaped trap 103 has a certain width along the left-right span direction of the instrument driver, and the hook-shaped trap has a combination of multiple continuous curved surfaces and / or straight surfaces from one end of the hook-shaped trap to the other end along the front-back direction of the instrument driver. In the embodiment, there are two hook-shaped traps 103, which are respectively located on both sides of the instrument driver and close to the front end of the instrument driver, and there are also two hook-shaped members 222, which are respectively located on both sides of the front end of the sterile adapter.

[0090] In the embodiment, the hook-shaped member 222 has a certain width along the left-right span direction of the sterile adapter, which is substantially the same as the width of the hook-shaped trap, and the hook-shaped member has a combination of multiple continuous curved surfaces and straight surfaces from one end to the other end of the hook-shaped member along the front-back direction of the sterile adapter. The hook-shaped trap and the hook-shaped member are visually complementary in shape.

[0091] In the embodiment, the hook-shaped trap 103 mainly includes a front portion 103a close to the front side of the instrument driver and a rear portion 103b close to the rear side of the instrument. Above the front portion 103a is the physical structure of the upper shell of the instrument driver, and the front portion 103a is a storage space for accommodating the front end of the hook-shaped member. That is, the surface 103a1 constituting the front portion 103a is essentially the physical structure of the upper shell of the instrument driver, which has a roughly "S"-shaped surface in the left and right span direction of the instrument driver. The surface constituting the rear portion 103b has a portion of a straight surface 103b1 connected to the surface 103a1 constituting the front portion, and also has a portion of a flat curved surface 103b2 and an inclined surface 103b3 connected to the assembly surface 101 of the instrument driver.

[0092] Accordingly, the hook-shaped member mainly includes a front portion 222a located at the front side of the sterile adapter and a rear portion 222b close to 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 the solid structure is roughly "S"-shaped in the left and right span direction of the sterile adapter. The front portion 222b of the hook-shaped member is also a solid structure, and the solid structure has a straight surface 222b1 connected to 222a1, a curved surface 222b2, and an inclined surface 222b3 connected to the lower surface 221 of the sterile adapter in the left and right span direction.

[0093] Further, such as Figure 6 The hook-shaped trap 103 of the instrument driver may have one or two straight side portions 1031, and the side portions 1031 may be vertical surfaces or inclined surfaces. The upper portion of the side portions 1031 may have a portion of a smooth arc surface or a curved surface, and the portion of the smooth arc surface or the curved surface is a guide portion 1 of the hook-shaped trap. 032, the hook-shaped member 222 of the sterile adapter corresponds, and it also has a straight side 2221 that can cooperate with the side 1031 of the hook-shaped trap, and the lower end 2222 of the side 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 trap and the side 2221 of the hook-shaped member can form a tight fit, which can limit the hook-shaped member 222 from moving in the left and right directions, that is, the X direction, when the hook-shaped member is inserted into the hook-shaped trap, thereby limiting the movement of the sterile adapter 200 in the X direction. The guide portion 1032 of the hook-shaped trap and the curved surface or arc surface of the lower end 2222 of the hook-shaped member have a guiding function, which makes the hook-shaped member of the sterile adapter more smooth and natural when it is embedded in the hook-shaped trap of the instrument driver.

[0094] 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 yielding portion 223, such as Figure 5 The structure of the giving way portion 223 is a slope or a smooth arc surface, and the slope or smooth arc surface of the giving way portion 223 has a smooth transition with the hook-shaped surface of the hook-shaped component, that is, the hook-shaped surface and the slope of the hook-shaped component are roughly in a <-shaped structure when viewed from the left side, the upper wing of the <-shaped is the slope or smooth arc surface of the giving way portion, and the lower wing of the <-shaped is a part of the hook-shaped surface of the hook-shaped component 222.

[0095] The part where the above sterile adapter and the hook-shaped surface of the instrument driver cooperate 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 a connection method of an active buckle. The second connection site is arranged with a span with the first connection site, that is, on the matching surface of the sterile adapter and the instrument driver and has a span in the front-to-back direction, that is, in the Y direction.

[0096] Specifically, Figure 6A first fixing 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 fixing buckle 104 can be snap-fitted in the up and down directions, that is, the first fixing buckle 104 has a snap-fitting surface 1041 facing downward, and the movable buckle 241 has a snap-fitting surface 2411 facing upward.

[0097] In an embodiment, Figure 6 , Figure 7 A first fixing buckle 104 is integrally formed on the upper surface 101 of the instrument driver. The first fixing buckle 104 protrudes from the upper surface 101 of the instrument driver and is integrally formed with the upper shell of the instrument driver. The first fixing buckle 104 is in a convex shape, and has a buckle space at its approximate middle position. The buckle space can accommodate the first movable buckle, and the top of the space is the buckle surface 1041 of the first fixing buckle, so that the first movable buckle and the first fixing buckle are buckled in the up and down direction.

[0098] like Figure 7 , a first movable buckle 241 is arranged on the sterile adapter. In the embodiment shown in the figure, a first movable member 240 is arranged on the sterile adapter, the lower part of the first movable member 240 has a first movable buckle 241, the upper part of the first movable member 240 is a first operating part 242, the first operating part 242 is connected to a first operating button 243, and the first movable member 240 also has a first guide part 244 and a spring 225 connected to the guide part. A guide groove 224 for accommodating the first guide part 244 is provided on the sterile adapter, and the guide groove 224 and the first guide part 244 can limit the moving direction of the first movable member 240, that is, the guide groove 224 is arranged along the span direction of the sterile adapter, that is, arranged along the X direction, and similarly, the first guide part 244 also extends along the X direction. A spring is connected to the first guide part 244, one end of the spring abuts against the guide groove 224, and the other end of the spring abuts against the first guide part, and the spring drives the guide part and the movable member to exert force in the X direction toward the other side of the guide groove. In an embodiment, the sterile adapter has two parts, an upper shell 210 and a lower shell 220, a guide groove is provided on the lower body 220, and both ends of the guide groove 224 are closed, so that the movable range of the guide part 244 can only be within the guide groove 224. In the illustrated embodiment, the movable parts on both sides of the sterile adapter are respectively connected with springs, and no linkage is generated, but during operation, two operating buttons can be pinched, and the two operating buttons respectively drive the first operating part and the first movable buckle connected to them to complete the movement of the movable buckle from the locked position to the unlocked position. In some embodiments, the guide grooves for accommodating the two guide parts can be connected, and a spring is connected between the two guide parts, so that the two guide parts or the two movable parts are linked.

[0099] Wherein, in the embodiment, Figure 7The upper housing 210 of the sterile adapter is provided with an opening 212 for the first operating portion 242 to move, and the opening is approximately located above the guide groove 224. The first operating portion 242 of the first movable member 240 protrudes from the upper surface 211 of the sterile adapter, that is, the first operating button 243 connected thereto is located above the upper surface of the sterile adapter, and at the same time, a first operating portion insertion position 2124 for accommodating the first operating button 243 is provided in the surgical instrument box, and the shape of the insertion position 2124 is adapted to the surface of the first operating button 243, and the first operating portion 242 and the first operating button 243 are hidden by the surgical instrument box during assembly.

[0100] The first fixing buckle 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 buckle not only has the function of buckling, but also has the functions of guiding and tight fitting. Figure 8 The upper end of the first fixing buckle of the instrument driver has a smooth curved surface structure 1042 in the X direction and the Y direction. At the same time, on both sides of the first fixing buckle, there are straight mating surfaces 1043 on the YZ plane, and the lower end of the first fixing buckle, near the rear end of the sterile adapter, has a smooth arc surface 1044 in the Z-axis direction. Correspondingly, the lower shell of the sterile adapter has a recessed structure 225 for the first fixing buckle to be embedded, as shown in FIG. Figure 6 The concave structure 225 has a smooth curved surface structure in both the X and Y directions, and can perfectly match the fixing buckle. 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, so the front end of the fixing buckle has a slope curved surface 1045 for guidance, and its rear end is a Z-axis curved surface.

[0101] The second connection site here is similar to the aforementioned hook-shaped mating surface, and also makes the fixing buckle and the recessed structure of the sterile adapter for embedding the fixing buckle have a certain rigidity, which to a certain extent reduces the accumulated tolerance caused by the movable buckle and the fixed buckle.

[0102] When installing the sterile adapter and the instrument driver, 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 can be pressed downward so that the first fixed buckle of the instrument driver is inserted into the recessed structure of the sterile adapter. Then, with the help of the inclined surface of the lower end of the first movable buckle of the sterile adapter and the inclined surface of the upper end of the first fixed buckle of the instrument driver, a component force in the X direction is generated, so that the first movable part of the sterile adapter squeezes the spring as a whole and moves in the direction of the transmission part of the sterile adapter. Then, the sterile adapter drives the movable part to continue to press downward. Then, when the first movable buckle is pressed until the clamping surface of the first movable buckle is lower than the clamping surface with the first fixed buckle, the first movable buckle is inserted into the first fixed buckle by the thrust of the spring to form a clamping connection.

[0103] Connection of sterile adapters to surgical instruments

[0104] The connection between the sterile adapter and the surgical instrument is also in the form of a snap-on connection. Fig. 9 On the upper surface of the sterile adapter, there are two sets of second fixing buckles 213, that is, the two sets of second fixing buckles 213 are integrally formed with the upper shell 210 of the sterile adapter. Figure 1 The surgical instrument comprises a seat body 312 for mounting a steel wire rope column, and the lower end of the steel wire rope is a transmission connection member of the surgical instrument. A second movable buckle assembly 330 is arranged on the seat body 312. The second movable buckle assembly 330 comprises a second movable buckle 3311, and the engaging surface 3311 of the movable buckle 3311 faces upward, and the second movable buckle 331 can be engaged with the second fixed buckle 213 in the vertical direction.

[0105] Specifically, Fig.10 The second movable buckle assembly 330 includes a second movable part 331, and the second movable part includes two or more 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 span between the two second movable buckles 3311 is set. The connecting arms 3312 of the two second movable buckle assemblies 331 are set on the left and right sides of the seat body, that is, on the left and right sides of the surgical instrument box. The extending direction of the connecting arm 3312 is along the front and back direction of the surgical instrument box, that is, the Y direction. The connecting arm 3312 is fixedly connected to the two or more second movable buckles 3311, so that the three become one. Correspondingly, the two groups of second movable buckles are located on both sides of the transmission part of the sterile adapter, and the two or more second movable buckles in each group are set with a span.

[0106] Due to the limitation of the transmission part in the surgical instrument box, the locking position and 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 buckle assembly also includes a guide rod 332, and the two ends of the guide rod are fixedly connected to the seat body 312 through two guide rod seats 3121. A guide groove (not shown) for the guide rod to pass through is provided 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, that is, the connection between the guide rod and the connecting arm forms a guide assembly that limits the movement of the second movable member. Among them, the distance between the two 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 a locked position. Accordingly, the opening direction of the second fixed buckle 213 located on the upper surface of the sterile adapter into the snap-fit ​​surface should be toward the moving direction of the second movable buckle 3311. In the embodiment, the guide rod 3312 and the connecting arm 3312 are located in the surgical instrument box, so a hole 3123 is opened on the seat body 312 to provide space for the second movable buckle 3311 to move, and a position that can be snap-fitted with the second fixed buckle 213.

[0107] The second movable buckle assembly 330 also includes a second operating part 332. In an 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 non-fixedly connected to the second movable member 331. Specifically, the second movable member 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 member 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 move 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 form a rolling on the actuating surface of the actuating part.

[0108] In the embodiment, the second operating part 332 also includes a second operating button 3321, which is fixedly connected to the actuating part 3322. The second operating buttons 3321 are arranged on both sides of the surgical instrument box. When the second operating part 332 is used, it is necessary to press inward from both sides of the surgical instrument to the instrument box, so the moving direction of the second operating part 332 is along the span direction of the surgical instrument box 310, that is, the X direction. The oblique actuating surface 3321 enables the force of the passive part 3313 to be decomposed into the force along the front and rear direction of the surgical instrument box 310, that is, the 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.

[0109] In the embodiment, the second movable buckle assembly 330 also includes a guide member 334 that helps guide the movement of the second operating part. Specifically, the second operating part 332 also includes a second guide part 3323, and the guide member 334 and the second guide part 3323 have a plurality of faces matched in the span direction of the surgical instrument box, that is, the guiding direction of the guide member and the second guide part is the X direction. A spring (not shown) is also connected between the second guide part and the guide 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 guide member 334.

[0110] In the embodiment, the second operating part 332 is also provided with a limiting waist hole 3324, and a limiting column 3122 is fixedly arranged on the seat body 312, and the limiting column passes through the limiting waist hole. The limiting column passes through the limiting waist hole, so that on the one hand, the second operating part will not fall out of the surgical instrument box, and on the other hand, the two ends of the limiting waist hole are the unlocking position and the locking position of the second operating part.

[0111] In an embodiment, precise guiding and precise positioning can also be provided in combination with the snap-fit ​​structure of the movable buckle of the sterile adapter of the surgical instrument box.

[0112] Specifically, the upper surface of the sterile adapter is protruded with a fixing buckle 213. In the embodiment, two groups of fixing buckles 213 are integrally formed with the upper shell 210 of the sterile adapter. The fixing buckle 213 of the sterile adapter has a snap-fit ​​surface, and the snap-fit ​​surface is oriented downward, so that the upper end of the fixing buckle does not need to be connected with the movable buckle of the surgical instrument box. In the embodiment, at the upper end of the fixing buckle, it has a smooth curved surface structure in the X direction and the Y direction, and at the same time, on the left and right sides of the fixing buckle, there are flat matching surfaces on the YZ plane, and the lower end of the fixing buckle, close to the front end of the sterile adapter, has a curved surface around the Z axis direction. The connection between the surgical instrument and the sterile adapter is installed downward from the top of the sterile adapter. From the operation point of view, at a small angle, the first docking is the rear side of the sterile adapter and the surgical instrument box. Therefore, there is a slope surface at the rear end of the fixing buckle for guidance, and its front end is a Z-axis curved surface. Correspondingly, the lower surface 301 of the surgical instrument box has a fixed buckle embedding position 313 for the fixed buckle to be embedded, and the movable buckle of the surgical instrument is located in the recessed structure. The recessed structure has a smooth curved surface structure in both the X direction and the Y direction, which can perfectly match the fixed buckle.

[0113] Specifically, at the entrance of the fixing buckle 213, there is a smooth curved surface structure 313a in both the X direction and the Y direction. Inside the recessed structure, there is a curved surface that matches the upper end of the fixing buckle 213.

[0114] The fixing buckle of the sterile adapter and the recessed structure of the surgical instrument in the embodiment can not only be used to connect the two, but also play a guiding role. At the same time, due to the matching of the surfaces of the two, there is a certain rigidity on the matching surfaces, which to a certain extent reduces the accumulated tolerance caused by the movable buckle and the fixed buckle.

[0115] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. Terms such as "setting" and the like appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0116] The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present invention to the described embodiments. It can be understood by those skilled in the art 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 the protection claimed by the present invention.

Claims

1. An assembly mechanism for a surgical robot, used to connect an instrument driver, a sterile adapter and a surgical instrument box, characterized in that: The upper surface of the instrument driver cooperates with the lower surface of the sterile adapter, the upper surface of the instrument driver has a first fixing buckle, and the sterile adapter is provided with a first movable buckle, and the first movable buckle is engaged with the first fixing buckle in a direction parallel to the matching surface of the instrument driver; The upper surface of the sterile adapter cooperates with the lower surface of the surgical instrument box, the upper surface of the sterile adapter has a second fixing buckle, the surgical instrument box is provided with a second movable buckle, and the second movable buckle is engaged with the second fixing buckle in a direction parallel to the matching surface of the instrument driver; and The first movable buckle is connected to a first operating part, the upper end of the first operating part protrudes from the upper surface of the sterile adapter, and a first operating button is fixedly provided on the first operating part. The surgical instrument box has a space for accommodating the first operating part, and the shape of the space for accommodating the first operating part in the surgical instrument box is adapted to the surface of the first operating button. When the sterile adapter and the surgical instrument box are assembled, the first operating part and the first operating button are hidden.

2. The assembly mechanism of the surgical robot according to claim 1, characterized in that: The sterile adapter is provided with a first movable part, the first movable buckle and the first operating part are both located on the first movable part, and the first movable part is connected to an elastic part that makes the first movable buckle approach a snap-fit ​​buckle position.

3. The assembly mechanism of the surgical robot according to claim 2, characterized in that: The upper surface of the sterile adapter is provided with a hole for providing a moving space for the first operating part.

4. The assembly mechanism of the surgical robot according to claim 1 or 2, characterized in that: Two groups of first fixed buckles are symmetrically arranged on the instrument driver, and the two groups of first fixed buckles are located on both sides of the transmission part of the instrument driver; two groups of first movable buckles are symmetrically arranged on the sterile adapter, and the two groups of first movable buckles are located on the left and right sides of the transmission part of the adapter, and the two groups of first movable buckles are respectively engaged with the two groups of first fixed buckles; The surface of the instrument driver also has a hook-shaped concave surface portion, and the lower surface of the sterile adapter has a hook-shaped convex surface portion, and the hook-shaped convex surface portion of the sterile adapter can be embedded in the hook-shaped concave surface portion of the instrument driver.

5. The assembly mechanism of the surgical robot according to claim 4, characterized in that: The hook-shaped concave surface portion on the instrument driver is arranged with a span of the first fixed buckle on the instrument driver, and the hook-shaped protruding surface portion of the sterile adapter is arranged with a span of the first movable buckle on the sterile adapter.

6. The assembly mechanism of the surgical robot according to claim 1 or 2, characterized in that: The surgical instrument box has a second movable buckle assembly, which includes a second movable part and a second operating part. The second movable part includes a second movable buckle and a passive part. The second movable buckle is fixedly connected to the passive part. The second operating part includes an actuating part and a second operating button. The second operating button is fixedly connected to the actuating part. The actuating part limits the moving trajectory of the passive part.

7. The assembly mechanism of the surgical robot according to claim 6, characterized in that: The actuating portion of the second operating portion is an inclined surface, which has components in the left and right directions and the front and rear directions of the surgical instrument box, and the passive portion is in line contact or surface contact with the inclined surface.

8. The assembly mechanism of the surgical robot according to claim 6, characterized in that: The surgical instrument box is provided with a guide assembly, and the second movable member is restricted by the guide assembly and moves only in the front-rear direction of the surgical instrument box.

9. The assembly mechanism of the surgical robot according to claim 6, characterized in that: The second fixing buckles on the upper surface of the sterile adapter are provided with two groups, the two groups of the second fixing buckles are located on both sides of the transmission part of the sterile adapter, each group of the second fixing buckles includes at least two second fixing buckles, and at least two second fixing buckles are provided with a span; There are two second movable members, each of which includes at least two second movable buckles, and at least two second movable buckles are fixed and arranged in a span.

10. The assembly mechanism of the surgical robot according to claim 6, characterized in that: The second operating portion is fixedly connected with a second operating button, and the second operating buttons are located on both sides of the surface of the surgical instrument box.

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