A surgical robot system

Abstract

The present invention relates to the field of medical devices, and discloses a surgical robot system, comprising: a surgical instrument manipulator, a sterile drape, an adapter, and an accessory locking device. Among them, the surgical instrument manipulator is movably arranged on the surgical robot base. The sterile drape includes a sheath connection base, and the sheath connection base is detachably and firmly arranged on the surgical instrument manipulator. The sterile drape extends circumferentially from the surface of the sheath connection base and covers the surgical instrument manipulator to form a sterile side and a non-sterile side opposite to the sterile side. The accessory locking device is detachably arranged on the sheath connection base and is located on the sterile side. This system can reduce or avoid the disinfection requirements for the part of the surgical instrument manipulator, and facilitates the installation and disassembly of surgical tools or surgical accessories with the surgical instrument manipulator.

Description

Technical Field

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

[0002] Minimally invasive surgery has many characteristics such as a small trauma area and quick recovery, and has been more and more widely used in clinical surgeries. Generally, a doctor manipulates a master manipulator from a position far away from the patient to remotely control the movement of a surgical tool at the surgical site at the slave end, so as to achieve a surgical operation with higher stability and accuracy.

[0003] In a surgical robot system, generally, a surgical tool is arranged on a surgical instrument manipulator, and the surgical instrument manipulator is further arranged on a surgical robot base. During the operation, the surgical tool is inserted into the human body through a trocar, and different parts of the surgical operation are realized by controlling a surgical actuator at the end of the surgical tool. The movement of the surgical actuator needs to be controlled based on the input torque and load, and a servo motor for providing the input torque and load is arranged on the surgical instrument manipulator connected to the surgical tool.

[0004] During the surgical process, the doctor needs to replace different surgical tools according to different surgical procedures. Therefore, the surgical tool is detachably arranged on the surgical instrument manipulator, and generally a connection adapter is arranged between the surgical instrument manipulator and the surgical tool to accurately transmit the torque and load in real time. Since some surgical instrument manipulators will directly contact the surgical tool, and due to being close to the surgical site, they are easily contaminated during the operation, and the drive module of the surgical instrument manipulator part generally cannot be disinfected by conventional methods such as steam, autoclaving or chemicals, so it is usually discarded after the operation or disinfected between operations.

[0005] Therefore, there is an urgent need to design a surgical robot system that can avoid the disinfection of the part of the surgical instrument manipulator close to the surgical tool, and does not affect the quick replacement and stable installation of the surgical tool, nor the flexibility and accuracy of the movement of the surgical tool. Summary of the Invention

[0006] Based on the above problems, the purpose of the present invention is to provide a surgical robot system, which can reduce or avoid the disinfection requirement of the part of the surgical instrument manipulator, and is convenient for the installation and disassembly of the surgical tool or surgical accessory and the surgical instrument manipulator.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A surgical robot system, comprising:

[0009] A surgical instrument manipulator, the surgical instrument manipulator is movably arranged on a surgical robot base;

[0010] A sterile drape, including a sheath connection base detachably and firmly arranged on the surgical instrument manipulator, the sterile drape extending circumferentially from the surface of the sheath connection base and covering the surgical instrument manipulator to form a sterile side and a non-sterile side opposite to the sterile side;

[0011] An accessory locking device detachably arranged on the sheath connection base and located on the sterile side.

[0012] As a preferred solution of the present invention, it further includes an adapter. The adapter is in a cylindrical shape, detachably arranged at the distal end of the surgical instrument manipulator, and the adapter and the surgical instrument manipulator are respectively located on the sterile side and the non-sterile side of the sterile drape.

[0013] As a preferred solution of the present invention, a plurality of rotatable parts are arranged in the adapter, and grooves are respectively arranged on the two side surfaces along the axial direction of each rotatable part.

[0014] As a preferred solution of the present invention, a first opening is arranged on the sterile drape. A ring-shaped part is arranged along the circumference of the first opening. The ring-shaped part is detachably arranged at the distal end of the surgical instrument manipulator, and the ring-shaped part is rotatably sleeved on the proximal end of the adapter.

[0015] As a preferred solution of the present invention, the ring-shaped part is integrally formed with the sterile drape or adhered by glue.

[0016] As a preferred solution of the present invention, a first connection feature is arranged on the top surface of the sheath connection base, and a second connection feature is arranged on the accessory locking device. The first connection feature and the second connection feature are detachably connected.

[0017] As a preferred solution of the present invention, the first connection feature and the second connection feature are connected by a threaded connection or a snap connection.

[0018] As a preferred solution of the present invention, a mounting part is arranged on the surgical instrument manipulator, and a receiving groove for receiving part of the sheath connection base is arranged in the mounting part;

[0019] A boss is arranged on one of the receiving groove and the sheath connection base, and a groove recessed inward is arranged on the other. The boss and the groove cooperate to detachably and fixedly arrange the sheath connection base on the surgical instrument manipulator.

[0020] As a preferred solution of the present invention, the accessory locking device includes: a first engaging part, a second engaging part and a locking link assembly;

[0021] The first engaging member and the second engaging member are hinged to each other, and the first engaging member and the second engaging member are respectively hinged to the locking link assembly to drive the locking link assembly to move the first engaging member and the second engaging member closer to or away from each other.

[0022] As a preferred embodiment of the present invention, the accessory locking device further includes: a limiting device;

[0023] The limiting device includes a biasing member and a stop member connected to each other;

[0024] The stop member is movably disposed on the first engaging member, and the biasing member is disposed between the first engaging member and the stop member and biases the stop member toward a position that blocks the first engaging member and the second engaging member from approaching each other.

[0025] As a preferred embodiment of the present invention, at least a part of the non-sterile side of the sterile drape is adhesively bonded or magnetically adsorbed to the surgical instrument manipulator for fitting.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1. In the surgical robot system provided by the present invention, through the detachable connection between the sterile drape, the adapter, and the accessory locking device, the disinfection requirements for the surgical instrument manipulator part are reduced or avoided. 2. The sheath connection base on the sterile drape is detachably connected to the surgical instrument manipulator and the accessory locking device, which facilitates the installation and disassembly of the surgical accessory and the surgical instrument manipulator, and also facilitates the replacement or cleaning of the accessory locking device. 3. The annular member on the sterile drape is detachably connected to the surgical instrument manipulator and rotatably connected to the adapter, so as to ensure that the surgical tool and the adapter are on the sterile side without affecting the rotational movement of the surgical tool. 4. The accessory locking device is cooperated with the first engaging member, the second engaging member, the locking link assembly, and the limiting device, so that the to-be-locked member is stably and reliably installed in the accessory locking device at a unique and stable position, and the installation and disassembly are convenient and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the content of the embodiments of the present invention and these drawings.

[0029] Figure 1 It is a schematic structural diagram of a surgical robot system provided by a specific embodiment of the present invention;

[0030] Figure 2It is a schematic structural diagram of a first sterile drape covering a surgical instrument manipulator provided by a specific embodiment of the present invention;

[0031] Figure 3 It is a schematic structural diagram of a first drape part provided by a specific embodiment of the present invention;

[0032] Figure 4 It is a schematic structural diagram of an adapter provided by a specific embodiment of the present invention;

[0033] Figure 5 It is a partial schematic diagram of the cooperation between the adapter and the annular member provided by a specific embodiment of the present invention;

[0034] Figure 6 It is a partial cross-sectional schematic diagram of the cooperation between the adapter and the annular member provided by a specific embodiment of the present invention;

[0035] Figure 7 It is a schematic structural diagram of a sheath connection base provided by a specific embodiment of the present invention;

[0036] Figure 8 It is a schematic structural diagram of a mounting member provided by a specific embodiment of the present invention;

[0037] Figure 9 It is a cross-sectional schematic diagram of the cooperation between the sheath connection base and the mounting member provided by a specific embodiment of the present invention;

[0038] Figure 10 It is a top view of an accessory locking device provided by a specific embodiment of the present invention;

[0039] Figure 11 It is a three-dimensional structural schematic diagram of an accessory locking device provided by a specific embodiment of the present invention. Detailed implementation manners

[0040] To make the technical problems solved by the present invention, the technical solutions adopted, and the achieved technical effects clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, terms such as "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0042] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0043] In the present invention, the end close to the operator or the base is defined as the proximal end or the rear end, and the end close to the surgical patient is defined as the distal end or the front end.

[0044] As Figure 1 、 Figure 7 and Figure 10 shown, this embodiment provides a surgical robot system, which includes a base 1, a surgical instrument manipulator 2, a surgical tool 3, an adapter 4, an accessory locking device 6, and a sterile drape 5. At least one surgical instrument manipulator 2 is movably arranged on the base 1, and the base 1 is used to support the surgical instrument manipulator 2. The cylindrical adapter 4 is used to releasably fasten the surgical tool 3 to the distal end of the surgical instrument manipulator 2, and the end of the surgical tool 3 is provided with an end effector. The sterile drape 5 includes a sheath connection base 51, and the sheath connection base 51 is detachably fastened to the surgical instrument manipulator 2. The accessory locking device 6 is detachably arranged on the sheath connection base, and the accessory locking device 6 is used to releasably connect surgical accessories, such as a sheath. The sterile drape 5 extends circumferentially from the sheath connection base 51 and covers the surgical instrument manipulator 2, so that the outer surface of the sterile drape 5 is adjacent to the sterile area, while the inner surface is adjacent to the non-sterile surgical instrument manipulator 2. The adapter 4 and the accessory locking device 6 are located on the sterile side of the sterile drape 5, and the surgical instrument manipulator 2 is located on the non-sterile side of the sterile drape 5. It should be understood that the accessory locking device 6 can be a clamp or a clamping member to realize the clamping, locking and releasing of surgical accessories.

[0045] Specifically, the surgical instrument manipulator 2 may include a plurality of movable joints, and through each movable joint, the adjustment of the horizontal direction, vertical direction, and lateral swing position of the surgical instrument manipulator 2 can be achieved, so as to meet the position adjustment requirements of the surgical instrument before or during the operation, so that the surgical tool 3 installed at the distal end of the surgical instrument manipulator 2 can be adjusted to an optimal pose, and further the surgical actuator at the end of the surgical tool 3, such as grasping forceps, separating forceps, curved scissors, and electric hooks, etc., can reach the target position, so as to perform corresponding surgical actions. It should be understood that the sterile drape 5 can be cut into corresponding sheet or bag shapes according to the shape of the surgical instrument manipulator 2. After the sterile drape 5 is fully extended and unfolded, it can completely cover the surgical instrument manipulator 2. Thereby reducing or avoiding the disinfection requirements for the part of the surgical instrument manipulator 2, and facilitating the installation and disassembly of the surgical tool 3 or surgical accessories with the surgical instrument manipulator 2.

[0046] In the above preferred embodiment, as Figure 4 shown, the adapter 4 is provided with a plurality of rotatable members 41, and grooves 411 are respectively provided on the two side surfaces of each rotatable member 41 along the axial direction. Specifically, the adapter 4 includes a circular connecting plate 42, which extends away from each other along the axial direction on both sides of the connecting plate 42 to form a cylindrical shape. The connecting plate 42 is provided with a plurality of through holes, and a plurality of rotatable members 41 are fixedly arranged in each through hole along the axial direction of the through hole and can rotate radially relative to the through hole. Grooves 411 are provided on the surfaces of both ends of each rotatable member along the axial direction. The ends of the input shaft at the proximal end of the surgical tool 3 and the output shaft at the distal end of the surgical instrument manipulator 2 are convex, and the shape and depth of the groove 411 are adapted to the convexity, so as to connect the surgical tool 3 and the surgical instrument manipulator 2 respectively through the rotatable member, and thus transmit the rotational output of the surgical instrument manipulator 2 to the input end of the surgical tool 3.

[0047] As Figure 3 、 Figure 5 and Figure 7As shown, in this embodiment, the sterile drape 5 includes a sheath connection base 51 and a ring member 52. The sterile drape 5 is provided with a first opening, the sheath connection base 51 passes through the first opening, and the lower surface of the sheath connection base 51 is adhesively connected to the circumference of the first opening by glue. The sterile drape 5 is provided with an annular second opening, the outer diameter of the ring member 52 is equal to the diameter of the second opening, the ring member 52 is arranged along the circumference of the second opening, and the outer peripheral surface of the ring member 52 is adhesively connected to the second opening by glue. More specifically, the sheath connection base 51 and the ring member 52 are arranged on the first drape part 541 of the first sterile drape 54. It should be understood that the ring member 52 and the sterile drape 5 can also be integrally formed by hot pressing and melting different materials. It is worth noting that the sterile drape 5 extends from the lower surface of the sheath connection base 51, so as to ensure that the top of the sheath connection base 51 is on the sterile side, so that the accessory locking device 6 arranged on the top of the sheath connection base 51 is on the sterile side, which is convenient for locking and fixing the sterile sheath.

[0048] In a preferred embodiment, the top surface of the ring member 52 is provided with a first engaging feature, and the distal end of the surgical instrument manipulator 2 is provided with a second engaging feature. One of the first engaging feature and the second engaging feature can be a protrusion, and the other can be a groove. As Figure 5 and Figure 6 shown, the first engaging feature is a protrusion 521. The top surface of the ring member 52 is circumferentially spaced with a plurality of protrusions 521, and each protrusion 521 extends circumferentially. The distal end of the surgical instrument manipulator 2 is provided with grooves equal in number and shape matching to the protrusions 521, and the protrusions 521 are engaged with the grooves, so that the ring member 52 is detachably fastened to the distal end of the surgical instrument manipulator 2. The bottom of the ring member 52 is axially provided with an engaging step 522, and the inner peripheral surface of the engaging step 522 is provided with a chamfer 5221. The proximal end of the adapter 4 is circumferentially provided with an engaging groove 412, and the end of the inner peripheral surface of the engaging groove 412 is provided with a guiding slope 4121. The guiding slope 4121 cooperates with the chamfer 5221 of the inner peripheral surface of the engaging step 522, so that the engaging step 522 can smoothly slide into the engaging groove 412 in a single direction and engage with it, and can rotate with each other. The adapter 4 rotates relative to the ring member 52, thus not affecting the rotational movement of the surgical tool 3 and being able to prevent the surgical tool 3 from winding the sterile drape 5 into it during the rotational movement. It is worth noting that the first engaging feature can also be a groove, and the second engaging feature can be a protrusion. It should be understood that the first engaging feature and the second engaging feature can also be other engaging structures, such as snap fasteners, as long as the structure that can achieve the engagement and fastening of the two does not deviate from the scope of the present invention.

[0049] In the above embodiment, as Figure 7 and Figure 10As shown, a first connection feature 511 is provided on the top surface of the sheath connection base 51, and a second connection feature 65 is provided on the accessory locking device 6. The first connection feature 511 and the second connection feature are detachably connected. Specifically, the first connection feature 511 is a threaded hole, and the second connection feature 65 is a nut. More preferably, a groove is provided at the bottom of the accessory locking device 6. The nut of the nut is located at the top of the accessory locking device 6, and the screw of the nut extends into the groove. An installation protrusion is provided on the top surface of the sheath connection base 51, and a threaded hole is provided on the installation protrusion. During actual assembly, the installation protrusion extends into the groove, and the screw of the nut cooperates with the threaded hole. Through threaded connection, the accessory locking device 6 is quickly and detachably stably connected to the surgical instrument manipulator 2, thereby facilitating the pre-operative installation and post-operative cleaning or replacement of the accessory locking device 6. It should be understood that the first connection feature 511 and the second connection feature can also be connected by a snap-fit method.

[0050] In the above preferred embodiment, as Figures 7 to 9 shown, an installation portion 21 is provided on the surgical instrument manipulator 2. A receiving groove 211 for receiving a part of the sheath connection base 51 is provided in the installation portion 21. Grooves 2111 recessed inward are provided on both sides of the receiving groove 211. A boss 512 is provided on the side surface of the sheath connection base 51. The boss 512 is in interference fit with the groove 2111 so that the sheath connection base 51 is detachably and fixedly arranged on the surgical instrument manipulator 2. It should be understood that bosses can also be provided on both sides or the bottom of the receiving groove 211, and grooves can be provided on both side surfaces or the bottom of the sheath connection base 51 to also achieve a detachable snap-fit connection between the two. More preferably, a plurality of spaced protrusions are provided on the top and side surfaces of the boss 512. Through the interference fit between the protrusions on the boss 512 and the surface of the groove 2111, the sheath connection base 51 is stably connected to the surgical instrument manipulator 2 and is easy to disassemble. It should be understood that a part of the sheath connection base 51 near the bottom extends into the receiving groove 211, and the part near the top is located outside the receiving groove 211, and the top surface extends around and protrudes from the boss 512, so as to ensure that the connection between the sheath connection base 51 and the installation portion 21 does not affect the sterile drape 5 on the lower surface of the sheath connection base 51.

[0051] In the above embodiment, a closely fitting section 53 composed of a plurality of patches 531 is provided on the inner surface of the sterile drape 5. A part of the surgical instrument manipulator 2 has a surface for fixing the closely fitting section 53, and the length of the unfolded surface is equal to the length of the closely fitting section 53. As Figure 3As shown, multiple patches 531 form multiple patch pairs. Each patch pair is arranged side by side, and multiple patch pairs are spaced apart along the same straight line. On the part of the surface of the surgical instrument manipulator 2 where the tightly fitting section 53 is fixedly attached, there are attachment blocks arranged at the same interval as the patches 531. The length of the distribution of the attachment blocks is equal to the length of the distribution of the patches 531, and the patches 531 and the attachment blocks can be correspondingly attached to each other. The patches 531 and the attachment blocks are the same in shape and size, both being rectangular. Preferably, the patches 531 can be iron sheets and the attachment blocks are magnet blocks, and the two are fixedly attached and connected by magnetic adsorption. It should be understood that glue can be provided on the surfaces of the patches 531 and the attachment blocks, and the two are bonded by glue. It should also be understood that the shapes of the patches 531 and the attachment blocks are not limited to rectangles, and can also be circular, square or irregular polygons, etc. The multiple patches 531 can also be arranged in other shapes or in other ways. For example, all the patches 531 or the attachment blocks can be arranged along a straight line or along three straight lines. As long as the arrangement and setting method of the attachment blocks and the patches 531 are the same, they do not depart from the scope of the present invention. It should be noted that the tightly fitting section 53 can also be directly composed of a continuous patch section or a continuous or discontinuous surface coated with glue. The part of the surgical instrument manipulator 2 where the tightly fitting section 53 is fixedly attached is provided with a surface corresponding to the tightly fitting section 53. By ensuring that the unfolded lengths of the tightly fitting section 53 and the part of the surgical instrument manipulator 2 corresponding to the section 53 fixedly received are equal, the sterile drape 5 can always remain attached during the movement of the surgical instrument manipulator 2 and will not be wound and sag to affect the movement of the surgical instrument manipulator 2 or the surgical tool 3.

[0052] As Figures 1 to 3As shown, in the above preferred embodiment, the sterile curtain 5 includes a first sterile curtain 54 for receiving the surgical instrument manipulator 2 and a second sterile curtain 55 for receiving at least a part of the base 1. Specifically, both the first sterile curtain 54 and the second sterile curtain 55 include an inner surface and an outer surface. The outer surface is arranged adjacent to the sterile surgical tool 3, and the inner surface is arranged adjacent to the non-sterile surgical instrument manipulator 2 or the base 1. The first sterile curtain 54 includes a first curtain portion 541 for receiving the distal portion of the surgical instrument manipulator 2 and a second curtain portion 542 for receiving the proximal portion of the surgical instrument manipulator 2. A close-fitting section 53 is provided on the inner surface of the first curtain portion 541, and a surface for fixing the close-fitting section 53 is provided on a part of the surgical instrument manipulator 2. The length of the surface when unfolded is equal to the length of the close-fitting section 53. It should be understood that the base 1 includes a column and a cross beam. The surgical instrument manipulator 2 is movably arranged at the bottom of the cross beam. The second curtain portion 542 covers the outer periphery of the surgical instrument manipulator 2 from below the cross beam. The first curtain portion 541 covers the outer periphery of the surgical instrument manipulator 2 from the part of the surgical instrument manipulator 2 away from the base 1. And a part of the first curtain portion 541 and the second curtain portion 542 overlap, so that the surgical instrument manipulator 2 can be completely covered. More preferably, the second curtain portion 542 includes two parts separated from each other. One part is arranged to receive the proximal most part of the surgical instrument manipulator 2, and the other part is arranged to receive the middle part of the surgical instrument manipulator 2. By setting the sterile curtain 5 as multiple separate curtains, it is convenient for the installation and covering of the curtain and avoids affecting the movement of the surgical instrument manipulator 2 or the surgical tool 3. It is worth noting that the first curtain portion 541 and the second curtain portion 542 can also be integrally formed. The second sterile curtain 55 covers the side of the column close to the surgical instrument manipulator 2 to further prevent the column from being contaminated during the operation. It should be understood that the second sterile curtain 55 can be integral or composed of several independent parts.

[0053] In this embodiment, the accessory locking device 6 includes: a first engaging member 61, a second engaging member 62, and a locking link assembly 63. As Figure 10 and Figure 11As shown, the first engaging member 61 includes a first engaging section 611 and a first connecting section 612 that are fixedly connected to each other, and the second engaging member 62 includes a second engaging section 621 and a second connecting section 622 that are fixedly connected to each other. The first engaging section 611 and the second engaging section 621 are arranged opposite to each other, the first connecting section 612 and the second connecting section 622 are arranged opposite to each other, and when the first engaging section 611 and the second engaging section 621 approach each other, a gap that can accommodate the member to be locked can be formed therebetween. The first engaging member 61 and the second engaging member 62 can be integrally formed respectively, or can adopt a split structure, and the first engaging section 611 and the first connecting section 612 or the second engaging section 621 and the second connecting section 622 are connected by means such as screw connection, snap connection or welding. The second engaging member 62 is hinged to the first engaging section 611 and the first connecting section 612 of the first engaging member 61 at a first hinge position a between the second engaging section 621 and the second connecting section 622. Specifically, the second engaging member 62 is hinged to the first engaging member 61 at the first hinge position, and the first hinge position is located between the second engaging section 621 and the second connecting section 622 and between the first engaging section 611 and the first connecting section 612 of the first engaging member 61. It should be understood that the connection part between the second engaging section 621 and the second connecting section 622 can partially protrude towards the direction of the first engaging member 61, and the connection part between the first engaging section 611 and the first connecting section 612 can partially protrude towards the direction of the second engaging member 62.

[0054] As Figure 10 and Figure 11 shown, the locking link assembly 63 includes two links 631. The inner ends of the two links 631 are hinged to each other at a third hinge position c, and the outer ends of the two links 631 are respectively hinged to the first connecting section 612 and the second connecting section 622 at a second hinge position b and a fourth hinge position d. By driving the locking link assembly 63, the first engaging section 611 and the second engaging section 621 can be driven to move closer to or away from each other.

[0055] Specifically, the component to be locked is disposed in the gap between the first engaging section 611 and the second engaging section 621, and then the locking link assembly 63 is driven to move from the unlocking position to the locking position. At this time, the third hinge position c gradually approaches the first hinge position a, causing the first engaging section 611 and the second engaging section 621 to approach each other. The outer wall of the component to be locked gradually approaches or fits against the inner sides of the first engaging section 611 and the second engaging section 621 until the locking link assembly 63 is in the locking position. At this time, the third hinge position c is closest to the first hinge position a, and the first engaging section 611 and the second engaging section 621 jointly clamp the component to be locked. When it is necessary to remove or replace the component to be locked, the locking link assembly 63 is driven to move from the locking position to the unlocking position. The third hinge position c moves away from the first hinge position a, and the first engaging section 611 and the second engaging section 621 move away from each other, thereby releasing the component to be locked. It should be understood that the component to be locked can be an accessory in the surgical robot system, such as a sheath or an accessory cooperating with the sheath. The overall structure of the accessory locking device 6 is simple, which can achieve stable installation of the component to be locked and the mounting portion 21 on the surgical robot, thereby improving surgical safety, and the installation and disassembly are convenient.

[0056] In this embodiment, the accessory locking device 6 further includes a limiting device 64. The limiting device 64 includes a biasing member 641 and a stop member 642 that are connected to each other. The stop member 642 is rotatably disposed on the first engaging section 611. The biasing member 641 is disposed between the first engaging section 611 and the stop member 642 and biases the stop member 642 toward a position that blocks the first engaging section 611 and the second engaging section 621 from approaching each other. More specifically, when there is no component to be locked disposed in the first engaging section 611 and the second engaging section 621, the stop member 642 is rotatably or movably disposed on the first engaging section 611. Under the action of the biasing member 641, the end of the stop member 642 biases toward the second engaging section 621 to prevent the first engaging section 611 and the second engaging section 621 from approaching each other. It should be understood that the stop member 642 can be in the shape of a thin sheet or a strip, and preferably, it is in the shape of a thin sheet, so as to facilitate movement under the biasing action of the biasing member 641.

[0057] Further, as Figure 11As shown, a first limiting groove extending along the surface is provided at the top of the second engaging section 621. When there is no locking member to be locked between the first engaging section 611 and the second engaging section 621, the biasing member 641 biases the stopper 642 towards the first limiting groove, and the end of the stopper 642 extends into the first limiting groove and abuts against it. When the locking member to be locked is at a specific position between the first engaging section 611 and the second engaging section 621, the biasing member 641 biases the stopper 642 towards a position where the first engaging section 611 and the second engaging section 621 approach each other. Specifically, the specific position means that the locking member to be locked is completely located between the first engaging section 611 and the second engaging section 621. At this time, under the abutting action of the locking member to be locked, the biasing member 641 biases the stopper 642 towards a position where the first engaging section 611 and the second engaging section 621 approach each other, and then makes the locking link assembly 63 move towards the locking position, so that the first engaging section 611 and the second engaging section 621 jointly clamp the locking member to be locked. It should be understood that when only a part of the locking member to be locked is located between the first engaging section 611 and the second engaging section 621, the biasing member 641 biases the stopper 642 towards the first limiting groove, and the end of the stopper 642 extends into the first limiting groove. At this time, the locking link assembly 63 cannot further move towards the locking position. The function of setting the limiting device 64 is to ensure that only at a unique specific position of the locking member to be locked can the biasing member 641 bias the stopper 642 towards a position where the first engaging section 611 and the second engaging section 621 approach each other, so that the locking member to be locked can be stably clamped between the first engaging section 611 and the second engaging section 621, thereby avoiding slippage and causing unstable clamping.

[0058] Note that the above is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot system, characterized in that, Comprising: A surgical instrument manipulator, which is movably arranged on a surgical robot base; A sterile drape, including a sheath connection base, the sheath connection base is detachably fastened on the surgical instrument manipulator, and the sterile drape extends circumferentially from the surface of the sheath connection base and covers the surgical instrument manipulator to form a sterile side and a non-sterile side opposite to the sterile side; An accessory locking device, which is detachably arranged on the sheath connection base and is located on the sterile side; The surgical robot system further includes: an adapter, the adapter is cylindrical, detachably arranged at the distal end of the surgical instrument manipulator, and the adapter and the surgical instrument manipulator are respectively located on the sterile side and the non-sterile side of the sterile drape; A plurality of rotatable members are provided in the adapter, and grooves are respectively provided on both surfaces of each rotatable member along the axial direction; A first opening is provided on the sterile drape, a ring member is provided along the circumference of the first opening, the ring member is detachably arranged at the distal end of the surgical instrument manipulator, and the ring member is rotatably sleeved on the proximal end of the adapter; A first engaging feature is provided at the top of the ring member, a second engaging feature is provided at the distal end of the surgical instrument manipulator, and the first engaging feature engages with the second engaging feature to detachably connect the ring member to the surgical instrument manipulator; A engaging step is provided along the axial direction at the bottom of the ring member, a engaging groove is provided at the proximal end of the adapter, the engaging step engages with the engaging groove and can rotate with each other, so that the adapter and the ring member can rotate with each other.

2. The surgical robot system according to claim 1, characterized in that The ring member is integrally formed with the sterile drape or adhered by glue.

3. The surgical robot system according to claim 1, wherein A first connection feature is provided on the top surface of the sheath connection base, a second connection feature is provided on the accessory locking device, and the first connection feature and the second connection feature are detachably connected; 4. The surgical robot system according to claim 3, wherein, The first connection feature and the second connection feature are connected by thread or snap connection; 5. The surgical robot system according to claim 1, wherein An installation part is provided on the surgical instrument manipulator, and a receiving groove for receiving part of the sheath connection base is provided in the installation part; A boss is provided on one of the receiving groove and the sheath connection base, and a groove recessed inward is provided on the other, and the boss cooperates with the groove to detachably and fixedly arrange the sheath connection base on the surgical instrument manipulator; 6. The surgical robot system according to claim 1, wherein The accessory locking device includes: a first engaging member, a second engaging member and a locking link assembly; The first engaging member and the second engaging member are hinged to each other, and the first engaging member and the second engaging member are respectively hinged to the locking link assembly, and the locking link assembly is driven to make the first engaging member and the second engaging member approach or separate from each other; 7. The surgical robot system according to claim 6, wherein The accessory locking device further includes: a limiting device; The limiting device includes a biasing member and a stopping member connected to each other; The stopper is movably disposed on the first engaging member, and the biasing member is disposed between the first engaging member and the stopper and biases the stopper toward a position where the first engaging member and the second engaging member are blocked from approaching each other.

8. The surgical robot system according to any one of claims 1-7, characterized in that, At least a part of the non-sterile side of the sterile drape is adhesively bonded or magnetically adsorbed to the surgical instrument manipulator and is disposed in a conforming manner.

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