A sterile curtain accessory and surgical robot system

Abstract

This invention relates to the field of medical devices, disclosing a sterile curtain accessory and a surgical robot system. The sterile curtain accessory includes at least one sterile curtain configured to cover the surgical instrument manipulator of the surgical robot. The sterile curtain includes an outer surface and an inner surface. The outer surface is positioned adjacent to a sterile area, and the inner surface is positioned adjacent to the non-sterile surgical instrument manipulator. A close-fitting section is provided on the inner surface. A portion of the surgical instrument manipulator has a surface that fixes the close-fitting section, and the unfolded length of the surface is equal to the length of the close-fitting section. This sterile curtain is simple and convenient to install, and can fully fold back excess curtain during the movement of the surgical instrument manipulator to closely adapt to the shape of the instrument, while allowing maximum freedom of movement during surgery.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a sterile curtain accessory and surgical robot system. Background Technology

[0002] Minimally invasive surgery, characterized by its small incision area and rapid recovery, has been increasingly widely used in clinical surgery. Surgeons typically operate a master control unit from a position away from the patient to remotely control the movements of surgical instruments located at the surgical site, achieving greater stability and precision in surgical procedures.

[0003] In surgical robot systems, surgical tools are typically mounted on surgical instrument manipulators, which in turn are mounted on the surgical robot's base. During surgery, the surgical tools are inserted into the human body via trocars, and surgical actuators at the ends of the tools are used to perform surgical procedures on different parts of the body. The movement of the surgical actuators requires control based on input torque and load, and the servo motors that provide the input torque and load are mounted on the surgical instrument manipulators connected to the surgical tools.

[0004] During surgery, some surgical instrument manipulators come into direct contact with surgical instruments. Due to their proximity to the surgical site, they are easily contaminated during the procedure. Furthermore, the drive modules of these manipulators generally cannot be sterilized using conventional methods such as steam, autoclaving, or chemicals. Therefore, a sterile barrier, including a plastic sterilization curtain, is typically used to isolate the non-sterile manipulators from the sterile surgical instruments in the operating environment. Since surgeons often change surgical instruments as needed, the instruments are detachably mounted on the manipulators. A connecting adapter is usually installed between the manipulator and the surgical instrument to accurately transmit torque and load in real time. To further ensure isolation between the manipulator and the surgical instrument, the sterilization curtain also needs to effectively protect the adapter, keeping the unexposed parts of the adapter sterile.

[0005] However, existing sterile drapes are difficult and time-consuming to install when covering surgical instrument manipulators, and can easily restrict the movement of surgical instruments. For example, if the drape interface is not accurately aligned or aligned above the surgical instrument manipulator or adapter, it may get caught in and obstruct the movement of the surgical instruments. Furthermore, during surgery, the frequent movement of the surgical instrument manipulator or surgical instruments can easily cause excess drape to become entangled or droop, affecting the movement of the surgical instrument manipulator or surgical instruments. Summary of the Invention

[0006] Based on the above problems, the purpose of this invention is to provide a sterile curtain accessory and surgical robot system. The curtain is simple and convenient to install, and can fully fold up the excess curtain during instrument movement to closely adapt to the shape of the instrument, while allowing maximum freedom of movement during the operation.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A sterile curtain accessory includes: at least one sterile curtain configured to cover a surgical instrument manipulator of a surgical robot, the sterile curtain including an outer surface and an inner surface, the outer surface being configured adjacent to a sterile area, and the inner surface being configured adjacent to a non-sterile surgical instrument manipulator.

[0009] The inner surface is provided with a tight-fitting section, and a part of the surgical instrument manipulator is provided with a surface for fixing the tight-fitting section, and the unfolded length of the surface is equal to the length of the tight-fitting section.

[0010] As a preferred embodiment of the present invention, the tightly fitting segment is provided continuously or intermittently.

[0011] As a preferred embodiment of the present invention, the tightly fitting section is configured such that the surfaces of the tightly fitting section can be magnetically attracted to each other or bonded together with adhesive by means of the surgical instrument manipulator.

[0012] As a preferred embodiment of the present invention, the tightly fitting segment includes a plurality of spaced patches;

[0013] The portion of the surgical instrument manipulator that fixes the tightly fitting section is provided with multiple spaced adhesive pads.

[0014] The length of the patch distribution is equal to the length of the patch distribution, and the patch and the patch are attached to each other in a corresponding manner.

[0015] As a preferred embodiment of the present invention, each of the patches is provided with at least one protrusion perpendicular to the surface of the patch;

[0016] The patch has a groove that matches the protrusion.

[0017] As a preferred embodiment of the present invention, the sterile curtain is in the form of a sheet and / or a bag.

[0018] As a preferred embodiment of the present invention, the sterile curtain accessory further includes: a sheath connecting base and an annular component;

[0019] The sterile curtain has a first opening, the sheath connecting base passes through the first opening, and the surface of the sheath connecting base is bonded to the first opening;

[0020] The sterile curtain has a second opening, the annular member is arranged circumferentially along the second opening, and the outer circumferential surface of the annular member is bonded to the second opening.

[0021] As a preferred embodiment of the present invention, one side of the annular member is provided with a first engaging feature so that the annular member can be detachably connected to the surgical instrument manipulator.

[0022] As a preferred embodiment of the present invention, the annular member is provided with an engaging step along the axial direction, and the inner circumferential surface of the engaging step is provided with a chamfer.

[0023] As a preferred embodiment of the present invention, the inner surface is further provided with a plurality of spaced support rods.

[0024] As a preferred embodiment of the present invention, the sterile curtain is further provided with a first connecting feature, which is configured to allow the sterile curtain to close and cover the surgical instrument manipulator.

[0025] As a preferred embodiment of the present invention, a first fastener is further provided on the inner surface, the first fastener being configured to securely fit the inner surface of the opening end of the sterile curtain with the surgical instrument manipulator.

[0026] As a preferred embodiment of the present invention, a second fastener is provided on the outer surface of the opening end of the sterile curtain;

[0027] The second fastener is a rope, cable tie, or sheet-like extendable strip.

[0028] A surgical robot system, comprising at least one sterile curtain as described above;

[0029] At least one surgical instrument manipulator;

[0030] A support frame is arranged around the periphery of the surgical instrument manipulator and is configured to move linearly along the direction in which the surgical instrument manipulator extends.

[0031] The support frame located above the surgical instrument manipulator has a surface for fixing the close-fitting section. The surgical instrument manipulator extends distally from the surface of the support frame and has a surface for fixing the close-fitting section. The unfolded length of the surface of the surgical instrument manipulator is equal to the length of the close-fitting section. The sterile curtain extends from the close-fitting section and is configured to cover the surgical instrument manipulator.

[0032] As a preferred embodiment of the present invention, the support frame has a U-shaped structure, the bottom of the support frame is located above the surgical instrument manipulator, and there are gaps between them.

[0033] The beneficial effects of this invention are as follows:

[0034] 1. The sterile curtain accessory and surgical robot system provided by this invention features a tightly fitting section on its inner surface, equal in length to the portion of the surgical instrument manipulator that is received. The sterile curtain and the surgical instrument manipulator are securely fitted together via patches on the sterile curtain and patches on the surgical instrument manipulator, ensuring the sterile curtain remains in contact with the surgical instrument manipulator during operation, preventing it from tangling or sagging and affecting the movement of the manipulator or surgical instruments. 2. The sheath connecting the base and the annular component on the sterile curtain are detachably connected to the surgical instrument manipulator, facilitating the installation and removal of the surgical accessory and the manipulator. The annular component is rotatably connected to the adapter, ensuring the surgical instruments and adapter remain sterile and do not interfere with the rotational movement of the surgical instruments. 3. By providing a support frame that can move linearly along the extension direction of the surgical instrument manipulator, the sterile curtain unfolds along the manipulator or folds back excess curtain during movement to closely conform to the instrument's shape, preventing tangling or sagging while allowing maximum freedom of movement during surgery. 4. By setting up support rods to support the sterile curtain, excess curtain tangling or sagging during movement can be further prevented. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the surgical robot system provided in a specific embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the first sterile curtain covering the surgical instrument manipulator provided in a specific embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of the first curtain portion provided in a specific embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the adapter provided in a specific embodiment of the present invention;

[0040] Figure 5 This is a partial schematic diagram of the adapter and the ring-shaped component in a specific embodiment of the present invention;

[0041] Figure 6 This is a partial cross-sectional schematic diagram of the adapter and the ring-shaped component provided in a specific embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the structure of the sheath connection base provided in a specific embodiment of the present invention.

[0043] List of reference numerals in the attached diagram:

[0044] 1. Base;

[0045] 2. Surgical instrument manipulator; 21. Support frame; 22. Linear module assembly; 23. Drive module; 24. Arc-shaped segment;

[0046] 3. Surgical instruments;

[0047] 4. Adapter; 412. Engaging groove; 4121. Guide slope;

[0048] 5. Sterile curtain; 51. Sheath connecting base; 52. Ring-shaped component; 521. Protrusion; 522. Engaging step; 5221. Chamfer; 53. Tightly fitting section; 531. Patch; 54. First sterile curtain; 541. First curtain section; 542. Second curtain section; 55. Second sterile curtain; 56. Support rod; 57. First fastener. Detailed Implementation

[0049] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0052] In this invention, the end closer to the operator or base is defined as the proximal end or rear end, and the end closer to the surgical patient is defined as the distal end or front end.

[0053] like Figure 1 As shown, this embodiment provides a sterile curtain accessory, including at least one sterile curtain 5. The sterile curtain 5 covers the surgical instrument manipulator 2 of the surgical robot, such that the outer surface of the sterile curtain 5 is adjacent to a sterile area, while the inner surface is adjacent to the non-sterile surgical instrument manipulator 2. Specifically, the surgical instrument manipulator 2 is movably mounted on the base 1. The surgical instrument manipulator 2 may include multiple movable joints, which allow for horizontal, vertical, and lateral position adjustments of the surgical instrument manipulator 2. This satisfies the positional adjustment requirements of the surgical machinery before or during surgery, thereby adjusting the surgical tool 3 mounted at the distal end of the surgical instrument manipulator 2 to a preferred position. Consequently, the surgical actuators at the end of the surgical tool 3, such as grasping forceps, dissecting forceps, curved scissors, and electric hooks, reach the target position to perform corresponding surgical actions. It should be understood that the sterile curtain 5 can be cut into a corresponding sheet or bag shape according to the shape of the surgical instrument manipulator 2. When fully extended, the sterile curtain 5 can completely cover the surgical instrument manipulator 2.

[0054] In the above embodiment, the inner surface of the sterile curtain 5 is provided with a tightly fitting section 53 composed of multiple patches, and a part of the surgical instrument manipulator 2 is provided with a surface for fixing the tightly fitting section 53, the unfolded length of which is equal to the length of the tightly fitting section 53. Figure 3As shown, multiple patches 531 form multiple patch pairs, each patch pair is arranged side by side, and the multiple patch pairs 531 are distributed at intervals along the same straight line. A portion of the surface of the surgical instrument manipulator 2's fixed and tightly fitting section 53 is provided with patches spaced at the same intervals as the patches 531. The length of the patches is equal to or substantially equal to the length of the patches 531, and the patches 531 and patches can correspond and adhere to each other. The patches 531 and patches are the same shape and size, both being rectangular. Preferably, the patches 531 can be iron sheets, and the patches are magnetic blocks, and the two are fixed and adhered together by magnetic attraction. It should be understood that the surfaces of the patches 531 and patches can be provided with adhesive, and the two are bonded together by adhesive. It should also be understood that the shape of the patches 531 and patches is not limited to rectangles, and can also be circles, squares, or irregular polygons, etc. Multiple patches 531 can also be arranged in other shapes or in other ways. For example, all patches 531 or patches can be arranged along a straight line or along three straight lines. As long as the arrangement of patches 531 is the same as that of patches, it does not depart from the scope of the present invention. It should be noted that the tight-fitting section 53 can be continuous or discontinuous. For example, the tight-fitting section 53 can also be directly composed of a continuous patch segment or a continuous or discontinuous surface coated with adhesive. The part of the surgical instrument manipulator 2 that fixes the tight-fitting section 53 has a surface corresponding to the tight-fitting section 53. By ensuring that the unfolded lengths of the tight-fitting section 53 and the corresponding part of the surgical instrument manipulator 2 that is fixed to the tight-fitting section 53 are equal, the sterile curtain 5 remains in contact during the movement of the surgical instrument manipulator 2 and will not entangle or sag, affecting the movement of the surgical instrument manipulator 2 or the surgical tool 3.

[0055] In the preferred embodiment described above, each patch 531 has at least one protrusion perpendicular to the surface of the patch 531, and the patch block has a groove adapted to the protrusion. Specifically, the two ends of the patch 531 are symmetrically provided with protrusions, which can be columnar or three-dimensional geometric shapes, preferably cylindrical protrusions, and the ends of the protrusions are pointed, so as to facilitate the protrusions to extend into the corresponding grooves.

[0056] like Figures 1-3As shown, in the preferred embodiment described above, 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 portion 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 positioned adjacent to the sterile surgical instrument 3, and the inner surface is positioned adjacent to the non-sterile surgical instrument manipulator 2 or the base 1. The first sterile curtain 54 and the second sterile curtain 55 can be sheet-like structures, bag-like structures, or a combination of sheet-like and bag-like structures. 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. The inner surface of the first curtain portion 541 is provided with a tight-fitting section 53, and a portion of the surgical instrument manipulator 2 is provided with a surface for fixing the tight-fitting section 53. The unfolded length of the surface is equal to the length of the tight-fitting section 53. It should be understood that the base 1 includes a column and a crossbeam. The surgical instrument manipulator 2 is movably mounted at the bottom of the crossbeam. A second curtain portion 542 covers the outer periphery of the surgical instrument manipulator 2 from below the crossbeam. A first curtain portion 541 covers the outer periphery of the surgical instrument manipulator 2 from the portion of the surgical instrument manipulator 2 away from the base 1, and the first curtain portion 541 and the second curtain portion 542 partially overlap, thereby completely covering the surgical instrument manipulator 2. More preferably, the second curtain portion 542 includes two spaced-apart parts, one part being configured to receive the nearest end portion of the surgical instrument manipulator 2, and the other part being configured to receive the middle portion of the surgical instrument manipulator 2. By configuring the sterile curtain 5 as multiple separate curtains, the installation and coverage of the curtain are facilitated, and the movement of the surgical instrument manipulator 2 or surgical tool 3 is avoided. 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 closest to the surgical instrument manipulator 2 to further prevent the column from being contaminated during surgery. It should be understood that the second sterile curtain 55 can be a single piece or composed of several independent parts.

[0057] like Figure 3 and Figure 7 As shown, in this embodiment, the sterile curtain 5 further includes a sheath connecting base 51 and an annular member 52. The sterile curtain 5 has a first opening, through which the sheath connecting base 51 passes, and the lower surface of the sheath connecting base 51 is circumferentially bonded to the first opening by adhesive. The sterile curtain 5 has an annular second opening, the outer diameter of the annular member 52 is equal to the diameter of the second opening, the annular member 52 is arranged circumferentially along the second opening, and the outer circumferential surface of the annular member 52 is bonded to the second opening by adhesive. More specifically, the sheath connecting base 51 and the annular member 52 are disposed on the first curtain portion 541 of the first sterile curtain 54.

[0058] In a preferred embodiment, a first engaging feature is provided on one side of the annular member 52 to allow for detachable connection between the annular member 52 and the surgical instrument manipulator 2. More preferably, the top surface of the annular member 52 is provided with the first engaging feature, and the distal end of the surgical instrument manipulator 2 is provided with a second engaging feature. One of the first and second engaging features can be a protrusion, and the other can be a groove. Figure 5 and Figure 6 As shown, the top surface of the annular member 52 has multiple protrusions 521 spaced circumferentially, each protrusion 521 extending circumferentially. The distal end of the surgical instrument manipulator 2 has grooves equal in number and shape to the protrusions 521. The protrusions 521 engage with the grooves, allowing the annular member 52 to be detachably and securely mounted on the distal end of the surgical instrument manipulator 2. The adapter 4 can releasably and securely mount the surgical tool 3 on the distal end of the surgical instrument manipulator 2. It should be understood that, to ensure the annular member 52 can be smoothly installed on the distal end of the surgical instrument manipulator 2, the protrusions 521 can be configured to move slightly circumferentially within the grooves at the distal end of the surgical instrument manipulator 2. The bottom of the annular member 52 has an axially oriented engaging step 522, the inner circumferential surface of which has a chamfer 5221. The adapter 4 has a locking groove 412 at its proximal end, and a guide slope 4121 at the inner circumferential end of the locking groove 412. The guide slope 4121 engages with the chamfer 5221 of the inner circumferential surface of the locking step 522, so that the locking step 522 can smoothly slide into the locking groove 412 in a single direction and engage with it, and can rotate relative to each other. The adapter 4 rotates relative to the annular member 52, thus not affecting the rotation of the surgical tool 3. Since the annular member 52 does not rotate, the sterile curtain 5 extending circumferentially from the annular member 52 also does not rotate, thereby preventing the surgical tool 3 from getting caught in the sterile curtain 5 during rotation. It is worth noting that the first locking feature can also be a groove, and the second locking feature can be a protrusion. It should be understood that the first and second locking features can also be other locking structures, such as buckles, as long as the structure can achieve a tight engagement between the two, it does not depart from the scope of the present invention.

[0059] In the above preferred embodiments, such as Figure 3 As shown, the inner surface of the sterile curtain 5 is also provided with a plurality of spaced-apart support rods 56. Specifically, the support rods 56 are flexible support rods with a strip-shaped thin sheet structure. For example, the support rods 56 can be made of aluminum strips to make them flexible, or they can be made of flexible plastic strips. The support rods 56 are spaced apart along the movement direction of the surgical instrument manipulator 2. More preferably, the support rods 56 are provided on the inner surface of the first curtain portion 541 of the first sterile curtain 54. Due to the supporting effect of the support rods 56, excess sterile curtain 5 is prevented from wrapping and sagging, thus avoiding interference with the movement of the surgical instrument manipulator 2 or surgical tools 3.

[0060] In the above embodiments, the sterile curtain 5 is further provided with a first connecting feature (not shown in the figure). Specifically, the sterile curtain 5 is a sheet-like plastic film of a specific shape or a plastic film with a partially bag-like structure. The first connecting feature can be a zipper, which extends along a portion of the edge of the sterile curtain 5. When the sterile curtain 5 is unfolded and extended along the surgical instrument manipulator 2, the zipper on the sterile curtain 5 is closed, thereby sealing the sterile curtain 5 over the surgical instrument manipulator 2, preventing the surgical instrument manipulator 2 from being partially exposed and affecting the isolation effect. It should be understood that the first connecting feature can also be a peel-and-stick adhesive strip or a surface coated with glue, etc.

[0061] Preferably, such as Figure 3 As shown, the inner surface of the sterile curtain 5 is also provided with a first fastener 57. Specifically, the first fastener 57 can be a patch, and the surgical instrument manipulator 2 is provided with a patch block for fixing the patch. More preferably, the patch can be an iron sheet, and the patch block can be a magnetic block. The two are fixedly attached and connected by magnetic attraction to position the sterile curtain 5 on the surgical instrument manipulator 2. It should be understood that the first fastener 57 can be a surface coated with adhesive, and this surface is bonded to the surgical instrument manipulator 2 with adhesive. More preferably, there can be multiple first fasteners 57, which are respectively provided at each end of the sterile curtain 5. By fastening the inner surface of the opening end of the sterile curtain 5 to the surgical instrument manipulator 2 with the first fasteners 57, the sterile curtain 5 is positioned on the surgical instrument manipulator 2, thereby preventing the sterile curtain 5 from slipping and affecting the covering effect.

[0062] In the above embodiment, a second fastener (not shown in the figure) is provided on the outer surface of the opening end of the sterile curtain 5. Specifically, the second fastener is a sheet-like cable tie that extends to a certain length and can be integrally formed with the sterile curtain 5 or bonded with adhesive. It should be understood that after the opening end of the sterile curtain 5 is positioned on the surgical instrument manipulator 2 by the first fastener 57, the cable tie is wrapped around the opening end of the sterile curtain 5 to securely and completely cover the surgical instrument manipulator 2. It should also be understood that the second fastener can also be a tie or a flexible extendable strip.

[0063] In the preferred embodiment described above, the end of the second fastener is provided with a tear-and-stick adhesive strip (not shown in the figure). After the second fastener is wrapped around the opening end of the sterile curtain 5, the tear-and-stick adhesive strip makes the wrapping of the second fastener more secure, preventing the second fastener from coming undone and affecting the sealing effect of the wrapping.

[0064] This invention also provides a surgical robot system, including the sterile curtain, at least one surgical instrument manipulator 2, and a support frame 21 as described in the above embodiments. The support frame 21 is arranged around the outer periphery of the surgical instrument manipulator 2 and is configured to move linearly along the direction in which the surgical instrument manipulator 2 extends.

[0065] Specifically, such as Figure 1 and Figure 2 As shown, the surgical instrument manipulator 2 has a linear module assembly 22 at its distal end. The linear module assembly 22 can move linearly along the extension direction of the surgical instrument manipulator 2. The drive module 23 is rotatably mounted on the linear module assembly 22 and can move linearly with the linear module assembly 22. The communication connection line of the drive module 23 is connected to the distal extension of the surgical instrument manipulator 2 to form an arc-shaped segment 24. A support hinge (not shown) is fitted around the outer periphery of the arc-shaped segment 24. The support hinge can move with the arc-shaped segment 24. Patches are spaced apart on the outer surface of the support hinge. Patches are also provided on the bottom outer surface of the support frame 21. These patches are tightly attached to the patches 531 on the inner surface of the tight-fitting section 53. The length of the surgical instrument manipulator 2 from the bottom of the support frame 21 to the arc-shaped segment 24 is equal to the length of the tight-fitting section 53. The length of the patch distribution is equal to the length of the patch distribution on the tight-fitting section 53.

[0066] It should be understood that the support frame 21 has a U-shaped structure, with its open end fixedly mounted on the linear module assembly 22. The bottom of the U-shape surrounds the surgical instrument manipulator 2, and there is a gap between the bottom of the U-shape and the surgical instrument manipulator 2. A patch is provided on the outer surface of the bottom of the U-shape. It is worth noting that the support frame 21 can also be L-shaped or other shapes, as long as its bottom is located above the surgical instrument manipulator. The patch at one end of the tight-fitting section 53 is fixedly and tightly fitted to the patch on the bottom surface of the support frame 21 and is fitted along the arc-shaped section 24. The patch at the other end is fixedly and tightly fitted to the end patch of the arc-shaped section 24. The sterile curtain 5 extends from the tight-fitting section 53 and is configured to cover the surgical instrument manipulator 2. More specifically, the patch 531 has columnar protrusions, and the patch has grooves. The protrusions and grooves cooperate to make the sterile curtain 5 more stably fixed to cover the outer periphery of the surgical instrument manipulator 2. It is worth noting that the length of the sterile curtain 5 between the bottom of the support frame 21 and the arc-shaped section 24 is greater than or equal to the maximum displacement that the support frame 21 can move. Preferably, the sterile curtain 5 has a redundant portion located at the proximal end of the support frame 21, which fully extends when the support frame 21 moves to its farthest end. This redundant portion prevents the surgical instrument manipulator 2 from pulling on the sterile curtain 5 during movement, thus affecting its coverage. Simultaneously, due to the design of the support frame 21, the excess curtain portion is also prevented from drooping and tangling, thus affecting the movement of the surgical instrument manipulator or surgical tools. It should be understood that when the support frame 21 moves distally with the linear module assembly 22, the support frame 21 causes the sterile curtain 5 to extend and unfold along the surface of the surgical instrument manipulator 2. At this time, the sterile curtain 5 located between the support frame 21 and the arc-shaped section 24 folds along the gap between the support frame 21 and the surgical instrument manipulator 2. When the support frame 21 moves proximally with the linear module assembly 22, the support frame 21 causes the sterile curtain 5 to fold and retract at the proximal end of the support frame 21. At this time, the sterile curtain 5 located between the support frame 21 and the arc-shaped section 24 extends and unfolds along the surface of the surgical instrument manipulator 2, thereby preventing excess curtain from drooping and tangling during movement, affecting the movement of the surgical instrument manipulator 2 and surgical tools.

[0067] In the preferred embodiment described above, the surgical robot may have multiple surgical instrument manipulators 2, and each surgical instrument manipulator 2 can move independently of the others. The number of sterile curtains 5 is equal to the number of surgical instrument manipulators 2, and each sterile curtain 5 covers each surgical instrument manipulator 2 to isolate the non-sterile surgical instrument manipulator 2 from the sterile surgical instruments 3, thereby preventing contamination of the portion of the surgical instrument manipulator 2 near the surgical instruments 3 during or after the operation.

[0068] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A sterile curtain accessory, characterized in that, include: At least one sterile curtain (5) is configured to cover the surgical instrument manipulator (2) of the surgical robot. The sterile curtain (5) includes an outer surface and an inner surface. The outer surface is configured to be adjacent to a sterile area, and the inner surface is configured to be adjacent to the non-sterile surgical instrument manipulator (2). The inner surface is provided with a tight-fitting section (53), and a part of the surgical instrument manipulator (2) is provided with a surface for fixing the tight-fitting section (53), and the length of the unfolded surface is equal to the length of the tight-fitting section (53). The sterile curtain accessory also includes: a ring-shaped component (52); The sterile curtain (5) is provided with a second opening, the annular member (52) is arranged circumferentially along the second opening, and the outer circumferential surface of the annular member (52) is bonded to the second opening; The top surface of the annular member (52) is provided with a first engaging feature so that the annular member (52) can be detachably connected to the surgical instrument manipulator (2); The annular member (52) is configured to engage with the proximal end of the adapter (4) of the surgical robot at its bottom, so that the adapter (4) and the annular member (52) can rotate. The bottom of the annular member (52) is provided with an engagement step (522) along the axial direction. The inner circumferential surface of the engagement step (522) is provided with a chamfer (5221). The proximal end of the adapter (4) is provided with an engagement groove (412). The outer circumferential end of the engagement groove (412) is provided with a guide slope (4121). The chamfer (5221) of the engagement step (522) cooperates with the guide slope (4121) of the engagement groove (412) so that the engagement step (522) can slide into the engagement groove (412) in a single direction and engage with it, and can rotate with each other.

2. The sterile curtain accessory according to claim 1, characterized in that, The tightly fitting section (53) is provided continuously or intermittently.

3. The aseptic curtain accessory according to claim 2, characterized in that, The close-fitting section (53) is configured to be able to be attached to each other by magnetic attraction or by adhesive with the surgical instrument manipulator (2).

4. The sterile curtain accessory according to claim 1, characterized in that, The tightly fitting segment (53) includes a plurality of spaced patches (531); The surgical instrument manipulator (2) has multiple spaced-apart patches on the part that fixes the tightly fitting section (53); The length of the patch distribution is equal to the length of the patch (531) distribution, and the patch (531) and the patch are attached to each other.

5. The sterile curtain accessory according to claim 4, characterized in that, Each of the patches (531) has at least one protrusion perpendicular to the surface of the patch; The patch has a groove that matches the protrusion.

6. The sterile curtain accessory according to claim 1, characterized in that, The sterile curtain (5) is in the form of sheet and / or bag structure.

7. The sterile curtain accessory according to claim 1, characterized in that, Also includes: Sheath connecting base (51); The sterile curtain (5) has a first opening, the sheath connecting base (51) passes through the first opening, and the surface of the sheath connecting base (51) is bonded to the first opening.

8. The sterile curtain accessory according to claim 1, characterized in that, The inner surface is also provided with a plurality of spaced support rods (56).

9. The sterile curtain accessory according to any one of claims 1-8, characterized in that, The sterile curtain (5) is also provided with a first connecting feature, which is configured to allow the sterile curtain (5) to close and cover the surgical instrument manipulator (2).

10. The sterile curtain accessory according to any one of claims 1-8, characterized in that, The inner surface is also provided with a first fastener (57), which is configured to make the inner surface of the opening end of the sterile curtain (5) fit tightly against the surgical instrument manipulator (2).

11. The sterile curtain accessory according to claim 10, characterized in that, The sterile curtain (5) has a second fastener on the outer surface of the opening end; The second fastener is a rope, cable tie, or sheet-like extendable strip.

12. A surgical robot system, characterized in that, include: At least one sterile curtain (5) as described in any one of claims 1-11; At least one surgical instrument manipulator (2); A support frame (21) is arranged around the outer periphery of the surgical instrument manipulator (2), and the support frame (21) is configured to move linearly along the direction in which the surgical instrument manipulator (2) extends; The support frame (21) located above the surgical instrument manipulator (2) has a surface for fixing the tight-fitting section (53), and the sterile curtain (5) extends from the tight-fitting section (53) and is configured to cover the surgical instrument manipulator (2).

13. The surgical robot system according to claim 12, characterized in that, The support frame (21) has a U-shaped structure, with its bottom positioned above the surgical instrument manipulator (2) and with gaps between them.

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