A surgical robot sterile curtain system and covering method

Abstract

The present invention relates to the field of medical devices and discloses a sterile curtain system and covering method for a surgical robot. The system comprises: a base, at least one surgical instrument manipulator, at least one surgical tool, an adapter, and at least one sterile curtain. The surgical instrument manipulator is movably mounted on the base, the adapter is cylindrical, and the adapter is configured to releasably fasten the surgical tool to the distal end of the surgical instrument manipulator. The sterile curtain comprises an annular member, and the sterile curtain extends from the circumference of the annular member and covers the surgical instrument manipulator. The annular member is detachably fastened to the distal end of the surgical instrument manipulator, and the annular member is rotatably mounted on the proximal end of the adapter so that the adapter and the surgical tool can rotate relative to the annular member. The sterile curtain is simple and convenient to install, and can fully fold back the excess curtain when the surgical instrument manipulator moves to closely adapt to the shape of the instrument, while allowing maximum freedom of movement during surgery.

Description

Technical Field

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

[0002] Minimally invasive surgery, with its advantages of minimal trauma and rapid recovery, has become increasingly widespread in clinical practice. Doctors typically operate a master manipulator from a distance from the patient to remotely control the movements of surgical tools located at the surgical site, enabling surgical procedures with greater stability and precision.

[0003] In a surgical robot system, surgical tools are typically mounted on a manipulator, which is in turn mounted on the robot's base. During surgery, the tools are inserted into the body through a probing mechanism, and surgical procedures are performed on various parts of the body by controlling the actuators at the end of the tools. The motion of the actuators is controlled based on input torque and load, and the servo motors that provide these input torque and load are mounted on the manipulator, which is connected to the surgical tools.

[0004] During surgery, parts of the surgical instrument manipulator come into direct contact with surgical tools and are easily contaminated during surgery due to their proximity to the surgical site. Furthermore, the driver modules of the surgical instrument manipulators cannot generally be sterilized using conventional methods such as steam, autoclave, or chemicals. Therefore, a sterile barrier, such as a plastic sterile drape, is typically used to isolate the non-sterile surgical instrument manipulator from the sterile surgical tools in the operating environment. Doctors typically use different surgical tools based on the needs of different surgeons. Therefore, surgical tools are detachably mounted on the surgical instrument manipulators, and a connecting adapter is typically provided between the surgical instrument manipulator and the surgical tool to accurately transmit torque and load in real time. To further ensure isolation between the surgical instrument manipulator and the surgical tool, the sterile drape also needs to effectively protect the adapter, ensuring that the unexposed portion of the adapter remains 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 tools. For example, if the drape interface is not properly aligned or aligned above the surgical instrument manipulator or adapter, it can become entangled and obstruct the movement of the surgical tool. Furthermore, frequent movement of the surgical instrument manipulator or surgical tool during surgery can easily cause excess drape to become entangled or droop, affecting the movement of the surgical instrument manipulator or surgical tool. Summary of the Invention

[0006] In view of the above problems, the purpose of the present invention is to provide a sterile curtain system and covering method for a surgical robot, in which the curtain is simple and convenient to install, and the excess curtain can be fully folded back when the instrument moves to closely adapt to the shape of the instrument, while allowing maximum freedom of movement during the operation.

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

[0008] A surgical robot sterile drape system, comprising:

[0009] base;

[0010] at least one surgical instrument manipulator, the surgical instrument manipulator being movably disposed on the base;

[0011] at least one surgical tool;

[0012] an adapter, the adapter being in a cylindrical shape and configured to releasably secure the surgical tool to a distal end of the surgical instrument manipulator;

[0013] at least one sterile drape, the sterile drape comprising a ring-shaped member, the sterile drape extending from a circumference of the ring-shaped member and covering the surgical instrument manipulator;

[0014] The annular member is detachably arranged at the distal end of the surgical instrument manipulator, and the annular member is rotatably sleeved on the proximal end of the adapter, so that the adapter and the surgical tool can rotate relative to the annular member.

[0015] As a preferred embodiment of the present invention, a first engaging feature is provided on one side of the annular member, and a second engaging feature is provided on the distal end of the surgical instrument manipulator. The first engaging feature and the second engaging feature engage with each other to make the annular member detachably connected to the surgical instrument manipulator.

[0016] As a preferred solution of the present invention, an engaging step is provided on the other side of the annular member along the axial direction, and an inner peripheral surface of the engaging step is chamfered.

[0017] As a preferred solution of the present invention, the proximal end of the adapter is provided with a locking groove, and the inner circumferential end of the locking groove is provided with a guide bevel, and the guide bevel cooperates with the chamfer of the inner circumferential surface of the locking step to enable the locking groove and the locking step to be engaged and able to rotate relative to each other.

[0018] As a preferred embodiment of the present invention, the sterile curtain comprises a first sterile curtain for receiving the surgical instrument manipulator;

[0019] The first sterile drape comprises an inner surface and an outer surface, the outer surface being disposed adjacent to a sterile surgical tool and the inner surface being disposed adjacent to a non-sterile surgical instrument manipulator;

[0020] The first sterile drape includes: a first drape portion receiving a distal end portion of a surgical instrument manipulator and a second drape portion receiving a proximal end portion of the surgical instrument manipulator;

[0021] A close-fitting section is provided on the inner surface of the first curtain portion, and a portion of the surgical instrument manipulator is provided with a surface for fixing the close-fitting section, wherein the unfolded length of the surface is equal to the length of the close-fitting section.

[0022] As a preferred embodiment of the present invention, the sterile curtain further comprises a second sterile curtain receiving at least a portion of the base;

[0023] The second sterile drape includes an inner surface and an outer surface, the outer surface being positioned adjacent to a sterile surgical tool and the inner surface being positioned adjacent to a non-sterile base.

[0024] As a preferred solution of the present invention, a plurality of flexible support rods arranged at intervals are further provided on the inner surface.

[0025] As a preferred embodiment of the present invention, the sterile curtain is a sheet and / or bag-shaped structure;

[0026] The sterile drape is provided with a first connection feature, which is configured to enable the sterile drape to cover at least a portion of the surgical instrument manipulator or the base in a sealing manner.

[0027] As a preferred solution of the present invention, the second curtain portion includes two parts separated from each other, one part is configured to receive the most proximal part of the surgical instrument manipulator, and the other part is configured to receive the middle part of the surgical instrument manipulator.

[0028] A method for covering a surgical robot with a sterile drape, the surgical robot comprising:

[0029] base;

[0030] at least one surgical instrument manipulator, the surgical instrument manipulator being movably disposed on the base;

[0031] at least one surgical tool;

[0032] an adapter configured to releasably secure the surgical tool to a distal end of the surgical instrument manipulator;

[0033] Sterile drapes as described above;

[0034] The covering method includes: unfolding a sterile curtain along a surgical instrument manipulator, the sterile curtain including a ring-shaped member, and the sterile curtain extending from the circumference of the ring-shaped member; detachably connecting the ring-shaped member to the distal end of the surgical instrument manipulator to position the distal portion of the sterile curtain at the distal portion of the surgical instrument manipulator; extending the sterile curtain along the distal end of the surgical instrument manipulator toward the proximal end and covering the surgical instrument manipulator, positioning the proximal portion of the sterile curtain at the proximal portion of the surgical instrument manipulator; allowing the sterile curtain to cover the surgical instrument manipulator in a closed manner through a first connection feature on the sterile curtain; rotatably mounting an adapter on the ring-shaped member, and detachably mounting a hand tool on the adapter to allow the adapter and the surgical tool to rotate freely relative to the distal end of the surgical instrument manipulator.

[0035] As a preferred embodiment of the present invention, the method further includes providing a tight-fitting section composed of a plurality of patches on the inner surface of the sterile curtain, a portion of the surgical instrument manipulator is provided with a surface for fixing the patches, the unfolded length of the surface of the surgical instrument manipulator for fixing the patches is equal to the length of the tight-fitting section, and the patches are tightly fitted to the surface of the surgical instrument manipulator so that the tight-fitting section is tightly fitted to a portion of the surgical instrument manipulator.

[0036] As a preferred embodiment of the present invention, the method further includes providing a U-shaped support frame around the outer periphery of the distal end of the surgical instrument manipulator, wherein the support frame is configured to be linearly movable along the direction in which the surgical instrument manipulator extends, and the bottom of the support frame is located above the surgical instrument manipulator, with a gap between the bottom and the support frame;

[0037] The bottom of the support frame is provided with a surface for fixing the sterile curtain, and the surface of the sterile curtain is closely fitted to the bottom surface of the support frame.

[0038] As a preferred embodiment of the present invention, the method further comprises covering at least a portion of the base with the sterile drape.

[0039] The beneficial effects of the present invention are:

[0040] 1. The surgical robot sterile drape system provided by the present invention is removably connected to the surgical instrument manipulator via a ring-shaped member on the sterile drape and rotatably connected to the adapter, thereby ensuring that the surgical tool and adapter are on the sterile side without affecting the rotational movement of the surgical tool. 2. By providing a tightly fitting section on the inner surface of the sterile drape that is equal in length to the portion corresponding to the surgical instrument manipulator, and by using a patch on the sterile drape and a patch on the surgical instrument manipulator to achieve a tight fit between the two, the sterile drape remains in contact during the movement of the surgical instrument manipulator, preventing it from tangling or sagging and affecting the movement of the surgical instrument manipulator or surgical tools. 3. By providing a support frame that can move linearly along the extension direction of the surgical instrument manipulator, the support frame moves to drive the sterile drape to unfold along the surgical instrument manipulator or fully fold back excess drape to closely fit the shape of the instrument, thereby preventing excess drape tangling or sagging while allowing maximum freedom of movement during surgery. 4. By providing a support rod to support the sterile drape, tangling or sagging of excess drape during movement is further prevented. 5. The sterile curtain covering method for a surgical robot provided by the present invention is quick and easy to install and does not affect the movement of the surgical instrument manipulator or surgical tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in describing the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without any creative work.

[0042] Figure 1 is a schematic structural diagram of a surgical robot system provided by a specific embodiment of the present invention;

[0043] Figure 2 1 is a schematic structural diagram of a first sterile drape-covered surgical instrument manipulator provided by a specific embodiment of the present invention;

[0044] Figure 3 is a structural schematic diagram of a first curtain portion provided by a specific embodiment of the present invention;

[0045] Figure 4 is a schematic structural diagram of an adapter provided by a specific embodiment of the present invention;

[0046] Figure 5 is a schematic structural diagram from another angle of the adapter provided by a specific embodiment of the present invention;

[0047] Figure 6 It is a partial schematic diagram of the cooperation between the adapter and the ring member provided by a specific embodiment of the present invention;

[0048] Figure 7 is a partial cross-sectional schematic diagram of the cooperation between the adapter and the annular member provided in a specific embodiment of the present invention;

[0049] Figure 8 It is a structural schematic diagram of a sheath connected to a base provided by a specific embodiment of the present invention.

[0050] List of reference numerals:

[0051] 1. Base;

[0052] 2. Surgical instrument manipulator; 21. Support frame; 22. Linear module assembly; 23. Drive module; 24. Arc segment;

[0053] 3. Surgical instruments;

[0054] 4. Adapter; 41. Rotatable member; 411. Groove; 412. Engaging groove; 4121. Guide slope; 42. Connecting plate;

[0055] 5. Sterile curtain; 51. Sheath connecting base; 52. Ring-shaped member; 521. Protrusion; 522. Engaging step; 5221. Chamfer; 53. Tight fitting section; 531. Patch; 54. First sterile curtain; 541. First curtain portion; 542. Second curtain portion; 55. Second sterile curtain; 56. Support rod; 57. First fastener. DETAILED DESCRIPTION

[0056] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0057] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present 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.

[0058] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed or detachable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention.

[0059] The definition in the present invention is that the end close to the operator or the base is the proximal end or the rear end, and the end close to the surgical patient is the distal end or the front end.

[0060] like Figure 1-Figure 3 As shown, this embodiment provides a surgical robot sterile drape system, which includes a base 1, a surgical instrument manipulator 2, a surgical tool 3, an adapter 4, and a sterile drape 5. At least one surgical instrument manipulator 2 is movably mounted on the base 1, which supports the surgical instrument manipulator 2. The cylindrical adapter 4 is used to releasably secure the surgical tool 3 to the distal end of the surgical instrument manipulator 2. The distal end of the surgical tool 3 is provided with an end effector. The sterile drape 5 includes an annular member 52, which extends from the circumference of the annular member 52 and covers the surgical instrument manipulator 2, such 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.

[0061] Specifically, the surgical instrument manipulator 2 may include multiple movable joints, each of which enables horizontal, vertical, and lateral position adjustment of the surgical instrument manipulator 2, thereby meeting the position adjustment requirements of the surgical instrument 2 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, thereby enabling the surgical actuator at the distal end of the surgical tool 3, such as grasping forceps, separating forceps, bending shears, and electric hook, to reach the target position, thereby performing the corresponding surgical action. It should be understood that the sterile drape 5 can be cut into a corresponding sheet or bag shape according to the shape of the surgical instrument manipulator 2. When the sterile drape 5 is fully extended and unfolded, it can completely cover the surgical instrument manipulator 2.

[0062] In the above embodiment, the inner surface of the sterile curtain 5 is provided with a close fitting section 53 composed of a plurality of patches, and a portion of the surgical instrument manipulator 2 is provided with a surface for fixing the close fitting section 53, the extended length of which is equal to the length of the close fitting section 53. Figure 3As shown, multiple patches 531 form multiple patch pairs, each patch pair is arranged in parallel, and multiple patch pairs 531 are spaced apart along the same straight line. The surface of the surgical instrument manipulator 2 that fixes the tightly fitting section 53 is provided with patches spaced apart 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. The patches 531 and the patches can fit each other accordingly. The patches 531 and the patches are of the same shape and size, and are both rectangular. Preferably, the patch 531 can be an iron sheet, and the patch can be a magnet block, and the two are fixed and fitted together by magnet adsorption. It should be understood that the surfaces of the patch 531 and the patch can be provided with glue, and the two are bonded together by glue. It should also be understood that the shapes of the patch 531 and the patch are not limited to rectangles, and can also be circular, square, or irregular polygons. The multiple patches 531 may also be arranged in other shapes or in other ways. For example, all the patches 531 or patches may be arranged along a straight line or along three straight lines. As long as the patches and patches 531 are arranged in the same manner, this does not deviate from the scope of the present invention. It should be noted that the tight-fitting section 53 may be continuous or discontinuous. For example, the tight-fitting section 53 may be directly composed of a continuous patch segment or a continuous or discontinuous surface coated with glue. The portion of the surgical instrument manipulator 2 that fixes the tight-fitting section 53 is provided with a surface corresponding to the tight-fitting section 53. By ensuring that the extended lengths of the tight-fitting section 53 and the portion of the surgical instrument manipulator 2 that is received by the fixed tight-fitting section 53 are equal, the sterile drape 5 remains in contact with the surgical instrument manipulator 2 during its movement, and does not tangle or sag, affecting the movement of the surgical instrument manipulator 2 or the surgical tool 3.

[0063] In the preferred embodiment described above, each patch 531 is provided with at least one protrusion perpendicular to the surface of the patch 531, and the patch is provided with a groove adapted to fit the protrusion. Specifically, protrusions are symmetrically provided at both ends of the patch 531. The protrusions may be cylindrical or in a three-dimensional geometric shape, preferably cylindrical, with the ends of the protrusions being pointed to facilitate insertion of the protrusions into the corresponding grooves.

[0064] like Figure 1-Figure 3As shown, in the preferred embodiment described above, the sterile drape 5 includes a first sterile drape 54 for receiving the surgical instrument manipulator 2 and a second sterile drape 55 for receiving at least a portion of the base 1. Specifically, the first sterile drape 54 and the second sterile drape 55 each include an inner surface and an outer surface. The outer surface is positioned adjacent to the sterile surgical tool 3, and the inner surface is positioned adjacent to the non-sterile surgical instrument manipulator 2 or the base 1. The first sterile drape 54 and the second sterile drape 55 may be sheet-like structures, bag-like structures, or a combination of sheet-like and bag-like structures. The first sterile drape 54 includes a first drape portion 541 for receiving the distal portion of the surgical instrument manipulator 2 and a second drape 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 drape portion 541. A portion of the surgical instrument manipulator 2 is provided with a surface for securing the close-fitting section 53. The unfolded length of the surface is equal to the length of the close-fitting section 53. It should be understood that the base 1 includes a column and a crossbeam, with the surgical instrument manipulator 2 movably mounted at the bottom of the crossbeam. The second drape portion 542 covers the periphery of the surgical instrument manipulator 2 from below the crossbeam, and the first drape portion 541 covers the periphery of the surgical instrument manipulator 2 from the portion away from the base 1. The first drape portion 541 and the second drape portion 542 partially overlap, thereby completely covering the surgical instrument manipulator 2. More preferably, the second drape portion 542 includes two separate sections, one of which is configured to receive the proximal portion of the surgical instrument manipulator 2 and the other is configured to receive the middle portion of the surgical instrument manipulator 2. By configuring the sterile drape 5 as multiple separate sections, the installation and coverage of the drape are facilitated and the movement of the surgical instrument manipulator 2 or the surgical tool 3 is prevented from being affected. It is worth noting that the first drape portion 541 and the second drape portion 542 can also be integrally formed. The second sterile drape 55 covers the side of the column near the surgical instrument manipulator 2 to further prevent contamination of the column during surgery. It should be understood that the second sterile drape 55 can be integral or composed of several separate parts.

[0065] like Figure 3 and Figure 8 As shown, in this embodiment, the sterile drape 5 further includes a sheath connection base 51. The sterile drape 5 is provided with a first opening, through which the sheath connection base 51 passes. The lower surface of the sheath connection base 51 is circumferentially bonded to the first opening via glue. The sterile drape 5 is provided with 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 disposed circumferentially along the second opening, and the outer circumferential surface of the annular member 52 is bonded to the second opening via glue. More specifically, the sheath connection base 51 and the annular member 52 are disposed on the first drape portion 541 of the first sterile drape 54.

[0066] In a preferred embodiment, the top surface of the annular member 52 is provided with a first snap-fit ​​feature, and the distal end of the surgical instrument manipulator 2 is provided with a second snap-fit ​​feature. One of the first snap-fit ​​feature and the second snap-fit ​​feature can be a protrusion, and the other can be a groove. Figure 6 and Figure 7 As shown, the top surface of the annular member 52 is provided with a plurality of circumferentially spaced protrusions 521, each extending circumferentially. The distal end of the surgical instrument manipulator 2 is provided with grooves equal in number to the protrusions 521 and matching in shape. The protrusions 521 engage with the grooves, allowing the annular member 52 to be removably secured to the distal end of the surgical instrument manipulator 2, and the adapter 4 to releasably secure the surgical tool 3 to the distal end of the surgical instrument manipulator 2. It should be understood that to ensure smooth installation of the annular member 52 to the distal end of the surgical instrument manipulator 2, the protrusions 521 can be configured to allow for slight circumferential movement within the grooves at the distal end of the surgical instrument manipulator 2. The bottom of the annular member 52 is provided with an axially aligned engagement step 522, the inner circumferential surface of which is chamfered 5221. The proximal end of the adapter 4 is provided with a locking groove 412. The inner circumferential end of the locking groove 412 is provided with a guide bevel 4121. The guide bevel 4121 cooperates with the chamfer 5221 on the inner circumferential surface of the locking step 522, allowing the locking step 522 to slide smoothly into the locking groove 412 in a single direction and engage therewith. The adapter 4 rotates relative to the annular member 52, thereby not affecting the rotational movement of the surgical tool 3. Since the annular member 52 does not rotate, the sterile drape 5 extending circumferentially from the annular member 52 also does not rotate, thereby preventing the sterile drape 5 from being entangled in the surgical tool 3 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 they can achieve a secure locking engagement between the two without departing from the scope of the present invention.

[0067] In the above preferred embodiment, Figure 4 and Figure 5 As shown, the adapter 4 is provided with a plurality of rotatable members 41, and each rotatable member 41 has a groove 411 on its two side surfaces along the axial direction. Specifically, the adapter 4 includes a circular connecting plate 42, which extends axially away from each other 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. The plurality of rotatable members 41 are fixedly arranged in each through hole along the axial direction and can rotate radially relative to the through holes. The two end surfaces of each rotating member are provided with grooves 411 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. The shape and depth of the groove 411 are adapted to the convexity, so that the surgical tool 3 and the surgical instrument manipulator 2 are connected to each other through the rotating member, thereby transmitting the rotational output of the surgical instrument manipulator 2 to the input end of the surgical tool 3.

[0068] In the above preferred embodiment, Figure 3 As shown, the inner surface of the sterile drape 5 is further provided with a plurality of spaced-apart support rods 56. Specifically, the support rods 56 are flexible, thin strip-shaped support rods 56. For example, the support rods 56 may be provided with aluminum strips to impart flexibility, or may be directly formed from flexible plastic strips. The support rods 56 are spaced apart along the direction of movement of the surgical instrument manipulator 2. More preferably, the support rods 56 are provided on the inner surface of the first drape portion 541 of the first sterile drape 54. The support provided by the support rods 56 prevents excess sterile drape 5 from becoming entangled and sagging, potentially affecting the movement of the surgical instrument manipulator 2 or the surgical tool 3.

[0069] In the above embodiment, the sterile drape 5 is further provided with a first connection feature (not shown). Specifically, the sterile drape 5 is a plastic film having a sheet structure or a partially bag-shaped plastic film having a specific shape. The first connection feature can be a zipper extending along a portion of the edge of the sterile drape 5. After the sterile drape 5 is extended along the surgical instrument manipulator 2, the zipper on the sterile drape 5 is closed, thereby sealing the sterile drape 5 over the surgical instrument manipulator 2, thereby preventing partial exposure of the surgical instrument manipulator 2 and affecting the isolation effect. It should be understood that the first connection feature can also be a peel-and-stick adhesive strip or a surface coated with glue.

[0070] Preferably, if Figure 3 As shown, the inner surface of the sterile drape 5 is further 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 to secure the patch. More preferably, the patch can be an iron sheet, and the patch can be a magnet. The two are fixedly attached by magnetic attraction to secure the sterile drape 5 to the surgical instrument manipulator 2, thereby positioning the sterile drape 5 on the surgical instrument manipulator 2. It should be understood that the first fastener 57 can be a surface coated with glue, which is bonded to the surgical instrument manipulator 2 by glue. Further preferably, there can be multiple first fasteners 57, one each provided at each end of the sterile drape 5. The first fasteners 57 secure the inner surface of the open end of the sterile drape 5 to the surgical instrument manipulator 2, thereby positioning the sterile drape 5 on the surgical instrument manipulator 2 and preventing the sterile drape 5 from slipping and affecting the covering effect.

[0071] In the above embodiment, a second fastener (not shown) is provided on the outer surface of the open end of the sterile drape 5. Specifically, the second fastener is a sheet-like cable tie that extends a certain length and can be integrally formed with the sterile drape 5 or bonded with glue. It should be understood that after the open end of the sterile drape 5 is positioned on the surgical instrument manipulator 2 via the first fastener 57, the cable tie is wrapped around the open end of the sterile drape 5 to securely and tightly cover the surgical instrument manipulator 2. It should also be understood that the second fastener can also be a tether or a flexible, extendable strip.

[0072] In the above preferred embodiment, a peel-and-stick adhesive sheet (not shown) is provided on the end of the second fastener. When the second fastener is wrapped around the open end of the sterile curtain 5, the peel-and-stick adhesive sheet makes the wrapping of the second fastener more fixed, preventing the second fastener from unraveling and affecting the sealing effect of the wrapping.

[0073] In the preferred embodiment described above, the surgical robot can have multiple surgical instrument manipulators 2, each of which can move independently of the other. The number of sterile drapes is equal to the number of surgical instrument manipulators 2, and each sterile drape covers each surgical instrument manipulator 2 to isolate the non-sterile surgical instrument manipulators 2 from the sterile surgical tools, thereby preventing contamination of the portion of the surgical instrument manipulators 2 near the surgical tools during or after surgery.

[0074] In the above preferred embodiment, the system includes at least one surgical instrument manipulator 2 and a support frame 21 . The support frame 21 is arranged around the periphery of the surgical instrument manipulator 2 and is configured to be able to move linearly along the direction in which the surgical instrument manipulator 2 extends.

[0075] Specifically, if Figure 1 and Figure 2 As shown, the distal end of the surgical instrument manipulator 2 is provided with a linear module assembly 22, which 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 conduit of the drive module 23 is connected to the portion of the surgical instrument manipulator 2 extending along the distal end, forming an arcuate segment 24. The outer periphery of the arcuate segment 24 is provided with a support hinge (not shown) that can move with the arcuate segment 24. The outer surface of the support hinge is provided with patches at intervals. The bottom outer surface of the support frame 21 is provided with patches. The length of the surgical instrument manipulator 2 from the bottom of the support frame 21 to the arcuate segment 24 is equal to the length of the close-fitting section, and the length of the patches is equal to the length of the patches on the close-fitting section.

[0076] It should be understood that the support frame 21 is a U-shaped structure with its open end fixedly mounted on the linear module assembly 22. The U-shaped bottom surrounds the surgical instrument manipulator 2, with a gap between the U-shaped bottom and the surgical instrument manipulator 2. A patch is provided on the outer surface of the U-shaped bottom. 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 2. The patch at one end of the tight-fitting section 53 is fixedly and tightly fitted with the patch on the bottom surface of the support frame 21 and also fits along the arcuate section 24. The patch at the other end is fixedly and tightly fitted with the patch at the end of the arcuate section 24. The sterile drape 5 continues from the tight-fitting section 53 and is configured to cover the surgical instrument manipulator 2. More specifically, the patch 531 is provided with a columnar protrusion, and the patch is provided with a groove. The protrusion cooperates with the groove, thereby more stably securing the sterile drape 5 to cover the outer periphery of the surgical instrument manipulator 2. It is worth noting that the length of the sterile drape 5 between the bottom of the support frame 21 and the arcuate segment 24 is greater than or equal to the maximum displacement of the support frame 21. Preferably, the sterile drape 5 includes a redundant portion located proximal to the support frame 21, which is fully extended and deployed when the support frame 21 reaches its distal end. The redundant portion prevents the surgical instrument manipulator 2 from pulling on the sterile drape 5 during movement, thereby affecting its coverage. Furthermore, the design of the support frame 21 prevents excess drape from drooping and tangling, potentially affecting the movement of the surgical instrument manipulator or surgical tools. It should be understood that when the support frame 21 moves toward the distal end along with the linear module assembly 22, the support frame 21 drives 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 segment 24 is folded along the gap between the support frame 21 and the surgical instrument manipulator 2. When the support frame 21 moves toward the proximal end along with the linear module assembly 22, the support frame 21 drives 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 segment 24 is extended and unfolded along the surface of the surgical instrument manipulator 2, thereby preventing excess curtain from drooping and entangled during movement, affecting the movement of the surgical instrument manipulator 2 and surgical tools.

[0077] The present invention also provides a method for covering a surgical robot with a sterile curtain, the surgical robot comprising: a base 1, at least one surgical instrument manipulator 2, at least one surgical tool 3, an adapter 4 and a sterile curtain 5. The at least one surgical instrument manipulator 2 is movably arranged on the base 1, the base 1 is used to support the surgical instrument manipulator 2, the adapter 4 is used to releasably fasten the surgical tool 3 to the distal end of the surgical instrument manipulator 2, and the distal end of the surgical tool 3 is provided with an end effector. The covering method comprises: first unfolding the folded sterile curtain 5 along the surgical instrument manipulator 2, the sterile curtain 5 comprising an annular member 52, and the sterile curtain 5 is bonded to the annular member 52 by glue and extends from the circumference of the annular member 52; fastening the annular member 52 detachably to the distal end of the surgical instrument manipulator 2 to position the distal end portion of the sterile curtain 5 at the distal end portion of the surgical instrument manipulator 2; extending the sterile curtain 5 along the distal end of the surgical instrument manipulator 2 toward the proximal end and covering the surgical instrument manipulator 2, and then folding the sterile curtain 5. The proximal end portion of the surgical instrument manipulator 2 is positioned at the proximal end portion of the surgical instrument manipulator 2; the sterile curtain 5 is closed and covered on the surgical instrument manipulator 2 by the first connection feature on the sterile curtain 5; the adapter 4 is rotatably mounted and connected to the annular member 52, and the surgical tool 3 is detachably mounted on the adapter 4 to allow the adapter 4 and the surgical tool 3 to rotate freely relative to the distal end of the surgical instrument manipulator 2, thereby ensuring that the movement of the surgical tool 3 is not affected and preventing the surgical tool 3 from rolling up the sterile curtain 5 during the rotational movement.

[0078] Preferably, the method further comprises covering at least a portion of the base 1 with a sterile drape 5 , thereby further preventing the base 1 from being contaminated during the surgical procedure.

[0079] In the preferred embodiment described above, the method further includes providing a plurality of flexible support rods 56 at intervals on the inner surface of the sterile drape 5. Specifically, the support rods 56 are thin strip structures and are provided at intervals along the movement direction of the surgical instrument manipulator 2. When the surgical instrument is retracted, the support rods 56 prevent excess sterile drape 5 from being entangled and drooping, thereby affecting the movement of the surgical instrument manipulator 2 or the surgical tool 3.

[0080] Preferably, the method further includes providing a close-fitting section 53 composed of a plurality of patches 531 on the inner surface of the sterile drape 5, a portion of the surgical instrument manipulator 2 being provided with a surface for fixing the patches 531, and the extended length of the surface for fixing the patches on the surgical instrument manipulator 2 being equal to the length of the close-fitting section 53. The patches are closely fitted to the patch so that the close-fitting section 53 is closely fitted to the portion of the surgical instrument manipulator 2, thereby ensuring that the sterile drape 5 remains in close contact during the movement of the surgical instrument manipulator 2 and does not sag or tangle, thereby affecting the movement of the surgical instrument manipulator 2 or the surgical tool 3.

[0081] In the above preferred embodiment, the method further includes providing a U-shaped support frame 21 around the outer periphery of the distal end of the surgical instrument manipulator 2. The support frame 21 is configured to be linearly movable along the direction in which the surgical instrument manipulator 2 extends. The bottom of the support frame 21 is located above the surgical instrument manipulator 2 with a gap therebetween. The bottom of the support frame 21 is provided with a surface for fixing the sterile drape 5, and the surface of the sterile drape 5 is tightly fitted to the bottom surface of the support frame 21. When the support frame 21 moves, the sterile drape 5 is driven to unfold along the surgical instrument manipulator 2 or to fully fold back excess drape to closely fit the shape of the instrument, thereby preventing excess drape from tangling or sagging, while allowing maximum freedom of movement during surgery.

[0082] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art 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 scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot sterile curtain system, characterized in that: include: at least one sterile curtain (5), the sterile curtain (5) comprising an annular member (52), and the sterile curtain (5) extending outward from the circumference of the annular member (52); At least one adapter (4), the adapter (4) being cylindrical, the annular member (52) being rotatably sleeved on the proximal end of the adapter (4); At least one surgical instrument manipulator (2), the at least one sterile curtain (5) is used to cover the at least one surgical instrument manipulator (2), a linear module assembly (22) is provided at the distal end of the surgical instrument manipulator (2), a drive module (23) is rotatably arranged on the linear module assembly (22), and the annular member (52) is used to be detachably connected to the distal end of the surgical instrument manipulator; at least one surgical tool (3), the at least one surgical tool (3) being releasably fastened to the distal end of the at least one surgical instrument manipulator (2) via the at least one adapter (4); A first engaging feature is provided on one side of the annular member (52), and a second engaging feature is provided on the distal end of the surgical instrument manipulator (2), wherein the first engaging feature and the second engaging feature engage with each other so that the annular member (52) and the surgical instrument manipulator (2) are detachably connected; The other side of the annular member (52) is provided with an engaging step (522) along the axial direction, and the proximal end of the adapter (4) is provided with an engaging groove (412), and the engaging groove (412) is engaged with the engaging step (522) and can rotate with each other, so that the adapter (4) rotates relative to the annular member (52).

2. The surgical robot sterile curtain system according to claim 1, characterized in that: Also includes: A base (1), wherein the at least one surgical instrument manipulator (2) is movably arranged on the base (1).

3. The surgical robot sterile curtain system according to claim 1, characterized in that: The inner peripheral surface of the engaging step (522) is provided with a chamfer (5221).

4. The surgical robot sterile curtain system according to claim 3, characterized in that: The inner peripheral end of the engaging groove (412) is provided with a guiding inclined surface (4121), and the guiding inclined surface (4121) cooperates with the chamfer (5221) of the inner peripheral surface of the engaging step (522) so that the engaging groove (412) and the engaging step (522) are engaged and can rotate relative to each other.

5. The surgical robot sterile curtain system according to claim 1, characterized in that: The at least one sterile drape (5) includes a first sterile drape (54) receiving the surgical instrument manipulator (2); The first sterile curtain (54) includes an inner surface and an outer surface, the outer surface is arranged to be adjacent to the sterile surgical tool (3), and the inner surface is arranged to be adjacent to the non-sterile surgical instrument manipulator (2); The first sterile curtain (54) includes a first curtain portion (541) for receiving the distal end portion of the surgical instrument manipulator (2) and a second curtain portion (542) for receiving the proximal end portion of the surgical instrument manipulator (2).

6. The surgical robot sterile curtain system according to claim 5, characterized in that: A tight-fitting section (53) is provided on the inner surface of the first curtain portion (541), and a portion of the surgical instrument manipulator (2) is provided with a surface for fixing the tight-fitting section (53).

7. The surgical robot sterile curtain system according to claim 2, characterized in that: The at least one sterile drape (5) includes a second sterile drape (55) receiving at least a portion of the base (1); The second sterile curtain (55) includes an inner surface and an outer surface, the outer surface being arranged to be adjacent to the sterile surgical tool (3) and the inner surface being arranged to be adjacent to the non-sterile base (1).

8. The surgical robot sterile curtain system according to claim 5, characterized in that: A plurality of flexible support rods (56) arranged at intervals are also provided on the inner surface.

9. The surgical robot sterile curtain system according to any one of claims 1 to 8, characterized in that: The sterile curtain (5) is a sheet-shaped and / or bag-shaped structure.

10. The surgical robot sterile curtain system according to claim 2 or 7, characterized in that: The sterile curtain (5) is provided with a first connection feature, which is configured to enable the sterile curtain (5) to cover at least a portion of the surgical instrument manipulator (2) or the base (1) of the surgical robot in a closed manner.

11. The surgical robot sterile curtain system according to claim 5, characterized in that: The second curtain portion (542) includes two parts that are separated from each other, wherein one part is configured to receive the proximal portion of the surgical instrument manipulator (2), and the other part is configured to receive the middle portion of the surgical instrument manipulator (2).

12. The surgical robot sterile curtain system according to any one of claims 1-8 and 11, characterized in that: Also includes: At least one support frame is arranged around the outer periphery of the distal end of the at least one surgical instrument manipulator (2) and can move linearly along the direction in which the surgical instrument manipulator (2) extends, and the bottom of the support frame is located above the surgical instrument manipulator (2) and there is a gap between them.

13. The surgical robot sterile curtain system according to claim 12, characterized in that: The bottom of the support frame is provided with a surface for fixing the sterile curtain (5).

14. The surgical robot sterile curtain system according to claim 13, characterized in that: The sterile curtain (5) includes a redundant portion located at the proximal end of the support frame.

15. The surgical robot sterile curtain system according to claim 14, characterized in that: When the support frame moves toward the distal end, it drives the redundant portion of the sterile curtain (5) to extend and unfold along the surface of the surgical instrument manipulator (2), and drives a portion of the sterile curtain (5) located between the support frame and the surgical instrument manipulator (2) to fold along the gap; or When the support frame moves toward the proximal end, it drives the redundant portion of the sterile curtain (5) to fold and retract at the proximal end of the support frame, and drives a portion of the sterile curtain (5) located between the support frame and the surgical instrument manipulator (2) to extend and unfold along the surface of the surgical instrument manipulator (2).

16. A method for covering a surgical robot with a sterile curtain (5), characterized in that: The surgical robot comprises: at least one surgical instrument manipulator (2); at least one adapter (4) disposed at the distal end of the at least one surgical instrument manipulator (2); At least one sterile curtain (5) according to any one of claims 1 to 15; The coverage methods include: detachably connecting the annular member (52) to the distal end of the surgical instrument manipulator (2) to position the distal end portion of the sterile drape (5) at the distal end portion of the surgical instrument manipulator (2); Extending a sterile curtain (5) along the distal end of the surgical instrument manipulator (2) toward the proximal end to cover the surgical instrument manipulator (2); Positioning the proximal end portion of the sterile drape (5) on the proximal end portion of the surgical instrument manipulator (2); The sterile curtain (5) is tightly covered on the surgical instrument manipulator (2) by a first connection feature on the sterile curtain (5); The adapter (4) is rotatably mounted in connection with the ring (52) to allow the adapter (4) to freely rotate relative to the distal end of the surgical instrument manipulator (2).

17. The covering method according to claim 16, characterized in that: The inner surface of the sterile curtain (5) is provided with a tightly fitting section (53) composed of a plurality of patches, and a portion of the surgical instrument manipulator (2) is provided with a surface for fixing the patches; The method further comprises: closely fitting the patch to the surface of the surgical instrument manipulator (2) so that the closely fitting section (53) closely fits a portion of the surgical instrument manipulator (2).

18. The covering method according to claim 17, characterized in that: The surgical robot further comprises a support frame arranged around the outer periphery of the distal end of the surgical instrument manipulator (2), the support frame being arranged to be able to move linearly along the direction in which the surgical instrument manipulator (2) extends, the bottom of the support frame being located above the surgical instrument manipulator (2) and having a gap therebetween, and the bottom of the support frame being provided with a surface for fixing the sterile curtain (5); The method further comprises: closely fitting the surface of the sterile curtain (5) to the bottom surface of the support frame.

19. The covering method according to claim 16, characterized in that: The method further comprises covering at least a portion of the base (1) of the surgical robot with the sterile drape (5).

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