Sterile drape protection device and surgical robot

Abstract

The application relates to the field of medical instruments and discloses a sterile cover protection device and a surgical robot. The sterile cover protection device comprises a protection plate and a reel. The reel is fixedly arranged on a rotating disc of the surgical robot. One end of the protection plate is arranged in a winding manner on the reel. The other end of the protection plate is fixedly connected to an instrument driving seat. During up-down movement of the instrument driving seat relative to the rotating disc, the protection plate can be wound and unwound. The protection plate always maintains a vertical and stretched supporting state between the instrument driving seat and the rotating disc, prevents the sterile cover from entering the movement track range of the instrument driving seat, and thus can avoid scratching the adjacent sterile cover when different instrument driving seats move up and down, so that the sterile cover is prevented from being damaged, and the progress and safety of the operation are affected.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a sterile protective cover device and a surgical robot. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device on the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. Based on the surgeon's input at the surgeon's console, the remotely operated surgical instruments are actuated at the patient-side trolley to perform surgery on the patient, thus establishing a master-slave control relationship between the surgeon's console and the surgical instruments on the patient-side trolley. During robot-assisted minimally invasive surgery, the surgeon performs surgical tasks using slender, minimally invasive surgical instruments, requiring the area adjacent to the patient to be kept under sterile conditions. However, the motors, sensors, encoders, and electrical connectors necessary for controlling the movement of the surgical instruments often cannot be sterilized using conventional methods such as steam, heat, or chemicals. Therefore, they need to be isolated from the surgical instruments, typically using sterile covers to achieve this.

[0004] The sterile covers used in multi-port surgical robots differ from those used in single-port surgical robots. Single-port surgical robots use sterile covers with multiple cylindrical sections (similar to four sleeves on a garment) at one end, covering the instrument movement platform. Each cylindrical section covers one instrument drive seat. However, during surgery, each instrument drive seat moves independently up and down, occasionally scraping against the cylindrical sterile cover outside an adjacent instrument drive seat, causing damage and affecting surgical safety and progress.

[0005] Chinese patent CN102892376B discloses a sterile veil for a surgical system, which includes two parts: a sterile cover covering the robotic arm and a sterile cover covering the instrument movement platform. The two sterile covers are connected by a rotatable seal, which solves the problem of interference when the original one-piece sterile cover of the instrument movement platform moves up and down during the operation of the surgical robot. However, the rotatable seal is difficult to manufacture and generally requires the use of special tools disclosed in Chinese patent CN109561939B, resulting in high manufacturing costs and inconvenient assembly. Summary of the Invention

[0006] The purpose of this invention is to provide a sterile cover protection device that is low in manufacturing cost, simple to process, and can solve the problem of sterile cover damage caused by rubbing against the sterile cover outside the adjacent instrument drive seat when the instrument drive seat moves up and down.

[0007] To address the aforementioned technical problems, embodiments of the present invention provide a technical solution comprising:

[0008] A sterile cover protection device includes a protective plate and a reel. The reel is fixedly mounted on the turntable of a surgical robot. One end of the protective plate is wound around the reel, and the other end of the protective plate is fixed to an instrument drive seat. The instrument drive seat is connected to the turntable via a guide rail and can move up and down relative to the turntable. The protective plate can be wound up and unwound as it moves up and down with the instrument drive seat, maintaining a vertically extended support state between the turntable and the instrument drive seat.

[0009] Furthermore, it also includes a power source connected to the reel to assist in the winding or unwinding of the protective plate.

[0010] Furthermore, the power source is a coil spring installed inside the reel, which can cause the protective plate to be wound onto the reel when the protective plate moves toward the turntable along with the instrument drive seat.

[0011] Furthermore, each of the aforementioned instrument drive seats is provided with a protective plate, which is arranged parallel to the guide rail.

[0012] Furthermore, each of the aforementioned instrument drive seats is provided with a plurality of the aforementioned protective plates, one end of which is fixed to a side of the instrument drive seat other than the plane where the guide rail is located.

[0013] Furthermore, the turntable includes a base and a cover that fits over the lower part of the base, and the side of the base and the cover that are in contact with each other is provided with a groove for accommodating and fixing the scroll.

[0014] Furthermore, the base and cover are provided with guide rail through holes corresponding to the instrument drive seat, the mounting groove is provided on one side of the guide rail through hole corresponding to the instrument drive seat, and the protective plate passes through the guide rail through hole and is fixedly connected to the instrument drive seat.

[0015] Furthermore, the protective plate is made of flexible material or is a mesh structure woven from flexible material.

[0016] The present invention also provides a surgical robot, including a robotic arm, a turntable connected to the end of the robotic arm, and an instrument drive seat connected to the turntable, wherein a sterile shield protection device as described above is provided between the instrument drive seat and the turntable.

[0017] Compared with the prior art, the sterile hood protection device of the present invention uses a protective plate disposed between the turntable and the instrument drive seat. One end of the protective plate is fixedly connected to the instrument drive seat. During the up-and-down movement of the instrument drive seat relative to the turntable, the protective plate can be rolled up and unrolled. The protective plate always maintains a vertically extended support state between the instrument drive seat and the turntable, preventing the sterile hood from entering the movement trajectory range of the instrument drive seat. This avoids the sterile hood from being scratched by adjacent sterile hoods when different instrument drive seats move up and down relative to each other, causing damage to the sterile hood and affecting the progress and safety of the operation. Attached Figure Description

[0018] Figure 1 This is the structure of the surgical robot body in the working state of the sterile cover protection device in one embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the installation position of the sterile cover protection device in one embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the assembly structure of the sterile cover protection device and the instrument drive seat in one embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the installation structure of the aseptic cover protection device roller and turntable in one embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the sterile cover protection device and the rotating plate installation structure in one embodiment of the present invention.

[0023] Explanation of reference numerals in the attached drawings: 1. Sterile hood; 11. Shell; 2. Sterile hood protection device; 21. Roller; 22. Protective plate; 23. Connecting hole; 24. Folded edge; 3. Turntable; 31. Base; 32. Cover; 33. Guide rail through hole; 34. Mounting slot; 4. Instrument drive seat; 41. Fixing hole; 5. Instrument box; 6. Guide rail; 7. Robotic arm. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] In the first embodiment, such as Figures 1 to 3 As shown, the surgical robot includes a robotic arm 7, with a turntable 3 connected to the end of the robotic arm 7. One end of a guide rail 6 is fixedly connected to the turntable 3, and the other end of the guide rail 6 is fixedly connected to an instrument drive seat 4. An instrument box 5 is detachably connected to the instrument drive seat 4. The end of the instrument box 5 contains surgical instruments. Doctors can operate the surgical instruments in a non-contact manner to perform actions such as opening, rotating, cutting, and grasping, thereby treating diseases.

[0026] To ensure a sterile environment for surgical operations, a sterile cover 1 is used to cover the body of the surgical robot for isolation. The sterile cover 1 is a cavity structure containing a shell 11 made of a flexible film. One end of the sterile cover 1 is fixed to the robotic arm 7, and the other end extends to cover the lower side of the instrument drive seat 4. A sterile cover protection device 2 is provided in the internal space enclosed by the sterile cover shell 11. One end of the sterile cover protection device 2 is fixed to the turntable 3, and the other end is fixed to the instrument drive seat 4. During use, according to the movement requirements of the surgical instruments, the instrument drive seat 4 will move up and down below the turntable 3 following the contraction and extension of the guide rail 6. The sterile cover protection device 2, which is fixed between the turntable 3 and the instrument drive seat 4, will synchronously change its length as the instrument drive seat moves.

[0027] like Figure 3 , Figure 4 , Figure 5As shown, the sterile hood protection device 2 includes a roller 21 and a flexible protective plate 22 that is wound around the roller 21 at one end. The flexible protective plate 22 can be made of a flexible material or a mesh structure woven from a flexible material, such as a mesh structure panel made of multiple steel wires woven vertically. This flexible material can ensure good winding and unwinding, while the portion of the protective plate between the roller 21 and the instrument drive seat 4 remains straight to meet the purpose of the present invention. The spool 21 is connected to a power source, which assists in the winding or unwinding of the protective plate. For example, the power source is a coil spring installed inside the spool. The protective plate 22 can be wound onto the spool 21 under the action of the coil spring. The spool 21 is fixedly installed inside the turntable 3. The other end of the protective plate 22 is fixedly connected to the lower side of the instrument drive seat 4. In one embodiment, the turntable 3 includes a base 31, a cover 32 covering the lower end of the base 31, and guide rail through holes 33 penetrating the base 31 and the cover 32. The guide rail through holes 33 are correspondingly provided to the instrument drive seat 4. There are four guide rail through holes 33. Mounting grooves 34 for accommodating the spool 21 are correspondingly provided on the base 31 and the cover 32. The mounting grooves 34 are located on one side of the guide rail through holes 33 corresponding to the instrument drive seat 4. One end of the protective plate 22 is wound around the spool 21. The other end of the protective plate 22 passes through the guide rail through hole 33 on the cover 32 and is fixedly connected to the instrument drive seat 4. The protective plate 22 is arranged parallel to the guide rail 6. One protective plate 22 is provided on each instrument drive seat 4, that is, the number of sterile cover protection devices 2 is the same as the number of instrument drive seats 4. The width of the protective plate 22 is the same as the width of the plane on which the vertical movement trajectory of the instrument drive seat 4 is located. Of course, the width of the protective plate 22 is slightly larger or slightly smaller than the width of the plane on which the vertical movement trajectory of the instrument drive seat 4 is located, which does not affect the use effect. The end of the protective plate 22 connected to the instrument drive seat 4 is provided with a 90° folded edge 24. The folded edge 24 is provided with a connecting hole 23. The lower surface of the instrument drive seat 4 is provided with a fixing hole 41 corresponding to the connecting hole 23. Fasteners are passed through the connecting hole 23 and inserted into the fixing hole 41 to fix one end of the protective plate 22 to the instrument drive seat 4. Of course, the protective plate 22 and the instrument drive seat 4 can also be fixedly connected in other ways. For example, without setting the connection hole 23 and the fixing hole 41, the protective plate 22 and the lower surface of the instrument drive seat 4 can be fixedly connected by adhesive such as glue. Alternatively, a design without folded edges can be adopted, with the connection hole 23 set directly at the end of the protective plate 22 and the fixing hole 41 set on the side of the instrument drive seat 4 opposite to the guide rail 6. Fasteners can be used to fix the protective plate 22 and the instrument drive seat 4. Alternatively, the design of the connection hole 23 and the fixing hole 41 can be omitted, and the protective plate 22 and the side of the instrument drive seat 4 can be fixedly connected by adhesive such as glue.

[0028] In use, when the instrument drive seat 4 moves away from the turntable 3 under the drive of the motor, one end of the protective plate 22 is fixedly connected to the instrument drive seat 4. Under the drive of the instrument drive seat 4, the protective plate 22 can be unwound from the scroll 21, so that the protective plate 22 exposed outside the scroll 21 becomes longer as the instrument drive seat 4 moves. When the instrument drive seat 4 moves closer to the turntable 3 under the drive of the motor, the protective plate 22 is wound back onto the scroll 21 under the drive of the coil spring, so that the protective plate 22 exposed outside the scroll 21 becomes shorter as the instrument drive seat 4 moves. During the up-and-down movement of the instrument drive seat 4, the protective plate 22 can always extend vertically between the turntable 3 and the instrument drive seat 4, preventing the sterile cover 1 from entering the movement trajectory of the instrument drive seat 4. Each instrument drive seat 4 is provided with a protective plate. Therefore, under the action of the protective plate 22, the sterile cover 1 covering the instrument drive seat 4 will not enter the movement trajectory of the adjacent instrument drive seat 4 with a protective plate. This can prevent different instrument drive seats 4 from scraping against the sterile cover 1 covering the adjacent instrument drive seat 4 when they move up and down independently, causing damage and affecting the progress and safety of the operation.

[0029] The second embodiment of the present invention is largely the same as the first embodiment, with the main difference being that: two sterile cover protection devices 2 are provided between the instrument drive seat 4 and the turntable 3, opposite to each instrument drive seat 4. That is, two protective plates 22 are fixedly connected to each instrument drive seat. One end of the protective plate 22 can be fixedly installed on two sides adjacent to the plane of the instrument drive seat with the guide rail 6. The protective plate 22 can play a better protective and support role on the trajectory of the instrument drive seat 4 moving up and down, avoiding damage to the sterile cover 1 of the adjacent instrument drive seat 4 when different instrument drive seats 4 move up and down independently. Of course, the protective plates 22 can also be installed on other sides of the instrument drive seat 4 other than the side with the guide rail 6, with two or more sterile cover protection devices 2 provided for each instrument drive seat 4. However, although this method can achieve a more comprehensive protection effect, it increases the cost and complicates the assembly compared to the design of setting one sterile cover protection device for each instrument drive seat 4.

[0030] In another embodiment of the sterile cover protection device 2, the power source is a motor connected to the reel, which assists in the winding and unwinding of the protection plate 22. It can also keep the protection plate 22 vertically supported between the turntable 3 and the instrument drive seat 4, while reducing the pressure on the lifting motor of the guide rail 6. This implementation method is more expensive and has a more complex structure compared to the coil spring design.

[0031] All of the above embodiments can achieve the purpose of the present invention, and can be comprehensively considered according to the actual needs of the product and the application scenario.

[0032] The present invention also provides a surgical robot, including a robotic arm, a turntable connected to the end of the robotic arm, and an instrument drive seat connected to the turntable, wherein a sterile shield protection device as described above is provided between the instrument drive seat and the turntable.

[0033] The sterile hood protection device of the present invention is disposed between the turntable and the instrument drive seat. One end is fixedly connected to the turntable, and the other end is fixedly connected to the instrument drive seat. The sterile hood protection device includes a protective plate, one end of which is fixedly connected to the instrument drive seat. During the up-and-down movement of the instrument drive seat relative to the turntable, the protective plate can be rolled up and unrolled. The protective plate always maintains a vertically extended support state between the instrument drive seat and the turntable, preventing the sterile hood from entering the movement trajectory range of the instrument drive seat. This avoids the sterile hood from rubbing against adjacent sterile hoods when different instrument drive seats move up and down relative to each other, causing damage to the sterile hood and affecting the progress and safety of the surgery.

[0034] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A sterile cover protection device, characterized in that, The device includes a protective plate and a reel. The reel is fixedly mounted on the turntable of the surgical robot. One end of the protective plate is wound onto the reel, and the other end is fixed to an instrument drive seat. The instrument drive seat is connected to the turntable via a guide rail and can move up and down relative to the turntable. The protective plate can be wound up and unwound following the up and down movement of the instrument drive seat, maintaining a vertically extended support state between the turntable and the instrument drive seat. When the instrument drive seat moves away from the turntable under the drive of a motor, one end of the protective plate is fixedly connected to the instrument drive seat. Under the drive of the instrument drive seat, the protective plate can be unwound from the reel, so that the protective plate exposed outside the reel becomes longer as the instrument drive seat moves. When the instrument drive seat moves closer to the turntable under the drive of a motor, the protective plate is wound onto the reel under the drive of a coil spring, so that the protective plate exposed outside the reel becomes shorter as the instrument drive seat moves. It also includes a power source connected to the reel to assist in the winding or unwinding of the protective plate.

2. The sterile cover protection device according to claim 1, characterized in that, The power source is a coil spring installed inside the reel. The coil spring can cause the protective plate to be wound onto the reel when the protective plate moves toward the turntable along with the instrument drive seat.

3. The sterile cover protection device according to claim 1, characterized in that, Each of the aforementioned instrument drive seats is provided with a protective plate, which is arranged parallel to the guide rail.

4. The sterile cover protection device according to claim 1, characterized in that, Each of the aforementioned instrument drive seats is provided with multiple protective plates, one end of which is fixed to a side of the instrument drive seat other than the plane where the guide rail is located.

5. The sterile cover protection device according to claim 1, characterized in that, The turntable includes a base and a cover that fits over the lower part of the base. The side of the base and the cover that are in contact with each other is provided with a groove for accommodating and fixing the scroll.

6. The sterile cover protection device according to claim 5, characterized in that, The base and cover are provided with guide rail through holes corresponding to the instrument drive seat. The mounting groove is provided on one side of the guide rail through hole, corresponding to the instrument drive seat. The protective plate passes through the guide rail through hole and is fixedly connected to the instrument drive seat.

7. The sterile cover protection device according to any one of claims 1 to 6, characterized in that, The protective plate is made of flexible material.

8. The sterile hood protection device according to any one of claims 1 to 6, characterized in that, The protective plate is a mesh structure woven from flexible material.

9. A surgical robot, comprising a robotic arm, a turntable connected to the end of the robotic arm, and an instrument drive unit connected to the turntable, characterized in that, A sterile shield protection device according to any one of claims 1 to 8 is provided between the instrument drive seat and the turntable.

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