A sterile adapter, a sterile barrier, and a medical system

Abstract

The application belongs to the technical field of medical equipment, and discloses a sterile adapter, a sterile barrier and a medical system. The sterile adapter comprises a shell, a coupling disc and a brake, the shell is provided with a through mounting hole, the shell is configured to be mounted on a driving device; the coupling disc is rotationally arranged in the mounting hole, and the coupling disc can be in transmission connection with an output end of the driving device; the brake is connected with the shell and can be switched between an unlocking position and a locking position, the brake is configured to lock the coupling disc and the shell in the locking position, and when the shell is mounted on the driving device, the brake can be driven by the driving device to move from the locking position to the unlocking position to release the locking state of the coupling disc and the shell. Before the sterile adapter and the driving device are assembled, the brake can lock the position of the coupling disc and the shell, so that the coupling disc is at an initial angle, and the assembly difficulty is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more particularly to a sterile adapter, a sterile barrier, and a medical system. Background Technology

[0002] A robotic surgical system is a complex system comprising an electronic display system, a robotic arm, and surgical instruments. The robotic arm has one or more motors that can actuate one or more degrees of freedom of the surgical instruments as they are positioned at the surgical site within the patient's body, based on commands from the operator. The close proximity of the robotic arm to the patient makes its sterility crucial for surgical success; however, the robotic arm contains numerous components (e.g., motors, encoders, sensors), making it practically impossible to sterilize using conventional methods such as steam or heating. One solution for maintaining sterility is to provide a sterile barrier between the robotic arm and the surgical instruments, isolating the robotic arm (non-sterile) from the surgical instruments (sterile) without interfering with the robotic arm's actuation of the instruments, and allowing the transmission of simple signals, such as disassembly / removal signals, between the robotic arm and the surgical instruments.

[0003] Current sterile barriers primarily consist of a flexible membrane with sterile adapters connected to it, compatible with drive units and surgical instruments. These adapters need to transmit actuation forces and signals. The sterile adapter includes a coupling disc and a plate assembly. The coupling disc is rotatably connected to the plate assembly to precisely transmit the robotic arm's actuation torque to the surgical instruments. This results in the coupling disc's angle being variable during installation with the robotic arm or surgical instruments, requiring adjustment to the desired angle for engagement, increasing the difficulty of assembly and docking. Summary of the Invention

[0004] One objective of this invention is to provide a sterile adapter that solves the problem in the prior art where the angle of the coupling plate needs to be adjusted for docking, resulting in a high difficulty in assembly and docking.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A sterile adapter, comprising:

[0007] A housing having a through mounting hole, the housing being configured to be mounted on a drive unit;

[0008] A coupling disk is rotatably disposed within the mounting hole, and the coupling disk can be connected to the output end of the drive device for transmission.

[0009] A braking element, connected to the housing and switchable between an unlocked position and a locked position, is configured to lock the coupling disc and the housing in the locked position, and to be driven by the drive device to move from the locked position to the unlocked position when the housing is mounted on the drive device, thereby releasing the locked state of the coupling disc and the housing.

[0010] In this configuration, one of the coupling disk and the braking component is provided with a protrusion, and the other is provided with a groove that mates with the protrusion.

[0011] When the brake element is in the unlocked position, the protrusion and the groove disengage.

[0012] The housing includes a top plate and a bottom plate that are fixedly connected. The bottom plate can be mounted on the drive device. A mounting cavity for accommodating the brake component is formed between the top plate and the bottom plate. The brake component is movably disposed in the mounting cavity. The brake component is provided with a pushing part that can extend out of the housing and abut against the drive device to drive the brake component to move relative to the housing.

[0013] The groove is a through groove extending along the arrangement direction of the top plate and the bottom plate, and the braking component can move within the mounting cavity along the arrangement direction of the top plate and the bottom plate.

[0014] The brake component is provided with a clearance hole, and an elastic arm is provided in the clearance hole. One end of the elastic arm is connected to the side wall of the clearance hole, and the other end abuts against the top plate.

[0015] The elastic arm includes a first connecting arm and a second connecting arm arranged at an angle. One end of the first connecting arm is connected to the inner wall of the clearance hole, and the two ends of the second connecting arm abut against the top plate and the bottom plate, respectively.

[0016] The top plate has a protrusion on its bottom surface and / or the bottom plate has a protrusion that can abut against the bottom plate or the top plate.

[0017] The top plate and the bottom plate are detachably connected.

[0018] The base plate is provided with a snap-fit ​​arm that extends along the arrangement direction of the top plate and the base plate. One end of the snap-fit ​​arm extends upward from the top surface of the base plate and passes through the top plate, while the other end extends downward from the bottom surface of the base plate and can snap into the drive device.

[0019] The base plate is configured with a flexible structure at the connection point with the snap-fit ​​arm, so that the snap-fit ​​arm can rotate relative to the base plate.

[0020] The base plate is provided with at least one set of snap-fit ​​arms, each set of snap-fit ​​arms includes two snap-fit ​​arms arranged opposite each other, and each snap-fit ​​arm has a buckle on the side of its bottom end facing the other snap-fit ​​arm in the same set.

[0021] The number of coupling discs is multiple, and the braking component can cooperate with multiple coupling discs to simultaneously lock or unlock multiple coupling discs to the housing.

[0022] The plurality of coupling disks are arranged in at least two rows, and a braking element is provided between each two adjacent rows of coupling disks. The braking element cooperates with the two rows of coupling disks respectively.

[0023] The coupling disk has coupling structures on both its top and bottom surfaces, and these coupling structures can be connected to the coupling parts on the drive device or surgical instrument.

[0024] The coupling structure is either a protruding or recessed structure, and is a non-rotational structure, with at least two opposite outer contours of the coupling structure having different shapes.

[0025] The coupling disk is configured to be connected to the drive device and the surgical instrument at both ends along the axial direction, respectively. The sterile adapter also includes an indicator pin. The housing is provided with a sliding through hole, and the indicator pin is slidably disposed in the sliding through hole. The indicator pin is configured to trigger the sensor on the drive device when pushed by the surgical instrument.

[0026] The indicator pin includes a pin shaft and a limiting flange protruding radially along the pin shaft. The sliding through hole includes a first diameter segment, a second diameter segment, and a third diameter segment connected in sequence. The diameters of the first diameter segment and the second diameter segment are both smaller than the diameter of the second diameter segment. The diameters of the first diameter segment and the second diameter segment are both larger than the diameter of the pin shaft and smaller than the diameter of the limiting flange. The diameter of the limiting flange is smaller than the diameter of the second diameter segment. The limiting flange is located within the second diameter segment. The axial dimension of the second diameter segment is larger than the axial dimension of the limiting flange.

[0027] The housing includes a top plate and a bottom plate that are fixedly connected. The first aperture section and the second aperture section are disposed on the bottom plate, and the third aperture section is disposed on the top plate.

[0028] Another objective of this invention is to provide a sterile barrier that solves the problem of difficult assembly and docking of sterile barriers in the prior art.

[0029] To achieve this objective, the present invention adopts the following technical solution:

[0030] A sterile barrier includes a sterile cover and the aforementioned sterile adapter, wherein the housing is connected to the sterile cover, one axial end of the mounting hole communicates with the inner side of the sterile cover, and the other axial end of the mounting hole communicates with the outer side of the sterile cover.

[0031] Another objective of this invention is to provide a medical system that solves the problem of the difficulty in assembling and connecting existing sterile barriers and drive devices.

[0032] To achieve this objective, the present invention adopts the following technical solution:

[0033] A medical system includes a drive device, surgical instruments, and a sterile barrier, wherein the drive device is disposed within the sterile barrier, the surgical instruments are disposed outside the sterile barrier, one end of a coupling disk is drivenly connected to the output end of the drive device, and the other end of the coupling disk is drivenly connected to the surgical instruments.

[0034] The driving device includes a robotic arm and a driving unit disposed at the end of the robotic arm, the output end of which is connected to the coupling disk.

[0035] The beneficial effects of this invention are:

[0036] In the sterile adapter provided by the present invention, before the sterile adapter is assembled with the drive device, the braking component can lock the position of the coupling disc and the housing so that the coupling disc is at the initial angle, which facilitates the assembly of the coupling disc with the drive device and surgical instruments and reduces the assembly difficulty; after the sterile adapter is assembled with the drive device, the braking component can release the locking state of the coupling disc and the housing under the action of the drive device so that the coupling disc can transmit the actuation torque of the drive device so that the drive device can be connected to the surgical instruments.

[0037] By adopting the aforementioned sterile adapter, sterile barriers and medical systems can reduce the assembly difficulty of sterile barriers, drive devices, and surgical instruments, thus facilitating assembly. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the medical system provided by the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of the sterile barrier provided by the present invention;

[0040] Figure 3 This is a schematic diagram of the assembled structure of the drive unit, sterile adapter, and surgical instruments provided by the present invention;

[0041] Figure 4 This is a schematic diagram of the drive unit, sterile adapter, and surgical instruments provided by the present invention before assembly;

[0042] Figure 5 This is a schematic diagram of the structure of the sterile adapter provided by the present invention;

[0043] Figure 6 This is an exploded view of the sterile adapter provided by the present invention;

[0044] Figure 7 This is a schematic diagram of the aseptic adapter provided by the present invention without the top plate assembled;

[0045] Figure 8 This is a cross-sectional view of the sterile adapter provided by the present invention when the braking component locks the housing and coupling disc. Figure 1 ;

[0046] Figure 9 This is a cross-sectional view of the sterile adapter provided by the present invention when the braking component locks the housing and coupling disc. Figure 2 ;

[0047] Figure 10 This is a cross-sectional view of the sterile adapter provided by the present invention when the braking component unlocks the housing and coupling disc. Figure 1 ;

[0048] Figure 11 This is a cross-sectional view of the sterile adapter provided by the present invention when the braking component unlocks the housing and coupling disc. Figure 2 ;

[0049] Figure 12 This is a front view of the surgical instrument provided by the present invention;

[0050] Figure 13 This is a schematic diagram of the assembled structure of the sterile adapter and surgical instruments provided by the present invention. Figure 1 ;

[0051] Figure 14 This is a schematic diagram of the assembled structure of the sterile adapter and surgical instruments provided by the present invention. Figure 2 ;

[0052] Figure 15 This is a schematic diagram of the structure of the sterile adapter and drive unit provided by the present invention when they are not assembled;

[0053] Figure 16 This is a schematic diagram of the structure of the base plate provided by the present invention;

[0054] Figure 17 This is a partial structural diagram of the aseptic adapter and drive unit provided by the present invention during assembly.

[0055] In the picture:

[0056] 100. Drive device; 110. Robotic arm; 120. Drive unit; 1201. Locking hole; 1202. First mounting surface; 1203. First coupling part; 1204. Sensor; 200. Surgical instrument; 2001. Second mounting surface; 2002. Claw; 2003. Second coupling part; 2004. Second locking slot; 2005. Pin; 300. Sterile barrier; 310. Sterile drape; 320. Sterile adapter; 1. Housing; 11. Top plate; 111. First locking slot; 112. Locking protrusion; 12. Bottom plate; 121. Locking arm; 1211. Buckle; 122. Recess; 2. Coupling disc; 21. Coupling structure; 22. Protrusion; 3. Braking element; 31. Groove; 32. Pushing part; 33. Elastic arm; 4. Indicator pin; 41. Pin shaft; 42. Limiting flange. Detailed Implementation

[0057] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0058] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0059] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0060] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0061] This embodiment provides a medical system that can be used in surgical procedures. For example... Figure 1 As shown, the medical system includes a drive unit 100, a display device, and surgical instruments 200. The drive unit 100 drives the end effector of the surgical instruments 200 to achieve one or more degrees of freedom, enabling the surgical instruments 200 to perform surgical operations. The display device displays images of the surgical site and various surgical parameters, allowing medical personnel to use the medical system.

[0062] To prevent surgical site infection, both the drive device 100 and the surgical instruments 200 must be sterile. However, because the drive device 100 contains electrical components such as a motor, encoder, and sensors, it cannot be sterilized using conventional methods (such as steam sterilization or heat sterilization). Therefore, the medical system in this embodiment also includes a sterile barrier 300, which covers the drive device 100 to separate it from the medical instruments. This separates the non-sterile modules from the sterile modules, ensuring that all modules in contact with the surgical site are sterile, thus guaranteeing a sterile surgical environment.

[0063] Optionally, the drive device 100 includes a robotic arm 110 and a drive unit 120. The drive unit 120 is located at the end of the robotic arm 110. The robotic arm 110 drives the drive unit 120 to rotate. The output end of the drive unit 120 is used to drive the surgical instrument 200 to move relative to the robotic arm 110, so that the surgical instrument 200 can perform surgical actions flexibly.

[0064] like Figure 2 As shown, the sterile barrier 300 includes a sterile drape 310 and a sterile adapter 320. The sterile adapter 320 is connected to the sterile drape 310. The sterile adapter 320 has a first adapter surface located inside the sterile drape 310 and a second adapter surface located outside the sterile drape 310. The first adapter surface is used to assemble with the drive device 100, and the second adapter surface is assembled with the surgical instrument 200, so that the drive device 100 transmits actuation torque to the surgical instrument 200 through the sterile adapter 320 to drive the surgical instrument 200 to move.

[0065] like Figure 3As shown, the opposite sides of the sterile adapter 320 can respectively interface with the drive unit 120 and the surgical instrument 200, and drive the drive unit 120 and the surgical instrument 200, so as to achieve normal transmission while isolating the drive device 100 from the surgical instrument 200. Figure 4 As shown, both the drive unit 120 and the surgical instrument 200 are provided with coupling parts. For ease of explanation, the coupling part on the drive unit 120 is the first coupling part 1203, and the coupling part on the surgical instrument 200 is the second coupling part 2003. Both the first coupling part 1203 and the second coupling part 2003 are in transmission cooperation with the sterile adapter 320.

[0066] like Figure 5 As shown, the sterile adapter 320 includes a housing 1 and a coupling disk 2. The housing 1 has a first adapter surface and a second adapter surface disposed opposite to each other. The housing 1 is provided with a mounting hole penetrating the first adapter surface and the second adapter surface. The coupling disk 2 is rotatably disposed in the mounting hole. The two ends of the coupling disk 2 along the axial direction are exposed outside the housing 1 through the two ends of the mounting hole, and a coupling structure 21 is provided on both ends of the coupling disk 2 along the axial direction. The coupling structure 21 can dock with the first coupling part 1203 or the second coupling part 2003 on the corresponding side to realize the transmission of actuation torque, thereby driving the surgical instrument 200 to move through the drive unit 120.

[0067] Because the coupling disk 2 needs to rotate relative to the housing 1 to transmit torque, the angle of the coupling disk 2 is uncertain when the sterile adapter 320 is installed with the drive unit 120. The coupling disk 2 needs to be adjusted to the required angle for engagement, which increases the difficulty of assembly and docking.

[0068] To solve the above problems, such as Figure 6 As shown, the sterile adapter 320 also includes a braking element 3, which is connected to the housing 1. The braking element 3 locks the coupling disc 2 and the housing 1, preventing the coupling disc 2 from rotating relative to the housing 1. This ensures that the coupling disc 2 remains at its initial angle when the sterile adapter 320 is not assembled with the drive unit 120, facilitating docking between the coupling disc 2 and the drive unit 120. When the housing 1 of the sterile adapter 320 is installed on the drive device 100, the braking element 3 can release the locking state of the coupling disc 2 and the housing 1 under the action of the drive device 100, allowing the coupling disc 2 to rotate relative to the housing 1 after the sterile adapter 320 is installed with the drive device 100, thereby transmitting actuation torque.

[0069] To facilitate the assembly of the brake component 3 with the housing 1, the housing 1 includes a top plate 11 and a bottom plate 12 that are detachably connected, with the brake component 3 disposed between the top plate 11 and the bottom plate 12. Specifically, the top plate 11 and the bottom plate 12 are connected by screws for easy assembly and disassembly. The top plate 11 has a first mounting hole, and the bottom plate 12 has a second mounting hole at a position corresponding to the first mounting hole. The first mounting hole and the corresponding second mounting hole together form the mounting holes for mounting the coupling disc 2.

[0070] Specifically, such as Figure 7 As shown, the brake element 3 is disposed between the top plate 11 and the bottom plate 12, and can switch between a locked position and an unlocked position. A protrusion 22 is radially protruding from the outer circumferential surface of the coupling disk 2, and a groove 31 is provided on the brake element 3 to mate with the protrusion 22. When the sterile adapter 320 is not assembled with the drive unit 120, the brake element 3 is in the locked position. At this time, the protrusion 22 is located within the groove 31 to prevent the coupling disk 2 from rotating, thereby locking the housing 1 and the coupling disk 2. When the sterile adapter 320 is installed on the drive unit 120, the drive unit 120 moves the brake element 3 from the locked position to the unlocked position, causing the protrusion 22 to disengage from the groove 31, thereby releasing the lock between the coupling disk 2 and the housing 1, allowing the coupling disk 2 to rotate relative to the housing 1.

[0071] In some embodiments, a groove 31 is provided on the outer peripheral surface of the coupling disk 2, and a protrusion 22 that cooperates with the groove 31 is provided on the braking member 3, which can also lock the coupling disk 2 and the housing 1.

[0072] Optionally, the sterile adapter 320 includes multiple coupling discs 2, and a braking element 3 can cooperate with the multiple coupling discs 2 to simultaneously lock or unlock the multiple coupling discs 2 from the housing 1. Specifically, the multiple coupling discs 2 are arranged in at least two rows, and a braking element 3 is provided between each pair of adjacent rows of coupling discs 2. The braking element 3 cooperates with each of the adjacent pairs of coupling discs 2. By adopting the above arrangement of the coupling discs 2, one braking element 3 can be used to cooperate with multiple coupling discs 2, reducing the number of braking elements 3, simplifying the structure of the sterile adapter 320, and helping to reduce the cost of the sterile adapter 320.

[0073] In this embodiment, there are six coupling disks 2 arranged in two rows. The braking element 3 is long and strip-shaped and is arranged between the two rows of coupling disks 2. The braking element 3 is provided with a groove 31 corresponding to each coupling disk 2.

[0074] To allow the brake element 3 to move within the housing 1, a mounting cavity for accommodating the brake element 3 is formed between the top plate 11 and the bottom plate 12, such as... Figure 8As shown, the brake member 3 is provided with a pusher 32. When the sterile adapter 320 is assembled with the drive unit 120, the drive unit 120 can abut against the pusher 32 and push the pusher 32 to move into the housing 1, thereby causing the brake member 3 to move relative to the housing 1, and thus causing the protrusion 22 to disengage from the groove 31.

[0075] It is understandable that, in order to ensure that the brake 3 can move within the housing 1, the dimension of the mounting cavity along the pushing direction of the pushing part 32 is larger than the dimension of the brake 3 along the pushing direction of the pushing part 32, so that the mounting cavity has reserved space for the movement of the brake 3.

[0076] Optionally, the bottom surface of the top plate 11 and / or the top surface of the bottom plate 12 are provided with protrusions, which can abut against the bottom plate 12 or the top plate 11 to separate the top plate 11 and the bottom plate 12 to form a mounting cavity. The protrusions can be protruding columns or stiffeners.

[0077] In this embodiment, the groove 31 is a through groove extending along the arrangement direction of the top plate 11 and the bottom plate 12, such as... Figure 8 As shown, the brake element 3 has a pushing part 32 extending from the side near the base plate 12 away from the top plate 11. When the sterile adapter 320 is not installed with the drive unit 120, as... Figure 9 As shown, the protrusion 22 is located within the groove 31, and the pushing part 32 can extend out of the housing 1. During the assembly process of the sterile adapter 320 and the drive unit 120, as... Figure 10 As shown, the surface of the drive unit 120 (the surface that mates with the first mating surface) abuts against the pusher 32, and the pusher 32 pushes the brake 3 to move closer to the top plate 11. When the brake 3 abuts against the top plate 11, as shown... Figure 11 The protrusion 22 shown is completely separated from the groove 31.

[0078] To facilitate the switching of the brake element 3 from the locked position to the unlocked position, a clearance hole is provided on the brake element 3, which is located adjacent to the push part 32. When the push part 32 is subjected to force, the brake element 3 moves more easily and deforms more easily under the action of the push part 32, so as to further ensure that the protrusion 22 can disengage from the groove 31.

[0079] Furthermore, the brake element 3 is equipped with an elastic arm 33, which is located within a clearance hole. The fixed section of the elastic arm 33 is connected to the inner wall of the clearance hole, and the free end of the elastic arm 33 is always in contact with the inner wall of the bottom surface of the top plate 11. When the sterile adapter 320 is installed on the drive unit 120, when the pusher 32 pushes the brake element 3 to move towards the top plate 11, the contact force between the free end of the elastic arm 33 and the top plate 11 increases, allowing the fixed end of the elastic arm 33 to apply a spring force towards the top plate 11 to the brake pad, thereby further ensuring that the brake element 3 can move to the unlocked position.

[0080] Optionally, the elastic arm 33 includes a first connecting arm and a second connecting arm arranged at an angle. When the sterile adapter 320 is not assembled with the drive unit 120, the first connecting arm is approximately parallel to the top plate 11, and the second connecting arm extends approximately along the arrangement direction of the top plate 11 and the bottom plate 12, with one end of the second connecting arm abutting against the top plate 11. When the sterile adapter 320 is assembled with the drive unit 120, the drive unit 120 pushes the pushing part 32 closer to the top plate 11. During this process, the abutting force between the second connecting arm and the top plate 11 increases, causing the first connecting arm to deform. Figure 10 In the state shown, the end of the first connecting arm away from the second connecting arm will drive the brake 3 closer to the top plate 11, so that the protrusion 22 is completely disengaged from the groove 31.

[0081] Furthermore, the two ends of the second connecting arm abut against the top plate 11 and the bottom plate 12 respectively, so that the first connecting arm can deform smoothly to drive the brake plate to move towards the top plate 11.

[0082] Optionally, the elastic arm 33 and the brake element 3 are integrally formed to improve the linkage effect between the first connecting arm and the brake element 3.

[0083] like Figure 12 As shown, the surgical instrument 200 has a second mounting surface 2001 that mates with a second mating surface. A second coupling part 2003, which mates with the coupling disk 2, is provided on the second mounting surface 2001. The coupling disk 2 can drive the second coupling part 2003 to rotate synchronously. To facilitate smooth mating between the coupling disk 2 and the second coupling part 2003, and to allow users to easily understand the current rotation angle of the coupling disk 2, the coupling structure 21 is a non-rotational structure to prevent relative rotation between the coupling structure 21 and the second coupling part 2003. Furthermore, the outer contour shapes of at least two opposite sides of the coupling structure 21 are different to form a foolproof structure. The shape and size of the second coupling part 2003 are adapted to the coupling structure 21. By forming a foolproof structure, on the one hand, it facilitates docking between the coupling disk 2 and the second coupling part 2003; on the other hand, it allows medical personnel to easily distinguish the rotation angle of the coupling structure 21.

[0084] In this embodiment, the coupling structure 21 is a recessed structure, and correspondingly, the second coupling part 2003 is a protruding structure, so as to realize the coupling of the coupling disk 2 and the surgical instrument 200.

[0085] In some embodiments, the coupling structure 21 can be a protruding structure or a combination of a recess and a protrusion 22. Correspondingly, the second coupling part 2003 is a recessed structure or a combination of a protrusion 22 and a recess, both of which can achieve coupling between the coupling disk 2 and the surgical instrument 200.

[0086] To prevent the coupling disc 2 from detaching from the second coupling part 2003, the housing 1 and the surgical instrument 200 are detachably connected to improve assembly stability. In this embodiment, the housing 1 and the surgical instrument 200 are snap-fitted together for easy assembly and disassembly.

[0087] like Figure 13 As shown, the housing 1 is provided with a slot, and the second mounting surface 2001 of the surgical instrument 200 is provided with a claw 2002, which can engage with the first slot 111. Figure 14 As shown, a latching protrusion 112 is provided on the side of the housing 1 opposite to the first latching groove 111. A second latching groove 2004 is provided on the surgical instrument 200 at a position corresponding to the latching protrusion 112. The latching protrusion 112 can engage with the second latching groove 2004. The sterile adapter 320 and the surgical instrument 200 are connected by a latching structure on both opposite sides, which can improve the fixation effect of the sterile adapter 320 and the surgical instrument 200, making them more secure.

[0088] In some embodiments, the claw 2002 can be disposed on the housing 1, and correspondingly, the first slot 111 is disposed on the surgical instrument 200; the protrusion 112 can be disposed on the surgical instrument 200, and correspondingly, the second slot 2004 is disposed on the sterile adapter 320, which can also realize the detachable connection between the sterile adapter 320 and the surgical instrument 200.

[0089] like Figure 17 As shown, the drive unit 120 is provided with a first mounting surface 1202 that mates with the first adapting surface. The first mounting surface 1202 is provided with a first coupling part 1203 that mates with the coupling disk 2. The first coupling part 1203 can drive the coupling disk 2 to rotate synchronously. In this embodiment, the coupling structure 21 of the coupling disk 2 that mates with the first coupling part 1203 is also a non-rotational structure. The outer contour shapes of at least two opposite sides of the coupling structure 21 are different to form a foolproof structure. The shape and size of the first coupling part 1203 are adapted to the coupling structure 21 to facilitate docking of the coupling disk 2 with the first coupling part 1203 and to facilitate medical personnel in distinguishing the rotation angle of the coupling structure 21.

[0090] The mating structure between the coupling disk 2 and the first coupling part 1203 can be the same as the mating structure between the coupling disk 2 and the second coupling part 2003, and will not be described in detail here.

[0091] To prevent the coupling disk 2 from detaching from the first coupling part 1203, the sterile adapter 320 and the drive unit 120 are detachably connected to improve assembly stability. In this embodiment, the housing 1 is snapped into the drive unit 120 for easy assembly and disassembly.

[0092] like Figure 15As shown, a snap-fit ​​arm 121 is constructed on the base plate 12. The snap-fit ​​arm 121 extends along the arrangement direction of the top plate 11 and the base plate 12. One end of the snap-fit ​​arm 121 (hereinafter referred to as the top end) extends upward from the top surface of the base plate 12 and passes through the top plate 11. The other end of the snap-fit ​​arm 121 (hereinafter referred to as the bottom end) extends downward from the bottom surface of the base plate 12 and can snap into the drive unit 100. When the sterile adapter 320 is assembled with the drive unit 120, the top end of the snap-fit ​​arm 121 can be moved to move the bottom end of the snap-fit ​​arm 121 so as to snap into the drive unit 120. Specifically, the bottom end of the snap-fit ​​arm 121 is provided with a buckle 1211, and the drive unit 120 is provided with a locking hole 1201. The buckle 1211 can snap into the locking hole 1201 to fix the drive unit 120 and the sterile adapter 320.

[0093] To improve the engagement stability between the drive unit 120 and the sterile adapter 320, the base plate 12 is provided with at least one set of engagement arms 121. Each set of engagement arms 121 includes two engagement arms 121 arranged opposite each other. Each engagement arm 121 has a latch 1211 arranged towards the other engagement arm 121 in the same group. The drive unit 120 is engaged and fixed between the two engagement arms 121 in the same group to make the engagement more secure. When assembling the drive unit 120 and the sterile adapter 320, pressing the tops of the two engagement arms 121 in the same group brings the tops of the two engagement arms 121 in the same group closer together. This can drive the bottoms of the two engagement arms 121 in the same group to move away from each other, thereby increasing the distance between the two latches 1211 in the same group, thus facilitating the engagement of the sterile adapter 320 and the drive unit 120.

[0094] To make the snap-fit ​​arm 121 more easily deformable, such as Figure 16 As shown, the connection point between the base plate 12 and the snap-fit ​​arm 121 is constructed as a flexible structure, so that when the top of the snap-fit ​​arm 121 is subjected to an external force, the snap-fit ​​arm 121 can rotate more easily relative to the base plate 12, thereby allowing the bottom end of the snap-fit ​​arm 121 to move.

[0095] In this embodiment, a recess 122 is provided at the connection position between the base plate 12 and the snap-fit ​​arm 121 to form a flexible structure. Optionally, the recess 122 can be a groove 31. The groove 31 can be elongated and extends circumferentially around the snap-fit ​​arm 121. There can be one groove 31, or multiple segments of the groove 31 can be provided intermittently.

[0096] Optionally, the recess 122 is a pit, and multiple pits are provided and arranged circumferentially along the snap-fit ​​arm 121.

[0097] In some embodiments, the flexible structure can also be a thin-walled structure, which also makes it easier for the snap-fit ​​arm 121 to rotate relative to the base plate 12.

[0098] like Figure 17As shown, the sterile adapter 320 also includes an indicator pin 4, which is movably connected to the housing 1. The indicator pin 4 can trigger the sensor 1204 on the drive device 100 when pushed by the surgical instrument 200, so that the medical system can obtain the assembly status of the sterile adapter 320 and the surgical instrument 200.

[0099] Specifically, the housing 1 is provided with a sliding through hole, and the indicator pin 4 is slidably disposed in the sliding through hole. One end of the indicator pin 4 can abut against the surgical instrument 200, and the other end of the indicator pin 4 can trigger the sensor 1204. When the sterile adapter 320 is assembled with the surgical instrument 200, the surgical instrument 200 will push the indicator pin 4 to slide in the sliding through hole, so that the indicator pin 4 moves and triggers the sensor 1204.

[0100] In this embodiment, a sliding through-hole extends through the top plate 11 and the bottom plate 12. An indicator pin 4 is disposed within the sliding through-hole and can slide along the arrangement direction of the top plate 11 and the bottom plate 12. When the sterile adapter 320 is assembled with the surgical instrument 200, the surgical instrument 200 pushes the indicator pin 4 towards the bottom plate 12 to trigger the sensor 1204. Once the sensor 1204 is triggered, it sends a signal to the control device of the medical system. The control device, based on the received signal, determines that the surgical instrument 200 has been assembled with the sterile adapter 320.

[0101] Optionally, the sensing element 1204 can be a micro switch or a proximity switch. When the sensing element 1204 is a micro switch, the micro switch can be pressed when the indicator pin 4 moves towards the base plate 12 to trigger the micro switch. When the sensing element 1204 is a proximity switch, the proximity switch can be triggered when the distance between the indicator pin 4 and the proximity switch is less than a specified distance.

[0102] To prevent the indicator pin 4 from detaching from the housing 1, the indicator pin 4 includes a pin shaft 41 and a limiting flange 42 protruding radially along the pin shaft 41. The sliding through hole includes a first diameter section, a second diameter section, and a third diameter section connected in sequence. The diameters of the first and second diameter sections are both smaller than the diameter of the second diameter section, and both the diameters of the first and second diameter sections are larger than the diameter of the pin shaft 41 but smaller than the diameter of the limiting flange 42. The diameter of the limiting flange 42 is smaller than the diameter of the second diameter section. The limiting flange 42 is located within the second diameter section, and the axial dimension of the second diameter section is larger than the axial dimension of the limiting flange 42. The limiting flange 42 is located within the second diameter section, which can prevent the indicator pin 4 from detaching from the housing 1 and also limit the extreme position of the indicator pin 4, preventing the indicator pin 4 from moving excessively and damaging the sensing element 1204.

[0103] To facilitate the assembly of the indicator pin 4 with the housing 1, the first and second aperture sections are provided on the base plate 12, and the third aperture section is provided on the top plate 11.

[0104] Optionally, the indicator pin 4 can be elastically connected to the housing 1 via an elastic element. The elastic element can drive the indicator pin 4 to move towards the top plate 11 so that it can automatically reset after the sterile adapter 320 is disengaged from the surgical instrument 200, and no longer trigger the sensor 1204. This allows the control device of the medical system to know in a timely manner that the surgical instrument 200 is not assembled with the sterile adapter 320 based on the signal change of the sensor 1204.

[0105] Optionally, the surgical instrument 200 is provided with a pin 2005, which can push the indicator pin 4 to trigger the sensor 1204.

[0106] In some embodiments, the sterile adapter 320 may not have an indicator pin 4. Instead, by extending the length of the pin 2005, the sensor 1204 is triggered after the housing 1 is driven by the pin 2005.

[0107] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A sterile adapter, characterized in that, include: The housing (1) has a through mounting hole and is configured to be mounted on the drive device (100); The coupling disk (2) is rotatably disposed in the mounting hole. Both ends of the coupling disk (2) along the axial direction are exposed outside the housing (1) through the mounting hole and are respectively provided with coupling structures (21). The coupling structures (21) at both ends are respectively connected to the first coupling part (1203) of the driving device (100) or the second coupling part (2003) of the surgical instrument (200) on the corresponding side to realize the transmission of actuation torque. The brake (3) is connected to the housing (1) and can switch between an unlocked position and a locked position. The brake (3) is configured to lock the coupling disc (2) and the housing (1) in the locked position, and can be driven by the drive device (100) to move from the locked position to the unlocked position when the housing (1) is installed on the drive device (100) to release the locked state of the coupling disc (2) and the housing (1). When the brake (3) is in the locked position, the coupling disc (2) is at the initial angle.

2. The sterile adapter according to claim 1, characterized in that, One of the coupling disk (2) and the brake component (3) is provided with a protrusion (22), and the other is provided with a groove (31) that mates with the protrusion (22). When the brake element (3) is in the unlocked position, the protrusion (22) and the groove (31) disengage.

3. The sterile adapter according to claim 2, characterized in that, The housing (1) includes a top plate (11) and a bottom plate (12) fixedly connected. The bottom plate (12) can be mounted on the drive device (100). A mounting cavity for accommodating the brake member (3) is formed between the top plate (11) and the bottom plate (12). The brake member (3) is movably disposed in the mounting cavity. A pushing part (32) is constructed on the brake member (3). The pushing part (32) can extend out of the housing (1) and abut against the drive device (100) to drive the brake member (3) to move relative to the housing (1).

4. The sterile adapter according to claim 3, characterized in that, The brake component (3) is provided with a clearance hole, and an elastic arm (33) is provided in the clearance hole. One end of the elastic arm (33) is connected to the side wall of the clearance hole, and the other end abuts against the top plate (11). The elastic arm (33) includes a first connecting arm and a second connecting arm arranged at an angle. One end of the first connecting arm is connected to the inner wall of the clearance hole, and the two ends of the second connecting arm abut against the top plate (11) and the bottom plate (12) respectively.

5. The sterile adapter according to claim 3, characterized in that, The base plate (12) is provided with a snap-fit ​​arm (121), which extends along the arrangement direction of the top plate (11) and the base plate (12). One end of the snap-fit ​​arm (121) extends upward from the top surface of the base plate (12) and passes through the top plate (11), while the other end of the snap-fit ​​arm (121) extends downward from the bottom surface of the base plate (12) and can snap into the drive device (100).

6. The sterile adapter according to claim 5, characterized in that, The connection point between the base plate (12) and the snap-fit ​​arm (121) is constructed as a flexible structure so that the snap-fit ​​arm (121) can rotate relative to the base plate (12). The base plate (12) is provided with at least one set of snap-fit ​​arms (121), each set of snap-fit ​​arms (121) includes two snap-fit ​​arms (121) arranged opposite to each other, and a buckle (1211) is provided on the side of the bottom end of the snap-fit ​​arm (121) facing the other snap-fit ​​arm (121) in the same set.

7. The sterile adapter according to any one of claims 1-6, characterized in that, The number of coupling discs (2) is multiple, and the braking element (3) can cooperate with multiple coupling discs (2) to simultaneously lock or unlock multiple coupling discs (2) and the housing (1).

8. The sterile adapter according to any one of claims 1-6, characterized in that, The coupling disk (2) is configured at both ends along the axial direction to be connected to the drive device (100) and the surgical instrument (200) respectively. The sterile adapter also includes an indicator pin (4). The housing (1) is provided with a sliding through hole. The indicator pin (4) is slidably disposed in the sliding through hole. The indicator pin (4) is configured to trigger the sensor (1204) on the drive device (100) under the push of the surgical instrument (200).

9. The sterile adapter according to claim 8, characterized in that, The indicator pin (4) includes a pin shaft (41) and a limiting flange (42) radially protruding along the pin shaft (41). The sliding through hole includes a first diameter segment, a second diameter segment, and a third diameter segment connected in sequence. The diameters of the first diameter segment and the second diameter segment are both smaller than the diameter of the second diameter segment. The diameters of the first diameter segment and the second diameter segment are both larger than the diameter of the pin shaft (41) and smaller than the diameter of the limiting flange (42). The diameter of the limiting flange (42) is smaller than the diameter of the second diameter segment. The limiting flange (42) is located within the second diameter segment. The axial dimension of the second diameter segment is larger than the axial dimension of the limiting flange (42).

10. A sterile barrier, characterized in that, Includes a sterile cover (310) and a sterile adapter as claimed in any one of claims 1-9, wherein the housing (1) is connected to the sterile cover (310), one axial end of the mounting hole communicates with the inner side of the sterile cover (310), and the other axial end of the mounting hole communicates with the outer side of the sterile cover (310).

11. A medical system, characterized in that, The device includes a drive unit (100), a surgical instrument (200), and a sterile barrier as described in claim 10. The drive unit (100) is disposed inside the sterile barrier, and the surgical instrument (200) is disposed outside the sterile barrier. One end of the coupling disk (2) is connected to the output end of the drive unit (100), and the other end of the coupling disk (2) is connected to the surgical instrument (200).

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