Sterile isolation device for rapid connection and replacement of surgical robotic instruments

Abstract

The present invention provides a sterile isolation device for rapid connection and replacement of surgical robot instruments, comprising: a clutch chamber (21), the bottom of which is provided with a plurality of first circular holes (211); a compression cover plate (23), which is provided with a plurality of first circular holes (211) on the clutch chamber (21); a cover plate spring (25), which is provided between a cylindrical protrusion (232) of the compression cover plate (23) and the clutch chamber (21); a plurality of clutch body groups, each clutch body group comprising two clutch bodies (22) and a clutch compression spring. A spring (24), a clutch compression spring (24) is arranged between two clutch bodies (22), and ends of the two clutch bodies (22) that are away from each other are respectively inserted into a pair of first circular holes (211) and second circular holes (231), and end surfaces of the two clutch bodies (22) that are away from each other are provided with a groove structure for engaging with a drive unit (1) or a surgical instrument (3); a snap-fit component (26) is fixed on both sides of the clutch chamber (21) and is used to connect the drive unit (1) or the surgical instrument (3).

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical instruments, and in particular to a sterile isolation device for rapid connection and replacement of surgical robot instruments. Background Art

[0002] Surgical robots have high-definition image performance and precise and stable instrument motion control capabilities. They can complete many difficult surgical operations and are one of the most promising development directions in the current medical industry. Because the robot body contains a large number of electronic components and complex motion mechanisms, etc., it is almost impossible to sterilize the entire machine. The current mainstream solution is to use a complete disinfection process for the surgical instruments themselves, and to wrap the robot body with sterile cloth to achieve sterile isolation. The surgical robot body's robotic arm drive unit and the surgical instruments are connected through a sterile isolation device. The sterile isolation device can isolate the sterile robot body and sterile surgical instruments. It is also responsible for transmitting the driving force of the surgical robot body's robotic arm drive unit to the surgical instruments to drive the surgical instruments for surgical operations.

[0003] Existing sterile isolation devices generally use the axial direction of the clutch in the isolation device as the direction of instrument engagement. When the surgical instrument is disassembled in the axial direction and moved toward the patient, there is a risk of collision with the patient's tissue. Existing sterile isolation devices are generally single-layer structures. In the process of engagement with the surgical robot body's mechanical arm drive unit or surgical instruments, the surgical robot body's mechanical arm drive unit clutch and the surgical instrument clutch axially extend and retract to provide engagement space. Because the robot body's mechanical arm drive unit clutch and the surgical instrument clutch are often connected to a complex and high-precision transmission system or power system, the structural design will be very complex and the manufacturing cost will be high. At the same time, most of the existing sterile isolation devices only serve the purpose of isolation and power transmission, and do not have the function of clutch positioning and stroke limitation. In this case, an absolute encoder needs to be used in the surgical robot body's mechanical arm drive unit to position the clutch and limit the stroke, which makes the structure complex and costly. Summary of the Invention

[0004] In view of the above problems, the present invention provides a sterile isolation device for rapid combination and replacement of surgical robot instruments to solve the above technical problems.

[0005] One aspect of the present disclosure provides a sterile isolation device for rapid connection and replacement of surgical robot instruments, comprising: a clutch chamber, a bottom of which is provided with an array of multiple first circular holes; a compression cover plate, two sides of which are provided with cylindrical protrusions, the cylindrical protrusions clamping the compression cover plate on the top of the clutch chamber and enabling the compression cover plate to rotate around the cylindrical protrusions, the compression cover plate being provided with second circular holes corresponding one-to-one to the multiple first circular holes on the clutch chamber; a cover spring provided between the cylindrical protrusions and the clutch chamber; a plurality of clutch body groups, each of the clutch body groups comprising two clutch bodies and a clutch compression spring, the clutch compression spring being provided between the two clutch bodies, the ends of the two clutch bodies facing away from each other being respectively inserted into a pair of the first circular holes and the second circular holes, and the end surfaces of the two clutch bodies facing away from each other being provided with groove structures for engaging with a drive unit or a surgical instrument; and a snap component fixed to both sides of the clutch chamber for connecting the drive unit or surgical instrument engaged with the clutch body.

[0006] Optionally, rectangular grooves are provided on both side walls of the clutch compartment for arranging the cylindrical protrusion of the compression cover plate; and the cover plate spring is arranged in the rectangular grooves.

[0007] Optionally, a cover plate limiting structure is provided on the snap component in a direction perpendicular to the side wall of the clutch compartment, for preventing the compression cover plate from falling out of the rectangular groove.

[0008] Optionally, the opposite end surfaces of the two clutch bodies are provided with a circular groove, a third circular hole and a circular axis; the circular groove is provided at the center of one opposite end of the two clutch bodies, for setting the clutch compression spring; the third circular hole and the circular axis are symmetrically provided on both sides of the circular groove; wherein, the diameters of the third circular hole and the circular axis are the same, and when the two clutch bodies are brought close by compressing the clutch compression spring, the circular axes of the two clutch bodies are respectively inserted into the third circular holes of each other.

[0009] Optionally, a first angle limiting protrusion is provided on one side of each first circular hole; a second angle limiting protrusion is provided on the side wall at the opposite end of the two clutch bodies, and the second angle limiting protrusion is used to cooperate with the first angle limiting protrusion to limit the rotation angle range of the two clutch bodies.

[0010] Optionally, the groove structure on the end surfaces of the two clutch bodies that are away from each other includes an eccentric waist-shaped groove and two open waist-shaped grooves; one end of the eccentric waist-shaped groove is arranged at the center of the end surfaces of the two clutch bodies that are away from each other; the two open waist-shaped grooves are symmetrically arranged on both sides of the eccentric waist-shaped groove, symmetrical along the axis of the two clutch bodies, and the opening directions of the two open waist-shaped grooves are opposite, and they open to the edge of the end surface.

[0011] Optionally, the diameter of the ends of the two clutch bodies that are away from each other is smaller than the diameters of the first circular hole and the second circular hole, and the diameter of the ends of the two clutch bodies that are opposite to each other is larger than the diameters of the first circular hole and the second circular hole.

[0012] Optionally, the buckle component includes a group of hook-type buckles, an intermediate connecting part and a group of arc buckles; the intermediate connecting part is fixed to the side of the clutch chamber; the hook-type buckle and the arc buckle are respectively arranged on both sides of the intermediate connecting part; the hook-type buckle extends out of the bottom surface of the clutch chamber for engaging with the drive unit; the group of arc buckles extends out of the upper surface of the compression cover plate for engaging with the surgical instrument.

[0013] Optionally, the side of the arc buckle away from the clutch chamber is a flat surface, and the side close to the clutch chamber is an arc-shaped buckle with an inclined surface.

[0014] Optionally, the middle connecting part is provided with a plurality of circular grooves, and a screw hole is provided in the center of the circular groove; a group of circular bosses are respectively provided on the two side walls of the clutch compartment, and a threaded hole is provided in the center of the circular boss; the circular bosses are used to cooperate with the circular grooves to position the snap-fit component; the threaded holes are used to cooperate with the screw holes and screws to fix the snap-fit component.

[0015] At least one of the above technical solutions adopted in the embodiments of the present disclosure can achieve the following beneficial effects:

[0016] The disclosed embodiments provide a sterile isolation device for the rapid connection and replacement of surgical robot instruments, wherein the device designs a clutch body into two pairs that can move axially, thereby reducing the structural complexity and cost of the surgical robot body robotic arm drive unit and the surgical instrument; its snap-fit design can avoid the collision risk of the surgical instrument being disassembled axially toward the patient end in conventional designs by installing the instrument laterally and ensuring accurate installation in the presence of angular deviation; its clutch compartment has a limit design so that after the robotic arm body is connected to the surgical instrument, the angular position of the clutch can be determined by the limit, and an absolute encoder is no longer required for position confirmation, reducing the design complexity and cost of the surgical robot body robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] For a more complete understanding of the present disclosure and its advantages, reference will now be made to the following description taken in conjunction with the accompanying drawings, in which:

[0018] Figure 1 A schematic diagram of an application scenario of a sterile isolation device for rapid connection and replacement of surgical robot instruments provided by an embodiment of the present disclosure is shown;

[0019] Figure 2A schematic diagram of a sterile isolation device for rapid connection and replacement of surgical robot instruments provided by an embodiment of the present disclosure is shown;

[0020] Figure 3 A schematic diagram of an exploded view of a sterile isolation device for rapid connection and replacement of surgical robot instruments provided by an embodiment of the present disclosure is shown;

[0021] Figure 4 A schematic diagram of a clutch chamber provided by an embodiment of the present disclosure is schematically shown;

[0022] Figure 5 Schematically showing the front and back views of a clutch provided by an embodiment of the present disclosure;

[0023] Figure 6 Schematically shows a schematic diagram of combining two clutch bodies into a clutch body group provided by an embodiment of the present disclosure;

[0024] Figure 7 A schematic diagram of a compression cover plate provided by an embodiment of the present disclosure is schematically shown;

[0025] Figure 8 A schematic diagram of a snap-fit component provided by an embodiment of the present disclosure is shown schematically. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0027] The terms used herein are intended only to describe specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," and the like as used herein indicate the presence of a feature, step, operation, and / or component, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

[0028] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0029] Figure 1The following schematically shows an application scenario of a sterile isolation device for rapid connection and replacement of surgical robot instruments provided by an embodiment of the present disclosure.

[0030] like Figure 1 As shown, the embodiment of the present disclosure provides a sterile isolation device for rapid combination and replacement of surgical robot instruments, which can be combined with a drive unit 1 and a surgical instrument 3 to form a surgical robot body robotic arm. The drive unit 1 includes multiple power motors, a reducer, and an output clutch 22, etc., which provide power and precise control for the surgical instrument 3 to complete various surgical operations. At the same time, the drive unit 1 cannot be completely disinfected and sterilized because it contains complex rhythms and precision electronic components. Therefore, it is a sterile part, and its sterilization measure is to cover it with sterile cloth; the surgical instrument 3 includes multiple input clutches 22, a drive box, and a multi-degree-of-freedom end instrument. It can be completely disinfected and provided as a sterile device. The sterile isolation device 2 is placed between the drive unit 1 and the surgical instrument 3, as a separation between the sterile part and the sterile part, and at the same time transmits power from the drive unit 1 to the surgical instrument 3.

[0031] Figure 2 and Figure 3 A schematic diagram and a decomposition diagram of a sterile isolation device for rapid connection and replacement of surgical robot instruments provided by an embodiment of the present disclosure are schematically shown respectively.

[0032] like Figure 2 and Figure 3 As shown, the sterile isolation device for rapid connection and replacement of surgical robot instruments provided by the embodiment of the present disclosure includes: a clutch chamber 21, multiple clutch body groups, a compression cover plate 23, a clutch compression spring 24, a cover plate spring 25 and two snap-fit components 26.

[0033] The bottom of the clutch compartment 21 is provided with an array of a plurality of first circular holes 211, Figure 2 , 8 first circular holes 211 are provided at the bottom of the clutch chamber 21; the compression cover plate 23 is provided with second circular holes 231 corresponding to the multiple first circular holes 211 on the clutch chamber 21; the cover spring 25 is placed in the grooves on both sides of the clutch chamber 21; each clutch body group includes two clutch bodies 22 and a clutch compression spring 24, the clutch compression spring 24 is arranged between the two clutch bodies 22, and the ends of the two clutch bodies 22 away from each other are respectively inserted into a pair of first circular holes 211 and second circular holes 231, and the end surfaces of the two clutch bodies 22 away from each other are provided with groove structures for engaging with the drive unit 1 or the surgical instrument 3; the snap-fit component 26 is fixed on both sides of the clutch chamber 21, and a cover plate limiting structure 263 is provided in a direction perpendicular to the side wall of the clutch chamber 21, which is used to prevent the compression cover plate 23 from disengaging from the rectangular groove 213, and provide quick connection and disassembly with the surgical robot arm drive unit 1 and the surgical instrument 3.

[0034] Figure 4 A schematic diagram of a clutch chamber provided by an embodiment of the present disclosure is schematically shown.

[0035] like Figure 4 As shown, in the disclosed embodiment, it is a single-shell structure with a certain internal space, the thickness of which satisfies the required travel of the clutch body 22 along the axis. The bottom of the clutch chamber 21 is provided with eight first circular holes 211 for accommodating the clutch body 22. Each first circular hole 211 is adjacent to a first angle-limiting protrusion 212. When the clutch body 22 is installed in the clutch chamber 21, the first angle-limiting protrusion 212 restricts the clutch body 22 to a rotation range of less than one revolution.

[0036] Rectangular grooves 213 are provided on both side walls of the clutch chamber 21 for accommodating the cylindrical protrusions 232 on both sides of the compression cover plate 23; the cover plate spring 25 is arranged in the rectangular groove 213, between the cylindrical protrusion 232 and the clutch chamber 21, and cooperates with the snap-fit component 26 to cover the compression cover plate 23 on the top of the clutch chamber 21, and enables the compression cover plate 23 to rotate around the cylindrical protrusion 232 while being able to move elastically along the elastic direction of the cover plate spring 25.

[0037] A group of circular bosses 214 are respectively provided on the two side walls of the clutch compartment 21 . A threaded hole 215 is provided in the center of the circular boss 214 for positioning and connecting the snap component 26 .

[0038] Figure 5 and Figure 6 Schematic diagrams of the front and back sides of a clutch body provided by an embodiment of the present disclosure and a schematic diagram of two clutch bodies combined into a clutch body group are schematically shown respectively.

[0039] like Figure 5 As shown, the opposing end surfaces of the two clutch bodies 22 are each provided with a circular central groove 223, a third circular hole 222, and a circular shaft 221. The circular central groove 223 is located at the center of one opposing end of the two clutch bodies 22 and is used to accommodate a clutch compression spring 24. The third circular hole 222 and the circular shaft 221 are symmetrically arranged on either side of the circular central groove 223. The third circular hole 222 and the circular shaft 221 have the same diameter. When the two clutch bodies 22 are brought close together by compressing the clutch compression spring 24, the circular shafts 221 of the two clutch bodies 22 are respectively inserted into the third circular holes 222 of each other, allowing the clutch body assembly to rotate synchronously around the axis, and a single clutch body 22 to move axially. The clutch compression spring 24 aligns the two clutch bodies 22 with the drive unit 1 and the surgical instrument 3 in the meshing position, pushing the clutch bodies 22 into the meshing position and ensuring that they do not disengage during operation.

[0040] A first angle-limiting projection 212 is provided on one side of each first circular hole 211 in the clutch housing 21. Second angle-limiting projections 226 are provided on the sidewalls of the opposing ends of the two clutch bodies 22. These second angle-limiting projections 226 cooperate with the first angle-limiting projections 212 to limit the rotational angle range of the two clutch bodies 22. Once the output clutch of the drive unit 1 on the surgical robot's main arm engages with the clutch body 22 of the sterile isolation device 2, their positions within the travel range are unique, eliminating the need for an absolute encoder in the motor to determine the clutch's position.

[0041] The groove structure on the end faces of the two clutch bodies 22 that are separated from each other includes an eccentric waist-shaped groove 224 and two open waist-shaped grooves 225. One end of the eccentric waist-shaped groove 224 is located at the center of the end faces of the two clutch bodies 22 that are separated from each other. This ensures that when the sterile isolation device 2 is combined with the drive unit 1 or the surgical instrument 3, the clutch body 22 of the sterile isolation device 2 and the output clutch body 22 of the drive unit 1 or the input clutch body 22 of the surgical instrument 3 have and only one meshing position within a 360-degree range. The two open waist-shaped grooves 225 are symmetrically arranged on both sides of the eccentric waist-shaped groove 224, symmetrical along the axis of the two clutch bodies 22. The opening directions of the two open waist-shaped grooves 225 are opposite and open to the edge of the end face. When the sterile isolation device 2 is combined with the drive unit 1 or the surgical instrument 3, when the clutch body 22 of the sterile isolation device 2 is engaged with the output clutch body 22 of the drive unit 1 or the input clutch body 22 of the surgical instrument 3, the open waist-shaped grooves 225 on both sides mainly serve as functional structures for power transmission.

[0042] The diameter of the ends of the two clutch bodies 22 away from each other is smaller than the diameters of the first circular hole 211 and the second circular hole 231 , and the diameter of the ends of the two clutch bodies 22 facing each other is larger than the diameters of the first circular hole 211 and the second circular hole 231 .

[0043] Figure 7 A schematic diagram of a compression cover plate provided by an embodiment of the present disclosure is schematically shown.

[0044] like Figure 7 As shown, the compression cover plate 23 is provided with a plurality of second circular holes 231, which respectively correspond to the positions of the plurality of first circular holes 211 of the clutch chamber 21, and are used to place the clutch body group. Cylindrical protrusions 232 are provided on both sides of the compression cover plate 23, which correspond to the positions of the two rectangular grooves 213 of the clutch chamber 21. The cylindrical protrusions 232 cooperate with the cover plate spring 25 to clamp the compression cover plate 23 on the top of the clutch chamber 21, so that the compression cover plate 23 can move up and down along the rectangular groove 213 while the compression cover plate 23 itself can also rotate around the axis of the cylindrical protrusion 232, so that during the installation or removal of the surgical instrument 3, it does not need to be completely parallel to the plane of the clutch chamber 21 to ensure smooth sliding in or out. Furthermore, the compression cover plate 23 will not produce the jamming phenomenon that may occur in long-span short-stroke linear motion.

[0045] Figure 8 A schematic diagram of a snap-fit component provided by an embodiment of the present disclosure is shown schematically.

[0046] like Figure 8 As shown, the buckle component 26 provided in the embodiment of the present disclosure includes a set of hook buckles 261, an intermediate connecting portion, and a set of arc buckles 262. The intermediate connecting portion is fixed to the side of the clutch compartment 21; the hook buckles 261 and the arc buckles 262 are respectively provided on both sides of the intermediate connecting portion.

[0047] The middle connecting portion is provided with a plurality of circular positioning grooves 264, and the center of the circular positioning groove 264 is provided with a screw hole 265. Figure 4 The two side walls of the clutch compartment 21 are each provided with a set of circular bosses 214, each with a threaded hole 215 at its center. The circular bosses 214 are used to engage with the circular positioning grooves 264 to position the snap-fit component 26. The threaded holes 215 are used to engage with the screw holes 265 and the screws to secure the snap-fit component 26.

[0048] The hook-shaped buckle 261 extends out from the bottom surface of the clutch compartment 21 and is used to engage with the drive unit 1. The inner side of the hook is designed with a 3° slope to ensure zero gap during the connection process with the surgical robot body arm drive unit 1.

[0049] A set of arc-shaped clips 262 extend from the upper surface of the compression cover plate 23 and are used to engage with the surgical instrument 3. The side of the arc-shaped clips 262 away from the clutch chamber 21 is a flat surface, while the side close to the clutch chamber 21 is an arc-shaped clip with an inclined surface. Each clip component 26 includes at least two arc-shaped clips 262 with slopes for connecting to the surgical instrument 3. The two arc-shaped clips 262 are positioned at different depths, which ensures that they do not affect each other during the process of connecting with the corresponding structure of the surgical instrument 3. In addition, the structural design of each arc-shaped clip 262 and the slope ensures that the surgical instrument 3 does not need to remain parallel to the end face of the clutch chamber 21 during the process of engagement or withdrawal. A certain difference can still ensure smooth engagement or withdrawal.

[0050] A rectangular limiting protrusion 263 is provided in the middle of each snap component 26 , which is used to limit the compression cover plate 23 during assembly of the sterile isolation device 2 to prevent the cylindrical protrusion 232 of the compression cover plate 23 from escaping from the rectangular groove 213 of the clutch compartment 21 .

[0051] Each snap-fit component 26 has two circular positioning grooves 264264, which correspond to the circular boss 214 of the clutch compartment 21 during installation to provide a positioning function. At the same time, a circular hole 265 is provided in the middle of the circular positioning groove 264 for installing screws to fasten the snap-fit component 26 and the clutch compartment 21.

[0052] In this embodiment, each buckle component 26 includes two hook-type buckles 261, so each sterile isolation device 2 includes four hook buckles 261 connected to the surgical robot body robotic arm drive unit 1, ensuring the firmness of the connection.

[0053] According to the sterile isolation device for rapid connection and replacement of surgical robot instruments provided by the embodiment of the present disclosure, the clutch body 22 is designed to be a pair of two and can move axially, thereby reducing the structural complexity and cost of the surgical robot body robotic arm drive unit 1 and the surgical instrument 3; its snap-fit design can avoid the risk of collision when the surgical instrument 3 is disassembled axially toward the patient end in conventional designs by installing the instrument laterally and ensuring accurate installation in the presence of deviations. Its clutch compartment 21 has a limit design so that after the robotic arm body is connected to the surgical instrument 3, the position of the clutch can be determined by the limit, and an absolute encoder is no longer required for position confirmation, which reduces the design complexity and cost of the surgical robot body robotic arm.

[0054] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of this disclosure may be combined and / or coupled in various ways, even if such combinations and / or couplings are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure may be combined and / or coupled in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or couplings are intended to fall within the scope of this disclosure.

[0055] Although the present disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made to the present disclosure without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents. Therefore, the scope of the present disclosure should not be limited to the above-described embodiments, but should be determined not only by the appended claims but also by the equivalents of the appended claims.

Claims

1. A sterile isolation device for rapid connection and replacement of surgical robot instruments, characterized in that: include: A clutch chamber (21), the bottom of which is provided with an array of a plurality of first circular holes (211); A compression cover plate (23) is provided with cylindrical protrusions (232) on both sides thereof, wherein the cylindrical protrusions (232) clamp the compression cover plate (23) on the top of the clutch chamber (21) and enable the compression cover plate (23) to rotate around the cylindrical protrusions (232), and the compression cover plate (23) is provided with second circular holes (231) corresponding one-to-one to the plurality of first circular holes (211) on the clutch chamber (21); A cover spring (25) is provided between the cylindrical protrusion (232) and the clutch chamber (21); A plurality of clutch body groups, each of the clutch body groups comprising two clutch bodies (22) and a clutch compression spring (24), the clutch compression spring (24) being arranged between the two clutch bodies (22), the ends of the two clutch bodies (22) being away from each other being respectively inserted into a pair of the first circular holes (211) and the second circular holes (231), and the end surfaces of the two clutch bodies (22) being away from each other being provided with a groove structure for engaging with a drive unit (1) or a surgical instrument (3); A snap-fit component (26) is fixed on both sides of the clutch chamber (21) and is used to connect a drive unit (1) or a surgical instrument (3) engaged with the clutch body (22). During installation, the surgical instrument (3) slides laterally into the snap-fit component (26).

2. The sterile isolation device according to claim 1, characterized in that Rectangular grooves (213) are provided on both side walls of the clutch chamber (21) for arranging the cylindrical protrusions (232) of the compression cover plate (23); The cover spring (25) is arranged at the rectangular groove (213).

3. The sterile isolation device according to claim 2, characterized in that: A cover plate limiting structure (263) is provided on the buckle component (26) in a direction perpendicular to the side wall of the clutch compartment (21), for preventing the compression cover plate (23) from escaping from the rectangular groove (213).

4. The sterile isolation device according to claim 1, characterized in that The opposite end surfaces of the two clutch bodies (22) are each provided with a circular central groove (223), a third circular hole (222) and a circular shaft (221); The circular central groove (223) is provided at the center of one opposite end of the two clutch bodies (22) and is used to set the clutch compression spring (24); The third circular hole (222) and the circular axis (221) are symmetrically arranged on both sides of the circular central groove (223); The third circular hole (222) and the circular shaft (221) have the same diameter, and when the two clutch bodies (22) are brought closer together by compressing the clutch compression spring (24), the circular shafts (221) of the two clutch bodies (22) are respectively inserted into the third circular holes (222) of the other party.

5. The sterile isolation device according to claim 1, characterized in that: A first angle limiting protrusion (212) is provided on one side of each of the first circular holes (211); A second angle limiting protrusion (226) is provided on the side wall at one opposite end of the two clutch bodies (22), and the second angle limiting protrusion (226) is used to cooperate with the first angle limiting protrusion (212) to limit the rotation angle range of the two clutch bodies (22).

6. The sterile isolation device according to claim 1, characterized in that: The groove structures on the end surfaces of the two clutch bodies (22) that are away from each other include an eccentric waist-shaped groove (224) and two open waist-shaped grooves (225); One end of the eccentric waist-shaped groove (224) is arranged at the center of the end surfaces of the two clutch bodies (22) that are away from each other; The two open waist-shaped grooves (225) are symmetrically arranged on both sides of the eccentric waist-shaped groove (224) and symmetrical along the axes of the two clutch bodies (22). The opening directions of the two open waist-shaped grooves (225) are opposite and open to the edge of the end surface.

7. The sterile isolation device according to claim 1, characterized in that: The diameter of one end of the two clutch bodies (22) that is away from each other is smaller than the diameter of the first circular hole (211) and the second circular hole (231), and the diameter of one end of the two clutch bodies (22) that is opposite to each other is larger than the diameter of the first circular hole (211) and the second circular hole (231).

8. The sterile isolation device according to claim 1, characterized in that: The buckle component (26) includes a group of hook-shaped buckles (261), an intermediate connecting portion, and a group of arc buckles (262); The intermediate connecting portion is fixed to the side surface of the clutch compartment (21); The hook-shaped buckle (261) and the arc buckle (262) are respectively arranged on both sides of the middle connecting portion; The hook-shaped buckle (261) extends out of the bottom surface of the clutch compartment (21) and is used to engage with the drive unit (1); The set of arc buckles (262) extend out of the upper surface of the compression cover plate (23) and are used to engage with the surgical instrument (3).

9. The sterile isolation device according to claim 8, characterized in that: The side of the arc buckle (262) away from the clutch chamber (21) is a flat surface, and the side close to the clutch chamber (21) is an arc-shaped buckle with an inclined surface.

10. The sterile isolation device according to claim 8, characterized in that: The middle connecting portion is provided with a plurality of circular positioning grooves (264), and the center of each circular positioning groove (264) is provided with a screw hole (265); A group of circular bosses (214) are respectively provided on both side walls of the clutch chamber (21), and a threaded hole (215) is provided at the center of the circular bosses (214); The circular boss (214) is used to cooperate with the circular positioning groove (264) to position the snap component (26); The threaded hole (215) is used to cooperate with the screw hole (265) and the screw to fix the buckle component (26).

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