Isolation assembly and medical device

Abstract

The present application relates to a kind of isolation components and medical equipment.Isolation component is used to isolate and connect instrument box and medical instrument, the isolation component includes isolation plate and optical ranging component.Isolation plate is used for the medical instrument insertion, so that the medical instrument is assembled with the isolation plate.Optical ranging component is used to detect the relative pose of the medical instrument and the isolation plate, so as to obtain the assembly state slot of the medical instrument and the isolation plate.The above-mentioned isolation component, ranging precision is high, and ranging precision will not decrease with use time, can satisfy the demand of high-precision detection.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an isolation component and medical device. Background Technology

[0002] Minimally invasive surgery is becoming increasingly widely used in clinical practice due to its advantages of less trauma, less pain, and faster recovery. At the same time, medical devices used for minimally invasive surgery are becoming more and more common. These devices can insert different medical instruments into the body to work together to complete minimally invasive surgeries. During the assembly process of these medical devices, traditional medical devices typically require monitoring the assembly status of the instruments to oversee the process. However, current technologies for monitoring the assembly status of medical devices lack sufficient accuracy, and this accuracy decreases over time, making it difficult to meet the demands for high-precision monitoring. Summary of the Invention

[0003] Based on this, an isolation component and a medical device are provided to improve the accuracy of medical device assembly on a medical device.

[0004] An isolation assembly for isolating and connecting an instrument cartridge to a medical device, the isolation assembly comprising:

[0005] A spacer plate for inserting the medical device to assemble the medical device with the spacer plate; and,

[0006] An optical ranging component is used to detect the relative pose of the medical device and the isolation plate in order to obtain the assembly status of the medical device and the isolation plate.

[0007] In one embodiment, the optical ranging component is an infrared ranging device that can emit infrared light toward the instrument box and receive infrared light reflected by the instrument box to obtain the distance between the instrument box and the isolation plate.

[0008] A medical device includes an instrument box and an isolation component as described in any of the above embodiments, the instrument box being used to connect to the medical device, and the optical ranging component being disposed on the side of the isolation plate facing the instrument box.

[0009] In one embodiment, the medical device further includes a damping structure, wherein one of the isolation plate and the instrument box has a protruding mating structure, and the damping structure is disposed on the other of the isolation plate and the instrument box and corresponds to the mating structure. The damping structure includes a housing, a first flexible element disposed within the housing, and a damping fluid disposed within the first flexible element, wherein the first flexible element corresponds to the position of the mating structure.

[0010] In one embodiment, the damping structure further includes a second flexible element, the housing has a partition wall with a through hole, the first flexible element and the second flexible element are respectively disposed on both sides of the partition wall and communicate with each other through the through hole so that the damping fluid can flow between the first flexible element and the second flexible element.

[0011] In one embodiment, the partition wall is generally in the shape of a hollow cylinder, and the housing further includes an outer shell, which is also generally in the shape of a hollow cylinder and disposed on the outside of the partition wall. The first flexible element is disposed on the inside of the partition wall, and the second flexible element is disposed between the partition wall and the outer shell. The shape of the mating structure is adapted to the partition wall and can be inserted into the inside of the partition wall.

[0012] In one embodiment, the damping fluid volume within the first flexible element corresponds to the maximum insertion stroke of the mating structure on the damping structure.

[0013] In one embodiment, the damping structure further includes a liquid volume detection element for detecting the damping fluid volume within the first flexible element and / or the second flexible element; and / or,

[0014] The damping structure further includes a return flow device, which is used to drive the damping fluid in the second flexible element back to the first flexible element when the mating structure disengages from the damping structure.

[0015] In one embodiment, the medical device further includes an instrument arm and a motion mechanism disposed on the instrument arm, the isolation plate being disposed on the instrument arm, and the motion mechanism being used to drive the isolation plate to reciprocate relative to the instrument arm in a first direction, the instrument box being able to move closer to or further away from the isolation plate in the first direction.

[0016] In one embodiment, the motion mechanism includes a motor and a slider, the motor being used to drive the slider to move relative to the robotic arm, and the isolation plate being disposed on the slider;

[0017] The isolation plate is provided with a female connector, and the isolation plate also includes an expansion mechanism disposed within the female connector. The slider is provided with a male connector end, which can be inserted into the female connector and drive the expansion mechanism to abut against the inner wall of the female connector, so that the isolation plate and the slider can be detachably connected.

[0018] In one embodiment, the medical device further includes a base and a first control element, the instrument arm is disposed on the base, the first control element is disposed on the instrument arm, the first control element is used to control the motion mechanism, the base is provided with an interface for electrically connecting the first control element to external components, the instrument arm is provided with a first port electrically connected to the first control element, and the isolation plate is provided with a second port electrically connected to the optical ranging component, the first port and the second port are electrically connected by wires.

[0019] In one embodiment, the medical device further includes a flexible strip, on which the wire is at least partially disposed, such that the portion of the wire connected to the isolation plate can reciprocate along the first direction with the isolation plate.

[0020] In one embodiment, the medical device has two opposing flexible strips, one end of which is connected to the isolation plate and the other end of which is connected to the instrument arm. The wire is generally flat and is disposed between the two flexible strips.

[0021] The aforementioned isolation assembly uses an optical ranging component to detect the relative position of the medical device and the isolation plate in order to obtain the assembly status of the device box and the isolation plate. The light emitted by the optical ranging component is usually not easily diffused and is a non-contact ranging method. Compared with contact ranging, the detection accuracy is less affected by factors such as connection structure and magnetic field, resulting in higher detection accuracy. At the same time, the optical ranging component does not require the use of spring pins or other components that are prone to performance degradation over time, so the ranging accuracy will not decrease over time, which is beneficial to meeting the needs of high-precision detection. Attached Figure Description

[0022] Figure 1 These are schematic diagrams of the medical devices in some embodiments;

[0023] Figure 2 This is a structural schematic diagram of the medical device from another angle in some embodiments;

[0024] Figure 3 This is a schematic diagram of the structure of the medical device insertion slot in some embodiments;

[0025] Figure 4 This is a schematic diagram of the instrument box before assembly in some embodiments;

[0026] Figure 5 This is a schematic diagram of the assembled instrument box and isolation plate in some embodiments;

[0027] Figure 6 These are schematic diagrams illustrating the structure of a medical device inserted into the human body in some embodiments;

[0028] Figure 7 These are schematic diagrams of the isolation plate structure in some embodiments;

[0029] Figure 8 These are schematic diagrams of the damping structure in some embodiments;

[0030] Figure 9 This is a schematic diagram of the structure in which the mating structure is inserted into the damping structure in some embodiments;

[0031] Figure 10 These are schematic diagrams of the motion mechanism in some embodiments;

[0032] Figure 11 This is a schematic diagram of the structure in some embodiments where the isolation plate is electrically connected to the first control element;

[0033] Figure 12 This is a schematic diagram of the structure in which the conductor and the flexible strip are coupled in some embodiments;

[0034] Figure 13 This is a schematic diagram of the structure in some embodiments where the instrument identification chip is electrically connected to the third port;

[0035] Figure 14 This is a schematic diagram of the structure of the isolation plate facing away from the instrument box in some embodiments;

[0036] Figure 15 This is a schematic diagram of the structure of the side of the isolation plate in some embodiments;

[0037] Figure 16 A schematic diagram showing that the slider of the instrument arm in some embodiments has a male connector end;

[0038] Figure 17 This is a schematic diagram of a structure in some embodiments where the isolation plate has a female connector;

[0039] Figure 18 This is a schematic diagram of the cable routing along the tank chain mechanism in some embodiments;

[0040] Figure 19 This is a schematic diagram of the tank track mechanism in some embodiments.

[0041] Figure label:

[0042] 10. Medical equipment; 11. Isolation plate; 111. Mating structure; 112. Groove; 113. Second port; 114. Fixing groove; 115. Motor knob; 116. Snap-fit ​​structure; 117. Quick-release mounting rod; 118. Female connector; 12. Instrument box; 13. Instrument identification chip; 131. Signal transmission line; 14. Optical ranging component; 141. Emitter; 142. Receiver; 143. Circuit board; 15. Instrument arm; 151. First port; 152. Third port; 153. First control element; 16. Motion mechanism; 161. Motor; 162. Ball screw; 163. Slider; 164. Male connector; 17. Base; 171. Tank chain mechanism; 172. Cable; 18. Puncture device; 19. Damping structure; 191. Housing; 192. Partition wall; 1921. Through hole; 193. Outer shell; 194. First flexible element; 195. Second flexible element; 196. Flexible belt; 197. Wire; 198. Pressure head; 20. Medical device; 30. First direction. Detailed Implementation

[0043] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0044] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0049] Please see Figure 1 , Figure 2 and Figure 3 , Figure 1 and Figure 2 These are schematic diagrams of the medical device 10 from different angles in some embodiments. Figure 3This is a schematic diagram of the assembly structure of the medical device 20 and the isolation plate 11 in some embodiments. The medical device 10 of this application can be applied to minimally invasive surgery. For example, the medical device 20 used in minimally invasive surgery can be assembled on the medical device 10 and can be controlled by the medical device 10 to be inserted into the human body for observation or surgical operation, or removed from the human body. Specifically, in some embodiments, the medical device 10 includes an isolation plate 11 and an instrument box 12. The isolation plate 11 has a slot 112. The instrument box 12 is used to fix the medical device 20. The instrument box 12 can move towards the isolation plate 11 to drive the medical device 20 into the slot 112 or to drive the medical device 20 out of the slot 112. The medical device 20 includes, but is not limited to, any suitable instrument that may be used in minimally invasive surgery, such as needle forceps, duckbill forceps, or endoscopes. The isolation plate 11 can be a sterile isolation plate. The medical device 20 is assembled into the slot 112 of the isolation plate 11 through the instrument box 12. The isolation plate 11 can isolate the medical device 20 from other components of the medical equipment 10 and other components in the working environment, preventing the medical device 20 from being contaminated and affecting the surgical effect.

[0050] Combined Figure 4 , Figure 5 and Figure 6 As shown, Figure 4 This is a schematic diagram of the instrument box 12 in some embodiments before it is fully assembled. Figure 5 This is a schematic diagram of the assembled instrument box 12 in some embodiments. Figure 6 This is a schematic diagram illustrating the insertion of a medical device 20 into the human body in some embodiments. It is understood that before inserting the medical device 20 into the human body for surgical procedures, the medical device 20 needs to be assembled onto the medical device 10 so that the medical device 10 can control the medical device 20 to enter the insertion or surgical procedure. (Reference) Figure 4 As shown, when the medical device 20 needs to be assembled onto the isolation plate 11, the medical device 20 is first fixed to the instrument box 12. Then, by moving the instrument box 12, the medical device 20 is inserted into the slot 112, thereby driving the instrument box 12 to move in the direction close to the isolation plate 11, and driving the medical device 20 to move along the slot 112 until... Figure 5 As shown, the instrument box 12 and the isolation plate 11 are assembled, meaning the medical device 20 is assembled on the medical equipment 10. (Combined with...) Figure 5 and Figure 6 As shown, after the instrument box 12 and the isolation plate 11 are assembled, the medical device 20, the instrument box 12 and the isolation plate 11 are fixed together. The medical device 10 can drive the medical device 20 to be inserted into the human body by driving the isolation plate 11 to observe or perform surgical operations on the human body.

[0051] Furthermore, combined Figure 3 and Figure 7 As shown, in some embodiments, the medical device 10 further includes an optical ranging component 14, which is disposed on the isolation plate 11. During the process of the instrument box 12 driving the medical device 20 into the slot 112, the optical ranging component 14 is located on the side of the isolation plate 11 facing the instrument box 12. The optical ranging component 14 is used to detect the distance between the instrument box 12 and the isolation plate 11, that is, to detect the relative pose of the medical device 20 and the isolation plate 11, so as to determine the assembly state of the instrument box 12 and the isolation plate 11. For example, the optical ranging component 14 can emit light a towards the instrument box 12 and can receive light b reflected by the instrument box 12, and can measure the distance between the instrument box 12 and the isolation plate 11 based on the time difference between light a and light b. The light emitted by the optical ranging component 14 includes, but is not limited to, any applicable light such as infrared light, ultraviolet light, and blue light. In this application, the isolation plate 11 and the optical ranging component 14 are assembled to form an isolation component.

[0052] It is understandable that when using the optical ranging component 14 to detect the assembly state of the instrument box 12 and the isolation plate 11, the distance between the instrument box 12 and the isolation plate 11 after assembly can be set as a first preset distance. When the optical ranging component 14 measures that the actual distance between the instrument box 12 and the isolation plate 11 is equal to the first preset distance, it is determined that the assembly of the instrument box 12 and the isolation plate 11 is complete. The first preset distance can be set according to different structures of the instrument box 12 and the isolation plate 11, as long as it is equal to the distance between the instrument box 12 and the isolation plate 11 after assembly. For example, in some embodiments, when the instrument box 12 and the isolation plate 11 are assembled, they are in contact, and the first preset distance can be 0. Of course, when the instrument box 12 and the isolation plate 11 are assembled, there is a gap between them, and the first preset distance is greater than 0. This application does not specifically limit the first preset distance.

[0053] The aforementioned medical device 10 uses an optical ranging component 14 to detect the distance between the instrument box 12 and the isolation plate 11 to determine their assembly status. Since the light emitted by the optical ranging component 14 is generally not easily diffused and it is a non-contact ranging method, the detection accuracy is higher. Compared to detection using Hall elements, it is less susceptible to interference from connection structures and magnetic fields, which helps improve the accuracy of the assembly process of the medical device 20 on the medical device 10. Furthermore, traditional medical devices use Hall elements for ranging, which require a spring-loaded spring to detect object insertion. This spring-loaded spring weakens with use, affecting the lifespan of the Hall element and causing instability in the Hall sensor's magnetic signal acquisition. The medical device 10 provided in this application achieves non-contact ranging through the optical ranging component 14, eliminating the influence of the spring-loaded spring. The ranging accuracy does not decrease with use, it has a long lifespan, and the ranging signal remains stable and highly accurate over long-term use. It is understood that in the above embodiment, the distance between the instrument box 12 and the isolation plate 11 is detected, that is, the insertion distance of the medical device 20 in the slot 112 is detected. When the instrument box 12 and the isolation plate 11 are assembled, the insertion distance of the medical device 20 in the slot 112 reaches the maximum.

[0054] Furthermore, in some embodiments, the medical device 10 may also have a second preset distance greater than the first preset distance. The medical device 10 may also include a display screen (not shown) electrically connected to the optical ranging component 14. When the optical ranging component 14 detects that the distance between the instrument box 12 and the isolation plate 11 is less than or equal to the second preset distance, the display screen can display the distance information detected by the optical ranging component 14 in real time. This allows for real-time monitoring of the distance between the instrument box 12 and the isolation plate 11 when the instrument box 12 approaches the isolation plate 11, thus more accurately grasping the assembly state between the instrument box 12 and the isolation plate 11. The second preset distance can be any applicable value greater than the first preset distance. Specifically, it can be set according to the control precision of the assembly process of the instrument box 12 and the isolation plate 11, so that the distance between the instrument box 12 and the isolation plate 11 is between the second preset distance and the first preset distance. That is, when the instrument box 12 approaches the isolation plate 11, the assembly state between the instrument box 12 and the isolation plate 11 can be better grasped. In this application, the second preset distance is not specifically limited. For example, when the instrument box 12 is close to the isolation plate 11, the relative position between the instrument box 12 and the isolation plate 11 is finely adjusted so that the positions of the instrument box 12 and the isolation plate 11 correspond better, so that the instrument box 12 and the isolation plate 11 can be assembled more accurately and the assembly accuracy is improved.

[0055] In some embodiments, the optical ranging component 14 can be an infrared ranging device. The optical ranging component 14 may include an emitter 141, a receiver 142, a detection chip (not shown), and a circuit board 143. The emitter 141, receiver 142, and detection chip may be integrated on the circuit board 143, which is disposed on the isolation plate 11. The emitter 141 may include a light-emitting diode (LED) for emitting infrared light toward the instrument box 12. The receiver 142 may be a photodiode for receiving infrared light reflected by the instrument box 12. The detection chip is electrically connected to the emitter 141 and the receiver 142. The detection chip can measure the distance between the instrument box 12 and the isolation plate 11 based on the time difference between the infrared light emitted by the emitter 141 and the infrared light received by the receiver 142, so as to determine the assembly state between the instrument box 12 and the isolation plate 11. Of course, the above is only one example of the optical ranging component 14. The optical ranging component 14 can also adopt other structural designs, as long as it can measure the distance between the instrument box 12 and the isolation plate 11 through the infrared ranging principle. This application does not limit the specific structure of the optical ranging component 14. Using an infrared ranging device as the optical ranging component 14, the infrared laser has good unidirectionality, is not easy to spread, has strong anti-interference ability, and can effectively improve the ranging accuracy.

[0056] Of course, the above are only examples of optical ranging components 14 in some embodiments. Optical ranging components 14 can also be any suitable invisible light ranging device, such as an ultraviolet light ranging device or a blue light ranging device. Optical ranging components 14 can emit invisible light such as ultraviolet or blue light towards the instrument box 12, and can receive invisible light reflected from the instrument box 12. The distance between the instrument box 12 and the isolation plate 11 is obtained by measuring the time difference between the emitted and received light. Invisible light ranging devices are less susceptible to interference from ambient light and have higher ranging accuracy. In the above embodiments, the emitter 141 of the optical ranging component 14 can be used to emit a laser beam of infrared, ultraviolet, or blue light, or any suitable laser beam, towards the instrument box 12. In other embodiments, the optical ranging component 14 may also be a time-of-flight (TOF) ranging device, a structured light ranging device, etc. In this case, the emitter 141 of the optical ranging component 14 may be a vertical cavity surface-emitting laser (VCSEL). The emitter 141 may be used to emit any suitable light that can meet the requirements of TOF and structured light imaging, such as a light spot array or a surface light source, to the instrument box 12.

[0057] Please see again. Figure 1 , Figure 2 and Figure 3In some embodiments, the medical device 20 further includes an instrument arm 15 and a motion mechanism 16 disposed on the instrument arm 15. An isolation plate 11 is disposed on the instrument arm 15, and the motion mechanism 16 drives the isolation plate 11 to reciprocate relative to the instrument arm 15 along a first direction 30. It is understood that during the assembly process of the instrument box 12 and the isolation plate 11, the instrument box 12 can be moved closer to the isolation plate 11 by a robotic arm or manual control, so that the medical device 20 is inserted into the slot 112 and moves within the slot 112 along the first direction 30. The first direction 30 can be parallel to the extension direction of the medical device 20 or parallel to the insertion direction of the medical device 20 into the human body. Figure 5 and Figure 6 As shown, after the instrument box 12 and the isolation plate 11 are assembled, the instrument box 12 and the isolation plate 11 are fixed relative to each other. The isolation plate 11 is driven to move relative to the instrument arm 15 in the first direction 30 by the motion mechanism 16, so that the medical device 20 can be inserted into or pulled out of the human body.

[0058] Furthermore, in some embodiments, the medical device 10 includes a base 17 and multiple instrument arms 15. Multiple instrument boxes 12 and partition plates 11 are also provided. The multiple instrument arms 15 are circumferentially spaced on the base 17, and the partition plates 11 are correspondingly mounted on the motion mechanism 16 of each instrument arm 15. The instrument boxes 12 and partition plates 11 also have a one-to-one correspondence, and each instrument box 12 can be used to fix one medical device 20. By independently operating different partition plates 11 and instrument boxes 12, multiple medical devices 20 can be used simultaneously, or multiple medical devices 20 can be used alternately, thereby meeting different surgical needs.

[0059] In some embodiments, the medical device 10 may further include a puncture device 18, which is capable of being inserted into the human body to provide a channel for the medical device 20 to enter the human body. Figure 3 As shown, medical devices 20 mounted on different isolation plates 11 can enter and exit the human body through the same puncture device 18, which helps to reduce intraoperative incisions and accelerate postoperative recovery.

[0060] See also Figure 3 , Figure 8 and Figure 9As shown, in some embodiments, a mating structure 111 protrudes from the isolation plate 11. The medical device 10 also includes a damping structure 19 disposed on the instrument box 12. During the assembly process of the instrument box 12 and the isolation plate 11, the damping structure 19 and the mating structure 111 are opposite to each other and their positions correspond. As the instrument box 12 approaches the isolation plate 11, the damping structure 19 can contact the mating structure 111. When the damping structure 19 contacts the mating structure 111 until the instrument box 12 and the isolation plate 11 are assembled, the damping structure 19 can buffer the mating structure 111, which helps to slow down the relative approach speed of the instrument box 12 and the isolation plate 11, preventing the medical device 20 from being damaged due to collision due to excessive speed, and thus protecting the medical device 20.

[0061] Specifically, in some embodiments, the damping structure 19 includes a housing 191, a first flexible element 194 disposed within the housing 191, and a damping fluid (not shown) disposed within the first flexible element 194. The first flexible element 194 corresponds to the position of the mating structure 111. The damping fluid can be any suitable liquid with viscous resistance, such as silicone oil or glycerin, and the material of the first flexible element 194 can be any suitable material capable of deformation, such as rubber. It is understood that when the instrument box 12 and the partition plate 11 approach each other until the mating structure 111 contacts the first flexible element 194, the mating structure 111 will compress the first flexible element 194, causing the first flexible element 194 to deform. During the deformation of the first flexible element 194, the viscous resistance of the damping fluid within the first flexible element 194 will cause the kinetic energy of the instrument box 12 to decrease, thereby playing a buffering role.

[0062] Furthermore, in some embodiments, the damping structure 19 further includes a second flexible element 195. The housing 191 includes a partition wall 192, on which a through hole 1921 is provided. The first flexible element 194 and the second flexible element 195 are respectively disposed on both sides of the partition wall 192 and are interconnected through the through hole 1921. In other words, the through hole 1921 allows the damping fluid to flow between the first flexible element 194 and the second flexible element 195. With this configuration, when the mating structure 111 compresses the first flexible element 194, the first flexible element 194 will deform, and the damping fluid inside the first flexible element 194 will be squeezed into the second flexible element 195, thereby also providing a buffering effect on the movement of the instrument box 12.

[0063] Understandably, when the instrument box 12 and the partition plate 11 are not fully assembled, and the mating structure 111 is not in contact with the first flexible element 194, the damping fluid can be contained within the first flexible element 194 through the material tension design of the first flexible element 194 and the second flexible element 195. As the instrument box 12 approaches the partition plate 11 until the mating structure 111 contacts the first flexible element 194, the damping fluid in the first flexible element 194 gradually flows to the second flexible element 195 under the pressure of the mating structure 111. Furthermore, as the distance between the instrument box 12 and the partition plate 11 decreases, the damping fluid in the first flexible element 194 gradually decreases, while the damping fluid in the second flexible element 195 gradually increases.

[0064] Therefore, in this embodiment, by monitoring the changes in the damping fluid volume within the first flexible element 194 and the second flexible element 195, the changes in the assembly state between the instrument box 12 and the isolation plate 11 can also be obtained. For example, the volume of damping fluid in the first flexible element 194 and / or the second flexible element 195 after the instrument box 12 and the isolation plate 11 are assembled can be used as a preset value. When the volume of damping fluid reaches the preset value, it can be determined that the instrument box 12 and the isolation plate 11 are assembled. Through the design of the damping structure 19, while realizing the kinetic energy buffering effect, the assembly state between the instrument box 12 and the isolation plate 11 can also be monitored, making the function of the damping structure 19 more abundant and improving the utilization efficiency of the medical device 10 structure. At the same time, the damping structure 19 and the optical ranging component 14 jointly realize the monitoring of the assembly state, which can realize redundant design and is conducive to improving the reliability and accuracy of monitoring the assembly state of the instrument box 12 and the isolation plate 11.

[0065] Furthermore, in some embodiments, the damping fluid volume in the first flexible element 194 corresponds to the maximum insertion stroke of the mating structure 111 on the damping structure 19. In other words, when the mating structure 111 is inserted into the damping structure 19 and squeezes the first flexible element 194 until the damping fluid in the first flexible element 194 is completely squeezed into the second flexible element 195, the isolation plate 11 and the instrument box 12 are just assembled. Thus, by monitoring the volume of the damping fluid in the first flexible element 194, when the volume of the damping fluid in the first flexible element 194 is zero, it is possible to accurately determine whether the instrument box 12 and the isolation plate 11 are assembled. This helps to further improve the accuracy of judging the assembly status of the instrument box 12 and the isolation plate 11. By detecting whether the damping fluid in the first flexible element 194 is zero, the algorithm for detecting whether the isolation plate 11 and the instrument box 12 are assembled is simpler, which also helps to shorten the detection process and improve detection efficiency.

[0066] In some embodiments, the partition wall 192 is generally hollow cylindrical in shape, and the housing 191 further includes an outer shell 193, which is also generally hollow cylindrical in shape. The outer shell 193 is disposed outside the partition wall 192. For example, in the cross-section of the damping structure 19, the partition wall 192 and the outer shell 193 can be two concentric circles, and the radial dimension of the outer shell 193 is larger than the radial dimension of the partition wall 192. A first flexible element 194 is disposed inside the partition wall 192, and a second flexible element 195 is disposed between the partition wall 192 and the outer shell 193. The shape of the mating structure 111 is adapted to the partition wall 192. For example, the mating structure 111 is generally cylindrical in shape and can be inserted into the inner side of the partition wall 192 to compress the first flexible element 194.

[0067] In some embodiments, the partition wall 192 is provided with a plurality of through holes 1921, which are evenly distributed along the circumference of the partition wall 192. Combined with the hollow cylindrical shape of the partition wall 192, the damping fluid in the first flexible element 194 can flow from the plurality of through holes 1921 to the second flexible element 195. The deformation of the first flexible element 194 and the second flexible element 195 is more uniform, which is conducive to more accurate monitoring of the capacity of the damping fluid in the first flexible element 194 and / or the second flexible element 195. At the same time, it is also conducive to improving the buffering effect of the damping structure 19 on the instrument box 12 and the medical device 20. The above are only schematic diagrams of some embodiments of the damping structure 19 and the mating structure 111. In fact, the damping structure 19 and the mating structure 111 can also have other structural and shape designs, or the positions of the damping structure 19 and the mating structure 111 can be interchanged, as long as the damping structure 19 and the mating structure 111 can play a buffering role for the medical device 20, and at the same time, cooperate with the optical ranging component 14 to improve the detection accuracy of the assembly state of the instrument box 12 and the isolation plate 11. In this application, the damping structure 19 and the mating structure 111 are not specifically limited.

[0068] Furthermore, in some embodiments, the damping structure 19 may also include a liquid volume detection element (not shown in the figure). The liquid volume detection element can detect the volume of damping fluid in at least one of the first flexible element 194 and the second flexible element 195, thereby obtaining the assembly state between the instrument box 12 and the isolation plate 11 by measuring the change in the volume of damping fluid between the first flexible element 194 and the second flexible element 195. For example, when the liquid volume detection element is used to detect the volume of damping fluid in the first flexible element 194, the liquid volume detection element may have different scales. When the volume of damping fluid in the first flexible element 194 changes, the contact position between the first flexible element 194 and the liquid volume detection element changes, thereby obtaining the change in the volume of damping fluid in the first flexible element 194 based on the scale change of the contact position between the first flexible element 194 and the liquid volume detection element.

[0069] In some embodiments, the damping structure 19 further includes a return flow device (not shown). When the mating structure 111 disengages from the damping structure 19, the return flow device can drive the damping fluid in the second flexible element 195 back into the first flexible element 194, so as to obtain the assembly state between the instrument box 12 and the isolation plate 11 by the change in the volume of the damping fluid in the first flexible element 194 when the mating structure 111 comes into contact with the damping structure 19 again. In some embodiments, when the return flow device detects that the mating structure 111 has disengaged from the damping structure 19, or when the optical ranging component 14 detects that the instrument box 12 has disengaged from the isolation plate 11, the return flow device can cause the damping fluid to flow back into the first flexible element 194 by squeezing the second flexible element 195.

[0070] Please refer to the above. Figure 1 and Figure 10 As shown, in some embodiments, the motion mechanism 16 includes a motor 161, a ball screw 162, and a slider 163. The motor 161 is mounted on the machine arm 15 and connected to the ball screw 162. The slider 163 is mounted on the ball screw 162. The isolation plate 11 is connected to the slider 163. The motor 161 can drive the ball screw 162 and the slider 163 to move relative to each other along the first direction 30, thereby driving the isolation plate 11 to reciprocate along the first direction 30. Of course, the motion mechanism 16 can also use other arbitrary methods such as a transmission belt or a linear motor to realize the reciprocating motion of the isolation plate 11 along the first direction 30. This application does not limit the specific configuration of the motion mechanism 16.

[0071] In some embodiments, the medical device 10 may further include a first control element 153, which is disposed on the instrument arm 15. The first control element 153 may be a PCB circuit board and may be electrically connected to the motor 161 of the motion mechanism 16. The base 17 is also provided with an interface (not shown) for electrically connecting the first control element 153 to external components, such as a quick-release connector interface. The interface of the base 17 may be electrically connected to an external power supply or an operating table to power the first control element 153 or enable the first control element 153 to receive operating signals from the user's operating table. The power supply and motion signals of the motion mechanism 16 may both come from the interface of the base 17.

[0072] Please refer to the above. Figure 1 , Figure 11 and Figure 12As shown, in some embodiments, the robotic arm 15 is further provided with a first port 151, and the first control element 153 is electrically connected to the first port 151. The isolation plate 11 may be provided with a second port 113, which can be connected to the circuit board 143 of the optical ranging component 14. Both the first port 151 and the second port 113 can be contact ports. The first port 151 and the second port 113 are electrically connected through a wire 197, so that the optical ranging component 14 can be electrically connected to external power supplies, operating consoles, or display screens through the interface of the first control element 153 and the base 17, so as to supply power to the optical ranging component 14, or transmit the operation signals of the user's operating console to the optical ranging component 14, or transmit the distance data measured by the optical ranging component 14 to the display screen. Of course, the drive structure or other components on the isolation plate 11 can also be electrically connected to external components in sequence through the second port 113, the first port 151, the first control element 153 and the interface to realize the power supply or communication functions of different components, which will not be described in detail here.

[0073] The wire 197 that establishes the electrical connection between the isolation plate 11 and the instrument arm 15 can be a coaxial composite wire. To prevent the movement of the isolation plate 11 relative to the instrument arm 15 from damaging the wire 197 between the isolation plate 11 and the instrument arm 15, in some embodiments, the medical device 10 may also include a flexible strip 196. At least a portion of the wire 197 is disposed on the flexible strip 196. The flexible strip 196 can be any suitable deformable element with sufficient toughness, such as a steel strip. It is understood that when the portion of the wire 197 connected to the first port 151 is fixed relative to the instrument arm 15, and the isolation plate 11 reciprocates relative to the instrument arm 15 along the first direction 30, under the deformation of the flexible strip 196, the end of the wire 197 connected to the isolation plate 11 can also reciprocate along the first direction 30 with the isolation plate 11. Moreover, the bend of the wire 197 bends gently with the flexible strip 196, making it less prone to damage due to folding. This can improve the electrical connection effect between the first port 151 and the second port 113, and also improve the service life of the wire 197.

[0074] Further, refer to Figure 12As shown, in some embodiments, the medical device 10 includes two opposing flexible strips 196, each connected at one end to an isolation plate 11 and at the other end to an instrument arm 15. For example, both ends of the two flexible strips 196 are fixedly connected by pressure heads 198, one pressure head 198 being connected to the isolation plate 11 and the other pressure head 198 being connected to the instrument arm 15. A generally flat cable 197 is positioned between the two flexible strips 196, and both ends of the cable 197 can be connected to the two pressure heads 198 respectively, so that the cable 197 and the two flexible strips 196 form a structural integral unit. Understandably, the conductor 197 can be a flat composite cable consisting of a power supply line for the optical ranging component 14 and a network cable for data transmission. This helps reduce the number of cables in the medical device 10 and lowers the difficulty of wiring. At the same time, the conductor 197 can move with the isolation plate as the flexible strip deforms. The flexible strip has a good guiding effect on the conductor 197 and can reduce the bending degree of the conductor 197, thereby improving the electrical connection performance of the conductor 197 during movement and thus improving the reliability of the operation of the medical device 10.

[0075] It should be noted that the above are only some examples of the optical ranging component 14 being installed on the medical device 10. In other embodiments, the optical ranging component 14 may also be installed on the side of the instrument box 12 facing the isolation plate 11, or on other components of the medical device 10, as long as the optical ranging component 14 can detect the distance between the instrument box 12 and the isolation plate 11. It is understood that by installing the optical ranging component 14 on the side of the isolation plate 11 facing the instrument box 12, the instrument arm 15 and the isolation plate 11 can provide stable and reliable support for the optical ranging component 14, enabling the optical ranging component 14 to more accurately detect the distance between the isolation plate 11 and the instrument box 12. At the same time, since the isolation plate 11 is installed on the instrument arm 15, it is less likely to collide with other components of the medical device 10 or external components compared to the instrument box 12, which helps to reduce the risk of damage to the optical ranging component 14, extend its service life, and make maintenance more convenient. In addition, the optical ranging component 14 is mounted on the isolation plate 11 and can be electrically connected to the first control element 153 via the second port 113 of the isolation plate 11, and then electrically connected to external components, which helps to simplify the wiring connection of the medical device 10.

[0076] Please refer to the above. Figure 1 and Figure 13As shown, in some embodiments, the medical device 10 further includes a device identification chip 13, which is disposed on the device housing 12. The device arm 15 also has a third port 152 electrically connected to the first control element 153. When the medical device 20 is fixed to the device housing 12, and the device housing 12 and the isolation plate 11 are assembled, the device identification chip 13 is electrically connected to the third port 152 through the signal transmission line 131, so as to communicate with external components such as the operating table through the first control element 153 and the interface. The device identification chip 13 can identify the type of medical device 20 fixed to the device housing 12, as well as its service life, remaining service life, and other information, and transmit the information of the medical device 20 to the external components of the operating table for the user to read. In some embodiments, the medical device 10 may also include a device identification circuit board (not shown in the figure), which may be disposed on the device housing 12, and the device identification chip 13 is disposed on the device identification circuit board. The device identification circuit board is electrically connected to the signal transmission line 131 to provide power supply, communication and other line settings for the device identification chip 13.

[0077] Combination Figure 1 , Figure 14 and Figure 15 As shown, the isolation plate 11 is also provided with a fixing groove 114, and the instrument box 12 may be provided with a snap-fit ​​structure. When the instrument box 12 moves close to the isolation plate 11 until the snap-fit ​​structure on the instrument box 12 is inserted into the fixing groove 114 and fastened to the isolation plate 11, the instrument box 12 and the isolation plate 11 are assembled. In some embodiments, the medical device 10 may also include a power box (not shown) located on the side of the isolation plate 11 away from the instrument box 12. The power box may be provided with multiple motors or other driving components, and the isolation plate 11 may be provided with multiple motor knobs 115. The motor knobs 115 on the isolation plate 11 can be connected one-to-one with the motors 161 in the power box to control the medical device 20 assembled on the isolation plate 11 to perform different surgical operations. In some embodiments, when the optical ranging component 14 detects that the instrument box 12 is close to the isolation plate 11, the motor knob 115 on the isolation plate 11 can also be reset according to the information detected by the optical ranging component 14, so that the power box, the isolation plate 11 and the instrument box 12 can be properly connected, making the operation of the medical device 20 smoother.

[0078] The isolation plate 11 may also have a buckle structure 116 protruding on the side facing away from the instrument box 12, and the power box may also have a fixing groove 114. The isolation plate 11 and the power box may also be assembled by inserting the buckle structure 116 into the fixing groove 114. In some embodiments, the isolation plate 11 is detachably installed on the instrument arm 15 by buckling. The isolation plate 11 may also have a plurality of quick-release mounting rods 117 protruding on the side facing the instrument box 12. By pressing the quick-release mounting rods 117, the buckle structure on the isolation plate 11 can be controlled to be fastened or released from the instrument arm 15, thereby realizing the quick installation and removal of the isolation plate 11 from the instrument arm 15.

[0079] Please see Figure 16 and Figure 17 In some embodiments, the isolation plate 11 is further provided with a female connector 118, and the isolation plate 11 also includes an expansion mechanism (not shown) disposed within the female connector 118. The expansion mechanism includes, but is not limited to, an expansion screw or a locking spring mechanism, and the expansion mechanism can be locked with the female connector 118. For example, the expansion mechanism is an expansion screw. When the expansion mechanism is pushed out, the expansion mechanism can expand outward and abut against the inner wall of the female connector 118 to lock with the female connector 118. In some embodiments, the slider 163 is provided with a male connector end 164, which can be inserted into the female connector 118 and drive the expansion mechanism to expand and abut against the inner wall of the female connector 118, so that the isolation plate 11 and the slider 163 are detachably connected. Both the female connector 118 and the male connector 164 can be provided with contacts for electrical connection between the optical ranging component 14 and the instrument arm 15. When the male connector 164 is connected to the female connector 118, the contacts of the male connector 164 are electrically connected to the contacts of the female connector 118. This configuration makes the installation and removal of the isolation plate 11 and the slider 163 more convenient, and when the isolation plate 11 and the slider 163 are fixedly connected, the connection is stable, which can improve the reliability of the structural connection and electrical connection performance between the isolation plate 11 and the instrument arm 15, so as to facilitate the establishment of stable data transmission between the optical ranging component 14 and external components.

[0080] Combination Figure 1 , Figure 18 and Figure 19As shown, in some embodiments, the medical device 10 has four instrument arms 15, which are sequentially spaced on the base 17. The medical device 10 also includes a tank chain mechanism 171 and cables 172 electrically connecting the four instrument arms 15 to a first controller 153. For example, the cables 172 are electrically connected to the four instrument arms 15 via interfaces A, B, C, and D. The cables 172 may integrate power supply lines and data transmission network cables. For example, the cables 172 on the base 17 can be electrically connected to wires 197 via the instrument arms 15 to achieve power supply and data transmission for the optical ranging component 14. The cables 172 electrically connecting the four instrument arms 15 are integrated into two integrated cables 172 and routed along the tank chain mechanism 171. For example, the base 17 has two symmetrical tank chain mechanisms 171, and the cables 172 are divided into two bundles, each routed along one of the two tank chain mechanisms 171. Figure 18 In the illustrated embodiment, for ease of understanding of the wiring, one of the tank chain mechanisms 171 is omitted. This tank chain mechanism 171 can be symmetrically arranged with the tank chain mechanism 171 shown in the figure. This arrangement simplifies the wiring on the base 17 and makes the electrical connection between the instrument arm 15 and external components more stable and reliable. In some embodiments, the two tank chain mechanisms 171 are generally arranged to form a closed flat ring structure, and two bundles of cables 172 are respectively routed along the two tank chain mechanisms 171. The movement of the two tank chain mechanisms 171 can drive the cables 172 to perform reciprocating circular motion. Thus, when the four instrument arms 15 can move relative to the base 17 along the extension direction of the base 17 to adjust the position of the four instrument arms 15 relative to the base 17, the tank chain mechanism 171 can drive the cables 172 to move with the instrument arms 15, making the electrical connection between the instrument arms 15 and the cables 172 more stable and reliable, and less likely to be damaged by the movement of the instrument arms 15.

[0081] Although not shown in this application, the medical device 10 described above may also include other applicable elements to achieve other functions. The above-mentioned elements may also have other alternatives, as long as they can achieve the corresponding functions, which will not be elaborated here.

[0082] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A medical device, characterized in that, Includes an instrument box and an isolation assembly, the isolation assembly comprising: A spacer plate for inserting a medical device to assemble the medical device with the spacer plate; and, An optical ranging component is used to detect the relative pose of the medical device and the isolation plate in order to obtain the assembly state of the medical device and the isolation plate; The instrument box is used to connect to the medical device; The medical device further includes a damping structure. One of the isolation plate and the instrument box has a protruding mating structure. The damping structure is disposed on the other of the isolation plate and the instrument box and corresponds to the mating structure. The damping structure includes a housing, a first flexible element disposed within the housing, and a damping fluid disposed within the first flexible element. The first flexible element corresponds to the position of the mating structure. The damping structure further includes a second flexible element. The housing has a partition wall with a through hole. The first flexible element and the second flexible element are respectively disposed on both sides of the partition wall and communicate with each other through the through hole, so that the damping fluid can flow between the first flexible element and the second flexible element.

2. The medical device according to claim 1, characterized in that, The optical ranging component is an infrared ranging device. The optical ranging component can emit infrared light toward the instrument box and receive the infrared light reflected by the instrument box to obtain the distance between the instrument box and the isolation plate.

3. The medical device according to claim 1, characterized in that, The optical ranging component is located on the side of the isolation plate facing the instrument box.

4. The medical device according to claim 1, characterized in that, The partition wall is generally in the shape of a hollow cylinder. The housing also includes an outer shell, which is also generally in the shape of a hollow cylinder and is located on the outside of the partition wall. The first flexible element is located on the inside of the partition wall, and the second flexible element is located between the partition wall and the outer shell. The shape of the mating structure is adapted to the partition wall and can be inserted into the inside of the partition wall.

5. The medical device according to claim 4, characterized in that, The damping fluid volume within the first flexible element corresponds to the maximum insertion stroke of the mating structure on the damping structure.

6. The medical device according to claim 4, characterized in that, The damping structure further includes a liquid volume detection element, which is used to detect the damping liquid volume in the first flexible element and / or the second flexible element.

7. The medical device according to claim 4, characterized in that, The damping structure further includes a return flow device, which is used to drive the damping fluid in the second flexible element back to the first flexible element when the mating structure disengages from the damping structure.

8. The medical device according to claim 1, characterized in that, The medical device also includes an instrument arm and a motion mechanism disposed on the instrument arm. The isolation plate is disposed on the instrument arm, and the motion mechanism is used to drive the isolation plate to reciprocate relative to the instrument arm in a first direction. The instrument box can move closer to or further away from the isolation plate in the first direction.

9. The medical device according to claim 8, characterized in that, The motion mechanism includes a motor and a slider. The motor is used to drive the slider to move relative to the machine arm. The isolation plate is disposed on the slider. The isolation plate is provided with a female connector, and the isolation plate also includes an expansion mechanism disposed within the female connector. The slider is provided with a male connector end, which can be inserted into the female connector and drive the expansion mechanism to abut against the inner wall of the female connector, so that the isolation plate and the slider can be detachably connected.

10. The medical device according to claim 8, characterized in that, The medical device further includes a base and a first control element. The instrument arm is disposed on the base, and the first control element is disposed on the instrument arm. The first control element is used to control the motion mechanism. The base is provided with an interface for electrically connecting the first control element to external components. The instrument arm is provided with a first port for electrically connecting the first control element. The isolation plate is provided with a second port for electrically connecting the optical ranging component. The first port and the second port are electrically connected by wires.

11. The medical device according to claim 10, characterized in that, The medical device further includes a flexible strip, on which the wire is at least partially disposed, such that the portion of the wire connected to the isolation plate can reciprocate along the first direction with the isolation plate.

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