A cannula adapter and surgical robot

Abstract

The application discloses a sleeve adapter and a surgical robot. The sleeve adapter comprises an adapter main body, a clamping arm with a first passive part and a second passive part, an operating mechanism with an operating part and a first actuating part, the operating mechanism being movable in a linear direction, and the first actuating part being capable of acting on the first passive part when the operating mechanism moves; a second actuating part located inside the adapter main body, the second actuating part being fixedly arranged relative to the adapter main body, and the second actuating part being capable of acting on the second passive part; the acting direction of the first actuating part on the first passive part simultaneously having components of a first direction and a second direction, and the acting direction of the second actuating part on the second passive part having components of the second direction and a third direction; the clamping arm being in an open state when the operating part is located at a first position, and the clamping arm being in a clamping state when the operating part is located at a second position; and the moving direction of the clamping arm having components of the second direction and the third direction when the operating mechanism moves in the first direction.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a cannula adapter and a surgical robot. Background Technology

[0002] Master-slave minimally invasive surgical robots help surgeons achieve precise positioning during operations, offering advantages such as reduced patient wounds and shorter postoperative recovery time. Furthermore, their stable operating platform addresses issues like surgeon tremors, leading to their widespread use in clinical surgery.

[0003] On the patient side, the surgical robot performs surgical procedures using surgical tools equipped with end effectors. Common surgical tools include scissors, clamps, and lamps. The pitch, yaw, and gripping movements of the end effector are typically achieved using a wire rope structure.

[0004] In surgical robotics, an opening is typically made in the abdominal cavity using an instrument called a cannula to create a passage. First, the cannula's marker is placed on the abdominal surface. Then, the surgical instruments are inserted through the cannula's passage, and the cannula's rigidity supports the slender tubes of the instruments, preventing deformation. Early in the abdominal incision process, air is injected into the abdominal cavity through vents on the cannula, causing the cavity to bulge and creating space for the instruments. During surgery, different types and lengths of cannulas are used depending on the type of surgical instrument and the thickness of the patient's abdominal cavity; for example, models for 8mm diameter instruments, models for 5mm diameter instruments, and camera cannulas, etc. Therefore, the cannula plays a crucial role in surgical robotics.

[0005] Correspondingly, the structure that connects the sleeve to the robot arm is called a sleeve adapter. The sleeve adapter needs to be able to easily and quickly engage the sleeve under manual operation, and to connect the sleeve safely and securely without any shaking.

[0006] Because the robotic arm has a large range of motion, and three to four robotic arms are involved in the surgery at the same time, the size of the cannula adapter needs to be as small as possible to prevent interference or pressure on the human body or spatial interference between robotic arms.

[0007] In the initial stages of surgical setup, once the cannula is inserted into the patient, its range of motion is limited. At this point, pressing the control button on the surgical robot's robotic arm allows for dragging and following the arm, bringing it close to the cannula for docking. Typically, medical personnel use one hand to drag the robotic arm while holding the cannula with the other. Therefore, the assembly of the cannula, robotic arm, and cannula adapter should be highly operable, reliable, and convenient.

[0008] However, current bushing adapters have many problems, such as large space occupation, difficulty in one-handed operation, poor convenience, and complex structure.

[0009] Therefore, a cannula adapter and a surgical robot are needed to at least partially solve the above problems. Summary of the Invention

[0010] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0011] To at least partially address the above-mentioned problems, this application provides a cannula adapter for a surgical robot, the cannula adapter comprising:

[0012] Adapter body;

[0013] The clamping arm has a first passive part and a second passive part;

[0014] The operating mechanism has an operating part and a first actuating part. The operating part and the first actuating part are fixedly disposed relative to each other. The operating part is located on the outside of the adapter body, and the first actuating part is located on the inside of the adapter body. The operating mechanism can move in a straight line relative to the adapter body. When the operating mechanism moves, the first actuating part can act on the first passive part.

[0015] The second actuating part is located inside the adapter body. The second actuating part is fixedly disposed relative to the adapter body. The second actuating part can act on the second passive part.

[0016] Wherein, the direction of action of the first actuating part on the first passive part has components of both a first direction and a second direction, the direction of action of the second actuating part on the second passive part has components of both the second direction and a third direction, and the plane containing the second direction and the third direction is perpendicular to the first direction.

[0017] When the operating part is in the first position, the clamping arm is in the open state; when the operating part is in the second position, the clamping arm is in the clamping state; the distance between the first position and the adapter body is less than the distance between the second position and the adapter body.

[0018] The operating part can move linearly between the second position and the first position, the clamping arm can switch between an open state and a clamping state, and when the operating mechanism moves along the first direction, the movement direction of the clamping arm has components of a second direction and a third direction.

[0019] The sleeve adapter according to the present invention can reduce the risk of injury to the operator during the resetting of the operating mechanism, and is more conducive to one-handed operation, thus improving the user experience.

[0020] Optionally, it further includes a reset member that acts on the clamping arm to provide a force that tends the clamping arm towards a clamping state; or

[0021] The reset element acts on the operating mechanism, providing the operating part with a force that tends it toward the second position.

[0022] Optionally, a guide portion is fixedly provided inside the adapter body, and the operating mechanism is connected to the guide portion and configured to move along the first direction under the action of the guide portion.

[0023] Optionally, the guide portion is configured as a guide rod extending along the first direction, and the operating mechanism is sleeved on the guide rod so that the operating mechanism can move along the first direction.

[0024] Optionally, the operating mechanism includes an operating part and a support part, the support part is sleeved on the guide rod, the operating part is disposed at one end of the support part, and the first actuating part is located in the support part and close to the other end of the support part.

[0025] Optionally, a base frame is fixedly provided in the adapter body, and the clamping arm is disposed on the base frame and configured to slide on the base frame.

[0026] Optionally, the reset element is connected between the base frame and the clamping arm.

[0027] Optionally, the clamping arm has a first side and a second side opposite to the first side, wherein the first side is closer to the sleeve than the second side, and the second passive portion of the clamping arm includes a first guide surface and a second guide surface, wherein the first guide surface is disposed on the first side and the second guide surface is disposed on the second side;

[0028] The first guiding surface is perpendicular to the plane p containing the second direction and the third direction, the intersection line of the first guiding surface and the plane p has components of both the second direction and the third direction, and the first guiding surface is parallel to the second guiding surface;

[0029] The second actuating part has a first guide part and a second guide part, the first guide part being disposed toward the first guide surface and the second guide part being disposed toward the second guide surface, such that the clamping arm is at least partially located between the first guide part and the second guide part;

[0030] The first guide portion can cooperate with the first guide surface to guide the clamping arm to switch from the clamping state to the open state when the operating mechanism moves from the first position to the second position.

[0031] The second guide portion can cooperate with the second guide surface to guide the clamping arm to switch from the open state to the clamping state when the operating mechanism moves from the second position to the first position.

[0032] Optionally, the first guide portion is configured as a surface that mates with the first guide surface.

[0033] Optionally, the second guide portion is configured as a surface that mates with the second guide surface.

[0034] Optionally, the clamping arm further includes a clamping part located at one end of the clamping arm, the second passive part being connected to the clamping part, and the first passive part being connected to the second passive part.

[0035] Optionally, the distance between the first guide portion and the second guide portion is adapted to the thickness of the second passive portion.

[0036] Optionally, the clamping arm further has a third passive part connected to the first passive part, and the third passive part partially surrounds the operating mechanism. The operating mechanism further has a third actuating part located inside the adapter body. When the operating mechanism moves, the third actuating part can act on the third passive part.

[0037] A second aspect of the present invention provides a surgical robot including the cannula adapter described in the first aspect.

[0038] The surgical robot according to this application has the aforementioned cannula adapter, and therefore can achieve similar technical effects as the aforementioned cannula adapter. Attached Figure Description

[0039] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0040] In the attached image:

[0041] Figure 1This is a schematic diagram of a sleeve adapter according to an embodiment of this application;

[0042] Figure 2 for Figure 1 Exploded view of the bushing adapter;

[0043] Figure 3 A top view of the adapter body according to an embodiment of this application, with the upper housing removed;

[0044] Figure 4 This is a bottom view of the upper housing of the adapter body according to an embodiment of this application;

[0045] Figure 5 This is a partial schematic diagram of the internal structure of the adapter body according to an embodiment of this application;

[0046] Figure 6 This is a partial schematic diagram from another perspective of the internal structure of the adapter body according to an embodiment of this application;

[0047] Figure 7 This is a schematic diagram illustrating the cooperation between the operating mechanism and the clamping arm according to an embodiment of this application;

[0048] Figure 8 This is a cross-sectional schematic diagram showing the clamping arm of the adapter body according to an embodiment of this application in a clamping state;

[0049] Figure 9 A cross-sectional view of the adapter body with its clamping arm in an open state according to an embodiment of this application; and

[0050] Figure 10 This is a schematic diagram showing the movement direction of the clamping arm of the adapter body according to an embodiment of this application. Detailed Implementation

[0051] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0052] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0053] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0054] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0055] The surgical robot of this invention has one or more robotic arms. (See reference) Figure 1 and Figure 2 The robotic arm includes a cannula 11, a cannula adapter 10, and a sterile adapter 12. First, the sterile adapter 12 is installed onto the cannula adapter 10 and locked in place, with a sterile dressing or similar material separating them. Then, the cannula 11 is installed onto the sterile adapter 12, ensuring that the cannula 11 is locked in place by the cannula adapter 10.

[0056] For the specific structure of the bushing adapter 10, please refer to... Figures 3 to 10The sleeve adapter 10 includes: an adapter body 100; a clamping arm 110 having a first passive part 111 and a second passive part 112; an operating mechanism 120 having an operating part 121 and a first actuating part 123, the operating part 121 and the first actuating part 123 being fixedly disposed relative to each other, the operating part 121 being located outside the adapter body 100, and the first actuating part 123 being located inside the adapter body 100, the operating mechanism 120 being movable in a linear direction relative to the adapter body 100, and the first actuating part 123 acting on the first passive part 111 during the movement of the operating mechanism 120; and a second actuating part located inside the adapter body 100, the second actuating part being fixedly disposed relative to the adapter body 100, and the second actuating part acting on the second passive part 112; wherein, the first actuating part 123 acts on the first passive part 111. The direction of action of the second actuator on the second passive part 112 has components of both the first direction D1 and the second direction D2. The direction of action of the second actuator on the second passive part 112 has components of both the second direction D2 and the third direction D3. The plane containing the second direction D2 and the third direction D3 is perpendicular to the first direction D1. When the operating part 121 is in the first position, the clamping arm 110 is in the open state. When the operating part 121 is in the second position, the clamping arm 110 is in the clamping state. The distance between the first position and the adapter body 100 is less than the distance between the second position and the adapter body 100. The operating part 121 can move linearly between the second position and the first position. The clamping arm 110 can switch between the open state and the clamping state. When the operating mechanism 120 moves along the first direction D1, the direction of movement of the clamping arm 110 has components of both the second direction D2 and the third direction D3.

[0057] According to the sleeve adapter 10 of the present invention, the force direction of the operating mechanism is more ergonomic, making it easier for the operator to control the force applied during use. It also reduces the risk of injury to the operator when the operating mechanism 120 is reset, and is more conducive to one-handed operation, thus improving the user experience.

[0058] The sleeve adapter 10 also includes a reset member 150 that acts on the clamping arm 110, providing a force that causes the clamping arm 110 to tend toward a clamping state. Alternatively, the reset member 150 acts on the operating mechanism 120, providing a force that causes the operating part 121 to tend toward a second position. As one implementation, the reset member 150 is configured as a tension spring connected between the base frame 140 and the clamping arm 110 to provide a force to the clamping arm 110 toward a clamping state. In some embodiments, the reset member 150 may also be configured as a compression spring connected between the base frame 140 and the operating mechanism 120 (e.g., a bracket) to provide a force to the operating mechanism 120 toward a second position.

[0059] refer to Figure 7 and Figure 10The first direction D1 can be the vertical direction, meaning the operator can press the operating part 121 to move it downwards and release the operating part 121 to automatically return it to its original position. The second direction D2 and the third direction D3 can be located in the same plane p, and this plane p is perpendicular to the vertical direction. Optionally, the second direction D2 can be the front-back direction or longitudinal direction of the sleeve adapter 10, while the third direction D3 can be the left-right direction or lateral direction of the sleeve adapter 10.

[0060] The adapter body 100 has a base frame 140 to provide support for the clamping arm 110 in the first direction D1, so that the clamping arm 110 does not move in the first direction D1 and can slide on the base frame 140. Preferably, the reset member 150 is constructed as an elastic member, such as a spring.

[0061] refer to Figure 5 , Figure 6 and Figure 7 The operating mechanism 120 is connected to the guide section and configured to move along a first direction D1 under the action of the guide section. Specifically, the guide section is configured as a guide rod 141 extending vertically, which can be bolted to the base frame 140. The operating mechanism 120 includes an operating part 121 and a support part 122, with the operating part 121 disposed at the top of the support part 122. The support part 122 is sleeved on the guide rod 141 so that the operating mechanism 120 can move up and down along the guide rod 141 in the first direction D1.

[0062] The first actuating part 123 is constructed as an inclined surface at the bottom end of the support part 122, and the first passive part 111 of the clamping arm 110 is constructed as an inclined surface facing the first actuating part 123. Thus, when the support part 122 moves downward, the first actuating part 123 acts on the first passive part 111, with a force having a component along the first direction D1 and a component along the second direction D2. Since the clamping arm 110 has no degree of freedom in the first direction D1, it tends to move along the second direction D2. When the clamping arm 110 returns to its original position under the action of the reset member 150, the first passive part 111 acts on the first actuating part 123, with a force having a component along the first direction D1 and a component along the second direction D2. Since the support part 122 has no degree of freedom in the second direction D2, it tends to move along the first direction D1.

[0063] In embodiments not shown, the guide portion can be a slide rail, a slider, or a linear bearing, as long as it enables the operating mechanism 120 to move up and down.

[0064] The clamping arm 110 also includes a clamping portion 116 located at one end of the clamping arm 110, a second passive portion 112 connected to the clamping portion 116, and a first passive portion 111 connected to the second passive portion 112. The clamping arm 110 has a first side and a second side opposite to the first side, wherein the first side is closer to the sleeve 11 than the second side. The second passive portion 112 includes a first guide surface 113 and a second guide surface 114, wherein the first guide surface 113 is disposed on the first side and the second guide surface 114 is disposed on the second side.

[0065] In one implementation, the plane containing the first guiding surface 113 intersects both the second direction D2 and the third direction D3, and the plane containing the second guiding surface 114 intersects both the second direction D2 and the third direction D3. Further, the first guiding surface 113 is perpendicular to the plane p containing the second direction D2 and the third direction D3, the intersection line between the first guiding surface 113 and plane p simultaneously has components of both the second direction D2 and the third direction D3, and the first guiding surface 113 is parallel to the second guiding surface 114.

[0066] refer to Figure 3 , Figure 4 , Figure 8 and Figure 9 The adapter body 100 can be roughly divided into an upper shell and a lower shell. Figure 4 A bottom view of the upper housing is shown. The second actuating part is preferably disposed on the upper housing. Exemplarily, the second actuating part includes a first protrusion 133 and a second protrusion 134. When the upper and lower housings are mated, the clamping arm 110 is at least partially located between the first protrusion 133 and the second protrusion 134. In other words, the second passive part 112 of the clamping arm 110 is located between the first protrusion 133 and the second protrusion 134. The second actuating part has a first guide portion 131 and a second guide portion 132, wherein the first guide portion 131 is disposed on the first protrusion 133 and faces the first guide surface 113. The second guide portion 132 is disposed on the second protrusion 134 and faces the second guide surface 114.

[0067] Optionally, the first guide portion 131 is configured to make line contact with the first guide surface 113, and the second guide portion 132 is configured to make line contact with the second guide surface 114. Preferably, the first guide portion 131 is configured as a surface that mates with the first guide surface 113, and the second guide portion 132 is configured as a surface that mates with the second guide surface 114.

[0068] Thus, a guide channel is formed between the first protrusion 133 and the second protrusion 134. The first guide portion 131, the second guide portion 132, the first guide surface 113, and the second guide surface 114 are all constructed as inclined surfaces extending along the extension direction of the guide channel. The first guide portion 131 can cooperate with the first guide surface 113 for guidance, and the second guide portion 132 can cooperate with the second guide surface 114 for guidance, so that the clamping arm 110 can tilt and move back and forth under the action of the guide channel. This tilting movement has a component along the second direction D2 and a component along the third direction D3.

[0069] Furthermore, when the operating mechanism 120 moves from the first position to the second position, the clamping arm 110 switches from the clamping state to the open state, and when the operating mechanism 120 moves from the second position to the first position, the clamping arm 110 switches from the open state to the clamping state.

[0070] In one implementation, the distance between the first guide portion 131 and the second guide portion 132 is adapted to the thickness of the second passive portion 112. In other words, the distance between the first protrusion 133 and the second protrusion 134 can be equal to the thickness of the second passive portion 112 of the clamping arm 110.

[0071] Optionally, the clamping arm 110 also has a third passive portion 115, which is connected to the first passive portion 111. In other words, the third passive portion 115 is located at the other end of the clamping arm 110 relative to the clamping portion 116. Furthermore, the third passive portion 115 partially surrounds the operating mechanism 120. The operating mechanism 120 also has a third actuating portion 124, which is located inside the adapter body 100. When the operating mechanism 120 moves, the third actuating portion 124 can act on the third passive portion 115. The third actuating portion 124 and the third passive portion 115 can be configured to have inclined surfaces facing each other, and these inclined surfaces are preferably parallel to the inclined surfaces of the first actuating portion 123 and the first passive portion 111.

[0072] Therefore, when the reset component 150 is positioned between the clamping arm 110 and the base frame 140, this semi-enclosed design helps maintain structural stability, ensuring stable movement of the clamping arm 110 and the operating mechanism 120 without wobbling. When the reset component 150 is not positioned between the clamping arm 110 and the base frame 140, but rather on the operating mechanism 120, the third actuating part 124 and the third passive part 115 can achieve similar functions to the first actuating part 123 and the first passive part 111. Therefore, this semi-enclosed design also provides reserved space for the additional reset component 150, which is beneficial for future upgrades and modifications.

[0073] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0074] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A cannula adapter for use in a surgical robot, characterized in that, include: Adapter body; The clamping arm has a first passive part and a second passive part; The operating mechanism has an operating part and a first actuating part. The operating part and the first actuating part are fixedly disposed relative to each other. The operating part is located on the outside of the adapter body, and the first actuating part is located on the inside of the adapter body. The operating mechanism can move in a straight line relative to the adapter body. When the operating mechanism moves, the first actuating part can act on the first passive part. The second actuating part is located inside the adapter body. The second actuating part is fixedly disposed relative to the adapter body. The second actuating part can act on the second passive part. Wherein, the direction of action of the first actuating part on the first passive part has components of both a first direction and a second direction, and the direction of action of the second actuating part on the second passive part has components of both the second direction and a third direction. The plane containing the second direction and the third direction is perpendicular to the first direction. Wherein, when the operating part is in the first position, the clamping arm is in an open state, and when the operating part is in the second position, the clamping arm is in a clamping state. The distance between the first position and the adapter body is less than the distance between the second position and the adapter body. The operating part can move linearly between the second position and the first position, the clamping arm can switch between an open state and a clamping state, and when the operating mechanism moves along the first direction, the movement direction of the clamping arm has components of a second direction and a third direction.

2. The sleeve adapter according to claim 1, characterized in that, It also includes a reset element that acts on the clamping arm to provide a force that tends the clamping arm towards a clamping state; or The reset element acts on the operating mechanism, providing the operating part with a force that tends it toward the second position.

3. The sleeve adapter according to claim 2, characterized in that, A guide portion is fixedly provided inside the adapter body, and the operating mechanism is connected to the guide portion and configured to move along the first direction under the action of the guide portion.

4. The sleeve adapter according to claim 3, characterized in that, The guide portion is configured as a guide rod extending along the first direction, and the operating mechanism is sleeved on the guide rod so that the operating mechanism can move along the first direction.

5. The sleeve adapter according to claim 4, characterized in that, The operating mechanism includes an operating part and a support part. The support part is sleeved on the guide rod, the operating part is disposed at one end of the support part, and the first actuating part is located on the support part and close to the other end of the support part.

6. The sleeve adapter according to claim 2, characterized in that, A base frame is fixedly installed in the adapter body, and the clamping arm is disposed on the base frame and configured to slide on the base frame.

7. The sleeve adapter according to claim 6, characterized in that, The reset component is connected between the base frame and the clamping arm.

8. The sleeve adapter according to any one of claims 1-7, characterized in that, The clamping arm has a first side and a second side opposite to the first side, wherein the first side is closer to the sleeve relative to the second side, and the second passive part of the clamping arm includes a first guide surface and a second guide surface, wherein the first guide surface is disposed on the first side and the second guide surface is disposed on the second side; The first guiding surface is perpendicular to the plane p containing the second direction and the third direction, the intersection line of the first guiding surface and the plane p has components of both the second direction and the third direction, and the first guiding surface is parallel to the second guiding surface; The second actuating part has a first guide part and a second guide part, the first guide part being disposed toward the first guide surface and the second guide part being disposed toward the second guide surface, such that the clamping arm is at least partially located between the first guide part and the second guide part; The first guide portion can cooperate with the first guide surface to guide the clamping arm to switch from the clamping state to the open state when the operating mechanism moves from the first position to the second position. The second guide portion can cooperate with the second guide surface to guide the clamping arm to switch from the open state to the clamping state when the operating mechanism moves from the second position to the first position.

9. The sleeve adapter according to claim 8, characterized in that, The first guide portion is configured to mate with the first guide surface.

10. The sleeve adapter according to claim 8, characterized in that, The second guide portion is configured to mate with the second guide surface.

11. The sleeve adapter according to claim 8, characterized in that, The clamping arm further includes a clamping part located at one end of the clamping arm, and the second passive part is connected to the clamping part, and the first passive part is connected to the second passive part.

12. The sleeve adapter according to claim 11, characterized in that, The distance between the first guide portion and the second guide portion is adapted to the thickness of the second passive portion.

13. The sleeve adapter according to claim 11, characterized in that, The clamping arm also has a third passive part, which is connected to the first passive part and partially surrounds the operating mechanism. The operating mechanism also has a third actuating part, which is located inside the adapter body. When the operating mechanism moves, the third actuating part can act on the third passive part.

14. A surgical robot, characterized in that, Includes the sleeve adapter as described in any one of claims 1-13.

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