Aseptic adapter and medical surgical robot

Abstract

The application provides a sterile adapter and an execution end of a medical operation robot comprising the sterile adapter. The sterile adapter comprises a base and a locking assembly. A first side of the base is connected with an external instrument box, and a second side of the base is connected with an external driving device. The base is provided with a positioning hole for the extension of a positioning locking piece on the external driving device. The locking assembly is rotatably connected to the base around a first straight line. The locking assembly has a first locking part extending out of a first side surface of the base. The first locking part is provided with a first locking unit for locking connection with the external instrument box in a locking state. The first locking part can be elastically deformed under external force to release the locking. The locking assembly also has a second locking part. In the locking state, the second locking part is locked with the external positioning locking piece extending into the positioning hole. The locking assembly can rotate relative to the base under external force to release the locking of the second locking part.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a sterile adapter and an end effector for a medical surgical robot. Background Technology

[0002] Minimally invasive surgical robots typically include a master control panel and slave control devices. The master control panel is used to send control commands to the slave control devices based on the surgeon's instructions, thereby controlling the slave control devices. The slave control devices are used to respond to the control commands sent by the master control panel and perform the corresponding surgical procedures.

[0003] Surgical procedures are performed by manipulating surgical instruments at the end effector of an operating device. Surgical instruments require sterility, while the operating device itself is generally not sterilized; therefore, a sterile adapter is needed to provide a sterile connection point. One of the key design considerations for the sterile adapter is how it can be detachably connected to the instrument case and drive mechanism. Summary of the Invention

[0004] The purpose of this invention is to design a new connection structure for a sterile adapter that can simultaneously achieve a locking connection with both the instrument cartridge and the drive unit.

[0005] The technical solution of this invention is as follows:

[0006] A sterile adapter, comprising:

[0007] The base has a first side connected to an external instrument box and a second side connected to an external drive device. The first and second sides of the base are opposite to each other. The base is provided with positioning holes for the insertion of positioning and locking components on the external drive device.

[0008] A locking assembly is rotatably connected to the base about a first straight line; the locking assembly has a first locking part that extends out of a first side surface of the base, and a first locking unit is provided on the first locking part. The first locking unit is used to lock and connect with an external instrument box in a locked state. The first locking part can undergo elastic deformation in a first direction under the action of external force so that the first locking unit can release the locking connection with the external instrument box.

[0009] The locking assembly further includes a second locking part, which is locked to an external positioning locking member extending into the positioning hole in the locked state. The locking assembly can be rotated in a second direction under the action of an external force to release the locking connection between the second locking part and the external positioning locking member, wherein the second direction is a direction with the first straight line as the rotation center line.

[0010] In a sterile adapter provided in one embodiment, a portion of the first locking part having the first locking unit extends into the interior of the external instrument box, so that the first locking unit is locked to the structure inside the external instrument box.

[0011] In a sterile adapter provided in one embodiment, the first direction is the opposite of the second direction;

[0012] When the first locking unit is locked to the external instrument box, one side of the first locking part abuts against the structure of the external instrument box to restrict the rotation of the locking assembly in the second direction; the base is provided with a limiting surface, and when the first locking unit is locked to the external instrument box, the other side of the first locking part abuts against the limiting surface to restrict the rotation of the locking assembly in the first direction.

[0013] In a sterile adapter provided in one embodiment, a first elastic element is provided between the locking assembly and the base, the first elastic element being used to provide an elastic force to drive the locking assembly to rotate in the first direction.

[0014] In a sterile adapter provided in one embodiment, the first locking unit is a slot provided on the first locking part, and the slot engages with a card block on the external instrument box to achieve a locking connection.

[0015] In a sterile adapter provided in one embodiment, the base has an internal mounting cavity, and an extension hole communicating with the mounting cavity is formed on the surface of the first side of the base; the locking assembly is installed in the mounting cavity, and a portion of the first locking part on the locking assembly extends out of the first side surface of the base through the extension hole.

[0016] In a sterile adapter provided in one embodiment, the second locking part is disposed along the first straight line, and the second locking part is movable relative to the base along the first straight line direction; the second locking part extends from the side of the positioning hole into the positioning hole under the action of the second elastic member and locks with the external positioning locking member; a limiting structure is provided between the second locking part and the base, and during the process of the external force driving the locking assembly to rotate in the second direction to make the second locking part rotate in the second direction, the second locking part exits the positioning hole under the action of the limiting structure to release the locking connection with the external positioning locking member.

[0017] In a sterile adapter provided in a certain embodiment, a second locking unit is provided at one end of the second locking part facing the positioning hole. The second locking unit is used to extend into the positioning hole and lock to an external positioning locking member.

[0018] The limiting structure includes a first limiting surface and a second limiting surface. The first limiting surface is disposed on the second locking part, and the first limiting surface is disposed on the side of the second locking unit that is relatively far away from the positioning hole. The first limiting surface is disposed towards the positioning hole and protrudes outward from the circumferential outer side of the second locking unit.

[0019] The second limiting surface is disposed on the base and is oriented away from the positioning hole; under the action of the second elastic member, the first limiting surface on the second locking part abuts against the second limiting surface on the base, and at least one of the first limiting surface and the second limiting surface is an inclined surface inclined to the first straight line.

[0020] In a sterile adapter provided in one embodiment, the base is provided with an insertion hole corresponding to the positioning hole. The insertion hole is arranged along the first straight line. One end of the insertion hole is opened on the side wall of the positioning hole, and the other end of the insertion hole is opened on the second limiting surface. The second locking unit extends into the positioning hole from the side through the insertion hole.

[0021] Furthermore, the insertion hole restricts the second locking unit to have only a first degree of freedom of movement, a second degree of freedom of movement, and a coupled movement of the first degree of freedom and the second degree of freedom; wherein, the first degree of freedom is the movement of the second locking unit along the first straight line direction, and the second degree of freedom is the rotation of the second locking unit about the first straight line.

[0022] In a sterile adapter provided in one embodiment, the locking assembly further includes a sleeve disposed along the first straight line, and the first locking part is connected to the outer wall of the sleeve;

[0023] The second locking part has a first end and a second end opposite to each other. The first end of the second locking part is the end where the second locking unit is provided. The locking assembly includes two second locking parts. The second ends of the two second locking parts extend into the sleeve from the two openings of the sleeve, and the second elastic member is provided between the second ends of the two second locking parts.

[0024] In a sterile adapter provided in one embodiment, the locking assembly further includes a connector, and the first locking part is connected to the connector; the connector is provided with a connecting hole arranged along a first straight line;

[0025] The second locking part has a first end and a second end opposite to each other. The first end of the second locking part is the end where the second locking unit is provided. The second end of the second locking part extends into the connecting hole, and the second elastic member is provided between the second end of the second locking part and the connecting hole.

[0026] In a sterile adapter provided in one embodiment, a first synchronization hole is provided on the portion of the second locking part that extends into the sleeve or the connecting hole, and a second synchronization hole is provided on the sleeve or the connecting member at a position corresponding to the first synchronization hole. Either the first synchronization hole or the second synchronization hole is an oblong hole arranged along the first straight line direction. A synchronization member is inserted into the first synchronization hole and the second synchronization hole. The synchronization member can slide within the oblong hole along the first straight line direction, and the synchronization member, the first synchronization hole, and the second synchronization hole move synchronously in the direction of rotation around the first straight line.

[0027] In a sterile adapter provided in one embodiment, the locking assembly includes a connector, a first locking part, and two second locking parts. The two second locking parts are respectively connected to both ends of the connector from two directions along the first straight line, and the first locking part is connected to the connector from the radial direction of the first straight line.

[0028] The sterile adapter includes two locking assemblies arranged side by side, and the base is provided with four positioning holes. The four second locking parts of the two locking assemblies correspond one-to-one with the four positioning holes.

[0029] An end effector for a medical surgical robot includes an instrument box, a drive unit, and a sterile adapter as described in any one of the above.

[0030] The instrument box is used to hold surgical instruments and drive their movement. The instrument box is mounted on the sterile adapter, and the sterile adapter is mounted on the drive device. The drive device is used to provide power, which is transmitted to the instrument box through the sterile adapter to drive the movement of the surgical instruments.

[0031] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:

[0032] In this invention, the sterile adapter can achieve a locking connection with the instrument box and the drive device only through the locking assembly. The locking connection with the instrument box can be released by causing the first locking part in the driving locking assembly to undergo elastic deformation in a first direction, and the locking connection with the drive device can be released by driving the locking assembly to rotate in a second direction. Attached Figure Description

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0034] Figure 1 This is a schematic diagram of the end effector (equipped with surgical instruments) of a medical surgical robot according to the present invention;

[0035] Figure 2 This is an exploded view of the end effector (equipped with surgical instruments) of a medical surgical robot according to the present invention.

[0036] Figure 3 This is a structural schematic diagram of a base and locking assembly according to the present invention (wherein the sleeve and the first locking part in the locking assembly on the lower left side are not shown).

[0037] Figure 4 This is a schematic cross-sectional view of a sterile adapter according to the present invention;

[0038] Figure 5 This is a schematic cross-sectional view of a sterile adapter of the present invention near one of the positioning holes;

[0039] Figure 6 This is a cross-sectional schematic diagram of a sterile adapter equipped with an instrument box according to the present invention;

[0040] Figure 7 This is a partial structural diagram of the instrument box in the end effector of a medical surgical robot according to the present invention.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1: Sterile adapter; 2: Instrument box; 3: Drive device; 4: Surgical instrument; 5: Turntable; 6: Signal recognition needle; 7: Base plate; 8: Cover plate; 9: First locking part; 10: Sleeve; 11: Second locking part; 12: Second elastic element; 13: Positioning locking element; 14: Slot; 15: Second limiting surface; 16: First elastic element; 17: Positioning hole; 18: Synchronizing element; 19: Annular boss; 20: First synchronization hole; 21: First guide slope; 22: Second guide slope; 23: Locking groove; 24: Block; 25: (On the block) Slope; 26: Unlock button; 27: Unlock rocker; 28: Docking slope. Detailed Implementation

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0044] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0045] Example 1

[0046] See Figures 1 to 7 This embodiment provides a sterile adapter 1, including a base and a locking assembly. A first side of the base is connected to an external instrument case 2, and a second side of the base is connected to an external drive device 3. The first and second sides of the base are opposite to each other. The base has a positioning hole 17 for the insertion of a positioning locking member 13 from the external drive device 3.

[0047] The locking assembly is rotatably connected to the base about a first straight line. The locking assembly has a first locking part 9 that extends out of a first side surface of the base. The first locking part 9 is provided with a first locking unit, which is used to lock and connect with the external instrument box 2 in the locked state. The first locking part 9 can undergo elastic deformation in a first direction under the action of external force, thereby releasing the locking connection between the first locking unit and the external instrument box 2.

[0048] The locking assembly also has a second locking part 11, which, in the locked state, is locked to the external positioning locking member 13 extending into the positioning hole 17. The locking assembly can be rotated in a second direction under external force to release the locking connection between the second locking part and the external positioning locking member 13, thereby releasing the locking connection between the sterile adapter 1 and the external drive device 3 in this embodiment. The second direction is a direction with the first straight line as the rotation center line.

[0049] Therefore, the sterile adapter 1 in this embodiment can achieve a locking connection with the instrument box and the drive device only through the locking assembly. The locking connection with the instrument box 2 can be released by causing the first locking part 9 in the driving locking assembly to undergo elastic deformation in the first direction, and the locking connection with the drive device 3 can be released by driving the locking assembly to rotate in the second direction.

[0050] The sterile adapter 1 of this embodiment will be further described below. For ease of explanation, the up and down direction is referred to in this embodiment. Figure 1 As shown in the diagram, the first side of the base is the side that is relatively closer to the top, and the second side of the base is the side that is relatively closer to the bottom.

[0051] The base includes a base plate 7 and a cover plate 8, with the cover plate 8 fixedly connected to the top of the base plate 7. The connection method between the cover plate 8 and the base plate 7 is not limited; for example, it can be a welded connection or a fastener connection. The instrument box 2 is mounted above the cover plate 8, and the drive device 3 is mounted below the base plate 7. A positioning hole 17 is provided on the lower surface of the base plate 7; the positioning hole 17 can be a blind hole or a through hole, and this is not limited. A groove is provided on the upper surface of the base plate 7, which, when covered by the lower surface of the cover plate 8, forms a mounting cavity, i.e., the base has an internal mounting cavity. The mounting cavity is used to mount the locking assembly. An extension hole is provided on the cover plate 8, connecting the upper space of the base and the mounting cavity. A portion of the first locking part 9 on the locking assembly extends out of the upper surface of the cover plate 8 through the extension hole. A first locking unit is located on the portion of the first locking part 9 extending out of the upper surface of the cover plate 8. The portion of the first locking part 9 with the first locking unit extends into the interior of the external instrument box 2, thereby locking the first locking unit to the internal structure of the instrument box 2.

[0052] Furthermore, the first direction is the opposite of the second direction. (See also: [link to main text]) Figure 6 When the first locking unit is locked to the instrument box 2, one side of the first locking part 9 abuts against the structure of the instrument box 2, thereby restricting the rotation of the locking assembly in the second direction. A limiting surface is provided on the base; when the first locking unit is locked to the instrument box 2, the other side of the first locking part 9 abuts against the limiting surface, thereby restricting the rotation of the locking assembly in the first direction. Specifically, the limiting surface can be the inner wall of the protruding hole facing the second direction.

[0053] Main reference Figure 3 and Figure 6 A first elastic element 16 is provided between the locking assembly and the base. The first elastic element 16 provides an elastic force to drive the locking assembly to rotate in the first direction. When the first locking part 9 separates from the instrument box 2 (at which point the sterile adapter 1 and the instrument box 2 are unlocked), the first elastic element 16 keeps the first locking part 9 against the limiting surface, restricting the rotation of the locking assembly in the second direction, so that the second locking part 11 can still remain in the locked state. The first elastic element 16 can be a spring or the like.

[0054] Main reference Figure 2 , Figure 6 and Figure 7 Preferably, in this embodiment, the first locking unit is a slot 14 provided on the first locking part 9, and the instrument box 2 is provided with a corresponding card block 24. The card block 24 engages with the slot 14 to achieve a locking connection.

[0055] During the unlocking process in this embodiment, the first locking part 9 undergoes elastic deformation in a first direction under the action of external force, thereby releasing the locking connection between the first locking unit and the external instrument box 2; then, with the instrument box 2 separated from the base, the locking assembly rotates in a second direction under the action of external force, thereby releasing the locking connection between the second locking part 11 and the external positioning locking member 13. That is, in this embodiment, it is necessary to first release the lock between the sterile adapter 1 and the instrument box 2, and then release the lock between the sterile adapter 1 and the drive device 3.

[0056] Further, see main reference Figure 6 The instrument box 2 has a locking block 24 with a downward and outward inclined surface 25. In addition to the locking block 24, the instrument box 2 also has a mating inclined surface 28 located below the locking block 24. The inclined surface 25 and the mating inclined surface 28, together with the first locking part 9, abut against the limiting surface under the action of the first elastic member 16, so that when connecting the instrument box 2 to the sterile adapter 1, it is only necessary to press the instrument box 2 downwards onto the sterile adapter 1. During the downward pressing of the instrument box 2, the presence of the mating slope 28 allows the first locking part 9 to smoothly abut against the part of the instrument box 2 where the locking block 24 is located. Then, as the instrument box 2 continues to move downward relative to the sterile adapter 1, the upper end of the first locking part 9 will first contact the lower part of the slope 25 on the locking block 24. Then, as the instrument box 2 moves further downward relative to the sterile adapter 1, the slope 25 on the locking block 24 causes the first locking part 9 to undergo elastic deformation in the first direction through its own elastic deformation until the locking block 24 falls into the slot 14 on the first locking part 9. The first locking part 9 elastically resets, and the locking block 24 engages with the slot 14, realizing the locking connection between the first locking part 9 and the instrument box 2. The realization of the locking connection also means that the instrument box 2 and the sterile adapter 1 are installed in place.

[0057] The instrument box 2 is equipped with an unlock button 26 and an unlock rocker 27. The unlock rocker 27 is rotatably connected to the main body of the instrument box 2. When the unlock button 26 is pressed, the unlock button 26 presses against the top of the unlock rocker 27 and drives the unlock rocker 27 to rotate, causing the bottom of the unlock rocker 27 to push the first locking part 9 to elastically deform in the first direction, thereby causing the card block 24 inside the instrument box 2 to separate from the card slot 14 on the first locking part 9. At this time, the instrument box 2 can be pulled out from the sterile adapter 1.

[0058] Main reference Figure 3 and Figure 4The second locking part 11 is arranged along the first straight line, and the second locking part 11 can move relative to the base along the first straight line direction. Under the action of the second elastic member 12, the second locking part 11 extends laterally into the positioning hole 17 and locks with the external positioning locking member 13. A limiting structure is provided between the second locking part 11 and the base. When an external force drives the locking assembly to rotate in the second direction, causing the second locking part 11 to rotate in the second direction, the second locking part 11 exits the positioning hole 17 under the action of the limiting structure to release the locking connection with the external positioning locking member 13.

[0059] In this embodiment, the locking assembly preferably includes a connector, a first locking part 9, and two second locking parts 11. The two second locking parts 11 are respectively connected to both ends of the connector from two directions along the first straight line, and the first locking part 9 is connected to the connector from the radial direction of the first straight line. The connector is a sleeve 10, which is arranged along the first straight line, and the first locking part 9 is fixedly connected to the outer wall of the sleeve 10. The second locking parts 11 have opposing first and second ends. The first end of the second locking part 11 is provided with a second locking unit, and the second ends of the two second locking parts 11 extend into the sleeve 10 from two openings, respectively. A second elastic member 12 is provided between the second ends of the two second locking parts 11; wherein, the second elastic member 12 can be a compression spring or the like, and there is no specific limitation.

[0060] Furthermore, the second end of the second locking part 11 extends into the sleeve 10. In the overlapping portion of the second locking part 11 and the sleeve 10, the second locking part 11 is provided with a first synchronization hole 20, and the sleeve 10 is provided with a corresponding second synchronization hole. A synchronizing member 18 passes through both the second synchronization hole and the first synchronization hole 20. The first synchronization hole 20 is an oblong hole arranged along the first straight line direction. The synchronizing member 18 can slide within the oblong hole along the first straight line direction. The synchronizing member 18, the first synchronization hole 20, and the second synchronization hole move synchronously in the direction of rotation around the first straight line. In this way, the second locking part 11 can slide relative to the sleeve 10 along the first straight line direction, and the second locking part 11 can be prevented from dislodging from the sleeve 10. It can also drive the second locking part 11 to rotate synchronously when the first locking member is driven to rotate in the first or second direction. In this embodiment, the synchronizing member 18 is preferably a pin. In other embodiments, the second synchronization hole can also be an oblong hole.

[0061] Each second locking part 11 corresponds to a positioning hole 17. The first end of the second locking part 11 faces the positioning hole 17. The base plate 7 is provided with an insertion hole corresponding to the positioning hole 17. The insertion hole is arranged along a first straight line, and the insertion hole connects the positioning hole 17 and the groove. One end of the insertion hole is opened on the side wall of the positioning hole 17, and the other end is opened on the side wall of the groove. After passing through the insertion hole, the second locking unit extends into the positioning hole 17 and locks with the positioning locking member 13.

[0062] The insertion hole restricts the second locking unit, so that the second locking unit only has a first degree of freedom of movement, a second degree of freedom of movement, and a coupled movement of the first and second degrees of freedom. The first degree of freedom is the movement of the second locking unit along a first straight line, and the second degree of freedom is the rotation of the second locking unit about the first straight line.

[0063] The limiting structure includes a first limiting surface and a second limiting surface 15. The first limiting surface is disposed on the second locking part 11, and is located on the side of the second locking unit relatively away from the positioning hole 17. The first limiting surface is oriented towards the positioning hole 17 and protrudes outward in the circumferential direction of the second locking unit. The second limiting surface 15 is disposed on the base plate 7, and is oriented away from the positioning hole 17. Under the action of the second elastic member 12, the first limiting surface on the second locking part 11 abuts against the second limiting surface 15 on the base plate 7, and at least one of the first limiting surface and the second limiting surface 15 is an inclined surface inclined to a first straight line.

[0064] Preferably, the sidewall of the groove used to open the other end of the insertion hole is used as the second limiting surface 15, and the second limiting surface 15 is an inclined surface inclined to the first straight line; the second locking part 11 is a rod, and an annular boss 19 is protruding on the sidewall of the rod. One side of the annular boss 19 on the rod is the second locking unit, and the other side is used to set the first synchronization hole 20 and the insertion sleeve 10. The end face of the annular boss 19 facing the second locking unit (that is, the end face facing the positioning hole 17) is the aforementioned first limiting surface. Please refer to [link to relevant documentation]. Figure 3 When the second locking part 11 is rotated in the first direction by rotating the first locking part 9, since the first limiting surface and the second limiting surface 15 are inclined in the first straight line direction, the second locking part 11 will compress the second elastic member 12 to retract in the direction of the other second locking part 11, so that the second locking unit on the second locking part 11 can be disengaged from the positioning hole 17 and the locking with the positioning locking member 13 on the drive device 3 is released.

[0065] For further details, please refer to [link / reference]. Figure 5A first guide slope 21 is provided at the upper end of the positioning locking member 13, and a locking groove 23 is provided on the positioning locking member 13 below the first guide slope 21; a second guide slope 22 is provided at the end of the second locking unit. When the sterile adapter 1 and the drive device 3 are docked, the second guide slope 22 on the second locking unit contacts the first guide slope 21 on the positioning locking member 13 first. The force applied to the second locking unit at the contact point will have a component force along the first straight line direction. This component force will push the second locking part 11 to move in the direction of compressing the second elastic member 12. When the positioning locking member 13 moves to align the locking groove 23 on it with the second locking unit, the second locking unit will extend into the locking groove 23 under the action of the second elastic member 12, thereby realizing the second locking unit and the positioning locking member. In the locking connection of 13, since the second elastic member 12 will always provide an elastic force to drive the second locking part 11 to move in the direction of the positioning hole 17, the sterile adapter 1 and the drive device 3 cannot be disengaged unless the first locking part 9 is pushed to rotate in the second direction to make the second locking part 11 rotate in the second direction (that is, to perform the unlocking action). Even if an external force is applied (the force here is specified as a force that will not cause the second locking part 11 to rotate in the second direction) to try to remove the sterile adapter 1 from the drive device 3, the sterile adapter 1 cannot be separated from the drive device 3.

[0066] In other embodiments, the connector may not be the sleeve 10. In this case, the first locking part 9 is still connected to the connector; the connector has a connecting hole arranged along the first straight line, the second end of the second locking part 11 extends into the connecting hole, and a second elastic member 12 is provided between the second end of the second locking part 11 and the bottom surface of the connecting hole, so that the second elastic member 12 has an elastic force to drive the second locking part 11 toward the positioning hole 17. At this time, the second synchronization hole is provided on the connector, and the second synchronization hole connects the connecting hole and the outer area of ​​the connector in the radial direction of the first straight line.

[0067] Returning to this embodiment, see mainly Figure 2 and Figure 3 Preferably, the sterile adapter 1 includes two locking assemblies arranged side by side, and the base plate 7 is provided with four positioning holes 17. The four second locking parts 11 in the two locking assemblies correspond one-to-one with the four positioning holes 17, and the four positioning holes 17 are located at the four corners of the base plate 7.

[0068] Under normal circumstances, the motor-driven turntable 5 and signal recognition pin 6 on the drive unit 3 are not arranged symmetrically (here, symmetry refers to a plane perpendicular to the first straight line direction), for example, with... Figure 2As shown in the example, the turntable 5 and the signal recognition needle 6 are both positioned relatively close to the side away from the surgical instrument 4. Therefore, when the sterile adapter 1 is installed on the drive device 3, it will be subjected to an upward thrust from the turntable 5 and the signal recognition needle 6, which will generate a torque that causes the sterile adapter 1 to overturn, resulting in a large deformation of the sterile adapter 1 itself, which may lead to defects such as signal interruption and large matching gap between the sterile adapter 1 and the drive device 3. In this embodiment, by arranging positioning holes 17 at the four corners of the base plate 7, and locking the four positioning holes 17 to the four positioning locking parts 13 on the drive device 3 respectively, the connection between the sterile adapter 1 and the drive device 3 can be ensured to be stable.

[0069] Example 2

[0070] See Figures 1 to 7 This embodiment provides an end effector for a medical surgical robot, including an instrument box 2, a drive device 3, and a sterile adapter 1 as described in Embodiment 1.

[0071] The instrument box 2 is used to hold the surgical instrument 4 and drive the surgical instrument 4 to move. The instrument box 2 is installed on the sterile adapter 1, and the sterile adapter 1 is installed on the drive device 3. The drive device 3 is used to provide power, and the power is transmitted to the instrument box 2 through the sterile adapter 1 to drive the surgical instrument 4 to move.

[0072] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A sterile adapter, characterized in that, include: The base has a first side connected to an external instrument box and a second side connected to an external drive device. The first and second sides of the base are opposite to each other. The base is provided with positioning holes for the insertion of positioning and locking components on the external drive device. A locking assembly is rotatably connected to the base about a first straight line; the locking assembly has a first locking part that extends out of a first side surface of the base, and a first locking unit is provided on the first locking part. The first locking unit is used to lock and connect with an external instrument box in a locked state. The first locking part can undergo elastic deformation in a first direction under the action of external force so that the first locking unit can release the locking connection with the external instrument box. The locking assembly further includes a second locking part, which, in the locked state, is locked to an external positioning locking member that extends into the positioning hole; the locking assembly can be rotated in a second direction under the action of an external force to release the locking connection between the second locking part and the external positioning locking member, wherein the second direction is a direction with the first straight line as the rotation center line; The first direction is the opposite of the second direction; when the first locking unit is locked to the external instrument box, one side of the first locking part abuts against the structure of the external instrument box to restrict the rotation of the locking assembly in the second direction; the base is provided with a limiting surface, and when the first locking unit is locked to the external instrument box, the other side of the first locking part abuts against the limiting surface to restrict the rotation of the locking assembly in the first direction.

2. The aseptic adapter of claim 1, wherein, The portion of the first locking part equipped with the first locking unit extends into the interior of the external instrument box, so that the first locking unit is locked to the structure inside the external instrument box.

3. The aseptic adapter of claim 2, wherein, A first elastic element is provided between the locking assembly and the base, the first elastic element being used to provide an elastic force to drive the locking assembly to rotate in the first direction.

4. The sterile adapter of any one of claims 1 to 3, wherein, The first locking unit is a slot provided on the first locking part, and the slot engages with the card block on the external instrument box to achieve a locking connection.

5. The sterile adapter of any one of claims 1 to 3, wherein, The base has an internal mounting cavity, and an extension hole communicating with the mounting cavity is formed on the surface of the first side of the base; the locking assembly is installed in the mounting cavity, and a portion of the first locking part on the locking assembly extends out of the first side surface of the base through the extension hole.

6. The aseptic adapter of claim 1, wherein, The second locking part is arranged along the first straight line, and the second locking part can move relative to the base along the first straight line direction; the second locking part extends from the side of the positioning hole into the positioning hole under the action of the second elastic member and locks with the external positioning locking member; a limiting structure is provided between the second locking part and the base, and during the process of the external force driving the locking assembly to rotate in the second direction to make the second locking part rotate in the second direction, the second locking part exits the positioning hole under the action of the limiting structure to release the locking connection with the external positioning locking member.

7. The aseptic adapter of claim 6, wherein, The second locking part is provided with a second locking unit at one end of the positioning hole, and the second locking unit is used for locking connection with an external positioning locking part by extending into the positioning hole; The limiting structure comprises a first limiting surface and a second limiting surface, the first limiting surface is arranged on the second locking part, and the first limiting surface is arranged on the side of the second locking unit far away from the positioning hole, the first limiting surface is arranged towards the direction of the positioning hole and protrudes outward in the circumferential direction of the second locking unit; The second limiting surface is arranged on the base, and the second limiting surface is arranged towards the direction far away from the positioning hole; the first limiting surface on the second locking part abuts against the second limiting surface on the base under the action of the second elastic member, and at least one of the first limiting surface and the second limiting surface is an inclined surface inclined to the first straight line.

8. The aseptic adapter of claim 7, wherein, The base is provided with a penetrating hole corresponding to the positioning hole, the penetrating hole is arranged along the first straight line, one end of the penetrating hole is opened on the side wall of the positioning hole, and the other end of the penetrating hole is opened on the second limiting surface, and the second locking unit penetrates into the positioning hole from the side of the positioning hole through the penetrating hole; Moreover, the penetrating hole limits the second locking unit to have only the first degree of freedom movement, the second degree of freedom movement, and the coupling movement of the first degree of freedom and the second degree of freedom; wherein the first degree of freedom is the movement of the second locking unit along the direction of the first straight line, and the second degree of freedom is the rotation of the second locking unit around the first straight line.

9. The aseptic adapter of claim 8, wherein, The locking assembly further comprises a sleeve arranged along the first straight line, and the first locking part is connected to the outer side wall of the sleeve; The second locking part has opposite first and second ends, the first end of the second locking part is the end provided with the second locking unit; the locking assembly comprises two second locking parts, the second ends of the two second locking parts respectively extend into the sleeve from two openings of the sleeve, and the second ends of the two second locking parts are provided with the second elastic member therebetween.

10. The aseptic adapter of claim 8, wherein, The locking assembly further comprises a connecting member, and the first locking part is connected to the connecting member; the connecting member is provided with a connecting hole arranged along the first straight line; The second locking part has opposite first and second ends, the first end of the second locking part is the end provided with the second locking unit; the second end of the second locking part extends into the connecting hole, and the second end of the second locking part and the connecting hole are provided with the second elastic member therebetween.

11. The aseptic adapter of claim 9, wherein, The part of the second locking part extending into the sleeve is provided with a first synchronization hole, the sleeve is provided with a second synchronization hole at a position corresponding to the first synchronization hole, and any one of the first synchronization hole and the second synchronization hole is a waist-shaped hole arranged along the first straight line direction; a synchronization member is arranged in the first synchronization hole and the second synchronization hole, the synchronization member can slide in the waist-shaped hole along the first straight line direction, and the synchronization member, the first synchronization hole and the second synchronization hole move synchronously in the direction of rotation around the first straight line.

12. The aseptic adapter of claim 10, wherein, The part of the second locking part extending into the sleeve is provided with a first synchronization hole, the sleeve is provided with a second synchronization hole at a position corresponding to the first synchronization hole, and any one of the first synchronization hole and the second synchronization hole is a waist-shaped hole arranged along the first straight line direction; a synchronization member is arranged in the first synchronization hole and the second synchronization hole, the synchronization member can slide in the waist-shaped hole along the first straight line direction, and the synchronization member, the first synchronization hole and the second synchronization hole move synchronously in the direction of rotation around the first straight line.

13. The aseptic adapter of claim 1, wherein, The locking assembly comprises a connecting member, one first locking part and two second locking parts, the two second locking parts are connected to the two ends of the connecting member from two directions along the first straight line respectively, and the first locking part is connected to the connecting member from a radial direction of the first straight line; The sterile adapter comprises two locking assemblies arranged side by side, and the base is provided with four positioning holes, and the four second locking parts in the two locking assemblies correspond to the four positioning holes one by one respectively.

14. An execution tip of a medical surgical robot characterized by, The sterile adapter comprises two locking assemblies arranged side by side, and the base is provided with four positioning holes, and the four second locking parts in the two locking assemblies correspond to the four positioning holes one by one respectively. The sterile adapter comprises two locking assemblies arranged side by side, and the base is provided with four positioning holes, and the four second locking parts in the two locking assemblies correspond to the four positioning holes one by one respectively. The sterile adapter comprises two locking assemblies arranged side by side, and the base is provided with four positioning holes, and the four second locking parts in the two locking assemblies correspond to the four positioning holes one by one respectively. The sterile adapter comprises two locking assemblies arranged side by side, and the base is provided with four positioning holes, and the four second locking parts in the two locking assemblies correspond to the four positioning holes one by one respectively.

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