Connecting adapter, connecting assembly and surgical robot system capable of transmitting linear motion

Abstract

The present disclosure relates to the field of medical devices, and discloses a connection adapter, a connection assembly, and a surgical robot system that can transmit linear motion. The connection adapter includes an adapter substrate, at least one deformable membrane, and at least one transmission member. The adapter substrate includes at least one window, and at least one deformable membrane is sealed on the adapter substrate to cover the at least one window. At least one transmission member is sealed on the deformable membrane and located in at least one window. The transmission member includes a first interface located on the first side of the deformable membrane and a second interface located on the second side of the deformable membrane. The at least one transmission member is used to transmit between the first interface and the second interface through the deformation of the at least one deformable membrane. By driving the second interface of the transmission member to move linearly, the deformable membrane is driven to deform, so as to realize the transmission of the linear drive on one side of the second interface to the side of the first interface.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a connection adapter, a connection assembly, and a surgical robot system capable of transmitting linear motion. Background Art

[0002] Minimally invasive surgery, with its many advantages, such as minimal trauma and rapid recovery, has become increasingly widely used in clinical surgery. In a surgical robotic system, the surgical tool is typically mounted on a robotic arm. A servo motor is installed on the robotic arm, and a connecting adapter is provided between the robotic arm and the surgical tool. This adapter transmits torque and load in real time. A transmission mechanism is installed on the surgical tool to convert the rotational motion input by the motor into linear motion, thereby controlling the surgical tool and performing surgical operations on different parts of the body by controlling the surgical actuator at the end of the surgical tool.

[0003] During surgery, part of the robotic arm comes into direct contact with surgical tools and is easily contaminated due to its proximity to the surgical site. Furthermore, the drive module of the robotic arm cannot be sterilized using conventional methods such as steam, autoclave, or chemicals. A sterile protective cover extending from the connector adapter is typically used to isolate the non-sterile robotic arm and sterile surgical tools from the operating environment.

[0004] Existing connector adapters are primarily designed to transmit rotational torque. Frequent rotation of surgical instruments can easily cause the sterile protective cover to become entangled or drooped, or even entangled, obstructing and restricting the movement of the surgical instrument. Furthermore, the need for a transmission mechanism also makes the surgical instrument larger, making it difficult to carry and assemble. Summary of the Invention

[0005] In view of the above problems, the present disclosure aims to provide a connection adapter, comprising:

[0006] an adapter base plate comprising at least one window;

[0007] at least one deformable membrane, sealingly disposed on the adapter substrate and configured to cover the at least one window;

[0008] At least one transmission member is sealed on the deformable membrane and located in the at least one window, the transmission member includes a first interface located on the first side of the deformable membrane and a second interface located on the second side of the deformable membrane, and the at least one transmission member is used to transmit between the first interface and the second interface through the deformation of the at least one deformable membrane.

[0009] The present disclosure also provides a connection assembly, comprising:

[0010] a first external device comprising at least one first external device interface;

[0011] a second external device comprising at least one second external device interface;

[0012] As described in any one of the above embodiments of the connection adapter, the first interface and the second interface of the transmission member of the connection adapter are coupled to the first external device interface and the second external device interface respectively.

[0013] The present disclosure also provides a surgical robot system, comprising:

[0014] at least one robotic arm;

[0015] In the connection assembly as described in any one of the above embodiments, the second external device is arranged at the end of the robotic arm, the first external device includes a surgical tool, and the robotic arm is connected to the surgical tool through the connection adapter. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0017] Figure 1 A front view showing a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown;

[0018] FIG2( a ) shows a schematic structural diagram of a first side of a transmission member according to some embodiments of the present disclosure;

[0019] FIG2( b ) shows a schematic structural diagram of a second side of a transmission member according to some embodiments of the present disclosure;

[0020] Figure 3 A simplified front view showing a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown;

[0021] Figure 4 A schematic diagram showing the structure of a connection adapter in a folded state according to some embodiments of the present disclosure is shown;

[0022] Figure 5 A rear view of a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown;

[0023] Figure 6 A schematic diagram showing an assembly structure of a connection adapter and a first external device according to some embodiments of the present disclosure is shown;

[0024] Figure 7A schematic structural diagram showing a robotic arm end of a surgical robot system according to some embodiments of the present disclosure;

[0025] Figure 8 A schematic structural diagram of a connection assembly according to some embodiments of the present disclosure is shown;

[0026] Figure 9 A partially enlarged structural schematic diagram of a connection assembly according to some embodiments of the present disclosure is shown;

[0027] Figure 10 Shown is a structural block diagram of a surgical robot system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0028] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0029] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of this disclosure. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the near part or the rear end, the rear part, and the end close to the surgical patient is defined as the distal end, the far end or the front end, the front part. Those skilled in the art will understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0031] The present disclosure provides a connection adapter. Figure 1 FIG. 2 shows a front view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure. Figure 1As shown, the connection adapter 10 may include an adapter substrate 100, a deformable membrane 200 (shown by shading in the figure), and at least one transmission member 300. The adapter substrate 100 includes at least one window (e.g., windows 111, 121, and 131). The deformable membrane 200 is sealingly disposed on the adapter substrate 100 to cover at least one window 111, 121, or 131. It should be understood that the circumference of the deformable membrane 200 can be sealingly connected to the adapter substrate 100 (e.g., welded, bonded, etc.), and by covering the at least one window, an effective barrier is formed between the first side and the second side of the adapter substrate 100, such as a sterile barrier that blocks bacteria.

[0032] At least one transmission member 300 is sealingly disposed on the deformable membrane 200 and located within at least one window. For example, the transmission member 300 can be integrally formed, welded, or adhesively connected to the deformable membrane 200 so that no gap exists between the connection between the transmission member 300 and the deformable membrane 200, thereby sealingly isolating the sterile area from the sterile area. Those skilled in the art will understand that a sealed arrangement or sealed connection in this disclosure refers to a sealed connection that forms a barrier, such as a sterile barrier for blocking bacteria, a dust barrier for blocking dust, and so on. The at least one transmission member 300 can include an interface 310 located on a first side of the deformable membrane 200 and an interface 320 located on a second side of the deformable membrane 200. The at least one transmission member 300 is configured to transmit power between the interface 310 and the interface 320 through deformation of the at least one deformable membrane 200. For example, the interface 310 can be coupled to an interface of a first external device, and the interface 320 can be coupled to an interface of a second external device. The at least one transmission member 300 can be configured to move under the drive of the interface of the second external device. Since the deformable film 200 is deformable, the transmission member is allowed to drive the first external device interface to move, so as to transmit the linear drive on the interface 320 side to the interface 310 side. The structure is simple and easy to operate.

[0033] Those skilled in the art will appreciate that motion may include various forms of motion, such as movement parallel to the window plane, movement perpendicular to the window plane, or a combination of the two. Motion may include, for example, linear motion, curved motion, etc. In some embodiments of the present disclosure, linear motion is used as an example for description, but this does not constitute any limitation of the present disclosure.

[0034] Figures 2(a) and 2(b) are schematic structural diagrams of the first side and the second side of a transmission member 300 according to some embodiments of the present disclosure, respectively. As shown in Figures 2(a) and 2(b), the transmission member 300 may include interfaces 310 and 320 located at both ends and fixedly connected, and the interfaces 310 and 320 are respectively provided with coupling structures, such as coupling grooves 311, 321, side sections 312, etc. It should be understood that the structures of the interfaces 310 and 320 may be the same or different. For example, the interface 310 may be an irregular cylindrical shape (for example, including a side section 312), and the interface 320 may be cylindrical or truncated cone-shaped. By providing interfaces with different structures, assembly can be facilitated. In some embodiments, the transmission member 300 may also include an extension portion 340 protruding outward in the circumferential direction, and the deformable membrane 200 may be sealed with the extension portion 340. Providing the extension portion can make the sealed connection between the deformable membrane and the transmission member more stable and reliable.

[0035] Figure 3 FIG. 1 shows a simplified front view of the connecting adapter 10 in an unfolded state according to some embodiments of the present disclosure. Figure 4 A schematic diagram of the structure of the connection adapter 10 in a folded state according to some embodiments of the present disclosure is shown. For the convenience of explanation, Figure 3 and Figure 4 The shadow representing the deformable film 200 is omitted, and only the transmission member 300 is retained. Figure 3 As shown, the at least one window may include a first window 111 and a second window 121. Figure 4 As shown, in some embodiments, the adapter substrate 100 can be in a U-shape or can be folded to form a U-shape. The adapter substrate 100 can include a left substrate 110, a right substrate 120, and a middle substrate 130. For example, a first window 111 and a second window 121 can be provided on the left substrate 110 and the right substrate 120, respectively. In some embodiments, the at least one window can include a third window 131, which can be provided on the middle substrate 130. Those skilled in the art will appreciate that the terms left, middle, and right herein are used for convenience in indicating relative positional relationships and should be interpreted broadly. Other nomenclatures, such as upper, middle, and lower, may also be used.

[0036] In some embodiments, as Figure 3As shown, the at least one transmission member 300 may include at least one first transmission member located in the first window 111, such as a group of transmission members 300a, and at least one second transmission member located in the second window 121, such as a group of transmission members 300b. In some embodiments, the at least one transmission member 300 may include at least one third transmission member located in the third window 131, such as a group of transmission members 300c. In some embodiments, the first window 111 and the at least one transmission member 300a are distributed in a mirror-symmetrical manner with the second window 121 and the at least one transmission member 300b. It should be understood that a group of transmission members 300a and a group of transmission members 300b may respectively include a plurality of transmission members arranged at intervals, and a group of transmission members 300c may include one transmission member. As shown in FIG. Figure 3 As shown, there can be four transmission members located within each of the first window 111 and the second window 121. The four transmission members 300a located within the first window 111 and the four transmission members 300b located within the second window 121 are arranged in mirror-symmetric fashion along the direction of linear movement (e.g., the longitudinal direction of the adapter substrate 100). This facilitates coordinated driving of the transmission members located within the first window 111 and the second window 121. The above numbers are merely examples; the number of transmission members can also be six, eight, etc., and can be adjusted based on the number of connection interfaces on the external device to be driven.

[0037] In some embodiments, as Figure 1 、 Figure 3 and Figure 4 As shown, at least one communication contact 140 is further provided on the adapter substrate 100. The at least one communication contact 140 is used to establish a communication connection between the first side and the second side of the adapter substrate 100. For example, the first side and the second side of the adapter substrate 100 are connected to a first external device and a second external device respectively. The at least one communication contact 140 can be used to communicate with the first external device to establish a communication connection between the first external device on the first side of the adapter substrate 100 and the second external device on the second side. Figure 1 、 Figure 3 and Figure 4As shown, the central substrate 130 may be provided with a plurality of communication contacts 140 arranged in a matrix. The first and second external devices are correspondingly provided with a plurality of conduction points. After the first and second external devices are installed, the plurality of communication contacts 140 are connected to the conduction points to establish a communication connection between the first and second external devices. Those skilled in the art will appreciate that assemblers can determine whether the adapter substrate 100 and the first or second external device are properly installed by determining whether the communication contacts are connected to the conduction points. The communication connection formed between the communication contacts and the conduction points can also be used to read parameter information from or write parameter information to the first or second external device.

[0038] In some embodiments, at least one grounding pin 150 is further provided on the adapter substrate 100. Figure 1 and Figure 3 As shown, two grounding pins 150 may be provided on the middle substrate 130. The grounding pins are provided to prevent static electricity from damaging components of the system.

[0039] In some embodiments, as Figure 4 As shown, the inner side of the left substrate 110 and / or the right substrate 120 is provided with at least one limiting portion 170 protruding from the surface of the left substrate 110 and / or the right substrate 120. It should be understood that the inner side of the left substrate 110 and the right substrate 120 refers to the side opposite to each other when the left substrate 110 and the right substrate 120 are arranged relative to each other. The outer side of the left substrate 110 and the right substrate 120 refers to the side away from each other when the left substrate 110 and the right substrate 120 are arranged relative to each other. Figure 4 As shown, two limiting portions 170, such as protrusions, can be provided on the inner sides of the left and right substrates 110 and 120, respectively. A limiting groove that cooperates with the limiting portions 170 is provided on the outer side of the first external device. The limiting portions 170 engage with the limiting grooves to limit the movement of the first external device along a linear movement direction (e.g., the lengthwise direction of the middle substrate 130).

[0040] In some embodiments, as Figure 4 As shown, at least one connecting structure, such as a connecting protrusion 180, is correspondingly provided on the outer side of the left substrate 110 and / or the right substrate 120. The connecting protrusion 180 is used to connect with the groove on the second external device (such as Figure 7 It should be understood that two connecting protrusions 180 can be respectively provided on the outer sides of the left substrate 110 and the right substrate 120. By engaging the connecting protrusions with the grooves, the adapter substrate 100 is detachably fixedly connected to the second external device.

[0041] Those skilled in the art will understand that Figure 4The illustrated stopper 170 and connecting protrusion 180 are merely exemplary embodiments; other structures, such as grooves, magnetically engaging structures, and the like, may be employed. The stopper or connecting structure may also be a groove, with corresponding protrusions provided on the first or second external device to achieve a removable fixed connection between the adapter base plate 100 and the first or second external device. It should be understood that the connecting structure may also be other structures capable of achieving a removable connection.

[0042] In some embodiments, as Figure 4 As shown, a shielding portion 190 extending outward from the substrate surface is further provided on the outer side of the left substrate 110 and / or the right substrate 120. The shielding portion 190 can be used to shield the portion of the transmission member 300 exposed outside the substrate. For example, the shielding portion 190 can be provided at the upper end of the left substrate 110 and the right substrate 120 and / or (as shown in FIG. Figure 4 as shown above) or side (as shown Figure 4 The shielding portion 190 extends outwardly for a length greater than or equal to the length of the transmission member 300 exposed outside the window (see left and right ends). The shielding portion 190 can extend perpendicular to the substrate surface or at an angle to the substrate surface. By providing the shielding portion, after the adapter substrate 100 and the second external device are mounted, a space for linear movement of the transmission member 300 is created between the outside of the adapter substrate 100 and the second external device.

[0043] Figure 5 FIG. 2 shows a reverse view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure. Figure 5 As shown, in some embodiments, the connection adapter 10 further includes a sterile protective film 400. The sterile protective film 400 is sealed to the periphery of the adapter base plate 100 and extends outward. It should be understood that the adapter base plate 100 can be in the shape of a U or a foldable sheet. The sterile protective film 400 is circumferentially connected to the adapter base plate 100, for example, by welding or bonding, and extends outward to cover at least a portion of the second external device. It should be understood that the sterile protective film 400 can be a TPU film to facilitate sterilization during the manufacturing process to achieve medical grade materials. The adapter base plate 100 can be made of plastic to facilitate connection with the sterile protective film 400 and the deformable film 200. It should be understood that the extended sterile protective film 400 can be adapted to the shape of the portion of the second external device to be covered. By covering the second external device with the sterile protective film 400, the first external device can be separated from the second external device, isolating the sterile side from the sterile side, meeting the requirements of the operating environment.

[0044] In some embodiments, as Figure 3As shown, the adapter substrate 100 is a foldable sheet structure, and the adapter substrate 100 may also be provided with at least one folding line 160 extending along the length direction of the middle substrate 130. The adapter substrate 100 may be folded along the folding line 160 to form a U-shaped shape. Figure 3 As shown, the adapter base plate 100 may be provided with two folding lines 160, which divide the adapter base plate 100 into a left base plate 110, a right base plate 120, and a middle base plate 130. The folding lines 160 facilitate the operator to fold the adapter base plate 100 along the folding lines into a U-shape, making the operation simple and convenient.

[0045] In some embodiments, the deformable film 200 includes a sheet-like film adapted to the shape of the adapter substrate 100, and the sheet-like film is sealed and disposed on the surface of the adapter substrate 100 to cover at least one window. Figure 1 As shown, the adapter substrate 100 may be rectangular, and the deformable film 200 may be a rectangular sheet-like film adapted to the adapter substrate 100. The deformable film 200 is connected to the peripheral edge of the adapter substrate 100 so that the deformable film 200 is attached to the surface of the adapter substrate 100 to cover the multiple windows on the adapter substrate 100. In some embodiments, the deformable film 200 may be further connected to the adapter substrate 100 at a fold line 160 so that when the adapter substrate 100 is folded, the deformable film 200 remains attached to the adapter substrate 100 and a good seal is achieved for the windows.

[0046] In some embodiments, the deformable film 200 includes at least one sheet-like film corresponding to at least one window. Each sheet-like film is sealed to the adapter substrate 100 to cover the at least one window. It should be understood that the at least one window can be rectangular, polygonal, or have other shapes. The deformable film 200 can include the same number of sheet-like films as windows, and the shape of the sheet-like films can match the shape of each window. Each sheet-like film is connected to the circumferential edge of each window to cover each window.

[0047] The deformable membrane can be made of various deformable materials, such as an elastic membrane. For example, the deformable membrane can include a rubber membrane (e.g., a TPU membrane) or a plastic membrane. The deformable membrane can extend and retract with the linear motion of the transmission member to ensure that the transmission member does not tear or damage the deformable membrane during movement.

[0048] The present disclosure also provides a connection assembly, including a first external device, a second external device and a connection adapter in any embodiment of the present disclosure, such as Figure 1-5 The first external device includes at least one first external device interface, and the second external device includes at least one motor, at least one transmission mechanism (eg Figure 9The transmission mechanism 222 shown) and at least one second external device interface. The interface 310 and the interface 320 of the transmission member 300 of the connecting adapter 10 are coupled to the first external device interface and the second external device interface, respectively. For example, the interface 310 of the transmission member 300 may include a protrusion, the first external device interface may include a corresponding groove, the interface 320 of the transmission member 300 may include a groove, and the second external device interface may include a corresponding protrusion. The protrusion engages with the groove to achieve coupling of the first external device interface and the second external device interface through the transmission member 300. The above is only an example, and one of the interface of the transmission member 300 and the external device interface may be a protrusion and the other may be a groove. Alternatively, the interface of the transmission member and the external device may also be other structures that can be connected to each other.

[0049] In some embodiments, the motor is connected to the transmission mechanism, and the second external device interface is fixedly provided on the transmission mechanism. The transmission mechanism is used to convert the rotational motion of the motor into linear motion to drive at least one transmission member 300 to move linearly, so as to drive the first external device interface to move linearly through the deformation of at least one deformable membrane.

[0050] Figure 6 FIG. 1 shows a schematic diagram of the assembly structure of the connection adapter 10 and the first external device according to some embodiments of the present disclosure. Figure 6 As shown, the first external device may include a surgical tool 30, the proximal end of which may be connected to the adapter 10 in a direction perpendicular to the central base plate 130 (eg Figure 6 The proximal end of the surgical tool 30 is provided with an opening extending in the length direction, and further includes a connection interface (e.g., Figure 9 The connection adapter 10 is provided with an interface 310 on its inner side. The interface 310 is coupled to the connection interface 331 via a coupling structure on the connection interface 331, thereby tactilely connecting the surgical tool 30 to the connection adapter 10. A limiting groove is provided on the outer side of the proximal end of the surgical tool 30, extending perpendicularly to the central base plate 130 of the connection adapter 10. The limiting groove engages with the limiting portion 170 to limit the longitudinal movement of the surgical tool 30, thereby detachably connecting the surgical tool 30 to the connection adapter 10.

[0051] Figure 7 A schematic structural diagram of the end of the robotic arm 20 of a surgical robot system according to some embodiments of the present disclosure is shown. Figure 8 and Figure 9The schematic diagram and partially enlarged schematic diagram of the structure of the connection assembly according to some embodiments of the present disclosure are respectively shown. The second external device can be set at the end of the robot arm 20. It will be understood by those skilled in the art that the second external device can be included in the robot arm 20 as a part of the robot arm, or can be separated from the robot arm 20 as a detachable component. For example, Figure 7 As shown, the second external device can be a drive module 21 located at the end of the robot arm 20, which can be included in the end of the robot arm 20, or can be separated from the robot arm 20 and installed at the end of the robot arm 20. The drive module 21 can include at least one drive interface 211, at least one motor (not shown in the figure) and at least one transmission mechanism 222. Figure 7 As shown, the end of the robotic arm 20 is provided with a receiving slot 22 for accommodating the connection adapter 10. The sidewalls of the receiving slot 22 are provided with grooves 23 that engage with the connection protrusions 180. Multiple drive interfaces 211 can be provided on opposing sidewalls of the receiving slot 22. The drive interfaces 211 engage with interfaces 320 of the transmission member 300 to transmit the drive from the drive module 21 to the transmission member 300. By directly transmitting linear motion through the connection adapter 10, the surgical tool can be miniaturized without the need for a transmission mechanism to convert rotational motion into linear motion.

[0052] like Figure 8 and Figure 9 As shown, at least one transmission mechanism 222 may include a screw rod 2221, at least one nut 2222 and a plurality of balls (not shown). Figure 8 and Figure 9 The adapter base plate 100 for connecting the adapter 10 is omitted, and only the transmission member 300 is retained. A plurality of ball bearings are arranged between the screw rod 2221 and at least one nut 2222. The ball bearings can make rolling friction between the nut and the screw rod, so as to reduce the friction loss of the transmission mechanism during movement and improve the service life of the transmission mechanism. It should be understood that the number of transmission mechanisms can be adjusted according to the number of drive wires. The nut 2222 can be fixedly connected to the second external device interface (such as the drive interface 211, not shown in the figure). For example, Figure 9 As shown, the nut 2222 can be fixedly connected to the slider 2223, and the slider 2223 is fixedly connected to the slider 2224 via at least one connecting rod 2225 extending axially. The drive interface 211 is disposed on the slider 2224. In some embodiments, the transmission mechanism 222 may further include a plurality of slide rails, such as a slide rail 2226. The slider 2223 can be slidably disposed on the slide rail 2226, and the slider 2224 can also be slidably disposed on the slide rail (not shown). By providing the slide rails, the movement of the drive interface 211 is made more stable and precise.

[0053] The output shaft 212 of the motor can drive the screw 2221 to rotate via the gear set 213. The screw 2221 rotates to drive the nut 2222 to move linearly along the screw 2221. The nut 2222 drives the transmission member 300 to move linearly via the drive interface 221. The transmission member 300 drives the deformable membrane 200 to expand and contract, causing the transmission member 300 to drive the connection interface 331 of the surgical tool 30 to move linearly. For example, the surgical tool 30 may include at least one slider 33, which is provided with at least one connection interface 331. The slider 33 is connected to the drive wire (not shown) of the surgical tool 30. The connection interface 331 of the surgical tool 30 can be coupled to the interface 310 of the transmission member 300. Driven by the interface 310, the connection interface 331 moves linearly, driving the slider 33 to move linearly. The slider 33 pushes or pulls the drive wire to drive the arm 31 of the surgical tool 30 to bend and the surgical end effector 32 to operate. For example, multiple sliders 33 can be driven to move through the interface 310 of the transmission parts 300a and 300b to drive the arm 31 of the surgical tool 30 to bend in any direction, and a slider 33 can be driven to move through the interface of the transmission part 300c to drive the end effector 32 of the surgical tool 30 to open and close.

[0054] In some embodiments, at least one transmission mechanism may also not include a ball bearing, and at least one nut may be threadedly connected to the screw, and the nut is connected to the drive interface 211. The screw rotates to drive the nut to move linearly along the screw, to drive the transmission member 300 to move linearly, to drive the slider 33 of the surgical tool 30 to move linearly, to push or pull the drive wire.

[0055] In some embodiments, each screw rod (e.g., screw rod 2221) can be provided with two nuts (e.g., nuts 2222). For example, screw rod 2221 can include two sections of threads with opposite spiral directions, two nuts 2222 are respectively provided on the two sections of threads, and the two nuts 2222 are respectively connected to the two drive interfaces 211. In this way, when screw rod 2221 rotates, it can simultaneously drive the two nuts 2222 to move in opposite directions at the same speed, so as to drive the two sliders 33 to move through the two drive interfaces 211, so as to push or pull the drive wire in a coordinated manner. In this way, the number of drive modules can be reduced, and the drive module can be miniaturized.

[0056] Figure 10 FIG. 1 shows a structural block diagram of a surgical robot system 1 according to some embodiments of the present disclosure. Figure 10As shown, the surgical robot system 1 may include at least one robotic arm 20, at least one surgical tool 30 and at least one connection adapter 10. The robotic arm 20 includes a drive module 21 located at the end, and the connection adapter 10 is detachably connected to the end of the robotic arm 20 or to the drive module 21. The proximal portion of the surgical tool 30 is detachably connected to the connection adapter 10. The robotic arm 20 is connected to the surgical tool 30 through the connection adapter 10, and the drive (e.g., linear motion) of the drive module 21 is transmitted to the surgical tool 30 through the connection adapter 10, so as to drive the arm 31 of the surgical tool 30 to bend and the end effector 32 to open and close.

[0057] The deformable membrane covers at least one window of the connecting adapter, so that a sterile barrier that effectively blocks bacteria is formed between the surgical tools (sterile side) and the drive module (sterile side) on both sides of the connecting adapter. The drive module and the robotic arm are covered with a sterile protective membrane, so that a sterile barrier that effectively blocks bacteria is formed between the part of the robotic arm close to the surgical tool and the surgical tool, thereby providing a sterile surgical operating environment and preventing bacteria from contaminating the surgical tool. At least one transmission member is set on the deformable membrane, and the deformation of the deformable membrane is used to transmit the drive (for example, linear drive) of the first side of the connecting adapter to the second side of the connecting adapter through the transmission member, so as to directly transmit various movements, such as linear movement. The structure is simple and easy to operate.

[0058] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A connection adapter, characterized in that: include: an adapter base plate comprising at least one window; at least one deformable membrane, sealingly disposed on the adapter substrate and configured to cover the at least one window; At least one transmission member is sealed on the deformable membrane and located in the at least one window, the transmission member includes a first interface located on the first side of the deformable membrane and a second interface located on the second side of the deformable membrane, and the at least one transmission member is used to transmit between the first interface and the second interface through the deformation of the at least one deformable membrane.

2. The connection adapter according to claim 1, wherein: The at least one window includes a first window and a second window, The at least one transmission member includes at least one first transmission member located in the first window and at least one second transmission member located in the second window.

3. The connection adapter according to claim 2, wherein: The first window and the at least one first transmission member are distributed in mirror symmetry with the second window and the at least one second transmission member.

4. The connection adapter according to claim 2, wherein: The adapter substrate includes a left substrate, a right substrate, and a middle substrate, and the first window and the second window are respectively provided on the left substrate and the right substrate.

5. The connection adapter according to claim 4, characterized in that The at least one window further includes a third window disposed on the middle substrate.

6. The connection adapter according to claim 4, characterized in that It also includes at least one limiting portion which is arranged on the inner side of the left substrate and / or the right substrate and protrudes from the left substrate and / or the right substrate.

7. The connection adapter according to claim 4, wherein: It also includes at least one connecting structure arranged on the outer side of the left substrate and / or the right substrate.

8. The connection adapter according to claim 4, wherein: It also includes a shielding portion arranged on the outside of the left substrate and / or the right substrate and extending outward from the substrate surface, and the shielding portion is used to shield the portion of the transmission member exposed to the outside.

9. The connection adapter according to any one of claims 1 to 8, characterized in that: Also includes: at least one communication contact disposed on the adapter substrate, the at least one communication contact being configured to establish a communication connection between the first side and the second side of the adapter substrate; and / or At least one grounding pin is provided on the adapter substrate.

10. The connection adapter according to any one of claims 1 to 8, characterized in that: The adapter substrate is in a U-shape; or The adapter substrate is provided with at least one folding line, and the adapter substrate can be folded along the folding line to form a U-shape.

11. The connection adapter according to any one of claims 1 to 8, characterized in that: Also includes: A sterile protective film is sealed and connected to the periphery of the adapter base plate and extends outward.

12. The connection adapter according to any one of claims 1 to 8, characterized in that: The deformable membrane comprises a sheet-shaped membrane adapted to the shape of the adapter substrate, and the sheet-shaped membrane is sealed and disposed on the surface of the adapter substrate to cover the at least one window; or The deformable film includes at least one sheet-shaped film corresponding to the at least one window, and the at least one sheet-shaped film is sealed and connected to the adapter substrate to cover the at least one window.

13. A connection assembly, characterized in that: include: a first external device comprising at least one first external device interface; a second external device comprising at least one second external device interface; The connection adapter according to any one of claims 1 to 12, wherein the first interface and the second interface of the transmission member of the connection adapter are coupled to the first external device interface and the second external device interface respectively.

14. The connection assembly according to claim 13, wherein: The second external device also includes at least one motor and at least one transmission mechanism, the motor is connected to the transmission mechanism, and the second external device interface is fixedly arranged on the transmission mechanism. The transmission mechanism is used to convert the rotational motion of the motor into linear motion to drive the at least one transmission member to move linearly, so as to drive the first external device interface to move linearly through the deformation of the at least one deformable membrane.

15. A surgical robot system, characterized in that: include: at least one robotic arm; According to the connection assembly as described in any one of claims 13-14, the second external device is arranged at the end of the robotic arm, the first external device includes a surgical tool, and the robotic arm is connected to the surgical tool through the connection adapter.

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