Compact surgical tools and surgical robotic systems

Abstract

The present disclosure relates to the field of medical devices, and discloses a compact surgical tool and a surgical robot system. The surgical tool includes an arm body, an end instrument, at least one slider, and at least one drive wire. The end instrument is arranged at the distal end of the arm body, and the at least one slider includes a connection interface arranged on the slider, the connection interface is used to couple with an external device and receive drive from the external device, and the first end of at least one drive wire is fixedly connected to the slider, and the slider is used to push and / or pull the drive wire under the received drive. By externalizing the drive mechanism and / or externalizing the transmission mechanism that transmits the drive, the miniaturization and lightweight of the surgical tool can be achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a compact surgical tool and a surgical robot system. 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 primarily transmit rotational torque. Frequent rotation of surgical tools can easily cause redundant sterile protective covers to become entangled or droop, or even become entangled, obstructing and restricting the tool's movement. Furthermore, surgical tools require a transmission mechanism to convert rotational motion into linear motion, which can make them larger, making them difficult to carry and assemble. Summary of the Invention

[0005] Based on the above problems, the present invention aims to provide a surgical tool, comprising:

[0006] Arm body;

[0007] An end instrument is provided at the distal end of the arm;

[0008] at least one slider, the slider comprising a connection interface provided on the slider, the connection interface being configured to couple with an external device and receive a drive from the external device; and

[0009] At least one drive wire is used to drive the arm and / or the end instrument. The first end of the drive wire is fixedly connected to the slider, and the slider is used to push and / or pull the drive wire under the received drive.

[0010] In some embodiments, the present disclosure further provides a surgical robot system, comprising:

[0011] at least one robotic arm, the robotic arm comprising at least one drive mechanism and at least one drive interface, the at least one drive mechanism being configured to drive the at least one drive interface to move;

[0012] At least one surgical tool as described in any embodiment of the present disclosure; and

[0013] At least one connection adapter, the connection adapter is used to be detachably connected to the robotic arm and the surgical tool, the connection adapter includes at least one first interface and at least one second interface, the first interface is used to couple with the connection interface of the surgical tool, and the second interface is used to couple with the drive interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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.

[0015] Figure 1 A schematic structural diagram of a surgical tool according to some embodiments of the present disclosure is shown;

[0016] Figure 2 A schematic diagram showing the internal structure of the proximal end of a surgical tool according to some embodiments of the present disclosure is shown;

[0017] Figure 3 A schematic diagram showing the structure of the proximal portion of a surgical tool according to some embodiments of the present disclosure is shown;

[0018] Figure 4 A schematic structural diagram showing a proximal portion of a surgical tool coupled to an external device according to some embodiments of the present disclosure;

[0019] Figure 5 A schematic diagram showing the structure of the slider and the drive wire distribution according to some embodiments of the present disclosure;

[0020] Figure 6 Another structural schematic diagram showing the distribution of sliders and drive wires according to some embodiments of the present disclosure;

[0021] Figure 7 A structural block diagram of a surgical robot system according to some embodiments of the present disclosure is shown;

[0022] Figure 8 A schematic diagram showing the exploded structure of a connection interface, a transmission member, and a drive interface according to some embodiments of the present disclosure is shown;

[0023] Figure 9A front view showing a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown;

[0024] Figure 10 A schematic diagram showing the structure of a connection adapter in a folded state according to some embodiments of the present disclosure is shown;

[0025] Figure 11 A schematic diagram showing the assembly structure of a connection adapter and a surgical tool according to some embodiments of the present disclosure is shown;

[0026] Figure 12 A rear view of a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Figure 1 FIG. 2 shows a schematic structural diagram of a surgical tool 30 according to some embodiments of the present disclosure. Figure 1As shown, the surgical tool 30 may include an arm 31, an end instrument 32 disposed at the distal end of the arm 31, at least one slider 33, and at least one drive wire 34. The end instrument 32 may include an end effector or an endoscope. The end effector may include, for example, separating forceps, grasping forceps, scissors, an electric hook, a bipolar grasping forceps, single-stage curved scissors, a needle holder, a clip applier, a drainage tube, or an aspirator. The endoscope may include, for example, at least one imaging unit and an illumination unit.

[0031] At least one slider 33 may include a connection interface 331 disposed thereon, which is configured to couple with an external device and receive drive from the external device. For example, the external device may include a drive interface, with the connection interface 331 directly or indirectly coupled to the drive interface to receive drive from the external device. At least one drive wire 34 is configured to drive the arm and / or end device. The first end of the at least one drive wire 34 may be fixedly connected to the slider 33, and the slider 33 is configured to push and / or pull the drive wire 34 under the received drive. It should be understood that drive may include, but is not limited to, linear drive, curved drive, etc. In some embodiments, the drive wire 34 may include a flexible cord, and the slider 33 may pull the flexible cord under the received drive. In some embodiments, the drive wire 34 may include an elastic rod, a superelastic wire, etc., to achieve push and pull motion under the drive of the slider 33. The arm and end device may employ various suitable structures and methods for connection to the drive wire, and various operations may be achieved under the drive of the drive wire. For example, the arm may include a rigid arm or a flexible arm. By placing the driving mechanism externally and / or placing the transmission mechanism for transmitting the drive externally, the surgical tool can be miniaturized and lightweight.

[0032] In some embodiments, as Figure 1 As shown, the surgical tool 30 may further include a housing 35 for accommodating at least one slider 33. The housing 35 includes at least one window (e.g., window 3531), and the connection interface 331 of the at least one slider 33 is located in the at least one window. For example, the housing 35 may be located at the proximal end of the surgical tool 30, and the at least one slider 33 may be slidably disposed within the housing 35, with the connection interface 331 of the slider 33 protruding from the window of the housing 35.

[0033] Figure 2 FIG. 2 shows a schematic diagram of the proximal internal structure of a surgical tool 30 according to some embodiments of the present disclosure. Figure 1 and Figure 2As shown, in some embodiments, at least one slide rail 36 may be provided in the housing 35. At least one slider 33 is disposed on the at least one slide rail 36, and the slide rail 36 makes the movement of the slider 33 more stable and reliable. It should be understood that the connection interface 331 is provided with a coupling structure, such as a coupling groove, a side section, etc. The structure of the connection interface on each slider can be the same or different. For example, the interface can be an irregular cylindrical shape (e.g., including a side section), a cylindrical shape, or a truncated cone shape, etc. By providing interfaces with different structures, assembly can be facilitated.

[0034] In some embodiments, Figure 3 FIG. 1 shows a schematic structural diagram of a proximal portion of a surgical tool 30 according to some embodiments of the present disclosure. Figure 4 A schematic diagram showing the structure of the proximal portion of the surgical tool 30 coupled to an external device according to some embodiments of the present disclosure. Figure 3 The deformable film of one of the windows in FIG. 1 is shown (shown by shadow), and the deformable films of the windows in the other drawings are not shown. Figure 3 As shown, the surgical tool 30 may further include at least one deformable membrane 37. The deformable membrane 37 is sealingly provided on the housing 35 for covering at least one window (e.g., windows 3531, 3521). It should be understood that the circumference of the deformable membrane 37 can be sealedly connected (e.g., welded, bonded, etc.) to the housing 35, and by covering at least one window, an effective barrier is formed between the first side (e.g., the inside) and the second side (e.g., the outside) of the housing 35, such as a sterile barrier that blocks bacteria. The connection interface 331 is sealingly connected to the deformable membrane 37 and is used to receive drive through the deformation of at least one deformable membrane 37. For example, the connection interface 331 can be integrally formed, welded, or bonded with the deformable membrane 37 so that there is no gap between the connection between the connection interface 331 and the deformable membrane 37, so as to seal and isolate the sterile area from the sterile area.

[0035] It should be understood by those skilled in the art that the sealing setting or sealing connection in the present disclosure means that the connection is sealed to form a barrier, such as a sterile barrier for blocking bacteria, a dust barrier for blocking dust, etc. The connection interface 331 of at least one slider 33 is used to transmit power between the connection interface 331 and the drive interface of the external device through the deformation of at least one deformable membrane 37. For example, the connection interface 331 can be used to move under the drive of the drive interface of the external device. Figure 4As shown, the drive interface of the external device can be connected to the transmission member 300 via the connecting rod 23, and the transmission member 300 drives the connection interface 331 (or 331c) to move. Because the deformable membrane 37 is deformable, the drive interface allows the connection interface 331 to move, thereby transmitting the drive interface's drive (e.g., linear drive) to the connection interface 331. The connection interface 331 drives the slider 33 to move, thereby pushing and / or pulling the drive wire 34. The structure is simple and easy to operate.

[0036] 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.

[0037] In some embodiments, as Figure 3 and Figure 4 As shown, the at least one window may include at least one first window 3531 located on the first side of the housing 35 and at least one second window (not shown) located on the second side of the housing 35. Figure 3 As shown, the housing 35 may be a cubic structure. The housing 35 may include an upper side plate 351, a lower side plate 352, a left side plate 353 and a right side plate ( Figure 3 For example, the first window 3531 and the second window (not shown) are respectively provided on the left side panel 353 and the right side panel (not shown). Figure 3 As shown, four first windows 3531 are provided on the left side plate 353. At least one slider 33 may include at least one first slider 33a and at least one second slider 33b (eg, Figure 5 As shown). The connection interface 331 of at least one first slider 33a is located in at least one first window 3531, and the connection interface 331 of at least one second slider 33b is located in at least one second window. In some embodiments, as Figure 3 and Figure 4 As shown, the at least one window may further include a third window 3521 located on a third side of the housing (e.g., the lower side plate 352), and the at least one slider 33 may further include a third slider 33c, with the connection interface 331c of the third slider 33c located in the third window 3521. It will be understood by those skilled in the art that the terms left, right, upper, and lower as used herein are for convenience in indicating relative positional relationships and should be broadly interpreted. Other nomenclatures, such as top, bottom, front, and rear, may also be used.

[0038] The at least one first window 3531 may include one or more first windows located on the left side panel 353, such as a group of first windows. The at least one second window may include one or more second windows located on the right side panel, such as a group of second windows. The at least one third window 3521 may include one or more third windows located on the lower side panel 352, such as a group of third windows. In some embodiments, taking the first slider 33a as an example, the connection interfaces 331 of multiple first sliders 33a may be located in the same first window 3531, or multiple connection interfaces 331 of a first slider 33a may be located in the same first window 3531.

[0039] In some embodiments, the first window 3531 and the at least one first slider 33a and the second window and the at least one second slider 33b may be arranged in a mirror-symmetrical manner. It should be understood that a group of first windows 3531 and a group of second windows may each include a plurality of spaced windows, and a group of third windows 3521 may include a single window. Figure 3 As shown, each slider may include a connection interface 331. Figure 3 As shown, there are four first windows 3531 and four first sliders 33a, respectively. The connection interface 331 of each first slider 33a is located within a corresponding first window 3531. There are four second windows and four second sliders 33b, respectively. The connection interface 331 of each second slider 33b is located within a corresponding second window. The four first windows 3531 and the connection interfaces of the first slider 33a are mirror-symmetrically distributed with the four second windows and the connection interfaces of the second slider 33b along the direction of linear movement (e.g., the length of the housing 35 or the surgical tool 30). This facilitates coordinated actuation of the connection interfaces 331 located within the first windows 3531 and the second windows. The above numbers are merely examples. It should be understood that the number of first windows 3531 and second windows can also be one, two, five, etc. The number of connection interfaces 331 located in the same window can also be two, three, etc. The number of windows and connection interfaces 331 can be adjusted according to the number of interfaces on the external device to be driven.

[0040] In some embodiments, as Figure 3 As shown, the surgical tool 30 may further include at least one limiting structure 38 disposed on the first side and / or the second side. For example, at least one limiting structure 38 is disposed on the outer side of the left side panel 353 and / or the right side panel. It should be understood that the inner side of the left side panel and the right side panel refers to the side facing each other when the left side panel 353 and the right side panel are disposed relative to each other. The outer side of the left side panel and the right side panel refers to the side facing away from each other when the left side panel and the right side panel are disposed relative to each other. Figure 3 As shown, the limiting structure 38 can be a groove, and the inner side of the external device (such as the connecting adapter) is provided with a limiting protrusion (such as Figure 10 The limiting structure engages with the limiting protrusion to limit the movement of the surgical tool 30 along the linear movement direction (for example, the length direction of the left plate 353 or the right plate). Those skilled in the art will understand that Figure 3 The limiting structure shown is only an exemplary embodiment, and other structures may be used, such as protrusions, magnetic attraction structures, etc.

[0041] In some embodiments, as Figure 3 As shown, the surgical tool 30 may further include a balancing valve 355 disposed on the housing 35. The balancing valve 355 may be used to maintain internal and external air pressure balance during sterilization of the surgical tool. In actual use, the balancing valve may be removed.

[0042] In some embodiments, as Figure 3 As shown, the surgical tool 30 may further include a handle 356 provided on the housing 35. For example, the handle 356 may be located outside the upper side plate 351 of the housing 35 for the operator to hold so as to facilitate installation or removal of the surgical tool on or from an external device.

[0043] In some embodiments, as Figure 4 As shown, the surgical tool 30 may further include at least one communication interface 357 disposed on the housing 35. For example, the at least one communication interface 357 may form a communication connection between the inside and outside of the lower plate 352 of the surgical tool. For example, the outside of the housing 35 of the surgical tool 30 is connected to an external device, and the at least one communication interface 357 may be used to communicate with the external device to form a communication connection between the inside of the housing 35 of the surgical tool 30 and the external device on the outside. Figure 4 As shown, the lower side plate 352 may be provided with a plurality of communication interfaces 357 arranged at intervals. The external device may be provided with a plurality of communication contacts (eg Figure 9 After the external device is installed, the multiple communication interfaces 357 are connected to the communication contacts to establish a communication connection between the surgical tool 30 and the external device. Those skilled in the art will appreciate that the assembler can determine whether the surgical tool 30 and the external device are properly installed by determining whether the communication contacts are connected to the communication interfaces 357. The communication contacts and communication interfaces 357 can also be used to read parameter information from or write parameter information to the surgical tool 30 or the external device.

[0044] In some embodiments, as Figure 3As shown, the surgical tool 30 may further include an electrode interface 358 or a fiber optic interface (not shown) disposed on the housing 35. For example, the electrode interface 358 may provide a conductive path for an electrical energy tool, such as a monopolar or bipolar coagulation or electro-cutting tool. The fiber optic interface may provide a path for endoscopic imaging or illumination when the distal end instrument of the surgical tool is an endoscope.

[0045] Figure 5 A schematic diagram showing the structure of the slider and the drive wire distribution according to some embodiments of the present disclosure is shown. Figure 6 Another schematic diagram of the structure of the slider and the drive wire distribution according to some embodiments of the present disclosure is shown. In some embodiments, as Figure 5 As shown, at least one driving wire 34 may include at least one arm driving wire 341. The first end of the at least one arm driving wire 341 is fixedly connected to the first slider 33a and / or the second slider 33b, and the second end of the arm driving wire 341 is directly or indirectly connected to the arm 31. For example, the first end of the arm driving wire 341 may be the proximal end of the driving wire, and the second end may be the distal end of the driving wire. In some embodiments, as Figure 6 As shown, the arm drive wire 341 may include a first arm drive wire 341a and a second arm drive wire 341b, the distal end of the first arm drive wire 341a may be connected to the arm body, the proximal end of the first arm drive wire 341a is indirectly connected to the proximal end of the second arm drive wire 341b (for example, indirectly connected through a proximal drive continuum 342), the distal end of the second arm drive wire 341b is fixedly connected to the first slider 33a and / or the second slider 33b, and the sliders 33a and 33b drive the second arm drive wire 341b to push and / or pull, and the pushing and / or pulling of the second arm drive wire 341b drives the first arm drive wire 341a to push and / or pull (for example, indirectly connected through a proximal drive continuum 342). In some embodiments, at least one drive wire may include at least one actuator drive wire (not shown). The distal end of at least one actuator drive wire is connected to the end actuator, and the proximal end of the actuator drive wire is fixedly connected to the third slider 33c. The actuator is driven by the third slider 33c to push and / or pull the wire to achieve the opening and closing of the end effector to complete the corresponding surgical operation, such as clamping, grasping, cutting, etc.

[0046] In some embodiments, at least a portion of the arm body 31 is deformable or bendable, and one or more of the at least one arm body driving wires 341 are arranged throughout the arm body 31. The pushing and / or pulling movement of the arm body driving wire 341 is used to drive the deformable part to deform or drive the bendable part to bend.

[0047] In some embodiments, the deformable membrane 37 comprises a sheet-like membrane that conforms to the shape of the housing 35. The sheet-like membrane is sealingly disposed on the inner or outer surface of the housing 35 to cover at least one window. For example, if the housing 35 is cuboidal and each side panel is rectangular, the deformable membrane 37 may be a rectangular sheet-like membrane that conforms to each side panel. The deformable membrane is connected to the circumferential edge of each side panel so that the deformable membrane 37 is attached to the surface of each side panel to cover the multiple windows on each side panel.

[0048] In some embodiments, the deformable membrane 37 includes at least one sheet-like membrane corresponding to at least one window, and the at least one sheet-like membrane is respectively sealed to the housing to cover the at least one window. It should be understood that the at least one window can be rectangular, polygonal, or other shapes. The deformable membrane 37 can include the same number of sheet-like membranes as the number of windows, and the shape of the sheet-like membrane can match the shape of each window. Each sheet-like membrane is respectively connected to the circumferential edge of each window to cover each window.

[0049] 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.

[0050] Figure 7 FIG. 1 shows a structural block diagram of a surgical robot system 1 according to some embodiments of the present disclosure. Figure 8 FIG. 2 shows a schematic diagram of the exploded structure of the connection interface 331, the transmission member 300 and the drive interface 211 according to some embodiments of the present disclosure. Figure 7 As shown, the surgical robot system 1 includes at least one robotic arm 20, at least one connecting adapter 10 and at least one surgical tool 30 in any embodiment of the present disclosure. In some embodiments, the robotic arm 20 may include a driving mechanism 21 located at the end, and the connecting adapter 10 is detachably connected to the end of the robotic arm 20 or to the driving mechanism 21. The proximal portion of the surgical tool 30 is detachably connected to the connecting adapter 10. The robotic arm 20 is connected to the surgical tool 30 through the connecting adapter 10, and the drive (e.g., linear motion) of the driving mechanism 21 is transmitted to the surgical tool 30 through the connecting adapter 10, so as to drive the arm body 31 of the surgical tool 30 to bend and the end effector 32 to open and close.

[0051] like Figure 7 and Figure 8As shown, at least one robotic arm 20 includes at least one drive mechanism 21 and at least one drive interface 211. The at least one drive mechanism 21 is connected to the drive interface 211 via a connecting rod 23 to drive the at least one drive interface 211 to move. At least one connection adapter 10 is used to detachably connect with the robotic arm 20 and the surgical tool 30. The connection adapter 10 includes at least one transmission member 300. The transmission member 300 includes an interface 310 and an interface 320. The interface 310 is used to connect to the connection interface 331 of the surgical tool 30, and the interface 320 is used to couple with the drive interface 211.

[0052] Figure 9 FIG. 2 shows a front view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure. Figure 10 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 10 The shadow representing the second deformable film 200 is omitted, and only the transmission member 300 is retained. In some embodiments, Figure 9 and Figure 10 As shown, the connection adapter 10 may include an adapter substrate 100, at least one second deformable film 200, and at least one transmission member 300. The adapter substrate 100 includes at least one transmission window (e.g., transmission windows 111, 121, and 131), and the adapter substrate 100 is detachably connected to the robotic arm 20 and the surgical tool 30, respectively. The at least one second deformable film 200 is sealingly disposed on the adapter substrate 100 to cover the at least one transmission window. The at least one transmission member 300 is sealingly disposed on the second deformable film 200 and is located in the at least one transmission window. The transmission member 300 includes an interface 310 located on a first side of the second deformable film 200 and an interface 320 located on a second side of the second deformable film 200. The at least one transmission member 300 is used to drive the linear motion of the connection interface 331 by deforming the at least one second deformable film 200 under the linear drive of the drive interface 211. The connection interface 331 drives the linear motion of the slider 33 by deforming the at least one deformable film 37.

[0053] like Figure 9 and Figure 10 As shown, at least one transmission window may include a first transmission window 111 and a second transmission window 121. Figure 10As shown, in some embodiments, the adapter substrate 100 may be in a U-shape or may be folded to form a U-shape. The adapter substrate 100 may include a left substrate 110, a right substrate 120, and a middle substrate 130. For example, a first transmission window 111 and a second transmission window 121 may be provided on the left substrate 110 and the right substrate 120, respectively. In some embodiments, at least one transmission window may include a third transmission window 131, and the third transmission window 131 may be provided on the middle substrate 130. For example, Figure 8 and Figure 10 As shown, the transmission member 300 may include interfaces 310 and 320 located at both ends and fixedly connected, and coupling structures are respectively provided on the interfaces 310 and 320. The coupling structure of the interface 310 of the transmission member 300 may include a protrusion, the connection interface 331 may include a corresponding groove, the interface 320 of the transmission member 300 may include a groove, and the drive interface 211 may include a corresponding protrusion. The protrusion engages with the groove to achieve coupling between the robot arm drive interface 211 and the surgical tool connection interface 311 through the transmission member 300. The above is only an example, and one of the interface and the drive interface of the transmission member 300 may be a protrusion and the other may be a groove. Alternatively, the transmission member and the drive interface may also be other structures that can be connected to each other.

[0054] Figure 11 FIG. 1 shows a schematic diagram of the assembly structure of the connection adapter 10 and the surgical tool 30 according to some embodiments of the present disclosure. Figure 11 As shown, the proximal end of the surgical tool 30 can be moved in a direction perpendicular to the central base plate 130 of the connecting adapter 10 (eg Figure 11 The surgical tool 30 is installed in the connection adapter 10, and the lower side plate 352 of the surgical tool 30 abuts against the middle substrate 130 of the adapter substrate 100. The communication contacts 140 on the middle substrate 130 are in communication connection with the communication interface 357. The proximal outer side of the surgical tool 30 is provided with an opening extending in the longitudinal direction, and further includes a connection interface (e.g., a connector) exposed from the opening and capable of translating along the opening. Figure 3 and Figure 8 The left and right substrates 110 and 120 of the connection adapter 10 are provided with interfaces 310 on their inner sides. The interfaces 310 are coupled to the connection interfaces 331 via the coupling structure on the connection interfaces 331 to drivably connect the surgical tool 30 to the connection adapter 10. The proximal outer side of the surgical tool 30 is provided with a limiting structure (e.g., a position limiting structure) perpendicular to the direction of the central substrate 130 of the connection adapter 10. Figure 3The limiting structure 38 shown in the figure) is provided on the inner side of the left substrate 110 and / or the right substrate 120 with at least one limiting portion 170 protruding from the surface of the left substrate 110 and / or the right substrate 120, and the limiting structure 38 is engaged with the limiting portion 170 to limit the movement of the surgical tool 30 along the length direction, so as to detachably connect the surgical tool 30 to the connection adapter 10.

[0055] like Figure 9 As shown, in some embodiments, at least one grounding pin 150 is further provided on the adapter substrate 100. Two grounding pins 150 may be provided on the middle substrate 130. By providing the grounding pins, static electricity can be prevented from damaging the components of the system. Figure 10 As shown, in some embodiments, at least one connecting structure, such as a connecting protrusion 180, is provided on the outer side of the left substrate 110 and / or the right substrate 120. The connecting protrusion 180 is used to engage with the groove on the robot arm 20. By engaging the connecting protrusion with the groove, the adapter substrate 100 and the robot arm 20 are detachably connected. In some embodiments, as Figure 10 As shown, shielding portions 190 extending outward from the substrate surface are further provided on the outer sides of the left substrate 110 and / or the right substrate 120. These shielding portions 190 are used to shield the portion of the transmission member 300 exposed outside the substrate. The provision of these shielding portions creates a space for linear movement of the transmission member 300 between the outer side of the adapter substrate 100 and the robotic arm 20 after the adapter substrate 100 and the robotic arm 20 are mounted.

[0056] Figure 12 FIG. 2 shows a reverse view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure. Figure 12 As shown, in some embodiments, at least one connecting adapter 10 further includes a sterile protective film 400. The sterile protective film 400 is sealed to the periphery of the adapter base 100 and extends outward. It should be understood that the adapter base 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 100, for example, by welding or bonding, and extends outward to cover at least a portion of the robotic arm 20. It should be understood that the sterile protective film 400 can be a TPU film to facilitate sterilization during the manufacturing process and to achieve medical grade material. The adapter base 100 can be made of plastic to facilitate connection with the sterile protective film 400 and the second 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 robotic arm 20 to be covered. By covering the robotic arm 20 with the sterile protective film 400, the surgical tool 30 can be isolated from the robotic arm 20, isolating the sterile side from the sterile side, thereby meeting the requirements of the operating environment.

[0057] The deformable membrane 37 covers at least one window of the surgical tool 30, forming a sterile barrier that effectively blocks bacteria between the outer side (sterile side) and the inner side (possibly the infected side) of the surgical tool 30. The deformable membrane 200 covers at least one transmission window, forming a sterile barrier that effectively blocks bacteria between the inner and outer sides of the connector adapter 10. This double barrier further ensures the barrier effect. A sterile protective membrane 400 covers the drive mechanism 21 and the robotic arm 20, forming a sterile barrier that effectively blocks bacteria between the portion of the robotic arm near the surgical tool 30 and the surgical tool 30, thereby providing a sterile surgical operating environment and preventing bacterial contamination of the surgical tool. At least one transmission member 300 is disposed on the second deformable membrane 200. By deforming the second deformable membrane 200, the drive (e.g., linear drive) on the first side of the connector adapter 10 is transmitted through the transmission member 300 to the second side of the connector adapter 10, thereby directly transmitting various motions, such as linear motion. By deforming the deformable membrane 37 , the driving interface of the external device is allowed to drive the connecting interface to move, so as to push and / or pull the driving wire, thereby driving the surgical tool to perform various operations, making the structure 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 surgical tool, characterized in that: include: Arm body; An end instrument is provided at the distal end of the arm; at least one slider, the slider comprising a connection interface provided on the slider, the connection interface being configured to couple with an external device and receive a drive from the external device; at least one drive wire for driving the arm and / or the end instrument, wherein a first end of the drive wire is fixedly connected to the slider, and the slider is configured to push and / or pull the drive wire under the received drive; a housing for accommodating the at least one slider, the housing comprising at least one window, wherein a connection interface of the at least one slider is located in the at least one window; as well as At least one deformable membrane is sealingly disposed on the housing and is used to cover the at least one window, wherein the connection interface is sealingly connected to the deformable membrane and is used to receive drive through deformation of the at least one deformable membrane.

2. The surgical tool according to claim 1, wherein: The at least one window includes at least one first window located on the first side of the shell and at least one second window located on the second side of the shell, the at least one slider includes at least one first slider and at least one second slider, the connection interface of the at least one first slider is located in the at least one first window, and the connection interface of the at least one second slider is located in the at least one second window.

3. The surgical tool according to claim 2, wherein: The at least one window further includes a third window located on a third side of the housing, and the at least one slider further includes a third slider, wherein a connection interface of the third slider is located in the third window.

4. The surgical tool according to claim 2, wherein: The surgical tool further comprises at least one limiting structure provided on the first side and / or the second side; and / or The at least one driving wire includes at least one arm driving wire, a first end of the arm driving wire is fixedly connected to the first slider and / or the second slider, and a second end of the arm driving wire is directly or indirectly connected to the arm.

5. The surgical tool according to claim 3, wherein: The end instrument includes an end effector, the at least one driving wire includes at least one actuator driving wire, the distal end of the actuator driving wire is connected to the end effector, and the proximal end of the actuator driving wire is fixedly connected to the third slider.

6. The surgical tool according to any one of claims 1 to 5, characterized in that: At least a portion of the arm body is deformable or bendable, and one or more of the at least one arm body driving wires are arranged throughout the arm body. The pushing and / or pulling movement of the arm body driving wire is used to drive the deformable part to deform or drive the bendable part to bend.

7. The surgical tool according to any one of claims 1 to 5, characterized in that: Also includes: a balancing valve, disposed on the housing; and / or a handle, disposed on the housing; and / or The communication interface is arranged on the housing.

8. The surgical tool according to claim 1, wherein: The deformable membrane comprises a sheet-like membrane adapted to the shape of the housing, and the sheet-like membrane is sealed on the inner surface or the outer surface of the housing to cover the at least one window; or The deformable membrane includes at least one sheet-shaped membrane corresponding to the at least one window, and the at least one sheet-shaped membrane is sealed and connected to the housing to cover the at least one window.

9. The surgical tool according to any one of claims 1-5 and 8, characterized in that: At least one slide rail is provided in the housing, and the at least one sliding block is arranged on the at least one slide rail.

10. A surgical robot system, characterized in that: include: at least one robotic arm, the robotic arm comprising at least one drive mechanism and at least one drive interface, the at least one drive mechanism being configured to drive the at least one drive interface to move; At least one surgical tool according to any one of claims 1 to 9; as well as At least one connection adapter, the connection adapter is used to be detachably connected to the robotic arm and the surgical tool, the connection adapter includes at least one first interface and at least one second interface, the first interface is used to couple with the connection interface of the surgical tool, and the second interface is used to couple with the drive interface.

11. The surgical robot system according to claim 10, wherein: The connection adapter comprises: an adapter base plate, comprising at least one transmission window, wherein the adapter base plate is detachably connected to the robotic arm and the surgical tool respectively; at least one second deformable membrane, sealingly disposed on the adapter substrate and configured to cover the at least one transmission window; At least one transmission member is sealed on the second deformable membrane and located in the at least one transmission window, the transmission member includes a first interface located on the first side of the second deformable membrane and a second interface located on the second side of the second deformable membrane, and the at least one transmission member is used to drive the linear movement of the connecting interface through the deformation of the at least one second deformable membrane under the linear drive of the driving interface, thereby driving the linear movement of the slider.

12. The surgical robot system according to claim 11, wherein: The at least one connection adapter further comprises a sterile protective membrane, which is sealedly connected to the circumference of the adapter base plate and extends outwardly along the circumference to cover the robotic arm.

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