Compact curved surgical tool and surgical robotic system
By designing a flexible rigid arm and a bendable drive wire, the problem of sterile protective sleeves entangled during the rotation of surgical instruments was solved, achieving flexibility and miniaturization of surgical instruments and ensuring the isolation of sterile areas.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING SURGERII TECH CO LTD
- Filing Date
- 2023-03-24
- Publication Date
- 2026-05-19
AI Technical Summary
Existing surgical instruments are prone to having their sterile protective sheaths tangled or sagging during frequent rotation, which hinders the movement of the surgical instruments. In addition, they are too large, making them inconvenient to carry and assemble.
The device employs a flexible rigid arm, a bendable assembly, and multiple slider structures. The bendable assembly is driven by a drive wire to achieve flexibility and miniaturization of the surgical tool. Combined with a deformable membrane, it achieves sealed isolation between sterile and sterile areas.
This technology enables greater flexibility and miniaturization of surgical tools, avoids the entanglement of sterile protective sleeves, enhances the operational capability of surgical tools in confined spaces, and ensures the isolation of sterile areas.
Smart Images
Figure CN118680606B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of medical devices, and more particularly to a compact, curved surgical tool and surgical robot system. Background Technology
[0002] Minimally invasive surgery, with its advantages of small incision area and rapid recovery, has been increasingly widely used in clinical surgery. In surgical robot systems, surgical instruments are typically mounted on a robotic arm. Servo motors are installed on the robotic arm, and a connection adapter connects the robotic arm and the surgical instruments to transmit torque and load in real time. The surgical instruments are equipped with a transmission mechanism to convert the rotational motion input from the motors into linear motion, thereby controlling the surgical instruments and, through control of the surgical actuators at the end effector of the surgical instruments, performing surgical procedures on different parts of the body.
[0003] During surgery, because some robotic arms will directly contact surgical instruments and are close to the surgical site, they are easily contaminated during the procedure. Furthermore, the drive modules of the robotic arms generally cannot be sterilized using conventional methods such as steam, heat, or chemicals. Typically, a sterile protective sleeve extending from the connection adapter is used to isolate the non-sterile robotic arms from the sterile surgical instruments in the operating environment.
[0004] Existing connectors are primarily used to transmit rotational torque. During frequent rotation of surgical instruments, redundant sterile protective sleeves can easily become entangled or droopy, or even get caught, hindering and restricting the movement of the surgical instruments. Furthermore, surgical instruments require a transmission mechanism to convert rotational motion into linear motion, which results in surgical instruments that are too large, making them inconvenient to carry and assemble. Summary of the Invention
[0005] This disclosure provides a surgical tool, comprising:
[0006] A rigid bending arm, including at least one bending segment;
[0007] A bendable component is disposed at the distal end of the bendable rigid arm;
[0008] An end effector is disposed at the distal end of the bendable assembly;
[0009] A plurality of sliders, each slider including a connection interface disposed on the slider, the connection interface being used to couple with and receive drive from an external device, the plurality of sliders including at least one bendable component driving the slider;
[0010] Multiple drive wires, including a bendable component drive wire, the proximal end of which is connected to the bendable component drive slider and the distal end of which is connected to the bendable component. The bendable component drive slider is used to push or pull the bendable component drive wire under the received drive to drive the bendable component to bend.
[0011] In some embodiments, this disclosure also provides a surgical robot system, including:
[0012] At least one robotic arm, the robotic arm including at least one drive mechanism and at least one drive interface, the at least one drive mechanism being used to drive the at least one drive interface to move;
[0013] At least one surgical tool as described in any embodiment of this disclosure; and
[0014] At least one connection adapter for detachably connecting to the robotic arm and the surgical tool, the connection adapter including at least one first interface and at least one second interface, the first interface for coupling to the connection interface of the surgical tool, and the second interface for coupling to the drive interface. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.
[0016] Figure 1 A schematic diagram of the structure of a bending surgical tool according to some embodiments of the present disclosure is shown;
[0017] Figure 2 A schematic diagram of the structure of a rigid bending arm according to some embodiments of the present disclosure is shown;
[0018] Figure 3 A longitudinal sectional view of a bendable member according to some embodiments of the present disclosure is shown;
[0019] Figure 4 A schematic diagram of the structure of a bendable member according to other embodiments of the present disclosure is shown;
[0020] Figure 5(a) shows a schematic diagram of the structure of a bending unit according to some embodiments of the present disclosure;
[0021] Figure 5(b) shows a schematic diagram of the structure of adjacent bending units in accordance with some embodiments of the present disclosure;
[0022] Figure 6 A schematic diagram of the structure of a distal continuum segment according to some embodiments of the present disclosure is shown;
[0023] Figure 7 A schematic diagram of the structure of a proximal continuum segment according to some embodiments of the present disclosure is shown;
[0024] Figure 8 A schematic diagram of the proximal internal structure of a surgical tool according to some embodiments of the present disclosure is shown;
[0025] Figure 9 A schematic diagram of the proximal portion structure of a surgical tool according to some embodiments of the present disclosure is shown;
[0026] Figure 10 A schematic diagram showing the structure of a surgical tool according to some embodiments of the present disclosure coupled to an external device;
[0027] Figure 11 This diagram illustrates the structural layout of the slider and drive wire according to some embodiments of the present disclosure.
[0028] Figure 12 This diagram illustrates a structural block diagram of a surgical robot system according to some embodiments of the present disclosure;
[0029] Figure 13 An exploded structural diagram of a connection interface, transmission component, and drive interface according to some embodiments of the present disclosure is shown.
[0030] Figure 14 A front view of a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown;
[0031] Figure 15 This diagram illustrates the structure of a connection adapter in a folded state according to some embodiments of the present disclosure;
[0032] Figure 16 A schematic diagram of the assembly structure of a connection adapter and a surgical tool according to some embodiments of the present disclosure is shown;
[0033] Figure 17 A reverse view of the connection adapter in an unfolded state according to some embodiments of the present disclosure is shown. Detailed Implementation
[0034] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.
[0035] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of 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.
[0036] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear portion, and the end closer to the surgical patient is defined as the distal end, distal or front end, or anterior portion. Those skilled in the art will understand that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.
[0037] Figure 1 A schematic diagram of the structure of a bending surgical tool 30 according to some embodiments of the present disclosure is shown. For example... Figure 1 As shown, the surgical tool 30 may include a flexible rigid arm 31, a bendable assembly 311 disposed at the distal end of the flexible rigid arm 31, an end effector 32 disposed at the distal end of the bendable assembly 311, multiple sliders 33, and multiple drive wires 34. Figure 1 As shown, slider 33 includes a connection interface 331 disposed on slider 33. Connection interface 331 is used for coupling with and receiving drive from an external device. For example, the external device may include a drive interface, and connection interface 331 is directly or indirectly coupled to the drive interface to receive drive from the external device. Multiple sliders 33 include at least one bendable component driving the slider. Multiple drive wires 34 may include bendable component drive wires (e.g., Figure 3The bendable component drive wire 341 shown has its proximal end fixedly connected to a bendable component drive slider. The bendable component drive slider is used to push or pull the bendable component drive wire under the received drive to drive the bendable component 311 to bend. By externalizing the drive mechanism and / or externalizing the transmission mechanism that transmits the drive, the surgical tool can be miniaturized and lightweighted. By bending the rigid arm to increase the flexibility and load capacity of the distal end of the surgical tool, and by further increasing the flexibility of the distal end through the bendable component 311, the surgical tool can perform high-load and highly flexible surgical operations in confined spaces.
[0038] Figure 2 A schematic diagram of the structure of a rigid bending arm 31 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 2 As shown, the curved rigid arm 31 includes at least one curved segment 313. The at least one curved segment 313 may include at least one arcuate segment. For example, the at least one curved segment 313 may include a first arcuate segment 313a and a second arcuate segment 313b, the first arcuate segment 313a and the second arcuate segment 313b having opposite bending directions. It should be understood that the dexterity of the distal end of the surgical tool or the load-bearing capacity of the surgical tool can be increased by optimizing the curvature or length of the arcuate segment to meet the needs of various surgical procedures.
[0039] In some embodiments, at least one bending segment 313 may include a first bending segment and a second bending segment. The bendable component 311 may include at least one bendable member (such as...). Figure 3 and Figure 4 The bendable component 312 is shown. A first bending segment 313a is located at the proximal end, and a second bending segment 313b is located at the distal end. The bendable component 312 is disposed at the distal end of the second bending segment. The distal end of the bendable component drive wire is connected to the bendable component 312, extends through at least a portion of the bendable component 312 and the bending rigid arm 31, and the proximal end is connected to the bendable component drive slider. The bendable component drive wire is used to drive the bendable component 312 to bend in at least one degree of freedom. It should be understood that the bending segment 313 can be formed by pre-bending a nickel-titanium alloy tube. Depending on different needs, the curvature and length of the pre-bending of the bending segment 313 can be varied to increase applicability. In some embodiments, the bending rigid arm 31 may include one bending segment, or three or more bending segments. For example, the length or curvature of each bending segment may be different.
[0040] Figure 3 A longitudinal sectional view of a bendable member 312 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 3As shown, the bendable component 312 may include a bellows 312a. A bendable component drive wire 341 is disposed through the bellows 312a or through the bellows wall of the bellows 312a, with the distal end of the drive wire 341 fixedly connected to the distal end of the bellows 312a. For example, the bellows 312a may include a pipe body 3121a, the wall of which is radially corrugated to form multiple corrugated flanges 3122a spaced apart in the extension direction of the pipe body. It should be understood that the multiple corrugated flanges 3122a may have corresponding through holes for the bendable component drive wire 341 to pass through. Alternatively, multiple spacer discs are fixedly spaced apart within the bellows 312a, each spacer disc having corresponding through holes for the bendable component drive wire 341 to pass through. It should be understood that multiple corrugated flanges 3122a are evenly spaced, and grooves are formed between adjacent corrugated flanges 3122a, providing space for the bending deformation of the corrugated tube 312a. The corrugated tube allows for more uniform radial bending stress on the bendable component 312, resulting in higher bending deformation accuracy. The tube body 3121a can be a metal corrugated tube, ensuring structural strength while maintaining good deformability, and facilitating the sterilization of surgical instruments.
[0041] The bendable component drive slider pushes or pulls multiple bendable component drive wires 341 to drive the bellows 312a to bend, thereby driving the distal end of the surgical tool to bend in at least one degree of freedom. In some embodiments, the number of bendable component drive wires 341 can be multiple, distributed circumferentially at intervals. By pushing, pulling, or co-pushing and pulling multiple bendable component drive wires 341, the bending direction of the bellows 312a can be adjusted to achieve bending of the bendable component 312 in multiple degrees of freedom directions. For example, co-pushing and pulling two correspondingly arranged bendable component drive wires 341 can achieve bending of the bendable component 312 in the first degree of freedom direction, and co-pushing and pulling another two correspondingly arranged bendable component drive wires 341 can achieve bending of the bendable component 312 in the second degree of freedom direction, thereby giving the bendable component 312 at least one degree of freedom in a direction.
[0042] Figure 4 Figures 5(a) and 5(b) show structural schematic diagrams of a bendable member 312 according to other embodiments of the present disclosure. Figures 5(a) and 5(b) respectively show structural schematic diagrams of a bending unit and a structural schematic diagram of the cooperation of adjacent bending units according to some embodiments of the present disclosure. In some embodiments, such as Figure 4As shown, the bendable component 312 may include a serpentine structure 312b, which may include multiple bendable units 3121b connected end-to-end. As shown in Figures 5(a) and 5(b), adjacent bendable units 3121b form a radially bendable kinematic pair through nested connecting grooves 3123b and connecting protrusions 3122b. The bendable component drive wire 341 is disposed through the serpentine structure 312b. In some embodiments, the bendable unit 3121b may be hollow and bamboo-like. The bendable component drive wire 341 may be disposed through each bendable unit 3121b or through the tube wall of each bendable unit 3121b. The distal end of the bendable component drive wire 341 may be fixed to the distal end of the serpentine structure 312b or the distal end of the middle bendable unit 3121b of the serpentine structure 312b, and the proximal end of the bendable component drive wire 341 is connected to the bendable component drive slider. The drive mechanism drives the bendable component's drive slider to push or pull the bendable component's drive wire 341, thereby causing the serpentine structure 312b to bend, and thus driving the bendable component 312 to bend. By pushing, pulling, or co-pushing or pulling multiple bendable component drive wires 341, the bending direction of the serpentine structure 312b can be adjusted, thereby achieving bending of the bendable component 312 in multiple degrees of freedom.
[0043] It should be understood that the bendable component 312 includes, but is not limited to, the structure described above, and any bendable structure falls within the scope of protection of this disclosure.
[0044] Figure 6 A schematic diagram of the structure of a distal continuum segment 314 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 6As shown, the bendable assembly 311 may include at least one distal continuum segment 314. The distal continuum segment 314 may include multiple distal structural bones 3144, a distal base plate 3141, a distal stop plate 3142, and at least one distal spacer plate 3143 disposed between the distal base plate 3141 and the distal stop plate 3142. The distal end of the distal structural bone 3144 is fixedly connected to the distal stop plate 3142, and the distal structural bone 3144 slidably passes through at least one distal spacer plate 3143 and the distal base plate 3141. The proximal end of the distal structural bone 3144 is connected to the bendable assembly drive slider. It should be understood that when the bendable assembly 311 is a continuum segment, the multiple structural bones may form a bendable assembly drive wire. For example, the distal base plate 3141, at least one distal spacer plate 3143, and distal stop plate 3142 can be spaced apart, each plate having corresponding circumferentially spaced through holes. Multiple distal structural bones 3144 can slide through the through holes on the distal spacer plate 3143 and the distal base plate 3141. The multiple distal structural bones 3144 can be radially oppositely distributed, coordinating to push and pull two oppositely positioned structural bones to drive the bending of the distal continuum segment 314. In some embodiments, the distal base plate 3141, distal stop plate 3142, and at least one distal spacer plate 3143 can be implemented using a bellows structure, similar to... Figure 3 The bellows 312a shown is an example.
[0045] Figure 7 A schematic diagram of the structure of a proximal continuum segment 315 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 7 As shown, the surgical tool 30 may further include at least one proximal continuum segment 315. The proximal continuum segment 315 may include multiple proximal structural bones 3154, a proximal stop disc 3152, a proximal base disc 3151, and at least one proximal spacer disc 3153 disposed between the proximal base disc 3151 and the proximal stop disc 3152. The proximal ends of the multiple proximal structural bones 3154 are fixedly connected to the proximal stop disc 3152, and the multiple proximal structural bones 3154 are slidably connected to at least one proximal spacer disc 3153 and the proximal base disc 3151. The distal ends of the proximal structural bones 3154 are fixedly connected to or integrally formed with the proximal ends of corresponding distal structural bones among the multiple distal structural bones 3144.
[0046] Those skilled in the art will understand that the proximal base plate 3151 can be fixedly disposed, for example, fixedly disposed on the support 500, or the proximal base plate 3151 can be integrally formed with the support 500. The proximal ends of multiple proximal structural bones 3154 can be distributed along the circumference of the proximal stop plate 3152 and fixedly connected to the proximal stop plate 3152. The proximal structural bones 3154 can be evenly spaced along the circumference of the proximal stop plate 3152, or they can be non-uniformly symmetrically spaced. For example, the proximal base plate 3151, at least one proximal spacer plate 3153, and the proximal stop plate 3152 can be spaced apart, and each plate is provided with corresponding through holes spaced apart along the circumference. Multiple proximal structural bones 3154 can slide through the through holes on the proximal spacer plate 3153 and the proximal base plate 3151, and the distal ends are fixedly connected to or integrally formed with the proximal ends of the corresponding distal structural bones 3144. By setting proximal spacer 3153 and distal spacer 3143, the structural bone is prevented from becoming unstable during push-pull, thereby increasing the motion accuracy and stability of the continuum segment.
[0047] In some embodiments, such as Figure 7 As shown, the proximal continuum segment 315 may further include multiple proximal driving structure bones 3155. The proximal end of each proximal driving structure bone 3155 may be fixedly connected to a proximal stop disc 3152, passing through at least one proximal spacer disc 3153 and a proximal base disc 3151, and the distal end is fixedly connected to at least one slider 33. Under received actuation, the slider 33 cooperatively pushes and pulls two proximal driving structure bones 3155 in opposite positions to drive the proximal continuum segment 315 to bend, thereby causing the distal continuum segment 314 to bend. For example, the diameter of the proximal driving structure bone 3155 may be larger than that of the proximal structure bone 3154 to prevent breakage during pushing and pulling, thereby increasing the lifespan of the surgical instrument. It should be understood that the diameter of the proximal driving structure bone 3155 may also be equal to or smaller than the diameter of the proximal structure bone 3154. It should be understood that the bendable component drive wire 341, proximal structural bone 3154, proximal drive structural bone 3155 and / or distal structural bone 3144 may include elastic rods or tubes made of hyperelastic materials, such as nickel-titanium alloys.
[0048] It should be understood that by fixing the proximal end of the proximal driving structure bone 3155 to the proximal stop plate 3152 and the distal end to the slider 33, the slider 33 is positioned forward (towards the distal end), achieving a close arrangement between the slider 33 and the proximal continuum segment 315, thereby reducing the size of the surgical instrument. It should also be understood that the proximal end of the proximal driving structure bone 3155 can be fixedly connected to the proximal base plate 3151. The proximal driving structure bone 3155 passes through at least one proximal septal plate 3153 and the proximal stop plate 3152, and the proximal end is connected to at least one slider 33, thereby positioning the slider 33 backward (towards the proximal end).
[0049] In some embodiments, the bendable component 311 may include a first distal continuum segment and a second distal continuum segment. A partial drive mechanism can drive the slider 33 to directly push and pull the distal structural bone of the first distal continuum segment under the received drive, thereby driving the first distal continuum segment to bend. The partial drive mechanism can also drive the slider 33 to bend the proximal continuum segment 315 under the received drive, thereby driving the second distal continuum segment to bend. It should be understood that the drive mechanism may include a lead screw and nut drive structure, or a gear and slider drive structure, etc., to convert rotational motion into linear motion to drive the slider 33 to move linearly, pushing or pulling the structural bone.
[0050] It should be understood that the end-effector 32 may include an end effector, an endoscope, or other instruments. The end effector may include, for example, dissecting forceps, grasping forceps, scissors, bipolar grasping forceps, single-stage bending scissors, needle holders, applicators, etc. The endoscope may include, for example, at least one imaging unit and an illumination unit, etc. Other instruments may include, for example, an electric hook, a drainage tube, or a suction device, etc.
[0051] In some embodiments, such 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 housing window (e.g., housing window 3531), and the connection interface 331 of the at least one slider 33 is located within the housing window. For example, the housing 35 may be located at the proximal end of the surgical tool 30, and 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 housing window of the housing 35.
[0052] Figure 8 A schematic diagram of the proximal internal structure of a surgical tool 30 according to some embodiments of the present disclosure is shown. Figure 8 As shown, in some embodiments, at least one slide rail 36 may be provided inside the housing 35. At least one slider 33 is disposed on 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 coupling protrusion, a side cut surface, etc. The structure of the connection interface on each slider may be the same or different. For example, the interface may be an irregular column (e.g., including a side cut surface), or the interface may be cylindrical or frustum-shaped, etc. By providing interfaces with different structures, assembly can be facilitated.
[0053] In some embodiments, Figure 9 This diagram illustrates the structure of the proximal portion of a surgical tool 30 according to some embodiments of the present disclosure. Figure 10A schematic diagram showing the coupling of the proximal portion of a surgical tool 30 according to some embodiments of the present disclosure with an external device is illustrated. For clarity, only the following is shown. Figure 9 The deformable membrane of one of the housing windows is shown in shaded area; the deformable membranes of the housing windows in the other figures are not shown. Figure 9 As shown, the surgical tool 30 may further include at least one deformable membrane 37. The deformable membrane 37 is sealingly disposed on the housing 35 to cover at least one housing window (e.g., housing windows 3531, 3521). It should be understood that the circumferential direction of the deformable membrane 37 can be sealingly connected (e.g., welded, bonded, etc.) to the housing 35, thereby covering at least one housing window to form an effective barrier between a first side (e.g., the inner side) and a second side (e.g., the outer side) of the housing 35, such as a sterile barrier to block bacteria. A connection interface 331 is sealingly connected to the deformable membrane 37 and is used to receive actuation through the deformation of at least one deformable membrane 37. For example, the connection interface 331 may be integrally formed, welded, or bonded to the deformable membrane 37 so that there is no gap between the connection interface 331 and the deformable membrane 37, thereby sealingly isolating the sterile and non-sterile areas.
[0054] Those skilled in the art will understand that the sealing arrangement or sealing connection in this disclosure refers to a sealed connection that forms a barrier, such as a sterile barrier to block bacteria, a dust barrier to block dust, etc. At least one slider 33 has a connection interface 331 for transmission between the connection interface 331 and the drive interface of an 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 an external device. Figure 10 As shown, the drive interface of the external device can be connected to the transmission component 300 via the connecting rod 23, and the transmission component 300 drives the connection interface 331 (or 331c) to move. Since the deformable membrane 37 can deform, the drive interface is allowed to drive the connection interface 331 to move, so as to realize the transmission of the drive (e.g., linear drive) of the drive interface to the connection interface 331. The connection interface 331 drives the slider 33 to move, so as to realize the push and / or pull of the drive wire (e.g., arm drive wire, actuator drive wire). The structure is simple and easy to operate.
[0055] Those skilled in the art will understand that motion can include various forms of motion, such as movement parallel to the window plane, movement perpendicular to the window plane, or a combination of both. Motion can include, for example, linear motion, curvilinear motion, etc. In some embodiments of this disclosure, linear motion is used as an example for description, but this does not constitute any limitation on this disclosure.
[0056] In some embodiments, the deformable membrane 37 includes a sheet-like membrane adapted to the shape of the housing 35, the sheet-like membrane being sealed onto the inner or outer surface of the housing 35 to cover at least one housing window. For example, the housing 35 is cubical, each side panel is rectangular, and the deformable membrane 37 can be a rectangular sheet-like membrane adapted to each side panel, the deformable membrane being 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 multiple housing windows on each side panel.
[0057] In some embodiments, the deformable membrane 37 includes at least one sheet-like membrane corresponding to at least one housing window, each sheet-like membrane being sealed to the housing to cover at least one housing window. It should be understood that the at least one housing window may be rectangular, polygonal, or other shapes. The deformable membrane 37 may include sheet-like membranes in a number matching the number of housing windows, and the shape of the sheet-like membranes may match the shape of each housing window. Each sheet-like membrane is connected to the circumferential edge of each housing window to cover each housing window.
[0058] Deformable films can include various deformable materials, such as elastic films. For example, deformable films can include, for instance, rubber films (e.g., TPU films), plastic films, etc. The deformable film can expand and contract with the linear movement of the transmission component to ensure that the transmission component does not tear or damage the deformable film during movement.
[0059] In some embodiments, such as Figure 9 and Figure 10 As shown, at least one housing window may include at least one first housing window 3531 located on a first side of housing 35 and at least one second housing window (not shown) located on a second side of housing 35. Figure 9 As shown, the housing 35 can have 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 9 (Not shown, located on the side opposite to the left side plate 353). For example, the first housing window 3531 and the second housing window (not shown) are respectively provided on the left side plate 353 and the right side plate (not shown). Figure 9 As shown, four first housing windows 3531 are disposed on the left side plate 353. At least one slider 33 may include at least one slider 33a and at least one slider 33b (e.g., Figure 11 (As shown). The connection interface 331 of at least one slider 33a is located in at least one first housing window 3531, and the connection interface 331 of at least one slider 33b is located in at least one second housing window. In some embodiments, such as Figure 9 and Figure 10As shown, at least one housing window may further include a third housing window 3521 located on the third side of the housing (e.g., the lower side plate 352), and at least one slider 33 may further include a slider 33c, the connection interface 331c of which is located in the third housing window 3521. Those skilled in the art will understand that the terms left side, right side, upper side, and lower side used herein are for convenience in indicating relative positional relationships and should be interpreted broadly. Other naming conventions may also be used, such as top side, bottom side, front side, rear side, etc.
[0060] At least one first housing window 3531 may include one or more first housing windows located on the left side panel 353, such as a set of first housing windows. At least one second housing window may include one or more second housing windows located on the right side panel, such as a set of second housing windows. At least one third housing window 3521 may include one or more third housing windows located on the lower side panel 352, such as a set of third housing windows. In some embodiments, taking slider 33a as an example, the connection interfaces 331 of multiple sliders 33a may be located in the same first housing window 3531, or multiple connection interfaces 331 of one slider 33a may be located in the same first housing window 3531.
[0061] In some embodiments, the first housing window 3531 and at least one slider 33a may be mirror-symmetrically distributed with the second housing window and at least one slider 33b. It should be understood that a set of first housing windows 3531 and a set of second housing windows may each include multiple windows spaced apart, and a set of third housing windows 3521 may include a single housing window. Figure 9 As shown, each slider may include a connection interface 331. For example... Figure 9 As shown, there are four first housing windows 3531 and four sliders 33a, with the connection interface 331 of each slider 33a located within the corresponding first housing window 3531. There are also four second housing windows and four sliders 33b, with the connection interface 331 of each slider 33b located within the corresponding second housing window. The four first housing windows 3531 and the connection interfaces of the sliders 33a are mirror-symmetrically distributed with the four second housing windows and the connection interfaces of the sliders 33b along the direction of linear movement (e.g., the length direction of the housing 35 or surgical tool 30). This facilitates the coordinated driving of the connection interfaces 331 located within the first and second housing windows. The above quantities are merely examples; it should be understood that the number of first and second housing windows 3531 can also be one, two, five, etc. The number of connection interfaces 331 located within the same housing window can also be two, three, etc., and the number of housing windows and connection interfaces 331 can be adjusted according to the number of interfaces on the external device to be driven.
[0062] In some embodiments, such as Figure 9 As shown, the surgical tool 30 may further include at least one limiting structure 38 disposed on a first side and / or a second side. For example, at least one limiting structure 38 is provided on the outer side of the left side plate 353 and / or the right side plate. It should be understood that the inner side of the left side plate and the right side plate refers to the side facing each other when the left side plate 353 and the right side plate are disposed opposite each other. The outer side of the left side plate and the right side plate refers to the side facing away from each other when the left side plate and the right side plate are disposed opposite each other. Figure 9 As shown, the limiting structure 38 can be a groove, and the inner side of the external device (e.g., the connecting adapter 10) is provided with a limiting protrusion (e.g., a groove) that mates with the limiting structure 38. Figure 15 (See protrusion 170). The limiting structure engages with the limiting protrusion to restrict the movement of the surgical tool 30 along a linear direction of movement (e.g., the length direction of the left side plate 353 or the right side plate). Those skilled in the art will understand that... Figure 9 The limiting structure shown is merely an exemplary embodiment; other structures may be used, such as protrusions, magnetic attraction structures, etc.
[0063] In some embodiments, such as Figure 9 As shown, the surgical instrument 30 may also include a balancing valve 355 disposed on the housing 35. The balancing valve 355 is used to maintain internal and external air pressure balance during sterilization of the surgical instrument. In actual use, the balancing valve can be removed.
[0064] In some embodiments, such as Figure 9 As shown, the surgical tool 30 may also include a handle 356 disposed 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 the attachment or removal of the surgical tool from an external device.
[0065] In some embodiments, such as Figure 10 As shown, the surgical tool 30 may further include at least one communication interface 357 disposed on the housing 35. For example, at least one communication interface 357 can form a communication connection between the inside and outside of the lower side plate 352 of the surgical tool. For example, if the outer side of the housing 35 of the surgical tool 30 is connected to an external device, at least one communication interface 357 can be used to establish a communication connection with the external device, thereby forming a communication connection between the inner and outer sides of the housing 35 of the surgical tool 30 and the external device. Figure 10 As shown, the lower side panel 352 may be provided with multiple spaced communication interfaces 357. The external device is correspondingly provided with multiple communication contacts (e.g., Figure 14(See communication contact 140). After the external device is installed, multiple communication interfaces 357 are connected to the communication contact to establish a communication connection between the surgical tool 30 and the external device. Those skilled in the art should understand that the assembler can determine whether the surgical tool 30 and the external device are properly installed by checking whether a communication connection is established between the communication contact and the communication interface 357. The communication connection established between the communication contact and the communication interface 357 can also be used to read or write parameter information to the surgical tool 30 or the external device.
[0066] In some embodiments, such as Figure 9 As shown, the surgical tool 30 may also include an electrode interface 358 or a fiber optic interface (not shown) disposed on the housing 35. For example, the electrode interface 358 can provide a conductive path to an electrical energy tool, such as a monopolar or bipolar electrocoagulation or electrocautery tool. The fiber optic interface can provide a path for endoscopic imaging or illumination when the end-effector of the surgical tool is an endoscope.
[0067] Figure 11 A schematic diagram showing the distribution of slider 33 and drive wire 34 according to some embodiments of the present disclosure is provided. Figure 11 As shown, the proximal end of the drive wire 34 is fixedly connected to the slider 33 (e.g., slider 33a and / or slider 33b), and the distal end is fixedly connected to the distal end of the snake-like structure. This can be achieved via a drive mechanism (e.g., Figure 12 The drive mechanism 21) shown is coupled to the slider 33. The drive mechanism (e.g., linear motion) drives the sliders 33a and / or 33b to move, pushing and / or pulling the drive wire 34, thereby driving the snake structure 311 to bend.
[0068] Similarly, in some embodiments, the proximal end of the drive wire 34 may be connected to, for example... Figure 7 The distal end of the proximal drive structure 3155 of the proximal continuum segment 315 shown is connected to a slider 33 (e.g., slider 33a and / or slider 33b), so that the proximal drive structure 3155 is pushed and / or pulled under the drive of the slider 33, causing the proximal continuum segment 315 to bend, thereby causing the distal continuum segment to bend.
[0069] It should be understood that the drive wire 34 in this disclosure (e.g., arm drive wire and / or actuator drive wire) may include an elastic rod or tube made of a hyperelastic material, such as a nickel-titanium alloy.
[0070] In some embodiments, the end effector 32 may include an end effector, and the surgical tool 30 may also include at least one actuator drive wire (not shown). The distal end of the at least one actuator drive wire is connected to the end effector, and the proximal end of the actuator drive wire is fixedly connected to at least one slider 33c. The actuator drive wire is pushed and / or pulled by the slider 33c to achieve the opening and closing of the end effector to complete the corresponding surgical operation, such as clamping, grasping, cutting, etc.
[0071] Figure 12 This diagram shows a structural block diagram of a surgical robot system 1 according to some embodiments of the present disclosure. Figure 13 An exploded view of the connection interface 331, the transmission member 300, and the drive interface 211 according to some embodiments of the present disclosure is shown. Figure 12 As shown, the surgical robot system 1 includes at least one robotic arm 20, at least one connection adapter 10, and at least one surgical tool 30 as described in any embodiment of this disclosure. In some embodiments, the robotic arm 20 may include a drive mechanism 21 located at its end effector, and the connection adapter 10 is detachably connected to the end effector of the robotic arm 20 or to the drive mechanism 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 via the connection adapter 10, through which the drive mechanism 21 transmits actuation (e.g., linear motion) to the surgical tool 30 to drive the bending motion of the surgical tool 30 and the opening and closing motion of the end effector 32.
[0072] It should be understood that the robotic arm 20 may include multiple movable joints and links, possessing multiple degrees of freedom, and can adjust the position and orientation of the distal end of the surgical tool 30. It should be understood that the surgical robot system 1 can extend into cavities using one or more surgical tools 30 for endovascular interventional diagnosis and treatment. Moving the surgical tool 30 via the robotic arm 20 increases the dexterity of the distal end of the surgical tool, and bending the rigid arm 31 improves the load-bearing capacity of the surgical tool 30 to meet the needs of various surgical procedures.
[0073] In some embodiments, the robotic arm 20 is configured to move the surgical tool 30 about a remote center of motion (RCM) located on a curved segment 313 of the curved rigid arm 31. For example, the RCM may be located on the curved segment 313 of the curved rigid arm 31, and the surgical tool 30 can move about the RCM under the drive of the robotic arm 20. Therefore, during surgery, the RCM of the surgical tool 30 can be positioned at the opening (e.g., an incision or natural opening) into the patient's body. By controlling the movement of the surgical tool 30 around the RCM, the opening location is not damaged, and the curved rigid arm 31 of the surgical tool 30 can increase the mobility of the end effector 32. Moreover, the curved rigid arm 31 can increase the load-bearing capacity of the end effector 32 compared to a flexible arm.
[0074] like Figure 12 and Figure 13 As shown, the drive mechanism 21 may include at least one drive interface 211, which can receive power through the link 23. The connection adapter 10 includes at least one transmission element 300. The transmission element 300 includes an interface 310 and an interface 320, where the interface 310 is used to couple with the connection interface 331 of the surgical tool 30, and the interface 320 is used to couple with the drive interface 211.
[0075] Figure 14 This diagram shows a front view of the connection adapter 10 in its unfolded state according to some embodiments of the present disclosure. Figure 15 A schematic diagram of the connection adapter 10 in a folded state according to some embodiments of the present disclosure is shown. For ease of explanation, Figure 15 The shading representing the second deformable membrane 200 is omitted, leaving only the transmission element 300. In some embodiments, such as Figure 14 and Figure 15 As shown, the connection adapter 10 may include an adapter substrate 100, at least one second deformable membrane 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. At least one second deformable membrane 200 is sealed onto the adapter substrate 100 to cover at least one transmission window. At least one transmission member 300 is sealed onto the second deformable membrane 200 and located within the at least one transmission window. The transmission member 300 includes an interface 310 located on a first side of the second deformable membrane 200 and an interface 320 located on a second side of the second deformable membrane 200. The at least one transmission member 300 is used to drive the connection interface 331 to move linearly through the deformation of at least one second deformable membrane 200 under the linear drive of the drive interface 211. The connection interface 331 drives the slider 33 to move linearly through the deformation of at least one deformable membrane 37.
[0076] like Figure 14 and Figure 15 As shown, at least one transmission window may include a first transmission window 111 and a second transmission window 121. For example... Figure 15As shown, in some embodiments, the adapter substrate 100 may be U-shaped or foldable 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 respectively disposed on the left substrate 110 and the right substrate 120. In some embodiments, at least one transmission window may include a third transmission window 131, which may be disposed on the middle substrate 130. For example, as... Figure 13 and Figure 15 As shown, the transmission component 300 may include interfaces 310 and 320 located at both ends and fixedly connected, with coupling structures provided on interfaces 310 and 320 respectively. The coupling structure of interface 310 of the transmission component 300 may include a protrusion, the connection interface 331 may include a corresponding groove, the interface 320 of the transmission component 300 may include a groove, and the drive interface 211 may include a corresponding protrusion. The protrusion engages with the groove to couple the robotic arm drive interface 211 and the surgical tool connection interface 331 through the transmission component 300. The above is only an example; one of the interfaces and the drive interface of the transmission component 300 may be a protrusion and the other a groove. Alternatively, the transmission component and the drive interface may also be other structures capable of mutual connection.
[0077] Figure 16 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 is shown. Figure 16 As shown, the proximal end of the surgical tool 30 can be positioned perpendicular to the central substrate 130 of the connecting adapter 10 (e.g., Figure 16 The surgical tool 30 (as shown in the direction of entry into the paper) is installed inside the connector adapter 10. The lower side plate 352 of the surgical tool 30 abuts against the middle substrate 130 of the adapter substrate 100. The communication contact 140 on the middle substrate 130 is communicatively connected to the communication interface 357. The surgical tool 30 has an opening extending along its length on the outer side of its proximal end, and also includes a connector (e.g., a connector that protrudes from the opening and can be translatably moved along the opening) that can be moved along the opening. Figure 9 and Figure 13 (See connection interface 331). Interfaces 310 are provided on the inner sides of the left base plate 110 and right base plate 120 of the connection adapter 10. Interfaces 310 are coupled to the connection interface 331 via a coupling structure on the connection interface 331, thereby enabling a tractably connected surgical tool 30 to the connection adapter 10. A limiting structure (e.g., [missing information]) is provided on the outer proximal end of the surgical tool 30 along a direction perpendicular to the middle base plate 130 of the connection adapter 10. Figure 9As shown in the limiting structure 38), at least one limiting portion 170 protruding from the surface of the left substrate 110 and / or the right substrate 120 is provided on the inner side of the left substrate 110 and / or the right substrate 120. The limiting structure 38 engages with the limiting portion 170 to restrict the movement of the surgical tool 30 along the length direction, so as to detachably connect the surgical tool 30 to the connecting adapter 10.
[0078] like Figure 14 As shown, in some embodiments, the adapter substrate 100 is further provided with at least one grounding pin 150. Two grounding pins 150 may be provided on the middle substrate 130. The grounding pins are provided to prevent electrostatic damage to system components. Figure 15 As shown, in some embodiments, at least one connection structure, such as a connection protrusion 180, is provided on the outer side of the left substrate 110 and / or the right substrate 120. The connection protrusion 180 is used to engage with a groove on the robotic arm 20. By engaging the connection protrusion with the groove, the adapter substrate 100 is detachably connected to the robotic arm 20. In some embodiments, such as Figure 15 As shown, the left substrate 110 and / or the right substrate 120 are further provided with a shielding portion 190 extending outward from the substrate surface. The shielding portion 190 can be used to shield the portion of the transmission member 300 exposed on the outside of the substrate. By providing the shielding portion, after the adapter substrate 100 and the robotic arm 20 are installed, a motion space for the linear movement of the transmission member 300 can be formed between the outside of the adapter substrate 100 and the robotic arm 20.
[0079] Figure 17 A reverse view of the connection adapter 10 in its unfolded state according to some embodiments of this disclosure is shown. Figure 17 As shown, in some embodiments, at least one connection adapter 10 further includes a sterile protective film 400. The sterile protective film 400 is sealed to the periphery of the adapter substrate 100 and extends outward. It should be understood that the adapter substrate 100 may be U-shaped or a foldable sheet structure, and the sterile protective film 400 is circumferentially connected to the adapter substrate 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 may be a TPU film to facilitate sterilization during manufacturing to achieve medical-grade material quality. The adapter substrate 100 may be 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 may be adapted to the shape of the portion of the robotic arm 20 that needs to be covered. By covering the robotic arm 20 with the sterile protective film 400, the surgical instrument 30 and the robotic arm 20 can be isolated to isolate the sterile and non-sterile sides, meeting the requirements of the operating environment.
[0080] A deformable membrane 37 covers at least one housing window of the surgical tool 30 to form an effective sterile barrier against bacteria between the outer (sterile) and inner (potentially bacterial) sides of the surgical tool 30. A deformable membrane 200 covers at least one transmission window to form an effective sterile barrier against bacteria between the inner and outer sides of the connecting 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 to form an effective sterile barrier against bacteria between the robotic arm portion near the surgical tool 30 and the surgical tool 30, providing a sterile surgical environment and preventing bacterial contamination of the surgical tool. At least one transmission element 300 is disposed on the second deformable membrane 200. Through the deformation of the second deformable membrane 200, the drive (e.g., linear drive) on the first side of the connecting adapter 10 is transmitted to the second side of the connecting adapter 10 via the transmission element 300, enabling the direct transmission of various motions, such as linear motion. The deformation of the deformable membrane 37 allows the drive interface of the external device to drive the connection interface to move, thereby pushing and / or pulling the drive wire, thus driving the surgical tool to perform various operations, making the structure simple and easy to operate.
[0081] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.
Claims
1. A surgical instrument, characterized in that, include: A rigid bending arm, including at least one bending segment; A bendable component is disposed at the distal end of the bendable rigid arm; An end effector is disposed at the distal end of the bendable assembly; A plurality of sliders, each slider including a connection interface disposed on the slider, the connection interface being used to couple with and receive drive from an external device, the plurality of sliders including at least one bendable component driving the slider; Multiple drive wires, including a bendable component drive wire, the proximal end of which is connected to the bendable component drive slider and the distal end of which is connected to the bendable component. The bendable component drive slider is used to push or pull the bendable component drive wire under the received drive to drive the bendable component to bend. A housing for accommodating the slider, the housing including at least one housing window, the connection interface of the slider being located in the at least one housing window; The at least one housing window includes at least one first housing window located on a first side of the housing and at least one second housing window located on a second side of the housing; the plurality of sliders 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 housing window; and the connection interface of the at least one second slider is located in the at least one second housing window. The at least one first housing window and the at least one second housing window are distributed in a mirror symmetric manner, the at least one first slider and the at least one second slider are distributed in a mirror symmetric manner, and the connection interface of the at least one first slider and the connection interface of the at least one second slider are distributed in a mirror symmetric manner.
2. The surgical tool according to claim 1, characterized in that, The at least one curved segment includes at least one arc-shaped segment.
3. The surgical tool according to claim 2, characterized in that, The at least one curved segment includes a first arc segment and a second arc segment, wherein the first arc segment and the second arc segment have opposite bending directions.
4. The surgical tool according to claim 1, characterized in that, The at least one curved segment includes a first curved segment and a second curved segment; The bendable assembly includes at least one bendable member disposed at the distal end of the second bending segment. The distal end of the bendable assembly drive wire is connected to the bendable member. The bendable assembly drive wire extends through at least a portion of the bendable member and the bending rigid arm. The bendable assembly drive wire is used to drive the bendable member to bend in at least one degree of freedom. The proximal end of the bendable assembly drive wire is connected to the bendable assembly drive slider. or The bendable assembly includes at least one distal continuum segment, which includes multiple distal structural bones, a distal base plate, a distal stop plate, and at least one distal spacer plate disposed between the distal base plate and the distal stop plate. The distal end of the distal structural bone is fixedly connected to the distal stop plate, and the distal structural bone slidably passes through the at least one distal spacer plate and the distal base plate. The proximal end of the distal structural bone is connected to the bendable assembly drive slider.
5. The surgical tool according to claim 4, characterized in that, The bendable component includes a bellows, and the bendable component drive wire is disposed through the bellows or through the bellows wall, with the distal end of the bendable component drive wire fixedly connected to the distal end of the bellows; or The bendable component includes a snake-bone structure, which includes multiple bendable units connected end to end. Adjacent bendable units are connected by nested connecting grooves and connecting protrusions to form a radially bendable kinematic pair. The drive wire of the bendable component is disposed through the snake-bone structure.
6. The surgical instrument according to claim 1, characterized in that, Also includes: At least one deformable membrane is sealed on the housing for covering the at least one housing window, wherein the connection interface is sealed to the deformable membrane and is used for receiving and driving through the deformation of the at least one deformable membrane.
7. The surgical instrument according to claim 6, characterized in that, The deformable membrane includes a sheet-like membrane adapted to the shape of the housing, the sheet-like membrane being sealed onto the inner or outer surface of the housing to cover at least one housing window; or The deformable membrane includes at least one sheet-like membrane corresponding to each of the at least one housing window, and the at least one sheet-like membrane is sealed to the housing to cover the at least one housing window.
8. The surgical instrument according to claim 1, characterized in that, The at least one housing window further includes at least one third housing window located on the third side of the housing, and the plurality of sliders further includes at least one third slider, the connection interface of the at least one third slider being located in the at least one third housing window.
9. The surgical tool according to claim 8, characterized in that, The end effector includes an end effector, and the plurality of drive wires further include at least one actuator drive wire, the distal end of which is connected to the end effector, and the proximal end of which is fixedly connected to the third slider.
10. The surgical instrument according to claim 1, characterized in that, The surgical tool also includes at least one limiting structure disposed on the first side and / or the second side.
11. The surgical tool according to claim 1, characterized in that, The housing is provided with at least one slide rail, and the slider is disposed on the at least one slide rail.
12. A surgical robot system, characterized in that, include: At least one robotic arm, the robotic arm including at least one drive mechanism and at least one drive interface, the at least one drive mechanism being used to drive the at least one drive interface to move; At least one surgical instrument as described in any one of claims 1-11; as well as At least one connection adapter for detachably connecting to the robotic arm and the surgical tool, the connection adapter including at least one first interface and at least one second interface, the first interface for coupling to the connection interface of the surgical tool, and the second interface for coupling to the drive interface.
13. The surgical robot system according to claim 12, characterized in that, The connection adapter includes: An adapter base plate includes at least one transmission window, and the adapter base plate is detachably connected to the robotic arm and the surgical instrument, respectively; At least one second deformable membrane is sealed on the adapter substrate to cover the at least one transmission window; At least one transmission element is sealed on the second deformable membrane and located in the at least one transmission window. The transmission element includes a first interface located on a first side of the second deformable membrane and a second interface located on a second side of the second deformable membrane. The at least one transmission element is used to drive the connection interface to move linearly through the deformation of the at least one second deformable membrane under the linear drive of the drive interface, thereby driving the slider to move linearly.
14. The surgical robot system according to claim 13, characterized in that, The at least one connection adapter also includes a sterile protective film, which is circumferentially sealed to the adapter substrate and extends outward in the circumferential direction to cover the robotic arm.