Sterilization isolator, instrument manipulator and surgical robot

Abstract

The present invention belongs to the field of surgical robots, and discloses a sterilization isolator, an instrument manipulation device and a surgical robot. The sterilization isolator is used to connect instruments, and an installation slide is provided on the instrument. The sterilization isolator includes an isolator shell and a floating plate. The distal end of the isolator shell is provided with an inclined slide, and one end of the slide is provided with a slot; the floating plate is provided at the distal end of the isolator shell, and the distal surface of the floating plate is provided with a slide plate, which is located in the slide, and the floating plate can reciprocate along the proximal to distal direction of the isolator shell; when connecting the instrument, the installation slide slides along the slide, and the installation slide moves the floating plate from the distal end to the proximal end through the slide plate. After the installation slide slides to the slot, the floating plate is reset from the proximal end to the distal end to fix the instrument; when unlocking, the floating plate moves from the distal end to the proximal end, and the installation slide exits the slot. The present invention can achieve stable connection and removal of instruments and sterilization isolators by providing a floating plate that can float up and down.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a sterilization isolator, an instrument manipulation device and a surgical robot. Background Art

[0002] Due to the advantages of small incision and fast recovery after surgery, the reduced-hole or single-hole surgical robot is being rapidly promoted. Usually, this type of surgery uses a robot to insert two or more instruments and endoscopes into the human body for delicate operations, and the movement and control of the instruments and endoscopes are provided by the instrument manipulator.

[0003] In order to ensure the sterility of the surgical process, a sterilization isolator needs to be added between the instrument manipulator and the instrument to isolate the non-sterilizable instrument manipulator from the sterilizable instrument. The instrument manipulator is connected to the sterilization isolator, and the sterilization isolator is connected to the instrument. The instrument manipulator transmits power to the instrument through the sterilization isolator to complete complex and precise surgical movements. In order to meet the needs of using different surgical instruments during surgery, to facilitate the replacement of different surgical instruments during surgery and to sterilize and sterilize surgical instruments independently, surgical instruments and instrument manipulators are usually designed to be detachably connected. How to achieve convenient connection and disassembly of instruments and sterilization isolators is a problem that needs to be solved at present. Summary of the invention

[0004] The purpose of the present invention is to provide a sterilization isolator, an instrument manipulation device and a surgical robot, which can facilitate the connection and removal of the instrument and the sterilization isolator.

[0005] The technical solution provided by the present invention is as follows:

[0006] In one aspect, a sterilization isolator is provided for connecting an instrument, wherein the instrument is provided with a mounting slide, and the sterilization isolator comprises:

[0007] An isolator housing, wherein a slanted slide is disposed at the far end of the isolator housing, and a slot is disposed at one end of the slide;

[0008] A floating plate is arranged at the distal end of the isolator housing, a sliding plate is arranged on the distal end surface of the floating plate, the sliding plate is located in the slideway, and the floating plate can float reciprocatingly along the direction from the proximal end to the distal end of the isolator housing;

[0009] When connecting an instrument, the installation slide slides along the slideway, and the installation slide moves the floating plate from the distal end to the proximal end through the slide plate. After the installation slide slides to the slot, the floating plate is reset from the proximal end to the distal end to fix the instrument; when unlocking, the floating plate moves from the distal end to the proximal end, and the installation slide exits the slot.

[0010] In some embodiments, the extension direction of the slide is perpendicular or approximately perpendicular to the proximal to distal direction of the isolator housing, the height of the slide gradually decreases along the extension direction, and the slot is located at the end of the slide with the smallest height.

[0011] In some embodiments, the distal end of the isolator housing is provided with two baffles arranged opposite to each other, the inner side walls of the two baffles are respectively provided with the slideways, the distal end surfaces of the slideways are inclined, and the distal end surface of the floating plate is provided with the slot.

[0012] In some embodiments, the distal end surface of the floating plate is provided with two slides arranged opposite to each other, one slide is arranged in one of the slideways, and the other slide is arranged in the other slideway, and one end of the slide is provided with a recess to form the slot.

[0013] In some embodiments, it further comprises a plurality of elastic members and a plurality of distal floating discs;

[0014] The isolator housing is provided with a plurality of assembly holes, and the assembly holes penetrate the isolator housing from the proximal end to the distal end;

[0015] The plurality of elastic members are respectively arranged in the assembly holes;

[0016] The plurality of distal floating plates are rotatably disposed at the distal ends of the assembly holes and connected to the elastic members, so that the distal floating plates can float back and forth from the proximal end to the distal end. When the distal floating plates are floated and reset from the proximal end to the distal end, they drive the floating plates to reset.

[0017] In some embodiments, the floating plate is provided with a plurality of matching holes, and the plurality of matching holes are arranged in one-to-one correspondence with the plurality of assembly holes;

[0018] The distal floating plate passes through the matching hole, and a flange is arranged on the side wall of the distal floating plate, and the flange abuts against the proximal end surface of the floating plate.

[0019] In some embodiments, a stopper is provided on the side wall of the flange, and a plurality of limit blocks are provided at the proximal end of the floating plate, and when the stopper contacts the limit block, the distal floating plate is stopped.

[0020] In some embodiments, it further comprises a plurality of proximal floating disks, which are rotatably disposed at the proximal ends of the assembly holes and can reciprocate and float in the assembly holes along the proximal to distal directions, and the proximal floating disks drive the distal floating disks to rotate;

[0021] One end of the elastic member away from the distal floating plate is connected to the proximal floating plate.

[0022] In some embodiments, a plurality of spring pins are provided on the floating plate, and the plurality of spring pins penetrate from the distal end of the isolator shell to the proximal end of the isolator shell, the distal end of the spring pin is used to connect and conduct with the instrument, and the proximal end is used to connect and conduct with the instrument manipulator.

[0023] On the other hand, an instrument manipulator is further provided, comprising an instrument manipulator and the sterilization isolator described in any one of the above embodiments, wherein the distal end of the instrument manipulator is detachably connected to the proximal end of the isolator housing.

[0024] In some embodiments, the instrument manipulator includes a manipulator housing and a movable hook, wherein the movable hook is movably disposed at a distal end of the manipulator housing;

[0025] A fixing hook is provided at the proximal end of the isolator housing, and the fixing hook is detachably connected to the movable hook.

[0026] In some embodiments, the instrument manipulator further comprises an anti-accidental touch mechanism, wherein the anti-accidental touch mechanism comprises a seesaw, a sliding member, a first return spring, a second return spring, a first button, and a second button;

[0027] The seesaw is rotatably arranged on the manipulator housing, and both ends of the seesaw are respectively connected to the first return springs, so that the seesaw is returned to its original position after rotation;

[0028] The sliding member is movably arranged on the manipulator housing and located on one side of the seesaw, the sliding member is connected to the second return spring so that the sliding member is returned to its original position after being moved, and the movable hook is arranged on the sliding member;

[0029] The first button and the second button are arranged on a side of the seesaw away from the sliding member and are respectively located at two ends of the seesaw;

[0030] When the first button or the second button is pressed, the seesaw moves toward the sliding member and rotates, and the distance that the seesaw drives the sliding member to move is less than the moving distance required for the movable hook to unlock the fixed hook;

[0031] When the first button and the second button are pressed at the same time, the seesaw does not rotate but only moves toward the sliding member, and the distance moved by the seesaw to move the sliding member is greater than or equal to the moving distance required to unlock the movable hook and the fixed hook, so that the movable hook is unlocked from the fixed hook.

[0032] In some embodiments, a curved sliding groove is provided in the middle of one side of the seesaw close to the sliding member;

[0033] The sliding member has one end close to the rocker plate and is provided with a cylindrical portion cooperating with the slide groove, and there is a distance between the cylindrical portion and the slide groove, and the pressing stroke of the first button and the second button is greater than the distance between the cylindrical portion and the slide groove.

[0034] In some embodiments, a pressing stroke of the first button and the second button is twice the distance between the cylindrical portion and the slide groove.

[0035] In some embodiments, the instrument manipulator further comprises a plurality of drive output disks, which are respectively disposed in the manipulator housing, and the proximal ends are used to connect to the motor output shaft, and the distal ends are connected to the proximal floating disk of the sterilization isolator.

[0036] In some embodiments, the instrument manipulator further comprises a plunger switch disposed on the manipulator housing for monitoring the connection between the instrument manipulator and the sterilization isolator, and the connection between the sterilization isolator and the instrument.

[0037] On the other hand, a surgical robot is also provided, comprising an instrument and an instrument manipulation device as described in any of the above embodiments, wherein the instrument is arranged at the distal end of the sterilization isolator.

[0038] In some embodiments, the instrument includes an instrument housing and a plurality of driving winches, wherein the plurality of driving winches are disposed in the instrument housing and are connected to a plurality of distal floating disks of the sterilization isolator in a one-to-one correspondence.

[0039] In some embodiments, the installation sliding wings are respectively protruded from two opposite sides of the proximal end of the instrument housing, and the installation sliding wings are engaged with the card slots.

[0040] In some embodiments, the instrument further includes an unlocking button and a transmission member, wherein the unlocking button is rotatably disposed on the instrument housing, one end of the transmission member abuts against the unlocking button, and the other end abuts against the floating plate, and when the unlocking button is rotated, the transmission member is driven to move from the distal end to the proximal end, causing the floating plate to move from the distal end to the proximal end, thereby unlocking the instrument from the sterilization isolator.

[0041] The technical effect of the present invention is that by providing a floating plate that can float up and down, stable connection and removal of the instrument and the sterilization isolator can be achieved, which not only facilitates the stable installation and convenient disassembly of the instrument, but also has a simple structure; the floating plate is arranged on the sterilization isolator, and the sterilization isolator is a consumable. When the floating plate is damaged, only the consumable needs to be replaced, thereby reducing the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0043] Figure 1 It is a structural schematic diagram of a remote interface of a sterilization isolator provided in a specific embodiment of the present application;

[0044] Figure 2 is a schematic structural diagram of the proximal interface of the device provided in a specific embodiment of the present application;

[0045] Figure 3 It is a schematic diagram of the process of installing the instrument into the sterilization isolator provided in a specific embodiment of the present application;

[0046] Figure 4 It is a cross-sectional schematic diagram of the assembly of the sterilization isolator and the instrument provided in a specific embodiment of the present application;

[0047] Figure 5 It is a cross-sectional schematic diagram of the sterilization isolator and the instrument after being assembled according to a specific embodiment of the present application;

[0048] Figure 6 It is a schematic diagram of the structure of the sterilization isolator provided in a specific embodiment of the present application after the floating plate is removed;

[0049] Figure 7 It is a schematic diagram of the structure of the proximal and distal floating disks of the floating plate provided in a specific embodiment of the present application;

[0050] Figure 8 is a cross-sectional view of a sterilization isolator provided in a specific embodiment of the present application;

[0051] Fig. 9 is a schematic structural diagram of a distal interface of an instrument manipulator provided in a specific embodiment of the present application;

[0052] Fig.10 It is a structural schematic diagram of the proximal interface of the sterilization isolator provided in a specific embodiment of the present application;

[0053] Fig.11 It is a schematic diagram of the process of installing a sterilization isolator to an instrument manipulator provided by a specific embodiment of the present application;

[0054] Fig.12 is a cross-sectional view of the instrument manipulator and the instrument after being assembled according to a specific embodiment of the present application;

[0055] Fig.13 is a structural schematic diagram of an anti-mistouch mechanism provided in a specific embodiment of the present application;

[0056] Fig.14 is a structural schematic diagram of a mechanism for preventing accidental touch when the first button is accidentally touched provided in a specific embodiment of the present application;

[0057] Fig.15is a structural schematic diagram of a mechanism for preventing accidental touch when the second button is accidentally touched provided in a specific embodiment of the present application;

[0058] Fig.16 is a structural schematic diagram of an anti-mis-touch mechanism when a first button and a second button are pressed simultaneously, provided in a specific embodiment of the present application;

[0059] Fig.17 is a schematic diagram of the structure of a surgical robot provided in a specific embodiment of the present application;

[0060] Fig.18 It is a cross-sectional view of the apparatus and the sterilization isolator provided in a specific embodiment of the present application.

[0061] Description of Figure Numbers:

[0062] 10. Instrument manipulator; 11. Manipulator housing; 111. Guide positioning hole; 12. Drive output disk; 13. Active hook; 14. Plunger switch; 151. Rocker; 1511. Slide; 152. Sliding member; 1521. Cylindrical portion; 153. First return spring; 154. Second return spring; 155. First button; 156. Second button; 16. Electrical connector; 20. Sterilization isolator; 21. Isolator housing; 211. Baffle; 212. Instrument positioning column; 21 3. Guide positioning column; 22. Floating plate; 221. Limit block; 222. Slide plate; 223. Spring pin; 23. Elastic member; 24. Distal floating disk; 241. Flange; 242. Stop block; 201. Slideway; 202. Slot; 25. Proximal floating disk; 26. Fixed hook; 27. Plunger switch extension rod; 30. Instrument; 301. Mounting slide wing; 302. Instrument positioning hole; 31. Instrument housing; 32. Drive winch; 33. Chip; 34. Unlock button; 35. Transmission member. DETAILED DESCRIPTION

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0064] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0065] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0066] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0068] In the present application, "proximal" and "distal" refer to the relative orientation, relative position, and direction of elements or actions relative to each other from the perspective of a doctor using the medical device. Although "proximal" and "distal" are not restrictive, "proximal" generally refers to the end of the medical device that is close to the doctor during normal operation, and "distal" generally refers to the end that first enters the patient's body.

[0069] The present application provides an embodiment of a sterilization isolator, such as Fig.17 As shown, the sterilization isolator 20 is used to connect the instrument 30 and the instrument manipulator 10, the sterilization isolator 20 is connected to the instrument manipulator 10, and the instrument 30 is connected to the sterilization isolator 20. The instrument 30 is a medical tool inserted into the patient's body and used to perform a surgical operation or a diagnostic procedure, including but not limited to an imaging device (such as an endoscope or an ultrasonic probe), forceps, a needle holder, scissors, a bipolar cautery device, a tissue stabilizer, a tissue retractor, a clip applier, etc. Figure 2 As shown, in this embodiment, in order to facilitate the connection between the instrument 30 and the sterilization isolator 20, a mounting sliding wing 301 is provided on the instrument 30.

[0070] like Figures 1 to 5As shown, the sterilization isolator 20 includes an isolator shell 21 and a floating plate 22. The distal end of the isolator shell 21 is provided with an inclined slide 201, and one end of the slide 201 is provided with a card slot 202; the floating plate 22 is arranged at the distal end of the isolator shell 21, and the distal end surface of the floating plate 22 is provided with a slide plate 222, and the slide plate 222 is located in the slide 201, and the floating plate 22 can float back and forth along the proximal to distal direction of the isolator shell 21; when connecting the instrument 30, the installation slide 301 slides along the slide 201, and the installation slide 301 moves the floating plate 22 from the distal end to the proximal end through the slide 222. After the installation slide 301 slides to the card slot 202, the floating plate 22 is reset from the proximal end to the distal end to fix the instrument 30; when unlocking, the floating plate 22 moves from the distal end to the proximal end, and the installation slide 301 exits the card slot 202.

[0071] The floating plate 22 is mounted on the isolator housing 21 and can move up and down along the proximal to distal direction on the isolator housing 21. Figure 1 The middle arrow a indicates the proximal end, and the arrow b indicates the distal end. The installation sliding wing 301 of the instrument 30 is located in the inclined slide 201. When the installation sliding wing 301 moves along the slide 201, the installation sliding wing 301 slides between the slide plate 222 and the distal end surface of the slide 201. Because the slide 201 is inclined, under the guiding action of the slide 201, the installation sliding wing 301 drives the floating plate 22 from the distal end to the proximal end (that is, close to the isolator housing 21) through the slide plate 222. After the installation sliding wing 301 moves to the specified position, the installation sliding wing 301 exits the slide 201 and enters the card slot 202. The floating plate 22 loses the function of the installation sliding wing 301 and moves from the proximal end to the distal end to reset. Under the limiting action of the floating plate 22, the installation sliding wing 301 is locked in the card slot 202, thereby realizing the locking of the instrument 30 and the sterilization isolator 20. When the instrument 30 needs to be removed, the floating plate 22 is moved from the distal end to the proximal end again, and the floating plate 22 releases the limit on the installation slide 301, so that the installation slide 301 can be withdrawn from the slot 202, and the lock between the instrument 30 and the sterilization isolator 20 is released, and the instrument 30 can be removed.

[0072] The present invention can achieve stable connection and removal of the instrument 30 and the sterilization isolator 20 by providing a floating plate 22 that can float up and down, which is not only convenient for installation and disassembly of the instrument 30 but also simple in structure; the floating plate 22 is provided on the sterilization isolator 20, and the sterilization isolator 20 is a consumable. When the floating plate 22 is damaged, only the consumable needs to be replaced, thereby reducing the cost of use.

[0073] In this embodiment, the extension direction of the slide 201 is perpendicular or approximately perpendicular to the direction from the proximal end to the distal end of the isolator housing 21, the height of the slide 201 gradually decreases along the extension direction, and the card slot 202 is located at the end with the smallest height of the slide 201. Assuming that the direction from the proximal end to the distal end of the isolator housing 21 is the height direction of the isolator housing 21, the extension direction of the slide 201 is the length direction or width direction of the isolator housing 21, and the height direction of the slide 201 is consistent with the height direction of the isolator housing 21. The height of the slide 201 along the extension direction gradually decreases. When the installation slide 301 slides in the slide 201 along the extension direction of the slide 201, the installation slide 301 will move toward the proximal end to drive the floating plate 22 to move from the distal end to the proximal end. After the installation slide 301 slides to the position where the slide 201 has the smallest height, it enters the slot 202. The floating plate 22 loses the limit of the installation slide 301 and moves from the proximal end to the distal end to reset, so as to fix the installation slide 301 in the slot 202, thereby locking the instrument 30 and the sterilization isolator 20.

[0074] In this embodiment, Figures 6 to 8 As shown, the sterilization isolator 20 also includes a plurality of elastic members 23 and a plurality of distal floating disks 24; a plurality of assembly holes are provided on the isolator shell 21, and the assembly holes penetrate the isolator shell 21 along the proximal to distal direction; a plurality of elastic members 23 are respectively arranged in the assembly holes; a plurality of distal floating disks 24 are respectively rotatably arranged at the distal ends of the assembly holes and connected to the elastic members 23, so that the distal floating disks 24 can float back and forth along the proximal to distal direction, and the distal floating disks 24 drive the floating plate 22 to reset when floating and resetting from the proximal end to the distal end under the action of the elastic member 23, and the elastic member 23 can be a reset spring.

[0075] The distal floating disc 24 is used to connect with the driving capstan 32 on the instrument 30. When the distal floating disc 24 rotates, the driving capstan 32 on the instrument 30 is driven to rotate. The distal floating disc 24 is connected to the isolator housing 21 through the elastic member 23 to realize the reciprocating floating of the distal floating disc 24 from the proximal end to the distal end. When the distal floating disc 24 floats from the proximal end to the distal end, it drives the floating plate 22 to float from the proximal end to the distal end. In this embodiment, each distal floating disc 24 only needs to be connected with one elastic member 23 to realize the connection and operation between the sterilization isolator 20 and the instrument 30. Not only is the spring structure simple, the workflow is simple, and when the instrument 30 is installed, the floating plate 22 floats axially together with the distal floating disc 24, which can avoid interference between the floating plate 22 and the components on the sterilization isolator 20 and the instrument 30.

[0076] The floating plate 22 is provided with a plurality of matching holes, and the plurality of matching holes are arranged one by one corresponding to the plurality of assembly holes; the distal floating plate 24 passes through the matching holes, and a flange 241 is arranged on the side wall of the distal floating plate 24, and the flange 241 abuts against the proximal surface of the floating plate 22. The flange 241 is arranged on the side wall of the distal floating plate 24, and the flange 241 abuts against the proximal surface of the floating plate 22, so that when the distal floating plate 24 floats from the proximal end to the distal end, the flange 241 can drive the floating plate 22 to float from the proximal end to the distal end, and when the floating plate 22 floats from the distal end to the proximal end, the distal floating plate 24 is driven to float from the distal end to the proximal end through the cooperation between the floating plate 22 and the flange 241. The flange 241 can be a circle of flanges arranged along the circumference of the distal floating plate 24, or it can be a convex block arranged at intervals along the circumference of the distal floating plate 24. Furthermore, a stop block 242 is provided on the side wall of the flange 241, and a plurality of limit blocks 221 are provided at the proximal end of the floating plate 22. When the stop block 242 contacts the limit block 221, the distal floating disk 24 is stopped. By setting the stop block 242 and the limit block 221, the distal floating disk 24 can be stopped and zeroed, so that the distal floating disk 24 is at the zero position.

[0077] like Figure 8 and Fig.10 As shown, the sterilization isolator 20 also includes a plurality of proximal floating disks 25, which are rotatably disposed at the proximal end of the assembly hole and can float back and forth in the assembly hole from the proximal end to the distal end. The distal end of the proximal floating disk 25 is connected to the proximal end of the distal floating disk 24, and the proximal floating disk 25 drives the distal floating disk 24 to rotate; the end of the elastic member 23 away from the distal floating disk 24 is connected to the proximal floating disk 25.

[0078] The proximal floating disk 25 is used to dock with the drive output disk 12 of the instrument manipulator 10. When the drive output disk 12 rotates, the proximal floating disk 25 is driven to rotate. The number of assembly holes, the proximal floating disk 25, and the distal floating disk 24 are the same. The specific number can be set according to actual surgical needs. This embodiment is not limited. For example, six proximal floating disks 25 and six distal floating disks 24 can be set.

[0079] like Figure 1As shown, in one embodiment, the distal end of the isolator housing 21 is provided with two baffles 211 arranged opposite to each other, and there is a spacing between the two baffles 211 to form a space for accommodating the instrument 30, and the two baffles 211 can also limit the instrument 30. The inner side walls of the two baffles 211 are respectively provided with slideways 201, and the installation sliding wings 301 slide in the slideways 201 of the baffles 211. The distal end surface of the slideway 201 is inclined so that the height of the slideway 201 gradually decreases along the extension direction. When the installation sliding wings 301 slide in the slideway 201, it will move toward the proximal end. When the installation sliding wings 301 move toward the proximal end, the sliding plate 222 on the floating plate 22 drives the floating plate 22 to move from the distal end to the proximal end. The distal end surface of the floating plate 22 is provided with a slot 202, and the sliding plate 222 can be concave toward the proximal end to form the slot 202.

[0080] Optional, such as Figure 1 As shown, the distal end surface of the floating plate 22 is provided with two slide plates 222 arranged opposite to each other, one of the slide plates 222 is arranged in one of the slideways 201, and the other slide plate 222 is arranged in the other slideway 201, and one end of each slide plate 222 is provided with a recess to form a slot 202. The slide plate 222 is provided protruding from the distal end surface of the floating plate 22, and the installation sliding wing 301 slides between the slide plate 222 and the distal end surface of the slideway 201, and the installation sliding wing 301 drives the floating plate 22 to move from the distal end to the proximal end through the slide plate 222. In this embodiment, the installation sliding wing 301 drives the floating plate 22 to move up and down by the slide plate 222, which can reduce the overall thickness of the floating plate 22, reduce the cost of consumables, and reduce the interference between the floating plate 22 and the instrument 30 when the instrument 30 is installed.

[0081] A plurality of spring pins 223 are provided on the floating plate 22. The plurality of spring pins 223 penetrate from the distal end of the isolator housing 21 to the proximal end of the isolator housing 21. The distal end of the spring pin 223 is used to connect and conduct with the chip 33 of the instrument 30, and the proximal end is used to connect and conduct with the instrument manipulator 10. By providing the spring pin 223 on the floating plate 22, one end of the spring pin 223 is connected to the electrical connector 16 on the instrument manipulator 10 to connect to the internal processor of the instrument manipulator 10, and the other end is connected to the chip 33 of the instrument 30, so that the instrument manipulator 10 communicates with the chip 33 on the instrument 30 and reads the information in the instrument, such as identifying the instrument type, recording the number of times the instrument is used, etc. In order to facilitate the positioning connection between the sterilization isolator 20 and the instrument 30, an instrument positioning column 212 is also provided on the isolator housing 21, and an instrument positioning hole 302 is provided on the instrument 30.

[0082] The present application also provides an embodiment of an instrument manipulation device, such as Figures 9 to 11 As shown, the apparatus comprises an instrument manipulator 10 and a sterilization isolator 20 as described in any of the above embodiments. The structure of the sterilization isolator 20 is as follows: Figures 1 to 8As shown, the distal end of the instrument manipulator 10 is detachably connected to the proximal end of the isolator housing 21. Fig. 9 As shown, it is a distal interface connecting the instrument manipulator 10 and the sterilization isolator 20. The instrument manipulator 10 includes a manipulator housing 11 and a plurality of drive output disks 12. The plurality of drive output disks 12 are respectively arranged on the manipulator housing 11, and the proximal end of the drive output disk 12 is used to be fixedly connected to the motor output shaft, and the distal end is connected to the proximal floating disk 25 of the sterilization isolator 20.

[0083] In this embodiment, Fig. 9 As shown, the instrument manipulator 10 further includes a plurality of movable hooks 13, and the plurality of movable hooks 13 are movably disposed at the distal end of the manipulator housing 11; Fig.10 As shown, a fixed hook 26 is provided at the proximal end of the isolator housing 21, and the fixed hook 26 is detachably connected to the movable hook 13 to achieve a detachable connection between the instrument manipulator 10 and the sterilization isolator 20. The movable hook 13 maintains the engagement with the fixed hook 26 when no force is applied, and the engagement between the movable hook 13 and the fixed hook 26 can be released when the movable hook 13 is moved by force.

[0084] Optionally, in order to ensure the precise connection between the instrument manipulator 10 and the sterilization isolator 20, a plurality of guide positioning holes 111 are provided on the manipulator housing 11, and a plurality of guide positioning columns 213 are provided on the isolator housing 21. The precise assembly of the instrument manipulator 10 and the sterilization isolator 20 is achieved through the positioning connection between the guide positioning columns 213 and the guide positioning holes 111.

[0085] The instrument manipulator 10 further includes a plunger switch 14, which is disposed on the manipulator housing 11 and is used to monitor the connection between the instrument manipulator 10 and the sterilization isolator 20, and the connection between the sterilization isolator 20 and the instrument 30. There are two plunger switches 14, one plunger switch 14 is used to monitor whether the instrument manipulator 10 is connected to the sterilization isolator 20, and the other plunger switch 14 is used to monitor whether the sterilization isolator 20 is connected to the instrument 30. Fig.12 As shown, a plunger switch extension rod 27 is provided on the sterilization isolator 20 , and one end of the plunger switch extension rod 27 is connected to a plunger switch 14 for assisting the plunger switch 14 in detecting whether an instrument 30 is installed on the sterilization isolator 20 .

[0086] During installation, the sterilization isolator 20 is inserted into the guide positioning hole 111 on the instrument manipulator 10 through the guide positioning column 213 and moves to the proximal end. The fixed hook 26 on the sterilization isolator 20 pushes the movable hook 13 on the instrument manipulator 10 to move to the front end (length direction or width direction) and then locks. At the same time, the proximal floating disk 25 of the sterilization isolator 20 is driven by the output disk 12 to press toward the distal end, the isolator housing 21 presses the plunger switch 14, and the spring pin 223 on the sterilization isolator 20 is connected to the electrical connector 16 on the instrument manipulator 10. These two signals are fed back to the instrument manipulator as the in-place signal of the sterilization isolator 20. The controller in 10 sends a homing signal, and the motor drives the drive output disk 12 on the instrument manipulator 10 to rotate, and the drive output disk 12 drives the proximal floating disk 25 and the distal floating disk 24 to rotate. When the stop block 242 on the distal floating disk 24 collides with the limit block 221 on the floating plate 22, the drive output disk 12 is stopped, and the current inside the motor rises suddenly. It can be judged that the proximal floating disk 25 and the drive output disk 12 of the sterilization isolator 20 are paired, and then the controller sends a signal to control the motor to reverse a specific angle, such as 170 degrees. At this time, the distal floating disks 24 are all at the zero position, completing the homing action.

[0087] Preferably, Figures 13 to 16 As shown, the instrument manipulator 10 also includes an anti-accidental touch mechanism, which includes a seesaw 151, a sliding member 152, a first return spring 153, a second return spring 154, a first button 155 and a second button 156; the seesaw 151 is rotatably arranged in the manipulator housing 11, and the two ends of the seesaw 151 are respectively connected to the first return spring 153, so that the seesaw 151 is rotated and reset; the sliding member 152 is movably arranged in the manipulator housing 11 and is located on one side of the seesaw 151, and the sliding member 152 is connected to the second return spring 154, so that the sliding member 152 is moved and reset, and the movable hook 13 is arranged on the sliding member 152; the first button 155 and the second button 156 The button 156 is arranged on a side of the seesaw 151 away from the sliding member 152 and is respectively located at both ends of the seesaw 151; when the first button 155 or the second button 156 is pressed, the seesaw 151 moves toward the sliding member 152 and rotates, and the distance that the seesaw 151 drives the sliding member 152 to move is less than the moving distance required to unlock the movable hook 13 and the fixed hook 26; when the first button 155 and the second button 156 are pressed at the same time, the seesaw 151 does not rotate but only moves toward the sliding member 152, and the distance that the seesaw 151 drives the sliding member 152 to move is greater than or equal to the moving distance required to unlock the movable hook 13 and the fixed hook 26, so that the movable hook 13 and the fixed hook 26 are unlocked.

[0088] When only the first button 155 is pressed, the seesaw 151 rotates and moves, and the distance moved by the seesaw 151 is less than the distance required for the movable hook 13 to unlock the fixed hook 26, so that the movable hook 13 and the fixed hook 26 cannot be unlocked. Similarly, when only the second button 156 is pressed, the seesaw 151 rotates and moves, and the distance moved by the seesaw 151 is also less than the distance required for the movable hook 13 to unlock the fixed hook 26, so that the movable hook 13 and the fixed hook 26 cannot be unlocked. When the first button 155 and the second button 156 are pressed at the same time, the seesaw 151 will not rotate, but will only move toward the sliding member 152. At this time, the distance moved by the seesaw 151 is greater than or equal to the distance required for the movable hook 13 to unlock the fixed hook 26. The movement of the seesaw 151 drives the sliding member 152 to move, and the movement of the sliding member 152 drives the movable hook 13 to move, so that the movable hook 13 and the fixed hook 26 are released from the engagement, and the instrument manipulator 10 and the sterilization isolator 20 are unlocked. In this embodiment, the first button 155 and the second button 156 are two inputs, the seesaw 151 is a logic gate, and the movable hook 13 on the sliding member 152 is an output, forming a complete logic AND gate, which can realize the function of preventing accidental touch and prevent the unexpected separation of the instrument manipulator 10 and the sterilization isolator 20 during use.

[0089] Furthermore, an arc-shaped slide groove 1511 is provided in the middle part of one side of the seesaw 151 close to the sliding member 152; a cylindrical portion 1521 cooperating with the slide groove 1511 is provided at one end of the sliding member 152 close to the seesaw 151, and there is a spacing between the cylindrical portion 1521 and the slide groove 1511, and a pressing stroke of the first button 155 and the second button 156 is greater than the spacing between the cylindrical portion 1521 and the slide groove 1511; preferably, a pressing stroke of the first button 155 and the second button 156 is twice the spacing between the cylindrical portion 1521 and the slide groove 1511.

[0090] Exemplarily, the pressing stroke of the first button 155 and the second button 156 are both 5 mm. When they are not unlocked (the movable hook 13 is locked with the fixed hook 26), the distance between the cylindrical portion 1521 and the slide groove 1511 is 2.5 mm. When the first button 155 or the second button 156 is accidentally touched, the rocker 151 slides and rotates toward the sliding member 152 through the slide groove 1511 and the cylindrical portion 1521. Since the sliding distance of the rocker 151 is less than 2.5 mm, the sliding member 152 will not be pushed by the slide groove 1511 on the rocker 151 at this time; when the first button 155 and the second button 156 are pressed at the same time, the rocker 151 is pushed to slide 5 mm, and then the sliding member 152 slides forward 2.5 mm. When the sliding member 152 slides forward, it drives the movable hook 13 to slide, so that the movable hook 13 is unhooked from the fixed hook 26 so that the sterilization isolator 20 can be removed normally.

[0091] The present application also provides an embodiment of a surgical robot, such as Fig.17 and Fig.18 As shown, the apparatus 30 and the apparatus manipulator described in any of the above embodiments are included, and the structure of the apparatus manipulator is as follows: Figures 1 to 16 As shown, Fig.17 The arrow a indicates the proximal end, and the arrow b indicates the distal end. The instrument 30 is disposed at the distal end of the sterilization isolator 20, that is, the instrument 30 is disposed at the end of the sterilization isolator 20 away from the instrument manipulator 10. The instrument 30 includes an instrument housing 31 and a plurality of drive winches 32. The plurality of drive winches 32 are disposed in the instrument housing 31 and are connected to the plurality of distal floating discs 24 of the sterilization isolator 20 in a one-to-one correspondence.

[0092] like Figures 1 to 5 As shown, the two sides of the proximal end of the instrument housing 31 are respectively protruded with mounting slide wings 301, and the mounting slide wings 301 are engaged with the card slot 202. When the instrument 30 is inserted between the two slideways 201, the mounting slide wings 301 contact the slide plate 222 on the floating plate 22, and the floating plate 22 moves from the distal end to the proximal end under the action of the slideway 201. After reaching the specified position (the mounting slide wings are engaged in the card slot), the mounting slide wings 301 are disengaged from the slide plate 222, and the floating plate 22 moves from the proximal end to the distal end, locking the instrument 30 and completing the installation. When the instrument 30 needs to be removed, the floating plate 22 can be moved to the proximal end again, and then the instrument 30 can be removed.

[0093] Further, such as Fig.18 As shown, the instrument 30 further includes an unlocking button 34 and a transmission member 35. The unlocking button 34 is rotatably disposed on the instrument housing 31. One end of the transmission member 35 abuts against the unlocking button 34, and the other end abuts against the floating plate 22. When the unlocking button 34 rotates, the transmission member 35 is driven to move from the distal end to the proximal end, so that the floating plate 22 moves from the distal end to the proximal end, and the instrument 30 is unlocked from the sterilization isolator 20. When the instrument 30 needs to be removed, the unlocking button 34 on the instrument 30 is pressed, and the unlocking button 34 rotates around the rotating shaft and presses the floating plate 22 downward through the transmission member 35 so that the floating plate 22 moves toward the proximal end. The floating plate 22 drives the driving capstan 32 to unpair with the distal floating plate 24. At this time, the instrument 30 can be removed. After the removal is completed, the distal floating plate 24 of the floating plate 22 is reset to the distal end under the action of the elastic member 23.

[0094] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An instrument manipulator, characterized in that: Includes sterile isolators and instrument manipulators; The sterilization isolator is used to connect the instrument, the instrument is provided with a mounting slide, and the sterilization isolator comprises: An isolator housing, wherein a slanted slide is disposed at the far end of the isolator housing, and a slot is disposed at one end of the slide; A floating plate is arranged at the distal end of the isolator housing, a sliding plate is arranged on the distal end surface of the floating plate, the sliding plate is located in the slideway, and the floating plate can float reciprocatingly along the direction from the proximal end to the distal end of the isolator housing; When connecting an instrument, the installation sliding wing slides along the slideway, and the installation sliding wing moves the floating plate from the distal end to the proximal end through the slide plate. After the installation sliding wing slides to the clamping slot, the floating plate is reset from the proximal end to the distal end to fix the instrument; when unlocking, the floating plate moves from the distal end to the proximal end, and the installation sliding wing exits the clamping slot; The instrument manipulator comprises a manipulator housing, a movable hook and an anti-mistouch mechanism, wherein the movable hook is movably arranged at the distal end of the manipulator housing; a fixed hook is arranged at the proximal end of the isolator housing, and the fixed hook is detachably connected to the movable hook, so that the distal end of the instrument manipulator is detachably connected to the proximal end of the isolator housing of the sterilization isolator; The anti-mistouch mechanism includes a seesaw, a sliding member, a first return spring, a second return spring, a first button and a second button; The seesaw is rotatably arranged on the manipulator housing, and both ends of the seesaw are respectively connected to the first return springs, so that the seesaw is returned to its original position after rotation; The sliding member is movably arranged on the manipulator housing and located on one side of the seesaw, the sliding member is connected to the second return spring so that the sliding member is returned to its original position after being moved, and the movable hook is arranged on the sliding member; The first button and the second button are arranged on a side of the seesaw away from the sliding member and are respectively located at two ends of the seesaw; When the first button or the second button is pressed, the seesaw moves toward the sliding member and rotates, and the distance that the seesaw drives the sliding member to move is less than the moving distance required for the movable hook to unlock the fixed hook; When the first button and the second button are pressed at the same time, the seesaw does not rotate but only moves toward the sliding member, and the distance moved by the seesaw to move the sliding member is greater than or equal to the moving distance required to unlock the movable hook and the fixed hook, so that the movable hook is unlocked from the fixed hook.

2. An instrument manipulator according to claim 1, characterized in that: The extension direction of the slide is perpendicular or approximately perpendicular to the direction from the proximal end to the distal end of the isolator housing, the height of the slide gradually decreases along the extension direction, and the slot is located at the end of the slide with the smallest height.

3. An instrument manipulator according to claim 2, characterized in that: The distal end of the isolator housing is provided with two baffles arranged opposite to each other, the inner side walls of the two baffles are respectively provided with the slideways, the distal end surfaces of the slideways are inclined, and the distal end surface of the floating plate is provided with the clamping groove.

4. An instrument manipulator according to claim 3, characterized in that: The distal end surface of the floating plate is provided with two slide plates arranged opposite to each other, wherein one of the slide plates is arranged in one of the slideways, and the other slide plate is arranged in the other slideway, and one end of the slide plate is provided with a depression to form the clamping groove.

5. An instrument manipulator according to any one of claims 1 to 4, characterized in that: Also included are a plurality of elastic members and a plurality of distal floating discs; The isolator housing is provided with a plurality of assembly holes, and the assembly holes penetrate the isolator housing from the proximal end to the distal end; The plurality of elastic members are respectively arranged in the assembly holes; The plurality of distal floating plates are rotatably disposed at the distal ends of the assembly holes and connected to the elastic members, so that the distal floating plates can float back and forth from the proximal end to the distal end. When the distal floating plates are floated and reset from the proximal end to the distal end, they drive the floating plates to reset.

6. An instrument manipulator according to claim 5, characterized in that: The floating plate is provided with a plurality of matching holes, and the plurality of matching holes are arranged in one-to-one correspondence with the plurality of assembly holes; The distal floating plate passes through the matching hole, and a flange is arranged on the side wall of the distal floating plate, and the flange abuts against the proximal end surface of the floating plate.

7. An instrument manipulator according to claim 6, characterized in that: A stopper is arranged on the side wall of the flange, and a plurality of limit blocks are arranged at the proximal end of the floating plate. When the stopper contacts the limit block, the distal floating plate is stopped.

8. The instrument manipulator according to claim 5, characterized in that: It also includes a plurality of proximal floating disks, which are rotatably disposed at the proximal ends of the assembly holes and can reciprocate and float in the assembly holes from the proximal end to the distal end, and the proximal floating disks drive the distal floating disks to rotate; One end of the elastic member away from the distal floating plate is connected to the proximal floating plate.

9. An instrument manipulator according to any one of claims 1 to 4, characterized in that: A plurality of spring pins are arranged on the floating plate, and the plurality of spring pins penetrate from the distal end of the isolator shell to the proximal end of the isolator shell. The distal end of the spring pin is used to connect and conduct with the instrument, and the proximal end is used to connect and conduct with the instrument manipulator.

10. The instrument manipulator according to claim 1, characterized in that: An arc-shaped sliding groove is provided in the middle of one side of the seesaw close to the sliding member; The sliding member has one end close to the rocker plate and is provided with a cylindrical portion cooperating with the slide groove, and there is a distance between the cylindrical portion and the slide groove, and the pressing stroke of the first button and the second button is greater than the distance between the cylindrical portion and the slide groove.

11. An instrument manipulator according to claim 10, characterized in that: The pressing stroke of the first button and the second button is twice the distance between the cylindrical portion and the slide groove.

12. The instrument manipulator according to claim 1, characterized in that: The instrument manipulator further comprises a plurality of drive output disks, which are respectively arranged on the manipulator housing, and the proximal ends of the drive output disks are used to be connected to the motor output shaft, and the distal ends are connected to the proximal floating disks of the sterilization isolator.

13. The instrument manipulator according to claim 1, characterized in that: The instrument manipulator further includes a plunger switch disposed on the manipulator housing for monitoring the connection between the instrument manipulator and the sterilization isolator, and the connection between the sterilization isolator and the instrument.

14. A surgical robot, characterized in that: The invention comprises an instrument and an instrument manipulation device according to any one of claims 1 to 13, wherein the instrument is arranged at the distal end of the sterilization isolator.

15. The surgical robot according to claim 14, characterized in that: The instrument comprises an instrument housing and a plurality of driving winches, wherein the plurality of driving winches are arranged on the instrument housing and are connected to a plurality of distal floating discs of the sterilization isolator in a one-to-one correspondence.

16. The surgical robot according to claim 15, characterized in that: Two opposite sides of the proximal end of the instrument housing are respectively protruded with mounting sliding wings, and the mounting sliding wings are engaged with the clamping grooves.

17. The surgical robot according to claim 15, characterized in that: The instrument also includes an unlocking button and a transmission member. The unlocking button is rotatably arranged on the instrument housing. One end of the transmission member abuts against the unlocking button, and the other end abuts against the floating plate. When the unlocking button rotates, it drives the transmission member to move from the distal end to the proximal end, so that the floating plate moves from the distal end to the proximal end, and the instrument is unlocked from the sterilization isolator.

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