Sterile switching device and surgical robot

Abstract

The invention relates to a sterile switching device and a surgical robot. The sterile switching device comprises a fixing assembly and a locking assembly movably connected with the fixing assembly, the locking assembly comprises a locking piece, and the locking piece comprises a first matching part extending out of one side of the fixing assembly and a second matching part extending out of the other side of the fixing assembly. The locking piece can move along the first direction until the first matching part is locked with the first target object or the second matching part is locked with the second target object, and can move along the second direction until the first matching part is unlocked from the first target object or the second matching part is unlocked from the second target object; the distance from the position where the first matching part is locked with the first target object to the unlocking position is a first displacement, and the distance from the position where the first matching part is locked with the second target object to the unlocking position is a second displacement smaller than the distance from the position where the second matching part is locked with the second target object to the unlocking position. According to the sterile switching device, the problem that the second target object is tripped when the first target object is disassembled and assembled can be effectively prevented.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a sterile transfer device and a surgical robot. Background Art

[0002] There is a need for aseptic isolation between the surgical instrument and the driver of the surgical robot. In the prior art, a disposable aseptic adapter is usually arranged between the surgical instrument and the driver to achieve the purpose of aseptic isolation. The aseptic adapter is connected to the surgical instrument and the driver respectively, and ensures that the aseptic adapter can also transmit the power of the driver to the surgical instrument. However, the existing aseptic adapter is not only complex in structure, but also has the risk of disengagement, especially when disassembling and assembling the surgical instrument, the driver that has been pre-connected with the aseptic adapter is easy to be disengaged from the aseptic adapter. Summary of the invention

[0003] In view of this, the present invention aims to provide a sterile transfer device and a surgical robot that can solve the above-mentioned problems or at least alleviate the above-mentioned problems to a certain extent.

[0004] To this end, on one hand, the present invention provides a sterile transfer device, comprising a fixing component and a locking component movably connected to the fixing component, the locking component comprising a locking piece, the locking piece comprising a first matching portion extending from one side of the fixing component and a second matching portion extending from the other side of the fixing component, and the locking piece can be moved along a first direction to lock the first matching portion with a first target object or to lock the second matching portion with a second target object, and to move along a second direction to unlock the first matching portion with the first target object or to unlock the second matching portion with the second target object, wherein a distance of the first matching portion from a position locked with the first target object to a position unlocked is a first displacement, a distance of the second matching portion from a position locked with the second target object to a position unlocked is a second displacement, and the first displacement is less than the second displacement.

[0005] The aseptic transfer device of the present invention achieves locking with the first target object and the second target object simultaneously through a locking piece, and has a simple structure. Since the first displacement of the first matching part is smaller than the second displacement of the second matching part, the disassembly sequence is ensured, thus preventing the second matching part from being disengaged from the second target object when disassembling the first target object.

[0006] In some embodiments, a third matching portion is provided inside the first target object, and the first target object is locked with the first matching portion through the third matching portion. When the third matching portion is locked with the first matching portion, the third matching portion overlaps with the first matching portion, and the first displacement is the overlapping distance between the first matching portion and the third matching portion. A fourth matching portion is provided inside the second target object, and the second target object is locked with the second matching portion through the fourth matching portion. When the fourth matching portion is locked with the second matching portion, the fourth matching portion overlaps with the second matching portion, and the second displacement is the overlapping distance between the second matching portion and the fourth matching portion.

[0007] The first target object and the sterile transfer device are locked by overlapping the third matching part of the first target object with the first matching part of the sterile transfer device, and the second target object and the sterile transfer device are locked by overlapping the fourth matching part of the second target object with the second matching part of the sterile transfer device, and the locking is stable.

[0008] In some embodiments, the locking member is configured such that: when subjected to a first external force, the first mating portion is unlocked from the first target object; when subjected to a second external force, the second mating portion is unlocked from the second target object; and when the first mating portion is unlocked from the first target object, the second mating portion remains locked with the second target object.

[0009] The first external force is used to push the pushing part of the locking member so as to move the locking member so as to unlock the first matching part from the first target object, and the second external force is used to push the pushing part of the locking member so as to move the locking member so as to unlock the second matching part from the second target object, so that unlocking is convenient. Moreover, when the first matching part is unlocked from the first target object, the second matching part is kept locked with the second target object, so that the second target object is effectively prevented from being unlocked from the second matching part when the first target object is disassembled.

[0010] In some embodiments, the locking member further includes a pushing portion, a button is movably provided on the first target object, the first external force is applied to the pushing portion via the button, and the second external force is directly applied to the pushing portion.

[0011] The button is set on the first target object, and the pushing portion of the locking member is pushed by the button to move the locking member to unlock the first matching portion and the first target object. The operator can disassemble the first target object by operating the button with one hand, which is easy to operate.

[0012] In some embodiments, the fixing assembly further includes an unlocking opening provided on the fixing assembly, and the first external force or the second external force is applied to the locking member through the unlocking opening.

[0013] When an emergency occurs in which the first target object or the second target object cannot be unlocked due to a stuck component or a broken upright portion, a tool (such as a wrench or a screwdriver) can be used to push the locking member through the unlocking port to unlock the first target object or the second target object. In addition, the unlocking port is provided on the fixed component of the disposable sterile transfer device, rather than on the first target object (such as a surgical instrument), thereby effectively reducing the difficulty of cleaning the surgical instrument.

[0014] In some embodiments, a first receiving groove is provided in the first target object, and the first matching portion is suitable for being inserted into the first receiving groove so that the first matching portion and the third matching portion are locked, and when the first matching portion and the third matching portion are locked, a first gap is maintained between the first matching portion and the groove wall of the first receiving groove, and the width of the first gap is greater than or equal to the first displacement amount but less than the second displacement amount; a second receiving groove is provided in the second target object, and the second matching portion is suitable for being inserted into the second receiving groove so that the second matching portion and the fourth matching portion are locked, and when the second matching portion and the fourth matching portion are locked, a second gap is maintained between the second matching portion and the groove wall of the second receiving groove, and the width of the second gap is greater than or equal to the second displacement amount.

[0015] Since the width of the first gap is greater than or equal to the first displacement but less than the second displacement, when the displacement of the first matching portion inserted into the first receiving slot is greater than or equal to the first displacement, the first target object can be unlocked, and unlocking is convenient; and since the first gap is less than the second displacement, the second matching portion is effectively prevented from unlocking from the second target object. Similarly, since the width of the second gap is greater than or equal to the second displacement, when the displacement of the second matching portion inserted into the second receiving slot is greater than or equal to the second displacement, the second target object can be unlocked, and unlocking is convenient.

[0016] In some embodiments, the fixing assembly includes a first adapter plate and a second adapter plate, the first adapter plate and the second adapter plate are docked with each other, the locking member also includes a connecting portion for connecting the first mating portion with the second mating portion, and a limiting groove is provided on the first adapter plate and / or the second adapter plate, and the connecting portion is slidably connected to the limiting groove.

[0017] By sliding the connecting portion connecting the first matching portion and the second matching portion into the limiting groove, the moving range of the locking member can be further limited, thereby ensuring the moving stability of the locking member and further ensuring the disassembly and assembly stability of the first target object and the second target object.

[0018] In some embodiments, the locking assembly also includes a first elastic member connected to the locking member, and the locking member is configured to lock the first mating portion with the third mating portion, or lock the second mating portion with the fourth mating portion, by resetting the first elastic member, and unlock the first mating portion with the third mating portion, or unlock the second mating portion with the fourth mating portion, by compressing the first elastic member.

[0019] Unlocking and locking are achieved by compression and resetting of the first elastic member, which is easy to operate and stable in locking.

[0020] In some embodiments, the sterile transfer device includes at least two relatively arranged locking assemblies, and the locking member includes at least two first mating parts connected to one side of the connecting part and at least two second mating parts connected to the other side of the connecting part, and the at least two second mating parts are distributed on both sides of the at least two first mating parts.

[0021] By designing two locking components, each locking component is designed with at least two first matching parts and two second matching parts, the connection stability between the aseptic transfer device and the first target object and the second target object can be effectively improved.

[0022] In some embodiments, the first mating portion and the second mating portion are both mating grooves, the third mating portion and the fourth mating portion are both mating blocks, and the mating grooves are used to receive the corresponding mating blocks to lock the corresponding mating portions.

[0023] The locking is achieved by the snap-fitting of the matching block and the matching groove, the structure is simple and the locking is stable.

[0024] In some embodiments, the sterile transfer device also includes a docking assembly partially disposed within the fixed assembly, the docking assembly including a first turntable and a second turntable that are transmission-connected, and a second elastic member disposed between the first turntable and the second turntable, the first turntable and the second turntable being movable or rotatable relative to the fixed assembly, the first turntable being configured to be transmission-connected to a driven turntable of the first target object, and the second turntable being configured to be transmission-connected to an active turntable of the second target object.

[0025] The design of the first turntable and the second turntable effectively reduces the difficulty of docking the first target object and the second target object with the aseptic transfer device respectively for synchronous transmission.

[0026] In some embodiments, one of the first turntable and the driven turntable is provided with a first transmission hole, and the other is provided with a first transmission column; one of the second turntable and the active turntable is provided with a second transmission hole, and the other is provided with a second transmission column; the active turntable rotates so that the second transmission hole engages with the second transmission column, driving the second turntable to rotate; the rotation of the second turntable drives the first turntable to rotate; the rotation of the first turntable causes the first transmission hole to engage with the first transmission column, driving the driven turntable to rotate.

[0027] By rotating the active turntable of the second target object, each transmission column is matched with the corresponding transmission hole, thereby realizing the docking and transmission connection between the active turntable and the second turntable and the docking and transmission connection from the first turntable to the driven turntable, the docking is convenient and the transmission is stable.

[0028] In some embodiments, a first rotating shaft is further provided at the center of the first rotating disk, a second rotating shaft is further provided at the center of the second rotating disk, a second plug hole is provided in the second rotating shaft, a third rotating shaft is provided in the second plug hole, the first rotating shaft is inserted into the second plug hole, and the second elastic member is accommodated in the second plug hole and is sleeved outside the third rotating shaft.

[0029] The cooperation between the rotating shaft and the jack not only helps to improve the synchronous transmission of torque between the first rotating disk and the second rotating disk, but also helps to further align the centers of the first rotating disk and the second rotating disk.

[0030] In some embodiments, the docking assembly also includes a third elastic member, which is arranged between the outer side of the second turntable and at least one of the first adapter plate and the second adapter plate. The active turntable abuts against the second turntable, pushes the second turntable to move toward the first adapter plate and squeezes the third elastic member. The third elastic member controls the second turntable to remain stationary relative to the first adapter plate.

[0031] Before the active turntable of the second target object is rotated to make the transmission column cooperate with the corresponding transmission hole, the active turntable will first abut the second turntable, push the second turntable to move toward the first adapter plate / first turntable and squeeze the third elastic member, the deformation of the third elastic member increases, thereby the friction between the third elastic member and the second turntable increases, and the second turntable will remain stationary under the action of the friction force. At this time, the active turntable rotates and the second turntable is stationary, so the transmission column can move relative to the transmission hole until it enters the transmission hole, thereby realizing rapid docking between the active turntable and the second turntable.

[0032] On the other hand, the present invention also provides a surgical robot, comprising any of the aforementioned sterile transfer devices and the first target object and / or the second target object connected to the sterile transfer device, the first target object being a surgical instrument, the second target object being a driver, the surgical instrument comprising an instrument box, a third mating portion being provided in the instrument box, the third mating portion being locked and connected to the first mating portion, and / or the driver comprising a drive box, a fourth mating portion being provided in the drive box, the fourth mating portion being locked and connected to the second mating portion.

[0033] It is understandable that a surgical robot including a sterile transfer device can also achieve the above-mentioned beneficial effects of the sterile transfer device, which will not be described in detail here. In addition, since the third matching portion is arranged in the instrument box, the cleaning difficulty of the surgical instrument is effectively reduced.

[0034] In some embodiments, the aseptic transfer device includes three groups of docking components; the fixing component is provided with three penetrating mounting holes; the three groups of docking components are respectively accommodated in the three mounting holes of the fixing component.

[0035] Docking the first target object and the second target object through three sets of docking components can more stably transmit the power of the second target object to the first target object.

[0036] In some embodiments, the surgical instrument further comprises a button movably disposed on the instrument box, wherein the button is used to push the first mating portion to move the locking member, thereby unlocking the first mating portion and the third mating portion.

[0037] As mentioned above, by setting a button on the instrument box, the operator can disassemble the surgical instrument by operating the button with one hand, which is convenient for operation. Optionally, the button can be moved by mechanical movement to push the first matching part to move the locking part, or the button can be deformed by material to push the first matching part to move the locking part. The latter solution can effectively reduce the risk of motion jamming.

[0038] In some embodiments, the surgical instrument also includes an end effector movably connected to the instrument box, the fixing component and the driver are respectively provided with opening grooves, and the opening groove of the fixing component is aligned with the opening groove of the driver, and the opening groove is used to pass the end effector.

[0039] By providing an opening groove on the fixing component and the driver of the sterile adapter to pass the end effector of the surgical instrument, the overall structure of the surgical robot can be made more compact.

[0040] In some embodiments, the surgical robot further includes a sterile membrane, one end of which is fixedly connected to the outer peripheral surface of the fixing component to form a closed end, and the other end of which covers the driver.

[0041] By covering the fixed components and the driver of the sterile adapter with a sterile film, it is possible to more effectively prevent bacteria on the driver from contaminating the surgical instrument.

[0042] In the aseptic transfer device provided by the present invention, since the first displacement of the first matching part is less than the second displacement of the second matching part, whether the first target object is assembled to the aseptic transfer device or the first target object is disassembled from the aseptic transfer device, the second target object that has been assembled to the aseptic transfer device remains locked with the second matching part, thereby effectively preventing the problem of the second target object (such as a driver) being disengaged from the aseptic transfer device when the first target object (such as a surgical instrument) is disassembled, and the disassembly order of the first target object and the second target object is also guaranteed, that is, the second target object can only be disassembled after the first target object is disassembled. In addition, the aseptic transfer device of the present invention is locked with the first target object and the second target object at the same time through the locking member, and the structure is simple. In particular, the disassembly process of the aseptic transfer device and the first target object and the second target object is also simple, and it only needs to move the locking member along the first direction or the second direction, and the assembly of the first target object and the second target object with the aseptic transfer device is realized by the mechanical movement of the locking member (rather than material deformation), and the locking is stable, which further effectively reduces the risk of accidental disengagement. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a three-dimensional schematic diagram of a surgical robot according to an embodiment of the present invention;

[0044] Figure 2 yes Figure 1 An exploded view of the surgical robot shown;

[0045] Figure 3 yes Figure 1 Another exploded view of the surgical robot shown;

[0046] Figure 4 yes Figure 2 A three-dimensional schematic diagram of a sterile transfer device of the surgical robot shown;

[0047] Figure 5 yes Figure 4 A three-dimensional schematic diagram of the aseptic transfer device shown in another perspective;

[0048] Figure 6 yes Figure 4 An exploded view of the sterile transfer device shown;

[0049] Figure 7yes Figure 4 Another exploded view of the sterile transfer device shown;

[0050] Figure 8 yes Figure 5 An exploded view of the sterile transfer device shown;

[0051] Fig. 9 yes Figure 5 Another exploded view of the sterile transfer device shown;

[0052] Fig.10 yes Figure 4 A partial cross-sectional view of the aseptic transfer device shown;

[0053] Fig.11 A diagram showing a state in which the driver is assembled to the sterile adapter, wherein the driver and the sterile adapter are not locked yet;

[0054] Fig.12 Another state diagram showing the driver being assembled to the sterile adapter, wherein the driver is locked with the sterile adapter;

[0055] Fig. 12A yes Fig.12 A partial enlarged view of

[0056] Fig.13 A state diagram showing a surgical instrument being assembled to a sterile transfer device, wherein the surgical instrument and the sterile transfer device are not locked yet;

[0057] Fig.14 Another state diagram showing the surgical instrument being assembled to the sterile adapter, wherein the surgical instrument is locked with the sterile adapter;

[0058] Fig.14A yes Fig.14 A partial enlarged view of

[0059] Fig.15 It is a state diagram of the driver and the aseptic transfer device being connected, wherein the active turntable of the driver has not yet been synchronously driven and connected with the second turntable of the aseptic transfer device;

[0060] Fig.15A yes Fig.15 A partial enlarged view of

[0061] Fig.16 is another state diagram of the driver and the aseptic transfer device docking, wherein the active turntable of the driver is synchronously driven and connected with the second turntable of the aseptic transfer device;

[0062] Fig.16A yes Fig.16 A partial enlarged view of

[0063] Fig.17 This is a state diagram of the surgical instrument and the sterile transfer device being docked, wherein the driven turntable of the surgical instrument has not yet been synchronously driven and connected with the first turntable of the sterile transfer device;

[0064] Fig.17A yes Fig.17 A partial enlarged view of

[0065] Fig.18 is another state diagram of the surgical instrument and the sterile adapter being docked, wherein the driven turntable of the surgical instrument is synchronously driven and connected with the first turntable of the sterile adapter;

[0066] Fig.18A yes Fig.18 A partial enlarged view of

[0067] Fig.19 is a three-dimensional schematic diagram of a sterile transfer device according to a second embodiment of the present invention;

[0068] Fig. 20 yes Fig.19 Another stereoscopic schematic diagram of the sterile transfer device shown. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, the embodiments described below can be combined with each other as long as there is no contradiction or conflict, and the same or similar concepts or processes may not be repeated in some embodiments.

[0070] refer to Figures 1 to 3The surgical robot of one embodiment of the present invention includes a sterile adapter 1000 and a first target object 2000 and a second target object 3000 connected to the sterile adapter 1000. As an example, the first target object 2000 of this embodiment is implemented as a surgical instrument 2000, including an instrument box 2100 and an end effector 2200 movably connected to the instrument box 2100. The second target object 3000 is implemented as a driver 3000, including a driver box 3100. The sterile adapter 1000 is a barrier between the driver 3000 and the surgical instrument 2000 in the sterile surgical area. The surgical instrument 2000 and the driver 3000 are connected through the sterile adapter 1000, which not only prevents bacteria on the driver 3000 from contaminating the surgical instrument 2000, but also achieves sterile isolation to minimize the scope of contamination and reduce the chance of infectious disease transmission; and the sterile adapter 1000 can also transmit the power of the driver 3000 to the surgical instrument 2000 to drive the end effector 2200 of the surgical instrument 2000 to perform the desired surgical action (such as clamping tissue). It can be understood that in other embodiments, the first target object 2000 and the second target object 3000 can also use other devices / instruments.

[0071] Also refer to Figures 2 to 4 In this embodiment, the sterile transfer device 1000 includes a fixing assembly 1100, a locking assembly 1200 for locking the surgical instrument 2000 and the driver 3000 to the sterile transfer device 1000, and a docking assembly 1300 for transmitting the power of the driver 3000 to the surgical instrument 2000. Preferably, the surgical robot further includes a sterile membrane (not shown). The sterile membrane can be roughly in the shape of a strip, with two ends open, wherein the first end is fixedly connected to the outer peripheral surface of the fixing assembly 1100 to form a closed end, and the other end covers the driver 3000. By covering the fixing assembly 1100 and the driver 3000 of the sterile transfer device 1000 with a sterile membrane, it is possible to more effectively prevent bacteria on the driver 3000 from contaminating the surgical instrument 2000.

[0072] Preferably, the fixing assembly 1100 is provided with a U-shaped first opening slot 1101, and the driving box 3100 of the driver 3000 is provided with a U-shaped second opening slot 3101, and the second opening slot 3101 is aligned with the first opening slot 1101. The end effector 2200 of the surgical instrument 2000 passes through the first opening slot 1101 and the second opening slot 3101. The overall structure of the surgical robot constructed in this way is more compact. It can be understood that the shapes of the first opening slot 1101 and the second opening slot 3101 can be other shapes, as long as the end effector 2200 of the surgical instrument 2000 can pass through.

[0073] refer to Figure 4and Figure 5 In this embodiment, the locking assembly 1200 is movably connected to the fixing assembly 1100, and includes a locking member 1210. The locking member 1210 includes a first matching portion 1211 extending from one side of the fixing assembly 1100 (i.e., the side facing the surgical instrument 2000) and a second matching portion 1212 extending from the other opposite side of the fixing assembly 1100 (i.e., the side facing the driver 3000). The locking member 1210 can be moved along the first direction R1 to lock the first matching portion 1211 with the surgical instrument 2000 or to lock the second matching portion 1212 with the driver 3000. The locking member 1210 can also be moved along the second direction R2 to unlock the first matching portion 1211 with the surgical instrument 2000 or to unlock the second matching portion 1212 with the driver 3000.

[0074] It can be understood that locking is to keep the surgical instrument 2000 or the driver 3000 and the fixing assembly 1100 immobile, and the locking member 1210 is moved to the bottom in the first direction R1 by an external force and maintains its position, so that the first matching portion 1211 limits the movement of the surgical instrument 2000 and / or the second matching portion 1212 limits the movement of the driver 3000. Unlocking is a necessary way to move the surgical instrument 2000 or the driver 3000, and the locking member 1210 is moved in the second direction R2 by an external force to release the restriction of the surgical instrument 2000 by the first matching portion 1211 or release the restriction of the driver 3000 by the second matching portion 1212. The first direction R1 is opposite to the second direction R2.

[0075] In particular, the first displacement of the first matching part 1211 from the position locked with the surgical instrument 2000 to the unlocked position is smaller than the second displacement of the second matching part 1212 from the position locked with the driver 3000 to the unlocked position, wherein the first displacement is the displacement of the locking member 1210 from the position locked with the first matching part 1211 to the position unlocked with the first matching part 1211 along the second direction R2 by external force, and the second displacement is the displacement of the locking member 1210 from the position locked with the second matching part 1212 to the position unlocked with the second matching part 1212 by external force. Therefore, no matter whether the surgical instrument 2000 is assembled onto the sterile adapter 1000 or disassembled from the sterile adapter 1000, the driver 3000 that has been assembled onto the sterile adapter 1000 remains locked with the second mating portion 1212, thereby effectively preventing the driver 3000 from being disengaged from the sterile adapter 1000 when the surgical instrument 2000 is assembled or disassembled, and also ensuring the disassembly order of the surgical instrument 2000 and the driver 3000, that is, the sterile adapter 1000 can be disassembled from the driver 3000 only after the surgical instrument 2000 is disassembled from the sterile adapter 1000, thereby avoiding the destruction of the sterile environment in the sterile operating area by disassembling the sterile adapter 1000 without reason during the operation.

[0076] In addition, the sterile adapter 1000 of the present invention is unlocked with the surgical instrument 2000 and the driver 3000 at the same time through the locking member 1210, and the structure is simple, which effectively reduces the risk of being stuck and unable to unlock due to too many parts, broken parts, rust, and loss of elasticity. The disassembly and assembly process of the sterile adapter 1000, the surgical instrument 2000, and the driver 3000 is also simple, and it only needs to move the locking member along the first direction R1 or the second direction R2. In particular, the present invention realizes the assembly of the surgical instrument 2000 and the driver 3000 with the sterile adapter 1000 through the mechanical movement of the locking member 1210 (rather than material deformation), and the locking is stable, which further effectively reduces the risk of accidental release. Furthermore, one of the specific manifestations of release is: when the surgical instrument 2000 and the sterile adapter 1000 are changed from the locked state to the unlocked state, the driver 3000 and the sterile adapter 1000 are accidentally unlocked.

[0077] like Figure 4 and Figure 5 As shown, in this embodiment, the first direction R1 is parallel to the fixing assembly 1100 and is toward the edge of the fixing assembly 1100, while the second direction R2 is parallel to the fixing assembly 1100 and is toward the middle of the fixing assembly 1100. It can be understood that in other embodiments, the first direction R1 can also be toward the middle of the fixing assembly 1100, while the second direction R2 is toward the edge of the fixing assembly 1100.

[0078] In order to improve the connection stability between the sterile adapter 1000 and the surgical instrument 2000 and the driver 3000, preferably, as Figure 4 and Figure 5 As shown, the aseptic transfer device 1000 includes two oppositely disposed locking assemblies 1200. Additionally or alternatively, the locking member 1210 of each locking assembly 1200 includes two first matching portions 1211 and two second matching portions 1212.

[0079] Specifically, refer to Figures 6 to 9 In this embodiment, the locking member 1210 includes a plate-shaped upright portion 1213, two arm portions 1214 protruding from both sides of the upright portion 1213 in the X direction, and a connecting portion 1215 connected between the upright portion 1213 and the two arm portions 1214. Preferably, the two arm portions 1214 are respectively located on both sides of the central axis L of the fixing assembly 1100 along the Y direction.

[0080] The fixing assembly 1100 includes a first adapter plate 1110 and a second adapter plate 1120. The first adapter plate 1110 and the second adapter plate 1120 are connected to each other. It can be understood that the first adapter plate 1110 and the second adapter plate 1120 can have a plurality of aligned screw holes and be screwed together by screws, or can be glued, or can also be fixedly connected by a mortise and tenon structure.

[0081] The first adapter plate 1110 is provided with a first opening 1111 corresponding to the upright portion 1213 and penetrating the first adapter plate 1110 along the Z direction (also the thickness direction of the first adapter plate 1110), so as to allow the upright portion 1213 to pass through. The second adapter plate 1120 is provided with a second opening 1121 corresponding to the arm portion 1214 and penetrating the second adapter plate 1120 along the Z direction (also the thickness direction of the second adapter plate 1120), so as to allow the arm portion 1214 to pass through. The connecting portion 1215 is clamped between the first adapter plate 1110 and the second adapter plate 1120.

[0082] Preferably, the two first matching portions 1211 are first matching grooves 1211 provided on the upright portion 1213, and the first matching grooves 1211 may penetrate the upright portion 1213 along the Y direction (also the thickness direction of the upright portion 1213), or may not penetrate. In this embodiment, the two first matching portions 1211 are provided on one side of the upright portion 1213 close to the connecting portion 1215. The upright portion 1213 has a certain width in the X direction, which can not only enhance the connection strength between the upright portion 1213 and the surgical instrument 2000, but also facilitate the insertion of the upright portion 1213 into the first receiving groove 2101 in the instrument box 2100 described below. A push portion 1216 is formed on one side of the upright portion 1213 away from the connecting portion 1214, which is used for the operator to directly or indirectly push and thus move the locking member 1210 along the second direction R2 to unlock. Preferably, the upright portion 1213 is provided with two first sloped structures 1219A respectively located on both sides of the pushing portion 1216, the pushing portion 1216 protrudes relative to the two first sloped structures 1219A, and the slope of the first sloped structure 1219A increases in the direction away from the connecting portion 1214. The first sloped structure 1219A of the upright portion 1213 is used to provide a sliding track for the third matching portion 2102 in the instrument box 2100 described below.

[0083] The two second matching portions 1212 are second matching grooves 1212 provided on the arm portion 1214. The second matching grooves 1212 may penetrate the arm portion 1214 along the Y direction (also the thickness direction of the arm portion 1214), or may not penetrate. Preferably, the arm portion 1214 is provided with a second sloped structure 1219B, the slope of the second sloped structure 1219B increases in the direction away from the upright portion 1213, and the second sloped structure 1219B of the arm portion 1214 is used to provide a sliding track for the fourth matching portion 3103 in the drive box 3100 described below.

[0084] Preferably, a limiting member 1117 is further provided on the first adapter plate 1110, and the limiting member 1117 is used to limit the direction and position of the surgical instrument 2000, so that the surgical instrument 2000 can be quickly and accurately installed on the first adapter plate 1110. Specifically, in this embodiment, the limiting member 1117 is constructed as an angle member, and a limiting member 1117 is respectively provided on two corners of the first adapter plate 1110.

[0085] In order to limit the moving range of the locking member 1210 , in this embodiment, a limiting groove 1112 is further formed on the first adapter plate 1110 corresponding to the connecting portion 1215 , and the connecting portion 1215 can be slidably received in the limiting groove 1112 .

[0086] In this embodiment, the locking assembly 1200 further includes a first elastic member 1220 connected to the locking member 1210. In this embodiment, the first elastic member 1220 is a spring. The locking member 1210 moves along the first direction R1 to achieve locking through the elastic reset of the first elastic member 1220, which is easy to operate and stable to lock. When unlocking is required, the pushing portion 1216 is pushed along the second direction R2, and the first elastic member 1220 is compressed along the second direction R2 to unlock.

[0087] Specifically, the middle part of the connecting portion 1215 is recessed on one side facing the second adapter plate 1120 to form a longitudinal first receiving groove 1217, and the first elastic member 1220 is received in the first receiving groove 1217. Preferably, the second adapter plate 1120 is also recessed on one side facing the first adapter plate 1110 to form a second receiving groove 1122 corresponding to the first receiving groove 1217, so as to increase the receiving space of the first elastic member 1220. It is also preferred that one end of the first receiving groove 1217 and one end of the second receiving groove 1122 protrude to form a first limiting block 1218 and a second limiting block 1123, respectively, and the two ends of the first elastic member 1220 abut between the first limiting block 1218 and the second limiting block 1123, so as to further improve the movement stability of the first elastic member 1220.

[0088] Preferably, an unlocking opening 1113 is further provided on the side wall of the first adapter plate 1110, and the unlocking opening 1113 penetrates the side wall of the first adapter plate 1110 along the Y direction to communicate with the limiting groove 1112, and is aligned with the middle of the connecting portion 1215. When the surgical instrument 2000 needs to be replaced, if an emergency occurs in which a component is stuck and cannot be unlocked, a tool (such as a wrench or a screwdriver or a special unlocking tool) can be used to extend into the unlocking opening 1113 to push the middle of the connecting portion 1215 and then move the locking member 1210 to achieve emergency unlocking of the locking member 1210 and the surgical instrument 2000 or the driver 3000.

[0089] Reference again Figure 4 and Figure 5In this embodiment, the docking assembly 1300 is movably connected to the fixing assembly 1100. Specifically, the fixing assembly 1100 is provided with a mounting hole 1102 that penetrates the fixing assembly 1100 along the Z direction (also the thickness direction of the fixing assembly 1100), and the docking assembly 1300 can be movably accommodated in the mounting hole 1102. Preferably, in order to improve the stability of the sterile transfer device 1000 in transmitting the power of the driver 3000 to the surgical instrument 2000, the sterile transfer device 1000 includes three docking assemblies 1300. Accordingly, the fixing assembly 1100 is provided with three mounting holes 1102. In this embodiment, the three mounting holes 1102 are symmetrically distributed on both sides of the U-shaped first opening groove 1101 of the fixing assembly 1100 in the Y direction and one side in the X direction.

[0090] Specifically, refer to Figures 6 to 10 In this embodiment, the first adapter plate 1110 and the second adapter plate 1120 are respectively provided with three first through holes 1114 and three second through holes 1124. Each first through hole 1114 is aligned with a corresponding second through hole 1124 to form the mounting hole 1102.

[0091] Preferably, a first annular step 1115 is recessed on the side of the first through hole 1114 of the first adapter plate 1110 facing the second adapter plate 1120, and a first convex ring 1125 is protruded on the side of the second through hole 1124 of the second adapter plate 1120 facing the first adapter plate 1110. The first convex ring 1125 is cooperatively connected with the first annular step 1115, thereby achieving better positioning of the first adapter plate 1110 and the second adapter plate 1120.

[0092] The docking assembly 1300 includes a first rotating disk 1310, a second rotating disk 1320, and a second elastic member 1330 disposed between the first rotating disk 1310 and the second rotating disk 1320. The first rotating disk 1310 is partially received in the first through hole 1114, and the second rotating disk 1320 is partially received in the second through hole 1124. In this embodiment, the second elastic member 1330 is a spring.

[0093] More specifically, the first rotating disk 1310 includes a first disk 1311, a first flange 1312 protruding from the outer periphery of the first disk 1311, and a first rotating shaft 1313 protruding from the first disk 1311 on the side facing the second rotating disk 1320. The first disk 1311 can be received in the first through hole 1114, and the surface of the first disk 1311 away from the second rotating disk 1320 is provided with two eccentric and symmetrical first transmission holes 1314 for connecting with the first transmission column 2301 ( Figure 3The first through hole 1114 of the first adapter plate 1110 is further recessed on one side facing the second adapter plate 1120 to form a second annular step 1116, which is used to abut against the first flange 1312 to limit the first rotating disk 1310. The first rotating shaft 1313 is located at the center of the first circular disk 1311, and is provided with a first plug hole 1315 therein for connecting with the second rotating disk 1320.

[0094] The second rotating disk 1320 includes a second disk 1321, a second protruding ring 1322 protruding from the side of the second disk 1321 facing the first disk 1311, a second flange 1323 protruding from the outer periphery of the second disk 1321, and a second rotating shaft 1324 protruding from the side of the second disk 1321 away from the first disk 1311. The second disk 1321 can be received in the second through hole 1124, and two eccentric and symmetrical second transmission holes 1325 are provided on the surface away from the first disk 1311, which are used to be connected with the second transmission column 3201 ( Figure 2 visible).

[0095] The first circular disk 1311 and the first flange 1312 of the first rotating disk 1310 can be received in the second convex ring 1322, and the second convex ring 1322 can be inserted between the first flange 1312 and the first adapter plate 1110 until it abuts against the second annular step 1116. The second through hole 1124 of the second adapter plate 1120 is also recessed on one side facing the first adapter plate 1110 to form a third annular step 1126, and the third annular step 1126 is used to abut against the second flange 1323 to limit the second rotating disk 1320. Preferably, a third elastic member 1340 is sleeved on the outer periphery of the second convex ring 1322, and the second rotating disk 1320 can be moved to make the third elastic member 1340 abut against the first annular step 1115 of the first adapter plate 1110.

[0096] When the second rotating disk 1320 has not moved to the point where the third elastic member 1340 abuts against the first annular step 1115 of the first adapter plate 1110, the third elastic member 1340 will not affect the rotation of the first rotating disk 1310 and the second rotating disk 1320. When the second rotating disk 1320 has moved to the point where the third elastic member 1340 abuts against the first annular step 1115 of the first adapter plate 1110, the first annular step 1115 will increase the friction between the third elastic member 1340 and the second rotating disk 1320, affecting the rotation of the second rotating disk 1320.

[0097] The second rotating shaft 1324 is provided with a second insertion hole 1326 which opens toward the first rotating disk 1310, the second insertion hole 1326 is provided with a third rotating shaft 1327, and the second elastic member 1330 is sleeved on the third rotating shaft 1327. The first rotating shaft 1313 of the first rotating disk 1310 is inserted into the second insertion hole 1326, and the third rotating shaft 1327 is inserted into the first insertion hole 1315 of the first rotating disk 1310, and an elastic space is formed between the third rotating shaft 1327 and the second insertion hole 1326, and a spring is provided in the elastic space.

[0098] Furthermore, a groove or a slider is provided on the inner wall of the second socket 1326, and a corresponding slider or a groove is provided on the outer wall of the first rotating shaft 1313. Specifically, the second socket 1326 and the first rotating shaft 1313 are spline-connected, so that the first rotating shaft 1313 can only slide along the axis of the first rotating shaft 1313 relative to the second socket 1326 but cannot rotate. With such a configuration, the spacing between the first rotating disk 1310 and the second rotating disk 1320 can be changed without affecting the first rotating disk 1310 being able to drive / be driven to rotate together with the second rotating disk 1320.

[0099] Figures 11 to 14 The process of assembling the surgical instrument 2000 and the driver 3000 to the sterile adapter 1000 is shown, wherein the driver 3000 is first assembled to the second mating portion 1212 of the sterile adapter 1000 (eg, Figure 11-12 ), and then the surgical instrument 2000 is assembled to snap into the first matching portion 1211 of the sterile transfer device 1000 (as shown in FIG. Figure 13-14 shown).

[0100] Specifically, Figure 13-14As shown, the instrument box 2100 is provided with a first receiving groove 2101 and a third matching portion 2102 provided in the first receiving groove 2101. Corresponding to the first matching portion 1211 configured as the first matching groove 1211, in this embodiment, the third matching portion 2102 is configured as a first matching block 2102. During assembly, the upright portion 1213 of the locking member 1210 is inserted into the first receiving groove 2101 until the first matching block 2102 is engaged in the first matching groove 1211, thereby achieving locking. Preferably, in order to facilitate the first matching block 2102 to enter the first matching groove 1211, the first matching block 2102 is configured as a wedge, and the thickness of the wedge gradually increases along the insertion direction of the upright portion 1213. When the upright portion 1213 is inserted into the first receiving groove 2101, the first matching block 2102 squeezes the upright portion 1213, causing the locking member 1210 to move along the second direction R2, and the first elastic member 1220 is compressed until the first matching block 2102 is aligned with the first matching groove 1211. Then, under the resetting action of the first elastic member 1220, the locking member 1210 moves along the first direction R1 until the first matching groove 1211 receives the first matching block 2102 to achieve locking.

[0101] from Fig.14A It is not difficult to find that when locked, the first matching block 2102 overlaps with the groove wall of the first matching groove 1211, and the overlapping distance is the first displacement amount S1 of the first matching groove 1211 from the position locked with the first matching block 2102 to the position unlocked. In addition, when locked, a first gap G1 is maintained between the first matching groove 1211 and the groove wall of the first receiving groove 2101, and the width of the first gap G1 is greater than or equal to the first displacement amount S1 to allow the upright portion 1213 to move to make the first matching block 2102 exit the first matching groove 1211, thereby achieving unlocking.

[0102] In the present embodiment, a button 2103 is also movably provided on the instrument box 2100. The button 2103 can move relative to the instrument box 2100 to push the push portion 1216 on the upright portion 1213, so that the first matching block 2102 withdraws from the first matching groove 1211 to achieve unlocking. For example, a top portion 2104 that can resist the push portion 1216 can be set on the button 2103, and a spring (not shown) is set between the button 2103 and the instrument box 2100. By squeezing the button 2103, the top portion 2104 resists the push portion 1216, thereby driving the locking member 1210 to move along the second direction R2 to achieve unlocking. When the button 2103 is no longer squeezed, the button 2103 is reset under the action of the spring. In practice, it can be realized that the operator can disassemble the surgical instrument 2000 by operating the button 2103 with one hand, which is easy to operate.

[0103] It is understandable that in other embodiments, the button 2103 may also utilize its own material deformation to push the pushing portion 1216 on the upright portion 1213 so that the first mating block 2102 exits the first mating groove 1211 to achieve unlocking.

[0104] Similarly, if Figure 11-12 As shown, the drive box 3100 is provided with a second receiving groove 3102 and a fourth matching portion 3103 provided in the second receiving groove 3102. Corresponding to the second matching portion 1212 configured as the second matching groove 1212, in this embodiment, the fourth matching portion 3103 is configured as a second matching block 3103. During assembly, the arm portion 1214 of the locking member 1210 is inserted into the second receiving groove 3102 until the second matching block 3103 is engaged in the second matching groove 1212, thereby achieving locking. Preferably, in order to facilitate the second matching block 3103 to enter the second matching groove 1212, the second matching block 3103 is configured as a wedge block, and the thickness of the wedge block gradually increases along the insertion direction of the arm portion 1214. When the arm 1214 is inserted into the second receiving groove 3102, the second matching block 3103 squeezes the arm 1214, causing the locking member 1210 to move along the second direction R2, and the first elastic member 1220 is compressed until the second matching block 3103 is aligned with the second matching groove 1212. Then, under the resetting action of the first elastic member 1220, the locking member 1210 moves along the first direction R1 until the second matching groove 1212 receives the second matching block 3103 to achieve locking.

[0105] from Fig. 12A It is not difficult to find that when locked, the second matching block 3103 overlaps with the groove wall of the second matching groove 1212, and the overlapping distance is the second displacement amount S2 of the second matching groove 1212 from the position locked with the second matching block 3103 to the position unlocked. In addition, when locked, a second gap G2 is maintained between the second matching groove 1212 and the groove wall of the second receiving groove 3102, and the width of the second gap G2 is greater than or equal to the second displacement amount S2 to allow the arm 1214 to move to make the second matching block 3103 exit the second matching groove 1212 to achieve unlocking.

[0106] In particular, as mentioned above, the first displacement S1 of the first matching portion 1211 from the position locked with the third matching portion 2102 of the surgical instrument 2000 to the position unlocked is smaller than the second displacement S2 of the second matching portion 1212 from the position locked with the fourth matching portion 3103 of the driver 3000 to the position unlocked. Therefore, when the surgical instrument 2000 needs to be disassembled, the operator presses the button 2103 with a first external force to push the pushing portion 1216 to thereby move the locking member 1210, the first matching portion 1211 will first be released from the third matching portion 2102, while the second matching portion 1212 and the fourth matching portion 3103 remain in cooperation, that is, the sterile transfer device 1000 and the driver 3000 remain locked, effectively preventing the risk of accidental release of the driver 3000, and at this time the operator only needs to pull the surgical instrument 2000 again so that the upright portion 1213 exits the first receiving slot 2101 to disassemble the surgical instrument 2000.

[0107] In order to further prevent the risk of accidental release of the driver 3000, preferably, the width of the first gap G1 is smaller than the second displacement S2. Therefore, even if the operator presses the button 2103 to the extreme so that the upright portion 1213 abuts against the wall of the first receiving slot 2101, the second matching portion 1212 and the fourth matching portion 3103 still remain matched, that is, the sterile transfer device 1000 and the driver 3000 remain locked, effectively preventing the risk of accidental release of the driver 3000.

[0108] After the surgical instrument 2000 is removed, the locking member 1210 moves along the first direction R1 under the resetting action of the first elastic member 1220 until the second matching portion 1212 and the fourth matching portion 3103 are engaged again, and the pushing portion 1216 is exposed. Next, if the driver 3000 needs to be removed, the operator can directly push the pushing portion 1216 with a second external force to move the locking member 1210 until the second matching portion 1212 and the fourth matching portion 3103 are released. At this time, the operator only needs to pull the sterile transfer device 1000 again so that the arm 1214 withdraws from the second receiving slot 3102 to remove the driver 3000.

[0109] Alternatively, as mentioned above, in an emergency, you can also use a tool (such as a wrench or a screwdriver) to apply the first external force or the second external force to the middle of the connecting portion 1215 of the locking member 1210 through the unlocking port 1113 to release the cooperation between the first matching portion 1211 and the third matching portion 2102 or the second matching portion 1212 and the fourth matching portion 3103, which will not be repeated here.

[0110] Figures 15 to 18 The diagram shows the process of the aseptic transfer device 1000 being transmission-connected to the driver 3000 and the surgical instrument 2000 respectively through the docking assembly 1300 .

[0111] like Fig.15 and Fig.15A As shown, when the driver 3000 and the aseptic transfer device 1000 are connected as shown above, Figure 11-12 After the described assembly method is connected together, generally, the second transmission column 3201 on the active turntable 3200 of the driver 3000 cannot be exactly aligned with the second transmission hole 1325 of the second turntable 1320, so the second turntable 1320 is squeezed by the second transmission column 3201 on the active turntable 3200 of the driver 3000 to move upward until the second convex ring 1322 abuts against the second annular step 1116, and the third elastic member 1340 abuts against the first annular step 1115 and is squeezed and deformed by the second flange 1323, and the second elastic member 1330 is compressed. When the active turntable 3200 rotates, due to the large friction between the second turntable 1320 and the third elastic member 1340, the second turntable 1320 will not be able to rotate and remain stationary until the second transmission column 3201 on the active turntable 3200 enters the second transmission hole 1325 of the second turntable 1320, and the second turntable 1320 moves downward under the resetting action of the second elastic member 1330, completing the transmission docking between the driver 3000 and the sterile transfer device 1000 (such as Fig.16 and Fig.16A Preferably, the third elastic member 1340 is a rubber ring to further increase the friction between the second rotating disk 1320 and the third elastic member 1340 .

[0112] Similarly, if Fig.17 and Fig.17A As shown, when the surgical instrument 2000 and the sterile transfer device 1000 are connected as shown above, Figure 13-14 After the described assembly method is connected together, generally, the first transmission column 2301 on the driven turntable 2300 cannot be exactly aligned with the first transmission hole 1314 of the first turntable 1310, and the first turntable 1310 is squeezed downward by the first transmission column 2301 on the driven turntable 2300 of the surgical instrument 2000 until the first flange 1312 enters the second convex ring 1322, and the second elastic member 1330 is compressed. At this time, the active turntable 3200 of the driver 3000 is rotated again. Since the second transmission column 3201 of the active turntable 3200 has been engaged with the second transmission hole 1325 of the second turntable 1320, the active turntable 3200 will drive the second turntable 1320 to rotate, and the second turntable 1320 will drive the first turntable 1310 to rotate until the first transmission column 2301 on the driven turntable 2300 enters the first transmission hole 1314 of the first turntable 1310, and the first turntable 1310 moves upward under the resetting action of the second elastic member 1330, completing the transmission docking of the surgical instrument 2000 and the sterile transfer device 1000 (such as Fig.18 and Fig.18Ashown).

[0113] At this time, the second transmission post 3201 of the driving turntable 3200 has been engaged with the second transmission hole 1325 of the second turntable 1320, and the first transmission post 2301 of the driven turntable 2300 has also been engaged with the first transmission hole 1314 of the first turntable 1310. Therefore, when the motor 3300 ( Figure 2 and Figure 3 When the active rotating disk 3200 driven by the output torque rotates, the active rotating disk 3200 will drive the second rotating disk 1320 to rotate, the second rotating disk 1320 will drive the first rotating disk 1310 to rotate, and the first rotating disk 1310 will drive the driven rotating disk 2300 to rotate, thereby realizing the synchronous transmission of the torque of the motor 3300 in the driver 3000 to the transmission mechanism 2105 in the instrument box 2100 of the surgical instrument 2000 ( Fig.18 2201 of the end effector 2200 ( Figure 2 and Figure 3 Visible) to perform surgical operations.

[0114] It can be understood that the above embodiments are only exemplary embodiments, and those skilled in the art can modify or replace them equivalently. For example, the first transmission column can be set on the first turntable, and the first transmission hole can be set on the driven turntable; similarly, the second transmission column can be set on the second turntable, and the second transmission hole can be set on the active turntable. Alternatively, the first transmission hole can also be set at the center of the first turntable instead of being eccentrically set on the first turntable, as long as the torque of the first turntable can be transmitted to the driven turntable; similarly, the second transmission hole can also be set at the center of the second turntable instead of being eccentrically set on the second turntable, as long as the torque of the active turntable can be transmitted to the second turntable. Alternatively, the sterile transfer device can also include three or more locking components. Each locking component can also include one, three or more first matching parts, or one, three or more second matching parts. Alternatively, the sterile transfer device can also include one, two, four or more docking components.

[0115] refer to Fig.19 and Fig. 20 The aseptic transfer device 4000 of the second embodiment of the present invention is substantially the same as the aseptic transfer device 1000 of the first embodiment, and the similarities are not described here. The main differences between the aseptic transfer device 4000 of this embodiment and the aseptic transfer device 1000 of the first embodiment are:

[0116] Firstly, the limiting member 4117 on the first adapter plate 4110 of the present embodiment is no longer a corner member, but a plate member arranged on the edge of the first adapter plate 1110 and extending along the Y direction.

[0117] Secondly, a communication component 4400 is provided in the fixing assembly 1100, one end of the communication component 4400 leaks out from the first adapter plate 1110 to form a first communication contact 4401, and the other end leaks out from the second adapter plate 1120 to form a second communication contact 4402, which is used to detect whether the surgical instrument 2000 and the fixing assembly 1100 are installed in place, or whether the fixing assembly 1100 and the driver 3000 are installed in place, and to detect the number of times the surgical instrument 2000 and the fixing assembly 1100 or the driver 3000 are used, and can also be used to identify the type of the surgical instrument 2000. Correspondingly, the surgical instrument 2000 and the driver 3000 are also provided with communication components (not shown) that communicate / electrically connect with the first communication contact 4401 and the second communication contact 4402, respectively.

[0118] The above description is only a preferred specific implementation manner of the present invention, and the protection scope of the present invention is not limited to the embodiments listed above. Any simple change or equivalent replacement of the technical solution that can be obviously obtained by any technician familiar with the technical field within the technical scope disclosed in the present invention falls within the protection scope of the present invention.

Claims

1. A sterile transfer device, characterized in that: The invention comprises a fixing component and a locking component movably connected with the fixing component, wherein the locking component comprises a locking piece, wherein the locking piece comprises a first matching portion extending from one side of the fixing component and a second matching portion extending from the other side of the fixing component, and the locking piece can be moved along a first direction to lock the first matching portion with a first target object or to lock the second matching portion with a second target object, and can be moved along a second direction to unlock the first matching portion with the first target object or to unlock the second matching portion with the second target object, wherein a distance of the first matching portion from a position locked with the first target object to a position unlocked is a first displacement amount, a distance of the second matching portion from a position locked with the second target object to a position unlocked is a second displacement amount, and the first displacement amount is smaller than the second displacement amount.

2. The aseptic transfer device according to claim 1, characterized in that: A third matching portion is provided in the first target object, and the first target object is locked with the first matching portion through the third matching portion. When the third matching portion is locked with the first matching portion, the third matching portion overlaps with the first matching portion, and the first displacement is the overlapping distance between the first matching portion and the third matching portion; A fourth matching portion is provided in the second target object, and the second target object is locked with the second matching portion through the fourth matching portion. When the fourth matching portion is locked with the second matching portion, the fourth matching portion overlaps with the second matching portion, and the second displacement amount is the overlapping distance between the second matching portion and the fourth matching portion.

3. The aseptic transfer device according to claim 1, characterized in that: The locking member is configured such that: when subjected to a first external force, the first mating portion is unlocked from the first target object, when subjected to a second external force, the second mating portion is unlocked from the second target object, and when the first mating portion is unlocked from the first target object, the second mating portion remains locked with the second target object.

4. The aseptic transfer device according to claim 3, characterized in that: The locking member further comprises a pushing portion, a button is movably provided on the first target object, the first external force is applied to the pushing portion via the button, and the second external force is directly applied to the pushing portion; and / or, The fixing assembly further comprises an unlocking opening arranged on the fixing assembly, and the first external force or the second external force is applied to the locking member through the unlocking opening.

5. The aseptic transfer device according to claim 2, characterized in that: A first receiving groove is provided in the first target object, the first matching portion is suitable for being inserted into the first receiving groove so that the first matching portion and the third matching portion are locked, and when the first matching portion and the third matching portion are locked, a first gap is maintained between the first matching portion and the groove wall of the first receiving groove, and the width of the first gap is greater than or equal to the first displacement amount but less than the second displacement amount; A second receiving groove is provided in the second target object, and the second matching portion is suitable for being inserted into the second receiving groove so that the second matching portion and the fourth matching portion are locked, and when the second matching portion and the fourth matching portion are locked, a second gap is maintained between the second matching portion and the groove wall of the second receiving groove, and the width of the second gap is greater than or equal to the second displacement.

6. The aseptic transfer device according to claim 1, characterized in that: The fixing assembly includes a first adapter plate and a second adapter plate, the first adapter plate and the second adapter plate are connected to each other, the locking member also includes a connecting portion for connecting the first matching portion and the second matching portion, and a limiting groove is provided on the first adapter plate and / or the second adapter plate, and the connecting portion is slidably connected to the limiting groove.

7. The aseptic transfer device according to claim 2, characterized in that: The locking assembly further comprises a first elastic member connected to the locking member, wherein the locking member is configured to lock the first matching portion with the third matching portion, or lock the second matching portion with the fourth matching portion, by resetting the first elastic member, and unlock the first matching portion with the third matching portion, or unlock the second matching portion with the fourth matching portion, by compressing the first elastic member; and / or, The first matching portion and the second matching portion are both matching grooves, the third matching portion and the fourth matching portion are both matching blocks, and the matching grooves are used to receive the corresponding matching blocks to lock the corresponding matching portions.

8. The aseptic transfer device according to claim 6, characterized in that: The aseptic transfer device includes at least two locking assemblies arranged opposite to each other, and the locking member includes at least two first matching parts connected to one side of the connecting part and at least two second matching parts connected to the other side of the connecting part, and the at least two second matching parts are distributed on both sides of the at least two first matching parts.

9. The aseptic transfer device according to claim 6, characterized in that: The aseptic transfer device also includes a docking assembly partially disposed within the fixed assembly, the docking assembly including a first turntable and a second turntable in transmission connection, and a second elastic member disposed between the first turntable and the second turntable, the first turntable and the second turntable being movable or rotatable relative to the fixed assembly, the first turntable being configured to be in transmission connection with a driven turntable of the first target object, and the second turntable being configured to be in transmission connection with a driving turntable of the second target object.

10. The aseptic transfer device according to claim 9, characterized in that: One of the first rotating disk and the driven rotating disk is provided with a first transmission hole, and the other is provided with a first transmission column; one of the second rotating disk and the driving rotating disk is provided with a second transmission hole, and the other is provided with a second transmission column; the driving rotating disk rotates so that the second transmission hole engages with the second transmission column, thereby driving the second rotating disk to rotate; the rotation of the second rotating disk drives the first rotating disk to rotate; the rotation of the first rotating disk causes the first transmission hole to engage with the first transmission column, thereby driving the driven rotating disk to rotate; and / or, A first rotating shaft is further provided at the center of the first rotating disk, a second rotating shaft is further provided at the center of the second rotating disk, a second plug hole is provided in the second rotating shaft, a third rotating shaft is provided in the second plug hole, the first rotating shaft is inserted into the second plug hole, the second elastic member is received in the second plug hole and sleeved outside the third rotating shaft; and / or, The docking assembly also includes a third elastic member, which is arranged between the outer side of the second turntable and at least one of the first adapter plate and the second adapter plate. The active turntable abuts against the second turntable, pushes the second turntable to move toward the first adapter plate and squeezes the third elastic member. The third elastic member controls the second turntable to remain stationary relative to the first adapter plate.

11. A surgical robot, characterized in that: It comprises the sterile transfer device according to any one of claims 1 to 10 and the first target object and / or the second target object connected to the sterile transfer device, the first target object is a surgical instrument, the second target object is a driver, the surgical instrument comprises an instrument box, a third matching portion is provided in the instrument box, the third matching portion is locked and connected to the first matching portion, and / or the driver comprises a drive box, a fourth matching portion is provided in the drive box, the fourth matching portion is locked and connected to the second matching portion.

12. The surgical robot according to claim 11, characterized in that: The aseptic transfer device comprises three groups of docking components, the fixing component is provided with three through-going mounting holes, and the three groups of docking components are respectively received in the three mounting holes of the fixing component; and / or, The surgical instrument further comprises a button movably disposed on the instrument box, the button being used to push the first matching portion to move the locking member, thereby unlocking the first matching portion and the third matching portion; and / or, The surgical instrument further comprises an end effector movably connected to the instrument box, the fixing assembly and the driver are respectively provided with an opening slot, and the opening slot of the fixing assembly is aligned with the opening slot of the driver, and the opening slot is used to pass the end effector; and / or, The surgical robot further comprises a sterile membrane, one end of which is fixedly connected to the outer peripheral surface of the fixing assembly to form a closed end, and the other end of which covers the driver.

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