Surgical operating instrument manipulator assembly and sterile adapter

Abstract

The invention relates to the technical field of surgical operating instruments, and discloses a surgical operating instrument manipulator assembly and a sterile adapter.The surgical operating instrument manipulator assembly comprises a surgical operating instrument manipulator body and a sterile adapter body, and the outer wall of the operating end of the surgical operating instrument manipulator body is fixedly connected with a sleeve; the sterile adapter body is installed at the end, away from the surgical operating instrument manipulator body, of the sleeve, the outer wall of the end, away from the surgical operating instrument manipulator body, of the sleeve is fixedly connected with a lantern ring, and the sterile adapter body is matched with the lantern ring in an inserted mode. An auxiliary combination mechanism used for accurately inserting the sterile adapter body into the lantern ring is arranged between the sleeve and the sterile adapter body, the sterile adapter body and the lantern ring are tightly attracted together through magnetic force, rapid combination of the sterile adapter body and the surgical operating instrument manipulator body is facilitated, and meanwhile it is avoided that in the follow-up using process, the sterile adapter body and the surgical operating instrument manipulator body are not prone to damage. When the sterile adapter body moves transversely, the stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a surgical instrument manipulator assembly and a sterile adapter. Background Art

[0002] Surgical instrument manipulators are devices used to assist surgeons in operating surgical instruments, and are usually used in minimally invasive surgery or robot-assisted surgery. Surgical instrument manipulators can filter out hand tremors, improve surgical precision and stability, and enable surgeons to operate in complex or hard-to-reach anatomical areas while reducing surgeons' fatigue from prolonged operation. Sterile adapters are used in conjunction with surgical instrument manipulators. To ensure a sterile environment, sterile adapters are often used to enable the manipulator to operate the instrument without directly contacting the sterile area.

[0003] In actual use in hospital surgical rooms, sterile adapters usually rely on snaps, threads, and locking mechanisms to connect to surgical instrument manipulators. In particular, threaded connections require medical staff to twist the adapters, which not only increases installation time but also easily causes contamination of the sterile adapter. At the same time, when the sterile adapter needs to be disassembled and replaced, the reverse operation must be repeated, causing inconvenience in use. Summary of the invention

[0004] The object of the present invention is to provide a surgical instrument manipulator assembly and a sterile adapter to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, a surgical instrument manipulator assembly and a sterile adapter are provided, including a surgical instrument manipulator body and a sterile adapter body, the outer wall of the manipulating end of the surgical instrument manipulator body is fixedly connected with a sleeve, the sterile adapter body is installed at the end of the sleeve away from the surgical instrument manipulator body, the outer wall of the end of the sleeve away from the surgical instrument manipulator body is fixedly connected with a collar, the sterile adapter body and the collar are plug-fitted, the inner wall of the sterile adapter body close to the sleeve is fixedly connected with a partition, an auxiliary coupling mechanism for accurately inserting the sterile adapter body into the collar is provided between the sleeve and the sterile adapter body, the sterile An auxiliary adapting mechanism for fixing surgical instruments of different diameters is arranged inside the sterile adapter body, the auxiliary combining mechanism comprises guide posts symmetrically fixedly connected to the inner wall of the sleeve, a weight ring is slidably connected between the outer walls of the two guide posts, a first magnetic block is fixedly connected to the outer wall of the weight ring close to the collar, the outer wall of the partition close to the collar is symmetrically fixedly connected to cylinders, the two cylinders are arranged to penetrate the inner wall of the end of the sterile adapter body near one end of the collar, a support block is slidably connected between the outer walls of the two cylinders, the support block is fixedly connected to the outer wall of the collar close to the second magnetic block, and the second magnetic block is arranged to slide through the inner wall of the end of the sterile adapter body.

[0006] As a further improvement of the technical solution, the inner wall of the sterile adapter body is symmetrically slidably penetrated by two insertion rods, both ends of the support block are designed with inclined surfaces, and the two insertion rods are fixedly connected to the insertion blocks at one end close to the support block, and the insertion blocks are in abutment with the inclined ends of the support blocks. The inner wall of the sterile adapter body is fixedly connected to a first support spring, and the end of the first support spring close to the support block is fixedly connected to the outer wall of the insertion block. The inner wall of the ring is symmetrically provided with circular holes, and the ends of the insertion rods extend into the interior of the circular holes after the insertion blocks are squeezed by the inclined ends of the support blocks.

[0007] As a further improvement of the technical solution, the two ends of the guide columns are fixedly connected with support plates located inside the sleeve, and a counterweight block is slidably connected through the central inner wall of the support plate. The end of the counterweight block away from the support plate is fixedly connected to the outer wall of the counterweight ring away from the first magnetic block.

[0008] As a further improvement of the technical solution, the inner wall of the partition is evenly provided with a plurality of through holes in a circular array, and the outer wall of the counterweight ring located on one side of the first magnetic block is evenly fixedly connected with four limit rods, and the limit rods are slidably matched with the through holes.

[0009] As a further improvement of the technical solution, the end of the ring close to one side of the sterile adapter body is symmetrically fixedly connected with two positioning rails, and the outer wall of the sterile adapter body is symmetrically fixedly connected with two positioning rods, and the positioning rods are slidably matched with the positioning rails.

[0010] As a further improvement of the present technical solution, the auxiliary adaptation mechanism includes a round rod fixedly connected to the inner wall of the sterile adapter body, and a number of the round rods are evenly arranged inside the sterile adapter body. One end of the round rod away from the inner wall of the sterile adapter body is slidably connected to a fixed seat, and a pressure plate is hinged inside the fixed seat. The inner wall of the sterile adapter body is also fixedly connected to a second support spring, and the other end of the second support spring is fixedly connected to the side wall of the fixed seat, and the outer wall of the bottom end of the pressure plate is fixedly connected to a rubber part.

[0011] As a further improvement of the technical solution, a torsion spring is sleeved inside the hinge between the fixed seat and the pressure plate, and the outer contours of both ends of the pressure plate are arc-shaped. When the outer wall of the pressure plate is squeezed by the surgical instrument, it rotates inside the fixed seat and squeezes the torsion spring.

[0012] As a further improvement of the technical solution, the outer contour of the rubber piece is in an arc shape, and when the pressure plate rotates inside the fixing seat, it will rotate synchronously with the rubber piece.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. By setting up an auxiliary coupling mechanism, when the manipulating end of the surgical instrument manipulator body is in a downward tilted state, under the action of gravity, the counterweight ring and the first magnetic block slide on the outer wall of the guide column toward the side of the sterile adapter body, and the first magnetic block and the second magnetic block are quickly attracted to each other by the magnetic attraction effect. At the same time, the rod is inserted into the circular hole to firmly connect the sterile adapter body and the collar. The magnetic force tightly attracts them together, which facilitates the rapid combination of the sterile adapter body and the surgical instrument manipulator body, and at the same time avoids lateral movement of the sterile adapter body during subsequent use, thereby improving stability;

[0015] When the sterile adapter body and the surgical instrument need to be replaced, the manipulating end of the surgical instrument manipulator body is tilted upward, and the weight of the counterweight block itself is greater than the weight of the counterweight ring and the first magnetic block, so that the counterweight block slides on the inner wall of the center of the support plate in the direction away from the counterweight ring, and the first support spring rebounds to reset the plug rod and the plug block, so that the end of the plug rod is moved out of the circular hole, which facilitates the separation of the sterile adapter body from the collar and the sleeve. At the same time, the limit rod is moved out of the sterile adapter body through the through hole, and then the surgical instrument is pulled up to separate it from the sterile adapter body, achieving the purpose of rapid disassembly.

[0016] 2. By setting up an auxiliary adaptor mechanism, as the surgical instrument continues to be inserted, the outer walls of both ends of the pressure plate are in contact with the outer walls of the surgical instrument, and the torsion spring rebounds to pre-fix the surgical instrument. When the diameter of the surgical instrument is too large, the fixed seat and the round rod slide to cooperate with the movement stroke of the second support spring, so that the sterile adapter body can clamp and fix surgical instruments of different diameters, thereby improving the adaptability;

[0017] Among them, the limiting rod is pushed into the interior of the sterile adapter body through the through hole under the action of the counterweight ring. When the two ends of the pressure plate contact the outer wall of the end of the surgical instrument, the limiting rod is used to push and squeeze the rubber part in the opposite direction, so that the outer wall of the rubber part is tightly fitted with the outer wall of the end of the surgical instrument, and the flexible characteristics of the rubber part will not cause additional damage to the surface of the surgical instrument. By limiting the movement of the rubber part and the pressure plate during the use of the surgical instrument, the stability of the surgical instrument is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the sleeve-related parts of the present invention;

[0020] Figure 3 It is a side view of the three-dimensional structure of the relevant parts of the sleeve of the present invention;

[0021] Figure 4 It is a sectional view of the three-dimensional structure of the sleeve of the present invention;

[0022] Figure 5 It is a three-dimensional structural cross-sectional view of the sterile adapter body and the collar of the present invention in a combined state;

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the sterile adapter body of the present invention;

[0024] Figure 7 It is a partial cross-sectional view of the three-dimensional structure of the sterile adapter body of the present invention;

[0025] Figure 8 It is a schematic diagram of the three-dimensional structure of the related parts of the auxiliary adaptation mechanism of the present invention;

[0026] Fig. 9 It is a side view of the three-dimensional structure of the relevant parts of the auxiliary adaptation mechanism of the present invention.

[0027] The meaning of each number in the figure is:

[0028] 1. Surgical instrument manipulator body; 2. Sleeve; 21. Ring; 3. Sterile adapter body; 31. Partition; 4. Auxiliary combination mechanism; 41. Guide column; 42. Counterweight ring; 43. First magnetic block; 44. Cylinder; 45. Support block; 46. Second magnetic block;

[0029] 51. Insertion rod; 52. Insertion block; 53. First support spring; 54. Round hole; 61. Support plate; 62. Counterweight block; 71. Through hole; 72. Limit rod; 81. Positioning slide rail; 82. Positioning rod;

[0030] 9. Auxiliary adapting mechanism; 91. Round rod; 92. Fixed seat; 93. Pressing plate; 94. Second supporting spring; 95. Rubber member. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] Example 1, please refer to Figure 1-Figure 9As shown, the purpose of this embodiment is to provide a surgical instrument manipulator assembly and a sterile adapter, including a surgical instrument manipulator body 1 and a sterile adapter body 3. The outer wall of the manipulating end of the surgical instrument manipulator body 1 is fixedly connected with a sleeve 2, and the sterile adapter body 3 is installed at the end of the sleeve 2 away from the surgical instrument manipulator body 1. The outer wall of the end of the sleeve 2 away from the surgical instrument manipulator body 1 is fixedly connected with a collar 21. The sterile adapter body 3 is plugged into and matched with the collar 21, and the inner wall of the sterile adapter body 3 close to the sleeve 2 is fixedly connected with a partition 31. The end of the surgical instrument close to the patient during use is often in an upside-down state. When the surgical instrument is combined with the sleeve 2 and the collar 21, the surgical instrument manipulator The manipulating end of the body 1 is in a downward tilted state, and then the surgical instrument is combined with the sterile adapter body 3, and then the sterile adapter body 3 is combined with the collar 21 and the sleeve 2, so that it is convenient for the subsequent doctor to use the surgical instrument manipulator body 1 to control the use of the surgical instrument, saving manpower while releasing the surgical space, which is beneficial to the doctor's surgical operation. An auxiliary combining mechanism 4 for accurately inserting the sterile adapter body 3 into the collar 21 is provided between the sleeve 2 and the sterile adapter body 3, and an auxiliary adapting mechanism 9 for fixing surgical instruments of different diameters is provided inside the sterile adapter body 3. The auxiliary combining mechanism 4 includes guide columns 41 fixedly connected to the inner wall of the sleeve 2 symmetrically on the left and right, and a counterweight ring 4 is slidably connected between the outer walls of the two guide columns 41. 2. The outer wall of the counterweight ring 42 near the collar 21 is fixedly connected with a first magnetic block 43. The outer wall of the partition 31 near the collar 21 is symmetrically fixedly connected with a cylinder 44. The two cylinders 44 are arranged to penetrate the inner wall of the end of the sterile adapter body 3 near the collar 21. A support block 45 is slidably connected between the outer walls of the two cylinders 44. The outer wall of the support block 45 near the collar 21 is fixedly connected with a second magnetic block 46. The second magnetic block 46 is arranged to slide through the inner wall of the end of the sterile adapter body 3. There are two plug rods 51 symmetrically sliding through the inner wall of the sterile adapter body 3. Both ends of the support block 45 are designed with inclined surfaces. The two plug rods 51 are fixedly connected with plug blocks 52 at one end near the support block 45. The plug blocks 52 are in contact with the inclined ends of the support blocks 45, and the sterile A first supporting spring 53 is fixedly connected to the inner wall of the adapter body 3, and one end of the first supporting spring 53 close to the supporting block 45 is fixedly connected to the outer wall of the insert block 52. A circular hole 54 is symmetrically provided on the inner wall of the collar 21. The end of the insert rod 51 is squeezed by the inclined end of the supporting block 45 on the insert block 52 and extends into the inside of the circular hole 54. When the sterile adapter body 3 is inserted into the inside of the collar 21, under the action of gravity, the counterweight ring 42 and the first magnetic block 43 slide on the outer wall of the guide column 41 toward the side of the sterile adapter body 3. The first magnetic block 43 and the second magnetic block 46 are quickly attracted to each other by the magnetic attraction effect. During this period, the second magnetic block 46 slides on the outer wall of the cylinder 44 toward the side of the first magnetic block 43 through the supporting block 45.The inclined surfaces at both ends of the support block 45 squeeze the plug block 52 and the plug rod 51, so that the plug rod 51 slides on the inner wall of the sterile adapter body 3, and the plug block 52 squeezes the first support spring 53, and the plug rod 51 in the sliding state is inserted into the circular hole 54, so that the sterile adapter body 3 is quickly combined with the sleeve 2 and the ring 21, and they are tightly attracted together by magnetic force, avoiding lateral movement of the sterile adapter body 3 during subsequent use, and having good stability.

[0034] The auxiliary adapting mechanism 9 includes a round rod 91 fixedly connected to the inner wall of the sterile adapter body 3. A plurality of round rods 91 are evenly arranged inside the sterile adapter body 3. One end of the round rod 91 away from the inner wall of the sterile adapter body 3 is slidably connected to a fixing seat 92. A pressing plate 93 is hinged inside the fixing seat 92. When the sterile adapter body 3 is in an inclined state, the end of the surgical instrument is inserted into the sterile adapter body 3, and the outer wall of the end first contacts the outer wall of the pressing plate 93 close to the opening side of the sterile adapter body 3, so that the pressing plate 93 rotates to the opposite side inside the fixing seat 92, and at the same time squeezes the torsion spring inside the hinge. As the surgical instrument continues to extend, the outer walls at both ends of the pressing plate 93 contact the outer wall of the surgical instrument. The second support spring 94 is used to pre-fix the surgical instrument, and it is also convenient for the next use. The inner wall of the sterile adapter body 3 is also fixedly connected to a second support spring 94, and the other end of the second support spring 94 is fixedly connected to the side wall of the fixing seat 92. The outer wall of the bottom end of the pressure plate 93 is fixedly connected to a rubber member 95. When the diameter of the surgical instrument is too large, it will contact the outer wall of the pressure plate 93, and the pressure plate 93 and the fixing seat 92 will be pushed synchronously to slide on the outer wall of the round rod 91 toward the inner wall of the sterile adapter body 3. During this period, the second support spring 94 will be squeezed, and after the surgical instrument is inserted into place, the fixing seat 92 and the pressure plate 93 will be reset under the rebound action of the second support spring 94, so as to clamp and fix the surgical instrument. The second support spring 94 slides with the moving stroke of the second support spring 94, so that the sterile adapter body 3 can clamp and fix surgical instruments of different diameters, so that the adaptability is improved. At the same time, the convenient installation method allows the surgical instruments to be used quickly in the operation, reducing the probability of infection of the surgical instruments before the operation. A torsion spring is sleeved inside the hinge between the fixing seat 92 and the pressure plate 93. The outer contours of both ends of the pressure plate 93 are arc-shaped. When the outer wall of the pressure plate 93 is squeezed by the surgical instrument, it rotates inside the fixing seat 92 and squeezes the torsion spring. The outer contour of the rubber part 95 is an arc. When the pressure plate 93 rotates inside the fixing seat 92, it will rotate synchronously with the rubber part 95. After the sterile adapter body 3 is combined with the sleeve 2 and the ring 21, the inner wall of the partition 31 Four through holes 71 are evenly opened, and the outer wall of the counterweight ring 42 on one side of the first magnetic block 43 is evenly fixedly connected with four limit rods 72. The limit rods 72 are slidably matched with the through holes 71. Under the push of the counterweight ring 42, the limit rods 72 extend into the interior of the sterile adapter body 3 through the through holes 71. When the two ends of the pressure plate 93 contact the outer wall of the end of the surgical instrument, the limit rods 72 are used to push and squeeze the rubber part 95 in the opposite direction, so that the outer wall of the rubber part 95 is tightly fitted with the outer wall of the end of the surgical instrument, and the flexible characteristics of the rubber part 95 will not cause additional damage to the surface of the surgical instrument. By limiting the movement of the rubber part 95 and the pressure plate 93 during the use of the surgical instrument, the stability of the use of the surgical instrument is guaranteed, and the safety and controllability of the operation are improved.

[0035] The ends of the two guide columns 41 are fixedly connected with a support plate 61 located inside the sleeve 2, and a counterweight block 62 is slidably connected to the central inner wall of the support plate 61. The end of the counterweight block 62 away from the support plate 61 is fixedly connected to the outer wall of the counterweight ring 42 away from the first magnetic block 43. When the sterile adapter body 3 and the surgical instrument need to be replaced, the manipulating end of the surgical instrument manipulator body 1 is tilted upward, and the weight of the counterweight block 62 itself is greater than the weight of the counterweight ring 42 and the first magnetic block 43, so that the counterweight block 62 slides on the central inner wall of the support plate 61 in the direction away from the counterweight ring 42, so that the counterweight ring 42 slides synchronously and in the same direction on the outer wall of the guide column 41, thereby achieving the purpose of separating the first magnetic block 43 from the second magnetic block 46. At this time, the second magnetic block 46 and the support block 45 slide and reset on the outer wall of the cylinder 44, and then cooperate with the first support The rebound effect of the support spring 53 causes the insertion rod 51 and the insertion block 52 to reset, so that the end of the insertion rod 51 is moved out from the inside of the circular hole 54, which facilitates the separation of the sterile adapter body 3 from the ring 21 and the sleeve 2. At the same time, the limit rod 72 is moved out of the sterile adapter body 3 through the through hole 71, and then the surgical instrument is pulled up and separated from the sterile adapter body 3, thereby achieving the purpose of quick disassembly. The end of the ring 21 close to the sterile adapter body 3 is symmetrically fixedly connected with two positioning slide rails 81, and the outer wall of the sterile adapter body 3 is symmetrically fixedly connected with two positioning rods 82, and the positioning rod 82 is slidably matched with the positioning slide rail 81. When the sterile adapter body 3 is close to the ring 21, the positioning rod 82 is first aligned with the positioning slide rail 81 and then inserted to achieve the purpose of positioning, so that the sterile adapter body 3 and the ring 21 are more accurately plugged in.

[0036] When working:

[0037] When the manipulating end of the surgical instrument manipulator body 1 is in a downward tilted state, the end of the surgical instrument is inserted into the sterile adapter body 3, and the outer wall of the end first contacts the outer wall of the pressing plate 93 close to the opening side of the sterile adapter body 3, so that the pressing plate 93 rotates to the opposite side inside the fixing seat 92, and at the same time squeezes the torsion spring inside the hinge. As the surgical instrument continues to extend, the outer walls at both ends of the pressing plate 93 contact the outer wall of the surgical instrument, and the torsion spring rebounds to pre-fix the surgical instrument. When the diameter of the surgical instrument is too large, it contacts the pressing plate. When the outer wall of the round rod 93 contacts, the pressing plate 93 and the fixing seat 92 will be pushed synchronously to slide on the outer wall of the round rod 91 toward the inner wall of the sterile adapter body 3, during which the second supporting spring 94 will be squeezed, and after the surgical instrument is inserted into place, the fixing seat 92 and the pressing plate 93 will be reset under the rebound action of the second supporting spring 94, so as to clamp and fix the surgical instrument. Through the sliding of the fixing seat 92 and the round rod 91 and the moving stroke of the second supporting spring 94, the sterile adapter body 3 can meet the requirements of clamping and fixing surgical instruments of different diameters, so that the adaptability is improved;

[0038] Then align the positioning rod 82 with the positioning slide rail 81 and insert it to achieve the purpose of positioning, so that the sterile adapter body 3 and the ring 21 are plugged in more accurately. Then, under the action of gravity, the counterweight ring 42 and the first magnetic block 43 slide on the outer wall of the guide column 41 toward the sterile adapter body 3. The first magnetic block 43 and the second magnetic block 46 are quickly attracted to each other by the magnetic attraction effect. During this period, the second magnetic block 46 slides on the outer wall of the cylinder 44 toward the first magnetic block 43 through the support block 45, so that the inclined surfaces at both ends of the support block 45 squeeze the plug block 52 and the plug rod 51, so that The insertion rod 51 slides on the inner wall of the sterile adapter body 3, and the insertion block 52 squeezes the first support spring 53, and the insertion rod 51 in the sliding state is inserted into the circular hole 54, so that the sterile adapter body 3 is quickly combined with the sleeve 2 and the ring 21, and they are tightly attracted together by magnetic force to avoid lateral movement of the sterile adapter body 3 during subsequent use, and the stability is good. At the same time, the limiting rod 72 extends into the interior of the sterile adapter body 3 through the through hole 71 under the push of the counterweight ring 42. When the two ends of the pressure plate 93 contact the outer wall of the end of the surgical instrument, the limiting rod 72 is used to push and squeeze the rubber member 95 in the opposite direction. The outer wall of the rubber member 95 is closely fitted with the outer wall of the end of the surgical instrument, and the flexible feature of the rubber member 95 will not cause additional damage to the surface of the surgical instrument. By limiting the movement of the rubber member 95 and the pressure plate 93 during the use of the surgical instrument, the stability of the surgical instrument is ensured. When the sterile adapter body 3 and the surgical instrument need to be replaced, the manipulating end of the surgical instrument manipulator body 1 is tilted upward, and the weight of the counterweight block 62 itself is greater than the weight of the counterweight ring 42 and the first magnetic block 43, so that the counterweight block 62 slides on the inner wall of the center of the support plate 61 in a direction away from the counterweight ring 42, so that the counterweight ring 42 slides synchronously and in the same direction on the outer wall of the guide column 41, thereby achieving the purpose of separating the first magnetic block 43 from the second magnetic block 46. At this time, the second magnetic block 46 and the support block 45 slide and reset on the outer wall of the cylinder 44, and then cooperate with the rebound effect of the first support spring 53 to reset the insertion rod 51 and the insertion block 52, so that the end of the insertion rod 51 is moved out from the inside of the circular hole 54, which is convenient for the separation of the sterile adapter body 3, the ring 21 and the sleeve 2. At the same time, the limiting rod 72 is moved out of the sterile adapter body 3 through the through hole 71, and then the surgical instrument is pulled up and separated from the sterile adapter body 3, thereby achieving the purpose of quick disassembly.

[0039] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A surgical instrument manipulator assembly and a sterile adapter, comprising a surgical instrument manipulator body (1) and a sterile adapter body (3), wherein the outer wall of the manipulating end of the surgical instrument manipulator body (1) is fixedly connected to a sleeve (2), and the sterile adapter body (3) is mounted on an end of the sleeve (2) away from the surgical instrument manipulator body (1), characterized in that: The outer wall of the sleeve (2) at one end away from the surgical instrument manipulator body (1) is fixedly connected with a collar (21); the sterile adapter body (3) is plugged into and matched with the collar (21); the inner wall of the sterile adapter body (3) close to the sleeve (2) is fixedly connected with a partition (31); an auxiliary coupling mechanism (4) for accurately inserting the sterile adapter body (3) into the collar (21) is provided between the sleeve (2) and the sterile adapter body (3); an auxiliary adapting mechanism (9) for fixing surgical instruments of different diameters is provided inside the sterile adapter body (3); the auxiliary coupling mechanism (4) comprises a guide column (41) fixedly connected to the inner wall of the sleeve (2) symmetrically on the left and right; 1), a weight ring (42) is slidably connected between the outer walls of the two guide columns (41), a first magnetic block (43) is fixedly connected to the outer wall of the weight ring (42) close to the collar (21), a cylinder (44) is symmetrically fixedly connected to the outer wall of the partition (31) close to the collar (21), one end of the two cylinders (44) close to the collar (21) is arranged to penetrate the inner wall of the end of the sterile adapter body (3), a support block (45) is slidably connected between the outer walls of the two cylinders (44), and a second magnetic block (46) is fixedly connected to the outer wall of the support block (45) close to the collar (21), and the second magnetic block (46) is arranged to slide through the inner wall of the end of the sterile adapter body (3).

2. The surgical instrument manipulator assembly and sterile adapter according to claim 1, characterized in that: The inner wall of the sterile adapter body (3) is symmetrically and slidingly penetrated by two insertion rods (51), both ends of the support block (45) are designed with inclined surfaces, and the two insertion rods (51) are fixedly connected with an insertion block (52) at one end close to the support block (45), and the insertion block (52) is in abutment with the inclined end of the support block (45). The inner wall of the sterile adapter body (3) is fixedly connected with a first support spring (53), and the end of the first support spring (53) close to the support block (45) is fixedly connected to the outer wall of the insertion block (52), and the inner wall of the ring (21) is symmetrically provided with circular holes (54), and the end of the insertion rod (51) extends into the interior of the circular hole (54) after the insertion block (52) is squeezed by the inclined end of the support block (45).

3. The surgical instrument manipulator assembly and sterile adapter according to claim 1, characterized in that: A support plate (61) is fixedly connected to the ends of the two guide columns (41) and is located inside the sleeve (2). A counterweight block (62) is slidably connected to the central inner wall of the support plate (61). The end of the counterweight block (62) away from the support plate (61) is fixedly connected to the outer wall of the counterweight ring (42) away from the first magnetic block (43).

4. The surgical instrument manipulator assembly and sterile adapter according to claim 1, characterized in that: The inner wall of the partition (31) is evenly provided with a plurality of through holes (71) in an annular array, and the outer wall of the counterweight ring (42) located on one side of the first magnetic block (43) is evenly fixedly connected with a plurality of limit rods (72), and the limit rods (72) are slidably matched with the through holes (71).

5. The surgical instrument manipulator assembly and sterile adapter according to claim 1, characterized in that: Two positioning rails (81) are symmetrically fixedly connected to the end of one side of the ring (21) close to the sterile adapter body (3), and two positioning rods (82) are symmetrically fixedly connected to the outer wall of the sterile adapter body (3), and the positioning rods (82) are slidably matched with the positioning rails (81).

6. The surgical instrument manipulator assembly and sterile adapter according to claim 1, characterized in that: The auxiliary adapting mechanism (9) comprises a round rod (91) fixedly connected to the inner wall of the sterile adapter body (3), and a plurality of the round rods (91) are evenly arranged inside the sterile adapter body (3). One end of the round rod (91) away from the inner wall of the sterile adapter body (3) is slidably connected to a fixing seat (92), and a pressure plate (93) is hinged inside the fixing seat (92). The inner wall of the sterile adapter body (3) is also fixedly connected to a second supporting spring (94), and the other end of the second supporting spring (94) is fixedly connected to the side wall of the fixing seat (92). The outer wall of the bottom end of the pressure plate (93) is fixedly connected to a rubber member (95).

7. The surgical instrument manipulator assembly and sterile adapter according to claim 6, characterized in that: A torsion spring is sleeved inside the hinged joint between the fixing seat (92) and the pressing plate (93), and the outer contours of both ends of the pressing plate (93) are arc-shaped. When the outer wall of the pressing plate (93) is squeezed by a surgical instrument, it rotates inside the fixing seat (92) and squeezes the torsion spring.

8. The surgical instrument manipulator assembly and sterile adapter according to claim 6, characterized in that: The outer contour of the rubber member (95) is in an arc shape, and when the pressing plate (93) rotates inside the fixing seat (92), it will rotate synchronously with the rubber member (95).

Images