Cannula adapter and surgical robot

Abstract

The invention provides a cannula adapter and a surgical robot. The bushing adapter includes a housing and a button assembly. The shell is provided with a mounting hole. The mounting hole penetrates through the containing cavity and the outside in the second direction. The button assembly is connected to the containing cavity of the shell. The button assembly comprises a leaf spring, a hook and an operation part. The connection section of the leaf spring is fixed to the housing. The operating portion and the hook are connected to the working section of the leaf spring. The operation part and the hook are movably arranged in the mounting hole in a penetrating mode between the extending position and the retracting position in the second direction. The deformation space needed by the leaf spring in the second direction is small, so that the leaf spring can be arranged in the long and narrow space extending in the first direction, the size of the sleeve adapter in the second direction can be reduced, and the compactness of the structure of the sleeve adapter in the second direction is higher.

Description

Technical Field

[0001] This application generally relates to the technical field of medical devices, and more specifically to a cannula adapter and a surgical robot. Background Art

[0002] In the related art, the cannula adapter is connected to the cannula through a sterile adapter. The cannula adapter is snap-fitted to the sterile adapter through a detachable snap structure. The cannula adapter includes a button. When the button is pressed along a preset correct pressing direction, it can control the sterile adapter to disengage from the cannula adapter. However, the button in the related art is installed on the cannula adapter through a compression spring. The compression spring occupies a relatively large installation space in the preset correct pressing direction, which is not conducive to the miniaturization of the cannula adapter.

[0003] Therefore, it is necessary to provide a cannula adapter and a surgical robot to at least partially solve the above problems. Summary of the Invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further elaborated in the Detailed Description section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0005] To at least partially solve the above problems, a first aspect of this application provides a cannula adapter, which includes:

[0006] A housing, an accommodation cavity extending in a first direction is formed inside the housing, the housing is provided with a mounting hole, and the mounting hole penetrates through the accommodation cavity and the outside along a second direction, and the second direction is perpendicular to the first direction; and

[0007] A button assembly, the button assembly is connected to the accommodation cavity, and the button assembly includes:

[0008] A leaf spring, the thickness direction of the leaf spring intersects with the first direction, the leaf spring includes a connecting section and a working section arranged in sequence along the first direction, and the connecting section is fixed to the housing;

[0009] A hook, the hook is connected to one end of the working section far from the connecting section, and the hook is arranged corresponding to the mounting hole along the second direction; and

[0010] An operating part, the operating part is connected to a part of the working section close to the hook, the operating part is movably disposed through the mounting hole between an extended position and a retracted position along the second direction, in the second direction, the operating part at the extended position protrudes more from the outer surface of the housing than the operating part at the retracted position, and the operating part is held at the extended position under the action of the elastic force applied by the working section.

[0011] And the hook extends out of the mounting hole.

[0012] According to the sleeve adapter of the first aspect of the present application, by arranging the leaf spring in the accommodating cavity extending along the first direction in the housing, the connecting section of the leaf spring is fixedly connected to the housing, and a button and a hook are arranged at one end of the working section of the leaf spring far from the connecting section. When the button is pressed and moves towards the retracted position, the leaf spring can provide an elastic force for the button to reset towards the extended position; when the button is released, the button and the hook reset towards the extended position under the action of the elastic force of the leaf spring. By adopting this technical solution, since the space required by the leaf spring along the second direction is small when pressed, the leaf spring can be arranged in a long and narrow space extending along the first direction, which helps to reduce the size of the sleeve adapter along the second direction and makes the structure of the sleeve adapter more compact in the second direction.

[0013] Optionally,

[0014] The working section includes a first end and a second end spaced along the first direction, the first end of the working section is closer to the connecting section than the second end, and the second end of the working section is closer to the mounting hole than the first end in the second direction.

[0015] Optionally, when the operating part is at the extended position, the working section is arranged in a bent deformation state, and the center of curvature of the working section is located on the side of the working section far from the mounting hole along the second direction, so as to apply an elastic pre-tightening force along the second direction towards the mounting hole to the operating part.

[0016] Optionally, the housing includes a separating part at the mounting hole, the separating part is used to separate the mounting hole into a first hole and a second hole spaced along the first direction, the first hole is correspondingly arranged with the operating part along the second direction, the first hole is adapted to pass through the operating part, the second hole is correspondingly arranged with the hook along the second direction, and the second hole is adapted to pass through the hook.

[0017] Optionally, the sleeve adapter further includes a sealing ring, the sealing ring is connected to the first hole and sleeved on the outer periphery of the operating part to seal the gap between the operating part and the first hole.

[0018] Optionally, the outer peripheral surface of the operating part includes a guiding surface and an abutting surface arranged in sequence along the second direction. The abutting surface is farther from the outside of the housing than the guiding surface along the second direction. The abutting surface intersects with the second direction. The abutting surface is used to abut against the sealing ring so that the operating part is held in the extended position. The guiding surface and the abutting surface intersect to form a sealing groove, and the sealing groove is used to accommodate the sealing ring.

[0019] Optionally, the guiding surface intersects with the second direction. The guiding surface has an outer end and an inner end spaced along the second direction. The outer end of the guiding surface is farther from the abutting surface than the inner end. In a plane perpendicular to the second direction, the area of the projection of the outer end of the guiding surface is larger than the area of the projection of the inner end, and the projection of the inner end of the guiding surface is completely located inside the projection of the outer end.

[0020] Optionally, the abutting surface is perpendicular to the second direction.

[0021] Optionally, in the natural state where the sealing ring is not sleeved outside the operating part, the radial inner dimension of the sealing ring is smaller than the radial outer dimension of the guiding surface.

[0022] Optionally, the housing includes:

[0023] A main body, an opening is formed in a portion of the main body facing outward along the second direction. The accommodating cavity is located in the main body, and the accommodating cavity communicates with the opening; and

[0024] A cover body, the cover body is detachably connected to the opening, and the mounting hole is formed in the cover body.

[0025] Optionally, the operating part and the hook are integrally formed.

[0026] Optionally, two accommodating cavities are provided inside the housing. The two accommodating cavities are arranged opposite to each other along the second direction. The housing is provided with two mounting holes. The two mounting holes are located on two opposite sides of the housing along the second direction. The sleeve adapter includes two button assemblies. The two button assemblies are respectively arranged in the two accommodating cavities, and the two button assemblies are respectively arranged in one-to-one correspondence with the two mounting holes.

[0027] Optionally, in the first direction, the hook is farther from the connecting section than the operating part.

[0028] A second aspect of the present application provides a surgical robot, and the surgical robot includes:

[0029] The above-mentioned cannula adapter has a connection hole provided at an end thereof along the first direction;

[0030] Aseptic adapter, which is connected to the end of the cannula adapter along the first direction. The aseptic adapter includes a through hole and a hanging hole. The through hole penetrates the aseptic adapter along the first direction, and the through hole is arranged corresponding to the connection hole along the first direction. The hanging hole penetrates through to the through hole and the outside along the second direction, and the hanging hole is adapted to be hooked and connected to the hook; and

[0031] Cannula, which includes an insertion portion. The insertion portion extends along a direction perpendicular to the length direction of the cannula. The insertion portion passes through the through hole and is inserted into the connection hole.

[0032] The surgical robot according to the second aspect of the present application can improve the structural compactness of the surgical robot and the flexibility of the robotic arm by applying the above-mentioned cannula adapter, and realize the miniaturization of the volume of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The embodiments of the present application and their descriptions are shown in the drawings to explain the principles of the present application. In the drawings,

[0034] Figure 1 is a schematic diagram of a surgical robot according to a preferred embodiment of the present application;

[0035] Figure 2 is a schematic diagram of a robotic arm system according to a preferred embodiment of the present application;

[0036] Figure 3 is a schematic diagram of the connection of the cannula adapter, the aseptic adapter and the cannula according to a preferred embodiment of the present application;

[0037] Figure 4 is Figure 3 an exploded view of the shown cannula adapter, aseptic adapter and cannula;

[0038] Figure 5 is a schematic diagram of the structure of the cannula adapter according to another preferred embodiment of the present application after removing the button assembly;

[0039] Figure 6 is Figure 1 and Figure 2 a schematic diagram of the structure of the cover body in;

[0040] Figure 7 is Figure 1 and Figure 2 a schematic diagram of the structure of the button assembly in;

[0041] Figure 8 For Figure 1 and Figure 2 a sectional view of the cannula adapter in

[0042] Figure 9 For Figure 1 and Figure 2 another sectional view of the cannula adapter in

[0043] Figure 10 For Figure 1 and Figure 2 yet another sectional view of the cannula adapter in

[0044] Figure 11 For Figure 10 a partial enlarged view at I in

[0045] Description of reference numerals:

[0046] 1: Surgical robot 10: Control system

[0047] 20: Imaging system 30: Manipulator system

[0048] 31: Adjusting arm 32: Operating arm

[0049] 33: Column 34: Handle

[0050] 35: Base 36: Instrument arm

[0051] 100: Cannula adapter 100a: Connecting hole

[0052] 101: Housing 102: Accommodating cavity

[0053] 103: Body 103a: Opening

[0054] 104: Cover 104a: Mounting hole

[0055] 104b: First hole 104c: Second hole

[0056] 105: Sealing ring 106: Button assembly

[0057] 107: Leaf spring 107a: Connecting section

[0058] 107b: Working section 108: Hook

[0059] 109: Operating part 109a: Guide surface

[0060] 109b: Contact surface 109c: Sealing groove

[0061] 111: Jaw 120: Sterile adapter

[0062] 121: Through hole 122: Hooking hole

[0063] 130: Sleeve 131: Insertion part

[0064] 131a: Hooking groove D1: First direction

[0065] D2: Second direction D3: Third direction Detailed implementation mode

[0066] In the following description, a large number of specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present application, some technical features well known in the art are not described.

[0067] In order to thoroughly understand the embodiments of the present application, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0068] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present application. The singular forms of "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they specify the presence of the stated features, wholes, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0069] The ordinal numbers such as "first" and "second" cited in the present application are only identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in the present application are only for the purpose of illustration and are not limitations.

[0070] The expressions such as "parallel" / "perpendicular" and similar ones used in the present application include both absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (for example, relationships within the range of -5° to +5° from the absolute parallel / perpendicular), which can achieve equivalent effects.

[0071] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings, which show representative embodiments of the present application and do not limit the present application.

[0072] As Figure 1 and Figure 2 shown, the present invention provides a surgical robot for remotely manipulating to complete a surgery. The surgical robot 1 may also be referred to as a medical system or a medical robot. The surgical robot 1 may include a control system 10, an imaging system 20, and a robotic arm system 30, which can communicate with each other.

[0073] The control system 10 is also referred to as a doctor's console or a control device. The control system 10 has a display unit for displaying a surgical instrument or an endoscope environment, a control mechanism for a doctor to operate, an armrest, etc. The display unit is provided with an observation window for the doctor to observe. The control mechanism is configured to perform various actions corresponding to the actions of the surgical instrument or the endoscope. The armrest is used to place the doctor's arm. In addition, on the doctor's console, there are also other control switches that are convenient for the hands or feet to touch or press for various functional operations to complete human-machine interaction.

[0074] The imaging system 20 has a display screen, an endoscope controller, system electronics, an image processor, etc. Thus, the internal organs of the patient can be presented to the operator more clearly.

[0075] The robotic arm system 30, also referred to as a beside-patient robotic arm system. The robotic arm system 30 is arranged beside the patient, and a surgical instrument or an endoscope is provided at its distal end for performing various surgical operations on the patient. The robotic arm system 30 may include at least one robotic arm. The robotic arm has a plurality of connecting arms, and two adjacent connecting arms are connected by a joint and relatively move with a specific degree of freedom, so that the end of the robotic arm can achieve multiple degrees of freedom of movement. An instrument support frame is installed at the end of the robotic arm, and the surgical instrument is detachably installed on the instrument support frame. The instrument support frame may be referred to as a tool holding arm 36 or an instrument arm. An instrument drive module is provided on the instrument support frame to drive the end effector of the surgical instrument to perform actions such as insertion, clamping, hooking, cutting, shoveling, etc.

[0076] In some cases, a single robotic arm may include an adjustment arm 31, an operating arm 32, and an instrument-holding arm 36. A surgical instrument or an endoscope is detachably mounted on the instrument-holding arm 36. During a surgery, a partial main pipeline and a wrist mechanism of the surgical instrument are passed through tissues such as the chest and abdominal walls to replace the human hand to perform the surgery. Two adjacent linkages in the adjustment arm 31 are pivotally connected through a rotating joint. In addition, a rotating joint is also provided between the adjustment arm 31 and the operating arm 32 to achieve pivotal connection. Before operating the robotic arm system 30 to perform a surgery, it is necessary to first operate the adjustment arm 31 to make the instrument-holding arm 36 reach a designated position, and then lock the rotating joints of the adjustment arm 31. During the surgery, the operating arm 32 is remotely controlled to complete the surgical operation, and at the same time, the rotating joints of the adjustment arm 31 are locked to prevent relative rotation between the linkages of the adjustment arm 31 during the surgery.

[0077] In one example, referring to Figure 2 , the robotic arm system 30 includes a base 35. A column 33 and a handle 34 are provided on the base 35. The column 33 includes at least one set of lifting mechanisms (not labeled). For example, the column 33 includes four sets of lifting mechanisms, and each set of lifting mechanisms corresponds to a robotic arm. An operator can assist in moving the base 35 through the handle 34.

[0078] The inventor found that the button in the related art is mounted on the sleeve adapter through a compression spring. The compression spring occupies a relatively large installation space in the preset correct pressing direction, which is not conducive to the miniaturization of the sleeve adapter.

[0079] To solve the above technical problems, the present application provides a sleeve adapter 100 and a surgical robot. The sleeve adapter 100 is adapted to be directly or indirectly connected to a sleeve 130. For example, the sleeve adapter 100 can be directly mounted on the sleeve 130. For another example, the sleeve adapter 100 can be mounted on the sleeve 130 through a sterile adapter 120, that is, a sterile adapter 120 is added between the sleeve adapter 100 and the sleeve 130.

[0080] Next, reference will be made to Figures 1 to 11 the example shown to detail the sleeve adapter 100 and the surgical robot 1 according to the present application.

[0081] Referring to Figures 3 to 11, the cannula adapter 100 according to the present application may include a housing 101 and a button assembly 106. An accommodation cavity 102 extending in a first direction D1 is formed inside the housing 101. The housing 101 is provided with a mounting hole 104a. The mounting hole 104a penetrates through to the accommodation cavity 102 and the outside along a second direction D2. The second direction D2 is perpendicular to the first direction D1. The button assembly 106 is connected to the accommodation cavity 102. The button assembly 106 may include a leaf spring 107, a hook 108, and an operation part 109. The thickness direction of the leaf spring 107 intersects with the first direction D1. The leaf spring 107 includes a connecting section 107a and a working section 107b arranged in sequence along the first direction D1. The connecting section 107a is fixed to the housing 101. The hook 108 is connected to one end of the working section 107b far from the connecting section 107a. The hook 108 is arranged corresponding to the mounting hole 104a along the second direction D2. Here, the second direction D2 is substantially consistent with the thickness direction of the leaf spring 107. The operation part 109 is connected to a portion of the working section 107b close to the hook 108. The operation part 109 is movably inserted through the mounting hole 104a between an extended position and a retracted position along the second direction D2. In the second direction D2, the operation part 109 in the extended position protrudes more from the outer surface of the housing 101 than the operation part 109 in the retracted position. The operation part 109 is held in the extended position under the action of the elastic force applied by the working section 107b, and causes the hook 108 to extend to the outside of the mounting hole 104a. In other words, when the operation part 109 is in the extended position, the hook 108 protrudes from the outer surface of the housing 101. In the installed state where the cannula adapter 100 of the present application is assembled with the cannula 130 or the sterile adapter 120, when the operation part 109 is in the extended position, the hook 108 can be used to prevent the cannula 130 or the sterile adapter 120 from detaching from the cannula adapter 100. When the operation part 109 is pressed and moved to the retracted position, more parts of the hook 108 retract into the inside of the housing 101, so that the hook 108 can avoid the action of the cannula 130 or the sterile adapter 120 detaching from the cannula adapter 100, that is, the cannula 130 or the sterile adapter 120 is allowed to detach from the cannula adapter 100.

[0082] In the installed state where the cannula adapter 100 is connected to the cannula 130 (as Figure 3 shown), the cannula adapter 100, the sterile adapter 120, and the cannula 130 are arranged in sequence along the first direction D1.

[0083] The sleeve adapter 100 according to the first aspect of the present application arranges the leaf spring 107 in the receiving cavity 102 extending along the first direction D1 within the housing 101. The connecting section 107a of the leaf spring 107 is fixedly connected to the housing 101, and a button and a hook 108 are provided at one end of the working section 107b of the leaf spring 107 that is far from the connecting section 107a. When the button is pressed and moves towards the retracted position, the leaf spring 107 can provide an elastic restoring force for the button to reset towards the extended position; when the button is released, the button and the hook 108 reset towards the extended position under the action of the elastic force of the leaf spring 107. By adopting this technical solution, since the space required by the leaf spring 107 along the second direction D2 is smaller when being pressed, the leaf spring 107 can be arranged in a narrow space extending along the first direction D1, which helps to reduce the size of the sleeve adapter 100 along the second direction D2, making the structure of the sleeve adapter 100 more compact in the second direction D2.

[0084] Refer to Figures 8 to 10 , Further, the working section 107b may include a first end and a second end spaced along the first direction D1. The first end of the working section 107b is closer to the connecting section 107a than the second end. And the second end of the working section 107b is closer to the mounting hole 104a in the second direction D2 than the first end. Here, the connecting section 107a may be partially connected to the housing 101 or may be completely connected to the housing 101. It can be understood that the connection between the connecting section 107a and the housing 101 can be point contact, line contact or surface contact, which can be specifically set according to actual needs. The first end of the working section 107b is fixedly arranged relative to the housing 101. When the second end of the working section 107b moves under the action of a force along the second direction D2, the working section 107b undergoes elastic deformation, and at the same time, the working section 107b stores an elastic restoring force. After the force along the second direction D2 applied to the second end of the working section 107b, the working section 107b automatically resets under the action of the elastic restoring force.

[0085] Refer to Figures 8 to 10 , Optionally, the connecting section 107a extends along the first direction D1. The length direction of the connecting section 107a intersects with the length direction of the working section 107b. The length direction of the connecting section 107a intersects with the second direction D2. For example, the shape of the combination of the connecting section 107a and the working section 107b is V-shaped. If the connecting section 107a is completely connected to the housing 101, it can also reduce the occupation of the space of the sleeve adapter 100 in the second direction D2, and helps to improve the stability and structural strength of the connection structure between the leaf spring 107 and the housing 101, which is also beneficial to more reliably maintaining the posture of the working section 107b.

[0086] Refer to Figure 8For example, when the operating portion 109 is in the extended position, the working section 107b is arranged in a bent deformation state, and the center of curvature of the working section 107b is located on the side of the working section 107b away from the mounting hole 104a along the second direction D2, so as to apply an elastic preload force along the second direction D2 toward the mounting hole 104a to the operating portion 109. The bent deformation state here can be understood as the initial state of the working section 107b when the operating portion 109 is installed to the mounting hole 104a and is not pressed. Here, by maintaining the elastic preload force of the working section 107b during installation, a certain damping feeling can be provided when the operating portion 109 is pressed, and at the same time, it is prevented that there is an empty stroke in the pressing process of the operating portion 109 due to the existence of the assembly volume. Furthermore, since the working section 107b has an elastic preload force, it is also beneficial to prevent the working section 107b from being fatigued and unable to reset after the operating portion 109 is pressed multiple times, which greatly improves the service life of the button assembly 106.

[0087] Further, in Figure 10 and Figure 11 In the example shown, if the mounting hole 104a is larger and the operating portion 109 is not constrained along the second direction D1, the working section 107b in the natural state can allow a larger portion of the operating portion 109 to extend outside the housing 101 than when it is in the extended position. This shows that the operating portion 109 in the extended position causes the working section 107b to have a certain elastic deformation, thereby generating a corresponding elastic preload force.

[0088] Optionally, the leaf spring 107 may be a metal sheet that can undergo elastic deformation when subjected to force.

[0089] See also Figures 3 to 6 ,as well as Figure 8 and Figure 9 For example, the housing 101 may include a partition located at the mounting hole 104a. The partition is used to separate the mounting hole 104a into a first hole 104b and a second hole 104c spaced apart along the first direction D1. The first hole 104b is arranged corresponding to the operating portion 109 along the second direction D2. The first hole 104b is adapted to penetrate the operating portion 109. The second hole 104c is arranged corresponding to the hook 108 along the second direction D2. The second hole 104c is adapted to penetrate the hook 108. In the case where the operating portion 109 and the hook 108 share a mounting hole 104a, the opening of the mounting hole 104a is relatively large, so that during the installation or use of the button assembly 106, there is a risk that the operating portion 109 and the hook 108 will withdraw from the mounting hole 104a to the outside of the housing 101, thereby reducing the service life of the button assembly 106. Here, by providing a partition in the mounting hole 104a, the operating portion 109 and the hook 108 are respectively inserted into the first hole 104b and the second hole 104c which are independent of each other, the corresponding technical problem can be solved.

[0090] Refer to Figure 8 and Figure 9 In addition, the cannula adapter 100 may further include a sealing ring 105. The sealing ring 105 is connected to the first hole 104b. And the sealing ring 105 is sleeved on the outer periphery of the operating portion 109 to seal the gap between the operating portion 109 and the first hole 104b. When the cannula adapter 100 is installed with the cannula 130, a sterile adapter 120 is usually provided between the cannula adapter 100 and the cannula 130. The sterile adapter 120 has a hole adapted to hook and connect to the hook 108. In the installed state where the cannula adapter 100 is connected to the sterile adapter 120 (as shown in Figure 3 ), the sterile adapter 120 will at least partially cover the second hole 104c, while the second hole 104c generally will not be covered by the sterile adapter 120. Here, by adding the sealing ring 105 to seal the gap between the operating portion 109 and the first hole 104b, foreign objects can be prevented from entering the interior of the cannula adapter 100. The sealing ring 105 can also play a certain guiding role in the movement direction of the operating portion 109 during the movement of the operating portion 109, so that the operating portion 109 can maintain the corresponding posture movement under the elastic acting force of the sealing ring 105, which helps to prevent the problem of the leaf spring 107 being twisted due to pressing different positions of the operating portion 109.

[0091] Refer to Figures 8 to 11 , for example, the outer peripheral surface of the operating portion 109 may include a guiding surface 109a and an abutting surface 109b arranged in sequence along the second direction D2. The abutting surface 109b is farther from the outside of the housing 101 than the guiding surface 109a along the second direction D2. That is, the abutting surface 109b is closer to the inner cavity of the housing 101 than the guiding surface 109a. The abutting surface 109b intersects with the second direction D2. The abutting surface 109b is used to abut against the sealing ring 105 to keep the operating portion 109 in the extended position. The guiding surface 109a and the abutting surface 109b are arranged intersectingly to form a sealing groove 109c. The sealing groove 109c is used to accommodate the sealing ring 105. When the operating portion 109 is in the extended position, the sealing ring 105 and the operating portion 109 are in sealing fit. During the process that the operating portion 109 moves from the extended position to the retracted position under the pressing force along the second direction D2, the operating portion 109 will gradually squeeze the sealing ring 105, so that the sealing ring 105 deforms and generates a corresponding elastic acting force under the squeezing action; after the pressing force applied to the operating portion 109 is cancelled, the operating portion 109 will reset under the combined action of the elastic restoring force of the leaf spring 107 and the elastic acting force of the sealing ring 105.

[0092] Continue to refer to Figures 8 to 11, Further, the guiding surface 109a intersects the second direction D2. The guiding surface 109a has an outer end and an inner end spaced along the second direction D2. The outer end of the guiding surface 109a is farther from the abutting surface 109b than the inner end. In a plane perpendicular to the second direction D2, the projected area of the outer end of the guiding surface 109a is larger than the projected area of the inner end. And the projection of the inner end of the guiding surface 109a is completely located inside the projection of the outer end. It can be understood that the guiding surface 109a of the operating part 109 here can be, but is not limited to, the surface structure of a conical surface. The cross-section of the conical surface here can be any shape such as circular or square.

[0093] Refer to again Figures 10 to 11 , Further, the abutting surface 109b is perpendicular to the second direction D2. This can enable the abutting surface 109b to reliably abut against the sealing ring 105 in the second direction D2 to achieve sealing, and can also achieve the limit of the operating part 109 through the cooperation of the sealing ring 105 and the abutting surface 109b.

[0094] Refer to Figures 3 to 6 , and Figures 8 to 11 , Optionally, the first hole 104b can be a hole with a shape such as a square hole or a circular hole. Correspondingly, the operating part 109 can be a square button or a circular button. Since a sealing ring 105 is provided between the first hole 104b and the operating part 109. In the embodiment where the operating part 109 has a guiding surface 109a and an abutting surface 109b, based on the guiding function of the guiding surface 109a, when a pressing force is applied to any position of the operating part 109, the operating part 109 will squeeze the rubber ring, so that the leaf spring 107 will not be twisted, which is beneficial to improving the service life of the button assembly 106.

[0095] Refer to Figures 8 to 11 , For example, in the natural state where the sealing ring 105 is not sleeved on the outside of the operating part 109, the radial inner dimension of the sealing ring 105 is smaller than the radial outer dimension of the guiding surface 109a. In the installed state where the sealing ring 105 is sleeved on the outside of the operating part 109, the sealing ring 105 has a radial deformation amount, so that the sealing ring 105 can be reliably attached to the operating part 109. During the movement of the operating part 109, since the outer peripheral surface of the operating part 109 is always in sealed contact with the sealing ring 105, a seal can always be maintained between the operating part 109 and the first hole 104b, further improving the dynamic sealing performance between the operating part 109 and the first hole 104b.

[0096] Optionally, the above-mentioned sealing ring 105 can be a structure made of a soft elastic material. For example, the sealing ring 105 can be made of one of elastic soft rubbers such as rubber, silica gel, and silicone rubber.

[0097] Refer to Figure 3 , Figure 4 andFigure 6 , and Figures 8 to 11 , for example, the housing 101 may include a main body 103 and a cover 104. An opening 103a is formed in a portion of the main body 103 facing outward along the second direction D2. The accommodating cavity 102 is located in the main body 103. And the accommodating cavity 102 communicates with the opening 103a. The cover 104 is detachably connected to the opening 103a. An installation hole 104a is formed in the cover 104. By providing the opening 103a in the main body 103 of the housing 101 and detachably installing the cover 104 at a position corresponding to the opening 103a on the main body 103. Here, the size of the opening 103a may be larger than that of the installation hole 104a, so that the button assembly 106 can be inserted through the opening 103a when the cover 104 is not installed, and then the cover 104 is installed. In this way, the assembly operation of the button assembly 106 is facilitated, which helps to improve the assembly efficiency.

[0098] In Figure 3 and Figure 4 the example shown, the cover 104 is located on the side of the housing 101. At the same time, the cover 104 is provided with a first hole 104b and a second hole 104c. The shape of the first hole 104b is the same as that of the operating portion 109. The first hole 104b is slightly larger than the size of the operating portion 109 to allow the movement of the operating portion 109. And, a rubber ring is fixed around the first hole 104b, and the rubber ring here constitutes the above-mentioned sealing ring 105. The shape of the second hole 104c is adapted to the hook 108, and the aperture of the second hole 104c is slightly larger than the outer dimension of the hook 108 to allow the hook 108 to move along the second direction D2 in the second hole 104c.

[0099] In Figures 8 to 11 the example shown, the operating portion 109 and the hook 108 are integrally formed. It can be understood that making the operating portion 109 and the hook 108 into one piece is beneficial to improving the production efficiency and the strength of the connection structure between the operating portion 109 and the hook 108.

[0100] In other examples, the operating portion 109 and the hook 108 may be two independent structures. Or, the two are separately made and assembled together.

[0101] Refer to Figure 5 , and in combination with Figure 3 、 Figure 4 and Figures 8 to 11, for example, two receiving cavities 102 are provided inside the housing 101. The two receiving cavities 102 are arranged opposite to each other along the second direction D2. The housing 101 is provided with two mounting holes 104a. The two mounting holes 104a are located at two opposite sides of the housing 101 along the second direction D2. The cannula adapter 100 includes two button assemblies 106. The two button assemblies 106 are respectively arranged in the two receiving cavities 102. And the two button assemblies 106 are respectively arranged in one-to-one correspondence with the two mounting holes 104a. By providing two receiving cavities 102 in the housing 101 for respectively mounting a set of button assemblies 106, button assemblies 106 are provided on opposite sides of the cannula adapter 100 along the second direction D2, which helps to reliably connect the cannula adapter 100 and the sterile adapter 120, and also facilitates the operator to synchronously press the operating parts 109 of the two button assemblies 106 to unlock the cannula adapter 100 and the sterile adapter 120.

[0102] Refer to Figure 7 、 Figures 8 to 11 , further, in the first direction D1, the hook 108 is farther from the connecting section 107a than the operating part 109. The hook 108 is used to connect the sterile adapter 120. When the cannula adapter 100 is connected to the instrument holding arm, the hook 108 is farther from the instrument holding arm than the operating part 109, and the end of the cannula adapter 100 away from the instrument holding arm is used to mount the sterile adapter 120.

[0103] The cannula adapter of the present application has the following beneficial effects:

[0104] The present application uses the leaf spring 107 as the main power for the rebound of the operating part 109 and the hook 108. Due to its greater stiffness, in the same pressing stroke, the longer leaf spring 107 has a smaller change in stiffness; at the same time, the space required for the leaf spring 107 to deform in the second direction D2 is smaller, so that the leaf spring 107 can be installed in a narrow space.

[0105] A bending part is formed between the connecting section 107a and the working section 107b of the leaf spring 107 of the present application. Since the button needs to have a certain pre-tightening force to prevent an empty stroke during pressing. At the same time, in order not to affect the pressing feel, when the operating part 109 is in the extended position, the second end of the leaf spring 107 is substantially parallel to the cover body 104. It is necessary for the leaf spring 107 to intersect with the cover body 104 or the first direction D1 in the free state. If there is no bending structure between the connecting section 107a and the working section 107b of the leaf spring 107, as the length of the leaf spring 107 increases, more space will be occupied in the second direction D2 at the fixed section.

[0106] In this application, an elastic rubber ring is used as the sealing ring 105 and filled in the gap between the sealing groove 109c of the operating part 109 and the first hole 104b of the cover body 104, so as to prevent the leaf spring 107 from twisting and causing the hook 108 not to move along the predetermined trajectory when different positions of the operating part 109 are pressed. At the same time, the sealing groove 109c of the operating part 109 is an asymmetric structure, so that the operating part 109 can be limited during the movement to the extended position, and a part of the resilience is provided by the sealing ring 105 when the operating part 109 is reset, which is beneficial to improving the feel of the operator using the operating part 109.

[0107] Referring to Figures 1 to 11 , this application also provides a surgical robot. The surgical robot 1 may include the above-mentioned cannula adapter 100, the sterile adapter 120 and the cannula 130. A connection hole 100a is provided at the end of the cannula adapter 100 along the first direction D1. The sterile adapter 120 is connected to the end of the cannula adapter 100 along the first direction D1. The sterile adapter 120 includes a through hole 121 and a hook hole 122. The through hole 121 penetrates the sterile adapter 120 along the first direction D1. The through hole 121 is arranged corresponding to the connection hole 100a along the first direction D1. The hook hole 122 penetrates to the through hole 121 and the outside along the second direction D2. The hook hole 122 is adapted to be hooked and connected to the hook 108. The cannula 130 may include an insertion portion 131. The insertion portion 131 extends in a direction perpendicular to the length direction of the cannula 130. The insertion portion 131 passes through the through hole 121 and is inserted into the connection hole 100a. It can be understood that the insertion portion 131 of the cannula 130 passes through the through hole 121 of the sterile adapter 120 and is connected to the connection hole 100a of the cannula adapter 100. Through the cooperation of the sterile adapter 120 and the cannula adapter 100 through the hook 108 and the hook hole 122, the sterile adapter 120 can be connected to the cannula adapter 100 by a connection method of hook connection, snap connection or a combination of both.

[0108] According to the surgical robot of the present application, by applying the above-mentioned cannula adapter 100, the structural compactness of the surgical robot and the flexibility of the robotic arm can be improved, and the volume of the robotic arm can be miniaturized.

[0109] Referring to Figure 3 and Figure 4, Further, the insertion portion 131 is a boss protruding radially outward along the sleeve 130. Hook grooves 131a are formed on opposite sides of the boss. The sleeve adapter 100 includes jaws 111 located inside the housing 101. The jaws 111 are adapted to at least partially insert into the hook grooves 131a to prevent the sleeve 130 from detaching from the sleeve adapter 100 along the first direction D1 or radially of the sleeve 130. During installation, the hook 108 of the sleeve adapter 100 can pass through the hook hole 122 of the sterile adapter 120, such that the hook 108 is snap-connected to the sterile adapter 120, thereby fixing the sleeve adapter 100 to the sterile adapter 120. The shapes of the connection hole 100a of the sleeve adapter 100 and the through hole 121 of the sterile adapter 120 are substantially adapted, and the insertion portion 131 of the sleeve 130 can be embedded in the through hole 121 and the connection hole 100a and clamped and fixed by the jaws 111 inside the sleeve adapter 100. In the installed state, the length direction or the axial direction of the sleeve 130 can be denoted as the third direction D3.

[0110] The installation steps of the button assembly 106 can be as follows: Fix the connection section 107a of the leaf spring 107 to the inner side of the housing 101 of the sleeve adapter 100. The bending direction of the working section 107b relative to the connection section 107a is outward. Then, fix the operating portion 109 to the second end of the working section 107b of the leaf spring 107. Subsequently, install a rubber ring in the first hole 104b of the cover body 104. Subsequently, install the cover body 104 at the opening 103a of the outer shell of the sleeve adapter 100, such that the operating portion 109 passes through the first hole 104b of the cover body 104 and the hook 108 passes through the second hole 104c of the cover body 104. At this time, the rubber ring is stuck in the sealing groove 109c of the operating portion 109. When the cover body 104 is installed on the main body 103, the bending angle of the leaf spring 107 can exactly make the pressing surface of the operating portion 109 substantially parallel to the first direction D1, and at this time, the rubber ring is located in the sealing groove 109c of the operating portion 109.

[0111] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of this application. The terms used herein are only for the purpose of describing specific implementation purposes and are not intended to limit this application. Terms such as "arranged" that appear herein can either mean that one component is directly attached to another component or that one component is attached to another component through an intermediate member. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0112] The present application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative and explanatory purposes, and are not intended to limit the present application to the scope of the described embodiments. Those skilled in the art can understand that according to the teachings of the present application, more variations and modifications can be made, and these variations and modifications all fall within the scope claimed by the present application.

Claims

1. A sleeve adapter, characterized in that, the sleeve adapter comprises: a housing, an accommodation cavity extending in a first direction is formed inside the housing, the housing is provided with a mounting hole, the mounting hole penetrates through to the accommodation cavity and the outside along a second direction, and the second direction is perpendicular to the first direction; and a button assembly, the button assembly is connected to the accommodation cavity, and the button assembly comprises: a leaf spring, the thickness direction of the leaf spring intersects with the first direction, the leaf spring comprises a connecting section and a working section arranged in sequence along the first direction, and the connecting section is fixed to the housing; a hook, the hook is connected to one end of the working section far away from the connecting section, and the hook is arranged corresponding to the mounting hole along the second direction; and an operating part, the operating part is connected to a part of the working section close to the hook, the operating part is movably arranged through the mounting hole between an extended position and a retracted position along the second direction, in the second direction, the operating part at the extended position protrudes more from the outer surface of the housing than the operating part at the retracted position, and the operating part is held at the extended position under the action of an elastic acting force applied by the working section, and the hook extends out of the mounting hole.

2. The sleeve adapter according to claim 1, characterized in that, the working section comprises a first end and a second end spaced along the first direction, the first end of the working section is closer to the connecting section than the second end, and the second end of the working section is closer to the mounting hole than the first end in the second direction.

3. The sleeve adapter according to claim 2, characterized in that, when the operating part is in the extended position, the working section is arranged in a bent deformation state, and the center of curvature of the working section is located on the side of the working section far away from the mounting hole along the second direction, so as to apply an elastic pre-tightening force along the second direction towards the mounting hole to the operating part.

4. The sleeve adapter according to any one of claims 1 to 3, characterized in that, the housing comprises a partition part located at the mounting hole, the partition part is used for separating the mounting hole into a first hole and a second hole spaced along the first direction, the first hole is arranged corresponding to the operating part along the second direction, the first hole is adapted to penetrate through the operating part, the second hole is arranged corresponding to the hook along the second direction, and the second hole is adapted to penetrate through the hook.

5. The sleeve adapter according to claim 4, characterized in that, the sleeve adapter further comprises a sealing ring, the sealing ring is connected to the first hole and sleeved on the outer periphery of the operating part to seal the gap between the operating part and the first hole.

6. The sleeve adapter according to claim 5, characterized in that, The outer peripheral surface of the operating part includes a guiding surface and an abutting surface arranged in sequence along the second direction. The abutting surface is farther from the outside of the housing than the guiding surface along the second direction. The abutting surface intersects with the second direction. The abutting surface is used to abut against the sealing ring so that the operating part is held in the extended position. The guiding surface and the abutting surface intersect and are arranged to form a sealing groove, and the sealing groove is used to accommodate the sealing ring.

7. The cannula adapter according to claim 6, wherein, the guiding surface intersects with the second direction. The guiding surface has an outer end and an inner end spaced along the second direction. The outer end of the guiding surface is farther from the abutting surface than the inner end. In a plane perpendicular to the second direction, the area of the projection of the outer end of the guiding surface is larger than the area of the projection of the inner end, and the projection of the inner end of the guiding surface is completely located inside the projection of the outer end.

8. The cannula adapter according to claim 6, wherein, the abutting surface is perpendicular to the second direction.

9. The cannula adapter according to claim 6, wherein, in a natural state where the sealing ring is not sleeved on the outside of the operating part, the radial inner dimension of the sealing ring is smaller than the radial outer dimension of the guiding surface.

10. The cannula adapter according to any one of claims 1 to 3, wherein, the housing includes: a body, an opening is provided at a portion of the body facing outward along the second direction, the accommodating cavity is located in the body, and the accommodating cavity communicates with the opening; and a cover body, the cover body is detachably connected to the opening, and the mounting hole is provided in the cover body.

11. The cannula adapter according to any one of claims 1 to 3, wherein, the operating part and the hook are integrally formed.

12. The cannula adapter according to any one of claims 1 to 3, wherein, two accommodating cavities are provided inside the housing. The two accommodating cavities are arranged opposite to each other along the second direction. Two mounting holes are provided in the housing. The two mounting holes are located on two opposite sides of the housing along the second direction. The cannula adapter includes two button assemblies. The two button assemblies are respectively arranged in the two accommodating cavities, and the two button assemblies are respectively arranged in one-to-one correspondence with the two mounting holes.

13. The cannula adapter according to any one of claims 1 to 3, wherein, in the first direction, the hook is farther from the connecting section than the operating part.

14. A surgical robot, wherein, the surgical robot includes: the cannula adapter according to any one of claims 1 to 13, and a connecting hole is provided at an end of the cannula adapter along the first direction; Aseptic adapter, the aseptic adapter is connected to an end of the cannula adapter along the first direction, the aseptic adapter includes a through hole and a hanging hole, the through hole penetrates the aseptic adapter along the first direction, the through hole is arranged corresponding to the connection hole along the first direction, the hanging hole penetrates to the through hole and the outside along the second direction, and the hanging hole is adapted to be hooked and connected to the hook; and Cannula, the cannula includes an insertion portion, the insertion portion extends along a direction perpendicular to the length direction of the cannula, and the insertion portion passes through the through hole and is inserted into the connection hole.

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