Curtain mounting tool and curtain assembly

Abstract

The invention provides a curtain mounting tool and a curtain assembly. A drape mounting tool for mounting a sterile drape to a surgical robotic assembly includes a body portion, a first support, and a second support. A cavity with openings in the two ends is defined by the main body part and used for containing at least one part of the sterile curtain. The first supporting piece and the second supporting piece are arranged on the inner side wall of the main body part at different heights. The first supporting piece and the second supporting piece are used for supporting a first installation piece and a second installation piece of the sterile curtain, wherein the first installation piece and the second installation piece are mutually independent and arranged at intervals. When the curtain installation tool is assembled to the surgical robot assembly, the sterile curtain can be installed to the surgical robot assembly, it is ensured that the sterile curtain can be correctly installed, and the installation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a curtain installation tool and a curtain assembly. Background Art

[0002] In robot-assisted or remotely controlled surgical instrument surgeries, surgeons typically operate a master controller to control the movement of surgical instruments at the patient's surgical site from a position away from the patient. The surgical instruments are articulated on a robotic manipulator adjacent to the patient. During the surgery, since a part of the electromechanical surgical manipulator will be located adjacent to the surgical site, the surgical manipulator will be contaminated during the surgery. However, servo motors, sensors, encoders, and electrical connections necessary for the robotic control motors cannot be disinfected using conventional methods such as steam, heating, pressurization, or chemical methods because the system components will be damaged or destroyed during the disinfection process. Therefore, from a safety perspective, it is preferably to use a method of covering the surgical manipulator with a disposable sterile curtain to avoid the problems of machine contamination and patient infection.

[0003] Considering that the dimensions of the sterile curtain are relatively large in both diameter and length, it usually requires the cooperation of multiple nurses to complete the installation, resulting in low installation efficiency. Summary of the Invention

[0004] The present application provides a curtain installation tool and a curtain assembly that can improve the installation efficiency of a sterile curtain.

[0005] An embodiment of the present application provides a curtain installation tool for installing a sterile curtain onto a surgical robot assembly. The curtain installation tool includes:

[0006] A main body portion that defines a cavity with two open ends, and the cavity is used to accommodate at least a part of the sterile curtain; and

[0007] A first support member and a second support member, which are provided at different heights on the inner side wall of the main body portion, and the first support member and the second support member are respectively used to support the first installation member and the second installation member of the sterile curtain that are independent of each other and spaced apart.

[0008] Further, the main body portion is in the shape of a cylinder with substantially the same diameter. When using the curtain installation tool to install the sterile curtain, the first support member is located above the second support member, and the width of the first support member in the radial direction of the main body portion is smaller than the width of the second support member in the radial direction of the main body portion.

[0009] Further, the second support member is rotatably switched between a first position and a second position. In the first position, the second support member is received in the limiting groove of the second mounting member to fix the second mounting member to the curtain mounting tool. In the second position, the second support member is removed from the limiting groove so that the curtain mounting tool is separated from the second mounting member.

[0010] Further, a first anti-rotation portion is provided on the outer side wall of the main body portion. The first anti-rotation portion is used to cooperate with a second anti-rotation portion on the outer side wall of the first mounting member to limit the circumferential rotation of the curtain mounting tool relative to the first mounting member.

[0011] Further, the first anti-rotation portion is a groove portion, and the second anti-rotation portion is a first protrusion. The first protrusion is used to be inserted into the groove portion to limit the circumferential rotation of the curtain mounting tool relative to the first mounting member; and

[0012] The sterile curtain is provided with a first positioning hole, and after passing through the groove portion, the first protrusion is received in the first positioning hole.

[0013] Further, the curtain mounting tool includes a convex edge extending outward from the main body portion in the radial direction thereof. The convex edge is used for a user to apply force to separate the curtain mounting tool from the sterile curtain after the sterile curtain is mounted to the surgical robot assembly.

[0014] An embodiment of the present application further provides a curtain assembly for a surgical robot assembly, including:

[0015] A sterile curtain, including a first mounting member and a second mounting member that are independent of each other and spaced apart; and

[0016] A curtain mounting tool, including:

[0017] A main body portion, the main body portion enclosing a cavity with two open ends, and the cavity is used to receive at least a part of the sterile curtain; and

[0018] A first support member and a second support member, which are arranged at different heights on the inner side wall of the main body portion. The first support member and the second support member are respectively used to support the first mounting member and the second mounting member.

[0019] Further, the surgical robot assembly includes a first manipulator and a second manipulator rotatably connected to the first manipulator. The second manipulator is used to drive a plurality of surgical instruments;

[0020] The first mounting member is configured to be detachably mounted to the first manipulator;

[0021] The second mounting member is configured to be detachably mounted to the second manipulator, and when the sterile drape is mounted on the surgical robot assembly, the first mounting member and the second mounting member are independently spaced apart; and

[0022] A drape, comprising a first drape portion connected to the first mounting member and a second drape portion connected to the second mounting member. When the sterile drape is mounted on the surgical robot assembly, the first drape portion is used to cover the first manipulator, and the second drape portion is used to cover the surgical instrument mounted on the second manipulator.

[0023] Further, the main body portion is in the shape of a cylinder with substantially the same diameter. When the sterile drape is mounted using the drape mounting tool, the first support member is located above the second support member, and the width of the first support member in the radial direction of the main body portion is smaller than the width of the second support member in the radial direction of the main body portion.

[0024] Further, the second mounting member is provided with a limiting groove, and the second support member can be rotatably switched between a first position and a second position. In the first position, the second support member is received in the limiting groove to fix the second mounting member to the drape mounting tool. In the second position, the second support member is removed from the limiting groove so that the drape mounting tool is detached from the second mounting member.

[0025] Further, a first anti-rotation portion is provided on the outer side wall of the main body portion, and a second anti-rotation portion is provided on the inner side wall of the first mounting member. The first anti-rotation portion is used to cooperate with the second anti-rotation portion to limit the circumferential rotation of the drape mounting tool relative to the first mounting member.

[0026] Further, the drape mounting tool includes a convex edge extending outward from the main body portion in its radial direction. The convex edge is used for the user to apply force to separate the drape mounting tool from the sterile drape after the sterile drape is mounted on the surgical robot assembly.

[0027] The drape mounting tool according to the embodiment of the present application includes a main body portion, and a first support member and a second support member which are arranged on the inner side wall of the main body portion at different heights. The main body portion defines a cavity with two open ends for receiving at least a part of the sterile drape. The first support member and the second support member are respectively used to support the first mounting member and the second mounting member of the sterile drape which are independent and spaced apart. When the drape mounting tool is assembled to the surgical robot assembly, the sterile drape can be mounted to the surgical robot assembly, ensuring that the sterile drape can be correctly mounted and improving the mounting efficiency. Description of the Drawings

[0028] Figure 1 is a schematic structural diagram of a surgical robot system according to an embodiment of the present application;

[0029] Figure 2 is Figure 1 a schematic structural diagram of the connection between the first manipulator and the second manipulator of the surgical robot system shown;

[0030] Figure 3 is the state schematic diagram of the sterile curtain of the surgical robot system according to an embodiment of the present application installed on Figure 1 the first manipulator and the second manipulator shown;

[0031] Figure 4 is Figure 3 a top view of the surgical robot system shown;

[0032] Figure 5 is Figure 4 a schematic cross-sectional view of the surgical robot system along line A-A shown;

[0033] Figure 6 is Figure 5 a schematic diagram of the third curtain part of the sterile curtain shown twisted in the direction of the arrow;

[0034] Figure 7 is Figure 3 a schematic structural diagram of the first mounting member of the sterile curtain;

[0035] Figure 8 is Figure 5 a partial enlarged view of part A in;

[0036] Figure 9 is Figure 3 a schematic structural diagram of the second mounting member of the sterile curtain;

[0037] Figure 10 is Figure 9 a schematic structural diagram of another perspective of the second mounting member shown;

[0038] Figure 11 is Figure 5 a partial enlarged view of part B in;

[0039] Figure 12 is a schematic structural diagram of a curtain installation tool according to an embodiment of the present application;

[0040] Figure 13 is Figure 12 a schematic structural diagram of another perspective of the curtain installation tool shown;

[0041] Figure 14 is Figure 12 a schematic cross-sectional view of the curtain installation tool along line B-B shown;

[0042] Figure 15 Is Figure 3 A schematic diagram of the state after the first and second mounting members of the sterile drape in [[ ]] are assembled with the drape mounting tool;

[0043] Figure 16 Is Figure 3 The assembled drawing of the surgical robot system shown in [[ ]] and Figure 12 The drape mounting tool shown in [[ ]];

[0044] Figure 17 Is Figure 16 The top view of the assembled drawing shown in [[ ]];

[0045] Figure 18 Is Figure 17 The sectional schematic diagram along line C-C of the assembled drawing shown in [[ ]];

[0046] Figure 19 Is Figure 18 The enlarged view of part C in [[ ]];

[0047] Figure 20 Is Figure 18 The enlarged view of part D in [[ ]];

[0048] Figure 21 A schematic diagram of the state where the sterile drape of another embodiment of the present application is mounted on the first manipulator and the second manipulator;

[0049] Figure 22 Is Figure 21 The bottom view of the schematic diagram of the state shown in [[ ]];

[0050] Figure 23 Is Figure 22 The sectional schematic diagram along line D-D of the bottom view shown in [[ ]];

[0051] Figure 24 Is Figure 23 The enlarged view of part E in [[ ]];

[0052] Figure 25 Is Figure 21 The structural schematic diagram of the first mounting member shown in [[ ]];

[0053] Figure 26 Is Figure 21 The structural schematic diagram of the second mounting member shown in [[ ]];

[0054] Figure 27 Is Figure 26 The structural schematic diagram of the second mounting member from another perspective shown in [[ ]];

[0055] Figure 28 Is applied to Figure 21 The structural schematic diagram of the drape mounting tool for the sterile drape in [[ ]];

[0056] Figure 29 is Figure 21 A schematic diagram of the state after the first and second mounting members of the sterile curtain in [[ ]] are assembled with the curtain mounting tool;

[0057] Figure 30 is Figure 29 A schematic cross-sectional view of the curtain assembly shown along line E-E;

[0058] Figure 31 is Figure 30 An enlarged view of part F in [[ ]]. Specific embodiments

[0059] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0060] The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in the present application should have the ordinary meaning as understood by those of ordinary skill in the art to which the present application belongs. The "first", "second" and similar terms used in the specification and claims of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a" or "an" do not indicate a quantity limitation, but mean that there is at least one. "Plurality" or "several" means two or more. Unless otherwise specified, the similar terms such as "front", "rear", "lower" and / or "upper" are only for convenience of description and are not limited to a position or a spatial orientation. The terms such as "comprising" or "including" mean that the elements or objects appearing before "comprising" or "including" cover the elements or objects listed after "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. The singular forms of "a", "an" and "the" used in the specification and appended claims of the present application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0061] Please refer to Figure 1, an embodiment of the present application provides a surgical robot system, including a surgical robot 100 and a sterile drape 200. Specifically, the surgical robot 100 is a single-port surgical robot. The surgical robot includes three components: a doctor's console (not shown), a patient-side robotic arm system, and an imaging system (not shown).

[0062] Among them, on the doctor's console, there is a display unit for showing the surgical instrument environment, a doctor's operation control mechanism, and an armrest. Among them, an observation window is opened on the display unit for the doctor to observe. The movement of the operation control mechanism corresponds to the movement of the surgical instrument. 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, used to perform various function operations and complete human-machine interaction.

[0063] The patient-side robotic arm system includes several robotic arms. The robotic arm has several connecting arms. Adjacent two connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom (such as 7 degrees of freedom, which may vary according to different instruments) movement. An instrument driver is installed on the end shutdown arm of the robotic arm, and a surgical instrument or an endoscope is detachably installed on the instrument driver.

[0064] The surgical instrument includes three parts: a rear-end mechanism, a main pipeline extending from the rear-end mechanism to the front end, and an end effector including a wrist mechanism at the front end of the main pipeline. Usually, the instrument driver drives the movement of multiple cables in the main pipeline through the rear-end mechanism, thereby driving the wrist mechanism. During the operation, a part of the main pipeline and the wrist mechanism of the surgical instrument are passed through tissues such as the chest and abdominal wall to replace the human hand for the operation.

[0065] The imaging system has a display screen, an endoscope controller, system electronic equipment, an image processor, etc.

[0066] Please refer to Figure 2 , the patient-side robotic arm system of the surgical robot 100 according to the embodiment of the present application includes a first manipulator 1 and a second manipulator 2 rotatably connected to the first manipulator 1. The second manipulator 2 is used to drive a plurality of surgical instruments (not shown).

[0067] The first manipulator 1 is located at the end of the connecting rod of the patient-side robotic arm system. During the operation, the second manipulator 2 provides the connection and control of various surgical instruments. The various surgical instruments can be tissue forceps, needle drivers, electrocautery probes, etc. Each of the various surgical instruments performs different functions for the surgeon, such as clamping or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue.

[0068] Please refer to Figures 3 to 5, an embodiment of the present application provides a sterile drape 200 for a surgical robot 100. The sterile drape 200 includes a first mounting member 3, a second mounting member 4, and a drape 5.

[0069] The first mounting member 3 is configured to be detachably mounted to the first manipulator 1. The second mounting member 4 is configured to be detachably mounted to the second manipulator 2. The first mounting member 3 and the second mounting member 4 are used to detachably mount the sterile drape 200 to the patient-side robotic arm system.

[0070] The drape 5 includes a first drape portion 51 connected to the first mounting member 3 and a second drape portion 53 connected to the second mounting member 4.

[0071] When the sterile drape 200 is mounted on the surgical robot 100, the first mounting member 3 and the second mounting member 4 are independently and spaced apart. The first drape portion 51 is used to cover the first manipulator 1, and the second drape portion 53 is used to cover the surgical instrument mounted on the second manipulator 2.

[0072] Optionally, the drape 5 can be a transparent plastic film.

[0073] In the present application, the independently and spaced-apart setting means that there is no physical direct connection between the first mounting member 3 and the second mounting member 4, and they are two independent components. However, as described below, the first mounting member 3 and the second mounting member 4 can be connected by other components.

[0074] In the existing sterile drape, the first part and the second part are rotatably connected. Due to manufacturing tolerances and other problems, it is easy to deform, resulting in a large frictional force when the two rotate, affecting the rotation of the second manipulator. In the present application, the first mounting member 3 and the second mounting member 4 are independently and spaced apart, and there is no mating relationship in structure. When the second manipulator 2 rotates relative to the first manipulator 1, no frictional force will be generated between the first mounting member 3 and the second mounting member 4. Therefore, the sterile drape 200 will not affect the rotation of the second manipulator 2; nor will it generate or increase the frictional force due to the deformation caused by the process problems of the first mounting member 3 and the second mounting member 4, resulting in problems such as overheating due to an increase in the motor driving force, ensuring the rotation of the second manipulator 2.

[0075] Optionally, the second drape portion 53 includes a plurality of bag portions 531, and each bag portion 531 is used to sleeved on a surgical instrument.

[0076] Optionally, the first drape portion 51 can be adhesively fixed to the first mounting member 3; the second drape portion 53 can be adhesively fixed to the second mounting member 4. The present application does not limit the fixing method of the drape 5 to the first mounting member 3 and the second mounting member 4.

[0077] The curtain 5 further includes a third curtain portion 52. One end of the third curtain portion 52 is connected to the first curtain portion 51, and the other end is connected to the second curtain portion 53. When the sterile curtain 200 is installed on the surgical robot 100, the third curtain portion 52 seals the area between the first mounting member 3 and the second mounting member 4.

[0078] Please refer to Figures 5 to 6 , when the sterile curtain 200 is installed on the surgical robot 100, the second mounting member 4 is sleeved on the second manipulator 2, and the third curtain portion 52 includes a stacking portion 520 stacked on the outer sidewall of the second mounting member 4 in the thickness direction of the second mounting member 4. Specifically, the thickness direction is the direction from the center of the second mounting member 4 to the outside. During the rotation of the second manipulator 2 relative to the first manipulator 1, the third curtain portion 52 will be twisted. The setting of the stacking portion can prevent the third curtain portion 52 from causing resistance to the rotation of the second manipulator 2 during the twisting process.

[0079] Specifically, the second manipulator 2 includes a rotating member 23, and the rotating member 23 is rotatably connected to the first manipulator 1. The first manipulator 1 is provided with a rotating hole 10 for receiving the end of the rotating member 23. If the stacking portion 520 is not provided, when the second manipulator 2 rotates 180 degrees, the inner diameter d2 of the smallest inner diameter in the space formed after the third curtain portion 52 with a height of H2 is twisted approaches zero, and the third curtain portion 52 will contact the rotating member 23 to generate resistance, affecting the rotation of the second manipulator 2. By stacking the third curtain portion 52 with a total length of H2 to form the stacking portion 520 and compressing the height H2 to H1, during the rotation of the second manipulator 2, when the second manipulator 2 rotates 180 degrees, the inner diameter d2 of the smallest inner diameter in the space formed after the third curtain portion 52 is twisted will become larger. By designing the height H1 of the third curtain portion 52 until the inner diameter d2 is greater than the diameter d1 of the rotating member 23, the third curtain portion 52 can be prevented from contacting the rotating member 23, thereby preventing the curtain 5 from hindering the rotation of the second manipulator 2. That is, the distance between the first mounting member 3 and the second mounting member 4 is set such that within the relative rotation range of the first manipulator 1 and the second manipulator 2, the twisting of the third curtain portion 52 is not interfered by the rotating member 23, so as to prevent resistance from being generated between the third curtain portion 52 and the rotating member 23 and affecting the rotation of the second manipulator 2.

[0080] Please refer to Figures 7 to 8, the first mounting member 3 is in the shape of a cylinder with a substantially uniform diameter. The first mounting member 3 includes a first sleeved body 30 and a first deformation portion 31 provided on the first sleeved body 30. The first sleeved body 30 is used to be sleeved outside the first manipulator 1, and a first fixing portion 33 is provided on the first deformation portion 31. The first fixing portion 33 is used to cooperate with the second fixing portion 11 on the first manipulator 1 to detachably fix the first mounting member 3 and the first manipulator 1. Wherein, the first deformation portion 31 is used to deform when abutting against the first manipulator 1 during the installation process of the sterile curtain 200, so that the first fixing portion 33 cooperates with the second fixing portion 11.

[0081] Optionally, the first deformation portion 31, the second fixing portion 11 and the first fixing portion 33 are all provided in multiple numbers. The multiple first deformation portions 31 are distributed along the circumferential direction of the first sleeved body 30, and the multiple second fixing portions 11 are distributed along the circumferential direction of the first manipulator 1 to increase the stability after the first mounting member 3 and the first manipulator 1 are fixed. Optionally, the multiple first deformation portions 31 are evenly distributed along the circumferential direction of the first sleeved body 30; the multiple second fixing portions 11 are evenly distributed along the circumferential direction of the first manipulator 1.

[0082] Two adjacent first grooves 35 are formed on the first sleeved body 30, and the first sleeved body 30 between the two first grooves 35 is the first deformation portion 31. Optionally, the number of the first grooves 35 can be an even number greater than two, and the even number of first grooves 35 are distributed along the circumferential direction of the first sleeved body 30.

[0083] The first fixing portion 33 is a buckle provided on the inner wall of the first deformation portion 31, and the second fixing portion 11 is a buckle groove. The first fixing portion 33 is provided with a first guiding portion 331 that is inclined relative to the first sleeved body 30 to guide the first fixing portion 33 into the buckle groove. The first guiding portion 331 is a slightly concave continuous curved surface extending in the height direction of the first sleeved body 30. The first fixing portion 33 is provided with a pair of second guiding portions 332 that are inclined relative to the first sleeved body 30. The pair of second guiding portions 332 are provided on opposite sides of the first guiding portion 331, and the pair of second guiding portions 332 are formed by chamfering on both sides of the buckle.

[0084] Please refer to Figure 2 , correspondingly, the inner wall of the buckle groove is provided with a third guiding portion 111 that cooperates with the second guiding portion 332. The third guiding portion 111 is a groove that is wide outside and narrow inside. When the first mounting member 3 needs to be disassembled, rotate the first mounting member 3. Under the cooperation of the third guiding portion 111 and the second guiding portion 332, the first fixing portion 33 can easily slide out of the buckle groove, so that the first fixing portion 33 is disengaged from the buckle of the second fixing portion 11, which is convenient for disassembling the first mounting member 3.

[0085] Please refer to again Figures 7 to 8, the first mounting member 3 includes a flange 32 provided on the inner bottom wall of the first sleeved body 30. The flange 32 is used to indicate whether the first mounting member 3 is properly installed. When installing the sterile drape 200, if the flange 32 abuts against the bottom of the first manipulator 1, it indicates that the first mounting member 3 has reached the installation position.

[0086] Please refer to Figure 7 , a second anti-rotation portion 34 is provided on the outer side wall of the first sleeved body 30. Optionally, the second anti-rotation portion 34 is a first bump. Please refer to Figure 8 , the sterile drape 200 is provided with a first positioning hole 511, and the first bump is received in the first positioning hole 511 to increase the stability of the sterile drape 200 and prevent the drape 5 from being distorted during transportation or installation.

[0087] Please refer to Figures 9 to 11 , the second mounting member 4 is in the shape of a cylinder with a substantially uniform diameter. The second mounting member 4 includes a second sleeved body 40 and a second deformation portion 41 provided on the second sleeved body 40. The second sleeved body 40 is used to be sleeved outside the second manipulator 2. A third fixing portion 43 is provided on the second deformation portion 41, and the third fixing portion 43 is used to cooperate with a fourth fixing portion 22 on the second manipulator 2 to detachably fix the second mounting member 4 to the second manipulator 2. Among them, the second deformation portion 41 is used to deform when abutting against the second manipulator 2 during the installation of the sterile drape 200, so that the third fixing portion 43 cooperates with the fourth fixing portion 22.

[0088] Optionally, the second deformation portion 41, the third fixing portion 43, and the fourth fixing portion 22 are all provided in plurality. The plurality of second deformation portions 41 are distributed along the circumferential direction of the second sleeved body 40, and the plurality of fourth fixing portions 22 are distributed along the circumferential direction of the second manipulator 2 to increase the stability after the second mounting member 4 is fixed to the second manipulator 2. Optionally, the plurality of second deformation portions 41 are evenly distributed along the circumferential direction of the second sleeved body 40; the plurality of fourth fixing portions 22 are evenly distributed along the circumferential direction of the second manipulator 2.

[0089] Please refer to Figure 9 , two adjacent second grooves 45 are formed on the second sleeved body 40, and the second sleeved body 40 between the two second grooves 45 is the second deformation portion 41. Optionally, the number of the second grooves 45 can be an even number greater than two, and the even number of second grooves 45 are distributed along the circumferential direction of the second sleeved body 40.

[0090] The third fixing part 43 is a buckle provided on the inner wall of the second deformation part 41, and the fourth fixing part 22 is a buckle groove. The third fixing part 43 is provided with a fourth guiding part 431 that is inclined with respect to the second sleeved body 40 to guide the third fixing part 43 into the buckle groove. The fourth guiding part 431 is a slightly concave continuous curved surface extending in the height direction of the second sleeved body 40. The third fixing part 43 is provided with a pair of fifth guiding parts 432 that are inclined with respect to the second sleeved body 40. The pair of fifth guiding parts 432 are arranged on opposite sides of the fourth guiding part 431, and the pair of fourth guiding parts 431 are formed by chamfering both sides of the buckle.

[0091] Please refer to Figure 2 , correspondingly, the inner wall of the buckle groove is provided with a sixth guiding part 221 that cooperates with the fifth guiding part 432. When the second mounting member 4 needs to be disassembled, the second mounting member 4 is rotated. Under the cooperation of the sixth guiding part 221 and the fifth guiding part 432, the third fixing part 43 can easily slide out of the buckle groove, so that the third fixing part 43 is disengaged from the buckle of the fourth fixing part 22, facilitating the disassembly of the second mounting member 4.

[0092] Please refer to Figure 9 , a second anti-rotation part 34 is provided on the outer side wall of the second sleeved body 40. Optionally, the second anti-rotation part 34 is a second convex block. Please refer to Figure 8 , the sterile curtain 200 is provided with a second positioning hole 521, and the second convex block is received in the second positioning hole 521 to increase the stability of the sterile curtain 200 and prevent the curtain 5 from being distorted during transportation or installation.

[0093] Please refer to Figure 10 , the second mounting member 4 includes a bottom wall 42 connected to the bottom end of the second sleeved body 40 and a plurality of assembling parts 46 connected to the bottom wall 42. The bottom wall 42 is provided with a plurality of through holes 421 for surgical instruments to pass through. The assembling parts 46 surround the periphery of some surgical instruments. The second curtain part 53 is sleeved and fixed on the assembling parts 46 to facilitate the fixing of the second curtain part 53; when the sterile curtain 200 is packaged, the second curtain part 53 passes through the assembling parts 46 for storage.

[0094] Please refer to Figure 10, a limiting groove 48 is provided at one end of the second sleeve body 40. Optionally, a first positioning block 471 and a third positioning block 473 are provided on the second sleeve body 40. Along the height direction of the second sleeve body 40, the third positioning block 473 is located above the first positioning block 471, and the first positioning block 471 and the third positioning block 473 enclose the limiting groove 48. The first positioning block 471 and the third positioning block 473 are used to limit the movement of an object inserted between the first positioning block 471 and the third positioning block 473 in the height direction of the second sleeve body 40. Depending on the length of the object inserted between the first positioning block 471 and the third positioning block 473 in the circumferential direction of the second sleeve body 40, the first positioning block 471 and the third positioning block 473 may be partially oppositely arranged in the height direction of the second sleeve body 40, or there may be no partially oppositely arranged part in the circumferential direction of the second sleeve body 40.

[0095] Optionally, a second positioning block 472 is further provided on the second sleeve body 40. The first positioning block 471, the second positioning block 472 and the third positioning block 473 enclose the limiting groove 48. In the height direction of the second sleeve body 40, the second positioning block 472 is located between the first positioning block 471 and the third positioning block 473. Along the circumferential direction of the second sleeve body 40, the second positioning block 472 and the third positioning block 473 are located on opposite sides of the first positioning block 471.

[0096] Optionally, the second positioning block 472 and the first positioning block 471 are connected into an L shape.

[0097] In the height direction of the second sleeve body 40, the third positioning block 473 and the second positioning block 472 are staggeredly arranged. Optionally, the third positioning block 473 and the second positioning block 472 may also be partially or completely aligned. Please refer to Figure 11 As shown, a plurality of limiting grooves 48 are provided, and they are spaced and evenly distributed along the circumferential direction of the second sleeve body 40. A plurality of first positioning blocks 471 are provided, and they are evenly distributed along the circumferential direction of the second sleeve body 40; a plurality of second positioning blocks 472 are provided, and they are evenly distributed along the circumferential direction of the second sleeve body 40; a plurality of third positioning blocks 473 are provided, and they are evenly distributed along the circumferential direction of the second sleeve body 40; a plurality of stop blocks 474 are provided, and they are evenly distributed along the circumferential direction of the second sleeve body 40.

[0098] The embodiment of the present application further provides a curtain installation tool 6 as Figures 12 to 14 shown and a curtain assembly 300 as Figures 16 to 18 described. The curtain assembly 300 includes the above-mentioned sterile curtain 200 and a curtain installation tool 6 for installing the sterile curtain 200 to the surgical robot 100. The curtain installation tool 6 is used to install the above-mentioned sterile curtain 200 to the surgical robot 100, ensure that the sterile curtain 200 can be correctly installed, and improve the installation efficiency.

[0099] Please refer to Figures 12 to 14 , the curtain installation tool 6 includes a main body portion 61. The main body portion 61 defines a cavity 610 with two open ends. When the sterile curtain 200 has not started to be installed on the surgical robot 100, the cavity 610 is used to accommodate at least a part of the sterile curtain 200. The first mounting member 3, the second mounting member 4, the second curtain portion 53, and the third curtain portion 52 are disposed in the cavity 610. Optionally, the main body portion 61 is in the shape of a cylinder with substantially the same diameter. Substantially the same is because there are manufacturing tolerances and it is impossible to ensure complete identity. As long as it is within the tolerance range, it belongs to substantially the same.

[0100] Please refer to Figure 12 and Figure 13 , a first support member 62 and a second support member 63 are provided on the inner side wall of the main body portion 61. The first support member 62 and the second support member 63 are located at different heights on the inner side wall of the main body portion 61. Please refer to Figures 18 to 20 , in the curtain assembly 300, the first mounting member 3 is disposed on the first support member 62 and supported by the first support member 62, and the second mounting member 4 is disposed on the second support member 63 and supported by the second support member 63. When using the curtain installation tool 6 to install the sterile curtain 200, the first support member 62 is located above the second support member 63. Since the diameter of the first manipulator 1 is larger than the diameter of the second manipulator 2, correspondingly, the diameter of the first mounting member 3 is larger than the diameter of the second mounting member 4. Therefore, the width of the first support member 62 in the radial direction of the main body portion 61 is smaller than the width of the second support member 63 in the radial direction of the main body portion 61.

[0101] Please refer to Figure 10 , Figure 13 and Figure 16 , the second support member 63 can be rotatably switched between a first position and a second position. In the first position, the second support member 63 is received in the limiting groove 48 of the second mounting member 4 to fix the second mounting member 4 to the curtain installation tool 6. In the second position, the second support member 63 is removed from the limiting groove 48 so that the curtain installation tool 6 is disengaged from the second mounting member 4. The positioning of the curtain installation tool 6 and the second mounting member 4 is more stable.

[0102] The distance between the stop block 474 and the second positioning block 472 is greater than the width of the second support member 63 in the circumferential direction of the second sleeved body 40. Please refer to Figures 16 to 18 , when assembling the curtain installation tool 6, the second support member 63 is located between the stop block 474 and the second positioning block 472. By rotating the curtain installation tool 6, the second support member 63 can enter the limiting groove 48, preventing the situation where the curtain installation tool 6 and the second mounting member 4 cannot be fixed due to the second support member 63 not being placed between the stop block 474 and the second positioning block 472.

[0103] When the second support member 63 abuts against the second positioning block 472, when the operator perceives the abutment between the curtain installation tool 6 and the second positioning block 472, it is known that the curtain installation tool 6 has been assembled in place; when it is necessary to disassemble the curtain installation tool 6, when the curtain installation tool 6 is rotated, the second support member 63 will abut against the stop block 474. When the operator perceives the abutment between the curtain installation tool 6 and the stop block 474, the second support member 63 has moved out of the limit groove 48, and the curtain installation tool 6 can be pulled downward to remove the curtain installation tool 6.

[0104] The curtain installation tool 6 includes a convex edge 64 extending outward from the main body portion 61 in its radial direction. The convex edge 64 is used for the user to apply force, and after the sterile curtain 200 is installed on the surgical robot 100, the curtain installation tool 6 is separated from the sterile curtain 200.

[0105] Please refer to Figures 17 to 18 , the first mounting member 3 and the second mounting member 4 are first pre-fixed to the curtain installation tool 6 to form a curtain assembly 300. When the sterile curtain 200 is assembled to the surgical robot 100, the first mounting member 3 is fixed on the first manipulator 1 and the second mounting member 4 is fixed on the second manipulator 2 by using the curtain installation tool 6 from bottom to top. During the upward movement of the curtain installation tool 6, the first mounting member 3 is fixed to the first manipulator 1 and the second mounting member 4 is fixed to the second manipulator 2; then, the curtain installation tool 6 is rotated so that the second support member 63 moves out of the limit groove 48 of the second mounting member 4. At this time, the convex edge 64 can be pulled downward to remove the curtain installation tool 6 from below the surgical instrument. Then, the first curtain portion 51 is pulled open to cover the robotic arm of the surgical robot, and the second curtain portion 52 is set. The curtain installation tool 6 is used to position and guide the installation of the sterile curtain 200, making the assembly steps clearer and more efficient. When disassembling the sterile curtain 200, only the first mounting member 3 and the second mounting member 4 need to be separated from the surgical robot 100, and the sterile curtain 200 can be removed.

[0106] Please refer to Figure 14 and Figure 15 , a first anti-rotation portion 611 is provided on the outer side wall of the main body portion 61. The first anti-rotation portion 611 is used to cooperate with the second anti-rotation portion 34 on the outer side wall of the first mounting member 3 to limit the circumferential rotation of the curtain installation tool 6 relative to the first mounting member 3, so as to facilitate the fixing of the first mounting member 3 to the first manipulator 1.

[0107] The first anti-rotation portion 611 is a groove portion, and the second anti-rotation portion 34 is a first convex block. The first convex block is used to be inserted into the groove portion to limit the circumferential rotation of the curtain installation tool 6 relative to the first mounting member 3; and after the first convex block passes through the groove portion, it is received in the first positioning hole 511. One first convex block can both prevent the curtain installation tool 6 from rotating and fix the curtain 5, with a simple structure and reduced cost.

[0108] Please refer to Figures 21 to 23 , the sterile curtain 200 provided by another embodiment of the present application includes a first mounting member 3, a second mounting member 4, and a curtain 5. The first mounting member 3 is configured to be detachably mounted to the first manipulator 1. The second mounting member 4 is configured to be detachably mounted to the second manipulator 2. The first mounting member 3 and the second mounting member 4 are used to detachably mount the sterile curtain 200 to the patient-side robotic arm system. The main difference between the sterile curtain 200 of the present embodiment and Figure 5 the sterile curtain 200 shown is that: the sterile curtain 200 of the present embodiment omits the third curtain portion 52 provided between the first curtain portion 51 and the second curtain portion 53. That is to say, the first mounting member 3 and the second mounting member 4 are not connected by the curtain 5. On this basis, there is no need to consider the interference problem between the third curtain portion 52 and the rotating member 23, and there is no need to reserve a space with a height H1 for setting the third curtain portion 52 between the first mounting member 3 and the second mounting member 4, making the structure of the surgical robot more compact. In addition, the stacking portion 520 of the third curtain portion 52 is omitted. Thus, the length of the second mounting member 4 originally used to set / support the stacking portion 520 can be shortened to save materials and reduce costs.

[0109] When the sterile curtain 200 is mounted on the surgical robot 100, the bottom end of the first mounting member 3 surrounds at least a part of the second mounting member 4. Specifically, the bottom end of the first sleeved body 30 surrounds the top end of the second sleeved body 40 to protect the surgical robot 100 from being contaminated by liquids or solids generated during the operation. While omitting the third curtain portion 52, it can also meet the requirement of protecting the surgical robot 100. Further, when the sterile curtain 200 is mounted on the surgical robot 100, from the height direction of the first mounting member 3, the bottom surface of the first sleeved body 30 can be higher than the bottom surface of the second sleeved body 40, or can be equal to or lower than the bottom surface of the second sleeved body 40.

[0110] Please refer to Figures 24 to 25 , the first mounting member 3 is in the shape of a cylinder with a substantially uniform diameter. The first mounting member 3 includes a first sleeved body 30, a first protrusion 36 provided on the inner side wall of the top end of the first sleeved body 30, and a first deformation portion 31 extending along the height direction of the first sleeved body 30 from the first protrusion 36. The first sleeved body 30 surrounds the first deformation portion 31. A first fixing portion 33 is provided on the first deformation portion 31. The first fixing portion 33 is used to cooperate with the second fixing portion 11 on the first manipulator 1 to detachably fix the first mounting member 3 and the first manipulator 1. Optionally, the first deformation portion 31 is an elastic cantilever provided on the inner wall of the first mounting member 3, the first fixing portion 33 is a buckle provided at one end of the elastic cantilever, and the second fixing portion 11 is a buckle groove. Of course, the first deformation portion 31 can also adopt Figure 5the setting in the sterile curtain 200 shown, and the setting of the first deformation part 31 in this embodiment can also be used for Figure 5 the sterile curtain 200 shown. On the inner side wall of the top end of the first sleeved body 30, a first guiding part 361 is further provided. The first guiding part 361 is an inclined surface formed on the inner side wall of the top end of the first sleeved body 30. Correspondingly, at the bottom end of the first manipulator 1, a second guiding part 12 is provided. The second guiding part 12 is formed by chamfering at the bottom end of the first manipulator 1. When the first mounting part 3 is mounted on the first manipulator 1 from bottom to top, the first guiding part 361 and the second guiding part 12 avoid each other, facilitating the installation of the sterile curtain 200. After the buckle touches the second guiding part 12 of the first manipulator 1, the buckle is pushed outwards and can be engaged with the card slot when it moves to the position of the card slot of the first manipulator 1.

[0111] Please refer to Figure 24 and Figures 26 to 27 , the main difference between the second mounting part 4 of this embodiment and the second mounting part of the embodiment shown in Figure 5 is that the second manipulator 2 further includes a chassis and a plurality of instrument drivers arranged on the chassis. Each instrument driver can be provided with a surgical instrument, and the surgical instrument can move up and down along the instrument driver. In this embodiment, the second mounting part 4 is arranged on the instrument driver, while in the embodiment of Figure 5 , the second mounting part 4 is arranged on the chassis. The reason is that in the embodiment of Figure 5 , in order to ensure H1, the distance between the chassis of the second manipulator 2 and the first manipulator 1 is relatively long, and the chassis is exposed outside the first manipulator 1, so the second mounting part 4 can be mounted on the first manipulator 1. In this embodiment, since there is no need to design H1, the distance between the chassis of the second manipulator 2 and the first manipulator 1 is relatively short, and the chassis extends into the first manipulator 1. Therefore, for the convenience of assembly, the second mounting part 4 can be arranged on the instrument driver exposed outside the first manipulator 1. In order to improve the stability, the second mounting part 4 is detachably fixed to each instrument driver of the second manipulator 2 respectively. It can be understood that the second mounting part 4 with this structure can also be used for Figure 5 the sterile curtain 200 shown.

[0112] Specifically, the second mounting part 4 is in the shape of a cylinder with a substantially uniform diameter. The second mounting part 4 includes a second sleeved body 40 and a bottom wall 42 connected to the top end of the second sleeved body 40. The bottom wall 42 is provided with a plurality of through holes 421 for the surgical instrument to pass through. The second mounting part 4 is further provided with a plurality of assembling parts 46 on the inner wall of the through holes 421. The assembling part 46 includes a second deformation part 41. The second deformation part 41 is an elastic cantilever arranged on the inner wall of the second mounting part 4, and the third fixing part 43 is a buckle arranged at one end of the elastic cantilever.

[0113] Please refer toFigure 28 , another embodiment of the present application provides a curtain installation tool 6 including a main body portion 61. A first support member 62 and a second support member 63 are provided on the inner side wall of the main body portion 61. The first support member 62 and the second support member 63 are located at different heights on the inner side wall of the main body portion 61.

[0114] Please refer to Figures 29 to 31 , when using the curtain installation tool 6 to install the sterile curtain 200, the first support member 62 is located above the second support member 63. The first support member 62 supports the first installation member 3 and is located outside the second sleeve body 40, and the second support member 63 supports the second sleeve body 40. The width of the first support member 62 in the radial direction of the main body portion 61 is smaller than the width of the second support member 63 in the radial direction of the main body portion 61. The outer side wall of the first sleeve body 30 of the first installation member 3 can abut against the inner wall of the curtain installation tool 6, or be limited by the inner wall of the curtain installation tool 6, so that the outer side wall of the second sleeve body 40 of the second installation member 4 can abut against the end of the first support member 62, or the second installation member 4 is positioned by the end of the first support member 62.

[0115] The second installation member 4 may also be provided with Figure 11 When assembling the second installation member 4 to the curtain installation tool 6, the second support member 63 of the curtain installation tool 6 enters the limit groove 48 to increase the stability of the curtain installation tool 6.

[0116] Please refer to Figures 29 to 31 , the first installation member 3 and the second installation member 4 are first pre-fixed to the curtain installation tool 6 to form a curtain assembly 300. When the sterile curtain 200 is assembled to the surgical robot 100, the curtain installation tool 6 is used to fix the first installation member 3 on the first manipulator 1 and the second installation member 4 on the second manipulator 2 from bottom to top. During the upward movement of the curtain installation tool 6, the first installation member 3 is fixed to the first manipulator 1 and the second installation member 4 is fixed to the second manipulator 2; then, the curtain installation tool 6 is pulled downward, and the curtain installation tool 6 can be removed from below the surgical instrument.

[0117] Optionally, a first convex block may be provided on the first installation member 3, and the first convex block is inserted into the first positioning hole 511 of the first curtain portion 51 to increase the stability after the first curtain portion 51 is fixed to the first installation member 3; optionally, a second convex block may be provided on the second installation member 4, and the second convex block is inserted into the second positioning hole 521 of the second curtain portion 53 to increase the stability after the second curtain portion 53 is fixed to the second installation member 4.

[0118] It should be noted that the curtain installation tools 6 provided in the two embodiments of the present application can both be applicable to the sterile curtains 200 of the two embodiments, respectively forming curtain assemblies 300.

[0119] The above are only the preferred embodiments of the present application and do not impose any formal restrictions on the present application. Although the present application has been disclosed above in the preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the disclosed technical content within the scope of the technical solution of the present application. However, as long as it does not depart from the content of the technical solution of the present application, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A curtain installation tool for installing a sterile curtain to a surgical robot assembly, characterized in that, The curtain installation tool includes: A main body portion that defines a cavity with two open ends, and the cavity is used to receive at least a part of the sterile curtain; and A first support member and a second support member, which are disposed at different heights on the inner sidewall of the main body portion, and the first support member and the second support member are respectively used to support the first mounting member and the second mounting member that are independent of each other and spaced apart.

2. The curtain installation tool according to claim 1, wherein, The main body portion is in a cylindrical shape with substantially the same diameter. When using the curtain installation tool to install the sterile curtain, the first support member is located above the second support member, and the width of the first support member in the radial direction of the main body portion is smaller than the width of the second support member in the radial direction of the main body portion.

3. The curtain installation tool according to claim 1, characterized in that, The second support member can be rotatably switched between a first position and a second position. In the first position, the second support member is received in the limiting groove of the second mounting member to fix the second mounting member to the curtain installation tool. In the second position, the second support member is removed from the limiting groove so that the curtain installation tool is separated from the second mounting member.

4. The curtain installation tool according to claim 1, characterized in that A first anti-rotation portion is provided on the outer sidewall of the main body portion, and the first anti-rotation portion is used to cooperate with a second anti-rotation portion on the outer sidewall of the first mounting member to limit the circumferential rotation of the curtain installation tool relative to the first mounting member.

5. The curtain installation tool according to claim 4, characterized in that, The first anti-rotation portion is a groove portion, and the second anti-rotation portion is a first protrusion. The first protrusion is used to be inserted into the groove portion to limit the circumferential rotation of the curtain installation tool relative to the first mounting member; and The sterile curtain is provided with a first positioning hole, and after passing through the groove portion, the first protrusion is received in the first positioning hole.

6. The curtain installation tool according to claim 1, characterized in that, The curtain installation tool includes a convex edge extending outward from the main body portion in the radial direction thereof, and the convex edge is used for a user to apply force to separate the curtain installation tool from the sterile curtain after the sterile curtain is installed on the surgical robot assembly.

7. A curtain assembly for a surgical robot assembly, characterized in that, Including: A sterile curtain, including a first mounting member and a second mounting member that are independent of each other and spaced apart; And A curtain installation tool, including: A main body portion that defines a cavity with two open ends, and the cavity is used to receive at least a part of the sterile curtain; And A first support member and a second support member, which are disposed at different heights on the inner sidewall of the main body portion, and the first support member and the second support member are respectively used to support the first mounting member and the second mounting member.

8. The curtain assembly according to claim 7, wherein The surgical robot assembly includes a first manipulator and a second manipulator rotatably connected to the first manipulator, and the second manipulator is used to drive a plurality of surgical instruments; The first mounting member is configured to be detachably mounted to the first manipulator; The second mounting member is configured to be detachably mounted to the second manipulator. When the sterile curtain is installed on the surgical robot assembly, the first mounting member and the second mounting member are independently and spaced apart; and The sterile curtain includes a first curtain portion connected to the first mounting member and a second curtain portion connected to the second mounting member. When the sterile curtain is mounted on the surgical robot assembly, the first curtain portion is used to cover the first manipulator, and the second curtain portion is used to cover the surgical instrument mounted on the second manipulator.

9. The curtain assembly according to claim 7, wherein, The main body portion is in the shape of a cylinder with substantially the same diameter. When the sterile curtain is mounted using the curtain mounting tool, the first support member is located above the second support member, and the width of the first support member in the radial direction of the main body portion is smaller than the width of the second support member in the radial direction of the main body portion.

10. The curtain assembly according to claim 7, wherein, The second mounting member is provided with a limiting groove. The second support member can be rotatably switched between a first position and a second position. In the first position, the second support member is received in the limiting groove to fix the second mounting member to the curtain mounting tool. In the second position, the second support member is removed from the limiting groove so that the curtain mounting tool is disengaged from the second mounting member.

11. The curtain assembly according to claim 7, wherein, A first anti-rotation portion is provided on the outer sidewall of the main body portion, and a second anti-rotation portion is provided on the inner sidewall of the first mounting member. The first anti-rotation portion is used to cooperate with the second anti-rotation portion to limit the circumferential rotation of the curtain mounting tool relative to the first mounting member.

12. The curtain assembly according to claim 7, wherein The curtain mounting tool includes a convex edge extending outward from the main body portion in the radial direction thereof. The convex edge is used for applying force by the user to separate the curtain mounting tool from the sterile curtain after the sterile curtain is mounted on the surgical robot assembly.

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