Aseptic cover

Abstract

The application discloses a sterile cover applied to an orthopedic surgery robot system, and the orthopedic surgery robot system comprises an end tool seat and a tool clamping mechanism installed on a main mechanical arm, wherein the end tool seat comprises a column and an upper cross arm installed on the column, the upper cross arm can slide on the column along a first preset direction, and the tool clamping mechanism is fixedly installed on the upper cross arm; the sterile cover comprises a column cover body and an upper cross arm cover body, the column cover body is provided with a redundant part in the first preset direction, so that the upper cross arm cover body can freely slide with the upper cross arm; the sterile cover further comprises an interface member, the tool clamping mechanism is connected with the upper cross arm through the interface member, the upper cross arm cover body is sealingly connected with the interface member at a free end, and waterproof sealing structures are arranged at a structure protruding position of the interface member on the upper cross arm and a structure penetrating position of the interface member on the clamping mechanism. The sterile cover can realize sterile and waterproof isolation of a main mechanical arm trolley, and meanwhile, normal movement of an end tool is ensured.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a sterile hood. Background Technology

[0002] Surgical robotic systems are used in minimally invasive spinal surgery. During the procedure, the work on the operating table is mainly accomplished by the main robotic arm carriage and the auxiliary robotic arm carriage of the surgical robotic system working together. Considering cost, efficiency, and technical difficulty, the entire system is usually not sterilized. Instead, it is covered with a sterile cover, and then sterilized tools are attached to the end of the robotic arm before the surgery is performed.

[0003] Based on the operational requirements of surgical robot systems, the sterile cover used to cover the main robotic arm carriage must not only meet sterility requirements but also facilitate the transmission of multiple degrees of freedom of movement for the end effector and provide a watertight seal against external aquatic environments. Furthermore, it must withstand external forces exerted on the surgical instruments to prevent deformation that could affect precision and function. Most existing sterile covers primarily cover the relevant structures to meet sterility requirements, but they often fail to guarantee the movement needs of the end effector and meet the watertight seal requirements for use in aquatic environments during orthopedic surgery. Summary of the Invention

[0004] This application provides a sterile cover that can achieve sterile and waterproof isolation for the main robotic arm trolley while ensuring the normal movement of the end effector.

[0005] To achieve the above objectives, this application provides a sterile cover for use in an orthopedic surgical robot system. The orthopedic surgical robot system includes an end effector and a tool clamping mechanism mounted on the main robotic arm. The end effector includes a column and an upper horizontal arm mounted on the column. The upper horizontal arm is configured to slide along a first preset direction on the column. The tool clamping mechanism is fixedly mounted on the free end of the upper horizontal arm.

[0006] The sterile cover includes an integrally formed upright cover and an upper horizontal arm cover. The upright cover has a redundant portion reserved in the first preset direction so that the upper horizontal arm cover can slide freely with the upper horizontal arm.

[0007] The sterile cover also includes an interface component fixed to the end face of the free end. The tool clamping mechanism is connected to the upper horizontal arm through the interface component. The upper horizontal arm cover is sealed to the interface component at the free end. The interface component is provided with a waterproof sealing structure at the structural extension on the upper horizontal arm and the structural insertion on the clamping mechanism.

[0008] In some embodiments, the interface component includes an inner piece and an outer piece, and the upper cross arm cover has an opening corresponding to the free end, the edge of the opening being sandwiched between the inner piece and the outer piece and fixed thereon.

[0009] In some embodiments, the tool clamping mechanism includes a base and at least one locking screw, the locking screw passing sequentially through the base and the interface member and screwed onto the upper cross arm, and the waterproof sealing structure including a sealing ring fitted on the locking screw.

[0010] In some embodiments, the interface component has a drive shaft hole, and the tool clamping mechanism further includes a second drive shaft for receiving the power of the drive shaft. One end of the second drive shaft extends into the drive shaft hole and is connected to the first drive shaft extending from the upper cross arm within the drive shaft hole. The waterproof sealing structure includes a sealing ring sleeved on the second drive shaft.

[0011] In some embodiments, the interface component is further provided with a support column that can be inserted and fixed to the upper cross arm, and the support column has a support hole at its center; the tool clamping mechanism further includes a bearing shaft fixed to the base body, and the bearing shaft can be inserted into the support hole so that the external load borne by the base body can be transmitted to the upper cross arm through the bearing shaft.

[0012] In some embodiments, a sliding pin is slidably disposed on the interface component, and an end tool spindle is disposed on the base. A trigger protrusion is provided at a preset position on the outer periphery of the end tool spindle. When the end tool spindle rotates, the trigger protrusion can trigger the sliding pin to slide toward the upper cross arm to contact the zero-position trigger switch on the free end of the upper cross arm. The waterproof sealing structure also includes a sealing ring sleeved on the sliding pin.

[0013] In some embodiments, a recessed first positioning groove is further provided on the end face of the free end of the upper cross arm; a first positioning protrusion is further provided on one end face of the interface member that is attached to the free end, the first positioning protrusion being able to extend into the first positioning groove, so that the interface member is positioned on the end face of the free end of the upper cross arm; a second positioning protrusion is provided on one side face of the interface member that is attached to the seat body, and a second positioning groove is provided at a corresponding position on the seat body, the second positioning protrusion being able to extend into the second positioning groove, so that the seat body is positioned on the interface member.

[0014] In some embodiments, the first positioning protrusion is integrally disposed on the inner sheet, and the second positioning protrusion is integrally disposed on the outer sheet.

[0015] In some embodiments, the end tool holder further includes a lower horizontal arm fixedly mounted on the column, the upper horizontal arm being slidable toward / away from the lower horizontal arm, the sterile hood further includes a lower horizontal arm cover integrally formed with the column cover body, and the tool clamping mechanism is also fixedly mounted on the free end of the lower horizontal arm; the sterile hood further includes the interface member fixedly disposed at the free end of the lower horizontal arm, the tool clamping mechanism being connected to the lower horizontal arm through the interface member, the lower horizontal arm cover being sealed to the interface member at the free end of the lower horizontal arm, and the interface member having a waterproof sealing structure at both the structural extension point on the lower horizontal arm and the structural insertion point on the clamping mechanism.

[0016] In some embodiments, the upper crossarm cover and the lower crossarm cover are made of a fully transparent TPU film with a thickness of 50μm-100μm, the column cover is made of a transparent or semi-transparent TPU film of the same thickness, and the interface component is integrally molded from engineering plastic, including TPU, PC, ABS, PPSU or combinations thereof.

[0017] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0018] The column cover and upper transverse arm cover ensure that the main structures of the orthopedic surgical robot system can be sterilely covered. Considering the need for the upper transverse arm to slide along a predetermined direction during operation, the column cover also incorporates redundancy to accommodate its movement. An interface component is located at the free end of the upper transverse arm. This component not only ensures sterile coverage of the free end but also facilitates the connection between the tool clamping mechanism and the upper transverse arm. This allows the drive shafts on the upper transverse arm, which output motion outwards, to transmit motion to the tool clamping mechanism. Furthermore, a waterproof seal ensures that the water environment at the tool clamping mechanism does not affect the sterile environment within the interface component. This sterile cover effectively meets the sterile coverage requirements of the end effector structures of the main robotic arm.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0020] Figure 1 This is a partial structural schematic diagram of a surgical robot according to an embodiment of this application;

[0021] Figure 2 yes Figure 1 Enlarged view of the area within the black box;

[0022] Figure 3 yes Figure 1A schematic diagram of the structure after the upper cross arm is moved downwards;

[0023] Figure 4 This is a partial structural diagram of the surgical robot after it has been covered with a sterile cover.

[0024] Figure 5 yes Figure 4 Enlarged view of the area within the dashed box;

[0025] Figure 6 yes Figure 5 A magnified view of the upper middle cross arm;

[0026] Figure 7 yes Figure 6 A schematic diagram of the structure in the opposite horizontal direction of the upper horizontal arm;

[0027] Figure 8 yes Figure 6 A magnified view of the free end of the upper middle crossarm;

[0028] Figure 9 yes Figure 8 A longitudinal sectional view taken along the central axis of the support column of the interface component;

[0029] Figure 10 This is a schematic diagram of the tool clamping mechanism.

[0030] Figure 11 for Figure 10 A schematic diagram of the tool clamping mechanism from another perspective;

[0031] Figure 12 A partial structural diagram showing the upper crossarm after the interface components and tool clamping mechanism have been installed.

[0032] Figure 13 This is a partial breakdown diagram of the surgical robot.

[0033] Figure 14 This is a schematic diagram of a partial structure of the surgical robot.

[0034] Figure label:

[0035] A1. End tool holder; A11. Column; A111. Optical tracer element; A12. Lower cross arm; A121. Optical tracer element; A13. Upper cross arm; A131. Optical tracer element; A132. Surgical tool interface; A133. First drive shaft; A134. Connecting hole; A135. Zero-point trigger switch; A136. Threaded hole; A137. First positioning groove; A2. Six-dimensional force sensor; 1. First sterile cover; 11. Column cover; 12. Lower cross arm cover; 13. Upper cross arm cover; 132. Interface component; 1321. Outer piece; 13211. Drive shaft hole; 13212. Support column; 13213, Through hole; 13214, Second positioning protrusion; 1322, Inner sheet; 13221, First positioning protrusion; 1323, Sliding pin; 1324, Waterproof sealing ring; 133, Electrical interface; 1331, Easy-tear film; 1332, Interface structure; 134, Elastic strap; 135, Zero-position trigger switch; 14, Tool clamping mechanism; 141, Locking screw; 142, Waterproof sealing ring; 143, Second drive shaft; 144, Waterproof sealing ring; 145, Bearing shaft; 146, Second positioning groove; 147, End tool spindle; 148, Trigger protrusion; 2, Second sterile cover; 3, Restraint device. Detailed Implementation

[0036] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The modes described in the following exemplary embodiments do not represent all modes consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0037] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims 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.

[0038] It should be understood that the terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "a" or "one," and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "front," "rear," "lower," and / or "upper," and similar terms are for illustrative purposes only and are not limited to a location or spatial orientation. The terms "comprising" or "including," and similar terms, mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The terms "connected," "linked," and similar terms are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect.

[0039] The embodiments of this application will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments can be combined with each other.

[0040] like Figure 1 , 13 As shown in Figure 14, this application discloses an orthopedic surgical robot system. The surgical robot system includes a six-dimensional force sensor A2, an end effector A1 mounted on the main robotic arm, and a tool clamping mechanism 14. The end effector A1 includes a column A11 and an upper horizontal arm A13 mounted on the column A11. The tool clamping mechanism 14 is fixedly mounted on the free end of the upper horizontal arm away from the column A11. The upper horizontal arm A13 is configured to slide along a first preset direction on the column A11, that is, the upper horizontal arm A13 can... Figure 1 Slide in the vertical direction as shown. Figure 3 for Figure 1 The state diagram after the upper horizontal arm A13 slides vertically downwards.

[0041] Surgical robot systems, due to the special nature of their operating environment, require sterilization. For example... Figure 4 and 5 As shown, a sterile cover made of a flexible thin film material is provided on the surgical robot system. In this embodiment, the sterile cover includes a first sterile cover body 1 for covering the end effector portion and a second sterile cover body 2 for covering the robotic arm and the trolley. Additionally, multiple restraint devices 3 are provided on the second sterile cover body 2, distributed at certain intervals along the length of the robotic arm. Their function is to bind and restrain the sterile cover on the robotic arm, ensuring that the sterile cover conforms as closely as possible to the robotic arm as it moves, preventing it from contacting other objects in the surgical area. In some embodiments, the restraint devices 3 can be straps or deformable strips that can be easily bent and maintain plastic deformation.

[0042] like Figure 5 As shown, the first sterile cover 1 includes an integrally formed upright cover 11 and an upper horizontal arm cover 13. The upright cover 11 has a redundant portion reserved in a first preset direction so that the upper horizontal arm cover 13 can slide freely with the upper horizontal arm A13, thereby preventing the upper horizontal arm A13 from pulling on the part of the upright cover 11 when it slides with the upper horizontal arm cover 13, causing it to be pulled and torn, resulting in breakage and damage.

[0043] like Figure 12 As shown, to further enhance the sterility, the sterile cover also includes an interface component 132 fixed to the end face of the free end of the upper horizontal arm A13. The tool clamping mechanism 14 connects to the upper horizontal arm A13 via the interface component 132. The upper horizontal arm cover 13 is sealed to the interface component 132 at its free end. The interface component 132 has waterproof sealing structures at both the structural extension points on the upper horizontal arm A13 and the structural insertion points on the tool clamping mechanism 14.

[0044] This application satisfies the sterility requirements of the orthopedic surgical robot by incorporating a column cover 11 and an upper transverse arm cover 13 on the main components. Simultaneously, considering the need for the upper transverse arm A13 to slide along a first preset direction during the operation of the surgical robot system, a certain amount of redundancy is provided on the column cover 11 to meet the movement requirements of the upper transverse arm. Furthermore, considering that the upper transverse arm A13 needs to connect to the tool clamping mechanism 14, an interface component 132 and a waterproof sealing structure used in conjunction with the interface component 132 are provided on the free end of the upper transverse arm A13. The inclusion of the interface component 132 and the waterproof sealing structure not only ensures that the water environment at the tool clamping mechanism 14 does not affect the sterile environment within the interface component 132, but also facilitates the connection between the tool clamping mechanism 14 and the upper transverse arm A13, allowing the drive shaft and other components on the upper transverse arm A13 used for outward motion output to transmit motion to the tool clamping mechanism 14.

[0045] like Figure 8 and 9 As shown, to ensure the airtight installation of the upper crossarm cover 13 and the interface component 132 and meet the bacterial isolation requirements, the interface component 132 includes an inner piece 1322 and an outer piece 1321. The upper crossarm cover 13 has an opening at its free end, allowing structures extending outward from this free end on the upper crossarm A13, such as... Figure 2 The drive shaft A133 marked in the middle can extend freely. The edge of the opening of the upper crossarm cover 13 is clamped and fixed between the inner piece 1322 and the outer piece 1321. This application uses the inner piece 1322 and the outer piece 1321 to clamp and fix the opening of the upper crossarm cover 13, so that the opening of the upper crossarm cover 13 is reliably sealed and easy to manufacture.

[0046] like Figure 10-11 As shown, the tool clamping mechanism 14 includes a base and at least one locking screw 141. In this embodiment, there are two locking screws 141, located diagonally opposite each other on the base. The locking screws 141 pass sequentially through the through holes 13213 on the base and the interface member 132 and are screwed into the threaded hole A136 on the upper cross arm A13. The tool clamping mechanism 14 is stably connected to the upper cross arm A13 through the locking screws 141. Since the locking screws 141 need to pass through the interface member 132 and extend into the threaded hole A136 on the upper cross arm A13, a waterproof sealing ring 142 is provided over the locking screws 141 to prevent water leakage at the point where the locking screws 141 pass through, which could affect the watertight seal of the sterile cover. This waterproof sealing ring 142 is part of the aforementioned waterproof sealing structure.

[0047] like Figure 8 As shown, the interface component 132 has a drive shaft hole 13211, which is configured as a transmission connection channel between the tool clamping mechanism 14 and the upper cross arm A13. Specifically, the tool clamping mechanism 14 includes a second drive shaft 143 for receiving power from the drive shaft of the upper cross arm A13. Figure 2 As shown, one end of the second drive shaft 143 extends into the drive shaft hole 13211 provided on the interface member 132, and is connected to the first drive shaft A133 extending from the upper cross arm A13 within the drive shaft hole 13211. In addition, in order to improve the waterproof sealing between the second drive shaft 143 and the interface member 132, a waterproof sealing ring 144 is provided on the outer sleeve of the second drive shaft 143, and the waterproof sealing ring 144 is also part of the waterproof sealing structure.

[0048] The interface component 132 is also provided with a support post 13212, which can be inserted into and fixed to... Figure 2 The connection hole A134 shown is provided. A support hole is provided in the center of the support column 13212. The bearing shaft 145, which is fixedly mounted on the tool clamping mechanism 14, is inserted into the support hole so that the external load borne by the seat can be transmitted to the upper cross arm A13 through the bearing shaft 145, so as to avoid the excessive external load borne by the seat from causing damage to the components.

[0049] like Figure 8 and Figure 9 As shown, a sliding pin 1323 capable of moving back and forth is slidably disposed on the interface component 132. Figure 2 A zero-position trigger switch 135 is provided on the free end of the upper horizontal arm A13 shown. (Combined with...) Figure 11 and Figure 12As shown, an end-tool spindle 147 is provided on the base of the tool clamping mechanism 14, and a trigger protrusion 148 is provided at a preset position on the outer periphery of the end-tool spindle 147. When the end-tool spindle 147 rotates, the trigger protrusion 148 touches the sliding pin 1323, causing the sliding pin 1323 to slide towards the upper cross arm A13, thereby enabling the sliding pin 1323 to trigger the zero-position trigger switch 135 on the free end of the upper cross arm A13. When the zero-position trigger switch 135 is touched by the sliding pin 1323, the robot system obtains the zero position of the end-tool holder A1. In addition, a waterproof sealing ring 1324 is provided over the sliding pin 1323. This waterproof sealing ring 1324 is also part of the waterproof sealing structure, used to prevent insufficient water tightness at the path through which the sliding pin 1323 passes.

[0050] Continue to refer to Figure 8 and Figure 9 As shown, a first positioning protrusion 13221 is provided on one end face of the interface component 132 that is attached to the free end of the upper cross arm A13. A second positioning protrusion 13214 is provided on the side face of the interface component 132 that is attached to the seat. The first positioning protrusion 13221 can extend into the first positioning groove A137 (shown in the figure) recessed in the upper cross arm A13. Figure 2 The interface member 132 is positioned on the end face of the free end of the upper cross arm A13. The second positioning protrusion 13214 can extend into the second positioning groove 146 provided on the tool clamping mechanism 14 seat, so that the seat can be positioned on the interface member 132.

[0051] In the illustrated embodiment, the first positioning protrusion 13221 is integrally disposed on the inner piece 1322, and the second positioning protrusion 13214 is integrally disposed on the outer piece 1321.

[0052] like Figure 5-7 As shown, the upper crossarm cover 13 is also equipped with an electrical interface 133 and an elastic strap 134. The electrical interface 133 is located on the upper crossarm cover 13 at the position where the upper crossarm A13 requires electrical connection. See details in [reference needed]. Figure 1 ,exist Figure 1 The upper horizontal arm A13 shown is equipped with a surgical tool interface A132, through which the surgical robot connects to the corresponding surgical tools. Therefore, an electrical interface 133 can be provided on the sterile membrane of the corresponding surgical tool interface A132 to achieve connection with other surgical tools. Since the electrical interface 133 may not be used during surgery, considering the requirements of the operating environment and ease of operation, in this embodiment, the electrical interface 133 includes an interface structure 1332 and an easy-tear film 1331 disposed on the interface structure 1332. When the surgical tool interface A132 needs to be used, the easy-tear film 1331 can be removed for use.

[0053] An elastic strap 134 is positioned at the connection between the upper transverse arm A13 and the upright column A11. It is used to bind and restrain the sterile hood to the upper transverse arm A13, ensuring that the sterile hood conforms closely to the upper transverse arm as the upper transverse arm A13 moves, preventing the sterile hood from contacting other items in the surgical area. The elastic strap 134 can be an integral part of the sterile hood membrane; or it can be a separate component, fitted onto the base of the transverse arm after the sterile hood is installed. Furthermore, the elastic strap 134 can be made of elastic materials, such as rubber bands, or other deformable strips or straps that can be easily bent and maintain plastic deformation.

[0054] like Figure 1 As shown, the end tool holder A1 also includes a lower horizontal arm A12 fixedly mounted on the column A11, and an upper horizontal arm A13 that can slide closer to / away from the lower horizontal arm A12. Since the lower horizontal arm A12, like the upper horizontal arm A13, requires aseptic processing, the aseptic cover also includes a lower horizontal arm cover 12 integrally formed with the column cover 11, and the free end of the lower horizontal arm A12 is also fixedly mounted with a tool clamping mechanism 14.

[0055] The sterile hood also includes an interface component 132 fixed at the free end of the lower horizontal arm A12, and a waterproof sealing structure disposed at the structural extension of the lower horizontal arm A12 and the structural insertion of the tool clamping mechanism 14. Figure 13-14 As shown, the upper horizontal arm A13 and the lower horizontal arm A12 have similar structures, the only difference being that the upper horizontal arm A13 can slide up and down relative to each other, while the lower horizontal arm A12 is fixed. Similarly, the sterile cover structure that is set in conjunction with the upper horizontal arm A13 and the lower horizontal arm A12 is also largely the same, specifically including: the structure of the upper horizontal arm cover 13 and the lower horizontal arm cover 12, the interface component 132, the connection method between the cover and the interface component 132, etc. are all the same, and will not be described in detail here. Please refer to the sterile cover structure at the upper horizontal arm A13 described above.

[0056] The sterile hood film material is typically a single layer of thermoplastic polyurethane (TPU), colorless and semi-transparent or fully transparent. If the sterile hood film covers optical tracer elements, the better the light transmittance and the thinner the film, the less impact it has on the optical tracer. For example... Figure 1As shown, optical tracer elements A121 and A131 are respectively installed on the lower horizontal arm A12 and the upper horizontal arm A13. This optical tracer array is the primary tracer array, while the optical tracer array A111 on the column A11 is the secondary tracer array. Therefore, the film covering the upper and lower horizontal arms is made of 50μm-100μm fully transparent TPU, and the film of the column cover can be made of transparent TPU of the same thickness or semi-transparent TPU. TPU material has advantages such as high strength and high toughness (good tensile strength), wear resistance, chemical resistance, aging resistance, noiselessness, and good biocompatibility. The interface component 132 is integrally molded from engineering plastic, which includes TPU, PC, ABS, PPSU, or combinations thereof.

[0057] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although this application has disclosed preferred embodiments as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A sterile hood for use in an orthopedic surgical robot system, characterized in that, The orthopedic surgical robot system includes an end effector and a tool clamping mechanism mounted on the main robotic arm, wherein: the end effector includes a column and an upper horizontal arm mounted on the column, the upper horizontal arm is configured to slide on the column in a first preset direction, and the tool clamping mechanism is fixedly mounted on the free end of the upper horizontal arm; The sterile cover includes an integrally formed upright cover and an upper horizontal arm cover. The upright cover has a redundant portion reserved in the first preset direction so that the upper horizontal arm cover can slide freely with the upper horizontal arm. The sterile cover also includes an interface component fixed at the end face of the free end. The tool clamping mechanism is connected to the upper horizontal arm through the interface component. The upper horizontal arm cover is sealed to the interface component at the free end. The interface component is provided with a waterproof sealing structure at the structural extension of the upper horizontal arm and the upper structural extension of the tool clamping mechanism. The tool clamping mechanism includes a base, a sliding pin slidably disposed on the interface component, and an end tool spindle disposed on the base. A trigger protrusion is provided at a preset position on the outer periphery of the end tool spindle. When the end tool spindle rotates, the trigger protrusion can trigger the sliding pin to slide toward the upper cross arm to contact the zero-position trigger switch on the free end of the upper cross arm. The waterproof sealing structure includes a sealing ring sleeved on the sliding pin.

2. The sterile hood according to claim 1, characterized in that, The interface component includes an inner piece and an outer piece. The upper horizontal arm cover has an opening corresponding to the free end. The edge of the opening is sandwiched between the inner piece and the outer piece and fixed.

3. The sterile hood according to claim 2, characterized in that, The tool clamping mechanism further includes at least one locking screw, which passes through the base and the interface component in sequence and is screwed onto the upper cross arm. The waterproof sealing structure includes a sealing ring fitted on the locking screw.

4. The sterile hood according to claim 3, characterized in that, The interface component has a drive shaft hole, and the tool clamping mechanism also includes a second drive shaft for receiving the power of the drive shaft. One end of the second drive shaft extends into the drive shaft hole and is connected to the first drive shaft extending from the upper cross arm within the drive shaft hole. The waterproof sealing structure includes a sealing ring sleeved on the second drive shaft.

5. The sterile hood according to claim 4, characterized in that, The interface component is also provided with a support column that can be inserted and fixed to the upper cross arm, and the support column has a support hole at its center; The tool clamping mechanism also includes a bearing shaft fixed to the base body. The bearing shaft can be inserted into the support hole so that the external load borne by the base body can be transmitted to the upper cross arm through the bearing shaft.

6. The sterile hood according to claim 5, characterized in that, A recessed first positioning groove is also provided on the end face of the free end of the upper cross arm. The interface component is further provided with a first positioning protrusion on one end face that is attached to the free end. The first positioning protrusion can extend into the first positioning groove so that the interface component is positioned on the end face of the free end of the upper cross arm. A second positioning protrusion is provided on the side of the interface component that fits against the seat, and a second positioning groove is provided at the corresponding position on the seat. The second positioning protrusion can extend into the second positioning groove so that the seat is positioned on the interface component.

7. The sterile hood according to claim 6, characterized in that, The first positioning protrusion is integrally disposed on the inner sheet, and the second positioning protrusion is integrally disposed on the outer sheet.

8. The sterile hood according to any one of claims 1-7, characterized in that, The end tool holder also includes a lower horizontal arm fixedly mounted on the column, the upper horizontal arm being able to slide closer to / away from the lower horizontal arm, the sterile cover also includes a lower horizontal arm cover integrally formed with the column cover body, and the free end of the lower horizontal arm is also fixedly mounted with the tool clamping mechanism. The sterile cover also includes the interface component fixed at the free end of the lower horizontal arm. The tool clamping mechanism is connected to the lower horizontal arm through the interface component. The lower horizontal arm cover is sealed to the interface component at the free end of the lower horizontal arm. The interface component is provided with a waterproof sealing structure at both the structural extension of the lower horizontal arm and the structural insertion of the clamping mechanism.

9. The sterile hood according to claim 8, characterized in that, The upper and lower crossarm covers are made of fully transparent TPU film with a thickness of 50μm-100μm, the column cover is made of transparent or semi-transparent TPU film of the same thickness, and the interface components are integrally molded from engineering plastics, including TPU, PC, ABS, PPSU or combinations thereof.

Images