Instrument device and surgical robot comprising same

Abstract

The embodiments of the present application relate to an instrument device and a surgical robot comprising the same, wherein the instrument device comprises: a sterile partition comprising an upper plate and a back plate; an instrument end; an instrument seat comprising a driving transmission part, the driving transmission part comprising a plurality of driving transmission mechanisms; and a guide part comprising a first guide structure and a second guide structure, the first guide structure and the second guide structure being respectively arranged on both sides of the back plate along the width direction thereof, and the instrument end being capable of reaching the upper plate via the back plate at least by means of the guide part. Through the arrangement of the guide part, the mounting / replacement efficiency of the instrument end can be improved. It can be understood that the specific structural form of the first / second guide structure can be determined by the person skilled in the art according to actual needs.

Description

Technical Field

[0001] This application relates to the field of medical robot technology, specifically providing an instrument and a surgical robot including the instrument. Background Technology

[0002] Surgical robots primarily employ minimally invasive methods to perform surgeries and diagnoses on patients. Minimally invasive techniques significantly reduce the amount of tissue damaged during surgery and diagnosis, thus finding widespread application in various types of surgeries and diagnoses.

[0003] Taking surgery on patients as an example, a surgical robot typically includes a master control unit, instruments, and an imaging system. The master control unit is usually located at the surgeon's console outside the sterile area of ​​the operating room. The surgeon's console uses visual data related to the current surgery, such as video and images, provided by the imaging system, to perform surgical operations such as gripping, rotation, and pitching at the operating end of the master control unit. The instruments, located at the bedside, are mainly used to directly apply actions to the patient corresponding to the surgeon's surgical operations. The imaging system, in addition to providing visual data related to the current surgery to the surgeon at the console, also provides visual data related to the current surgery to the bedside assistant surgeon.

[0004] The surgical instruments typically consist of an instrument base and an instrument tip, separated by a sterile separator. Since the instrument base is located in a sterile area while the instrument tip needs to remain sterile, a drape covering the separator is used to separate the instrument base drive mechanism from the instrument tip (e.g., the drape covers the instrument base) to ensure the instrument tip remains sterile. Before surgery, the instrument tip relevant to the procedure is usually installed into the sterile separator, and there is also the possibility of replacing the instrument tip during surgery. Therefore, improving the efficiency and reliability of instrument tip installation / replacement becomes a key consideration. Summary of the Invention

[0005] This application aims to solve at least part of the above-mentioned technical problems and / or at least part of the above-mentioned technical problems, specifically, how to improve the installation / replacement efficiency of the device end as much as possible and / or ensure the installation / replacement reliability of the device end.

[0006] In view of this, in a first aspect, this application provides an instrument device comprising: a sterile separator including a top plate and a back plate; an instrument end; an instrument seat including a drive transmission unit including a plurality of drive transmission mechanisms; and a guide portion including a first guide structure and a second guide structure, the first guide structure and the second guide structure being respectively disposed on both sides of the back plate along its width direction, wherein the instrument end is capable of reaching the top plate via the back plate at least by means of the guide portion.

[0007] By designing a guide section, the efficiency of instrument installation / replacement can be improved.

[0008] It is understood that those skilled in the art can determine the specific structural form of the first / second guide structure according to actual needs. For example, it can be a continuous or spaced strip structure, plate structure, etc. In addition, the first guide structure and the second guide structure can be the same or different.

[0009] In one possible implementation of the above-described instrument, the first guide structure and / or the second guide structure have guide surfaces on their sides near each other, wherein the distance between the ends of the first guide structure and the second guide structure near the upper plate is less than the distance between their ends near the instrument end.

[0010] This configuration provides possible structural forms for the guide, such as the guide surface being a curved surface, an inclined surface, or a combination thereof. For example, the guide surface can be a curved surface composed of two arc surfaces, a combination of two inclined surfaces, a combination of an arc surface and an inclined surface, or a vertical surface provided between an arc surface and an inclined surface.

[0011] In one possible implementation of the above-described device, the guide surface and / or the side of the back plate near the guide portion is an inclined surface.

[0012] This configuration provides possible structural forms for the guide section. For example, if the side of the back plate near the guide section is sloped, the back plate also serves as a guide.

[0013] Understandably, provided that the guiding function is realized, those skilled in the art can determine the relative positional relationship between the front surface of the back panel, the guiding surface, and the upper surface of the upper panel according to actual needs. For example, the guiding surface and the back panel / front panel can be perpendicular or inclined.

[0014] In one possible implementation of the aforementioned device, the first guide structure and / or the second guide structure are arranged along the height direction in a local area of ​​the back plate.

[0015] This configuration provides possible structural forms for the guide section.

[0016] In one possible implementation of the aforementioned device, when viewed along the height direction, the first guide structure and / or the second guide structure have a first clearance area between them and the side of the backplate near the device end.

[0017] In one possible implementation of the above-mentioned device, the first guide structure and / or the second guide structure have a transition structure at the end near the first empty area.

[0018] This design allows the instrument to enter the guide more smoothly, thus ensuring the safety of the assembly process.

[0019] In one possible implementation of the above-mentioned instrument device, the instrument device includes a button portion that can be disposed on the instrument base, and the instrument end can reach a mating position that mates with the button portion via the guide portion, wherein the lowest point of the first empty area is higher than the mating position; and / or the highest point of the guide portion is higher than the mating position.

[0020] This structure aims to ensure the effectiveness of guidance.

[0021] In one possible implementation of the above-described device, when viewed along the height direction, the first guide structure and / or the second guide structure have a second clearance area between them and the surface of the upper plate near the device end.

[0022] This configuration allows for improvements in the performance of the equipment.

[0023] In one possible implementation of the above-mentioned instrument device, the instrument device includes a button portion that can be disposed on the instrument base, and the instrument end can reach a mating position that is connected to the button portion via the guide portion, wherein, when viewed along the height direction, the highest point of the second empty area is not higher than the mating position.

[0024] This structure ensures the reliability of the guidance.

[0025] In one possible implementation of the aforementioned device, the upper plate has a buffer zone, wherein at least a portion of the buffer zone is disposed below the guide portion.

[0026] This structure allows for the effective assurance of a smooth guiding process.

[0027] In one possible implementation of the above-mentioned instrument device, the sterile separator further includes a positioning part disposed on the upper plate of the sterile separator.

[0028] This configuration allows for accurate installation of the instrument end onto the sterile separator via the positioning section.

[0029] In one possible implementation of the above-described device, the positioning part includes: at least one first positioning structure; and / or a second positioning structure; wherein, in the case where there are multiple first positioning structures, the multiple first positioning structures are disposed on the upper plate in a direction away from the back plate; wherein, when viewed in a direction perpendicular to the direction on the upper plate away from the back plate, there is a gap between the second positioning structure and the first positioning structure.

[0030] This configuration provides a possible structural form for the positioning part.

[0031] Surgical robot instruments typically include a linear guide unit. The instrument base and instrument tip, connected to the drive mechanism, are slidably mounted as a single unit within the linear guide unit. The instrument tip can apply actions to the patient corresponding to the surgeon's surgical commands. In some surgeries, a significant travel distance along the linear guide unit is required for the instrument base and instrument tip. To ensure both structural compactness and reliable implementation of this large travel distance, miniaturization of the instrument unit has become an inevitable development trend. Furthermore, given miniaturization, improvements in weight reduction, diversity of drive types, functional diversification, performance stability, and user experience are also areas for consideration.

[0032] In one possible implementation of the aforementioned instrument, the instrument base includes an instrument base body, wherein at least one of the plurality of drive transmission mechanisms includes a first portion and a second portion along its power transmission path, and the first portion and the second portion are folded and disposed in segments on the instrument base body.

[0033] This design enables the miniaturization of medical devices.

[0034] In one possible implementation of the above-mentioned device, both the first part and the second part include a component or multiple components arranged coaxially, wherein the axes of the first part and the second part are parallel to each other.

[0035] This configuration allows for the miniaturization of the device by arranging multiple components in parallel.

[0036] In one possible implementation, a torque detection component is provided on the first part or the second part, and the instrument base includes an instrument base body and an instrument base receiving part disposed on the instrument base body. The portion of the first part and the second part in which the torque detection component is provided is disposed on the instrument base body, and the other portion of the first part and the second part is disposed on the instrument base receiving part.

[0037] With this configuration, it is possible to reduce the straight-line distance along the power transmission path corresponding to the main body of the instrument seat by adding an instrument seat housing section.

[0038] In one possible implementation, the device includes a circuit board assembly comprising a plurality of sub-parts, at least a portion of which are separately disposed.

[0039] With this configuration, it is possible to free up the installation space that would otherwise be required for integrated setups by separating the circuit board components, thereby potentially reducing the space required for the device or allowing the addition of other structures within the freed-up installation space.

[0040] In one possible implementation of the above-mentioned instrument device, the upper plate is disposed between the instrument end and the instrument base, and the instrument base receiving portion is located on the base near the back plate.

[0041] This configuration allows for the segmented folding of the instrument seat by appropriately increasing the volume near the back plate, while also making full use of the space at the rear of the partition back plate and the ends of the clearance slot of the instrument seat.

[0042] In a second aspect, this application provides a surgical robot that includes the instrumentation described in any of the preceding claims.

[0043] It is understood that the surgical robot possesses all the technical effects of any of the aforementioned instruments and devices, which will not be elaborated upon here. Attached Figure Description

[0044] The preferred embodiments of this application will now be described with reference to the accompanying drawings, in which:

[0045] Figure 1 This application illustrates the structural diagram of the instrument device of a surgical robot according to one embodiment. Figure 1 ;

[0046] Figure 2 This application illustrates the structural diagram of the instrument device of a surgical robot according to one embodiment. Figure 2 The instrument end of the device has been removed from the figure, and the sterile separator, button section, first ventilation structure, etc. are shown.

[0047] Figure 3 This application illustrates the structural diagram of the instrument device of a surgical robot according to one embodiment. Figure 3 The instrument end of the device has been removed from the figure, and the button part, second ventilation structure, etc. are shown.

[0048] Figure 4 This application illustrates the structural diagram of the instrument device of a surgical robot according to one embodiment. Figure 4 The instrument end and instrument base housing (partial) of the instrument device have been removed from the figure, thus showing the instrument base body and instrument base housing.

[0049] Figure 5 This application illustrates the structural diagram of the instrument device of a surgical robot according to one embodiment. Figure 5 The instrument end and instrument base housing (partial) of the instrument device have been removed from the figure, thus showing the arrangement of the first / second / third set of drive transmission mechanisms and the first / second circuit board assembly within the instrument base body and instrument base receiving portion;

[0050] Figure 6 This illustration shows a structural schematic diagram of the instrument base in the instrument device of a surgical robot according to an embodiment of this application;

[0051] Figure 7 This diagram illustrates the structure of a sterile separator in an instrument device according to an embodiment of this application, with the second plate (lower side plate) of the upper plate removed.

[0052] Figure 8 This diagram illustrates the structure of the first plate (upper side plate) in the upper plate of the sterile separator in an embodiment of the present application.

[0053] Figure 9 This diagram illustrates the structure of a connecting component (connecting flange) in a device according to an embodiment of this application.

[0054] Figure 10 This diagram shows a schematic representation of the button portion in a device according to an embodiment of this application.

[0055] Figure 11 This is an exploded schematic diagram of a sterile separation component in a medical device according to an embodiment of this application;

[0056] Figure 12 This diagram illustrates the assembly of a sterile separation component in a medical device according to an embodiment of this application, showing a guide and a positioning part.

[0057] List of reference numerals in the attached diagram:

[0058] 100. Instruments and apparatus;

[0059] 1. Device end;

[0060] 11. Box body; 111. Operation buttons;

[0061] 12. Rod section;

[0062] 2. Instrument stand;

[0063] 21. Instrument base;

[0064] 211. Main body of the instrument holder;

[0065] 2111, clearance groove;

[0066] 212. Instrument seat accommodating part;

[0067] 2121, Area 1; 2122, Area 2;

[0068] 22. Drive transmission unit;

[0069] 221. The first set of drive transmission mechanisms;

[0070] 2211. Part One; 2212. Part Two; 2213. Transmission Connection Part;

[0071] 222. The second set of drive transmission mechanisms;

[0072] 223. The third group of drive transmission mechanisms;

[0073] 224. Torque detection component;

[0074] 2251. First circuit board assembly;

[0075] 2252, Second circuit board assembly;

[0076] 22521. First circuit board section; 22522. Second circuit board section; 22523. Third circuit board section;

[0077] 226. Cooling fan;

[0078] 2271. First ventilation structure; 2272. Second ventilation structure;

[0079] 3. Aseptic separator;

[0080] 31. On the board;

[0081] 311. First plate (upper side plate); 3111. Avoidance structure; 3112. Overlapping part of the upper side plate;

[0082] 312. Second panel (lower side panel); 3121. Reserved structure; 3122. Lower side panel overlap; 3123. Lower side panel positioning structure;

[0083] 32. Backplate; 321. Backplate guide surface;

[0084] 331. First guiding structure;

[0085] 332. Second guiding structure; 3321. Guiding surface;

[0086] 333. First blank area;

[0087] 334. Transitional structure;

[0088] 341. First positioning structure; 342. Second positioning structure;

[0089] 35. Adapter components (transfer flanges);

[0090] 351. First instrument end fitting characteristics; 352. Second instrument end fitting characteristics;

[0091] 353. First instrument seat mating features; 354. Second instrument seat mating features;

[0092] 355. Lap joint of the transition flange;

[0093] 4. Button section;

[0094] 40. Main body of the button section;

[0095] 41. First arm (upper arm); 411. Coordinating characteristics of the first arm;

[0096] 42. Second arm (lower arm); 421. Coordinating characteristics of the second arm;

[0097] 43. Reset assembly;

[0098] 441. First mounting position; 442. Second mounting position. Detailed Implementation

[0099] Preferred embodiments of this application are described below with reference to examples in the accompanying drawings. Those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this application and are not intended to limit the scope of protection of this application. For example, although this embodiment uses the example of the first / second group of drive transmission mechanisms including two drive transmission mechanisms and the third group of drive transmission mechanisms including one drive transmission mechanism, this is obviously an exemplary description. Those skilled in the art can determine the number of drive transmission mechanisms included in the three groups of drive transmission mechanisms, the specific configuration of each drive transmission mechanism, etc., according to actual needs. For example, the motor in the drive transmission mechanism can be replaced with any feasible rotating module, other components / assemblies / mechanisms that can realize the set drive transmission function, etc.

[0100] It should be noted that in the description of this application, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0101] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "setup," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0102] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented even without certain specific details. In some instances, the principles of surgical robots, which are well-known to those skilled in the art, have not been described in detail in order to highlight the main points of this application.

[0103] The following will refer to Figures 1 to 12 The present application is described in accordance with at least a portion of the accompanying drawings. The reference to / primarily to one or more drawings in the embodiments does not mean that reference is limited to only one or a few drawings, but may also refer to both simultaneously. Figures 1 to 12 Any figure other than one or more figures.

[0104] Main reference Figures 1 to 3 In one possible implementation, the surgical robot includes an instrument device 100, which mainly includes an instrument end 1 and an instrument base 2. After the instrument end 1 is fixedly mounted on the instrument base 2, the end of the rod 12 of the instrument end 1 (which has an end effector that can directly act on the patient) can perform surgical operations such as cutting and suturing on the patient.

[0105] In one possible implementation, the device 100 further includes a sterile separation assembly, which mainly includes a sterile separator 3 and a button portion 4. A drape film can be attached to the sterile separator 3, covering the instrument base 2, thereby isolating the sterile end 1 of the instrument from the normally sterile area of ​​the instrument base 2, thus ensuring the sterility of the instrument end 1. The button portion 4 is movably mounted on the sterile separator 3. In this application, the instrument end 1 and the instrument base 2 can each engage with the same button portion. Therefore, the sterile separator 3 can be detachably mounted on the instrument base 2, and the instrument end 1 can be detachably mounted on the sterile separator 3 (or, in other words, on the combination of the sterile separator and the instrument base).

[0106] Main reference Figures 4 to 6 In one possible implementation, the instrument base 2 mainly includes an instrument base body 21 and a drive transmission part 22 disposed on the instrument base body 21. The drive transmission part typically includes multiple drive transmission mechanisms corresponding to various surgical operations. Each drive transmission mechanism includes a first portion 2211 and a second portion 2212 along its power transmission path. In this application, at least a portion of the multiple drive transmission mechanisms has the first portion 2211 and the second portion 2212 folded and segmented onto the instrument base body 21.

[0107] In this way, by folding the power transmission path to a certain extent, it is possible to reduce the spatial dimensions corresponding to the power transmission path, thereby achieving miniaturization of the instrument to a certain extent. It should be noted that the power transmission path should be understood as the path corresponding to the power transmission sequence. For example, one of the drive transmission mechanisms includes a motor, a reducer, and an output shaft. In the drive transmission mechanism, the power generated by the motor is transmitted to the instrument end in sequence through the reducer and the output shaft. Therefore, the power transmission path of the drive transmission mechanism can be described as motor-reducer-output shaft (-instrument end).

[0108] It is understood that those skilled in the art can determine the structural form of the instrument base and the number of its components according to actual needs, such as including a single component or a combination of multiple components. Furthermore, those skilled in the art can determine the number of drive transmission mechanisms included in the drive transmission unit, as well as the structural form, relative position, drive transmission method, and power transmission direction of each drive transmission mechanism, according to actual needs. In addition, those skilled in the art can determine the types and numbers of components included in the first and second parts, as well as their arrangement and relative positions on the base based on segmented folding, such as forming a certain angle between them (or different angles between them and the base), or setting them separately, according to actual needs.

[0109] In this example (see) Figure 6 The drive transmission unit 22 comprises multiple drive transmission mechanisms, including a first group of drive transmission mechanisms 221 on the left, a second group of drive transmission mechanisms 222 on the right, and a third group of drive transmission mechanisms 223 disposed between the two. The first group of drive transmission mechanisms 221 and the second group of drive transmission mechanisms 222 each include two drive transmission mechanisms, while the third group of drive transmission mechanisms 223 includes one drive transmission mechanism. The first part 2211 and the second part 2212 of the drive transmission mechanism in the first group of drive transmission mechanisms 221 are folded in segments.

[0110] In this example, the drive transmission mechanism includes a motor, a reducer, a gear pair (including a first gear and a second gear) serving as the transmission connection part 2213, an output shaft, and an output flange. The first part 2211 of the drive transmission mechanism includes the motor, the reducer, and the first gear in the gear pair. The second part 2212 of the drive transmission mechanism includes the second gear in the gear pair, the output shaft, and the flange. The components of the first part 2211 and the second part 2212 are approximately coaxial. The first part 2211 and the second part 2212 are segmented and respectively mounted on the instrument base 21, with their axes parallel to each other. By placing the two parts in parallel, the vertical dimension of the instrument base can be significantly reduced. Obviously, those skilled in the art can determine the specific form of the drive transmission mechanism and the types and number of components included in the first / second part according to actual needs.

[0111] It should be noted that when the first / second part includes only one component, the axis of that part is the axis of the first / second part. When the first / second part includes multiple components, the axis of a certain component should be understood as the axis (approximate axis) of the main body of the corresponding component.

[0112] To achieve linear movement of the instrument tip towards / away from the patient, the instrument tip 1 and the instrument base, as a whole, need to generate linear motion along a first direction (e.g., roughly vertical, which can be referred to as the height direction in the figure). When the required linear motion range (stroke) for the surgery is large, miniaturization of the instrument base along the linear motion direction is particularly necessary. Achieving miniaturization in this direction effectively ensures the stroke of the instrument tip, shortens the length of the instrument tip's lever, and increases the rigidity of the lever, thereby better meeting the requirements of the surgical robot.

[0113] In one possible implementation, the axes of the first portion 2211 and the second portion 2212 are approximately parallel to the linear direction of movement of the instrument end 1, and there is a gap between the projections of the axes of the first portion 2211 and the second portion 2212 onto a plane perpendicular to the first direction. For example, in this example, the axes of the first portion 2211 and the second portion 2212 are approximately vertical straight lines, both the first portion 2211 and the second portion 2212 are disposed on the instrument base 2, and when viewed from above the instrument base 2, there is a gap between the first portion 2211 and the second portion 2212 along the length direction of the instrument base 2. Figure 1 Or, as in 3, there is a gap in the left-right direction. It is understood that those skilled in the art can determine the size of the gap, the first part and the second part along the width direction of the instrument seat, according to actual needs. Figure 1 or Figure 3 The relative positions between the front and back directions (in the middle).

[0114] Based on the miniaturization of the instrument device 100 in the linear motion direction of the instrument end 1, a torque detection component 224 (such as a torque sensor) can be set on the first part 2211 and / or the second part 2212 to better realize the force feedback of the instrument device to the corresponding drive transmission mechanism, thereby enhancing the user experience.

[0115] Specifically, due to the folded arrangement of the first part 2211 and the second part 2212, the straight-line distance of the power transmission path is reduced. Based on this, although the addition of a torque sensor usually increases the space along the axial direction of the device, the layout of the instrument in the height direction can still be kept relatively compact even with the addition of a torque sensor. Alternatively, it can be said that, starting with the addition of force feedback functionality, given the current large dimensions of the instrument in the height direction, the addition of force feedback functionality will inevitably further increase the dimensions in the height direction. Therefore, especially when additional feedback functionality is required, the folded design improvement of this application becomes even more necessary.

[0116] In one possible implementation, the instrument base 21 includes an instrument base main body portion 211 and an instrument base receiving portion 212 disposed on the instrument base main body portion 211. In the segmented folding drive transmission mechanism, a first portion 2211 is disposed on the instrument base receiving portion 212, and a second portion 2212 is disposed on the instrument base main body portion 211. In this way, by adding an instrument base receiving portion 212 to one side of the instrument base 2, the segmented folding drive transmission unit 22 can be reliably installed into the instrument base 2.

[0117] It is understood that those skilled in the art can determine the structural form, number, relative position between the two, and types and number of components respectively provided on the main body / accommodating part of the instrument base according to actual needs. For example, the main body of the instrument base may have a second part and one or more drive transmission mechanisms that are not segmented. The accommodating part of the instrument base may include one or more, and may be located in the middle or side of the main body.

[0118] In one possible implementation, the instrument seat receiving portion 212 is located on one side of the instrument seat body portion 211 along its length, providing the possibility of adding a torque sensor to the drive transmission mechanism with segmented folding configuration, such as in this example, where the torque sensor is located in the second portion 2212. The instrument seat receiving portion 212 may be located on the instrument seat base 21 near the back plate of the sterile separator.

[0119] In this way, the segmented folding configuration of the drive transmission mechanism is achieved by appropriately increasing the volume on one side of the instrument base along its length. Specifically, increasing the size in the height direction may lead to problems such as the inability to guarantee the stroke at the instrument end. In the width direction, increasing the size may cause interference between multiple instrument devices. Therefore, in this application, a small increase in volume corresponding to the overall concept of miniaturization is allocated in the length direction of the instrument base, which will not affect the performance of the instrument device to a certain extent.

[0120] In one possible implementation, the device 100 includes a circuit board assembly, which is typically obtained by centrally setting the circuit board assembly as much as possible. For example, one integrated setting is to place the circuit board assembly at a position corresponding to the third group of drive transmission mechanism 223 in this application.

[0121] Firstly, considering that the space at this location can be freed up, for example, a third set of drive transmission mechanism 223 can be added at this location, or the space can be directly omitted, thus further miniaturizing the instrument base 2 along its length. Secondly, the utilization rate of the instrument base receiving portion 212 constructed on the instrument base base 21 can be further improved. Thirdly, the current instrument base base 21 has features such as the clearance groove 2111 (see...) Figure 1 The area near the rod 12 of the obstacle avoidance device end 1 has low utilization, resulting in some wasted space. Taking the above factors into consideration, this application first disassembles the circuit board assembly into multiple sub-parts, and then separates at least one of the multiple sub-parts.

[0122] It is understood that those skilled in the art can determine the number of separately set sub-parts, the control range corresponding to each sub-part, and the specific setting position of the separately set sub-parts according to actual needs. For example, multiple drive transmission mechanisms are divided into two groups, and the circuit board corresponding to each group of drive transmission mechanisms is integrated (one sub-part). Taking one group of drive transmission mechanisms as an example, the sub-part corresponding to each group of drive transmission mechanisms can be set on one of the drive transmission mechanisms in that group of drive transmission mechanisms, between the two drive transmission mechanisms, or in other positions (such as other positions on the instrument base, on other drive transmission mechanisms not in this group of drive transmission mechanisms, on other components of the instrument device, etc.).

[0123] In one possible implementation, the circuit board assembly includes multiple sub-parts, including a first circuit board assembly 2251 and a second circuit board assembly 2252. The first circuit board assembly 2251 is disposed within the instrument seat receiving portion 212, and the second circuit board assembly 2252 is disposed within the instrument seat 2 near the clearance slot 2111. It is understood that those skilled in the art can determine the number of circuit boards included in the first / second circuit board assembly, the function / relative position of each circuit board, etc., according to actual needs. For example, the circuit boards may include, but are not limited to, power supply circuit boards, core controllers, and circuit boards corresponding to each drive transmission mechanism.

[0124] In one possible embodiment, the instrument holder accommodating portion 212 includes a first region 2121 (upper region) near the instrument end 1 and a second region 2122 (lower region) near the instrument holder 2. In the separate circuit board assemblies, a first circuit board assembly 2251 is disposed in the first region 2121, and in the segmented folding drive transmission mechanism, a first portion 2211 is disposed in the second region 2122. Since the first circuit board assembly 2251 typically includes at least a control circuit board corresponding to the segmented folding drive transmission mechanism, this achieves a close proximity configuration of the circuit board assemblies.

[0125] In one possible embodiment, the second circuit board assembly 2252 has a first circuit board portion 22521 and a second circuit board portion 22522 extending from the first circuit board portion 22521 toward the instrument seat receiving portion 212 and / or the clearance groove 2111, wherein the structure of the first circuit board portion 22521 is adapted to the outer edge of the drive transmission mechanism adjacent to the clearance groove 2111. This effectively utilizes the space within the instrument seat 2 adjacent to the clearance groove 2111, and improves the compactness of the layout of the second circuit board assembly 2252 through the outer edge fitting arrangement.

[0126] In this example, the first set of drive mechanisms is located near the instrument seat receiving portion 212, the second set of drive transmission mechanisms 222 is located near the clearance groove 2111 of the instrument seat 2, and the third set of drive transmission mechanisms 223 is disposed between the first set of drive transmission mechanisms 221 and the second set of drive transmission mechanisms 222. Correspondingly, in the second circuit board assembly 2252, the first circuit board portion 22521 is disposed around or enclosed on the outer edge of the partial structure of the second set of drive transmission mechanisms 222. The second circuit board portion 22522 is a planar portion. In addition, the first circuit board portion extends another planar portion (such as the third circuit board portion 22523) towards the instrument seat receiving portion 212. In this way, the first circuit board portion improves the compactness of the layout through the shape adaptation, the arrangement of the second circuit board portion improves the utilization rate of the position near the two ends of the clearance groove in the instrument seat base, and the third circuit board portion effectively utilizes the extra space released by the separate arrangement of the circuit board assembly.

[0127] In one possible implementation, the first circuit board assembly and / or the second circuit board assembly may include multiple stacked circuit boards. This achieves a degree of compactness in the arrangement of the circuit board assemblies by stacking them, while maintaining a separate arrangement. Obviously, those skilled in the art can determine the number of stacked circuit boards, their functions, and the spacing between them according to actual needs.

[0128] Continue to refer to the above. Figures 2 to 4 In one possible implementation, the device 100 includes a heat dissipation assembly, which includes a cooling fan 226 and a ventilation structure. The ventilation structure includes a first ventilation structure 2271 and a second ventilation structure 2272, one of which is an air inlet side and the other is an air outlet side. The first ventilation structure 2271 is located at the receiving portion of the device end 1 corresponding to the first region 2121, and the second ventilation structure 2272 is located on the device base near the clearance groove 2111. For example, in this example, the second ventilation structure is located at the bottom of the device base, or it could be located on the front wall of the device base on either side of the clearance groove. This allows for maximum heat dissipation from the inside of the device. The first / second ventilation structure may include one or more connecting holes directly disposed on the device, or a plate-like structure with one or more connecting holes installed at a corresponding position on the device.

[0129] Main reference Figures 7 to 12 And continue to refer to the aforementioned Figure 2 and Figure 4In one possible implementation, the sterile separator 3 includes an upper plate 31 and a back plate 32. In this example, the upper plate 31 and the back plate 32 generally form an L-shaped structure. The button portion 4 is disposed on the upper plate 31, and the aforementioned instrument seat receiving portion 212 is located behind the back plate 32. Figure 4 (Left side of the backplate 32).

[0130] In one possible implementation, the upper plate 31 of the aseptic separator 3 is provided with a transition flange as a transition member 35 at a position corresponding to the drive transmission mechanism. For example, in this example, a transition flange is provided at the position corresponding to each drive transmission mechanism. Corresponding to the position of each transition flange, a pair of upper side plate overlapping portions 3112 are provided facing each other on the upper side plate 311 of the upper plate 31, and a pair of lower side plate overlapping portions 3122 are provided facing each other on the lower side plate 312 of the upper plate 31. For example, in this example, both the upper side plate overlapping portions 3112 and the lower side plate overlapping portions 3122 are arc-shaped structures, and the arc length of the upper side plate overlapping portion is greater than that of the lower side plate overlapping portion. The upper side plate overlapping portions and the lower side plate overlapping portions generally enclose an annular overlapping portion in the circumferential direction (the upper side plate overlapping portion is recessed downward on the upper side plate, and the lower side plate overlapping portion is protruding upward on the lower side). The transition flange overlapping portion 355 provided on the transition flange can overlap to the upper surface of the annular overlapping portion. The adapter flange has a first instrument end mating feature 351 and a second instrument end mating feature 352 on the side (upper side) near the instrument end 1, which can mate with the instrument end 1. In this example, the first / second instrument end mating features are protrusions (referred to as the first instrument end protrusion and the second instrument end protrusion, respectively). The adapter flange has a first instrument seat mating feature 353 and a second instrument seat mating feature 354 on the side (lower side) near the instrument seat 2, which can mate with the instrument seat. In this example, the first / second instrument seat mating features are protrusions (referred to as the first instrument seat protrusion and the second instrument seat protrusion, respectively).

[0131] Obviously, the structural forms, positions / relative positions, etc., of the various overlapping parts and mating features described above are merely exemplary descriptions, and those skilled in the art can flexibly adjust them according to actual needs. For example, the overlapping parts of the two upper side plates and the overlapping parts of the two lower side plates are spaced apart to form a ring-shaped outline (e.g., omitting one of the lower side plate overlapping parts), and the mating features can also be other structures such as grooves. Furthermore, in this example, the structures of the transition flanges corresponding to each drive transmission mechanism are roughly the same; obviously, the structures of each transition flange can be the same or different. In addition, the transition flanges can be omitted, that is, the output flange of the instrument seat can be directly assembled and connected to the corresponding structure on the instrument end. The mating features related to the assembly connection can be referred to the various mating features on the aforementioned transition flanges.

[0132] Taking the first and second instrument end protrusions mentioned above as examples, in this example, the two protrusions have different radial widths / positions and different circumferential curvatures, and their center points are approximately located on the same diameter of the flange. Clearly, those skilled in the art can flexibly adjust the shape, outline dimensions, position / relative position, and number of the two protrusions according to actual needs.

[0133] In one possible implementation, the button part 4 includes a button part base, which is movably disposed on the sterile separator 3. The button part base includes a button part main body 40 and a first arm 41 and a second arm 42 that can be connected to the instrument end 1 and the instrument base 2, respectively.

[0134] In this example, the button base is roughly a plate-like structure, and the first arm 41, the second arm 42, and the main body 40 of the button are integrally formed rigid structures, as shown in the example. Figure 9 In the middle, the first arm 41 and the second arm 42 are two plate-like structures extending upward and downward from the main body of the button part 40 in the middle (hereinafter referred to as the upper arm and the lower arm, respectively). The rigid structure is slidably set on the upper plate 31 of the sterile separator 3.

[0135] It is understood that those skilled in the art can determine the structural form of the main body of the button, the upper arm, the lower arm, and the button portion as a whole, according to actual needs. For example, in this example, those skilled in the art can determine the arm length, thickness, width, etc., of the upper and lower arms according to actual needs. The arm lengths of the two arms can be the same or different. In addition to the plate-like structure in this example, strip-like structures, block-like structures, etc., can also be used.

[0136] In one possible implementation, the instrument end 1 and the instrument base 2 can be connected to the upper arm and lower arm respectively via a snap-fit ​​connection. For example, in this example, a first snap-fit ​​hole (first arm engagement feature 411) and a second snap-fit ​​hole (second arm engagement feature 421) are provided on the upper arm and lower arm respectively. Correspondingly, the instrument end 1 and the instrument base 2 are provided with engagement features such as protrusions that can engage with the first / second snap-fit ​​holes. Furthermore, on the housing 11 of the instrument end 1, at the engagement position (operation point) that engages with the first snap-fit ​​hole, an operating structure such as an operation button 111 is provided that allows force to be applied. Thus, after assembly, only force needs to be applied to the operation point to release the constraint between the instrument end 1 and the upper arm, after which the instrument end 1 can be removed from the assembly of the sterile separator and the instrument base 2. Similarly, when assembly is required, the instrument end 1 can be brought close to the assembly. When the operating point of the instrument end 1 reaches the first arm engagement feature 411 on the upper arm, the connection between the instrument end 1 and the assembly can be completed through the engagement of the two.

[0137] Obviously, the first / second snap-fit ​​hole is only an exemplary description of the first / second arm mating feature. Those skilled in the art can determine the specific form of the first / second mating feature according to actual needs. For example, the first / second arm mating feature can also be a groove, multiple holes / grooves, etc. In addition, the first / second arm mating features can be the same or different.

[0138] In this example, the structure related to the sliding connection is as follows: the upper plate 31 of the sterile separator 3 includes a first plate 311 near the instrument end 1 and a second plate 312 near the instrument base 2 (which may be referred to as the upper side plate and the lower side plate, respectively). The aforementioned draping film can be sandwiched between the upper side plate and the lower side plate. A reserved structure 3121, such as a groove, is provided on the lower side plate along its width direction. An avoidance structure 3111, such as an open area, is provided on the upper side plate to allow the button part base to slide along the reserved structure 3121. In this way, the button part 4 can slide and connect with the reserved structure 3121 on the lower side plate after passing through the avoidance structure 3111 through the upper side plate. At the same time, a spring serving as a reset assembly 43 is provided on the lower side plate, and a lower side plate positioning structure 3123 that can be connected to the instrument base 2 is provided below the lower side plate. In this example, the thickness of the button body 40 located between the upper arm and the lower arm is greater than that of the upper arm and the lower arm, and a first mounting position 441 such as a hole / slot is provided on the button body 40. Correspondingly, the lower side plate 312 of the aseptic separator 3 is provided with a second mounting position 442 such as a hole / slot at the position corresponding to the reserved structure 3121. The two ends of the spring can be respectively set in the first mounting position 441 and the second mounting position 442, such as the two ends of the spring being accommodated and fixedly set in the two mounting positions, or one end being accommodated and fixedly set in the corresponding mounting position, and the other end being accommodated in the corresponding mounting position.

[0139] The detachable connection between the sterile separator 3 and the instrument base 2 is achieved through the combination of a rigid structure and a sliding connection. For example, the rigid structure can be made of materials such as plastic. When the instrument end 1 is removed (upper arm exposed), the button part 4 can slide along the surface of the upper plate 31 when the operator applies force to the upper arm. The rigid structure ensures that the button part 4 will not deform during sliding, and the sliding of the upper arm can drive the button part 4 to slide as a whole. As the lower arm slides, the second arm engagement feature 421 on the lower arm is released from its constraint with the engagement features on the instrument base 2, such as snaps and protrusions, thus allowing the lower arm to separate from the instrument base 2. When no external force is applied to the upper arm, the preload of the spring allows the button part 4 to slide towards the outside of the sterile separator 3, thereby establishing a constraint between the second snap hole on the lower arm and the engagement features on the instrument base 2, thus ensuring a reliable connection between the sterile separator 3 and the instrument base 2.

[0140] It is understood that the above-described reset component and its installation method are merely exemplary descriptions. Those skilled in the art can flexibly select the structural form of the reset component and the first / second mounting position according to actual needs. For example, the first / second mounting position can be a mounting surface, a block structure, a recessed structure, etc., and the spring can be changed to a combination of multiple springs, a leaf spring, or other elastic structures. Exemplarily, the reset component can be directly fixedly installed on a surface, and the first / second mounting position can be a sleeve, a boss, etc., that can be connected and cooperate with the spring.

[0141] In addition, those skilled in the art can determine the structural form of the sterile separator, the structural form of the reserved / avoidance structure set on it, etc., according to actual needs, such as changing the position of the reserved / avoidance structure, replacing the upper and lower side plates with an integrated structure (such as a single-layer structure) that can be locally sandwiched with a single film.

[0142] As can be seen, when the instrument device 100 is assembled, the lower arm is connected to the instrument base 2 by the preload of the spring, and the upper arm is housed in the box 11 of the instrument end 1 and connected to the buckle on the inside of the box 11. The upper arm is only exposed when the instrument end 1 needs to be removed from the sterile separation component. Therefore, the one-piece button part simplifies the structure and ensures the reliability of disassembly and assembly through ingenious structural design. Under this premise, it also makes the instrument end and instrument base have good flatness when assembled.

[0143] In one possible implementation, curved surfaces (such as rounded corners) or inclined surfaces can be provided on the upper and lower arms to ensure that the instrument device can be assembled quickly and reliably. For example, in this case, pressing down on the sterile separator completes the installation of the sterile separator and the instrument base, and pressing down again completes the assembly of the instrument box and the sterile separator (the combination with the instrument base). Besides directly setting / forming the guiding structures on the upper and lower arms, a structure can be added first on the upper and lower arms as a carrier for the guiding structure, and then the guiding structure can be formed on the carrier.

[0144] The instrument device 100 is typically equipped with multiple instrument ends 1. Before the operation begins, the instrument ends 1 need to be installed on the assembly of the sterile separator and the instrument base 2. During the operation, different instrument ends 1 may need to be replaced. Therefore, in one possible embodiment, the sterile separator also includes a guide portion, which is mainly used to ensure reliable installation and improve the efficiency of instrument installation. It is understood that those skilled in the art can place the guide portion at any location / component related to ensuring reliable installation and improving the efficiency of instrument installation, and can adopt any reasonable structural form according to actual needs.

[0145] In one possible implementation, the guide section mainly includes a first guide structure 331 and a second guide structure 332. The first guide structure 331 and the second guide structure 332 are respectively disposed on both sides of the back plate 32 of the sterile separator 3 along its width direction. The instrument end 1 can reach the upper plate 31 via the back plate 32 at least by means of the guide section. As a result, the housing 11 of the instrument end 1 can be quickly and reliably connected to the button section 4. The instrument end 1 can be quickly and accurately aligned with the adapter flange on the sterile separator 3, thereby completing the installation and replacement of the instrument end 1.

[0146] It is understood that those skilled in the art can determine the specific structural form of the first / second guide structure according to actual needs. For example, the first / second guide structure can be a continuous or spaced strip structure, plate structure, etc. In addition, the first guide structure and the second guide structure can be the same or different.

[0147] In one possible implementation, the first guide structure 331 and the second guide structure 332 have guide surfaces 3321 on their sides (inner sides) close to each other. The distance between the ends (lower ends) of the first guide structure 331 and the second guide structure 332 near the upper plate 31 is less than the distance between their ends (upper ends) near the instrument end 1. In this way, a guide path that is wider at the top and narrower at the bottom can be formed by the first guide structure 331 and the second guide structure 332. The guide surface can be a curved surface, an inclined surface, or a combination thereof (e.g., the guide surface can be a curved surface composed of two arc surfaces, a combination of two inclined surfaces, a combination of an arc surface and an inclined surface, or a vertical surface provided between an arc surface and an inclined surface). In this example, the guide surface is an inclined surface.

[0148] In addition to the guide surface 3321 on the first / second guide structure, the front surface of the back plate 32 can also serve a guiding function (in which case the front surface of the back plate is referred to as the back plate guide surface 321). This allows the guide surface and / or the front surface of the back plate to be set as an inclined surface. Furthermore, the upper surface of the upper plate can be adjusted to establish the relative positional relationship between the front surface of the back plate, the guide surface, and the upper surface of the upper plate, which have a guiding function. This may include, but is not limited to, the perpendicularity or inclination between the guide surface and the front surface of the back plate, and the perpendicularity or inclination between the guide surface and the upper surface of the upper plate.

[0149] In one possible implementation, the first guide structure 331 and the second guide structure 332 are arranged along the height direction in a local area of ​​the back plate 32. In this example, the upper ends of the back plate 32 have transition areas such as rounded corners. Therefore, the upper ends of the first / second guide structures are appropriately lowered, forming a first gap area 333 between the first / second guide structures and the upper edge of the back plate 32. The lowest point of the first gap area 333 should be slightly higher than the highest point of the upper arm. This ensures the reliability of the guidance while considering the compatibility between the guide portion and the back plate 32.

[0150] In order to allow the instrument end 1 to enter the guide more smoothly, a transition structure 334, such as a slope or an arc, can be provided at the upper end of the first / second guide structure.

[0151] In one possible implementation, the first and second guide structures, arranged along the height direction in a local area of ​​the backplate, may form a second gap (not shown) between the lower end of the first / second guide structure and the upper surface of the upper plate. This appropriately reduces the structural bulk of the guide section while ensuring guidance reliability. However, when a second gap is provided, its highest point should not be higher than the mating position between the instrument end and the upper arm to ensure guidance reliability.

[0152] In one possible implementation, a buffer zone can be provided on the upper surface of the upper plate 31 near the lower end of the first / second guide structure. This buffer zone can be a non-planar structure of the upper plate (such as a structure recessed from both sides towards the center), or an additional structure (buffer pad) added to the upper plate. In this way, during the alignment process, the instrument end can smoothly contact the buffer zone, ensuring stability during the installation and replacement of the instrument end. If a buffer zone is provided, a second empty area may or may not be provided.

[0153] Furthermore, in this example, the first guide structure and the second guide structure are roughly symmetrically distributed. However, provided that the guiding function can be guaranteed, they can also be set as asymmetrical structures, such as including but not limited to the following: the two guide structures are not of equal height (for example, the first guide structure on the left has only a first empty area at the top, while the second guide structure on the right has a first empty area at the top and a second empty area at the bottom, respectively), or the two guide surfaces are different (for example, the first guide structure on the left is a strip structure of equal width, while the second guide structure on the right has a widened section in the middle).

[0154] In one possible implementation, a positioning part is also provided on the upper plate 31 of the sterile separator 3. In this way, the accurate installation of the instrument end 1 on the sterile separator 3 is ensured through the cooperation of the guiding part and the positioning part. Those skilled in the art can determine the number of positioning structures included in the positioning part and the location of the positioning structures according to actual needs.

[0155] In one possible implementation, the positioning part includes a first positioning structure 341 (one or more) and a second positioning structure 342 (one or more). The first positioning structure 341 is located approximately at the center line of the upper plate 31 along its length, while the second positioning structure 342 is located off the center line. In this example, the first positioning structure includes one or more, and the second positioning structure includes one. In this way, the reliability of positioning can be ensured by multi-line positioning.

[0156] Obviously, the structural form, number, and relative position of the first and second positioning structures can be flexibly adjusted according to actual needs. For example, there can be multiple second positioning structures, which can be collinear or non-collinear. Similarly, multiple first positioning structures can be located on the centerline or on other straight lines parallel to the centerline. Furthermore, the structural forms of the first and second positioning structures can be the same or different; for example, the first / second positioning structures can be positioning blocks, positioning pins, positioning plates, etc.

[0157] In this example, the button section 4 includes two buttons, which are positioned near the ends of the sterile separator 3 along its width direction, and are located on both sides of the third set of drive transmission mechanism 223. Due to the placement of the third set of drive transmission mechanism 223 in the middle, the two reserved structures / avoidance structures corresponding to the two button sections 4 are non-through structures.

[0158] As can be seen, in the preferred embodiment of this application, the guide and positioning parts enable the instrument end to reliably reach the back plate via the upper plate of the sterile separator and engage with the button part. By making the button part of the sterile separator assembly an integral structure, the assembly and disassembly of the instrument device are achieved while simplifying the structure. The combination of a rigid structure and a sliding connection enables quick assembly and disassembly of the instrument base. The rigid structure of the button part ensures the reliability of the assembly and disassembly of the instrument device. Furthermore, in the assembled state, the button part is completely contained within the housing of the instrument end, thus ensuring the flatness of the instrument device. By folding a portion of the drive transmission mechanism in the drive transmission unit, constructing an instrument base housing portion behind the back plate, and disassembling the circuit components, miniaturization of the surgical robot is achieved.

[0159] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A medical device, characterized in that, The device includes: A sterile separator, comprising a top plate and a back plate; Device end; Instrument holder, comprising a drive transmission unit, the drive transmission unit including a plurality of drive transmission mechanisms; and The guide section includes a first guide structure and a second guide structure, which are respectively disposed on both sides of the back plate along its width direction. The instrument end can reach the upper plate via the back plate at least by means of the guide section.

2. The device according to claim 1, characterized in that, The first guide structure and the second guide structure have guide surfaces on their sides close to each other. Wherein, the distance between the ends of the first guide structure and the second guide structure near the upper plate is less than the distance between their ends near the instrument end.

3. The device according to claim 2, characterized in that, The guide surface and / or the side of the back plate near the guide portion are sloped.

4. The medical device according to claim 1, characterized in that, The first guide structure and / or the second guide structure are arranged along the height direction in a local area of ​​the back plate.

5. The device according to claim 4, characterized in that, Viewed along the height direction, the first guide structure and / or the second guide structure have a first clearance area between them and the side of the backplate near the end of the device.

6. The device according to claim 5, characterized in that, The first guide structure and / or the second guide structure have a transition structure at the end near the first empty area.

7. The device according to claim 5, characterized in that, The instrument includes a button portion, which can be disposed on the instrument base, and the instrument end can reach a mating position for connection with the button portion via the guide portion. Wherein, the lowest point of the first empty area is higher than the mating position; and / or The highest point of the guide portion is higher than the mating position.

8. The device according to claim 4 or 5, characterized in that, Viewed along the height direction, there is a second clearance area between the first guide structure and / or the second guide structure and the surface of the upper plate near the instrument end.

9. The device according to claim 8, characterized in that, The instrument includes a button portion, which can be disposed on the instrument base, and the instrument end can reach a mating position for connection with the button portion via the guide portion. When viewed along the height direction, the highest point of the second empty area is not higher than the matching position.

10. The device according to claim 4 or 5, characterized in that, The upper plate has a buffer zone. At least a portion of the buffer is disposed below the guide portion.

11. The device according to claim 1, characterized in that, The sterile separator also includes a positioning part, which is disposed on the upper plate of the sterile separator.

12. The device according to claim 11, characterized in that, The positioning unit includes: At least one first positioning structure; and / or Second positioning structure; In the case where there are multiple first positioning structures, the multiple first positioning structures are disposed on the upper plate in a direction away from the back plate along the upper plate; When viewed along a direction perpendicular to the direction on the upper plate away from the back plate, there is a gap between the second positioning structure and the first positioning structure.

13. The device according to claim 1, characterized in that, The instrument holder includes an instrument holder base. Wherein, at least one of the plurality of drive transmission mechanisms includes a first part and a second part along its power transmission path, and The first part and the second part are folded and disposed in sections on the instrument base.

14. The device according to claim 13, characterized in that, Both the first part and the second part include a single component or multiple components arranged coaxially. The axes of the first part and the second part are parallel to each other.

15. The device according to claim 14, characterized in that, A torque detection component is provided on the first part or the second part. The instrument base includes an instrument base body and an instrument base receiving portion disposed on the instrument base body. The portion of the first portion and the second portion in which the torque detection component is disposed is disposed on the instrument base body, and the other portion of the first portion and the second portion is disposed on the instrument base receiving portion.

16. The device according to claim 13, characterized in that, The upper plate is disposed between the instrument end and the instrument base, and the instrument base receiving portion is located on the base near the back plate.

17. A surgical robot, characterized in that, The surgical robot includes the instrumentation device according to any one of claims 1 to 16.

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