Mounting device with sterile cover and endoscopic surgery robot

Abstract

The utility model relates to the technical field of medical instruments, and provides a mounting device with a sterile cover and an endoscopic surgery robot, the mounting device comprises a fixing seat, the fixing seat is provided with a magnetic part, and an accommodating cavity is formed in the end face, deviating from the magnetic part, of the fixing seat; the sterile cover comprises a cover body and a metal piece, the cover body is connected with the metal piece, the metal piece is adsorbed in the containing cavity by the magnetic piece, and the part, making contact with the metal piece, of the cover body is located between the fixing base and the metal piece. The containing cavity is formed in the end face, deviating from the magnetic piece, of the fixing base, so that the metal piece connected with the cover body drives the sterile cover to be buckled and fixed in the containing cavity, sliding of the metal piece is limited through the containing cavity, and then the problem that the metal piece is pulled off due to the fact that the cover body is pulled is solved; moreover, the cover body is fixed on the binding surface of the metal piece and the accommodating cavity, so that the torque of the dragging force of the cover body to the metal piece can be greatly reduced, and the problem that the sterile cover is pulled off due to overturning of the metal piece is further solved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an installation device with a sterile cover and a laparoscopic surgical robot. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive surgical robots can avoid operational limitations, such as hand tremors during filtering operations, with their high dexterity, high control accuracy and intuitive surgical images, and are widely used in surgical areas such as the abdomen, pelvis and chest.

[0003] At present, the minimally invasive surgical robot includes a main control console (master end) and a slave manipulator arm (slave end, or robotic arm). The main control console collects the doctor's operation signal and generates the control signal of the slave manipulator arm after processing by the control system, and the slave manipulator arm performs the surgical operation. The minimally invasive surgical robot has matching surgical instruments, which are mounted on the power box of the slave manipulator arm and are used to be manipulated by the doctor to perform the surgical operation. In robotic abdominal minimally invasive surgery, a sterile cover (i.e., a sterile protective cover) is required to isolate the sterile robotic arm, power box, column and other areas from the sterile instruments, surgical environment, etc. The installation convenience and fixing effect of the sterile cover affect the surgical process and quality.

[0004] Generally, sterile covers are divided into column covers and robot arm covers; the column cover is a single sheet, which is enclosed on the column and fixed with a magnetic sheet at the upper end; the robot arm cover is a sleeve with an open end, which is put into the robot arm and tightened by a drawstring at the proximal end of the robot arm, and fixed with a magnetic sheet at the opposite end of the closing. However, the magnet and the metal sheet are directly in contact with each other, and the pulling force on the sterile cover caused by the movement of the robot arm is usually along the surface of the robot arm, that is, consistent with the length direction of the magnet or the metal sheet, which can cause the magnet and the metal sheet to slide and pull off easily.

[0005] The technical solution for fixing the sterile cover is recorded in the document with publication number CN217525352U and invention name “A cover installation detection mechanism and surgical robot thereof”. The simplified model is as follows: Figure 1 As shown, an annular magnet 03 is provided, and a metal sheet 01 is provided with a boss 02 that can be embedded in the annular magnet 03, so that the cover (sterile cover) 04 is adsorbed on the annular magnet 03 along with the metal sheet 01, and the suction force is F0'. However, the above-mentioned method of fixing the sterile cover has the following problems. Due to the provision of the boss of the metal sheet, the sterile cover needs to be bonded to the large surface of the metal sheet (the side away from the boss), and it is easy to pull the metal sheet to flip outward when the sterile cover is subjected to the pulling force G0' (refer to Figure 1 a direction), which leads to the problem of pulling off. Utility Model Content

[0006] The embodiments of the present application provide an installation device with a sterile cover and a laparoscopic surgical robot, which can solve the problem in the related art that the sterile cover is easily pulled to flip the ferromagnetic metal sheet outward and then pulled off when subjected to a pulling force.

[0007] According to a first aspect of an embodiment of the present application, there is provided a mounting device with a sterile cover, comprising:

[0008] A fixing seat, wherein the fixing seat is provided with a magnetic member and an accommodating cavity is constructed on the end surface facing away from the magnetic member;

[0009] The sterile cover comprises a cover body and a metal piece, wherein the cover body is connected to the metal piece, the metal piece is adsorbed to the accommodating cavity by the magnetic piece, and the contact portion of the cover body with the metal piece is located between the fixing seat and the metal piece.

[0010] In a feasible implementation, the metal piece is a ferromagnetic metal sheet of a preset thickness, and the ferromagnetic metal sheet is fixedly connected to the cover body;

[0011] At least a portion of the ferromagnetic metal sheet along the thickness direction is located in the accommodating cavity.

[0012] In a feasible implementation, the ferromagnetic metal sheet is located in the accommodating cavity along the thickness direction.

[0013] In a feasible implementation, the fixing seat is provided with a plurality of clips on a side facing away from the accommodating cavity, and the plurality of clips are suitable for detachably arranging the fixing seat on the medical device.

[0014] In a feasible implementation, the fixing seat includes a base, the base includes a first surface and a second surface opposite to each other, the accommodating cavity is formed on the first surface of the base, and the multiple clips are located on the second surface of the base and distributed around the center of the second surface.

[0015] In a feasible implementation manner, an indicator mark is provided on the first surface of the base body, and the indicator mark is used to indicate the position of the magnetic member.

[0016] In a feasible implementation, the magnetic member is located on the second surface of the substrate;

[0017] The fixing seat further comprises a plurality of limiting members, which are arranged on the second surface of the base body and are distributed at intervals around the center of the second surface. The plurality of limiting members are suitable for limiting the magnetic member.

[0018] In a feasible implementation, the fixing seat further includes a fixing cover plate, and the fixing cover plate is fixedly connected to the end surface of the limiting member to limit the magnetic member within the space enclosed by the fixing cover plate and the plurality of limiting members.

[0019] In a feasible implementation, the magnetic member is a solid circular magnet sheet;

[0020] The ferromagnetic metal sheet is in the shape of a solid circular cake, and the diameter of the ferromagnetic metal sheet is the same as the diameter of the magnet sheet.

[0021] In a feasible implementation, the projection of the accommodating cavity along the depth direction is circular;

[0022] The diameter of the accommodating cavity is 1 mm to 2 mm larger than the diameter of the magnet sheet.

[0023] In a feasible implementation, along the depth direction of the accommodating cavity, the projection of the magnetic member is located within the projection area of ​​the accommodating cavity;

[0024] And / or, the projections of the magnetic component and the metal component along the thickness direction completely overlap.

[0025] According to a second aspect of the embodiments of the present application, there is provided a laparoscopic surgical robot, comprising a support assembly, a robotic arm and the mounting device with a sterile cover as described in the above embodiments, wherein the robotic arm is disposed on the support assembly; and

[0026] The mounting device with the sterile cover is respectively arranged on the supporting assembly and / or the robotic arm to isolate the supporting assembly and / or the robotic arm from the sterile environment.

[0027] According to the embodiments of the present application, a mounting device with a sterile cover and a laparoscopic surgical robot have at least the following technical effects:

[0028] By constructing an accommodating cavity on the end face of the fixing seat facing away from the magnetic part, the metal part connected to the cover body drives the sterile cover to be snapped and fixed in the accommodating cavity, and the sliding of the metal part is restricted by the accommodating cavity, thereby alleviating the problem of the metal part being pulled off due to the cover body being pulled; moreover, by fixing the cover body on the fitting surface of the metal part and the accommodating cavity, the torque of the metal part caused by the pulling force of the cover body can be greatly reduced, further alleviating the problem of the sterile cover being pulled off due to the flipping of the metal part. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a simplified model schematic diagram of a structure in which a cover is fixed to a magnet in the prior art;

[0031] Figure 2 It is a schematic structural diagram of a mounting device with a sterile cover provided in an embodiment of the present application;

[0032] Figure 3 is a schematic cross-sectional structural diagram of a fixing seat provided in an embodiment of the present application;

[0033] Figure 4 is a schematic diagram of the disassembled structure of the fixing base provided in an embodiment of the present application;

[0034] Figure 5 is a schematic diagram of the overall structure of the fixing base provided in an embodiment of the present application at a positive angle;

[0035] Figure 6 is a schematic diagram of the overall structure of the fixing seat provided in an embodiment of the present application at a back-facing angle;

[0036] Figure 7 is a schematic diagram of the structure of a fixed cover plate provided in an embodiment of the present application;

[0037] Figure 8 is a schematic diagram of the structure of a laparoscopic surgical robot provided in an embodiment of the present application;

[0038] Fig. 9 It is a schematic diagram of the position of the fixing seat provided in the embodiment of the present application installed on the laparoscopic surgical robot.

[0039] Reference numerals:

[0040] 01. Metal sheet; 02. Boss; 03. Ring magnet; 04. Covering part;

[0041] 100, fixing seat; 101, accommodating cavity; 102, clamping member; 104, base; 1041, first surface; 1042, second surface; 103, stopper; 1031, threaded hole; 105, fixing cover plate; 1051, screw; 1052, perforation; 106, indication mark;

[0042] 200, magnetic parts;

[0043] 300, sterile cover; 301, cover body; 302, metal parts;

[0044] 400. Laparoscopic surgical robot; 401. Support assembly; 402. Robotic arm. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0046] In some places in this specification, many specific technical details are described. However, it should be understood that the embodiments of the utility model can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the utility model is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstanding of the main points of the utility model by the public.

[0047] In this specification, the drawings show schematic diagrams of several embodiments of the utility model. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the utility model.

[0048] The following terms used herein are only used to describe specific embodiments and are not intended to limit the utility model. Spatial relative terms, such as "below", "lower", "above", "upper" and the like can be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for the convenience of explanation. It should be understood that spatial relative terms are intended to cover different orientations of the device in use or operation except the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation of the top and bottom. And the device can be oriented in other ways (for example, rotated 90 ° or in other orientations), and the spatial relative descriptors used here are interpreted accordingly.

[0049] As used herein, "several", the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0050] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part" and "item" are used interchangeably.

[0051] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present invention further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or knives that translate along a path. The instrument may also contain information that is stored (e.g., on a PCBA board within the instrument) permanently or that can be updated by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0052] The term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require a direct connection (e.g., a direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched using object C. In addition, the terms "removably connected" or "removably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are removably connected can be unconnected and separated so that they no longer operate in conjunction.

[0053] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0054] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0055] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform to view the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and to control the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0056] The patient surgical platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. Surgical instruments and / or laparoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0057] The image platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured image. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits the image from the patient's body 122 to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the image platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on the video display for observation by the assistant.

[0058] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0059] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device for controlling the manipulator may be located remotely from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresentation surgery will be familiar with such systems and their components.

[0060] In the related art, the sterile cover is set on the outer side of the metal sheet. When the sterile cover is subjected to a pulling force, the metal sheet is pulled, which easily causes the metal sheet to flip outward from the upper side, resulting in the problem of being pulled off. If the above problem is to be avoided, a magnet with a larger magnetic force needs to be used, but this will make it difficult to remove the sterile cover after the operation, affecting the convenience of use.

[0061] In view of the above-mentioned problems, an embodiment of the present application provides a mounting device with a sterile cover, which does not require a large magnetic force and can also reduce the risk of the sterile cover being easily pulled off when being pulled.

[0062] It should be noted that the magnetic part in this example refers to a material that can generate attraction on the following metal parts, such as a permanent magnet (referred to as a magnet). The properties of the magnet can also be selected according to the actual required magnetic force. For example, it can be a samarium cobalt magnet, a neodymium iron boron magnet, a ferrite magnet, etc., and no specific restrictions are made here.

[0063] Figure 2 It is a schematic structural diagram of a mounting device with a sterile cover provided in an embodiment of the present application;

[0064] Reference Figure 2 As shown, the installation device with a sterile cover 300 provided in the embodiment of the present application may include a fixing seat 100 and a sterile cover 300 .

[0065] The fixing seat 100 is provided with a magnetic part 200, and a accommodating cavity 101 is constructed on the end face facing away from the magnetic part 200; the sterile cover 300 includes a cover body 301 and a metal part 302, the cover body 301 is connected to the metal part 302, the metal part 302 is adsorbed in the accommodating cavity 101 by the magnetic part 200, and the part of the cover body 301 that contacts the metal part 302 is located between the fixing seat 100 and the metal part 302.

[0066] It is understandable that the fixing seat 100 is usually set on the column and the mechanical arm 402 of the medical device such as the laparoscopic surgical robot 400, and the specific setting method can be fixed on the column or the mechanical arm 402 by bolts, adhesives, etc. Of course, after the fixing seat 100 is damaged or the magnetic force of the magnetic member 200 therein decreases, in order to facilitate the repair or replacement of the fixing seat 100, the fixing seat 100 can be detachably set on the column or the mechanical arm 402 by means of snap-fit, threaded connection, etc.

[0067] This embodiment is described by taking the installation device with the sterile cover 300 provided on the laparoscopic surgery robot 400 as an example.

[0068] The slave end of the laparoscopic surgical robot 400 usually requires two types of sterile covers 300, a column cover and a mechanical arm cover. The mechanical arm cover is integrated with an isolation plate. After the isolation plate is installed on the power box, the mechanical arm cover is put on the mechanical arm 402 like "wearing a sock". A fixing seat 100 is provided at a position of the mechanical arm 402 close to the suspension plate, so that the metal part 302 connected to the mechanical arm cover is adsorbed through the magnetic part 200 in the fixing seat 100, so that the mechanical arm cover is fitted and fixed on the mechanical arm 402. The column cover is a sheet structure, which is fitted around the three sides of the column and finally adsorbed at the top position of both sides (or the front).

[0069] In order to strengthen the magnetic adsorption firmness between the sterile cover 300 and the fixing seat 100 without enhancing the magnetic force of the magnetic part 200, in this example, a receiving cavity 101 is constructed on the end face of the fixing seat 100 facing away from the magnetic part 200, that is, when the fixing seat 100 is installed on the laparoscopic surgical robot 400, the opening of the receiving cavity 101 is away from the laparoscopic surgical robot 400, so as to facilitate the buckling and fixing with the metal part 302. At the same time, the cover body 301 connected to the metal part 302 is arranged between the fixing seat 100 and the metal part 302. In other words, the metal part 302 can be fixedly connected to the cover body 301 in advance. Before the sterile cover 300 is buckled on the fixing seat 100, the metal part 302 connected to one side of the cover body 301 needs to be oriented toward the receiving cavity 101. Then, due to the suction force of the magnetic part 200, as shown in FIG. Figure 2 F0 in the figure can firmly fix the metal part 302 and the cover 301 therebetween on the fixing base 100, even if the cover 301 is subjected to the pulling force caused by the movement of the robot arm 402 or the movement of the column, such as Figure 2 This setting will make the torque of the pulling force very small, which can be understood as the suction force F0 of the magnetic part 200 makes the metal part 302 realize Figure 2 The balance in direction b shown in the figure reduces or avoids the possibility of the metal member 302 flipping over, thereby reducing the possibility of the metal member 302 escaping from the fixing seat 100 .

[0070] In one example, the metal piece 302 is adapted to fit with the accommodating cavity 101. Specifically, the accommodating cavity 101 can be set to be circular, rectangular or polygonal. To enhance the degree to which the accommodating cavity 101 restricts the sliding of the metal piece 302, the metal piece 302 can be set to be consistent with the shape of the accommodating cavity 101. For example, if the accommodating cavity 101 is set to be circular, the metal piece 302 is also set to be circular.

[0071] To ensure the maximum suction force between the metal part 302 and the magnetic part 200, the shape and size of the magnetic part 200 can be set with reference to the above-mentioned metal part 302. For example, the magnetic part 200 is set to be circular, and the diameter of the magnetic part 200 is set to D2. The diameter D2 of the magnetic part 200 is the same as the diameter of the metal part, and the orthographic projection views overlap.

[0072] And the diameter D1 of the accommodating cavity 101 can be slightly larger than the diameter D2 of the metal part 302, so that the sterile cover 300 wrapped on the metal part 302 can smoothly enter the accommodating cavity 101. Similarly, in order to make the metal part 302 correspond to the magnetic part 200 (the orthographic projection view coincides), in one example, the projection of the accommodating cavity 101 along the depth direction is circular, and the diameter of the accommodating cavity 101 is 1mm to 2mm larger than the diameter of the magnetic part 200. This setting can make the metal part 302 completely correspond to the magnetic part 200 without causing waste of the material of the magnetic part 200. The specific diameter difference can be 1mm, 1.2mm, 1.5mm, 2mm, etc., which is not limited here, and the specific size of the accommodating cavity 101 and the size of the metal part 302 are not limited here, as long as the above purpose can be achieved.

[0073] also,

[0074] In the embodiment of the present application, by constructing the accommodating cavity 101 on the end face of the fixing seat 100 away from the magnetic member 200, the metal member 302 connected to the cover body 301 drives the sterile cover 300 to be fastened and fixed in the accommodating cavity 101, and the sliding of the metal member 302 is limited by the accommodating cavity 101, thereby alleviating the problem of the metal member 302 being pulled off due to the cover body 301 being pulled; and, by fixing the cover body 301 on the fitting surface of the metal member 302 and the accommodating cavity 101, the torque of the metal member 302 caused by the pulling force of the cover body 301 can be greatly reduced, further alleviating the problem of the sterile cover 300 being pulled off due to the flipping of the metal member 302. In addition, according to the above description, it can be seen that the use of this device does not require the magnetic force of the magnetic member 200 to be too large, thereby ensuring that the sterile cover 300 is easy to remove after the operation.

[0075] Reference Figure 2 As shown, in some embodiments, the metal piece 302 is a ferromagnetic metal sheet of a preset thickness, and the ferromagnetic metal sheet is fixedly connected to the cover body 301 ; at least a portion of the ferromagnetic metal sheet along the thickness direction is located in the accommodating cavity 101 .

[0076] It is understandable that, in order to facilitate adsorption by the magnetic member 200, the material of the ferromagnetic metal sheet can be iron, nickel alloy or other materials that are easily adsorbed by magnetic force, and no specific limitation is made here. The thickness L of the ferromagnetic metal sheet can be set to protrude from the accommodation cavity 101. Increasing the thickness L of the ferromagnetic metal sheet can enhance the suction force between the ferromagnetic metal sheet and the magnetic member 200, so that the ferromagnetic metal sheet is firmly adsorbed in the accommodation cavity 101.

[0077] In one example, the ferromagnetic metal sheet is located in the accommodating cavity 101 along the thickness direction. Specifically, the thickness L of the ferromagnetic metal sheet is consistent with the depth of the accommodating cavity 101, which can ensure the smoothness of the surface of the mounting device. Of course, the thickness L of the ferromagnetic metal sheet can also be slightly shallower than the depth of the accommodating cavity 101, and no specific limitation is made here.

[0078] It should be noted that the accommodating chamber 101 needs to have a certain depth h. If the depth h is too shallow, there is still a risk that the ferromagnetic metal sheet will be slipped out of the accommodating chamber 101 by the sterile cover 300; if the depth h is too deep, it is necessary to fold more of the sterile cover body 301 to enter the accommodating chamber 101, which will make it difficult to install the ferromagnetic metal sheet into the accommodating chamber 101, and it will also increase the volume of the fixing seat 100, occupying a larger space. The specific depth h can be considered in actual application according to the friction between the sterile cover 300 and the fixing seat 100 at the accommodating chamber 101, and the support force of the fixing seat 100 at the accommodating chamber 101 on the bend of the sterile cover 300, etc. Therefore, the specific value is not limited here.

[0079] In addition, the accommodating chamber 101 can be a accommodating groove with a bottom, and the sterile cover 300 connected to the ferromagnetic metal sheet is arranged at the bottom of the accommodating groove. The smooth bottom of the accommodating groove can avoid damage to the sterile cover 300 when fitting or removing, and the fit is tighter, which is conducive to improving the suction. In one example, the magnetic member 200 is a solid round magnet sheet. The magnet sheet can be arranged on the side opposite to the accommodating groove by bonding or the like, that is, the metal member 302 and the magnet sheet are separated by a certain thickness of the partial fixing seat 100. In order to avoid affecting the suction between the metal member 302 and the magnet sheet, the thickness of the partial fixing seat 100 can be made as thin as possible, and can be made of materials that do not affect the magnetic force, such as plastic, which is not limited here.

[0080] Of course, in addition to the above-mentioned forms, the base of the accommodating chamber 101 can also be made into a hollow accommodating channel style. In one example, the ferromagnetic metal sheet is in the shape of a solid round cake, and the diameter of the ferromagnetic metal sheet is the same as the diameter of the magnet sheet. In order to reduce the waste of the magnet sheet and maximize the magnetic force of the magnet sheet on the ferromagnetic metal sheet, the magnet sheet can be set to the same size as the ferromagnetic metal sheet. In order to prevent the magnetic member 200 from slipping out of the accommodating channel, a circle of protrusions can be set in the accommodating channel near the magnet sheet or the position of the adjacent magnet sheet, so as to separate the magnet sheet from the ferromagnetic metal sheet. However, due to the hollow setting of the accommodating chamber 101, the suction between the magnetic member 200 and the ferromagnetic metal sheet can be enhanced to a certain extent.

[0081] Figure 3 is a schematic cross-sectional structural diagram of a fixing seat provided in an embodiment of the present application; Figure 4 is a schematic diagram of the disassembled structure of the fixing base provided in an embodiment of the present application; Figure 5 is a schematic diagram of the overall structure of the fixing base provided in an embodiment of the present application at a positive angle; Figure 6 It is a schematic diagram of the overall structure of the fixing seat provided in an embodiment of the present application at a back-facing angle.

[0082] Reference Figure 4 and Figure 5 As shown, in some embodiments, the fixing base 100 is provided with a plurality of clips 102 on a side facing away from the accommodating cavity 101 , and the plurality of clips 102 are suitable for detachably arranging the fixing base 100 on the medical device.

[0083] It can be understood that the provision of multiple snap-on parts 102 enables the fixing base 100 to be detachably snapped onto the column or the robotic arm 402 of the laparoscopic surgical robot 400. The fixing base 100 can be installed by directly snapping on it, which is easy to operate. Moreover, when the magnetic part 200 in the fixing base 100 is affected by electromagnetic and temperature factors, resulting in a decrease in magnetic force or other problems, it is also convenient to remove the fixing base 100 from the column or the robotic arm 402, which is more conducive to the maintenance or replacement of the fixing base 100.

[0084] In one example, the clamping member 102 is at least one of a slot clamp, an elastic clamp, a rotating clamp, a locking clamp, and a hook clamp. Specifically, the clamping member 102 can be set at the edge of the fixing seat 100, which is not only convenient for quick installation on the laparoscopic surgical robot 400, but also does not occupy too much space of the fixing seat 100, so as to facilitate the installation of the magnetic member 200, thereby reducing the overall volume of the fixing seat 100. The clamping form used by the specific clamping member 102 is not limited to the above-mentioned clamping type.

[0085] Reference Figure 3 and Figure 4As shown, in some embodiments, the fixing base 100 includes a base 104, the base 104 includes a first surface 1041 and a second surface 1042 relative to each other, the accommodating cavity 101 is formed on the first surface 1041 of the base 104, and a plurality of clips 102 are located on the second surface 1042 of the base 104 and distributed around the center of the second surface 1042.

[0086] For the convenience of describing the structure of the fixing seat 100, the fixing seat 100 is used to install the clamping member 102, form the accommodating cavity 101, and set the following limiter 103. The first surface 1041 of the base 104 faces away from the laparoscopic surgical robot 400 and is used to form the accommodating cavity 101. The second surface 1042 of the base 104 faces the laparoscopic surgical robot 400 and is used to set the magnetic member 200 and the clamping member 102.

[0087] Taking the circular base 104 as an example, four clips 102 can be arranged at intervals along the edge of the second surface 1042. The four clips 102 are symmetrical about the center of the base 104, which can ensure the firmness and stability of the fixing base 100 when it is buckled on the column or the robot arm 402.

[0088] Reference Figure 6 As shown, in some embodiments, the magnetic member 200 is located on the second surface 1042 of the base 104; the fixing seat 100 also includes a plurality of limiting members 103, the plurality of limiting members 103 are arranged on the second surface 1042 of the base 104, and are distributed around the center of the second surface 1042 at intervals, and the plurality of limiting members 103 are suitable for limiting the magnetic member 200.

[0089] It is understandable that the magnetic member 200 can be a magnet, i.e., a permanent magnet, and the position corresponding to the accommodating cavity 101 is set on the second surface 1042 of the substrate 104, and the magnet can be fixed on the second surface 1042 of the substrate 104 by, for example, gluing, but there is no limitation. The thickness of the second surface 1042 of the substrate 104 and the bottom surface of the accommodating cavity 101 is d2, and the thickness d2 can be as thin as possible while satisfying the strength of the substrate 104, thereby enhancing the magnet's attraction to the ferromagnetic metal sheet. In order not to affect the magnetic force of the magnet, the material of the substrate 104 can be a plastic material or a plastic material, which is not limited here.

[0090] Of course, in addition to fixing the magnet by gluing as mentioned above, a plurality of limiting members 103 may also be provided on the second surface 1042 of the substrate 104. The limiting members 103 may be understood as limiting blocks, or may be provided along the edge of the second surface 1042 of the substrate 104. For example, four limiting blocks may be provided and staggered with the above four clamping members 102, thereby providing a larger space for the installation of the magnetic member 200. One end of the four limiting blocks may be fixed to the substrate 104 by means of threads or gluing. The area surrounded by the four limiting blocks may have the same shape as the magnetic member 200. After the magnetic member 200 is placed in the area surrounded by the four limiting blocks, the shaking of the magnetic member 200 may be avoided. In addition, the four limiting blocks may have a certain elasticity, thereby limiting the magnetic member 200 and preventing the magnetic member 200 from sliding out of the area surrounded by the four limiting blocks.

[0091] To further enhance the firmness of the magnetic member 200 disposed on the fixing base 100. Figure 7 As shown, in one example, the fixing seat 100 further includes a fixing cover plate 105 , which is fixedly connected to the end surface of the limiting member 103 to limit the magnetic member 200 within the space enclosed by the fixing cover plate 105 and the plurality of limiting members 103 .

[0092] Specifically, a threaded hole 1031 can be set on the exposed end face of the limit block, and a plurality of through holes 1052 corresponding to the positions of the threaded hole 1031 can be set on the fixed cover plate 105, and then the fixed cover plate 105 is covered on the limit member 103, and the fixed cover plate 105 is fixed to the limit member 103 by screws 1051 passing through the through holes 1052 and the threaded holes 1031 in sequence, so as to fix the magnetic component 200 in the space enclosed by the fixed cover plate 105, the limit member 103 and the substrate, so as to prevent the shaking of the magnetic component 200 from affecting the suction force on the ferromagnetic metal sheet.

[0093] In one example, along the depth direction of the accommodating cavity 101, the projection of the magnetic component 200 is located within the projection area of ​​the accommodating cavity 101. According to the above description, the diameter of the accommodating cavity 101 needs to be larger than the diameter of the ferromagnetic metal sheet. In order to avoid wasting the material of the magnetic component 200 and to achieve the maximum suction force between the magnetic component 200 and the ferromagnetic metal sheet, the projections of the magnetic component 200 and the ferromagnetic metal sheet along the thickness direction completely overlap, that is, the diameters of the two are equal. This means that the diameter of the magnetic component 200 is smaller than the diameter of the accommodating cavity 101.

[0094] In actual use, Figure 2 As shown, the ferromagnetic metal sheet will move with the cover toward the G0 direction until it is close to the lower side of the accommodating cavity 101. In order to ensure the maximum suction force between the ferromagnetic metal sheet and the magnetic member 200 (the projections of the two coincide), the magnetic member 200, such as a solid circular magnet sheet, needs to be eccentrically arranged relative to the center of the accommodating cavity 101, that is, toward Figure 1 The lower side surface of the middle accommodating cavity 101 is offset.

[0095] To ensure that the fixing base 100 is installed on the column and the robot arm of the surgical robot, the eccentrically arranged magnetic member 200 can be arranged in the direction in which the cover 301 is pulled. Figure 4 and Figure 5 As shown, in one example, an indication mark 106 is provided on the first surface 1041 of the base 104 , and the indication mark 106 is used to indicate the position of the magnetic member 200 .

[0096] It is understandable that the indicator mark 106 can be set on the base 104 outside the accommodating cavity 101 to indicate the specific position of the eccentrically arranged magnetic member 200, so that when the fixing seat 100 is installed on the surgical robot, the magnetic member 200 is directly arranged in the direction in which the cover 301 is pulled. The setting of the indicator mark 106 is convenient for installing the fixing seat 200 on the one hand, and convenient for installing the ferromagnetic metal sheet directly at the position where the magnetic member 200 is located on the other hand, so that the suction force between the two reaches the maximum, and provides protection to prevent the ferromagnetic metal sheet from being pulled out by the cover 301.

[0097] Of course, the indicator mark 106 can also be set at the bottom of the accommodating cavity 101, and the specific position is not limited here. Figure 4 and Figure 5 The symbols may be marked by shapes such as arrows shown, or by numbers, colors, etc.

[0098] Reference Figure 8 As shown, an embodiment of the present application also provides a laparoscopic surgical robot 400, including a support assembly 401, a robotic arm 402, and a mounting device with a sterile cover 300 of the above embodiment, wherein the robotic arm 402 is disposed on the support assembly 401; the mounting device with the sterile cover 300 is respectively disposed on the support assembly 401 and the robotic arm 402 to isolate the support assembly 401 and the robotic arm 402 from the sterile environment.

[0099] It is understandable that the support assembly 401 is generally a column on the laparoscopic surgery robot 400, and a column cover needs to be provided on the column, and a robot cover needs to be provided on the robot arm 402, so as to isolate the external sterile environment through the column cover and the robot arm cover, thereby avoiding bacterial infection of the patient's surgical site. Fig. 9 As shown, in order to facilitate the fixing of the column cover, one or more through holes can be constructed on both sides or three sides of the column, so that the fixing base 100 in the above example can be snapped into the through holes, so that the sheet-like column cover can be fixed to the fixing base 100 through the metal piece 302 thereon.

[0100] A through hole can be set at the end of the robot arm 402 away from the end effector to facilitate the buckling of the fixing seat 100, so that the metal part 302 on the sleeve-shaped robot arm cover can be fixed to the corresponding fixing seat 100 to wrap the robot arm 402.

[0101] In this example, the magnetic component 200 is integrated into the fixing base 100, which not only facilitates the installation of the magnetic component 200, but also enables the fixing component to be removed from the column or the robotic arm 402 for replacement or repair when the magnetic force decreases after a period of time or other problems occur.

[0102] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A mounting device with a sterile cover, characterized in that: include: A fixing seat, wherein the fixing seat is provided with a magnetic member and an accommodating cavity is constructed on the end surface facing away from the magnetic member; The sterile cover comprises a cover body and a metal piece, wherein the cover body is connected to the metal piece, the metal piece is attracted to the accommodating cavity by the magnetic piece, and the contact portion of the cover body with the metal piece is located between the fixing seat and the metal piece.

2. The installation device with a sterile cover according to claim 1, characterized in that: The metal piece is a ferromagnetic metal sheet of a preset thickness, and the ferromagnetic metal sheet is fixedly connected to the cover body; At least a portion of the ferromagnetic metal sheet along the thickness direction is located in the accommodating cavity.

3. The installation device with a sterile cover according to claim 2, characterized in that: The ferromagnetic metal sheet is located in the accommodating cavity along the thickness direction.

4. The installation device with a sterile cover according to any one of claims 1 to 3, characterized in that: The fixing seat is provided with a plurality of clamping parts on a side away from the accommodating cavity, and the plurality of clamping parts are suitable for detachably arranging the fixing seat on the medical device.

5. The installation device with a sterile cover according to claim 4, characterized in that: The fixing seat includes a base, the base includes a first surface and a second surface opposite to each other, the accommodating cavity is formed on the first surface of the base, and the plurality of clamping parts are located on the second surface of the base and distributed around the center of the second surface.

6. The installation device with a sterile cover according to claim 5, characterized in that: An indication mark is arranged on the first surface of the base body, and the indication mark is used to indicate the position of the magnetic member.

7. The installation device with a sterile cover according to claim 5, characterized in that: The magnetic member is located on the second surface of the base; The fixing seat further comprises a plurality of limiting members, which are arranged on the second surface of the base body and are distributed at intervals around the center of the second surface. The plurality of limiting members are suitable for limiting the magnetic member.

8. The installation device with a sterile cover according to claim 7, characterized in that: The fixing seat further comprises a fixing cover plate, and the fixing cover plate is fixedly connected to the end surface of the limiting member so as to limit the magnetic member within the space enclosed by the fixing cover plate and the plurality of limiting members.

9. The installation device with a sterile cover according to any one of claims 2 to 3, characterized in that: The magnetic piece is a solid circular magnet. The ferromagnetic metal sheet is in the shape of a solid circular cake, and the diameter of the ferromagnetic metal sheet is the same as the diameter of the magnet sheet.

10. The installation device with a sterile cover according to claim 9, characterized in that: The projection of the accommodating cavity along the depth direction is circular; The diameter of the accommodating cavity is 1 mm to 2 mm larger than the diameter of the magnet sheet.

11. The installation device with a sterile cover according to any one of claims 1 to 3, characterized in that: Along the depth direction of the accommodating cavity, the projection of the magnetic member is located within the projection area of ​​the accommodating cavity; And / or, the projections of the magnetic component and the metal component along the thickness direction completely overlap.

12. A laparoscopic surgical robot, characterized in that: comprising a support assembly, a mechanical arm, and a mounting device with a sterile cover as claimed in any one of claims 1 to 11, wherein the mechanical arm is arranged on the support assembly; and The mounting device with the sterile cover is arranged on the supporting assembly and / or the robotic arm to isolate the supporting assembly and / or the robotic arm from the sterile environment.

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