Sterile protective sleeve and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a sterile protective sleeve and a surgical robot system. The sterile protective sleeve comprises a protective sleeve body and a supporting piece, the protective sleeve body is used for covering a mechanical arm of the surgical robot, the protective sleeve body comprises a first bag-shaped structure and a plurality of second bag-shaped structures, the first bag-shaped structure comprises a main opening formed in the near end, and the second bag-shaped structures are arranged at the far end of the first bag-shaped structure at intervals. The supporting piece is detachably arranged at the main opening and used for keeping the main opening in an open state in the process that the mechanical arm is sleeved with the protective sleeve body. By arranging the supporting piece, the main opening can be kept in an open state in the process that the mechanical arm is sleeved with the protective sleeve body, and the protective sleeve body can be conveniently and rapidly installed.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a sterile protective cover and a surgical robot system. Background Art

[0002] In a surgical robot system, surgical instruments are usually set on a robotic arm, which is set on the base of the surgical robot. The servo motor set on the robotic arm can control the movement of the robotic arm and provide input torque and load to the surgical instrument, thereby controlling the surgical instrument. During surgery, the surgical instrument is inserted into the human body through a sheath, and surgical operations on different parts of the body are performed by controlling the surgical actuator at the end of the surgical instrument.

[0003] During the operation, the robotic arm is in the operating room. However, the surgical instruments and the robotic arm contain electrical and mechanical modules, which cannot be sterilized by conventional methods such as steam, autoclave or chemicals. Therefore, a sterile protective cover is usually used to isolate the non-sterile robotic arm from the sterile surgical instruments and operating environment.

[0004] However, it is difficult for an operator to detachably fasten the sterile protective cover to the robotic arm. When covering the robotic arm, the existing sterile protective cover is difficult to install and time-consuming to operate, and it is also easy for bacteria and fiber dust to fall into the sterile area. In addition, the existing sterile protective cover is easily caught in the movement of the robotic arm or surgical instrument, thereby obstructing and restricting the movement of the surgical instrument. Utility Model Content

[0005] Based on the above problems, the purpose of the present disclosure is to provide a sterile protective cover, comprising:

[0006] The protective cover body is used to cover the mechanical arm of the surgical robot, and the protective cover body includes:

[0007] A first bag-like structure including a main opening disposed at a proximal end;

[0008] a plurality of second bag-like structures, arranged at a distance from each other at the distal end of the first bag-like structure; and

[0009] A support member is detachably arranged at the main opening, and is used to keep the main opening in an open state when the protective cover body is sleeved onto the mechanical arm.

[0010] In some embodiments, it also includes:

[0011] A fastener is arranged on the outer surface of the first bag-like structure close to the main opening, and the fastener is arranged to enable the proximal end portion of the first bag-like structure to be tightly fixed on the outer surface of the mechanical arm.

[0012] In some embodiments, it also includes:

[0013] A plurality of first positioning members are arranged at intervals on the outer surface of the first bag-like structure. The plurality of first positioning members and the fastener are basically located on a straight line parallel to the axial direction. The first positioning members are configured to enable the first bag-like structure to be positioned on the outer surface of the robotic arm.

[0014] In some embodiments, the fastener comprises two tightening ties, one end of the two tightening ties is fixedly disposed on the outer surface of the main opening, and the other end extends outwardly in a direction away from the outer surface, and the outward extension length of the two tightening ties is configured to be able to jointly tighten the first bag-like structure on the robotic arm along the circumference of the robotic arm; and / or

[0015] The first positioning member includes two first positioning ties, one end of the two first positioning ties is fixedly arranged on the outer surface of the main opening, and the other end extends outward in a direction away from the outer surface. The outward extension length of the two first positioning ties is set to be able to jointly tighten the first bag-like structure to the robotic arm along the circumference of the robotic arm.

[0016] In some embodiments, the inner surface or outer surface of the first bag-like structure at the main opening is provided with at least one accommodating channel along the circumference, the accommodating channel includes a channel opening, and the support member is configured to be able to enter or move out of the accommodating channel through the channel opening; or

[0017] The first bag-like structure is folded outward at the main opening, and a plurality of bonding points are arranged at intervals along the circumference at the intersection of the inner and outer surfaces or are continuously bonded along the circumference to form a accommodating channel. The accommodating channel includes a channel opening, and the support member is configured to be able to enter or move out of the accommodating channel through the channel opening.

[0018] In some embodiments, the first bag-like structure comprises a first chamber, a proximal end of the first chamber comprises the main opening, and the first chamber is used to accommodate the proximal end portion of the robotic arm; and

[0019] The second bag-like structure includes a second chamber, the second chamber is communicated with the first chamber, the distal end of the robot arm includes a plurality of spaced-apart driving parts, and the second chamber is used to accommodate the driving parts.

[0020] In some embodiments, the protective cover body further comprises:

[0021] The third bag-like structure is located at the distal end of the first bag-like structure. The third bag-like structure includes a third chamber. The third chamber is connected to the first chamber and is used to accommodate auxiliary equipment of the surgical robot.

[0022] In some embodiments, it also includes:

[0023] an adapter block, wherein the third bag-like structure comprises a first auxiliary opening, the adapter block passes through the first auxiliary opening, and the adapter block is sealed and connected to the first auxiliary opening; and / or

[0024] The adapter ring, the second bag-like structure includes a second auxiliary opening, the adapter ring is arranged circumferentially along the second auxiliary opening, and the outer circumferential surface of the adapter ring is sealed and connected to the second auxiliary opening.

[0025] In some embodiments, the adapter ring comprises:

[0026] A first snap-fit ​​feature, disposed at the proximal end of the adapter ring, for detachably connecting to the robotic arm; and / or

[0027] The second engaging feature is arranged at the distal end of the adapter ring and is used to be rotatably connected to an adapter, and the adapter is used to detachably arrange the surgical instrument on the robotic arm.

[0028] In some embodiments, the second engagement feature includes an engagement step and a chamfer disposed on an inner circumferential surface of the engagement step.

[0029] In some embodiments, the invention further comprises: a plurality of annular support bars, which are arranged on the second bag-like structure and are spaced apart from each other along the axial direction of the second bag-like structure.

[0030] In some embodiments, it also includes: an adsorption iron sheet, which is fixedly mounted on the inner surface of the distal end face of the second bag-like structure, and a magnetic structure is provided on an end face of the robotic arm located at the distal end, and the adsorption iron sheet is used to adsorb and fit with the magnetic structure to position the distal end face of the second bag-like structure on an end face of the robotic arm located at the distal end.

[0031] In some embodiments, it also includes:

[0032] A second positioning member is arranged at the distal end of the first bag-like structure, close to the connection between the first bag-like structure and the second bag-like structure, the second positioning member includes two second positioning ties, one end of the two second positioning ties is fixedly arranged on the distal outer surface of the first bag-like structure, and the other end extends outward in a direction away from the outer surface, and the outward extension length of the two second positioning ties is set to be able to jointly fasten the first bag-like structure to the robotic arm along the circumference of the robotic arm; and / or

[0033] A third positioning member is arranged at the proximal end of the third bag-like structure, close to the connection between the first bag-like structure and the third bag-like structure, and the third positioning member includes two third positioning ties, one end of the two third positioning ties is fixedly arranged on the proximal outer surface of the third bag-like structure, and the other end extends outward in a direction away from the outer surface, and the outward extension length of the two third positioning ties is set to be able to jointly tighten the third bag-like structure to the auxiliary device of the surgical robot along the circumference of the auxiliary device.

[0034] The present disclosure also provides a surgical robot system, comprising:

[0035] A surgical trolley, comprising at least one robotic arm, a distal end of the robotic arm comprising a plurality of spaced apart drive portions;

[0036] At least one sterile protective cover as described in any embodiment of the present disclosure, used to cover the robotic arm;

[0037] at least one surgical instrument; and

[0038] At least one adapter is used to connect with the sterile protective cover and detachably arrange the at least one surgical instrument on the driving part.

[0039] Some embodiments of the present disclosure have one or more of the following beneficial effects: 1. The sterile protective cover provided by the present disclosure can keep the main opening in an open state during the process of the protective cover body being mounted on the robotic arm by providing a support member, so as to facilitate the rapid installation of the protective cover body; 2. The sterile protective cover is provided with a tightening tie and a positioning tie, so that the protective cover body can be fastened to the robotic arm or more closely covered on the robotic arm by bundling with the tie, and the operation is simple and convenient; 3. The adapter ring on the sterile protective cover is detachably connected to the robotic arm, and is rotatably connected to the adapter, so as to ensure that the surgical instrument and the adapter are on the sterile side and do not affect the rotational movement of the surgical instrument. The adapter ring is fixed relative to the robotic arm and does not rotate, so that the sterile protective cover extending circumferentially from the adapter ring does not rotate either, thereby preventing the surgical instrument from rolling up the sterile protective cover during the rotational movement; 4. The sterile protective cover is supported by providing an annular support strip, so as to further prevent the excess sterile protective cover from being entangled or sagging during the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0041] Figure 1 A schematic diagram showing the three-dimensional structure of a surgical robot system according to some embodiments of the present disclosure is shown;

[0042] Figure 2 A top view showing a sterile protective cover covering a robotic arm according to some embodiments of the present disclosure;

[0043] Figure 3 A side view showing a sterile protective cover covering a robotic arm according to some embodiments of the present disclosure;

[0044] Figure 4 A schematic diagram showing the structure of a sterile protective cover according to some embodiments of the present disclosure is shown;

[0045] Figure 5 A schematic structural diagram showing a support member of a sterile protective cover according to some embodiments of the present disclosure;

[0046] Figure 6 A schematic diagram showing a three-dimensional structure of an adapter according to some embodiments of the present disclosure is shown;

[0047] Figure 7 A schematic diagram showing a three-dimensional structure of the adapter and the adapter ring according to some embodiments of the present disclosure;

[0048] Figure 8 A partial schematic diagram showing the cooperation between an adapter and an adapter ring according to some embodiments of the present disclosure;

[0049] Fig. 9 A partial cross-sectional schematic diagram showing the cooperation between an adapter and an adapter ring according to some embodiments of the present disclosure.

[0050] List of reference numerals:

[0051] 1000. Surgical robot system;

[0052] 200, surgical trolley; 210, robotic arm; 211, magnet structure; 212, driving part; 2121, linear module; 2122, rotary module; 213, mounting platform; 220, adapter; 221, engaging groove; 2211, guiding slope; 230, surgical instrument; 240, handle;

[0053] 100. Sterile protective cover;

[0054] 110, protective cover body; 111, first bag-like structure; 1111, main opening; 112, second bag-like structure; 1121, second auxiliary opening; 113, third bag-like structure;

[0055] 120, support member; 130, fastener; 141, first positioning member; 142, second positioning member; 143, third

[0056] Positioning parts;

[0057] 150, adapter block;

[0058] 160, adapter ring; 161, first engagement feature; 162, engagement step; 1621, chamfer;

[0059] 170. annular support bar; 180. adsorption iron sheet. DETAILED DESCRIPTION

[0060] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0061] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) or away from the surgical patient is defined as the proximal end, the proximal part or the rear end, the rear part, and the end close to the surgical patient is defined as the distal end, the distal part or the front end, the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0063] Figure 1 FIG. 1 is a schematic diagram showing a three-dimensional structure of a surgical robot system 1000 according to some embodiments of the present disclosure. Figure 2 and Figure 3 1 and 2 respectively show a top view and a side view of a sterile protective cover 100 covering a robotic arm 210 according to some embodiments of the present disclosure, Figure 4A schematic structural diagram of a sterile protective cover 100 according to some embodiments of the present disclosure is shown.

[0064] like Figure 1-Figure 4 As shown, the present embodiment provides a sterile protective cover 100, which may include a protective cover body 110 and a support member 120. The protective cover body 110 may be used to cover the robotic arm 210 of the surgical robot system 1000, so that the outer surface of the sterile protective cover 100 is adjacent to a sterile area, such as a patient or an operating table, and the inner surface is adjacent to a non-sterile area, such as the robotic arm 210.

[0065] In some embodiments, Figure 4 As shown, the protective cover body 110 may include a first bag-like structure 111 and a plurality of second bag-like structures 112. The first bag-like structure 111 includes a main opening 1111 disposed at the proximal end, and a plurality of second bag-like structures 112 are disposed at the distal end of the first bag-like structure 111 at intervals from each other. It should be understood that the first bag-like structure 111 and the plurality of second bag-like structures 112 can be designed into corresponding bag shapes according to the shape of the robotic arm 210, and the first bag-like structure 111 and the plurality of second bag-like structures 112 can fully cover the robotic arm 210 after being fully extended and unfolded. It should be understood that in the actual surgical process, the robotic arm 210 is disposed at a portion (proximal end) close to the upper end of the base of the surgical robot, and extends in a direction close to the patient (distal end), and the distal portion of the robotic arm 210 close to the patient end has higher requirements for sterility, and the proximal portion close to the upper end of the base has relatively lower requirements for sterility. In some embodiments, the sterile protective cover 100 can be used to cover a portion of the surface of the robotic arm 210. The partial surface may include a portion of the robotic arm 210 closer to the patient side. In some embodiments, the sterile protective cover 100 may also include a sheet-like structure for covering the base of the surgical robot system 1000 .

[0066] It should be understood that the covered portion of the robot arm includes at least a drive transmission module and a control module. For example, the drive transmission module of the robot arm 210 may include a motor (such as a motor of the drive portion 212) and a precision transmission device, etc. The control module may include a chip and a sensor, etc. Since the drive transmission module and the control module of the robot arm cannot be cleaned, disinfected and sterilized in a conventional manner, this part is covered by a sterile protective cover to isolate the non-sterile robot arm from the sterile surgical instruments and the operating environment, so as to avoid cleaning, disinfection and sterilization of the drive transmission module and the control module of the robot arm.

[0067] Figure 5 FIG. 1 is a schematic diagram showing the structure of the support member 120 of the sterile protective cover 100 according to some embodiments of the present disclosure. Figure 4 and Figure 5As shown, the support member 120 of the sterile protective cover 100 is detachably arranged at the main opening 1111, and the support member 120 is used to keep the main opening 1111 in an open state during the process of the protective cover body 110 being set on the mechanical arm 210. It should be understood that the support member 120 may include a strip, sheet or tubular member with a certain elasticity and hardness, such as a steel bar or other flexible member. The support member 120 can be bent to a certain extent according to the shape of the main opening 1111 to adapt to the main opening 1111. In some embodiments, the main opening 1111 can be a circular or square opening. The radial size of the main opening 1111 is set to enable the largest radial size of the mechanical arm 210 to be completely set in the first bag-like structure 111, so that the mechanical arm 210 can enter the first bag-like structure 111 from the main opening 1111. For example, during the installation of the protective cover body 110, the support member 120 keeps the main opening 1111 in an open state, so that the protective cover body 110 can quickly cover the mechanical arm 210. The operator can sleeve the main opening 1111 on the distal end of the mechanical arm 210, and drive the main opening 1111 to move from the distal end to the proximal end of the mechanical arm 210, so that the first bag-like structure 111 and the second bag-like structure 112 extend and cover the mechanical arm 210 until the main opening 1111 moves to the proximal end of the mechanical arm 210 close to the base, and then the support member 120 is removed from the main opening 1111, so that the main opening 1111 is no longer in an open state, so that the operator can fix the main opening 1111 on the proximal end of the mechanical arm 210, thereby preventing the protective cover body 110 from slipping off, and the installation operation is simple and convenient.

[0068] In some embodiments, at least one accommodating channel is circumferentially provided on the inner surface or outer surface of the first bag-like structure 111 at the main opening 1111, and the accommodating channel includes a channel opening, and the support member 120 is configured to be able to enter or move out of the accommodating channel through the channel opening. For example, the accommodating channel may surround the entire periphery of the main opening 1111, or the plurality of accommodating channels may be two ends or multiple sections of channels spaced apart around the periphery of the main opening 1111. The support member 120 extends along the plurality of accommodating channels.

[0069] In some embodiments, the first bag-like structure 111 can be folded outward at the main opening 1111, and a plurality of bonding points are provided at intervals along the circumference at the intersection of the inner and outer surfaces, or they are continuously bonded along the circumference to form a receiving channel, for example, by glue or heat bonding. The receiving channel includes a channel opening, and the support member 120 is configured to be able to enter or move out of the receiving channel through the channel opening. In some embodiments, another sheet film can be bonded circumferentially to the outer surface of the main opening 1111 of the protective cover body 110, and the sheet film can be folded and bonded to the outer surface of the protective cover body 110 to form a receiving channel. In some embodiments, the outer surface portion of the protective cover body 110 can be folded circumferentially to form a receiving channel by bonding. It should be understood that the receiving channel can also be formed in other ways.

[0070] In some embodiments, Figure 4 As shown, the sterile protective cover 100 may further include a fastener 130. The fastener 130 is disposed on the outer surface of the first bag-like structure 111 near the main opening 1111, and the fastener 130 is configured to enable the proximal end portion of the first bag-like structure 111 to be tightly fixed on the outer surface of the mechanical arm 210. In some embodiments, the fastener 130 includes two tightening straps, one end of the two tightening straps is fixedly disposed on the outer surface of the main opening 1111, and the other end extends outward in a direction away from the outer surface, and the length of the two tightening straps extending outward is configured to be able to jointly tighten the first bag-like structure 111 on the mechanical arm 210 along the circumference of the mechanical arm 210. It should be understood that one end of the tightening strap can be bonded or integrally formed on the outer surface of the protective cover body 110. For example, the first bag-like structure 111 can be wrapped around the circumference of the mechanical arm 210 by two tightening straps, so that the first bag-like structure 111 is bundled and covered on the mechanical arm 210. In some embodiments, a peel-and-stick adhesive sheet (not shown) may be provided on the other end of the tightening tie. After the two tightening ties are wrapped around the first bag-like structure 111, the peel-and-stick adhesive sheet is used to fix the other end of the tightening tie to the first bag-like structure 111, thereby preventing the tightening tie from spreading and affecting the effect of the wrapping and positioning. It should also be understood that the tightening tie can also be a tether or a flexible and extendable strip. In some embodiments, the tightening tie can be attached to the first bag-like structure 111 through a connecting hole or a connecting member (such as a Velcro, a snap-on buckle, etc.). In some embodiments, the fastener 130 may include a tightening tie, one end of which may be bonded or integrally formed on the outer surface of the protective cover body 110, and the other end of which is provided with a peel-and-stick adhesive sheet.

[0071] The main opening 1111 is tightened by the fastener 130 so that the first bag-like structure 111 is fixedly secured to the robotic arm 210 . This can prevent the first bag-like structure 111 from slipping and prevent bacteria in the non-sterile area from entering the sterile area through the main opening 1111 , thereby contaminating the sterile area.

[0072] In some embodiments, Figure 4 As shown, a plurality of first positioning members 141 are arranged at intervals on the outer surface of the first bag-like structure 111, and the plurality of first positioning members 141 and the fastener 130 are basically located on a straight line parallel to the axial direction. The first positioning member 141 is configured to enable the first bag-like structure 111 to be positioned on the outer surface of the mechanical arm 210. In some embodiments, the first positioning member 141 may include two first positioning straps, one end of the two first positioning straps being fixedly arranged on the outer surface of the main opening 1111, and the other end extending outward in a direction away from the outer surface, and the outward extension length of the two first positioning straps is configured to be able to jointly tighten the first bag-like structure 111 on the mechanical arm 210 along the circumference of the mechanical arm 210. It should be understood that one end of the positioning strap can be bonded or integrally formed on the outer surface of the protective cover body 110. For example, the first bag-like structure 111 can be wrapped around the circumference of the mechanical arm 210 by two positioning straps, so that the first bag-like structure 111 is bundled and covered on the mechanical arm 210. By arranging a plurality of first positioning members 141 at intervals, the protective cover body 110 is prevented from being entangled or slipping during the movement of the robot arm 210. The plurality of first positioning members 141 and the fastener 130 are basically located on a straight line parallel to the axial direction. For example, the plurality of first positioning members 141 and the fastener 130 can be located on the upper outer surface of the first bag-like structure 111, such as Figure 4 As shown, after the first bag-like structure 111 is sleeved on the robot arm 210, the operator can quickly find the first positioning member 141 or the fastener 130 for bundling to speed up the installation process. In some embodiments, a peel-and-stick adhesive sheet (not shown) may be provided on the other end of the positioning tie. After the two positioning tie wraps are wrapped around the first bag-like structure 111, the other end of the tightening tie is fixed to the first bag-like structure 111 through the peel-and-stick adhesive sheet, thereby preventing the positioning tie from spreading and affecting the effect of the winding and positioning. It should also be understood that the positioning tie can also be a tether or a flexible and extendable strip. In some embodiments, the positioning tie can be attached to the first bag-like structure 111 through a connecting hole or a connecting member (such as a Velcro, a snap-on buckle, etc.). In some embodiments, the first positioning member 141 may include a positioning tie, one end of which may be bonded or integrally formed on the outer surface of the protective cover body 110, and the other end is provided with a peel-and-stick adhesive sheet.

[0073] In some embodiments, the first bag-like structure 111 may include a first chamber, the proximal end of the first chamber includes a main opening 1111, and the first chamber is used to accommodate the proximal portion of the robotic arm 210. The second bag-like structure 112 includes a second chamber, and the second chamber is connected to the first chamber. The distal end of the robotic arm 210 includes a plurality of spaced-apart drive portions 212, and the second chamber is used to accommodate the drive portions 212. It should be understood that the plurality of drive portions 212 can move independently of each other. For example, the second bag-like structure 112 can extend along the axial direction of the first bag-like structure 111 in a direction away from the main opening 1111, and the second bag-like structure 112 and the first bag-like structure 111 can form a glove-like structure.

[0074] In some embodiments, Figure 3 As shown, the robot arm 210 includes a plurality of arms and a plurality of joints connecting the plurality of arms to achieve movement with multiple degrees of freedom. Figure 1 and Figure 3 As shown, the distal end of the distal arm may further include a mounting platform 213. In some embodiments, as Figure 3 As shown, the driving part 212 may include a linear module 2121 and a rotary module 2122. A plurality of linear modules 2121 are arranged on the mounting platform 213 at intervals, and the rotary module 2122 is arranged on the linear module 2121. In some embodiments, the proximal ends of the plurality of linear modules 2121 diverge away from each other, and the extension lines of the distal ends converge toward the remote center of motion (RCM), so that when the linear module 2121 carries surgical instruments (such as surgical instruments 230), the surgical instruments 230 move along the linear module 2121 without interfering with each other, thereby ensuring the safety of the operation. It should be understood that the linear module 2121 may include any mechanism capable of linear motion, such as a screw nut mechanism, a guide rail slider mechanism, etc. The rotary module 2122 may include any mechanism capable of rotational motion, such as a motor gear mechanism, etc. The feeding and retreating of the surgical instrument 230 are controlled by the linear module 2121, and the rotation of the surgical instrument 230 is controlled by the rotary module 2122, so as to control the surgical instrument 230 to reach the surgical operation area for performing the surgical operation.

[0075] It should be understood that the first bag-like structure 111 can be sleeved on the proximal arm body and the mounting platform 213 of the robot arm 210, and the plurality of second bag-like structures 112 are respectively sleeved on the plurality of linear modules 2121 and the rotating modules 2122. The size of the first bag-like structure 111 can be designed according to the length of the arm body of the robot arm 210 when it is fully unfolded and the size of the mounting platform 213, and the size of the second bag-like structure 112 can be designed according to the length of the linear module 2121 of the robot arm 210 and the width of the rotating module 2122 and the linear module 2121. In some embodiments, the first bag-like structure 111 and the second bag-like structure 112 can have redundant parts to prevent the robot arm 210 from pulling the sterile protective cover 100 during movement, affecting its covering effect. It should be understood that the number of sterile protective covers 100 is equal to the number of robot arms 210, and the number of second bag-like structures 112 is equal to the number of driving parts 212. Each sterile protective cover covers each robotic arm 210 respectively, so as to isolate the non-sterile robotic arm 210 from the sterile surgical instrument 230, thereby preventing the part of the robotic arm 210 close to the surgical instrument 230 from being contaminated during or after the operation.

[0076] In some embodiments, the protective cover body 110 may further include a third bag-like structure 113. The third bag-like structure 113 is located at the distal end of the first bag-like structure 111. The third bag-like structure 113 includes a third chamber, which is connected to the first chamber and is used to accommodate auxiliary equipment of the surgical robot. It should be understood that the third bag-like structure 113 may extend radially outward from the first bag-like structure 111. Figure 3 As shown, the auxiliary device of the surgical robot may include a handle 240, and the handle 240 may be fixedly connected to the mounting platform 213. The operator may hold the handle 240 to assist in adjusting the movement of the robotic arm 210, such as pitch movement, forward and backward movement, left and right movement (such as Figure 3 plane shown) etc.

[0077] In some embodiments, Figure 4 As shown, the sterile protective cover 100 may further include an adapter block 150 and an adapter ring 160. The third bag-like structure 113 includes a first auxiliary opening (not shown), the adapter block 150 passes through the first auxiliary opening, and the adapter block 150 is sealed and connected to the first auxiliary opening. For example, the upper surface or the lower surface of the adapter block 150 is circumferentially sealed and connected to the first auxiliary opening by glue or heat bonding. The adapter block 150 is used to fix the sheath to the end of the mechanical arm 210, so as to facilitate the surgical instrument to extend into the patient's body through the sheath.

[0078] Figure 6 FIG. 2 shows a three-dimensional structural diagram of an adapter 220 according to some embodiments of the present disclosure. Figure 7A schematic diagram of a three-dimensional structure of the adapter 220 and the adapter ring 160 according to some embodiments of the present disclosure is shown. Figure 8 and Fig. 9 A partial schematic diagram and a partial cross-sectional schematic diagram of the adapter 220 and the adapter ring 160 according to some embodiments of the present disclosure are respectively shown. In some embodiments, the second bag-like structure 112 includes a second auxiliary opening 1121, the adapter ring 160 is arranged circumferentially along the second auxiliary opening 1121, and the outer peripheral surface of the adapter ring 160 is sealed and connected to the second auxiliary opening 1121 (for example, glue or heat bonding). The adapter ring 160 can be connected to the adapter 220, and the adapter 220 connects the surgical instrument 230 to the robot arm 210.

[0079] In some embodiments, in some embodiments, as Figures 7 to 9 As shown, a first engaging feature 161 is provided on one side of the adapter ring 160 so that the adapter ring 160 can be detachably connected to the distal end of the robotic arm 210. Figure 7 and Figure 8 As shown, the proximal surface of the adapter ring 160 is provided with a first snap-fit ​​feature 161, and the distal end of the mechanical arm 210 is provided with a mechanical arm snap-fit ​​feature, and one of the first snap-fit ​​feature 161 and the mechanical arm snap-fit ​​feature can be a protrusion, and the other is a groove. In some embodiments, the proximal surface of the adapter ring 160 is circumferentially spaced with a plurality of first snap-fit ​​features 161, such as protrusions, and each protrusion extends circumferentially. The distal end of the mechanical arm 210 is provided with mechanical arm snap-fit ​​features, such as grooves, which are equal in number to the protrusions and have a matching shape, and the protrusions are snap-fitted with the grooves, so that the adapter ring 160 is detachably fastened to the distal end of the mechanical arm 210. It is worth noting that the first snap-fit ​​feature 161 can also be a groove, and the mechanical arm snap-fit ​​feature is a protrusion. It should be understood that the first snap-fit ​​feature 161 and the mechanical arm snap-fit ​​feature can also be other snap-fit ​​structures, such as buckles, as long as the structure that can achieve the snap-fit ​​and fastening of the two does not depart from the scope of the present invention.

[0080] In some embodiments, the other side of the adapter ring 160 (e.g., the distal side of the adapter ring 160) includes a second snap-fit ​​feature for rotatably connecting with the adapter 220. It should be understood that the second snap-fit ​​feature can be any structure that can achieve snap-fit ​​connection, such as a buckle, a protrusion, a groove, etc. The adapter 220 is used to detachably fix the surgical instrument (e.g., the surgical instrument 230) to the distal end of the robotic arm 210. By detachably fixing and connecting the one side (proximal side) of the adapter ring 160 to the robotic arm 210, and rotatably connecting the other side (distal side) to the adapter 220, the surgical instrument 230 and the adapter 220 are ensured to be on the sterile side, and the rotational movement of the surgical instrument 230 is not affected.

[0081] In some embodiments, Figure 8 and Fig. 9 As shown, the second engagement feature at the distal end of the adapter ring 160 includes an engagement step 162 arranged along the circumferential direction, and the inner circumferential surface of the engagement step 162 is provided with a chamfer 1621. Figure 6 , Figure 8 and Fig. 9 As shown, the proximal end of the adapter 220 is provided with a clamping groove 221, and the outer peripheral end of the clamping groove 221 is provided with a guide bevel 2211, and the guide bevel 2211 cooperates with the chamfer 1621 of the inner peripheral surface of the clamping step 162, so that the clamping step 162 can smoothly slide into the clamping groove 221 in a single direction and clamp therewith, and can rotate with each other. The adapter 220 can rotate relative to the adapter ring 160, so as not to affect the rotation of the surgical instrument 230, and the adapter ring 160 does not rotate, and then the sterile protective cover 100 extending circumferentially from the adapter ring 160 does not rotate, so that the surgical instrument 230 can be prevented from rolling the sterile protective cover 100 into it during the rotation.

[0082] In some embodiments, Figure 4 As shown, the sterile protective cover 100 may further include a plurality of annular support strips 170. The plurality of annular support strips 170 are arranged on the second bag-like structure 112 at intervals from each other along the axial direction of the second bag-like structure 112. Specifically, the annular support strip 170 may be an annular strip-shaped sheet structure or an annular rod-shaped structure, or an annular flexible rod. For example, the annular support strip 170 may be provided with an aluminum strip inside so as to be flexible or directly made of a flexible plastic strip, and the plurality of annular support strips 170 are arranged at intervals along the axial direction of the second bag-like structure 112. It should be understood that the axial direction of the second bag-like structure 112 is the linear motion direction of the surgical instrument 230. It should be understood that the annular support strip 170 may be arranged on the inner surface or outer surface of the second bag-like structure 112 by glue bonding or heat bonding. Due to the supporting effect of the annular support strip 170, it is prevented that the redundant protective cover is wrapped and drooped to affect the movement of the robot arm 210 or the surgical instrument 230.

[0083] In some embodiments, Figure 4 As shown, the sterile protective cover 100 may further include an adsorption iron sheet 180. The adsorption iron sheet 180 is fixedly arranged on the inner surface of the distal end surface of the second bag-like structure 112, and a magnetic structure 211 is arranged on one end surface of the mechanical arm 210 at the distal end. Figure 1As shown. The adsorption iron sheet 180 is used to adsorb and fit with the magnetic structure 211 to position the distal end face of the second bag-like structure 112 on an end face of the robot arm 210 located at the distal end. The distal end face of the second bag-like structure 112 is fastened and fit with the driving part 212 of the robot arm 210 (for example, the proximal end face of the linear module 2121) by the adsorption iron sheet 180, so as to position the second bag-like structure 112 on the robot arm 210, thereby preventing the second bag-like structure 112 from slipping or the redundant part from getting entangled when the robot arm 210 or the surgical instrument 230 moves, thereby affecting the covering effect and the movement effect.

[0084] In some embodiments, the adsorption iron sheet 180 may be provided with at least one protrusion perpendicular to the surface of the adsorption iron sheet 180, and the magnetic structure 211 may be provided with a groove adapted to the protrusion. For example, the protrusion may be a cylindrical protrusion, and the end of the protrusion may be a smooth cone, so that the protrusion can be easily inserted into the corresponding groove. Alternatively, the surface of the adsorption iron sheet 180 may be provided with a groove, and the magnetic structure 211 may be provided with a protrusion adapted to the groove.

[0085] In some embodiments, Figure 4 As shown, the protective cover body 110 may further include a second positioning member 142. The second positioning member 142 is disposed at the distal end of the first bag-like structure 111, close to the connection between the first bag-like structure 111 and the second bag-like structure 112. Figure 4 As shown, the second positioning member 142 may include two second positioning straps, one end of the two second positioning straps is fixedly arranged on the distal outer surface of the first bag-like structure 111, and the other end extends outward in a direction away from the outer surface, and the outward extension length of the two second positioning straps is set to be able to jointly tighten the first bag-like structure 111 on the robot arm 210 along the circumference of the robot arm 210. For example, the second positioning strap can be arranged on the lower outer surface of the first bag-like structure 111, and is arranged opposite to the first positioning strap, such as Figure 4 The first bag-like structure 111 is wrapped around the robot arm 210 by two second positioning straps, so that the distal end of the first bag-like structure 111 is tied and covered on the robot arm 210, so as to prevent the protective cover body 110 from being entangled or slipping during the movement of the robot arm 210 or the surgical instrument.

[0086] In some embodiments, Figure 4 As shown, the protective cover body 110 may further include a third positioning member 143. The third positioning member 143 is disposed at the proximal end of the third bag-like structure 113, close to the connection between the first bag-like structure 111 and the third bag-like structure 113. Figure 4As shown, the third positioning member 143 includes two third positioning straps, one end of the two third positioning straps is fixedly arranged on the proximal outer surface of the third bag-like structure 113, and the other end extends outward in a direction away from the outer surface. The outward extension length of the two third positioning straps is set to be able to jointly tighten the third bag-like structure 113 on the auxiliary device along the circumference of the auxiliary device of the surgical robot. For example, the third positioning strap can be arranged on the side outer surface of the third bag-like structure 113 away from the second positioning strap, such as Figure 4 The third bag-like structure 113 is wrapped around the auxiliary device (such as a handle) of the surgical robot by two third positioning straps, so that the proximal end of the third bag-like structure 113 is bundled and covered on the robotic arm 210, so as to prevent the protective cover body 110 from slipping and misaligning with the robotic arm 210 when the robotic arm 210 is adjusted to move by holding the handle or when the adapter block is installed on the robotic arm 210, thereby affecting the covering effect of the protective cover body 110.

[0087] In some embodiments, Figure 1 and Figure 3 As shown, the present disclosure also provides a surgical robot system 1000, which may include a surgical trolley 200, at least one sterile protective cover 100 in the above-mentioned embodiment, at least one surgical instrument 230, and at least one adapter 220. At least one robotic arm 210 may be movably disposed on at least one surgical trolley 200. Alternatively, in some embodiments, the surgical robot system 1000 may not include a surgical trolley, and at least one robotic arm 210 may be movably disposed on a base or a bracket.

[0088] like Figure 1-Figure 3As shown, the surgical trolley 200 may include at least one mechanical arm 210, and the distal end of the mechanical arm 210 may include a plurality of spaced apart drive parts 212. At least one sterile protective cover 100 is used to cover at least one mechanical arm 210. At least one adapter 220 is used to connect with the sterile protective cover 100 and detachably set at least one surgical instrument 230 on the drive part 212. It should be understood that the surgical instrument 230 may include surgical tools and endoscopes. Among them, the end effector of the surgical tool may include but is not limited to, for example, surgical forceps, curved scissors, electric knives, electric hooks, etc. The end of the endoscope may include an imaging device and an illuminating device. It should be understood that the sterile protective cover 100 is detachably fixedly connected to the distal end of the mechanical arm 210 through the proximal end of the adapter ring (such as the adapter ring 160), the distal end of the adapter ring 160 is rotatably connected to the adapter 220, and the surgical instrument 230 is detachably set on the adapter 220. In this way, when the surgical instrument 230 rotates, it will not cause the protective cover body 110 to twist and entangle. The sterile protective cover 100 extends from the circumference of the adapter ring 160 and covers the robotic arm 210, so that the outer surface of the sterile protective cover 100 is adjacent to the surgical instruments 230 and the adapter 220 in the sterile area, and the inner surface is adjacent to the non-sterile robotic arm 210, so as to isolate the non-sterile robotic arm 210 from the sterile surgical instruments 230, thereby preventing the part of the robotic arm 210 close to the surgical instruments 230 from being contaminated during or after surgery.

[0089] In some embodiments, the surgical robot system 1000 may include a plurality of sterile protective covers 100 and a plurality of robotic arms 210, wherein the plurality of sterile protective covers 100 are respectively covered on the plurality of robotic arms 210. In some embodiments, the sterile protective cover 100 may also include an operating trolley protective cover, which is used to cover all or part of the surface of the base of the operating trolley 200 (e.g., the surface of the operating trolley close to the patient side).

[0090] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A sterile protective cover, characterized in that: include: The protective cover body is used to cover the robotic arm of the surgical robot, and the protective cover body includes: a first bag-like structure comprising a main opening disposed at a proximal end; A plurality of second bag-like structures are arranged at the distal end of the first bag-like structure at intervals from each other; and a support member is detachably arranged at the main opening, and the support member is used to keep the main opening in an open state when the protective cover body is put onto the robotic arm.

2. The sterile protective cover according to claim 1, characterized in that: Also includes: A fastener is provided on the outer surface of the first bag-like structure close to the main opening, and the fastener is configured to enable the proximal end portion of the first bag-like structure to be tightly fixed on the outer surface of the robotic arm.

3. The sterile protective cover according to claim 2, characterized in that: Also includes: A plurality of first positioning members are arranged at intervals on the outer surface of the first bag-like structure. The plurality of first positioning members and the fastener are basically located on a straight line parallel to the axial direction. The first positioning members are configured to enable the first bag-like structure to be positioned on the outer surface of the robotic arm.

4. The sterile protective cover according to claim 3, characterized in that: The fasteners include two tightening straps, one end of each of the two tightening straps being fixedly disposed on the outer surface of the main opening, and the other end of each of the two tightening straps extending outwardly away from the outer surface, wherein the outward extension length of the two tightening straps is configured to be able to jointly tighten the first bag-like structure to the robotic arm along the circumference of the robotic arm; and / or The first positioning member includes two first positioning ties, one end of the two first positioning ties is fixedly arranged on the outer surface of the main opening, and the other end extends outward away from the outer surface. The outward extension length of the two first positioning ties is set to be able to jointly tighten the first bag-like structure to the robotic arm along the circumference of the robotic arm.

5. The sterile protective cover according to claim 1, characterized in that: The inner surface or outer surface of the first bag-like structure at the main opening is provided with at least one accommodating channel along the circumference, the accommodating channel includes a channel opening, and the support member is configured to be able to enter or move out of the accommodating channel through the channel opening; or The first bag-like structure is folded outward at the main opening, and a plurality of bonding points are arranged at intervals along the circumference at the intersection of the inner and outer surfaces or are continuously bonded along the circumference to form an accommodating channel. The accommodating channel includes a channel opening, and the support member is configured to be able to enter or move out of the accommodating channel through the channel opening.

6. The sterile protective cover according to claim 1, characterized in that: The first bag-like structure comprises a first chamber, a proximal end of the first chamber comprises the main opening, and the first chamber is used to accommodate the proximal end portion of the robotic arm; and The second bag-like structure includes a second chamber, which is communicated with the first chamber. The distal end of the robotic arm includes a plurality of spaced-apart driving parts, and the second chamber is used to accommodate the driving parts.

7. The sterile protective cover according to claim 6, characterized in that: The protective cover body also includes: The third bag-like structure is located at the distal end of the first bag-like structure. The third bag-like structure includes a third chamber. The third chamber is connected to the first chamber and is used to accommodate auxiliary equipment of the surgical robot.

8. The sterile protective cover according to claim 7, characterized in that: Also includes: an adapter block, wherein the third bag-like structure includes a first auxiliary opening, the adapter block passes through the first auxiliary opening, and the adapter block is sealed and connected to the first auxiliary opening; and / or The adapter ring, the second bag-like structure includes a second auxiliary opening, the adapter ring is arranged circumferentially along the second auxiliary opening, and the outer circumferential surface of the adapter ring is sealed and connected to the second auxiliary opening.

9. The sterile protective cover according to claim 8, characterized in that: The adapter ring comprises: a first snap-fit ​​feature, provided at the proximal end of the adapter ring, for detachably connecting to the robotic arm; and / or The second engaging feature is provided at the distal end of the adapter ring and is used for rotatably connecting to an adapter, and the adapter is used for detachably setting the surgical instrument on the robotic arm.

10. The sterile protective cover according to claim 9, characterized in that: The second engagement feature includes an engagement step and a chamfer provided on an inner circumferential surface of the engagement step.

11. The sterile protective cover according to claim 6, characterized in that: Also includes: A plurality of annular support bars are arranged on the second bag-like structure at intervals from each other along the axial direction of the second bag-like structure.

12. The sterile protective cover according to claim 6, characterized in that: Also includes: An adsorption iron sheet is fixedly arranged on the inner surface of the distal end face of the second bag-like structure. A magnetic structure is provided on an end face of the robotic arm at the distal end. The adsorption iron sheet is used to be adsorbed and fitted with the magnetic structure to position the distal end face of the second bag-like structure on an end face of the robotic arm at the distal end.

13. The sterile protective cover according to claim 7, characterized in that: Also includes: a second positioning member disposed at a distal end of the first bag-like structure, near a connection between the first bag-like structure and the second bag-like structure, the second positioning member comprising two second positioning ties, one end of the two second positioning ties being fixedly disposed on an outer surface of the distal end of the first bag-like structure, and the other end extending outwardly away from the outer surface, the outward extension length of the two second positioning ties being configured to jointly fasten the first bag-like structure to the robotic arm along a circumferential direction of the robotic arm; and / or The third positioning member is arranged at the proximal end of the third bag-like structure, close to the connection between the first bag-like structure and the third bag-like structure. The third positioning member includes two third positioning straps. One end of the two third positioning straps is fixedly arranged on the proximal outer surface of the third bag-like structure, and the other end extends outward away from the outer surface. The outward extension length of the two third positioning straps is set to be able to jointly tighten the third bag-like structure to the auxiliary device along the circumference of the auxiliary device of the surgical robot.

14. A surgical robot system, characterized in that: include: A surgical trolley comprising at least one robotic arm, a distal end of the robotic arm comprising a plurality of spaced apart drive portions; At least one sterile protective cover according to any one of claims 1 to 13, used to cover the robotic arm; at least one surgical instrument; as well as At least one adapter is used to connect with the sterile protective cover and detachably arrange the at least one surgical instrument on the driving part.

Images