Sterile isolation plate and endoscopic surgery robot

Abstract

The utility model provides a sterile isolation plate and an endoscopic surgery robot. The sterile isolation plate comprises a first mounting plate, a second mounting plate and a sterile cover used for wrapping a driving box. The first mounting plate and the second mounting plate are respectively provided with connecting pieces which are matched with each other, and the sterile cover is pressed between the first mounting plate and the second mounting plate through the connecting pieces. According to the sterile isolation plate, the first mounting plate and the second mounting plate are in physical clamping connection, severe thermal or chemical reaction is avoided, the torque of the screws connected between the first mounting plate and the second mounting plate only needs to be controlled through a torque screwdriver so as to control the joint force of the first mounting plate and the second mounting plate, the sterile isolation plate cannot be affected, and the service life of the sterile isolation plate is prolonged. And the sterile cover at the periphery of the crimping part does not wrinkle, so that the detection on the crimping effect is reduced, the difficulty in manufacturing and detecting processes is simplified, the production cost is reduced, and the product quality is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a sterile isolation board 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 laparoscopic surgical robot in the minimally invasive surgical robot generally includes a main control console (master end) and a slave manipulator arm (slave end). 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 laparoscopic surgical robot has matching surgical instruments, which are mounted on the power box of the slave manipulator arm, and the power is transmitted through the sterile isolation plate sandwiched between the power box and the surgical instrument.

[0004] A sterile protective cover (also called a sterile cover) is provided in the sterile isolation plate to isolate the sterile robotic arm, power box and other areas from the sterile instruments, surgical environment and the like. For example, patent announcement number CN106102639B discloses a sterile barrier between a surgical instrument and a remotely operated actuator, wherein the thickness of the bag is greater than the thickness of the plastic sheet, thereby providing support for the bag and making the plastic sheet thinner. In order to better maintain the flexible, elastic and smooth bag between the bottom plate and the top plate, the bag is hot-melted or bonded to a relatively inelastic reinforcing sheet using a pressure-sensitive adhesive or a liquid adhesive, and the reinforcing sheet is then maintained between the bottom plate and the top plate.

[0005] However, the technical solution of the above patent still has the following problems: First, the technical solution provides a method of joining hot melt and adhesive reinforcement sheet; among them, hot melting to the reinforcement sheet requires controlling the energy of hot melting, and the bag is stretched, which makes the thickness of each part of the bag uncontrollable, and the thickness of the upper surface that is also joined to the reinforcement sheet is not uniform, the place close to the plastic sheet is thick, and the end away from the plastic sheet is thin, so it is necessary to control the hot melt power in real time, which is very difficult; in addition, the effect after hot melting is also difficult to detect, and each batch of products needs to be destructively sampled, increasing production costs. Secondly, since the bag is stretched, it will wrinkle, and it is not easy to hot melt directly. It is necessary to design a special fixture to flatten it first and then temporarily fix it with the reinforcement sheet, which further increases the manufacturing time and difficulty. The high heat generated during hot melting will cause the bag on the outside of the joint to deform and wrinkle, affecting the quality of the product; therefore, the sterile cover adopts hot melt bonding, and the locking force is not very controllable.

[0006] However, when using the gluing method, the gluing surface needs to be cleaned before gluing. Since the adhesive force during gluing is difficult to control, the surface cannot be cleaned and the process is relatively complicated. Utility Model Content

[0007] The purpose of the embodiment of the present application is to provide a sterile isolation plate, in which the first mounting plate and the second mounting plate are physically clamped together without any violent thermal or chemical reaction. It only requires controlling the torque of the screws connecting the first mounting plate and the second mounting plate by a torque screwdriver to control the joining force between the first mounting plate and the second mounting plate. This will not affect the sterile isolation plate itself, and the sterile cover around the crimping point will not be wrinkled, thereby reducing the detection of the crimping effect, simplifying the difficulty of the manufacturing and testing processes, reducing production costs, and ensuring product quality.

[0008] On the one hand, the present application provides a sterile isolation plate, comprising: a first mounting plate, a second mounting plate, and a sterile cover for wrapping a drive box; the first mounting plate and the second mounting plate are respectively provided with mutually matching connecting pieces, and the sterile cover itself is crimped between the first mounting plate and the second mounting plate through the connecting pieces.

[0009] In one embodiment, the connecting member is: a snap-in column or a snap-in groove; the snap-in column is arranged on the surface edge of the first mounting plate, and the snap-in groove is arranged on the surface edge of the second mounting plate; or, the snap-in groove is arranged on the surface edge of the first mounting plate, and the snap-in column is arranged on the surface edge of the second mounting plate.

[0010] In one embodiment, the sterile isolation plate is further provided with mutually cooperating positioning members; the positioning members are: positioning holes or positioning columns;

[0011] The positioning hole and the clamping column are simultaneously or separately arranged on the surface edge of the first mounting plate or the surface edge of the second mounting plate;

[0012] Correspondingly, the positioning column and the clamping groove are simultaneously or separately arranged on the surface edge of the second mounting plate or the surface edge of the first mounting plate.

[0013] In one embodiment, the surface of the clamping groove and the surface of the clamping post are both configured as smooth arc surfaces.

[0014] In one embodiment, an elastic member is provided between the surface of the clamping groove and the sterile cover and / or between the surface of the clamping column and the sterile cover.

[0015] In one embodiment, elastic protrusions are provided on the first mounting plate and / or the second mounting plate at the joint between the clamping groove and the clamping column.

[0016] In one embodiment, the sterile cover has a stretching portion extending along the circumferential surface of the instrument box, the stretching portion is provided with an opening at the installation position along the sterile isolation plate, and the sterile cover at the edge of the opening is provided with a sterile cover positioning hole corresponding to the positioning column.

[0017] In one embodiment, a first signal interface avoidance hole is further provided on the sterile cover at the edge of the opening, and an extended reinforcement portion is provided on the sterile cover at one edge of the first signal interface avoidance hole.

[0018] In one embodiment, a second signal interface avoidance hole corresponding to the first signal interface avoidance hole is provided on the first mounting plate, and a third signal interface avoidance hole corresponding to the first signal interface avoidance hole and the second signal interface avoidance hole is provided on the second mounting plate.

[0019] In one embodiment, the stretching portion is further connected to a reinforcing film at the installation position along the sterile isolation plate, and the reinforcing film is cut to form a membrane positioning hole corresponding to the sterile cover positioning hole, and a reinforcing membrane interface avoidance hole corresponding to the first signal interface avoidance hole.

[0020] On the other hand, the present application also provides a laparoscopic surgical robot, comprising a sterile isolation plate as described in any embodiment of the first aspect of the present application.

[0021] Compared with the prior art, the technical solution provided by this application has at least the following advantages:

[0022] In the present application, mutually matching connectors are respectively provided on the first mounting plate and the second mounting plate of the sterile isolation plate, and the sterile cover itself is crimped between the first mounting plate and the second mounting plate through the connector. The sterile cover is pressed tightly by relying on the cooperation of the connector, thereby further preventing the sterile cover from wrinkling at and near the crimping point.

[0023] Therefore, the first mounting plate and the second mounting plate are physically connected, without violent thermal or chemical reactions, and only the torque of the screws connecting the first mounting plate and the second mounting plate needs to be controlled by a torque screwdriver to control the joining force between the first mounting plate and the second mounting plate, which will not affect the sterile isolation plate itself. The sterile cover around the crimping point will not wrinkle, thereby reducing the detection of the crimping effect, simplifying the difficulty of the manufacturing and testing process, reducing production costs, and ensuring product quality.

[0024] The sterile cover of the present application does not need to be temporarily fixed; and a jig is only used during laser cutting, which reduces the time of the overall manufacturing process and reduces the difficulty of production.

[0025] Through the physical clamping of the sterile isolation plate in the present application, the sterile cover is crimped more tightly, thereby achieving the isolation of the sterile environment and the contaminated environment by the sterile cover, allowing the laparoscopic surgical robot to perform surgical operations in a relatively sterile environment, reducing the risk of bacterial contamination of patients, reducing surgical risks, and improving surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings required for use in the embodiments of the present application are briefly introduced below.

[0027] Figure 1 A schematic structural diagram of a sterile isolation plate provided in one embodiment of the present application (front view);

[0028] Figure 2 A schematic structural diagram of a sterile isolation plate provided in one embodiment of the present application (back side);

[0029] Figure 3 A schematic diagram of an exploded structure of a sterile isolation panel provided in one embodiment of the present application;

[0030] Figure 4 A schematic diagram of the structure of a first mounting plate provided in one embodiment of the present application;

[0031] Figure 5 for Figure 4 The enlarged schematic diagram at A in the middle;

[0032] Figure 6 A schematic diagram of the structure of a second mounting plate provided in one embodiment of the present application;

[0033] Figure 7 for Figure 6 The enlarged schematic diagram of point B in the middle;

[0034] Figure 8 for Figure 7 The enlarged schematic diagram at C in the middle;

[0035] Fig. 9 for Figure 8 AA is a cross-sectional view of the installation of the sterile isolation plate provided in the first embodiment;

[0036] Fig.10 A cross-sectional view of the installation of a sterile isolation panel provided in the second embodiment of the present application;

[0037] Fig.11 A cross-sectional view of the installation of a sterile isolation panel provided in the third embodiment of the present application;

[0038] Fig.12 A schematic diagram of the structure of a stretching portion provided in one embodiment of the present application;

[0039] Fig.13A schematic diagram of the structure of an extended reinforcement portion provided in one embodiment of the present application;

[0040] Fig.14 for Fig.13 The enlarged schematic diagram at D in the middle;

[0041] Fig.15 A schematic diagram of the structure of a reinforcement membrane provided in one embodiment of the present application;

[0042] Fig.16 A schematic diagram of the installation of an elastic member provided in one embodiment of the present application;

[0043] Fig.17 A schematic diagram of the structure of an elastic member provided in one embodiment of the present application;

[0044] Fig.18 for Fig.16 Enlarged schematic diagram at point E in the middle.

[0045] Reference numerals:

[0046] 1- sterile isolation plate; 100- first mounting plate; 101- second signal interface avoidance hole; 200- second mounting plate; 201- third signal interface avoidance hole; 300- sterile cover; 310- stretching part; 311- accommodating cavity; 320- opening; 330- sterile cover positioning hole; 340- first signal interface avoidance hole; 350- extension reinforcement part; 400- connecting piece; 410- snap-on column; 420- snap-on groove; 500- positioning piece; 510- positioning hole; 520- positioning column; 600- reinforcement membrane; 601- membrane positioning hole; 602- reinforcement membrane interface avoidance hole; 700- elastic piece; 800- elastic protrusion. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0048] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0049] In this specification, the drawings show schematic diagrams of several embodiments of the present application. 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 present application.

[0050] The following terms used herein are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", etc., 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 spatially 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 spatially relative descriptors used here are interpreted accordingly.

[0051] 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.

[0052] 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.

[0053] 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 can 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 application 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 a knife that translates along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable 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.

[0054] 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.

[0055] 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.

[0056] Please refer to Figure 1 , Figure 2 , Figure 3 The present application provides a sterile isolation plate 1, comprising: a first mounting plate 100, a second mounting plate 200, and a sterile cover 300 for wrapping a drive box; the first mounting plate 100 and the second mounting plate 200 are respectively provided with mutually matching connectors 400, and the sterile cover 300 itself is crimped between the first mounting plate 100 and the second mounting plate 200 through the connector 400.

[0057] The sterile isolation plate 1 is detachably connected to the instrument box and the drive box, and plays the role of positioning guidance, quick clamping, floating transmission, and aseptic cover 300 assembly. The motor in the drive box is controlled by remote control, so that the end instrument connected to the instrument box is driven by power transmission of the sterile isolation plate 1 to perform surgical operations.

[0058] The first mounting plate 100 can be defined as being detachably connected to the instrument box, and the second mounting plate 200 is detachably connected to the drive box. The detachable connection method includes, but is not limited to, a snap connection, a threaded connection, a keyway connection, and a plug connection. It is understandable that the definitions of the first mounting plate 100 and the second mounting plate 200 can also be reversed, because there is no need to define the objects to be connected, and this is only for the convenience of explanation in this specification.

[0059] Optionally, the materials of the first mounting plate 100 and the second mounting plate 200 include, but are not limited to, one or more of polymer materials such as polycarbonate (PC), polyethylene (PE), polyvinyl chloride (PVC) or polyetheretherketone (PEEK), and the thickness may be 1-8 mm. In one embodiment, the first mounting plate 100 and the second mounting plate 200 may be made of the same material and the same size, which is convenient for saving manufacturing costs.

[0060] The sterile cover 300 may also be referred to as a sterile protective cover, a sterile protective film, a sterile bag, a curtain, etc. Optionally, the sterile cover 300 is made of a thermoplastic polyurethane elastomer rubber material (TPU), and its thickness is very thin, generally 0.1-0.3 mm.

[0061] In the prior art, sterile covers are generally joined by hot-melt. Hot-melting the sterile covers to the reinforcing sheet requires controlling the energy of hot-melt. However, the thickness of the sterile covers is uneven, the hot-melt power is difficult to control, and the effect of hot-melt is also difficult to detect. Destructive sampling is required for each batch of products, which increases production costs. Secondly, since the sterile cover itself is stretched, it is easy to wrinkle, and a special jig is required to flatten it, which increases manufacturing time and difficulty. The high heat generated by hot-melt will also cause the sterile cover on the outside of the joint to deform and wrinkle, affecting product quality. Therefore, the sterile cover adopts hot-melt joining, and the locking force is not very controllable. The possible joining method of gluing requires cleaning the gluing surface before gluing. Since the bonding force during gluing is difficult to control, the surface cannot be cleaned, and the process is also relatively cumbersome.

[0062] Based on the above problems, in this embodiment, the structure of the connecting piece 400 that cooperates with each other is respectively provided on the first mounting plate 100 and the second mounting plate 200, and the sterile cover 300 is placed between the first mounting plate 100 and the second mounting plate 200, and then the first mounting plate 100 and the second mounting plate 200 are fixed with screws. The first mounting plate 100 and the second mounting plate 200 are physically clamped, without violent heat or chemical reaction, and only the torque of the screws between the first mounting plate 100 and the second mounting plate 200 is controlled by a torque screwdriver to control the engagement force of the first mounting plate 100 and the second mounting plate 200, thereby maintaining the preset locking force, and will not affect the sterile cover 300 itself, and the sterile cover 300 around the crimping point will not be wrinkled, thereby reducing the detection of the crimping effect, simplifying the difficulty of the manufacturing and testing process, reducing the production cost, and ensuring the product quality of the sterile isolation board 1.

[0063] The sterile cover 300 does not need to be temporarily fixed, and only a jig is used during laser cutting, which reduces the time of the overall manufacturing process and reduces the difficulty of production.

[0064] Furthermore, the connecting member 400 is a clamping column 410 or a clamping groove 420 .

[0065] In one embodiment, see Figure 4 , Figure 5 , Figure 6 as well as Figure 7 The clamping column 410 is disposed on the surface edge of the first mounting plate 100 , and the clamping groove 420 is disposed on the surface edge of the second mounting plate 200 .

[0066] Optionally, the clamping column 410 is a columnar structure that is intermittently arranged along the surface edge of the first mounting plate 100 and protrudes from the surface of the first mounting plate 100; correspondingly, the clamping groove 420 is a groove structure that is intermittently arranged along the surface edge of the second mounting plate 200 and is recessed downward along the surface of the second mounting plate 200. The shapes of the clamping column 410 and the clamping groove 420 are matched. In this embodiment, the disconnected portion of the clamping column 410 and the disconnected portion of the clamping groove 420 can be used to receive the sterile cover 300 that is squeezed and deformed or wrinkled at the crimping position, so as to prevent the sterile cover 300 from wrinkling at the crimping position and nearby.

[0067] Optionally, the clamping column 410 can be integrally formed on the surface edge of the first mounting plate 100. The above connection method makes the connection between the clamping column 410 and the first mounting plate 100 more secure. The material of the clamping column 410 is the same as that of the first mounting plate 100 and the second mounting plate 200, for example, PEEK; the clamping groove 420 can be integrally injection molded with the second mounting plate 200.

[0068] In another embodiment, the clamping groove 420 is provided on the surface edge of the first mounting plate 100, and the clamping column 410 is provided on the surface edge of the second mounting plate 200. Therefore, according to the specific design requirements of the sterile isolation board 1, the first mounting plate 100 and the second mounting plate 200 can be provided with mutually matching connectors 400 respectively.

[0069] In the above two embodiments, after the sterile cover 300 is placed between the first mounting plate 100 and the second mounting plate 200, the operator can press the clamping column 410 into the surface of the clamping groove 420 without using too much force. Then the first mounting plate 100 and the second mounting plate 200 are fixed with screws. The first mounting plate 100 and the second mounting plate 200 are physically clamped, without violent heat or chemical reaction. It is only necessary to control the torque of the screws between the first mounting plate 100 and the second mounting plate 200 by a torque screwdriver to control the joining force of the first mounting plate 100 and the second mounting plate 200, so as to maintain the preset locking force.

[0070] Therefore, the sterile cover 300 is pressed together by the cooperation between the clamping column 410 and the clamping groove 420 .

[0071] For further information, please refer to Figure 8 The surface of the clamping groove 420 and the surface of the clamping column 410 are both set to be smooth arc surfaces.

[0072] In the first embodiment, please refer to Fig. 9 The cross section of the clamping groove 420 is a trapezoidal shape with rounded corners and inwardly concave; correspondingly, the cross section of the clamping column 410 is a trapezoidal shape with rounded corners and outwardly protruding that matches it.

[0073] In the second embodiment, please refer to Fig.10 The cross section of the clamping groove 420 is a semicircular arc; correspondingly, the cross section of the clamping column 410 is a semicircular arc that matches it and protrudes outward.

[0074] In the third embodiment, please refer to Fig.11 The cross section of the clamping groove 420 is a smooth wave shape; correspondingly, the cross section of the clamping column 410 is a matching, smooth wave shape.

[0075] In the above three embodiments, the surfaces of the snap-in groove 420 and the snap-in column 410 are both smooth arc-shaped structures without sharp angles. When the snap-in groove 420 and the snap-in column 410 are crimped together, the smooth arc-shaped surface structure can prevent the sterile cover 300 from being stretched and damaged at the crimping point.

[0076] For further information, please refer to Figure 4 , Figure 5 , Figure 6 as well as Figure 7 The sterile isolation plate 1 is also provided with mutually cooperating positioning members 500. The positioning members 500 are positioning holes 510 or positioning columns 520.

[0077] Optionally, the positioning hole 510 and the clamping column 410 are simultaneously or separately arranged on the surface edge of the first mounting plate 100 or the surface edge of the second mounting plate 200; correspondingly, the positioning column 520 and the clamping groove 420 are simultaneously or separately arranged on the surface edge of the second mounting plate 200 or the surface edge of the first mounting plate 100.

[0078] In the first embodiment, the positioning hole 510 and the clamping column 410 are both provided on the surface edge of the first mounting plate 100; correspondingly, the positioning column 520 and the clamping groove 420 are both provided on the surface edge of the second mounting plate 200. In this embodiment, a plurality of positioning holes 510 are provided along the surface edge of the first mounting plate 100, and a plurality of positioning columns 520 are provided along the surface edge of the second mounting plate 200. The number of positioning holes 510 and the number of positioning columns 520 are the same, and the positions are also correspondingly consistent, which ensures the reliability of the connection between the positioning columns 520 and the positioning holes 510. The positioning columns 520 are made of plastic and are integrally formed on the surface edge of the second mounting plate 200, and the positioning holes 510 are integrally formed with the first mounting plate 100.

[0079] In the second embodiment, the positioning hole 510 is arranged on the surface edge of the second mounting plate 200, and the clamping column 410 is arranged on the surface edge of the first mounting plate 100; correspondingly, the positioning column 520 is arranged on the surface edge of the first mounting plate 100, and the clamping groove 420 is arranged on the surface edge of the second mounting plate 200.

[0080] In the third embodiment, the positioning hole 510 and the clamping column 410 are both provided on the surface edge of the second mounting plate 200; correspondingly, the positioning column 520 and the clamping groove 420 are both provided on the surface edge of the first mounting plate 100. The specific structure of the positioning member 500 can be referred to Figure 4 , Figure 5 shown.

[0081] In the fourth embodiment, the positioning hole 510 is arranged on the surface edge of the first mounting plate 100, and the clamping column 410 is arranged on the surface edge of the second mounting plate 200; correspondingly, the positioning column 520 is arranged on the surface edge of the second mounting plate 200, and the clamping groove 420 is arranged on the surface edge of the first mounting plate 100.

[0082] In the present application, the clamping column 410 and the positioning hole 510 are arranged on the same mounting plate at the same time, and correspondingly, the clamping groove 420 and the positioning column 520 are arranged on another mounting plate at the same time. In the present embodiment, the clamping column 410 and the positioning hole 510 are arranged at the same time, and the clamping groove 420 and the positioning column 520 are arranged at the same time. During the actual assembly, the mounting plate provided with the clamping groove 420 and the positioning column 520 is first placed, and then the sterile cover 300 is aligned with the positioning column 520 and placed flatly on the mounting plate, and then another mounting plate is connected to the first mounting plate placed by screw locking. The clamping groove 420 can ensure that the sterile cover 300 can be placed flatly on the mounting plate. If the structure of the clamping column 410 is arranged on the mounting plate together with the positioning column 520, the sterile cover 300 is difficult to be placed flatly on the mounting plate, and wrinkles are more likely to occur.

[0083] For further information, please refer to Figure 1 , Figure 3 , Fig.12 , Fig.13 The sterile cover 300 has a stretching portion 310 extending along the circumferential surface of the instrument box. The stretching portion 310 is provided with an opening 320 at the installation position along the sterile isolation plate 1. The sterile cover 300 located at the edge of the opening 320 is provided with a sterile cover positioning hole 330 corresponding to the positioning column 520.

[0084] The shape of the stretching portion 310 matches the shape of the instrument box. After being extended, the stretching portion 310 forms a receiving cavity 311 (such as Figure 2 As shown). At the installation position of the stretching portion 310 on the sterile isolation plate 1, an opening 320 can be formed by laser cutting, as shown in FIG. Fig.13 As shown in FIG. 3 , the opening 320 formed by laser cutting is located on the top surface of the stretching portion 310. The sterile cover 300 at the edge of the opening 320 can be further laser cut to form a plurality of sterile cover positioning holes 330. The number and shape of the sterile cover positioning holes 330 are the same as those of the sterile cover 300. Figure 4 , Figure 5 The number and shape of the positioning posts 520 shown in FIG. 5 correspond to each other.

[0085] In one embodiment, using Figure 4 The structure of the first mounting plate 100 shown in FIG. Figure 5 The structure of the second mounting plate 200 is shown. Figure 1 , Figure 2 , Figure 3 , Fig.12 as well as Fig.13 As shown, when crimping the sterile cover 300, first put the first mounting plate 100 provided with the snap-in groove 420 and the positioning column 520, align the sterile cover positioning hole 330 on the sterile cover 300 with the positioning column 520 and place it flatly on the first mounting plate 100, then move the second mounting plate 200 into the accommodating cavity 311 on the back side of the stretching part 310, so that the positioning hole 510 on the second mounting plate 200 passes through the part of the positioning column 520, the operator aligns the snap-in column 410 on the second mounting plate 200 with the snap-in groove 420 on the first mounting plate 100, buckles it and presses it down, and then uses screws to fix and lock the first mounting plate 100 and the second mounting plate 200, and crimps the sterile cover 300 at the edge of the opening 320 between the first mounting plate 100 and the second mounting plate 200. Therefore, in this embodiment, by providing a plurality of sterile cover positioning holes 330 on the sterile cover 300 at the edge of the opening 320 for positioning, with the help of the positioning and fixing effect of the positioning columns 520 and the sterile cover positioning holes 330, the sterile cover 300 can be prevented from deviating or shifting during crimping, thereby further reducing wrinkles occurring at and near the crimping point.

[0086] Since the instrument box and the drive box need to transmit signals through the signal interface, please refer to Fig.13 , Fig.14 The sterile cover 300 at the edge of the opening 320 is also provided with a first signal interface avoidance hole 340, please refer to Figure 5 , Figure 7 The first mounting plate 100 is provided with a second signal interface avoidance hole 101 corresponding to the first signal interface avoidance hole 340 , and the second mounting plate 200 is provided with a third signal interface avoidance hole 201 corresponding to the first signal interface avoidance hole 340 and the second signal interface avoidance hole 101 respectively.

[0087] Optionally, the first signal interface avoidance hole 340 can be set to two, one of which is used to read the instrument information stored in the built-in chip of the instrument box, and the other is used to adapt the manual switch on the endoscope connector to transmit the signal of the manual switch to the drive box. Correspondingly, the second signal interface avoidance hole 101 and the third signal interface avoidance hole 201 can be set to two. In this embodiment, when the first mounting plate 100 and the second mounting plate 200 are crimped and fixed, the first signal interface avoidance hole 340, the second signal interface avoidance hole 101 and the third signal interface avoidance hole 201 are connected to each other to realize signal transmission between the instrument box and the drive box.

[0088] As mentioned above, the positioning post 520 on the first mounting plate 100 passes through the sterile cover positioning hole 330 on the sterile cover 300 at the edge of the opening 320, and the positioning hole 510 on the second mounting plate 200 passes through the positioning post 520. After the first mounting plate 100 and the second mounting plate 200 are fixed and locked by screws, the sterile cover 300 located at one edge of the first signal interface avoidance hole 340 is easily displaced at the crimping point under pressure. Therefore, please refer to Fig.14 An extension reinforcement portion 350 is provided on the sterile cover 300 at one edge of the first signal interface avoidance hole 340. The extension reinforcement portion 350 can be cut to a certain size during laser cutting, and the size can be set according to design requirements.

[0089] In this embodiment, an extended reinforcement portion 350 is provided on the sterile cover 300 at one of the edges of the first signal interface avoidance hole 340 to increase the crimping area of ​​the sterile cover 300 at the edge of the first signal interface avoidance hole 340, thereby further preventing the sterile cover 300 from being displaced at the crimping point and causing wrinkles.

[0090] Since the top surface thickness of the stretching portion 310 is very thin, pulling the sterile cover 300 during use may cause deformation or damage to the sterile cover 300. Therefore, please refer to Fig.15The stretching portion 310 is also connected to a reinforcing film 600 at the installation position along the sterile isolation plate 1 , and a membrane positioning hole 601 corresponding to the sterile cover positioning hole 330 and a reinforcing membrane interface avoidance hole 602 corresponding to the first signal interface avoidance hole 340 are cut on the reinforcing film 600 .

[0091] In this embodiment, after the stretching portion 310 is stretched out from the surface of the instrument box, one or more layers of reinforcing film 600 made of the same material as the stretching portion 310 are provided on the top surface of the stretching portion 310, so as to further improve the structural strength of the upper surface of the stretching portion 310. The top surface of the stretching portion 310 and the surface of the reinforcing film 600 are kept sufficiently clean and smooth, and the reinforcing film 600 can be directly placed on the top surface of the stretching portion 310, and then cut together with the top surface of the stretching portion 310 to form an opening 320, and the two can remain in contact with each other after the cutting is completed. Therefore, if Fig.15 As shown, the reinforcement film 600 is also correspondingly cut by laser to form a film positioning hole 601 and a reinforcement film interface avoidance hole 602 .

[0092] In order to prevent the sterile cover 300 from sliding after being pressed between the first mounting plate 100 and the second mounting plate 200, please refer to Fig.16 An elastic member 700 is provided between the surface of the clamping groove 420 and the sterile cover 300 and / or between the surface of the clamping column 410 and the sterile cover 300 .

[0093] In the first embodiment, the elastic member 700 is separately disposed between the surface of the clamping groove 420 and the sterile cover 300 , and the elastic member 700 can be arranged on the surface of the clamping groove 420 by gluing or other methods.

[0094] In the second embodiment, the elastic member 700 is separately disposed between the surface of the clamping post 410 and the sterile cover 300 , and the elastic member 700 can be arranged on the surface of the clamping post 410 by gluing or other methods.

[0095] In the third embodiment, the elastic member 700 is simultaneously disposed between the surface of the clamping groove 420 and the sterile cover 300, and between the surface of the clamping column 410 and the sterile cover 300. The elastic member 700 can be arranged on the surface of the clamping groove 420 and the surface of the clamping column 410 respectively by gluing or the like. In this embodiment, the elastic member 700 is simultaneously disposed between the surface of the clamping groove 420 and the sterile cover 300, and between the surface of the clamping column 410 and the sterile cover 300, which can increase the friction between the contact surfaces of the sterile cover 300 and the clamping groove 420 and the clamping column 410, and reduce the sliding between the sterile cover 300 and the first mounting plate 100 and the second mounting plate 200. Secondly, since the first mounting plate 100 and the second mounting plate 200 may be pressed unevenly when crimping the sterile cover 300, for example, some crimping places are in a compressed state, while some crimping places are suspended and not compressed, and the sterile cover 300 is very thin, and the two mounting plates are relatively hard, the uneven crimping force at the crimping place can be improved by setting the elastic member 700.

[0096] Please refer to Fig.17 In the above three embodiments, the elastic member 700 may be an elastic friction member made of rubber material, or may be a lighter buffer foam material.

[0097] Although the setting of the elastic member 700 can increase the friction between the clamping groove 420 and the surface of the sterile cover 300, as well as the clamping column 410 and the surface of the sterile cover 300 to a certain extent, since the material of the sterile cover 300 is usually very thin, and the first mounting plate 100 and the second mounting plate 200 are made of PEEK, which is relatively hard, when the first mounting plate 100 and the second mounting plate 200 are fixed and locked by screws, it is difficult to press the clamping column 410 and the clamping groove 420 very tightly, and the sterile cover 300 is still prone to slipping at the crimping point.

[0098] Therefore, please refer to Fig.18 An elastic protrusion 800 is provided on the first mounting plate 100 and / or the second mounting plate 200 at the joint between the clamping groove 420 and the clamping column 410 .

[0099] Optionally, the elastic protrusion 800 can be provided at the same time as the elastic member 700, or the elastic protrusion 800 can be provided separately. The elastic protrusion 800 can be a plurality of rubber protrusions provided at intervals. In this embodiment, in order to further prevent the aseptic cover 300 from sliding between the first mounting plate 100 and the second mounting plate 200, the elastic protrusion 800 is provided at the same time as the elastic member 700.

[0100] In the first embodiment, the elastic protrusions 800 are symmetrically arranged on the first mounting plate 100 and are located at the matching connection between the clamping groove 420 and the clamping column 410 .

[0101] In the second embodiment, the elastic protrusions 800 are symmetrically arranged on the second mounting plate 200 and are located at the matching connection between the clamping groove 420 and the clamping column 410 .

[0102] In the third embodiment, the elastic protrusions 800 are simultaneously and symmetrically arranged on the first mounting plate 100 and the second mounting plate 200 , and are located at the matching connection between the clamping groove 420 and the clamping column 410 .

[0103] In the above three embodiments, when the sterile cover 300 is placed between the first mounting plate 100 and the second mounting plate 200, the sterile cover 300 can be pressed more tightly to the ground by the provided elastic protrusions 800 and the elastic member 700. Therefore, the sterile cover 300 at the point where the first mounting plate 100 and the second mounting plate 200 are pressed will not be displaced, further reducing the wrinkles and deformation of the sterile cover 300.

[0104] Furthermore, the present application also provides a laparoscopic surgical robot. The laparoscopic surgical robot generally includes a doctor control platform, a patient surgical platform and an image platform. The surgeon sits on the doctor control platform, watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and controls 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 is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand. Both provide the surgeon with a series of movements that simulate the human wrist, while also filtering the tremor of the human hand itself.

[0105] 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. The surgical instrument and / or laparoscope are detachably attached to the surgical instrument manipulator. 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.). Optionally, the surgical instrument may include at least one of a knife, scissors, a needle, a forceps, a clamp, a light probe, a radioactive probe, an ultrasonic probe, a flushing device, and a cleaning device. 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".

[0106] The surgical instrument manipulator may include an instrument box, a sterile isolation plate 1 and a drive box, wherein the sterile isolation plate 1 is located between the instrument box and the drive box to connect the two, and the instrument box provides support for the surgical instrument and / or laparoscope and transmits the power of the instrument box to the surgical instrument and / or laparoscope. After the sterile cover 300 itself is pressed onto the sterile isolation plate 1, the sterile cover 300 can cover the robot arm, leaving only the surgical instrument and / or laparoscope to perform corresponding operations in a sterile environment.

[0107] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body 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 imaging 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.

[0108] 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.

[0109] 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.

[0110] The laparoscopic surgical robot in this embodiment can be used for gynecological examination or surgery, urological examination or surgery, thoracic surgery examination or surgery, etc.

[0111] In summary, in the present application, the structure of the connecting piece 400 that cooperates with each other is respectively provided on the first mounting plate 100 and the second mounting plate 200, and the sterile cover 300 is placed between the first mounting plate 100 and the second mounting plate 200, and then the first mounting plate 100 and the second mounting plate 200 are fixed with screws. The first mounting plate 100 and the second mounting plate 200 are physically clamped, without violent heat or chemical reaction, and only the torque of the screws between the first mounting plate 100 and the second mounting plate 200 is controlled by a torque screwdriver to control the engagement force of the first mounting plate 100 and the second mounting plate 200, thereby maintaining the preset locking force, and will not affect the sterile cover 300 itself, and the sterile cover 300 around the crimping point will not be wrinkled, thereby reducing the detection of the crimping effect, simplifying the difficulty of the manufacturing and testing process, reducing the production cost, and ensuring the product quality of the sterile isolation board 1.

[0112] Secondly, the sterile cover 300 does not need to be temporarily fixed, and a jig is only used when cutting, which reduces the manufacturing preparation time and reduces the production difficulty.

[0113] Through the physical clamping of the sterile isolation plate 1, the sterile cover 300 is crimped more tightly, thereby achieving the isolation of the sterile environment and the contaminated environment by the sterile cover 300, allowing the laparoscopic surgical robot to perform surgical operations in a relatively sterile environment, reducing the risk of bacterial contamination of patients, reducing surgical risks, and improving surgical efficiency.

[0114] In addition, in the present application, the sterile cover 300 can be pressed more tightly to the ground by the elastic protrusions 800 provided on the first mounting plate 100 and the second mounting plate 200, and by the elastic members 700 provided between the surface of the clamping groove 420 and the sterile cover 300, and between the surface of the clamping column 410 and the sterile cover 300. Therefore, the sterile cover 300 at the crimping point of the first mounting plate 100 and the second mounting plate 200 will not be displaced, and wrinkles and deformation of the sterile cover 300 are further reduced.

[0115] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0116] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of this requirement.

Claims

1. A sterile isolation plate, comprising: A first mounting plate, a second mounting plate, and a sterile cover for wrapping a drive box; characterized in that the first mounting plate and the second mounting plate are respectively provided with mutually matching connectors, and the sterile cover itself is crimped between the first mounting plate and the second mounting plate through the connectors.

2. The sterile isolation plate according to claim 1, characterized in that: The connecting piece is: a clamping column or a clamping groove; The clamping column is arranged on the surface edge of the first mounting plate, and the clamping groove is arranged on the surface edge of the second mounting plate; Alternatively, the clamping groove is arranged on the surface edge of the first mounting plate, and the clamping column is arranged on the surface edge of the second mounting plate.

3. The sterile isolation plate according to claim 2, characterized in that: The sterile isolation plate is also provided with mutually cooperating positioning members; the positioning members are: positioning holes or positioning columns; The positioning hole and the clamping column are simultaneously or separately arranged on the surface edge of the first mounting plate or the surface edge of the second mounting plate; Correspondingly, the positioning column and the clamping groove are simultaneously or separately arranged on the surface edge of the second mounting plate or the surface edge of the first mounting plate.

4. The sterile isolation plate according to claim 3, characterized in that: The surface of the clamping groove and the surface of the clamping column are both configured as smooth arc surfaces.

5. The sterile isolation plate according to claim 4, characterized in that: An elastic member is provided between the surface of the clamping groove and the sterile cover and / or between the surface of the clamping column and the sterile cover.

6. The sterile isolation plate according to any one of claims 2 to 5, characterized in that: The first mounting plate and / or the second mounting plate at the joint between the clamping groove and the clamping column are provided with elastic protrusions.

7. The sterile isolation plate according to claim 3, characterized in that: The sterile cover has a stretching portion extending along the circumferential surface of the instrument box, the stretching portion is provided with an opening at the installation position along the sterile isolation plate, and the sterile cover at the edge of the opening is provided with a sterile cover positioning hole corresponding to the positioning column.

8. The sterile isolation plate according to claim 7, characterized in that: A first signal interface avoidance hole is also provided on the sterile cover at the edge of the opening, and an extended reinforcement portion is provided on the sterile cover at one edge of the first signal interface avoidance hole.

9. The sterile isolation plate according to claim 8, characterized in that: The first mounting plate is provided with a second signal interface avoidance hole corresponding to the first signal interface avoidance hole, and the second mounting plate is provided with a third signal interface avoidance hole corresponding to the first signal interface avoidance hole and the second signal interface avoidance hole.

10. The sterile isolation plate according to claim 8 or 9, characterized in that: The stretching portion is also connected to a reinforcing film at the installation position along the sterile isolation plate, and the reinforcing film is cut to form a membrane positioning hole corresponding to the sterile cover positioning hole, and a reinforcing film interface avoidance hole corresponding to the first signal interface avoidance hole.

11. A laparoscopic surgical robot, characterized in that: Comprising a sterile isolation panel as described in any one of claims 1 to 10.

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