Connection adapter, connection assembly and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a connection adapter, a connection assembly and a surgical robot system. In the present disclosure, the connection adapter comprises a proximal end connection portion located at the proximal end of the connection adapter and used for detachably connecting a proximal end device; the far-end connecting part is connected with the far end of the near-end connecting part and is used for being detachably connected with a far-end device; the at least one connecting channel penetrates through the near-end connecting part and the far-end connecting part; the at least one coupler is arranged in the at least one connecting channel and can rotate relative to the connecting channel, the near end of the coupler can be coupled with the near-end device, and the far end of the coupler can be coupled with the far-end device. The connection adapter provided by the utility model can be used for connecting a near-end device and a far-end device, such as connecting a mechanical arm of a surgical robot system and a surgical tool.

Description

Technical Field

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

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incisions, greatly reducing the patient's recovery time, discomfort experience and post-healing side effects. Laparoscopic surgery, especially single-port laparoscopic surgery, can be performed through a surgical robot system, which can optimize the surgical method through computer remote control technology.

[0003] The connection adapter is an important part of the surgical robot system and can be used to connect surgical instruments and surgical trolleys. The stability and reliability of the connection adapter directly affect the user experience of the surgical operator and the smoothness and safety of each link in the operation. Utility Model Content

[0004] In some embodiments, the present disclosure provides a connection adapter, comprising:

[0005] A proximal connection portion, located at the proximal end of the connection adapter, for detachably connecting to a proximal device;

[0006] A distal connection portion connected to the distal end of the proximal connection portion and used for detachably connecting to a distal device;

[0007] at least one connecting channel, the at least one connecting channel passing through the proximal connecting portion and the distal connecting portion; and

[0008] At least one coupler is disposed in at least one connecting channel and is rotatable relative to the connecting channel. The proximal end of the coupler is coupleable with the proximal device, and the distal end of the coupler is coupleable with the distal device.

[0009] In some embodiments, the distal connection comprises:

[0010] a distal connection plate located proximal to the distal connection portion; and

[0011] The distal adapter tube is fixedly arranged at the distal end of the distal connecting plate.

[0012] In some embodiments, the distal connection portion further comprises:

[0013] The distal locking piece is sleeved on the outer side of the distal adapter tube, and the distal locking piece can rotate relative to the distal adapter tube to lock the distal device and the distal connecting part.

[0014] In some embodiments, the distal adapter barrel includes at least one first groove,

[0015] The distal locking element comprises at least one second groove matched with at least one first groove, and the at least one first groove and the at least one second groove are open to the distal end for detachably connecting with the distal device.

[0016] In some embodiments, the first groove extends longitudinally toward the distal end and opens.

[0017] The second groove includes a longitudinal portion opening toward the distal end and a transverse portion arranged at the proximal end of the longitudinal portion, and the distal locking piece can be rotated relative to the distal adapter cylinder, so that the longitudinal portion of at least one second groove is staggered with at least one first groove and the transverse portion of at least one second groove overlaps with at least one first groove for locking, or the longitudinal portion of at least one second groove overlaps with at least one first groove for unlocking.

[0018] In some embodiments, the longitudinal portion of the second slot includes a contraction portion whose opening size decreases from the distal end to the proximal end, and the transverse portion of the second slot includes a snap-fit ​​portion located below the contraction portion and extending in the circumferential direction.

[0019] In some embodiments, the longitudinal portion of the second groove includes a bevel extending into the groove, and the bevel is used to receive a pressure to rotate the distal locking element in an unlocking direction.

[0020] In some embodiments, the distal connection portion further comprises:

[0021] The elastic member is arranged along the circumference of the distal adapter tube, and is used to apply a pre-elastic force in a locking direction to the distal locking member.

[0022] In some embodiments, the distal connecting plate further comprises at least one locking protrusion protruding distally.

[0023] Distal locking element includes:

[0024] The base is annular and sleeved on the outer side of the proximal end of the distal adapter tube. The base includes at least one groove, which is used to accommodate the elastic member and the locking protrusion. The two ends of the elastic member are respectively connected to the locking protrusion and the side wall of the groove.

[0025] In some embodiments, the distal adapter barrel comprises:

[0026] At least one limiting protrusion is arranged on the outer side of the distal adapter tube;

[0027] The base includes:

[0028] At least one limiting slide groove extends along the circumference of the base, and at least one limiting protrusion is slidably connected to the at least one limiting slide groove.

[0029] In some embodiments, the distal locking element further comprises:

[0030] The locking cylinder is fixedly connected to the distal end of the base, and the locking cylinder comprises at least one second groove.

[0031] In some embodiments, the distal adapter barrel and the locking barrel of the distal locking element include a plurality of hole-like structures.

[0032] In some embodiments, the connection adapter further comprises:

[0033] A locking channel, the locking channel passing through the proximal connecting portion and the distal connecting portion;

[0034] The proximal connection portion also includes:

[0035] The proximal locking member is arranged in the locking channel. The proximal locking member can rotate relative to the locking channel. The proximal locking member is used to lock the proximal device and the proximal connecting part.

[0036] In some embodiments, the proximal locking element includes a columnar body and at least one pin structure, wherein the at least one pin structure is located on a proximal circumference of the columnar body for connecting with the proximal device.

[0037] In some embodiments, the connection adapter further comprises:

[0038] a communication channel, the communication channel running through the proximal connection portion and the distal connection portion; and

[0039] The communication connector is arranged in the communication channel, and the communication connector includes:

[0040] A connection interface, the proximal end is connected with the proximal device, and the distal end is connected with the distal device;

[0041] A first insulating groove, located at the proximal end surface of the communication connector, the first insulating groove being used to accommodate at least a portion of the proximal device; and

[0042] The second insulating groove is located at the distal end surface of the communication connector and is used to accommodate at least a portion of the distal device.

[0043] In some embodiments, the proximal connection comprises:

[0044] a proximal connecting plate located at the distal end of the proximal connecting portion; and

[0045] The proximal adapter tube is fixedly arranged at the proximal end of the proximal connecting plate.

[0046] In some embodiments, the present disclosure further provides a connection assembly, including:

[0047] The connection adapter of any one of some embodiments of the present disclosure;

[0048] a proximal device, the proximal device comprising a motor and a drive interface; and

[0049] The remote device includes a transmission interface, and a connection adapter connects the drive interface and the transmission interface.

[0050] In some embodiments, the remote device comprises:

[0051] The unlocking piece is arranged on the outer surface of the distal device, the unlocking piece can move in the longitudinal direction, and is used to apply pressure to the distal connection part to unlock the distal device and the connection adapter.

[0052] In some embodiments, the present disclosure further provides a surgical robot system, comprising:

[0053] at least one robotic arm; and

[0054] At least one connection component as in some embodiments of the present disclosure, the proximal device of the connection component is arranged at the distal end of at least one robotic arm, the distal device of the connection component includes a surgical instrument, and at least one robotic arm can be connected to the surgical instrument through a connection adapter of the connection component.

[0055] Some embodiments of the present disclosure have one or more of the following technical effects: the connection adapter according to some embodiments of the present disclosure has a simple design, compact structure, stability, and easy operation, can connect the robotic arm and surgical instruments of the surgical robot system, and can transmit the driving signal to the surgical instrument so that the surgical instrument performs the surgical operation; the connection adapter can be locked with the distal device at the distal end, thereby helping to avoid the surgical instrument from shaking relative to the robotic arm and improving the stability of the surgical instrument in performing the surgical operation; when connected to the distal device, the connection adapter can automatically lock the distal device, which helps to improve the convenience of operation; the connection adapter is easy to clean, which helps to improve its safety and hygiene; based on the communication connector, it is beneficial to avoid shielding the wireless communication between the distal device and the proximal device, which helps to improve the stability of the communication between the proximal device and the distal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] 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.

[0057] Figure 1 A schematic diagram showing the structure of a connection adapter according to some embodiments of the present disclosure is shown;

[0058] Figure 2 A schematic diagram showing the structure of a connection adapter according to some embodiments of the present disclosure at another angle;

[0059] Figure 3 A schematic diagram showing the structure of a connection channel of a connection adapter according to some embodiments of the present disclosure;

[0060] Figure 4 A structural schematic diagram showing a partial structure of a connection adapter according to some embodiments of the present disclosure;

[0061] Figure 5 A schematic diagram showing an exploded structure of a portion of the structure of a connection adapter according to some embodiments of the present disclosure;

[0062] Fig. 6A A schematic diagram showing a structure in which the distal connection portion of the connection adapter according to some embodiments of the present disclosure is in a locked state;

[0063] Figure 6B A schematic diagram showing a structure in which a distal connection portion of a connection adapter according to some embodiments of the present disclosure is in an unlocked state;

[0064] Fig. 7A A schematic structural diagram showing a partial structure of a connection assembly in a locked state according to some embodiments of the present disclosure;

[0065] Figure 7B A schematic diagram showing a structure of a partial structure of a connection assembly in an unlocked state according to some embodiments of the present disclosure;

[0066] Figure 8 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0067] 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.

[0068] 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.

[0069] 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 communication 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 specific circumstances.

[0070] In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, rear end, or rear part, and the end opposite to the proximal end, near part, rear end, or rear part is defined as the distal end, far end, front end, or front part. Alternatively, the end close to the operator (e.g., surgical patient) is defined as the distal end, far end, front end, or front part, and the end opposite to the distal end, far end, front end, or front part is defined as the proximal end, near part, rear end, or rear part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0071] Some embodiments of the present disclosure provide a connection adapter. Figure 1 A schematic structural diagram of a connection adapter 100 according to some embodiments of the present disclosure is shown. Figure 2 A schematic diagram of the structure of the connection adapter 100 according to some embodiments of the present disclosure at another angle is shown. In some embodiments, the connection adapter 100 can be used in a surgical robot system, for example, for connecting surgical instruments (e.g., bending scissors, clamps, endoscopes, etc.) in the surgical robot system. The surgical robot system can be various suitable surgical robot systems including a laparoscopic surgical robot system. In some embodiments, the surgical robot system can include at least one robotic arm, and the connection adapter 100 can be used to connect at least one robotic arm and surgical instruments.

[0072] like Figure 1 or Figure 2 As shown, the connection adapter 100 may include a proximal connection portion 10 and a distal connection portion 20. The proximal connection portion 10 is located at the proximal end of the connection adapter 100, and the proximal connection portion 10 may be used to detachably connect a proximal device. In some embodiments, the proximal device may include a drive device disposed at the distal end of a robotic arm in a surgical robot system and used to drive the movement of a surgical instrument.

[0073] The distal connection portion 20 can be connected to the distal end of the proximal connection portion 10, for example, by welding, bonding, integral molding, connecting pieces, or other suitable methods. In some embodiments, the proximal connection portion 10 and the distal connection portion 20 can be connected by a fastening structure (see Figure 2The distal connection portion 20 can be used to detachably connect the distal device. In some embodiments, the distal device can include surgical instruments such as clamps, curved scissors, needle holders, endoscopes, etc., and can also include non-surgical devices.

[0074] Figure 3 FIG. 2 is a schematic diagram showing the structure of the connection channel 30 of the connection adapter 100 according to some embodiments of the present disclosure. Figure 3 As shown, the connection adapter 100 may further include at least one connection channel 30 (eg, Figure 3 The connecting channels 30a-30c, etc. are shown. Figure 2 As shown, the connection adapter 100 may further include at least one coupler 40 (eg, Figure 2 The couplers 40a - 40c shown are respectively disposed in the connecting passages 30a - 30c , etc.). At least one coupler 40 is rotatable relative to the connecting passage 30 , for example, rotatable along the axial direction of the coupler 40 .

[0075] The proximal end of the coupler 40 can be coupled to a proximal device, and the distal end of the coupler 40 can be coupled to a distal device. In some embodiments, the proximal device can be an active device for transmitting (e.g., transmitting torque) to a passive device, such as a driving device provided on a mechanical arm of a surgical robot system; the distal device can be a passive device driven by power transmitted from the active device, such as a surgical instrument. The two ends of the coupler 40 are respectively connected to the proximal device transmission member and the distal device driving member, and the proximal device transmits torque to the distal device by applying torque to the coupler 40 to rotate the coupler 40.

[0076] Figure 4 FIG. 1 is a schematic diagram showing a partial structure of a connection adapter 100 according to some embodiments of the present disclosure. Figure 4 As shown, the distal connection portion 20 may include a distal connection plate 21 located at the proximal end of the distal connection portion 20, and a distal adapter tube 22 fixedly disposed at the distal end of the distal connection plate 21. The distal adapter tube 22 may be connected to the distal connection plate 21 by any suitable means such as welding, bonding, integral molding, a connector, etc. The distal adapter tube 22 is cylindrical, and the cross-section of the distal adapter tube 22 may be circular, elliptical, rectangular, polygonal or other regular or irregular shapes. In some embodiments, the proximal portion of the distal device may be cylindrical, and the shape of the distal adapter tube 22 may be matched with the proximal portion of the distal device so that the proximal portion of the distal device can extend into the middle cavity of the distal adapter tube 22. In some embodiments, when the distal device is connected to the connection adapter 100, the distal connection plate 21 may abut or approach the proximal end of the distal device.

[0077] In some embodiments, the distal connection portion 20 may further include a structure for locking the distal device with the distal connection portion 20 so that the distal device can form a stable connection with the connection adapter 100, such as a lock, a slot, or any other suitable structure. Figure 5 FIG. 1 is a schematic diagram showing a partial structure of a connection adapter 100 according to some embodiments of the present disclosure. Figure 5 As shown, the distal connection portion 20 may further include a distal locking member 23, which may cooperate with the distal adapter sleeve 22 to lock the distal device with the distal connection portion. Figure 1 As shown, the distal locking member 23 can be sleeved on the outside of the distal adapter tube 22 .

[0078] Fig. 6A A schematic structural diagram showing a distal connection portion of a connection adapter in a locked state according to some embodiments of the present disclosure. Figure 6B A schematic diagram showing a structure in which the distal end connection portion of the connection adapter according to some embodiments of the present disclosure is in an unlocked state. Fig. 6A and Figure 6B As shown, the distal locking member 23 can rotate relative to the distal adapter cylinder 22 to lock the distal device with the distal connection portion 20. In some embodiments, during the process of connecting the distal device with the distal connection portion 20 of the connection adapter 100, or during the process of releasing the distal device, the distal connection portion 20 can be in a state as shown in FIG. Figure 6B When the remote device and the distal connection portion 20 are in a connected state, the distal connection portion 20 is in a state as shown Fig. 6A Lock status shown.

[0079] In some embodiments, the distal locking member 23 can be manually operated by the user to unlock or lock. For example, the user rotates the distal locking member 23 to Figure 6B The position shown in FIG. 1 is unlocked to release the distal device, or the distal locking member 23 is rotated to the position shown in FIG. Fig. 6A to lock the remote device into the position shown.

[0080] In some embodiments, the distal locking member 23 can automatically lock the distal device. Figure 4 As shown, the distal connection portion 20 may further include an elastic member 24 so that the distal locking member 23 can automatically lock the distal device. In some embodiments, the distal connection portion 20 may include a plurality of elastic members, such as Figure 4 The elastic members 24 and 24a shown. In some embodiments, as Figure 4 As shown, the elastic member 24 can be arranged along the circumference of the distal adapter tube 22, and the elastic member 24 can be used to lock the distal locking member 23 (see Figure 5-6B) applies a pre-elastic force in the locking direction. Those skilled in the art will understand that Figure 4 The distal locking member 23 is not shown in the figure, and the distal locking member 23 can be sleeved on the outer side of the distal adapter tube 22. For example, when the distal device and the distal connecting portion 20 are in a position where they can be connected (for example, when the proximal end of the distal device abuts against the distal connecting plate 21), under the action of the force applied by the elastic member 24, the distal locking member 23 can automatically rotate in the locking direction (for example, rotate to the position such as Fig. 6A Those skilled in the art will appreciate that when the distal locking member 23 is not subjected to external force, the distal locking member 23 is in the position shown in FIG. Fig. 6A Position shown.

[0081] In some embodiments, Figure 5 As shown, the distal adapter sleeve 22 may include at least one first groove C1, and the distal locking member 23 may include at least one second groove C2 that cooperates with the at least one first groove C1. In some embodiments, the number of the first grooves C1 and the second grooves C2 may be equal to each other to cooperate with each other. At least one first groove C1 and at least one second groove C2 may both open to the distal end. At least one first groove C1 and at least one second groove C2 may be used to be detachably connected to the distal device. In some embodiments, the distal device may include a protruding structure that is arranged on the proximal circumference of the distal device and whose position corresponds to the position of the first groove C1 and the second groove C2, and the protruding structure of the distal device may be connected to the first groove C1 and the second groove C2 through the distal openings of the first groove C1 and the second groove C2, or released from the first groove C1 and the second groove C2 through the distal openings.

[0082] In some embodiments, Figure 5 As shown, the first slot C1 may extend longitudinally toward the distal end and open. The second slot C2 may include a longitudinal portion C21 open toward the distal end and a transverse portion C22 disposed at the proximal end of the longitudinal portion C21.

[0083] In some embodiments, the distal locking member 23 can be rotated relative to the distal adapter sleeve 22 to lock, for example, by Figure 6B The relative position shown is rotated to Fig. 6A The relative positions shown. Fig. 6A As shown, after the distal locking member 23 is rotated, the longitudinal portion C21 of at least one second groove C2 can be staggered with the at least one first groove C1, and the transverse portion C22 of at least one second groove C2 can overlap with the at least one first groove C1.

[0084] In some embodiments, Figure 5As shown, the longitudinal portion C21 of the second slot C2 may include a contraction portion C211 whose opening size decreases from the distal end to the proximal end. Fig. 6A As shown, when the distal connection part 20 is in the locked state, a part of the contraction portion C211 of the second groove C2 of the distal locking member 23 overlaps with the first groove C1. When the distal device is to be connected to the distal connection part 20, the distal device (for example, the protruding structure provided on the proximal peripheral side of the distal device) can be moved along the Fig. 6A The direction indicated by the arrow D1 is connected to the first groove C1 and the second groove C2 through the overlapping part of the contraction part C211 and the first groove C1, and then moves to the proximal end of the first groove C1 and the second groove C2 to be locked.

[0085] In some embodiments, Figure 5 As shown, the transverse portion C22 of the second groove C2 may include a snap-fit ​​portion C222 located below the contraction portion C211 and extending in the axial direction. Fig. 6A As shown, when the distal device is connected to the distal connecting portion 20, the distal device (for example, a protruding structure arranged on the proximal circumferential side of the distal device) can be locked in the engaging portion C222 of the second groove C2, and the distal edge of the engaging portion C222 can prevent the distal device from detaching from the distal connecting portion 20, so that the distal locking member 23 can lock the distal device and the distal connecting portion 20.

[0086] In some embodiments, the distal connection portion 20 includes an elastic member 24. When the distal device (e.g., a protruding structure disposed on the proximal circumference of the distal device) moves to the bottom of the first groove C1 and the second groove C2, the distal locking member 23 can automatically rotate in the locking direction (e.g., rotate to the position such as Fig. 6A The engaging portion C222 can limit the movement of the distal device and thus lock the distal device.

[0087] In some embodiments, the distal locking member 23 can be rotated relative to the distal adapter sleeve 22 to unlock, for example, by Fig. 6A Rotate the position shown to Figure 6B As shown in the location. Figure 6B As shown, after the distal locking member 23 is rotated, the longitudinal portion C21 of at least one second groove C2 overlaps with at least one first groove C1. Figure 6BIn the position shown, the distal device can move in the direction indicated by the arrow D2 to connect with the distal connection part 20, for example, the protruding structure provided on the proximal circumference of the distal device can move to the bottom of the first groove C1 and the second groove C2 via the overlapping portion of the longitudinal portion C21 of the first groove C1 and the second groove C2, thereby connecting with the distal connection part 20. In some embodiments, the distal device can move in the opposite direction to the direction indicated by the arrow D2 to unlock with the distal connection part 20, for example, the protruding structure on the proximal circumference of the distal device can move distally via the overlapping portion to disengage from the distal connection part 20, thereby achieving unlocking.

[0088] In some embodiments, the distal connection portion 20 includes an elastic member 24. In some embodiments, a force can be applied to the distal locking member 23 to overcome the pre-elastic force of the elastic member 24, so that the distal locking member 23 rotates in the unlocking direction (for example, rotated to Fig. 6A For example, the user can directly rotate the distal locking member 23, or operate a distal device or a device for auxiliary unlocking, so that the distal locking member 23 rotates in the unlocking direction.

[0089] In some embodiments, Figures 5 to 6B As shown, the longitudinal portion C21 of the second groove C2 may include a bevel C212 extending into the second groove C2, and the bevel C212 may be used to receive pressure to rotate the distal locking member 23 in the unlocking direction. In some embodiments, when the distal device and the distal connecting portion 20 are connected, the distal device (for example, a protruding structure provided on the proximal circumference of the distal device) may be pressed against the bevel C212 of the second groove C2. Under the pressure received by the bevel C212, the distal locking member 23 rotates in the unlocking direction (for example, rotates to the position shown in FIG. 1 ). Figure 6B The distal device is moved to the position shown in the figure, so that the distal device can be connected to the distal connection part 20. It can be understood by those skilled in the art that when the distal device is separated from the distal connection part 20, the device for auxiliary unlocking can be operated to press the bevel C212 to rotate the distal locking member 23 to the position shown in the figure. Figure 6B The distal device is then released from the distal connection 20 .

[0090] In some embodiments, Figure 5 As shown, the distal locking member 23 may include a base 231. The base 231 is annular and can be sleeved on the outer side of the proximal end of the distal adapter tube 22. The base 231 may include at least one groove AO1 (see Figure 5 The distal connecting plate 21 may further include at least one locking protrusion T1 protruding distally (see Figure 4 The groove AO1 can be used to accommodate the elastic member 24 and the locking protrusion T1 (see Figure 4The two ends of the elastic member 24 can be connected to the locking protrusion T1 and the side wall of the groove AO1 respectively (for example Figure 5 B1 shown). In some embodiments, the two ends of the elastic member 24 can respectively abut the locking protrusion T1 and the side wall B1 of the groove AO1, or the locking protrusion T1 and the side wall B1 of the groove AO1 can be connected by a suitable method such as connection. It can be understood by those skilled in the art that when the distal locking member 23 rotates in the unlocking direction, the side wall B1 of the groove AO1 approaches the locking protrusion T1 and the elastic member 24 is squeezed; when the distal locking member 23 rotates in the locking direction, the side wall B1 of the groove AO1 moves away from the locking protrusion T1 and the elastic member 24 recovers.

[0091] In some embodiments, Figure 4 As shown, the base 231 may also include an elastic member outer wall Q1 arranged along the axial direction, which is used to accommodate the elastic member 24 to prevent the elastic member 24 from popping out of the connection adapter 100 during repeated squeezing and recovery. In some embodiments, the base 231 may also include a plurality of small holes arranged above the elastic member 24 to facilitate cleaning of the elastic member 24, such as Figure 1 The A1 region shown includes multiple small holes.

[0092] In some embodiments, Figure 5 As shown, the distal locking member 23 may further include a locking cylinder 232. The locking cylinder 232 is cylindrical. The locking cylinder 232 may be fixedly connected to the distal end of the base 231, for example, by bonding, welding, integral molding, a connector, etc. For example, the locking cylinder 232 may be connected to the distal end of the base 231 by welding, etc. The locking cylinder 232 may be located outside the distal adapter cylinder 22, such as Figure 5 As shown, the locking cylinder 232 may include at least one second groove C2, based on which the at least one second groove C2 is located outside the at least one first groove C1 provided on the distal adapter cylinder 22, so that the at least one first groove C1 cooperates with each other.

[0093] In some embodiments, Figure 5 As shown, the distal adapter tube 22 and the locking tube 232 of the distal locking member 23 may include a plurality of hole structures K1. Based on this, it is beneficial to reduce the weight of the connection adapter 100 and facilitate the cleaning of the connection adapter 100.

[0094] In some embodiments, Figure 5As shown, the distal adapter cylinder 22 may include at least one limiting protrusion T22, and the at least one limiting protrusion T22 may be arranged on the outer side of the distal adapter cylinder 22. The base 231 of the distal locking member 23 may include at least one limiting slide groove C23. The at least one limiting slide groove C23 may extend along the circumference of the base 231. The at least one limiting protrusion T22 and the at least one limiting slide groove C23 may be slidably connected, so that the rotation range of the distal locking member 23 can be limited.

[0095] In some embodiments, at least one limiting protrusion T22 may extend along the circumference of the distal adapter tube 22 to increase the portion in contact with the limiting chute C23, thereby facilitating the stability of the sliding connection with at least one limiting chute C23. In some embodiments, the connection adapter 100 may include multiple groups of limiting protrusions T22 and limiting chute C23 that are slidably connected to each other. In some embodiments, the number of limiting protrusions T22 may be consistent with the number of limiting chute C23, and each limiting protrusion T22 may be slidably connected to a different limiting chute C23. In some embodiments, the number of limiting protrusions T22 may be different from the number of limiting chute C23. For example, multiple (for example, two) limiting protrusions T22 may be slidably connected to the same limiting chute C23 to improve the stability of the rotation of the distal locking member 23.

[0096] In some embodiments, Figure 2 As shown, the proximal connection portion 10 may include a proximal connection plate 11 located at the distal end of the proximal connection portion 10, and a proximal adapter tube 12 fixedly arranged on the proximal connection plate 11. The proximal adapter tube 12 may be connected to the proximal connection plate 11 by any suitable means such as welding, bonding, integral molding, a connector, etc. The proximal adapter tube 12 is cylindrical, and its cross-section may be circular, elliptical, rectangular, polygonal or other regular or irregular shapes. In some embodiments, the distal portion of the proximal device may be cylindrical, and the shape of the proximal adapter tube 12 may be matched with the distal portion of the proximal device so that the distal portion of the proximal device can extend into the middle cavity of the distal adapter tube 22. In some embodiments, when the proximal device is connected to the connection adapter 100, the proximal connection plate 11 may abut or approach the distal end of the proximal device.

[0097] In some embodiments, the proximal connection portion 10 may further include a structure for locking the proximal device and the proximal connection portion 10, so that a stable connection can be established between the proximal device and the connection adapter 100, such as a lock, a slot, or any other suitable structure. Figure 1 or Figure 2As shown, the connection adapter 100 may include a locking channel (not shown) passing through the proximal connection portion 10 and the distal connection portion 20, and the proximal connection portion 10 may include a proximal locking member 13 disposed in the locking channel. The proximal locking member 13 may be used to lock the proximal device with the proximal connection portion. Figure 1 and Figure 2 As shown, the locking channel can pass through the proximal connecting plate 11 and the distal connecting plate 21. In some embodiments, the proximal locking member 13 can rotate relative to the locking channel to lock or unlock the proximal device and the proximal connecting portion.

[0098] like Figure 2 As shown, in some embodiments, the proximal locking member 13 may include a columnar body 131 and at least one pin structure 132. Figure 2 As shown, the proximal end of the columnar body 131 may be in the shape of a cross column. In some embodiments, the proximal end of the columnar body 131 may be in the shape of a cylinder or a cylinder with an elliptical cross section. Figure 2 As shown, at least one pin structure 132 may be located on the proximal circumference of the columnar body 131 , and the at least one pin structure 132 may be used to connect with a proximal device.

[0099] In some embodiments, the distal end of the proximal device may include a connection structure for connecting to the proximal connection portion 10 of the connection adapter 100. The connection structure may include a proximal end of a columnar body 131 for accommodating the proximal locking member 13 and a columnar groove for allowing at least one pin structure 132 to extend into or withdraw from the proximal device, and may also include a slide groove located at the proximal end of the columnar groove and used to block the movement of the pin structure 132 (e.g., movement in a direction of separation from the proximal device). Figure 1 As shown, the proximal locking member 13 may further include a groove C13 located at the distal end surface of the proximal locking member 13. The groove C13 may be used by the user to operate the proximal locking member 13, for example, by rotating the proximal locking member 13 using tools such as a screwdriver and a wrench. When the connection adapter 100 is connected to the proximal device, the user may operate the proximal locking member 13 at the distal end of the connection adapter 100 to lock or unlock the connection adapter 100 and the proximal device.

[0100] Based on this, when the proximal device and the connection adapter 100 are connected, the proximal end of the columnar body 131 of the proximal locking piece 13 and at least one pin structure 132 can be extended into the columnar groove of the proximal device, and then the proximal locking piece 13 is rotated by operating the groove C13, and at least one pin structure 132 of the proximal locking piece 13 slides to connect with the slide groove of the proximal device, thereby locking the proximal device and the proximal connecting part 10.

[0101] In some embodiments, the proximal locking member 13 may include a flange (not shown in the figure), which may be sandwiched between the proximal connecting plate 11 and the distal connecting plate 21 to facilitate the rotation of the proximal locking member 13 relative to the locking channel. In some embodiments, the coupler 40 may include a flange (not shown in the figure) located in the middle of the coupler 40, which may be sandwiched between the proximal connecting plate 11 and the distal connecting plate 21 to facilitate the rotation of the coupler 40 relative to the connecting channel 30.

[0102] In some embodiments, the connection adapter 100 may further include a communication channel (not shown in the figure), and the communication channel may pass through the proximal connection portion 10 and the distal connection portion 20. Figure 1 and Figure 2 As shown, the connection adapter 100 may further include a communication connector 50 disposed in the communication channel. Figure 1 and Figure 2 As shown, the communication connector 50 may include a connection interface 51 (which may include Figure 1 and Figure 2 The proximal end of the connection interface 51 is connected to the proximal device, and the distal end is connected to the distal device. In some embodiments, the connection interfaces 51a and 51b can be used to detect whether a single or bipolar cable is connected, whether the connection adapter 100 is connected to the distal device, etc.

[0103] like Figure 1 and Figure 2 As shown, the communication connector 50 may also include a first insulating groove 52 located at the proximal surface of the communication connector 50 and a second insulating groove 53 located at the distal surface of the communication connector 50. The first insulating groove 52 can be used to accommodate at least a portion of the proximal device, and the second insulating groove 53 can be used to accommodate at least a portion of the distal device. In some embodiments, when both the proximal device and the distal device are connected to the connection adapter 100, at least a portion of the communication chip (e.g., a reader chip) of the proximal device can be accommodated in the first insulating groove 52, and at least a portion of the communication chip (e.g., a tag chip) of the distal device can be accommodated in the second insulating groove 53. Based on this, the proximal device and the distal device can achieve wireless communication, for example, the reader chip of the proximal device can read the information in the tag chip of the distal device. In some embodiments, the communication connector 50 can be made of an insulating material, so as to avoid shielding the wireless communication between the proximal device and the distal device.

[0104] In some embodiments, the connection adapter 100 may further include a circumferential positioning mark, for example Figure 5 I1 to I3 shown facilitate installation of the proximal device or the distal device with the connection adapter 100 , and installation of the distal locking element 23 with the distal adapter sleeve 22 based on circumferential positioning marks.

[0105] Some embodiments of the present disclosure also provide a connection assembly. Fig. 7A A schematic structural diagram showing a partial structure of a connection assembly 200 in a locked state according to some embodiments of the present disclosure. Figure 7B FIG. 2 is a schematic diagram showing a partial structure of a connection assembly 200 in an unlocked state according to some embodiments of the present disclosure. Fig. 7A or Figure 7B As shown, the connection assembly 200 may include a connection adapter (eg, Figures 1 to 6B The connection adapter 100 shown in the figure), the proximal device (not shown in the figure) and the distal device 210. Those skilled in the art will understand that Fig. 7A and Figure 7B Only a portion of the proximal end of the distal device 210 is shown.

[0106] The proximal device may include a motor and a drive interface, and the distal device 210 may include a transmission interface (not shown in the figure). The connection adapter 100 can connect the drive interface and the transmission interface. In some embodiments, the drive interface and the transmission interface can be connected to the coupler 40 of the connection adapter 100 at the proximal end and the distal end, respectively. The motor of the proximal device can be connected to the drive interface to output a driving force for actuating the distal device through the drive interface. The drive interface can transmit the driving force to the transmission interface of the distal device 210 through the coupler 40. Based on this, the driving force output by the proximal device can be transmitted to the distal device 210 via the connection adapter 100, thereby driving the distal device 210 to act.

[0107] In some embodiments, Fig. 7A or Figure 7B As shown, the distal device 210 may include at least one connection structure X1 located at the proximal end. The connection structure X1 may be used to connect with the connection adapter 100. Fig. 7A As shown, when the remote device 210 and the connection adapter 100 are in a locked state, the connection structure X1 can be locked in the first groove C1 (see Figure 5 ) and the engaging portion C222 of the second groove C2 (see Figure 5 ), the distal edge of the engaging portion C222 can block the distal movement of the connecting structure X1, thereby preventing the distal device from detaching from the connecting adapter 100.

[0108] In some embodiments, Fig. 7A or Figure 7B As shown, the remote device 210 may include an unlocking member 211. The unlocking member 211 may be disposed on the outer surface of the remote device 210 so that the user can operate the unlocking member 211. Fig. 7A and Figure 7BAs shown, the unlocking member 211 can move in the longitudinal direction to facilitate connection with the connection adapter 100 or to move away from the connection adapter 100. Fig. 7A or Figure 7B As shown, the outer surface of the distal device 210 may include tracks arranged in the longitudinal direction, such as tracks G1 and G2 arranged in parallel with each other, and the longitudinal edge of the unlocking member 211 can slide in the tracks G1 and G2 so that the unlocking member 211 moves in the longitudinal direction. In some embodiments, the unlocking member 211 may also include a limiting structure X2. The distal device 210 may also include a limiting block (not shown in the figure) arranged on the outer surface and located on the inner side of the unlocking member 211. When the unlocking member 211 moves toward the distal end, the limiting block can block the movement of the limiting structure X2, thereby preventing the unlocking member 211 from sliding out of the tracks G1 and G2.

[0109] When the remote device 210 and the connection adapter 100 are in a locked state, the locking member 211 may be located as follows: Fig. 7A When unlocking the distal device 210 and the connection adapter 100, the user can push the locking member 211 proximally along the longitudinal direction (for example, operate the distal portion 2112 of the locking member 211 to push the locking member 211), and the proximal portion 2111 of the locking member 211 passes through the contraction portion C211 of the second groove C2 of the distal locking member 23 (see Figure 5 ) and the first groove C1 (see Figure 5 ) of the overlapping area S1 (see Fig. 7A ) extends into the first groove C1 and the second groove C2. Under the push of the user, the proximal portion 2111 of the locking member 211 applies pressure to the oblique edge C212 of the second groove C2, thereby pressing the distal locking member 23 to rotate in the unlocking direction, for example, to rotate to Figure 7B In the position shown in FIG. 7 , the distal device can move distally to move away from the connection adapter 100 , thereby achieving unlocking from the connection adapter 100 .

[0110] In some embodiments, the unlocking member 211 may further include a reset elastic member (not shown) disposed inside the unlocking member 211 and disposed longitudinally, and the reset elastic member may apply a pre-elastic force to the unlocking member 211. Under the action of the reset elastic member, when the user removes the thrust applied to the locking member 211, the locking member 211 may automatically be reset. Figure 7B The position shown is reset to Fig. 7A Position shown.

[0111] A surgical robot system is also provided in some embodiments of the present disclosure. Figure 8 FIG. 3 is a schematic diagram of a surgical robot system 300 according to some embodiments of the present disclosure. Figure 8As shown, the surgical robot system 300 may include at least one robotic arm 311 and at least one connection component as in any one of the embodiments of the present disclosure, for example Fig. 7A or Figure 7B The connection assembly 200 is shown. Figure 8 As shown, the connection assembly 200 may include a distal device 210, a proximal device 220, and a connection adapter ( Figure 8 Not shown, e.g. Figures 1 to 6B The proximal device 220 of the connection assembly 200 may be disposed at the distal end of at least one mechanical arm 311, and the distal device 210 of the connection assembly 200 may include a surgical instrument, such as a clamp, a curved scissors, an ultrasonic scalpel, an endoscope, etc. The at least one mechanical arm 311 can be connected to the surgical instrument through the connection adapter (e.g., the connection adapter 100) of the connection assembly 200.

[0112] In some embodiments, the proximal device 220 may include a drive device disposed at the distal end of the robotic arm 311, the drive device being used to drive the surgical instrument to move, for example, to move within the patient or to perform a surgical operation. The drive device may transmit the driving force to the surgical instrument via a connection adapter.

[0113] In some embodiments, Figure 8 As shown, the surgical robot system 300 may include a surgical trolley 310. At least one mechanical arm 311 may be a positioning arm of the surgical trolley 310. The surgical robot system 300 may also include a main control trolley 320, and the main control trolley 320 may include at least one main operator 321. At least one main operator 321 may be used to receive user operations.

[0114] In some embodiments, the main control trolley 320 can be located at the user side to receive user operations, and the surgical trolley 310 can be located at the patient side to perform surgical operations on the patient. During surgery, the user can input control instructions by operating the main operator 321 on the main control trolley 320, and the proximal device 220 (e.g., a driving device) of the connection assembly 200 of the surgical trolley 310 outputs corresponding driving force to the distal device 210 (e.g., a surgical instrument) in response to the control instructions, so that the surgical instrument can perform the corresponding surgical operation.

[0115] Those skilled in the art will appreciate that the surgical robot 300 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0116] In some embodiments, the connection adapter provided by the present disclosure is capable of connecting a driving device and a surgical instrument of a surgical robot system, and is capable of transmitting a driving signal to the surgical instrument so that the surgical instrument performs a surgical operation.

[0117] In some embodiments, the connection adapter can be locked with the proximal device at the proximal end and can be locked with the distal device at the distal end, thereby achieving a stable connection between the proximal device and the distal device.

[0118] In some embodiments, the connection adapter can be locked with the distal device, thereby helping to prevent the surgical instrument from shaking relative to the robotic arm, thereby helping to improve the stability of the surgical instrument in performing surgical operations.

[0119] In some embodiments, when the remote device is connected to the connection adapter, the connection adapter can automatically lock the remote device, which can improve the convenience of the installation operation.

[0120] In some embodiments, the connection adapter is easy to clean, which helps to improve the safety and hygiene of the connection adapter.

[0121] In some embodiments, the communication connector is made of insulating material, which helps to avoid shielding the wireless communication between the proximal device and the distal device, and helps to improve the stability of the communication between the proximal device and the distal device.

[0122] 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 connection adapter, characterized in that: include: A proximal connection portion, located at the proximal end of the connection adapter, for detachably connecting to a proximal device; A distal connection portion connected to the distal end of the proximal connection portion and used for detachably connecting to a distal device; at least one connecting channel, the at least one connecting channel passing through the proximal connecting portion and the distal connecting portion; as well as At least one coupler is disposed in the at least one connecting channel and is rotatable relative to the connecting channel, wherein a proximal end of the coupler is couplable to the proximal device, and a distal end of the coupler is couplable to the distal device.

2. The connection adapter according to claim 1, characterized in that: The distal connection portion comprises: a distal connection plate, located at the proximal end of the distal connection portion; and The distal adapter tube is fixedly arranged at the distal end of the distal connecting plate.

3. The connection adapter according to claim 2, characterized in that: The distal connection portion further comprises: The distal locking piece is sleeved on the outer side of the distal adapter tube, and the distal locking piece can rotate relative to the distal adapter tube to lock the distal device with the distal connecting portion.

4. The connection adapter according to claim 3, characterized in that: The distal adapter sleeve comprises at least one first groove, The distal locking element comprises at least one second groove matched with the at least one first groove, and the at least one first groove and the at least one second groove are open to the distal end for detachably connecting with the distal device.

5. The connection adapter according to claim 4, characterized in that: The first groove extends longitudinally toward the distal end and opens, The second groove includes a longitudinal portion opening toward the distal end and a transverse portion arranged at the proximal end of the longitudinal portion, and the distal locking piece can be rotated relative to the distal adapter cylinder so that the longitudinal portion of the at least one second groove is staggered with the at least one first groove and the transverse portion of the at least one second groove overlaps with the at least one first groove for locking, or the longitudinal portion of the at least one second groove overlaps with the at least one first groove for unlocking.

6. The connection adapter according to claim 5, characterized in that: The longitudinal portion of the second groove includes a contraction portion whose opening size decreases from the distal end to the proximal end, and the transverse portion of the second groove includes a snap-fit ​​portion located below the contraction portion and extending in the circumferential direction.

7. The connection adapter according to claim 6, characterized in that: The longitudinal portion of the second groove includes an inclined edge extending into the groove, and the inclined edge is used to receive a pressure for rotating the distal locking element in an unlocking direction.

8. The connection adapter according to claim 3, characterized in that: The distal connection portion further comprises: An elastic member is arranged along the circumference of the distal adapter tube, and is used to apply a pre-elastic force in a locking direction to the distal locking member.

9. The connection adapter according to claim 8, characterized in that: The distal connecting plate further comprises at least one locking protrusion protruding toward the distal end. The distal locking element comprises: The base is annular and sleeved on the outer side of the proximal end of the distal adapter tube. The base includes at least one groove, which is used to accommodate the elastic member and the locking protrusion. The two ends of the elastic member are respectively connected to the locking protrusion and the side wall of the groove.

10. The connection adapter according to claim 9, characterized in that: The distal adapter tube comprises: At least one limiting protrusion is arranged on the outer side of the distal end adapter tube; The base comprises: At least one limiting slide groove, the at least one limiting slide groove extends along the circumference of the base, and the at least one limiting protrusion is slidably connected to the at least one limiting slide groove.

11. The connection adapter according to claim 9, characterized in that: The distal locking member further comprises: A locking cylinder is fixedly connected to the distal end of the base, and the locking cylinder includes the at least one second groove.

12. The connection adapter according to claim 11, characterized in that: The distal adapter cylinder and the locking cylinder of the distal locking member include a plurality of hole-like structures.

13. The connection adapter according to claim 1, characterized in that: The connection adapter also includes: A locking channel, the locking channel passing through the proximal connecting portion and the distal connecting portion; The proximal connection portion further comprises: A proximal locking member is disposed in the locking channel. The proximal locking member can rotate relative to the locking channel. The proximal locking member is used to lock the proximal device with the proximal connecting portion.

14. The connection adapter according to claim 13, characterized in that: The proximal locking member includes a columnar body and at least one pin structure, wherein the at least one pin structure is located on the proximal circumference of the columnar body and is used for connecting with the proximal device.

15. The connection adapter according to claim 1, characterized in that: The connection adapter also includes: a communication channel, the communication channel passing through the proximal connection portion and the distal connection portion; and A communication connector is provided in the communication channel, and the communication connector comprises: A connection interface, a proximal end connected to the proximal device, and a distal end connected to the distal device; A first insulating groove, located at a proximal surface of the communication connector, the first insulating groove being used to accommodate at least a portion of the proximal device; and The second insulating groove is located at the distal end surface of the communication connector, and the second insulating groove is used to accommodate at least a part of the distal device.

16. The connection adapter according to claim 1, characterized in that: The proximal connection portion comprises: a proximal connecting plate, located at the distal end of the proximal connecting portion; and The proximal end adapter tube is fixedly arranged at the proximal end of the proximal end connecting plate.

17. A connection assembly, characterized in that: include: The connection adapter according to any one of claims 1 to 16; A proximal device, the proximal device comprising a motor and a drive interface; as well as The distal device comprises a transmission interface, and the connection adapter connects the drive interface and the transmission interface.

18. The connection assembly according to claim 17, characterized in that The remote device comprises: An unlocking member is disposed on the outer surface of the distal device, the unlocking member can move in the longitudinal direction, and the unlocking member is used to apply pressure to the distal connection portion to unlock the distal device from the connection adapter.

19. A surgical robot system, characterized in that: include: at least one robotic arm; as well as At least one connecting assembly as described in claim 17 or 18, wherein the proximal device of the connecting assembly is arranged at the distal end of the at least one robotic arm, the distal device of the connecting assembly includes a surgical instrument, and the at least one robotic arm can be connected to the surgical instrument through the connecting adapter of the connecting assembly.

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