Adaptive device and surgical robot

Abstract

The utility model relates to an adaptive device and a surgical robotic.The adaptive device comprises a cannula, a sterile isolator and a base, the cannula comprises a cannula body and a cannula base, the cannula body is arranged on the cannula base and provided with a cannula cavity allowing a surgical instrument to penetrate through, the sterile isolator comprises a flexible sleeve, the flexible sleeve is arranged between the base and the cannula base, the cannula base is connected with the base in a clamped mode through the flexible sleeve, and the sterile isolator is arranged in the cannula cavity. The sleeve and the base are isolated in a sterile mode. The tube body is used for penetrating through surgical instruments such as an endoscope, the tube body is arranged on the tube base, the tube base is connected with the base in a clamped mode, the sleeve and the base can be disassembled and assembled more conveniently through the clamping mode, and rapid adaptive disassembly and assembly of the sleeve and the base are achieved; the sterile isolator comprises a flexible sleeve, the flexible sleeve is arranged between the base and the tube seat, the tube seat is connected with the base in a clamped mode through the flexible sleeve, the flexible sleeve can achieve sterile isolation between the base and the sleeve and reduce infection, meanwhile, friction force among the tube seat, the flexible sleeve and the base can be increased through flexible deformation, and the clamping fixing effect is better.

Description

Technical Field

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

[0002] In abdominal or thoracic surgeries, surgical instruments (such as endoscopes and thoracoscopes) are installed on the robotic arm of the surgical robot through an adapter device. The robotic arm drives the adapter device to guide the surgical instruments to the abdominal or thoracic surgical area.

[0003] Different patients have different types of surgeries. Therefore, it is necessary to select surgical instruments of different types / specifications according to the actual situation of the patients, and replace the surgical instruments on the robotic arm before and after the operation. At the same time, during the operation, in order to prevent infection to the patient, an infection environment in the surgical area is usually required. However, it is very inconvenient to replace / disassemble surgical instruments with traditional adapters, and infection problems are prone to occur during the operation. Summary of the invention

[0004] Based on this, it is necessary to provide an adapter device and a surgical robot that can more conveniently replace / disassemble surgical instruments such as endoscopes and thoracoscopes and can reduce intraoperative infection.

[0005] The present application provides an adapter device, including a sleeve, a sterile isolator and a base, the sleeve including a tube body and a tube seat, the tube body is arranged on the tube seat, the tube body has a tube cavity for surgical instruments to pass through, the sterile isolator includes a flexible sleeve, the flexible sleeve is arranged between the base and the tube seat, the tube seat is clamped with the base via the flexible sleeve to sterilely isolate the sleeve and the base.

[0006] In one of the embodiments, one of the base and the tube base is provided with a first clamping assembly, and the other is provided with at least one first clamping groove, and the first clamping assembly can be clamped with the first clamping groove via the flexible sleeve.

[0007] In one embodiment, the first clamping assembly includes a first clamping hook and an unlocking element, at least one first clamping hook is provided and corresponds to the first clamping slot one by one, the first clamping hook is rotatably provided on the base, the first clamping slot is provided on the tube seat, and the unlocking element is movably provided on the base, and the unlocking element can drive the first clamping hook to rotate relative to the base so that one end of the first clamping hook can be clamped into or out of the first clamping slot through the flexible sleeve.

[0008] In one embodiment, the first clamping assembly further includes a fixing frame, a telescopic element and a first reset member, the fixing frame is fixed to the base, the first hook is rotatably arranged on the fixing frame, the telescopic element is slidably matched with the fixing frame, the telescopic element is in contact with the first hook, the unlocking element can push the telescopic element so that the telescopic element can press the first hook and the first hook can rotate relative to the fixing frame to exit the first slot; the opposite ends of the first reset member are respectively connected to the fixing frame and the telescopic element so that the telescopic element can be reset after being pushed by the unlocking element.

[0009] In one embodiment, the first hook is provided with a roller and a first hook portion, the roller is rotatably provided at one end of the first hook, the first hook portion is provided at the other end of the first hook, the telescopic element is provided with a wedge-shaped portion, the wedge-shaped portion can press the roller to rotate the first hook so that the first hook portion is engaged with the first slot; and / or

[0010] The first clamping assembly further includes a second reset member, the opposite ends of which are respectively connected to the first hook and the fixing frame, and the second reset member is used to push the first hook to reset so that the first hook can be withdrawn from the first clamping slot; and / or

[0011] At least two of the first hooks and the first slots are provided in one-to-one correspondence, and at least one of the first slots is provided on opposite sides of the tube seat.

[0012] In one embodiment, the sterile isolator also includes a support base, the flexible sleeve is arranged on the support base, one of the base and the support base is provided with a second snap-fitting assembly, and the other is provided with at least one second snap-fitting slot, and the second snap-fitting assembly can be snap-fitted with the second snap-fitting slot.

[0013] In one embodiment, the second clamping assembly includes at least one second clamping hook and at least one third resetting member, the second clamping hook is rotatably disposed on the base, the second clamping groove is disposed on the support seat and has at least one, and one end of the third resetting member is connected to the second clamping hook to keep the second clamping hook engaged in the second clamping groove.

[0014] In one embodiment, the flexible sleeve is provided with an adapting groove matching the first card slot, and the supporting seat is annularly provided on the outer periphery of the flexible sleeve; the first clamping assembly can be clamped into the adapting groove and clamped into the first card slot through the flexible sleeve;

[0015] The flexible sleeve has an assembly cavity, which has an opening toward the tube seat so that at least a portion of the tube seat can be assembled into the assembly cavity; a portion of the bottom wall of the assembly cavity protrudes toward one side of the tube seat and forms a fault-tolerant portion.

[0016] In one embodiment, the base includes a first base section and a second base section connected to each other, the first base section is extended along a first baseline and is used to connect to the robot arm, the second base section is extended along a second baseline and is clamped with the support base, the second baseline forms an obtuse angle with the first baseline, the tube body is extended along a third baseline, and the third baseline is perpendicular to the second baseline; and / or

[0017] The tube holder is provided with an identity identification element, and the base is provided with an identification element, and the identification element can read the identity identification element.

[0018] The present application also provides a surgical robot, comprising a robotic arm and an adapter device as described in any of the above technical solutions, wherein the base is arranged on the robotic arm.

[0019] In the above-mentioned adapter device and surgical robot, the sleeve includes a tube body and a tube seat, the tube body is used to insert surgical instruments such as an endoscope, the tube body is arranged on the tube seat, and the tube seat is clamped with the base, and the clamping method can make the disassembly and assembly of the sleeve and the base more convenient, realize the rapid adaptation and disassembly of the sleeve and the base, and then realize the rapid disassembly and replacement of surgical instruments; and the sterile isolator includes a flexible sleeve, the flexible sleeve is arranged between the base and the tube seat, and the tube seat is clamped with the base through the flexible sleeve, the flexible sleeve can realize sterile isolation between the base and the sleeve, reduce infection, and at the same time, flexible deformation can increase the friction between the tube seat, the flexible sleeve and the base, so that the clamping fixing effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the assembly structure of an adapter device provided in one embodiment of the present application.

[0021] Figure 2 A schematic diagram of the exploded structure of an adapter device provided in one embodiment of the present application.

[0022] Figure 3 A schematic diagram of the assembly structure of a sleeve and a connecting element provided in one embodiment of the present application.

[0023] Figure 4 A schematic diagram of the explosion structure of a base and a sterile isolator provided in one embodiment of the present application.

[0024] Figure 5 A schematic diagram of the three-dimensional structure of a sterile isolator provided in one embodiment of the present application.

[0025] Figure 6 A schematic cross-sectional structure diagram of an adapter device provided in one embodiment of the present application.

[0026] Figure 7 A schematic diagram of the exploded structure of a base provided in one embodiment of the present application.

[0027] Figure 8 A schematic diagram of the assembly structure of a first clamping assembly provided in one embodiment of the present application.

[0028] Fig. 9 For Figure 8 A schematic diagram of the partial assembly structure of the first clamping component is shown.

[0029] Fig.10 For Fig. 9 A schematic diagram of the partial assembly structure of the first clamping component is shown.

[0030] Figure Number:

[0031] 100, lying reference line; 1000, base; 2000, sterile isolator; 3000, sleeve; 4000, second clamping assembly; 5000, first clamping assembly; 1000a, first assembly angle; 1100, first base section; 1200, second base section; 1300, identification element; 2100, support seat; 2200, flexible sleeve; 2100a, second clamping groove; 2200a, fault tolerance part; 2200b, adapter groove; 3001, tube seat; 3002, tube body; 3000a, second assembly angle; 3100, connecting element; 3100a , first card slot; 3200, identification element; 4100, second card hook; 4200, first limiting part; 4100a, card window; 4100b, arc avoidance surface; 4100c, third card connection part; 4100d, avoidance groove; 5100, first card hook; 5200, telescopic element; 5300, second reset member; 5400, first reset member; 5500, fixing frame; 5600, guide element; 5700, roller; 5800, unlocking element; 5200a, wedge-shaped part; 5600a, second limiting part; 5800a, recessed space. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0033] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply 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 a limitation on the present application.

[0034] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0036] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0038] See also Figures 1 to 10 As shown, the present application provides an adapting device, including a sleeve 3000, a sterile isolator 2000 and a base 1000, and surgical instruments such as an endoscope, a thoracoscope, etc. can be installed by being inserted into the sleeve 3000. The sleeve 3000 includes a tube body 3002 and a tube seat 3001, and the tube body 3002 is arranged on the tube seat 3001. The tube body 3002 has a lumen for the surgical instrument to pass through. The sterile isolator 2000 includes a flexible sleeve 2200, and the flexible sleeve 2200 is arranged between the base 1000 and the tube seat 3001. The tube seat 3001 is clamped with the base 1000 through the flexible sleeve 2200, so as to sterilely isolate the sleeve 3000 and the base 1000.

[0039] The sleeve 3000 includes a tube body 3002 and a tube seat 3001. The tube body 3002 is used to pass through surgical instruments such as an endoscope. The tube body 3002 is arranged on the tube seat 3001, and the tube seat 3001 is clamped with the base 1000. The clamping method can make the disassembly and assembly operation of the sleeve 3000 and the base 1000 more convenient, and realize the rapid adaptation and disassembly of the sleeve 3000 and the base 1000; and the sterile isolator 2000 includes a flexible sleeve 2 200, the flexible sleeve 2200 is arranged between the base 1000 and the tube seat 3001, and the tube seat 3001 is clamped with the base 1000 through the flexible sleeve 2200. The flexible sleeve 2200 can achieve aseptic isolation between the base 1000 and the sleeve 3000 to reduce infection. At the same time, flexible deformation can increase the friction between the tube seat 3001, the flexible sleeve 2200 and the base 1000, so that the clamping fixing effect is better.

[0040] The base 1000 is used to connect with the robotic arm of the surgical robot. During surgery, the base 1000 and the surgical robot will be covered to create a sterile environment of the operating room outside the cover. The function of the sterile isolator 2000 is to isolate the sterile environment where the sleeve 3000 and the surgical instruments are located from the sterile environment where the base 1000 and the robotic arm are located to prevent the patient from getting an intraoperative infection. The base 1000 and the tube seat 3001 are snap-fitted so that the surgical instruments of the tube body 3002 can be quickly removed and replaced from the base 1000 or the robotic arm to improve the efficiency of disassembly and assembly.

[0041] The base 1000, the sterile isolator 2000 and the sleeve 3000 can be assembled in a variety of ways. For example, the sterile isolator 2000 can be snap-fitted and assembled with the base 1000. In addition, the base 1000, the sterile isolator 2000 and the sleeve 3000 can also be connected by other detachable methods such as threaded connection, magnetic connection, etc., which are not limited here.

[0042] See also Figure 1 and Figure 2 As shown, in one embodiment, one of the base 1000 and the tube seat 3001 may be provided with a first clamping assembly 5000, and the other may be provided with at least one first clamping groove 3100a, and the first clamping assembly 5000 can be clamped with the first clamping groove 3100a through the flexible sleeve 2200. For example, the base 1000 is provided with a first clamping assembly 5000, and the tube seat 3001 is provided with two first clamping grooves 3100a, or the tube seat 3001 is provided with a first clamping assembly 5000, and the base 1000 is provided with two first clamping grooves 3100a. Among them, at least a part of the first clamping assembly 5000 can be clamped into the first clamping groove 3100a through the sterile isolator 2000, thereby realizing the aseptic clamping assembly between the base 1000, the sterile isolator 2000 and the sleeve 3000.

[0043] See also Figure 2 and Figure 3 As shown, the tube base 3001 may also be provided with a connecting element 3100, and the connecting element 3100 may be provided on the tube base 3001 in a variety of suitable shapes, sizes and assembly methods. A first clamping groove 3100a may be provided on the connecting element 3100, so that the first clamping assembly 5000 on the base 1000 is clamped and matched with the first clamping groove 3100a provided on the connecting element 3100 of the tube base 3001.

[0044] The first clamping assembly 5000 can adopt various structures. Figures 7 to 10As shown, the first clamping assembly 5000 includes a first hook 5100 and an unlocking element 5800. The first hook 5100 is provided with at least one and corresponds to the first slot 3100a one by one. The first hook 5100 is rotatably arranged on the base 1000, and the first slot 3100a is arranged on the tube seat 3001. The unlocking element 5800 is movably arranged on the base 1000, and the unlocking element 5800 can drive the first hook 5100 to rotate relative to the base 1000, so that one end of the first hook 5100 can be clamped into or withdrawn from the first slot 3100a across the flexible sleeve 2200. Through the operation of the unlocking element 5800, the first hook 5100 is rotated relative to the base 1000, so that the first hook 5100 can realize the clamping operation of clamping into or withdrawing from the first slot 3100a, so that the disassembly and assembly operation of the sleeve 3000 and the base 1000 is very convenient. The unlocking element 5800 may act on the first hook 5100 directly, for example, by abutment, or may act indirectly, for example, by an intermediate piece, to achieve linkage.

[0045] In the locked state, the first hook 5100 is inserted into the first slot 3100a through the flexible sleeve 2200 of the sterile isolator 2000, and the base 1000 is engaged with the sleeve 3000; in the unlocked state, the unlocking element 5800 moves relative to the base 1000 and applies a force to the first hook 5100 to rotate the first hook 5100 relative to the base 1000, thereby causing the first hook 5100 to withdraw from the first slot 3100a.

[0046] In one embodiment, the first hook 5100 can be rotatably assembled in the inner cavity of the base 1000, for example, the rotatable assembly can be implemented by a rotating element such as a rotating shaft. The purpose of the rotation of the first hook 5100 is to use the head end of the first hook 5100 to swing in different directions, and when swinging to different positions, it can achieve the engagement with the first slot 3100a or the release of the engagement with the first slot 3100a.

[0047] In one embodiment, a part of the unlocking element 5800 can be movably assembled on the outside of the base 1000. The unlocking element 5800 can adopt a plate structure, a block structure or a columnar structure suitable for manual control, and other suitable shapes and sizes, which are not limited here. The operator can manually control the unlocking element 5800 and use the unlocking element 5800 to drive the first hook 5100 to contact. In order to assemble the unlocking element 5800, the side wall of the base 1000 can also be provided with a concave recessed space 5800a, so that the unlocking element 5800 can be located in the recessed space 5800a, which facilitates the rotation of the unlocking element 5800, avoids structural interference, and is more convenient to operate.

[0048] Continue reading Figures 7 to 10As shown, the first clamping assembly 5000 also includes a fixing frame 5500, a telescopic element 5200 and a first reset member 5400. The fixing frame 5500 is fixed to the base 1000, and the fixing frame 5500 serves as an assembly basis for other components in the first clamping assembly 5000 except the fixing frame 5500. The fixing frame 5500 can be fixed in the housing of the base 1000 by means of screws, etc. Of course, the fixing frame 5500 can also be an integral structure with the base 1000. The first hook 5100 is rotatably arranged on the fixing frame 5500, the telescopic element 5200 is slidably matched with the fixing frame 5500, the telescopic element 5200 is in contact with the first hook 5100, and the unlocking element 5800 can push against the telescopic element 5200, so that the telescopic element 5200 can press against the first hook 5100, and the first hook 5100 is rotated relative to the fixing frame 5500 to exit the first card slot 3100a. The opposite ends of the first restoring member 5400 are respectively connected to the fixing frame 5500 and the telescopic element 5200 , so as to restore the telescopic element 5200 after being pushed by the unlocking element 5800 .

[0049] In the locked state, the first reset member 5400 elastically presses the telescopic element 5200 and the first hook 5100 through the telescopic element 5200, so that the first hook 5100 remains stuck in the first slot 3100a, and the base 1000 and the sleeve 3000 are locked. In the unlocked state, the unlocking member 5800 moves relative to the base 1000 and presses the telescopic element 5200. At this time, the pressing of the unlocking member 5800 causes the telescopic element 5200 to overcome the force of the first reset member 5400 and slide relative to the fixing frame 5500, thereby releasing the pressing of the first hook 5100, and then allowing the first hook 5100 to withdraw from the first slot 3100a, thereby unlocking the sleeve 3000 and the base 1000. The first reset member 5400 can be a spring to have an elastic reset force.

[0050] In one embodiment, the fixing frame 5500 is fixed in the inner cavity of the shell of the base 1000, so that the telescopic element 5200 is elastically assembled in the inner cavity of the shell of the base 1000 through the first reset member 5400. At this time, the telescopic element 5200 abuts against the first hook 5100 to apply a driving force to the first hook 5100. The first reset member 5400 can be configured to elastically push the telescopic element 5200 to perform linear motion, such as linear motion in a specific direction, so that the telescopic element 5200 slides relative to the fixing frame 5500 under the elastic reset action of the first reset member 5400 and pushes the first hook 5100 to rotate, so that the first hook 5100 remains stuck in the first slot 3100a.

[0051] In one embodiment, the first hook 5100 is provided with a roller 5700 and a first hook portion, the roller 5700 is rotatably arranged at one end of the first hook 5100, and the first hook portion is arranged at the other end of the first hook 5100, that is, the roller 5700 and the first hook portion are respectively arranged at opposite ends of the first hook 5100. The telescopic element 5200 is provided with a wedge-shaped portion 5200a, and the wedge-shaped portion 5200a can press the roller 5700 to rotate the first hook 5100 and make the first hook portion snap into the first slot 3100a. When the telescopic element 5200 slides relative to the fixed frame 5500, the wedge-shaped portion 5200a has a surface inclined with respect to the moving direction, so that it can roll with the roller 5700 and push the roller 5700 to drive the first hook 5100 to rotate relative to the fixed frame 5500, thereby realizing the operation of the first hook portion snapping into or out of the first slot 3100a.

[0052] The wedge-shaped portion 5200a may be a structure such as an inclined surface provided on the telescopic element 5200. Based on its specific design structure, when the wedge-shaped portion 5200a is in driving contact with the peripheral wall of the roller 5700, the wedge-shaped portion 5200a may gradually apply a driving force different from the moving direction of the telescopic element 5200 to the roller 5700, so that the first hook 5100 can rotate. The first hook is used to engage with the first slot 3100a to achieve locking.

[0053] Continue reading Figures 7 to 10 As shown, the first clamping assembly 5000 also includes a second reset member 5300, the opposite ends of which are respectively connected to the first hook 5100 and the fixing frame 5500, and the second reset member 5300 is used to push the first hook 5100 to reset, so that the first hook 5100 can withdraw from the first slot 3100a.

[0054] In the locked state, the first restoring member 5400 pushes against the telescopic element 5200, so that the wedge-shaped portion 5200a of the telescopic element 5200 presses against the roller 5700, thereby keeping the first hook portion of the first hook 5100 in a state of being inserted into the first slot 3100a. At this time, the first hook 5100 overcomes the pushing force of the second restoring member 5300 on the first hook 5100. In the unlocked state, the unlocking member 5800 applies a force to the telescopic element 5200, so that the telescopic element 5200 overcomes the force of the first restoring member 5400 and is locked. The fixed frame 5500 slides. During this process, the wedge-shaped portion 5200a of the telescopic element 5200 no longer applies a pressing force to the roller 5700, and the first hook 5100 rotates in the opposite direction relative to the fixed frame 5500 under the resetting action of the second resetting member 5300. Since the sliding force of the wedge-shaped portion 5200a under the telescopic element 5200 makes room for the first hook 5100 to rotate in the opposite direction, the first hook portion of the first hook 5100 automatically withdraws from the first slot 3100a under the action of the second resetting member 5300.

[0055] In one embodiment, the second reset member 5300 can be elastically assembled between the first hook 5100 and the base 1000, and the second reset member 5300 can be used to elastically drive the first hook 5100 to rotate around a fixed axis. For example, the elastic drive of the second reset member 5300 can make the head end of the first hook 5100 move in the direction of unlocking relative to the first slot 3100a, that is, when the first hook 5100 only receives the elastic drive of the second reset member 5300, the first hook 5100 can be separated from the first slot 3100a, thereby unlocking the first slot 3100a.

[0056] The elastic force of the first restoring member 5400 is set to be greater than the elastic force of the second restoring member 5300. When no force is applied to the unlocking element 5800, the base 1000 and the sleeve 3000 are in a locked state. The first restoring member 5400 can ensure that the first hook 5100 overcomes the force of the second restoring member 5300 so that the first hook portion is inserted into the first slot 3100a, thereby maintaining the engagement between the base 1000 and the sleeve 3000. When unlocking, the unlocking element 5800 is used to extend the sleeve 3000. The contraction element 5200 applies a force, which causes the telescopic element 5200 to slide relative to the fixed frame 5500 and overcome the force of the first restoring element 5400 during the sliding process. Since the force of the first restoring element 5400 is overcome, the restoring force of the second restoring element 5300 begins to press the first hook 5100, causing the first hook 5100 to rotate in the opposite direction, thereby allowing the first hook to withdraw from the first slot 3100a, and the base 1000 and the sleeve 3000 are unlocked.

[0057] The second restoring member 5300 may be a spring, and two ends of the spring press against the fixing frame 5500 and the first hook 5100 respectively.

[0058] Continue reading Figures 7 to 9 As shown, a guide element 5600 may be further provided on the fixing frame 5500, and the telescopic element 5200 is slidably assembled on the guide element 5600. The sliding on the guide element 5600 can ensure that the telescopic element 5200 can move along a preset direction under the drive of elastic force without deviation. A second limiting portion 5600a may also be provided on the guide element 5600, and the second limiting portion 5600a is used to limit the telescopic element 5200 and the guide element 5600 from being separated from each other.

[0059] In one embodiment, the first hook 5100 and the first slot 3100a may be provided with one or more, for example, the first hook 5100 and the first slot 3100a are provided with at least two and correspond to each other, and at least one first slot 3100a is provided on opposite sides of the tube holder 3001. The second reset member 5300 is also provided with at least two and corresponds to each other. The first hook 5100 can be locked by moving the first hooks of the two first hooks 5100 in a direction close to each other, and the first hook 5100 can be unlocked by moving the first hooks of the two first hooks 5100 in a direction away from each other. Therefore, the two second reset members 5300 can be used to elastically drive the first hooks of the corresponding first hooks 5100 away from each other.

[0060] If there are two or more first clamping assemblies 5000, the telescopic elements 5200 in the plurality of first clamping assemblies 5000 may be connected to each other or formed in one piece, so that the telescopic elements 5200 may form a completely synchronous drive for the plurality of first hooks 5100. Those skilled in the art may set the number of first clamping assemblies 5000 and the matching method between the various elements based on the above design principle, which is not limited here.

[0061] See also Figure 4 and Figure 7As shown, the sterile isolator 2000 also includes a support seat 2100, and the flexible sleeve 2200 is arranged on the support seat 2100. One of the base 1000 and the support seat 2100 may be provided with a second clamping assembly 4000, and the other is provided with at least one second clamping groove 2100a, and the second clamping assembly 4000 can be clamped with the second clamping groove 2100a. Through the clamping cooperation between the second clamping assembly 4000 and the second clamping groove 2100a, the sterile isolator 2000 and the base 1000 are quickly adapted and disassembled. For example, the base 1000 is provided with a second clamping assembly 4000, and the support seat 2100 of the sterile isolator 2000 is provided with two second clamping grooves 2100a; or the sterile isolator 2000 is provided with a second clamping assembly 4000, and the base 1000 is provided with two second clamping grooves 2100a. At least a part of the second clamping assembly 4000 can be clamped into the second clamping groove 2100a. In one embodiment, a side wall of the base 1000 may be provided with a snap-in window 4100 a penetrating through the inner cavity thereof. The snap-in window 4100 a may be provided according to the shape and size of the second snap-in assembly 4000 for assembling the second snap-in assembly 4000 .

[0062] The second snap-fit ​​assembly 4000 can adopt a variety of structures. For example, the second snap-fit ​​assembly 4000 includes at least one second hook 4100 and at least one third reset member. The second hook 4100 is rotatably arranged on the base 1000, and the second slot 2100a is arranged on the support base 2100 and is provided with at least one. One end of the third reset member is connected to the second hook 4100 to keep the second hook 4100 inserted into the second slot 2100a. In the absence of external force, the third reset member elastically pushes against the second hook 4100 so that the second hook 4100 is inserted into the second slot 2100a, thereby maintaining the connection between the sterile isolator 2000 and the base 1000; when the sterile isolator 2000 needs to be removed, a force is applied to the second hook 4100, such as pressing the second hook 4100, so that the second hook 4100 overcomes the force of the third reset member and withdraws the second hook 4100 from the second slot 2100a, so that the sterile isolator 2000 can be removed from the base 1000, and the disassembly and assembly operation is convenient and quick.

[0063] In one embodiment, the second hook 4100 can be configured in various shapes such as a columnar structure, a sheet structure, a block structure, etc. Figure 4 and Figure 7As shown, if the lower end of the second hook 4100 is set as the head end and the upper end is set as the tail end, the tail end of the second hook 4100 can be rotatably assembled into the clamping window 4100a, for example, the fixed axis rotation assembly is implemented by using a rotating shaft or other components. The head end of the second hook 4100 can be elastically connected to the base 1000 through the third reset member, and the third reset member is elastically squeezed between the second hook 4100 and the base 1000, and this squeezing can make the third reset member apply elastic force to the second hook 4100. The head end of the second hook 4100 can be driven to move outside the clamping window 4100a by using this elastic force, so that the head end of the second hook 4100 maintains the tendency of elastic movement toward the outside of the clamping window 4100a and is clamped into the second clamping groove 2100a, and the sterile isolator 2000 is clamped with the base 1000. Since the head end of the second hook 4100 has a tendency to elastically move toward the outside of the engaging window 4100a, it is possible to ensure that the second engaging slot 2100a and the second hook 4100 form a secure engaging state. The third restoring member may be a spring.

[0064] Continue reading Figure 4 and Figure 7 As shown, in one embodiment, the tail end of the second hook 4100 may be provided with a first limiting portion 4200, and the function of the first limiting portion 4200 is to make limiting contact with the base 1000. Because the second hook 4100 is rotatably assembled on the base 1000 and is located in the clamping window 4100a, the third reset member can drive the head end of the second hook 4100 to move outside the clamping window 4100a. If the head end of the second hook 4100 exceeds the outside of the clamping window 4100a by too much, the aseptic isolator 2000 and the base 1000 will be blocked when they contact and clamp each other. Therefore, after the first limiting portion 4200 forms a certain limiting contact with the base 1000, the head end of the second hook 4100 can be restricted from excessively moving toward the outside of the locking window 4100a to a certain extent, and the rotation range of the second hook 4100 can be limited to meet the requirements of a secure and stable locking with the sterile isolator 2000 without hindering the contact between the sterile isolator 2000 and the base 1000. Those skilled in the art can set it according to actual needs and it is not limited here.

[0065] In addition, the tail end of the second hook 4100 may also have an arc-shaped avoidance surface 4100b. The head end of the second hook 4100 may be provided with a third clamping portion 4100c, and the third clamping portion 4100c is used to engage with the second slot 2100a. The second slot 2100a and the third clamping portion 4100c may adopt grooves, protrusions and other suitable adaptation structures according to the matching requirements, and this is not limited. For example, the head end of the second hook 4100 may be provided with an avoidance groove 4100d, and the third clamping portion 4100c may form a third clamping portion 4100c with a convex structure in the adjacent area of ​​the avoidance groove 4100d based on the opened avoidance groove 4100d.

[0066] Continue reading Figure 5 and Figure 6 As shown, the sterile isolator 2000 may include a flexible sleeve 2200 and a support base 2100, the flexible sleeve 2200 is provided with an adapting groove 2200b matching the first card groove 3100a, the support base 2100 is annularly arranged on the outer periphery of the flexible sleeve 2200, the second card groove 2100a is arranged on the support base 2100, and the first clamping assembly 5000 can be clamped into the adapting groove 2200b and clamped into the first card groove 3100a through the flexible sleeve 2200. The opening of the flexible sleeve 2200 faces the side away from the base 1000. The adapter groove 2200b can enable the first snap-in component 5000 (specifically the first hook portion of the first hook 5100) to be better snapped into the first slot 3100a through the flexible sleeve 2200, so as to have a better snap-in effect; at the same time, the setting of the adapter groove 2200b can also increase the contact area between the first snap-in component 5000 (specifically the first hook portion of the first hook 5100) and the flexible sleeve 2200, thereby improving the clamping effect.

[0067] In addition, the adapting groove 2200b can also make the first clamping assembly 5000 (specifically the first hook portion of the first hook 5100) and the first clamping groove 3100a form a better fit, thereby ensuring the reliability of the clamping fit between the two.

[0068] The flexible sleeve 2200 has an assembly cavity, and the assembly cavity has an opening toward the tube seat 3001, so that at least a portion of the tube seat 3001 can be assembled into the assembly cavity. A portion of the bottom wall of the assembly cavity is convex toward one side of the tube seat 3001 and forms a fault-tolerant portion 2200a. The assembly cavity of the flexible sleeve 2200 is a cavity with an opening, and the opening is toward the tube seat 3001. When the base 1000 and the sleeve 3000 are snap-fitted, a portion of the tube seat 3001 is inserted into the assembly cavity through the opening, which plays a guiding and limiting role, and facilitates the snap-fit ​​positioning of the tube seat 3001 and the base 1000. The fault-tolerant portion 2200a can improve the mismatch problem caused by processing by being more easily deformed.

[0069] The bottom wall of the flexible sleeve 22002200 is provided with a fault-tolerant portion 2200a protruding toward the side away from the base 1000. The function of the fault-tolerant portion 2200a is that when the tube seat 3001 is inserted into the flexible sleeve 2200, if one of the tube seat 3001 or the flexible sleeve 2200 is mismatched due to factors such as manufacturing errors, although the flexible sleeve 2200 itself can be deformed to tolerate the mismatch caused by such errors, the setting of the fault-tolerant portion 2200a can further enable the bottom of the flexible sleeve 2200 to have a larger deformation space, thereby adapting to such design defects and improving the matching degree of the assembly. At the same time, if the flexible sleeve 2200 is directly deformed by itself, it will cause the flexible sleeve 2200 to crack after long-term use, resulting in a decrease in sealing performance and a shortened service life. Therefore, the function of the fault-tolerant portion 2200a can also ensure aseptic sealing performance.

[0070] In one embodiment, the support seat 2100 can be used to be detachably connected to the base 1000, and the flexible sleeve 2200 can be set in the inner cavity of the support seat 2100. The rigidity of the support seat 2100 is greater than that of the flexible sleeve 2200, so that the support seat 2100 is relatively hard and has a supporting function, while the flexible sleeve 2200 is relatively soft, has good deformation ability, and has good sealing performance. At the same time, it also increases the friction between the base 1000 and the sleeve 3000, making the connection tighter. Therefore, the support seat 2100 can be made of hard plastic or other materials to support the main structure, and the flexible sleeve 2200 needs to be sterile, and can be made of elastically deformable materials, such as silicone and other materials. On the one hand, this can be used as sterile isolation, and on the other hand, it can be elastically deformed during the clamping process to ensure the clamping strength.

[0071] Continue reading Figure 1 and Figure 2 As shown, the base 1000 may include a first base segment 1100 and a second base segment 1200 that are connected. The first base segment 1100 is extended along the first baseline and is used to connect to the robot arm. The second base segment 1200 is extended along the second baseline and is engaged with the support base 2100 of the sterile isolator 2000. The second baseline forms an obtuse angle with the first baseline. The tube body 3002 is extended along the third baseline, and the third baseline is perpendicular to the second baseline. The first base segment 1100 is used to connect to the robot arm. The first base segment 1100 and the second base segment 1200 can be spliced ​​together or integrally formed to form the base 1000. The shape and size of the first base segment 1100 and the second base segment 1200 can be set according to requirements and are not limited thereto. Figure 1As shown, the first base segment 1100 and the second base segment 1200 can be connected to each other at an angle, so that a first assembly angle 1000a can be formed at the connection position between the two, and the angle of the first assembly angle 1000a can be limited to be greater than 90°, that is, the obtuse angle between the second baseline and the first baseline. For example, the angle of the first assembly angle 1000a is between 90° and 160°, for example, the first assembly angle 1000a can be 135°.

[0072] Continue reading Figure 1 As shown, when the sleeve 3000 is assembled and connected with the base 1000 through the sterile isolator 2000, it can rely on the connecting element 3100 arranged on the side of the tube base 3001 in an inclined state relative to the tube body 3002. The connecting element 3100 can be used to be detachably assembled with at least one of the base 1000 and the sterile isolator 2000, for example, the connecting element 3100 is connected to the base 1000 or the sterile isolator 2000 separately, or can also be connected to the base 1000 and the sterile isolator 2000 at the same time.

[0073] From the above, we can see that Figure 1 As shown, by the inclined arrangement of the connecting element 3100 on the side of the tube seat 3001, after the tube body 3002 and the second base section 1200 of the base 1000 are assembled, the tube body 3002 forms a second assembly angle 3000a relative to the second base section 1200 of the base 1000. Figure 1 It can be seen that the first assembly angle 1000a and the second assembly angle 3000a are in opposite directions, and in the connection direction from the first base section 1100 and the second base section 1200 of the base 1000 to the sterile isolator 2000 and the sleeve 3000, that is, roughly in the direction from top to bottom as shown in the figure, the base 1000 and the sleeve 3000 are roughly in the same direction, and after being assembled on the mechanical arm of the surgical robot, they can extend from the mechanical arm to the patient. Among them, the angle of the second assembly angle 3000a is equal to 90°, so that the third baseline is perpendicular to the second baseline.

[0074] according to Figure 1 and Figure 2 As shown, after the base 1000, the sterile isolator 2000 and the sleeve 3000 are assembled, a large escape space can be formed between the sleeve 3000 and the second base section 1200 by setting the first assembly angle 1000a and the second assembly angle 3000a. Figure 1As shown, the lying reference line 100 indicates the approximate direction of the patient when lying, thereby showing the approximate relative position of the sleeve 3000 and the patient's lying direction. At this time, the tube body 3002 is usually punctured toward the patient above the patient in a slightly downwardly inclined manner. Therefore, when a larger avoidance space is formed between the sleeve 3000 and the second base section 1200, the patient can be avoided.

[0075] See also Figure 1 As shown, the length of the first base section 1100 can be greater than the length of the second base section 1200. For example, the second base section 1200 can be constructed shorter than the first base section 1100. Therefore, after the position of the sleeve 3000 relative to the patient is fixed, based on the shorter second base section 1200, the first base section 1100 can be farther away from the patient, thereby constructing a larger avoidance space through a longer distance. At the same time, the first assembly angle 1000a can make the patient roughly parallel to the first base section 1100, which depends on the downward inclination angle of the tube body 3002 relative to the patient and the first assembly angle. Therefore, the first assembly angle can be appropriately adjusted according to the surgical requirements. When the patient and the first base section 1100 can be roughly parallel, the installation and removal of the base 1000 relative to the robot arm will not form a large visual blind spot, and the larger avoidance space can increase the visual range and improve the operating efficiency. In addition, the rotation space of the sleeve 3000 is also larger at this time, which can achieve more complex surgical operations.

[0076] See also Figure 3 and Figure 4 As shown, the socket 3001 of the sleeve 3000 may be provided with an identification element 3200, and the base 1000 is provided with an identification element 1300, and the identification element 1300 can read the identification element 3200. The identification element 3200 carries the identity information of the sleeve 3000, and the identification element 1300 is used to obtain the identity information carried by the identification element 3200. For example, the identification element 1300 uses a detection circuit board, etc., and the identification element 3200 uses a Hall element, etc. After the first clamping assembly 5000 is clamped and matched with the connecting element 3100, the identification element 3200 can cooperate with the identification element 3200 to detect the identity information of the current sleeve 3000, that is, to determine whether the current sleeve 3000 is the required sleeve 3000, so as to prevent mismatching.

[0077] The present application also provides a surgical robot, comprising a robotic arm and an adapter device as described in any of the above embodiments, wherein a base 1000 is arranged on the robotic arm. With such an arrangement, the assembly and disassembly of the base 1000 and the sleeve 3000 is very convenient, and the base 1000 and the sleeve 3000 can be sterilely isolated through the sterile isolator 2000, and the surgical instrument is inserted into the tube body 3002, and the robotic arm drives the movement of the adapter device to guide the surgical instrument to the surgical area.

[0078] Optionally, the robotic arm is connected to the base 1000, and the connection method between the two is not limited to various methods such as snap-fit, threaded connection, and magnetic connection. Those skilled in the art can set it according to actual needs.

[0079] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An adaptor, characterized in that: It includes a sleeve, a sterile isolator and a base. The sleeve includes a tube body and a tube seat. The tube body is arranged on the tube seat. The tube body has a tube cavity for surgical instruments to pass through. The sterile isolator includes a flexible sleeve. The flexible sleeve is arranged between the base and the tube seat. The tube seat is clamped with the base via the flexible sleeve to sterilely isolate the sleeve from the base.

2. The adapter device according to claim 1, characterized in that: One of the base and the tube seat is provided with a first clamping assembly, and the other is provided with at least one first clamping groove, and the first clamping assembly can be clamped with the first clamping groove via the flexible sleeve.

3. The adapter device according to claim 2, characterized in that: The first clamping assembly includes a first clamping hook and an unlocking element. There is at least one first clamping hook, and it corresponds to the first clamping slot one by one. The first clamping hook is rotatably arranged on the base, the first clamping slot is arranged on the tube seat, and the unlocking element is movably arranged on the base. The unlocking element can drive the first clamping hook to rotate relative to the base so that one end of the first clamping hook can be clamped into or out of the first clamping slot through the flexible sleeve.

4. The adapter device according to claim 3, characterized in that: The first clamping assembly also includes a fixing frame, a telescopic element and a first reset member, the fixing frame is fixed to the base, the first hook is rotatably arranged on the fixing frame, the telescopic element is slidably matched with the fixing frame, the telescopic element is in contact with the first hook, the unlocking element can push the telescopic element so that the telescopic element can press the first hook and the first hook can rotate relative to the fixing frame to exit the first clamping slot; the opposite ends of the first reset member are respectively connected to the fixing frame and the telescopic element so that the telescopic element can be reset after being pushed by the unlocking element.

5. The adapter device according to claim 4, characterized in that: The first hook is provided with a roller and a first hook portion, the roller is rotatably provided at one end of the first hook, the first hook portion is provided at the other end of the first hook, the telescopic element is provided with a wedge-shaped portion, the wedge-shaped portion can press the roller to rotate the first hook and cause the first hook portion to be engaged with the first slot; and / or The first clamping assembly further includes a second reset member, the opposite ends of which are respectively connected to the first hook and the fixing frame, and the second reset member is used to push the first hook to reset so that the first hook can be withdrawn from the first clamping slot; and / or At least two of the first hooks and the first slots are provided in one-to-one correspondence, and at least one of the first slots is provided on opposite sides of the tube seat.

6. The adapter device according to any one of claims 2 to 5, characterized in that: The sterile isolator also includes a support base, the flexible sleeve is arranged on the support base, one of the base and the support base is provided with a second clamping assembly, and the other is provided with at least one second clamping groove, and the second clamping assembly can be clamped with the second clamping groove.

7. The adapter device according to claim 6, characterized in that: The second clamping assembly includes at least one second clamping hook and at least one third resetting member. The second clamping hook is rotatably arranged on the base. The second clamping groove is arranged on the support seat and has at least one. One end of the third resetting member is connected to the second clamping hook to keep the second clamping hook inserted into the second clamping groove.

8. The adapter device according to claim 6, characterized in that: The flexible sleeve is provided with an adapting groove matching the first card slot, and the supporting seat is annularly provided on the outer periphery of the flexible sleeve; the first clamping assembly can be inserted into the adapting groove and inserted into the first card slot through the flexible sleeve; The flexible sleeve has an assembly cavity, which has an opening toward the tube seat so that at least a portion of the tube seat can be assembled into the assembly cavity; a portion of the bottom wall of the assembly cavity protrudes toward one side of the tube seat and forms a fault-tolerant portion.

9. The adapter device according to claim 6, characterized in that: The base comprises a first base section and a second base section connected to each other, the first base section is extended along a first baseline and is used to connect to the robot arm, the second base section is extended along a second baseline and is clamped with the support seat, the second baseline forms an obtuse angle with the first baseline, the tube body is extended along a third baseline, and the third baseline is perpendicular to the second baseline; and / or The tube holder is provided with an identity identification element, and the base is provided with an identification element, and the identification element can read the identity identification element.

10. A surgical robot, characterized in that: It comprises a mechanical arm and an adapting device as described in any one of claims 1 to 9, wherein the base is arranged on the mechanical arm.

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