Surgical robot and sterile barrier system thereof

Abstract

The utility model discloses a surgical robot and a sterile barrier system thereof.The sterile barrier system is used for being arranged between a surgical instrument and an instrument driving mechanism and comprises a sterile assembly and an adapter, the sterile assembly comprises a fixing ring and sterile covering cloth arranged on the fixing ring, and the sterile covering cloth is used for covering the instrument driving mechanism; the adapter is rotatably mounted in the fixing ring and comprises an adaptive disc and two transition butt joint discs, and the adaptive disc is provided with through holes for rotatably mounting the transition butt joint discs; the adaptive disc can be in butt joint with the instrument driving mechanism and the surgical instrument, so that conveying rotation driving force of the instrument driving mechanism can be transmitted to the instrument conveying unit of the surgical instrument; the transition butt-joint disc is configured to be capable of transmitting the execution rotation driving force of the driving transmission disc of the instrument driving mechanism to the driven transmission disc of the surgical instrument. Through the arrangement of the sterile barrier system, the problem of possible cross infection when the surgical robot is used can be effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a surgical robot and a sterile barrier system thereof. Background Art

[0002] With the development of surgical robot technology, more and more surgical procedures can be performed by surgical robots. For example, soft endoscopic surgical robots can replace doctors to operate digestive endoscopes, intervene in the corresponding positions of the human body through natural cavities, and perform biopsy, polyp removal, hemostasis, submucosal injection and other related operations.

[0003] As a surgical medical device, the surgical robot needs to follow strict disinfection and sterilization operations. The surgical robot includes an instrument drive mechanism and a surgical instrument. The instrument drive mechanism is used to provide driving force to the surgical instrument to achieve different operational controls of the surgical instrument. The instrument drive mechanism and the surgical instrument are separable. Surgical instruments (such as biopsy forceps, snares, injection needles, hemostatic clips or nylon ropes, etc.) are surgical consumables that will come into contact with patients. They are generally provided as disposable sterile consumables, but cross infection may occur when the surgical instrument is connected to the instrument drive mechanism. The structure of the instrument drive mechanism is complex and costly, and it is not possible to sterilize it repeatedly.

[0004] Therefore, how to solve the possible cross-infection problem of surgical robots is a technical problem that needs to be solved urgently by technical personnel in this field. Utility Model Content

[0005] The purpose of the utility model is to provide a surgical robot and a sterile barrier system thereof. The structural setting of the sterile barrier system can achieve the sterile operating environment required for the operation on the basis of avoiding sterilization or disinfection operations on the surgical robot, which is conducive to solving the cross-infection problem that may exist when using the surgical robot.

[0006] In order to solve the above technical problems, the utility model provides a sterile barrier system for being arranged between a surgical instrument and an instrument driving mechanism of a surgical robot, comprising:

[0007] A sterile assembly, comprising a fixing ring and a sterile cover cloth mounted on the fixing ring, wherein the sterile cover cloth is used to cover the instrument drive mechanism;

[0008] An adapter is rotatably mounted in the fixing ring; the adapter comprises an adapter plate and two transition docking plates, the adapter plate having a through hole for rotatably mounting the transition docking plates; the adapter plate is provided with a first docking portion for docking with the instrument drive mechanism and a second docking portion for docking with the surgical instrument, so as to be able to transmit the conveying rotational driving force of the instrument drive mechanism to the instrument conveying unit of the surgical instrument; the transition docking plate is configured to be able to transmit the execution rotational driving force of the active transmission plate of the instrument drive mechanism to the passive transmission plate of the surgical instrument.

[0009] In the sterile barrier system as described above, a snap-fitting member capable of sliding between a docking position and an unlocking position is mounted on the adapter disk, an elastic member is provided between the snap-fitting member and the adapter disk, the snap-fitting member has a snap-fitting structure, at the docking position, the snap-fitting structure can be snap-fitted with a driving base disk of the instrument driving mechanism, and at the unlocking position, the elastic member accumulates an elastic force that pushes the snap-fitting member toward the docking position; wherein, the driving base disk is used to output the conveying rotational driving force; and the first docking portion includes the snap-fitting structure.

[0010] In the sterile barrier system as described above, the adapter disk and the snap-on component are slidably connected via a sliding fit pair, and the sliding fit pair includes the slide groove and the slider, one of which is provided on the adapter disk, and the other is provided on the snap-on component; the sliding fit pair has a limiting structure to limit the extreme sliding position of the snap-on component relative to the adapter disk.

[0011] In the sterile barrier system as described above, two sets of the sliding fit pairs are provided between the adapter disk and the snap-fit ​​component, and the elastic component is located between the two sets of the sliding fit pairs.

[0012] As described above in the sterile barrier system, the snap-fitting structure is a through slot structure with its opening facing away from the center direction of the adapter disk, the adapter disk has a notch matched with the through slot structure, the through slot structure is used for axially limiting snap-fitting with the driving base disk, and the two opposite notch walls forming the notch are used to limit the circumferential position of the adapter disk and the driving base disk; the first docking portion includes the notch wall.

[0013] As described above, in the sterile barrier system, the second docking portion is formed on the fastener, and the second docking portion includes a hook and a circumferential limit block, the hook is used to axially engage with the instrument delivery unit, and the circumferential limit block is used to limit the circumferential position of the adapter disk and the instrument delivery unit.

[0014] In the sterile barrier system as described above, the adapter disk includes a disk base and a disk cover, the disk base is rotatably connected to the fixing ring and is axially limitedly connected to the fixing ring, the disk cover is circumferentially limitedly connected to the disk base, and the disk cover is axially limited between the snap member and the disk base.

[0015] In the aseptic barrier system as described above, the inner ring of the fixing ring has an annular groove opening inwards, and the disc base has an outer convex edge extending into the annular groove.

[0016] As described above, the sterile barrier system, the through hole has an upper axial limit surface and a lower axial limit surface, the transition docking disk is provided with an outer convex ring portion, the transition docking disk can slide axially relative to the through hole, and is axially limited between the upper axial limit surface and the lower axial limit surface by the outer convex ring portion; one of the outer convex ring portion and the hole wall of the through hole is provided with a recess, and the other is provided with a convex portion, and is configured as follows: the transition docking disk is in an upper limit position where the outer convex ring portion abuts against the upper axial limit surface, the recess and the convex portion can cooperate to limit the circumferential position of the transition docking disk, and when the transition docking disk moves axially downward from the upper limit position, the recess and the convex portion can separate to allow the transition docking disk to rotate relative to the adapter disk.

[0017] As described above, the aseptic barrier system, the adapter disc comprises a disc base and a disc cover plate connected in a circumferential limiting manner, the through hole comprises a first hole portion located at the disc base and a second hole portion located at the disc cover plate; the first hole portion is a stepped hole with a step surface facing the disc cover plate;

[0018] The transition docking plate comprises a first small-diameter portion located below the outer convex ring portion and a second small-diameter portion located above the outer convex ring portion; the first small-diameter portion is adapted to the small-diameter hole section of the stepped hole, the outer convex ring portion is adapted to the large-diameter hole section of the stepped hole, and the second small-diameter portion is adapted to the second hole portion;

[0019] The upper axial limiting surface is formed on the lower surface of the disk cover plate, and the lower axial limiting surface is the step surface.

[0020] In the sterile barrier system as described above, an identification button that can slide in the axial direction is installed on the adapter disk, and the identification button can move downward to trigger the position sensor when the surgical instrument is docked with the adapter.

[0021] In the sterile barrier system as described above, a guide structure is installed on the adapter disk, and the guide structure includes an arc-shaped guide block, the center of the arc-shaped guide block coincides with the center of the adapter disk, and the arc-shaped guide block has a guide slope for guiding the docking of the surgical instrument.

[0022] In the sterile barrier system as described above, the fixing ring comprises an upper fixing ring and a lower fixing ring which are detachably connected, and the sterile cover cloth is clamped and fixed between the upper fixing ring and the lower fixing ring.

[0023] In the sterile barrier system as described above, the fixing ring is provided with a first limiting portion, and the first limiting portion is used for being connected to the outer shell of the surgical instrument in a circumferential limiting direction.

[0024] The utility model also provides a surgical robot, comprising a surgical instrument, an instrument drive mechanism and the aforementioned sterile barrier system, wherein the sterile barrier system is docked with the instrument drive mechanism and also docked with the surgical instrument to transmit the rotational driving force of the instrument drive mechanism to the surgical instrument.

[0025] The utility model aims at the problem that the existing surgical robot is difficult to achieve a sterile operating environment, and designs a sterile barrier system, which is configured between the surgical instrument and the instrument drive mechanism of the surgical robot to meet the needs of sterile operation. Specifically, the sterile barrier system includes a sterile component and an adapter, the adapter is located inside the sterile component and can rotate relative to the sterile component, the sterile component is provided with a fixed ring for installing a sterile cover cloth, the sterile cover cloth is used to cover the instrument drive mechanism, the adapter is used to realize the power transmission between the instrument drive mechanism and the surgical instrument, and the adapter is specifically provided with an adapter disk that can transmit and deliver the rotational driving force, and a transition docking disk that can transmit and execute the rotational driving force. The structural design of the sterile barrier system can avoid the repeated operation of disinfecting or sterilizing the instrument drive mechanism, form a sterile environment between the surgical instrument and the instrument drive mechanism, and combine the provision of disposable sterile consumables on the surgical instrument side to ensure the sterile environment when the surgical robot performs surgery, which can effectively solve the cross-infection problem caused by the inability to repeatedly disinfect the instrument drive mechanism when the surgical robot is used, and at the same time will not affect the instrument drive mechanism to provide driving force for the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a surgical robot in one embodiment provided in the present application;

[0027] Figure 2 An exploded view of a surgical robot in a specific implementation manner;

[0028] Figure 3 A schematic diagram of the structure of a sterile barrier system of a surgical robot provided in an embodiment of the present application;

[0029] Figure 4 for Figure 3 The schematic diagram of the structure of the sterile barrier system after the sterile cover cloth is hidden;

[0030] Figure 5 for Figure 4 An exploded view of the sterile barrier system shown;

[0031] Figure 6 for Figure 5 A schematic diagram of the structure of the disk base shown in;

[0032] Figure 7 for Figure 5 A schematic diagram of the structure of the buckle shown in ;

[0033] Figure 8 for Figure 7 A side view of the snap fastener shown in ;

[0034] Fig. 9 It is a cross-sectional schematic diagram of the sterile barrier system before docking with the driving base plate in a specific implementation manner;

[0035] Fig.10 It is a cross-sectional schematic diagram of the sterile barrier system and the driving base after docking in a specific implementation manner;

[0036] Fig.11 It is a cross-sectional schematic diagram of the sterile barrier system of the transition docking tray in the first state in a specific implementation manner;

[0037] Fig.12 It is a cross-sectional schematic diagram of the sterile barrier system of the transition docking tray in the second state in a specific implementation manner;

[0038] Fig.13 It is a structural schematic diagram of the sterile barrier system in a specific implementation manner when the transition docking tray is in a first state;

[0039] Fig.14 It is a structural schematic diagram of the sterile barrier system in a specific implementation manner when the transition docking tray is in the second state;

[0040] Fig.15 It is a cross-sectional schematic diagram of the sterile barrier system in a specific implementation manner, in which the identification button is in a first state;

[0041] Fig.16 A schematic diagram of a cross section of a sterile barrier system in a specific embodiment in which the identification button is in a second state;

[0042] Fig.17 It is a schematic diagram of the local structure after the surgical instrument is docked with the sterile barrier system in a specific implementation manner.

[0043] Description of reference numerals:

[0044] Surgical instrument 10, second limiting portion 11, arc-shaped guide portion 12, instrument driving mechanism 20, driving base plate 21, and clamping member 211;

[0045] Sterile barrier system 30, sterile component 301, adapter 302;

[0046] Fixed ring 31, upper fixed ring 311, lower fixed ring 312, annular groove 313, first limiting portion 314, avoidance groove 315; sterile cover cloth 32;

[0047] Adapter plate 33, plate base 331, slide groove 3311, first limiting surface 33111, second limiting surface 33112, first notch 3312, first mounting seat 3313, outer convex edge 3314, first identification hole 3315, plate cover 332, second notch 3322, arc-shaped guide block 3323, guide slope 33231, second identification hole 3325, through hole 333, first hole portion 3331, convex portion 33312, second hole portion 3332, upper axial limiting surface 3333, lower axial limiting surface 3334;

[0048] The transition docking plate 34 has a first small diameter portion 341, a second small diameter portion 342, an outer convex ring portion 343, and a concave portion 3431;

[0049] The fastener 35, the slider 351, the clamping structure 352, the second mounting seat 353, the hook 354, the clamping plate 355, and the circumferential limit block 356;

[0050] Elastic member 36 , identification button 37 . DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0052] This embodiment provides a surgical robot and a sterile barrier system thereof to establish a sterile barrier between the instrument drive side and the surgical instrument side of the surgical robot to meet the disinfection and sterilization operation requirements of clinical surgery. The surgical robot can be a soft endoscopic robot, a laparoscopic robot, a vascular intervention robot, etc. The surgical instruments of the surgical robot are generally slender and flexible instruments.

[0053] Without loss of generality, the following describes the surgical robot and its sterile barrier system using the structure shown in the attached figure. Figures 1 to 3 , Figure 1 A schematic diagram of the structure of a surgical robot in one embodiment provided in the present application; Figure 2 is an exploded view of a surgical robot in a specific implementation manner, Figure 2 The sterile drape of the sterile barrier system is omitted; Figure 3 A schematic structural diagram of a sterile barrier system of a surgical robot in one embodiment provided in the present application.

[0054] The surgical robot includes a surgical instrument 10 and an instrument drive mechanism 20, which are relatively independent modules that can be connected for use as a whole, or separated to replace the surgical instrument 10 according to different surgeries. That is, one instrument drive mechanism 20 can be adapted to a variety of different surgical instruments 10 to meet different surgical needs and save equipment costs.

[0055] The surgical instrument 10 includes an elongated flexible instrument, which is equipped with an actuator unit for diagnosis and treatment or auxiliary diagnosis and treatment. The actuator unit can be selected according to the application scenario, such as but not limited to flexible instruments such as clamps, electrocoagulation and electrocutting, baskets, injections, guides, sensors, etc. Among them, the clamp-type flexible instrument includes a tissue clamp with a clamping freedom and a hemostat with a clamping rotation freedom; the electrocoagulation and electrocutting flexible instrument includes a clamping freedom for tissue electrocuting and electrocoagulation and a push-pull freedom containing a snare instrument; the basket-type flexible instrument includes a push freedom for pushing out and retracting the basket; the injection-type flexible instrument includes a push freedom for pushing out and retracting the needle; the guide is used for coaxial instrument guidance and has no freedom; the sensor-type flexible instrument can include an image sensor instrument, a position sensor instrument, or a shape sensor instrument, etc.

[0056] The composition of the actuator unit can be simply summarized as a flexible body and an actuator disposed at the end of the flexible body. In an actual surgical scenario, the operation of the surgical instrument 10 includes the overall delivery and recovery of the actuator unit, opening and closing, rotation and pushing by the actuator, etc. These actions can be achieved by the driving force provided by the aforementioned instrument drive mechanism 20. In short, after the surgical instrument 10 is docked with the instrument drive mechanism 20, the instrument drive mechanism 20 provides the surgical instrument 10 with the driving force for various operations of its actuator unit.

[0057] In actual applications, the surgical consumables on the surgical instrument 10 side are generally provided as disposable sterile consumables, but the structure on the instrument drive mechanism 20 side is complex and does not have the possibility of repeated disinfection or sterilization operations. To solve this problem, the embodiment of the present application provides a sterile barrier system that can be configured between the surgical instrument 10 and the instrument drive mechanism 20 to meet the requirements of aseptic operation of the surgical robot.

[0058] In this embodiment, the sterile barrier system 30 includes a sterile component 301 and an adapter 302 .

[0059] The sterile assembly 301 includes a fixed ring 31 and a sterile cover 32. The sterile cover 32 is mounted on the fixed ring 31 and is used to cover the instrument drive mechanism 20. Generally speaking, in order to achieve a sterile operating environment on the side of the instrument drive mechanism 20, the sterile cover 32 needs to be able to completely cover the outer surface of the instrument drive mechanism 20; specifically, the sterile cover 32 is arranged on the outer ring of the fixed ring 31, and can cooperate with the fixed ring 31 to form a structure covering the instrument drive mechanism 20. Exemplarily, the sterile cover 32 can be a plastic film, which is formed into a structure matching the appearance of the instrument drive mechanism 20 by blister molding.

[0060] The adapter 302 can rotate relative to the fixed ring 31. The adapter 302 is used to realize power transmission between the instrument drive mechanism 20 and the surgical instrument 10. The adapter 302 is rotatably installed in the fixed ring 31, that is, the adapter 302 is located in the inner ring of the fixed ring 31, as an intermediate structure, transmitting power between the instrument drive mechanism 20 and the surgical instrument 10.

[0061] When the sterile barrier system 30 is configured between the instrument drive mechanism 20 and the surgical instrument 10, the adapter 302 can form a transmission connection with the power output on the instrument drive mechanism 20 side, and form a transmission connection with the power input on the surgical instrument 10 side. The sterile cover cloth 32 can be spread out to cover or cover the instrument drive mechanism 20. During operation, the fixing ring 31 and the sterile cover cloth 32 are fixed components and will not move.

[0062] The power output structure of the instrument driving mechanism 20 includes a driving base plate 21 and two active transmission plates (not marked in the figure). The driving base plate 21 is provided with a through hole for installing the active transmission plates, and the active transmission plates can rotate relative to the driving base plate 21. The driving base plate 21 is used to transmit the transmission rotation driving force to the instrument delivery unit of the surgical instrument 10 to realize the delivery and recovery of the actuator unit as a whole; one of the active transmission plates is used to transmit the execution rotation driving force to a driven transmission plate of the surgical instrument 10 to realize the pulling of the flexible body of the actuator unit; and the other active transmission plate is used to transmit the execution rotation driving force to another driven transmission plate of the surgical instrument 10 to realize the twisting or opening and closing of the actuator of the actuator unit.

[0063] The instrument drive mechanism 20 also includes a drive source component for providing a driving force and a transmission component for transmitting the driving force of the drive source to a power output component, and the surgical instrument 10 also includes a transmission component to achieve power transmission between the driven transmission disk and the actuator unit. These components are not the core of this application and will not be described in detail here.

[0064] Please refer to Figure 4 and Figure 5 , Figure 4It is a structural schematic diagram of a sterile barrier system in a specific implementation manner, Figure 4 The structure of the sterile cover cloth is omitted; Figure 5 for Figure 4 Exploded view of the sterile barrier system shown, Figure 5 The middle fastener and the disk cover are in an assembled state.

[0065] In this embodiment, the adapter 302 of the sterile barrier system 30 includes an adapter plate 33 and two transition docking plates 34. The adapter plate 33 has two through holes 333 (marked at Fig.11 ), the two transition docking plates 34 are rotatably installed in the two through holes 333 respectively.

[0066] The adapter disk 33 is provided with a first docking portion for docking with the instrument drive mechanism 20 and a second docking portion for docking with the surgical instrument 10, so as to be able to transmit the conveying rotational driving force of the instrument drive mechanism 20 to the instrument conveying unit of the surgical instrument 10; specifically, the adapter disk 33 is docked with the driving base disk 21 of the instrument drive mechanism 20 through its first docking portion, and is docked with the movable part of the instrument conveying unit of the surgical instrument 10 through its second docking portion. When the driving base disk 21 of the instrument drive mechanism 20 outputs the conveying rotational driving force, it can drive the adapter disk 33 to rotate together, and then drive the movable part of the instrument conveying unit to rotate through the adapter disk 33, thereby realizing the sending or retracting of the actuator unit of the surgical instrument 10.

[0067] The transition docking plate 34 is configured to be able to transmit the execution rotation driving force of the active transmission disk of the instrument drive mechanism 20 to the passive transmission disk of the surgical instrument 10. Specifically, the transition docking plate 34 can be docked with the active transmission disk or the passive transmission disk. When the active transmission disk of the instrument drive mechanism 20 outputs the execution rotation driving force, it can drive the transition docking plate 34 to rotate together, and then drive the passive transmission disk to rotate through the transition docking plate 34, so as to realize the relevant operation of the actuator unit of the surgical instrument 10 through the transmission component connected to the passive transmission disk.

[0068] By adopting the above-mentioned sterile barrier system 30, the surgical robot can operate in a sterile environment, avoiding the disinfection or sterilization operation of the instrument drive mechanism 20. The disinfection or sterilization operation during surgery is easy to achieve, which can effectively solve the cross-infection problem that may exist when the surgical robot is used; at the same time, it will not affect the power transmission between the instrument drive mechanism 20 and the surgical instrument 10, ensuring the normal operation of the surgical instrument 10.

[0069] In this embodiment, the fixing ring 31 includes an upper fixing ring 311 and a lower fixing ring 312 which are separately arranged. The sterile cover cloth 32 is clamped and fixed between the upper fixing ring 311 and the lower fixing ring 312. The upper fixing ring 311 and the lower fixing ring 312 can be detachably connected by fasteners such as screws.

[0070] In other implementations, the fixing ring 31 may also adopt an integrated structure, and the sterile cover cloth 32 may be clamped and fixed between the fixing ring 31 and the instrument drive mechanism 20, or may be fixed on the upper surface of the fixing ring 31, as long as the sterile cover cloth 32 can be positioned so as to cover the instrument drive mechanism 20.

[0071] The sterile barrier system 30 can be fixed in position with the instrument drive mechanism 20 via a fixing ring 31 .

[0072] Please refer to Figures 6 to 10 , Figure 6 for Figure 5 A schematic diagram of the structure of the disk base shown in; Figure 7 for Figure 5 A schematic diagram of the structure of the buckle shown in ; Figure 8 for Figure 7 a side view of the fastener shown; Fig. 9 This is a cross-sectional schematic diagram of the sterile barrier system before docking with the drive base in a specific implementation manner. Fig.10 It is a cross-sectional schematic diagram of the sterile barrier system and the driving base after docking in a specific implementation manner, Fig. 9 and Fig.10 The cross-sectional position is Figure 4 The AA section position shown in Fig. 9 and Fig.10 The sterile cover cloth was omitted.

[0073] In this embodiment, the adapter 302 further includes a snap member 35, which is slidably mounted on the adapter disk 33, and the snap member 35 can slide between the docking position and the unlocking position relative to the adapter disk 33. An elastic member 36 is provided between the snap member 35 and the adapter disk 33, and is configured such that: in the docking position, the snap member 35 can be engaged with the drive base disk 21 of the instrument drive mechanism 20 through its engaging structure 352, and in the unlocking position, the elastic member 36 accumulates an elastic force that pushes the snap member 35 in the direction of the docking position. That is, under normal conditions, that is, when no external force is applied to the snap member 35, the snap member 35 is in a docking position that can be engaged with the drive base disk 21. It should be pointed out here that the aforementioned docking position and unlocking position are only used to indicate the positional states that the snap member 35 itself can be in, and do not mean that the snap member 35 will necessarily be engaged with the drive base disk 21 when it is in the docking position.

[0074] The first docking portion on the adapter plate 33 for docking with the instrument driving mechanism 20 includes a snap-fit ​​structure 352 of the snap member 35 .

[0075] The sliding direction of the snap member 35 relative to the adapter disk 33 may be perpendicular to the rotation axis of the adapter disk 33. In other words, the sliding direction of the snap member 35 relative to the adapter disk 33 is substantially parallel to the disk surface of the adapter disk 33. This arrangement is conducive to reducing the axial size of the sterile barrier system 30, thereby facilitating the compactness of the overall structure of the surgical robot.

[0076] In this embodiment, the sliding direction of the buckle 35 close to the center of the adapter plate 33 is the sliding direction to the unlocking position, and the sliding direction of the buckle 35 away from the center of the adapter plate 33 is the sliding direction to the engaging position. To simplify the description, here and below, the sliding direction close to the center of the adapter plate 33 is referred to as inward sliding, the sliding direction away from the center of the adapter plate 33 is referred to as outward sliding, the direction close to the center of the adapter plate 33 is referred to as inner, and the direction away from the center of the adapter plate 33 is referred to as outer.

[0077] The driving base 21 of the instrument driving mechanism 20 is provided with a snap-fitting piece 211 which is snap-fitted with the snap-fitting structure 352 of the snap-fitting piece 35. After the snap-fitting piece 211 is snap-fitted with the snap-fitting structure 352, the axial position of the driving base 21 and the snap-fitting piece 35 can be limited; after the snap-fitting piece 211 is snap-fitted with the snap-fitting structure 352, the circumferential position can also be limited by the limiting structure on the adapter disk 33, so that the adapter disk 33 cannot be axially separated from the driving base 21, and the circumferential positions of the two are fixed and can rotate together.

[0078] In a specific implementation, the clamping structure 352 of the clamping member 35 is a through-slot structure with its opening facing away from the center direction of the adapter disk 33, that is, the clamping structure 352 is a through-slot structure with its opening facing outward, and the adapter disk 33 is provided with a notch adapted to the clamping structure 352. After the clamping structure 352 is clamped with the clamping member 211 for circumferential limiting, two opposite notch walls of the notch are formed to limit the circumferential position of the clamping member 211, so as to realize the circumferential limiting of the drive base disk 21 and the adapter disk 33, so that the two can rotate together. The first docking portion on the aforementioned adapter disk 33 for docking with the instrument drive mechanism 20 also includes two opposite notch walls of the notch.

[0079] The clamping member 211 is specifically a hooking portion that can be hooked on the clamping structure 352 , and the hooking portion has a hook portion extending inwardly.

[0080] After the above arrangement, when the adapter plate 33 is docked with the driving base plate 21, the clamping structure 352 of the clamping member 35 contacts the clamping member 211 of the driving base plate 21. Fig. 9As shown, at this time, the adapter plate 33 is pressed downward. Under the action of the downward pressure, the buckle 35 slides inward and compresses the elastic member 36. After the adapter plate 33 moves down to abut against the driving base plate 21, the adapter plate 33 cannot move down further. The elastic force accumulated by the elastic member 36 pushes the buckle 35 outward to the position where the clamping structure 352 is clamped with the clamping member 211, thereby achieving the docking of the adapter plate 33 and the driving base plate 21. Fig.10 shown.

[0081] In a specific configuration, the clamping member 211 and / or the clamping structure 352 has a matching inclined surface to facilitate pushing the clamping member 35 inward when the adapter plate 33 and the driving base plate 21 are docked.

[0082] In other embodiments, the clamping structure 352 may not be a through-slot structure, but may have two opposite groove walls substantially along the circumference of the adapter disk 33. After the clamping member 211 of the drive base disk 21 is clamped with the clamping structure 352, the two opposite groove walls are used to form a circumferential limit for the clamping member 211, that is, the cooperation between the clamping structure 352 and the clamping member 211 limits both the axial position of the drive base disk 21 and the adapter 33 and the circumferential position of the two. In this case, the aforementioned first docking portion only includes the clamping structure 352.

[0083] In this embodiment, the adapter plate 33 and the fastener 35 are slidably connected via a sliding fit pair, which includes a slide groove 3311 provided on the adapter plate 33 and a slider 351 provided on the fastener 35. The sliding fit pair also has a limiting structure to limit the extreme sliding position of the fastener 35 relative to the adapter plate 33.

[0084] In a specific implementation, the limiting structure can be two opposite surfaces of the slide groove 3311 in the sliding direction of the clip 35, and the slide groove 3311 has a first limiting surface 33111 and a second limiting surface 33112 opposite to each other in the sliding direction, wherein the first limiting surface 33111 is away from the center of the adapter plate 33 relative to the second limiting surface 33112. When the clip 35 slides along the slide groove 3311 until its slider 351 abuts against the first limiting surface 33111, the clip 35 slides outward to the outer limit position, at which point the clip 35 cannot continue to slide outward; when the clip 35 slides along the slide groove 3311 until its slider 351 abuts against the second limiting surface 33112, the clip 35 slides inward to the inner limit position, at which point the clip 35 cannot continue to slide inward.

[0085] In other embodiments, the slide groove of the sliding fitting pair formed between the adapter plate 33 and the latch 35 can also be set on the latch 35, and the slider can also be set on the adapter plate 33; the limiting structure for limiting the sliding position of the latch 35 can also be a blocking protrusion or the like set on the sliding path, which is not limited to being formed on the slide groove, but can also be formed on the slider.

[0086] In order to ensure the stability and smoothness of the sliding of the snap member 35 relative to the adapter plate 33, two sets of sliding fitting pairs can be provided between the snap member 35 and the adapter plate 33. The elastic member 36 arranged between the snap member 35 and the adapter plate 33 is located between the two sets of sliding fitting pairs, so that the force on the snap member 35 is uniform and the sliding action is more reliable.

[0087] In this embodiment, the adapter disk 33 of the adapter 302 includes a disk base 331 and a disk cover 332 that are separately arranged, so as to facilitate limiting the axial position of the fastener 35 and the adapter disk 33, and also facilitate the setting of the adapter disk 33 and the transition docking disk 34, as well as the identification push rod 37 and other components mentioned later, and also facilitate the assembly of the adapter 302.

[0088] The disk base 331 is rotatably connected to the fixing ring 31 and is axially limitedly connected to the fixing ring 31, and the disk cover 332 is axially limitedly connected to the disk base 331 and circumferentially limited, so that the disk cover 332 and the disk base 331 can rotate together.

[0089] The disk base 331 has a first notch 3312 that passes through its outer edge, and the disk cover 332 has a second notch 3322 that corresponds to the position of the first notch 3312. The first notch 3312 and the second notch 3322 are connected, and a portion of the fastener 35 is located in the first notch 3312 and the second notch 3322. The notch wall portion used to limit the circumferential position of the fastener 211 may be two opposite walls of the first notch 3312 or the second notch 3322.

[0090] In a specific implementation, the aforementioned sliding groove 3311 is formed on the disk base 331 , and the aforementioned sliding block 351 is formed on the locking member 35 .

[0091] Two parallel slide grooves 3311 are provided on the disk base 331, and a first mounting seat 3313 for limiting the position of the elastic member 36 is provided between the two slide grooves 3311. The first mounting seat 3313 has a blind hole. A second mounting seat 353 corresponding to the position of the first mounting seat 3313 is provided on the buckle 35, and the second mounting seat 353 also has a blind hole. The two ends of the elastic member 36 are respectively inserted into the first mounting seat 3313 and the blind hole and the blind hole of the second mounting seat 353.

[0092] In other embodiments, convex columns may be respectively provided on the first mounting seat 3313 and the second mounting seat 353 , and the two ends of the elastic member 36 may be respectively covered on the two convex columns, which can also play the role of limiting the position of the elastic member 36 .

[0093] The first notch 3312 of the disk base 331 is located between the two slide grooves 3311 and outside the slide grooves 3311 ; the clamping structure 352 of the clamping member 35 is located outside the slider 351 .

[0094] In a specific implementation, the fastener 35 is provided with a clamping plate 355, which extends inwardly. After the fastener 35 is assembled with the disk base 331 and the disk cover 332, the two sliders 351 of the fastener 35 are respectively located in the two slide grooves 3311 of the disk base 331, and the clamping structure 352 of the fastener 35 is located at the first notch 3312 and the second notch 3322. The clamping plate 355 of the fastener 35 abuts against the surface of the disk cover 332. In this way, the fastener 35 is axially limited between the disk cover 332 and the disk base 331, or in other words, the disk cover 332 is axially limited between the disk base 331 and the fastener 35. Combined with the axial limitation of the disk base 331 and the fixing ring 31, the disk base 331, the disk cover 332 and the fastener 35 are axially locked to avoid separation from each other.

[0095] In this embodiment, the adapter disc 33 specifically docks with the instrument delivery unit of the surgical instrument 10, and the second docking portion on the adapter disc 33 for docking with the instrument delivery unit is formed on the buckle 35. The buckle 35 is provided with a hook 354 and a circumferential limit block 356, and the second clamping portion includes the hook 354 and the circumferential limit block 356; the hook 354 is used to axially clamp with the instrument delivery unit of the surgical instrument 10 to axially lock the instrument delivery unit and the adapter disc 33; the circumferential limit block 356 is used to limit the circumferential position of the adapter disc 33 and the instrument delivery unit. It can be understood that in order to achieve the circumferential limit of the instrument delivery unit and the adapter disc 33, two circumferential limit blocks 356 are provided on one buckle 35.

[0096] In the illustrated embodiment, two circumferential limit blocks 356 are specifically formed on the clamping plate 355 on the fastener 35 .

[0097] Specifically, the instrument transport unit has a docking structure that cooperates with the hook 354 . After the docking structure is engaged with the hook 354 , the docking structure is restricted between the two circumferential limit blocks 356 .

[0098] In a specific implementation, the inner ring of the fixing ring 31 has an annular groove 313 opening inward, and the disk base 331 has an outer convex edge 3314 extending into the annular groove 313 of the fixing ring 31 to achieve axial limitation between the fixing ring 31 and the disk base 331 .

[0099] On the basis that the fixing ring 31 is composed of an upper fixing ring 311 and a lower fixing ring 312 which are separately provided, the annular groove 313 may be partially formed in the upper fixing ring 311 and partially formed in the lower fixing ring 312 .

[0100] In other embodiments, the disk cover 332 of the adapter disk 33 may be rotatably connected and axially limited to the fixing ring 31, and other related structures may be adaptively modified as long as the disk cover 332 and the disk base 331 can rotate together and be axially limited.

[0101] In the illustrated scheme, two snap fasteners 35 are slidably provided on the adapter plate 33, and the structure matching the snap fasteners 35 is adaptively arranged. The two snap fasteners 35 are symmetrically arranged relative to the center of the adapter plate 33, so as to ensure the reliability and stability of the adapter plate 33 docking with the drive base plate 21 and the instrument conveying unit through the snap fasteners 35.

[0102] In other embodiments, the number of the latching members 35 and their matching structures may be three, four, etc., in addition to the two shown in the figure.

[0103] Please refer to Figures 11 to 14 , Fig.11 It is a cross-sectional schematic diagram of the sterile barrier system of the transition docking tray in the first state in a specific implementation manner; Fig.12 It is a cross-sectional schematic diagram of the sterile barrier system of the transition docking tray in the second state in a specific implementation manner; Fig.13 It is a structural schematic diagram of the sterile barrier system in a specific implementation manner when the transition docking tray is in a first state; Fig.14 This is a schematic diagram of the structure of the sterile barrier system in a specific embodiment when the transition docking plate is in the second state. Fig.11 and Fig.12 The cross-sectional position is Figure 4 The BB section position shown, Fig.11 and Fig.12 The sterile drape of the sterile barrier system is omitted; Fig.13 and Fig.14 The sterile cover cloth and the tray cover are omitted in the figure to clearly illustrate the matching structure of the transition docking tray and the tray base.

[0104] In this embodiment, the through hole 333 on the adapter disk 33 has an upper axial limit surface 3333 and a lower axial limit surface 3334, and the transition docking disk 34 is provided with an outer convex ring portion 343. The transition docking disk 34 can move axially relative to the through hole 333 and is axially limited between the upper axial limit surface 3333 and the lower axial limit surface 3334 by the outer convex ring portion 343, that is, the limit position of the axial upward movement of the transition docking disk 34 relative to the through hole 333 is the abutment of the outer convex ring portion 343 with the upper axial limit surface 3333. The limit position of the axial downward movement of the transition docking plate 34 relative to the through hole 333 is the position where the outer convex ring portion 343 abuts against the lower axial limiting surface 3334; one of the outer convex ring portion 343 and the hole wall of the through hole 333 is provided with a recessed portion 3431, and the other is provided with a convex portion 33312, and is configured as follows: the transition docking plate 34 is in the upper limit position where its outer convex ring portion 343 abuts against the upper axial limiting surface 3333, and the recessed portion 3431 and the convex portion 33312 can cooperate to limit the circumferential position of the transition docking plate 34, such as Fig.11 and Fig.13 As shown, in this position, the transition docking plate 34 cannot rotate relative to the adapter plate 33; when the transition docking plate 34 moves axially downward from the aforementioned upper limit position, the concave portion 3431 and the convex portion 33312 can be separated so that the transition docking plate 34 can rotate relative to the adapter plate 33, as shown in FIG. Fig.12 and Fig.14 shown.

[0105] The above-mentioned structural arrangement of the transition docking plate 34 and the adapter plate 33 facilitates the docking of the transition docking plate 34 with the active transmission plate of the instrument drive mechanism 20 when the adapter 302 is docked with the instrument drive mechanism 20, and also facilitates the docking of the transition docking plate 34 with the driven transmission plate of the surgical instrument 10 when the adapter 302 is docked with the surgical instrument 10.

[0106] In actual application scenarios, the active transmission disc on the side where the instrument drive mechanism 20 is located is elastically connected in the axial direction, that is, an elastic structure such as a spring is provided at the bottom of the active transmission disc; when the adapter 302 exists alone and is not docked with the instrument drive mechanism 20, the transition docking disc 34 is in a position under the action of gravity. Fig.12 and Fig.14The state shown, that is, the transition docking plate 34 is in a freely rotatable state. When the adapter 302 is docked with the instrument drive mechanism 20, the active transmission plate on the side of the instrument drive mechanism 20 is docked with the transition docking plate 34. The active transmission plate and the transition docking plate 34 can achieve circumferential limit docking through the structure of the docking column and the docking groove. During the docking process, the rotatability of the transition docking plate 34 is used to ensure that the docking column can be inserted into the docking groove to achieve docking. After docking, under the action of the elastic structure below the active transmission plate, the transition docking plate 34 can be lifted to the upper limit position; thereafter, when the surgical instrument 10 is docked with the adapter 302, the driven transmission plate on the side where the surgical instrument 10 is located presses down the transition docking plate 34 to dock with the transition docking plate 34. Under the downward pressure, the recessed portion 3431 and the convex portion 33312 are separated, so that the transition docking plate 34 can rotate to facilitate the docking of the transition docking plate 34 and the driven transmission plate. After the docking is completed, the transition docking plate 34 is in a rotatable position, which can realize power transmission between the active transmission plate and the driven transmission plate.

[0107] The above description takes the example that the adapter 302 first docks with the instrument drive mechanism 20 and then docks with the surgical instrument 10; in other application scenarios, the adapter 302 can also be docked with the instrument drive mechanism 20 and the surgical instrument 10 simultaneously, which will not be described in detail.

[0108] In the illustrated embodiment, the recess 3431 is formed on the outer convex ring portion 343 of the transition docking plate 34, and the convex portion 33312 is formed on the hole wall of the through hole 333; in other embodiments, the convex portion may be formed on the outer convex ring portion 343 and the recess may be formed on the hole wall of the through hole 333.

[0109] In the illustrated embodiment, two groups of mutually cooperating recesses 3431 and protrusions 33312 are provided. In other embodiments, the number of mutually cooperating recesses 3431 and protrusions 33312 is not limited.

[0110] In a specific implementation, the through hole 333 of the adapter disk 33 includes a first hole portion 3331 located at the disk base 331 and a second hole portion 3332 located at the disk cover 332. The first hole portion 3331 is a stepped hole with the step surface facing the disk cover 332, that is, the first hole portion 3331 has a large-diameter hole section relatively close to the disk cover 332 and a small-diameter hole section relatively far away from the disk cover 332.

[0111] The transition docking plate 34 includes a first small diameter portion 341 located below the outer convex ring portion 343 and a second small diameter portion 342 located above the outer convex ring portion 343. The first small diameter portion 341 and the second small diameter portion 342 are relative to the outer convex ring portion 343, that is, the outer diameter of the outer convex ring portion 343 is larger than the outer diameter of the first small diameter portion 341 and the outer diameter of the second small diameter portion 342. The first small diameter portion 341 is adapted to the small diameter hole section of the first hole portion 3331, the second small diameter portion 342 is adapted to the second hole portion 3332, and the outer convex ring portion 343 is adapted to the large diameter hole section of the first hole portion 3331. In this way, the first small diameter portion 341 of the transition docking plate 34 can extend downward from the disk base 331 to facilitate docking with the active transmission disk, and the second small diameter portion 342 can extend upward from the disk cover plate 332 to facilitate docking with the driven transmission disk. After the through hole 333 is arranged as above, the upward step surface of the first hole portion 3331 forms the aforementioned lower axial limit surface 3334 , and the aforementioned upper axial limit surface 3333 is formed on the lower surface of the disk cover plate 332 .

[0112] In this embodiment, an identification button 37 that can slide in the axial direction is installed on the adapter plate 33, and the identification button 37 can move downward to trigger the position sensor when the surgical instrument 10 is docked with the adapter 302. In this way, the docking state of the surgical instrument 10 can be fed back by triggering the position sensor. The position sensor is arranged on the side where the instrument drive mechanism 20 is located.

[0113] Generally, an identification component that can trigger the position sensor is provided on the side where the instrument driving mechanism 20 is located, and the identification button 37 of the adapter plate 33 triggers the position sensor by pressing down the identification component of the instrument driving mechanism 20 .

[0114] Please refer to Fig.15 and Fig.16 , Fig.15 It is a cross-sectional schematic diagram of the sterile barrier system in a specific implementation manner, in which the identification button is in a first state; Fig.16 The cross-section diagram of the sterile barrier system in the specific embodiment of the identification button in the second state is shown. Fig.15 and Fig.16 The cross-sectional position is Figure 4 The CC section position shown in Fig.15 and Fig.16 The sterile cover cloth and dish cover were omitted.

[0115] The adapter disk 33 has an identification through hole for the identification button 37 to pass through. Specifically, the identification channel includes a first identification hole 3315 formed on the disk base 331 and a second identification hole 3325 formed on the disk cover 332. A limiting structure for limiting the axial sliding position of the identification button 37 is provided between the identification button 37 and the adapter disk 33. The limiting structure is similar to the axial sliding limiting setting of the transition docking disk 34 and will not be described in detail.

[0116] Still taking the example of the adapter 302 first docking with the instrument drive mechanism 20 and then docking with the surgical instrument 10, after the adapter 302 docks with the instrument drive mechanism 20, the identification component on the side where the instrument drive mechanism 20 is located can push the identification button 37 upwards, such as Fig.15 As shown; thereafter, when the adapter 302 is docked with the surgical instrument 10, the surgical instrument 10 presses down the identification button 37, and the identification button 37 can press down the identification component on the side where the instrument drive mechanism 20 is located to trigger the position sensor. After docking, the identification button 37 is in the lower limit position, as shown in FIG. Fig.16 shown.

[0117] Please refer to Fig.17 , Fig.17 It is a schematic diagram of the local structure after the surgical instrument is docked with the sterile barrier system in a specific implementation manner.

[0118] In this embodiment, a guide structure is installed on the adapter plate 33, and the guide structure includes an arc-shaped guide block 3323, the center of the arc-shaped guide block 3323 coincides with the center of the adapter plate 33, and the arc-shaped guide block 3323 has a guide slope 33231 for guiding the docking of the surgical instrument 10.

[0119] Correspondingly, an arc-shaped guide portion 12 is provided on the side of the surgical instrument 10 , and the arc-shaped guide portion 12 has an inclined surface adapted to the guiding inclined surface 33231 of the arc-shaped guide block 3323 .

[0120] When the surgical instrument 10 and the adapter 302 are docked, the docking of the surgical instrument 10 can be guided by the cooperation between the inclined surface of the arc-shaped guide portion 12 and the guiding inclined surface 33231 of the arc-shaped guide 3323, so as to improve the convenience and reliability of the docking.

[0121] In the illustrated example, in the circumferential direction, the adapter plate 33 is provided with two arc-shaped guide blocks 3323 on both sides of the buckle 35. In other implementations, the arc-shaped guide blocks 3323 may also be provided at other positions of the adapter plate 33, and their number may also be provided according to the docking requirements, and is not limited to that shown in the figure.

[0122] In this embodiment, a first limiting portion 314 is further provided on the fixing ring 31 of the sterile barrier system 30 , and the first limiting portion 314 is used to be connected to the outer shell of the surgical instrument 10 in a circumferential limiting manner.

[0123] Correspondingly, a second limiting portion 11 is provided on the side of the surgical instrument 10 , and the second limiting portion 11 cooperates with the first limiting portion 314 in a circumferential limiting manner.

[0124] In the illustrated scheme, the first limiting portion 314 has a slot extending in the axial direction, and the second limiting portion 11 is a post structure that can be inserted into the slot. Of course, the slot and post structure can also be reversely arranged, that is, the first limiting portion 314 is a post structure, and the second limiting portion 11 has a slot.

[0125] Specifically, the first limiting portion 314 may be disposed on the lower fixing ring 312 of the fixing ring 31 , and an avoidance groove 315 for avoiding the first limiting portion 314 is disposed on the upper fixing ring 311 .

[0126] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A sterile barrier system, used to be arranged between a surgical instrument and an instrument drive mechanism of a surgical robot, characterized in that: include: A sterile assembly, comprising a fixing ring and a sterile cover cloth mounted on the fixing ring, wherein the sterile cover cloth is used to cover the instrument drive mechanism; An adapter is rotatably mounted in the fixing ring; the adapter comprises an adapter plate and two transition docking plates, the adapter plate having a through hole for rotatably mounting the transition docking plates; the adapter plate is provided with a first docking portion for docking with the instrument drive mechanism and a second docking portion for docking with the surgical instrument, so as to be able to transmit the conveying rotational driving force of the instrument drive mechanism to the instrument conveying unit of the surgical instrument; the transition docking plate is configured to be able to transmit the execution rotational driving force of the active transmission plate of the instrument drive mechanism to the passive transmission plate of the surgical instrument.

2. The sterile barrier system according to claim 1, characterized in that A snap-fitting member capable of sliding between a docking position and an unlocking position is mounted on the adapter disk, an elastic member is provided between the snap-fitting member and the adapter disk, the snap-fitting member has a snap-fitting structure, at the docking position, the snap-fitting structure can be snap-fitted with a driving base disk of the instrument driving mechanism, at the unlocking position, the elastic member accumulates an elastic force that pushes the snap-fitting member toward the docking position; wherein, the driving base disk is used to output the conveying rotation driving force; the first docking portion includes the snap-fitting structure.

3. The sterile barrier system according to claim 2, characterized in that: The adapter plate and the snap-on part are slidably connected via a sliding fit pair, the sliding fit pair comprising a slide groove and a slider, one of the slide groove and the slider being arranged on the adapter plate, and the other being arranged on the snap-on part; the sliding fit pair has a limiting structure to limit the extreme sliding position of the snap-on part relative to the adapter plate.

4. The sterile barrier system according to claim 3, characterized in that: Two groups of sliding fit pairs are provided between the adapter plate and the buckle member, and the elastic member is located between the two groups of sliding fit pairs.

5. The sterile barrier system according to claim 2, characterized in that: The clamping structure is a through slot structure with its opening facing away from the center direction of the adapter disk. The adapter disk has a notch that matches the through slot structure. The through slot structure is used to be axially limited and clamped with the driving base disk. The two opposite notch walls forming the notch are used to limit the circumferential position of the adapter disk and the driving base disk. The first docking portion includes the notch wall.

6. The sterile barrier system according to claim 2, characterized in that: The second docking portion is formed on the fastener, and the second docking portion includes a hook and a circumferential limit block, the hook is used to axially engage with the instrument delivery unit, and the circumferential limit block is used to limit the circumferential position of the adapter disk and the instrument delivery unit.

7. The sterile barrier system according to any one of claims 2 to 6, characterized in that: The adapter disk includes a disk base and a disk cover. The disk base is rotatably connected to the fixing ring and is axially limitedly connected to the fixing ring. The disk cover is circumferentially limitedly connected to the disk base. The disk cover is axially limited between the buckle and the disk base.

8. The sterile barrier system according to claim 7, characterized in that: The inner ring of the fixing ring has an annular groove with an opening facing inwards, and the disc base has an outer convex edge, and the outer convex edge extends into the annular groove.

9. The sterile barrier system according to any one of claims 1 to 6, characterized in that: The through hole has an upper axial limit surface and a lower axial limit surface, and the transition docking disk is provided with an outer convex ring portion, and the transition docking disk can slide axially relative to the through hole and be axially limited between the upper axial limit surface and the lower axial limit surface by the outer convex ring portion; one of the outer convex ring portion and the hole wall of the through hole is provided with a recess, and the other is provided with a convex portion, and is configured as follows: the transition docking disk is at an upper limit position where the outer convex ring portion abuts against the upper axial limit surface, the recess and the convex portion can cooperate to limit the circumferential position of the transition docking disk, and when the transition docking disk moves axially downward from the upper limit position, the recess and the convex portion can separate to allow the transition docking disk to rotate relative to the adapter disk.

10. The sterile barrier system according to claim 9, characterized in that: The adapter plate comprises a plate base and a plate cover plate connected in a circumferential limiting manner, the through hole comprises a first hole portion located on the plate base and a second hole portion located on the plate cover plate; the first hole portion is a stepped hole with a step surface facing the plate cover plate; The transition docking plate comprises a first small-diameter portion located below the outer convex ring portion and a second small-diameter portion located above the outer convex ring portion; the first small-diameter portion is adapted to the small-diameter hole section of the stepped hole, the outer convex ring portion is adapted to the large-diameter hole section of the stepped hole, and the second small-diameter portion is adapted to the second hole portion; The upper axial limiting surface is formed on the lower surface of the disk cover plate, and the lower axial limiting surface is the step surface.

11. The sterile barrier system according to any one of claims 1 to 6, characterized in that: An identification button which can slide in the axial direction is installed on the adapter disc, and the identification button can move downward to trigger a position sensor when the surgical instrument is docked with the adapter.

12. The sterile barrier system according to any one of claims 1 to 6, characterized in that: A guide structure is installed on the adapter plate, and the guide structure includes an arc-shaped guide block. The center of the arc-shaped guide block coincides with the center of the adapter plate. The arc-shaped guide block has a guide slope for guiding the docking of the surgical instrument.

13. The sterile barrier system according to any one of claims 1 to 6, characterized in that: The fixing ring comprises an upper fixing ring and a lower fixing ring which are detachably connected, and the sterile cover cloth is clamped and fixed between the upper fixing ring and the lower fixing ring.

14. The sterile barrier system according to any one of claims 1 to 6, characterized in that: The fixing ring is provided with a first limiting portion, and the first limiting portion is used for being connected to the outer shell of the surgical instrument in a circumferential limiting direction.

15. A surgical robot, characterized in that: It comprises a surgical instrument, an instrument drive mechanism and a sterile barrier system as described in any one of claims 1 to 14, wherein the sterile barrier system is docked with the instrument drive mechanism and also docked with the surgical instrument to transmit the rotational driving force of the instrument drive mechanism to the surgical instrument.

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