Sterile isolation device

Abstract

The utility model discloses a sterile isolation device, which comprises a driving module, which is used for providing a power source and comprises a support, a driving mechanism and a sensor mechanism, the execution module is used for receiving power from the driving module and comprises a supporting seat, an induction mechanism mounted on the supporting seat and an execution mechanism mounted on the supporting seat and in transmission connection with the driving mechanism; the sensing mechanism is matched with the sensor mechanism to sense the position of the executing mechanism and transmit a signal to the control unit; and the bacterium isolation switching module covers the driving module and is used for isolating the driving module and the execution module. According to the sterile isolation device provided by the utility model, the execution module meets the requirements of cleaning and sterilization, and the feedback and control precision of the execution module to the driving module is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a sterile isolation device. Background Art

[0002] In recent years, the application field of medical robots has become increasingly wide, from the initial orthopedic robots, the image-guided mechanical arm posture + passive tools of the initial neurosurgery robots, to the master-slave surgical robots of laparoscopic surgical robots. The end tools need power, and the parts that come into contact with the patient need to be sterile. However, the equipment is too large to be sterilized as a whole or the power electrical parts and sensors cannot be sterilized. Therefore, there is sterile isolation and power transfer between the end tools and the power source to solve the solutions in the relevant medical specific scenarios. With the expansion of medical robots and the continuous increase in interventional surgeries, new interventional surgical robots with execution tools that can perform complex surgeries or specific procedures have emerged. After this type of surgical robot locates the lesion under image guidance, there are also actions such as puncture depth positioning, radioactive particle implantation, opening and closing balloons in the surgical plan that require execution structures to complete the corresponding actions. Therefore, the complex interventional medical robots with execution tools also need to be sterilely isolated, power transferred, and sensor signal trigger devices between the execution tools and the power source.

[0003] In the prior art, the sensor for sensing the position of the execution part is generally set in the execution part, so that the execution part cannot meet the requirements of cleaning and sterilization. After the execution part is cleaned and sterilized, the control accuracy is affected, resulting in the inability to feedback and accurately control the driving part. Utility Model Content

[0004] The utility model aims to provide a sterile isolation device. The structure of the execution module meets the requirements of cleaning and sterilization, and can realize the precise control of the execution module over the driving module.

[0005] Based on the above problems, the technical solution provided by the utility model is:

[0006] A sterile isolation device, comprising:

[0007] A driving module, used to provide a power source, including a support, a driving mechanism and a sensor mechanism installed on the support;

[0008] an execution module, used to receive power from the driving module, comprising a support base, a sensing mechanism mounted on the support base, and an execution mechanism mounted on the support base and transmission-connected to the driving mechanism, wherein the sensing mechanism cooperates with the sensor mechanism to sense the position of the execution mechanism and transmit a signal to a control unit;

[0009] The bacteria-isolating transfer module is sleeved outside the driving module and is used to isolate the driving module from the executing module.

[0010] In some of these embodiments, the sensor mechanism includes a first sensor component and a second sensor component that are mounted on the support and stacked one above the other.

[0011] In some of these embodiments, the driving mechanism includes a drive shaft assembly and a drive motor assembly that is in transmission connection with the drive shaft assembly. The drive shaft assembly includes a support block and at least one drive shaft that is rotatably mounted on the support block. The drive motor assembly includes at least one drive motor corresponding to the number of drive shafts. A positioning sensor for sensing the in-place of the executing module is mounted on the support block.

[0012] In some of these embodiments, the drive shaft includes a first shaft portion rotatably connected to the support block, a second shaft portion that is circumferentially limited and axially movably connected to the first shaft portion, an elastic member disposed between the first shaft portion and the second shaft portion, and a locking nut for axially limiting the second shaft portion. The locking nut is threadedly connected to the first shaft portion, and the second shaft portion passes through the locking nut and extends into the first shaft portion.

[0013] In some of these embodiments, the first shaft portion includes a first cylindrical portion and a mounting shaft portion, and the second shaft portion includes a second cylindrical portion and a transfer platform. The second cylindrical portion extends into the first cylindrical portion and is connected to the first cylindrical portion by a spline key. One end of the elastic member abuts against the first cylindrical portion and the other end abuts against the second cylindrical portion. A synchronous wheel in transmission connection with the drive motor is fixed to the mounting shaft portion, and two transfer protrusions are disposed radially on the transfer platform.

[0014] In some of these embodiments, the executing mechanism includes at least one power transfer seat rotatably mounted on the support seat and a working shaft connected to the power transfer seat. Two transfer grooves matching the two transfer protrusions are provided on the power transfer seat.

[0015] In some of these embodiments, the sensing mechanism includes at least one trigger rod assembly for sensing the position of the working shaft.

[0016] In some of these embodiments, the support seat includes a housing, a first end cover provided at one end of the housing, and a second end cover provided at the other end of the housing. The power transfer seat is rotatably mounted on the first end cover, and the working shaft is rotatably mounted on the second end cover.

[0017] In some of these embodiments, the first end cap and the second end cap are connected by a first positioning pin. The first end cap is provided with a second positioning pin and a first positioning hole corresponding to the positioning sensor, and the support is provided with a second positioning hole matching the first positioning pin, a third positioning hole matching the second positioning pin, and a third positioning pin matching the first positioning hole.

[0018] In some of these embodiments, the bacteria-isolating transfer module includes a bacteria-isolating cover having an opening, a sterile transfer plate disposed at the opening position of the bacteria-isolating cover, and a sterile pressing frame tightly fitted with the sterile transfer plate. A plurality of limiting posts are provided on the inner periphery of the sterile pressing frame, and a plurality of limiting bayonets matching the plurality of limiting posts are provided on the outer periphery of the sterile transfer plate;

[0019] The sterile transfer plate is further provided with a first through hole matching the drive shaft, a second through hole corresponding to the second positioning hole, a third through hole corresponding to the third positioning hole, a fourth through hole corresponding to the third positioning pin, and a fifth through hole corresponding to the trigger rod assembly.

[0020] Compared with the prior art, the advantages of the present utility model are:

[0021] The sensor mechanism is arranged in the drive module, and the execution module is a mechanical structure, which can meet the requirements of inclination and sterilization, avoid the sensor from failing or being unable to accurately feedback signals after the execution module is cleaned and sterilized, improve the control precision of the execution part over the drive part, and thus improve the precision of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly introduced below. The drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a schematic structural diagram of an embodiment of a sterile isolation device of the present utility model;

[0024] Figure 2 It is one of the schematic structural diagrams of the drive module in the embodiment of the present utility model;

[0025] Figure 3 It is another schematic structural diagram of the drive module in the embodiment of the present utility model;

[0026] Figure 4 It is a schematic disassembled structural diagram of the drive module in the embodiment of the present utility model;

[0027] Figure 5This is a schematic diagram of the disassembled structure of the drive shaft assembly in the embodiment of the utility model;

[0028] Figure 6 This is a schematic diagram of the structure of the drive shaft assembly in a compressed state in an embodiment of the utility model;

[0029] Figure 7 This is a schematic diagram of the structure of the drive shaft assembly in an uncompressed state in an embodiment of the utility model;

[0030] Figure 8 This is a schematic diagram of the structure of the execution module in the embodiment of the utility model;

[0031] Figure 9 This is a schematic diagram of the disassembled structure of the execution module in the embodiment of the utility model;

[0032] Figure 10 This is a schematic diagram of the structure of the execution module and the driving module connected in the embodiment of the utility model;

[0033] Figure 11 This is a structural diagram of the positioning of the execution module and the driving module in the embodiment of the utility model;

[0034] Figure 12 This is a schematic diagram of the structure of the bacteria isolation transfer module in the embodiment of the utility model;

[0035] in:

[0036] 100, driving module; 101, support; 101a, second positioning hole; 101b, third positioning hole; 102, driving shaft assembly; 102a, support block; 102b, first shaft portion; 102c, second shaft portion; 102c1, transfer protrusion; 102d, elastic member; 102e, locking nut; 102f, bearing; 102g, positioning sensor; 102h, synchronous wheel 102i, pin key; 102j, positioning column; 102k, screw; 103, first sensor assembly; 104, second sensor assembly; 105, driving motor; 106, driving wheel; 107, transmission belt; 108, third positioning pin; 109, first positioning sleeve; 110, second positioning sleeve;

[0037] 200, execution module; 201, housing; 202, first end cover; 202a, first positioning hole; 203, second end cover; 204, power adapter seat; 204a, adapter groove; 205, first working axis; 206, second working axis; 207, trigger rod 1; 208, trigger rod 2; 209, trigger rod 3; 210, first positioning pin; 211, shaft sleeve; 212, second positioning pin; 213, support block;

[0038] 300, sterile transfer module; 301, sterile cover; 302, sterile transfer plate; 302a, limit stopper; 302b, first perforation; 302c, second perforation; 302d, third perforation; 302e, fourth perforation; 302f, fifth perforation; 303, sterile pressing frame; 303a, limit column. DETAILED DESCRIPTION

[0039] The above scheme is further described below in conjunction with specific examples. It should be understood that these examples are used to illustrate the utility model and are not limited to the scope of the utility model. The implementation conditions used in the examples can be further adjusted according to the conditions of the specific manufacturer, and the implementation conditions not specified are usually the conditions in conventional experiments.

[0040] like Figure 1 , is a schematic structural diagram of an embodiment of the utility model, which provides a sterile isolation device, including a driving module 100, an execution module 200 and a bacteria isolation adapter module 300, wherein the bacteria isolation adapter module 300 is covered outside the driving module 100 to block the driving module 100 and the execution module 200.

[0041] like Figures 2 to 4 As shown, the driving module 100 is used to provide a power source, including a support 101, a driving mechanism and a sensor mechanism installed on the support 101, and the sensor mechanism includes a first sensor component 103 and a second sensor component 104 installed on the support 100 and stacked up and down.

[0042] The driving mechanism includes a driving shaft assembly 102 and a driving motor assembly connected to the driving shaft assembly 102. Figure 5 As shown, the drive shaft assembly 102 includes a support block 102a and two drive shafts rotatably mounted on the support block 102a. The corresponding drive motor assembly includes two drive motors 105 corresponding to the two drive shafts. At the same time, a positioning sensor 102g for sensing the position of the execution module 200 is provided on the support block 102a. It should be understood that in other embodiments, other numbers of drive shafts can be used, and the present utility model does not limit this.

[0043] The drive shaft includes a first shaft portion 102b rotatably connected to the support block 102a, a second shaft portion 102c circumferentially limited relative to the first shaft portion 102b and axially movable, an elastic member 102d disposed between the first shaft portion 102b and the second shaft portion 102c, and a locking nut 102e axially limiting the second shaft portion 102c, the locking nut 102e being threadedly connected to the first shaft portion 102b, the second shaft portion 102c being inserted into the locking nut 102e and extending into the first shaft portion 102b. Preferably, the elastic member 102d is a spring.

[0044] Specifically, the first shaft portion 102b includes a first cylindrical portion and a mounting shaft portion, and the second shaft portion 102c includes a second cylindrical portion and a transfer platform. The first cylindrical portion is supported on the support block 102a via a bearing 102f. The second cylindrical portion extends to the first cylindrical portion and is connected to the first cylindrical portion via a sales key 102i. One end of the elastic member 102d abuts against the first cylindrical portion and the other end abuts against the second cylindrical portion. When the transfer platform is pressed down, the second cylindrical portion moves closer to the first cylindrical portion (as Figure 6 shown), and when the transfer platform is not subjected to a downward pressure, the second cylindrical portion moves away from the first cylindrical portion (as Figure 7 shown). When the pin key 102i abuts against the position of the locking nut 102e, axial limit is achieved.

[0045] A synchronous pulley 102h drivingly connected to the driving motor 105 is fixed on the mounting shaft portion. The synchronous pulley 102h is drivingly connected to the driving pulley 106 at the power output end of the driving motor 105 via a transmission belt 107. The synchronous pulley 102h is positioned on the first cylindrical portion via two positioning posts 102j and locked via a screw 102k. Two transfer protrusions 102c1 arranged radially are provided on the transfer platform for power transfer in cooperation with the execution module 200.

[0046] As Figure 8 and Figure 9 shown, the execution module 200 is used to receive power from the driving module 100 and includes a support base, a sensing mechanism mounted on the support base, and an execution mechanism mounted on the support base and drivingly connected to the driving mechanism. The sensing mechanism cooperates with the sensor mechanism to sense the position of the execution mechanism and transmit a signal to the control unit. In this way, the execution mechanism is a mechanical structure without sensors, which can meet the requirements of cleaning and sterilization, avoid the influence on the sensor accuracy, and improve the control accuracy.

[0047] The execution mechanism includes two power transfer seats 204 rotatably mounted on the support base and a first working shaft 205 and a second working shaft 206 respectively connected to the two power transfer seats 204. A coupling is provided between the power transfer seat 204 and the first working shaft 205 / the second working shaft 206. Transfer grooves 204a matching the two transfer protrusions 102c1 on the transfer platform are provided on the power transfer seat 204.

[0048] In this example, the sensing mechanism includes a first tactile rod assembly for sensing the position of the first working shaft 205 and a second trigger rod assembly for sensing the position of the second working shaft 206. The first trigger rod assembly includes a first trigger rod 207, and the second trigger rod assembly includes a second trigger rod 208 and a third trigger rod 209. To facilitate the installation of the trigger rods, a support block 213 is further provided on the support base, and the second trigger rod 208 and the third trigger rod 209 are installed on the support block 213. During the rotation of the first working shaft 205, after pressing down the first trigger rod 207, the corresponding sensors on the first sensor assembly 103 and the second sensor assembly 104 are triggered to receive the position information from the first working shaft 205. When the second working shaft 206 does not reach the limit of the first section position, the second trigger rod 208 and the third trigger rod 209 trigger the first sensor assembly 103 and the second sensor assembly 104 to receive the position information from the second working shaft 206. When the second working shaft 206 reaches the limit of the first section position, the second trigger rod 208 and the third trigger rod 209 are successively lifted to leave the first sensor assembly 103 and the second sensor assembly 104, and the position information of the second section where the second working shaft 206 continues to rotate is fed back and controlled.

[0049] The support base includes a housing 201, a first end cap 202 provided at one end of the housing 201, and a second end cap 203 provided at the other end of the housing 201. The power transfer seat 204 is rotatably installed on the first end cap 202, and the working shaft is rotatably installed on the second end cap 203.

[0050] The first end cap 202 and the second end cap 203 are connected by a first positioning pin 210. The first positioning pin 210 passes through the first end cap 202 and the second end cap 203 and is locked at both ends with nuts. One end of the first positioning pin 210 close to the first end cap 202 extends to the outside of the housing to form a positioning portion. A bushing 211 is sleeved on the portion of the first positioning pin 210 located between the first end cap 202 and the second end cap 203. The provision of the first positioning pin 210 can, on the one hand, improve the structural stability of the support base, and on the other hand, facilitate the positioning when the execution module 200 is docked with the drive module 100.

[0051] On the first end cover 202, there are a second positioning pin 212 and a first positioning hole 202a corresponding to the positioning sensor 102g. The signal that the execution module 200 is in place is fed back through the cooperation between the second positioning pin 212 and the positioning sensor 102g. Correspondingly, on the support, there are a second positioning hole 101a matching the first positioning pin 210, a third positioning hole 101b matching the second positioning pin 212, and a third positioning pin 108 matching the first positioning hole 202a. A first positioning sleeve 109 is arranged at the position of the second positioning hole 101a, and a second positioning sleeve 110 is arranged at the position of the third positioning hole 101b. When the execution module 200 is docked with the drive module 100, the first positioning pin 210 is placed in the second positioning hole 101a, the second positioning pin 212 is placed in the third positioning hole 101b, and the third positioning pin 108 is placed in the first positioning hole 202a to complete the positioning between the execution module 200 and the drive module 100.

[0052] As Figure 12 shown, the bacteria isolation transfer module 300 includes a bacteria isolation cover 301 with an opening, a sterile transfer plate 302 arranged at the opening position of the bacteria isolation cover 301, and a sterile pressing frame 303 that is tightly pressed and matched with the sterile transfer plate 302. A plurality of limiting posts 303a are arranged on the inner circumference of the sterile pressing frame 303, and a plurality of limiting notches 302a matching the plurality of limiting posts 303a are arranged on the outer circumference of the sterile transfer plate 302. During installation, the bacteria isolation cover 301 is covered on the sterile transfer plate 302 to make the sterile transfer plate 302 correspond to the opening position of the bacteria isolation cover 301, and then the sterile pressing frame 303 is pressed on the sterile transfer plate 302. The sterile pressing frame 303 and the sterile transfer plate 302 are tightly fitted through the cooperation between the plurality of limiting posts 303a and the plurality of limiting notches 302a, which is convenient for installation and disassembly.

[0053] To facilitate the connection between the execution module 200 and the drive module 100, on the sterile transfer plate 302, there are a first through hole 302b matching the drive shaft, a second through hole 302c corresponding to the second positioning hole 101a, a third through hole 302d corresponding to the third positioning hole 101b, a fourth through hole 302e corresponding to the third positioning pin 108, and a fifth through hole 302f corresponding to the trigger rod assembly. Among them, the second through hole 302c is arranged on the connection block connected to the sterile transfer plate 302. During installation, this connection block is located inside the bacteria isolation cover 301.

[0054] The working principle of the present utility model is:

[0055] Cover the bacteria-isolating transfer module 300 outside the drive module 100. Place the first positioning pin 210 into the second positioning hole 101a, place the second positioning pin 212 into the third positioning hole 101b, and place the third positioning pin 108 into the first positioning hole 202a to complete the docking of the execution module 200 and the drive module 100 (as Figure 11 shown); in the absence of driving force, the second shaft portion 102c is pressed down. When the second shaft portion 102c receives the driving force, the elastic member 102d pops up so that the two transfer protrusions 102c1 of the second shaft portion 102c are docked into the transfer groove 204a on the power transfer seat 204 (as Figure 10 shown), thereby performing power transfer. During the rotation of the working shaft, the trigger rod assembly and the sensor mechanism cooperate to sense the position of the working shaft and transmit the signal to the control unit, thereby realizing the feedback and precise control of the execution module 200 over the drive module.

[0056] In summary, the aseptic isolation module can meet the requirements for cleaning and sterilization of the execution module, improve the control accuracy of the drive module, and thus improve the surgical accuracy.

[0057] The above examples are only for explaining the technical concept and features of the present invention. The purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A sterile isolation device, characterized in that: include: A driving module, used to provide a power source, including a support, a driving mechanism and a sensor mechanism installed on the support; an execution module, used to receive power from the driving module, comprising a support base, a sensing mechanism mounted on the support base, and an execution mechanism mounted on the support base and transmission-connected to the driving mechanism, wherein the sensing mechanism cooperates with the sensor mechanism to sense the position of the execution mechanism and transmit a signal to a control unit; The bacteria isolation adapter module is covered outside the driving module and is used to isolate the driving module from the execution module.

2. The sterile isolation device according to claim 1, characterized in that: The sensor mechanism comprises a first sensor component and a second sensor component which are mounted on the support and stacked one above the other.

3. The sterile isolation device according to claim 1, characterized in that: The driving mechanism includes a driving shaft assembly and a driving motor assembly drivingly connected to the driving shaft assembly, the driving shaft assembly includes a support block and at least one driving shaft rotatably mounted on the support block, the driving motor assembly includes at least one driving motor corresponding to the number of driving shafts, and a positioning sensor for sensing the position of the execution module is installed on the support block.

4. The sterile isolation device according to claim 3, characterized in that: The drive shaft includes a first shaft portion rotatably connected to the support block, a second shaft portion circumferentially limited relative to the first shaft portion and axially movably connected, an elastic member arranged between the first shaft portion and the second shaft portion, and a locking nut for axially limiting the second shaft portion, the locking nut being threadedly connected to the first shaft portion, and the second shaft portion being inserted into the locking nut and extending into the first shaft portion.

5. The sterile isolation device according to claim 4, characterized in that: The first shaft portion includes a first cylindrical portion and a mounting shaft portion, the second shaft portion includes a second cylindrical portion and a transfer platform, the second cylindrical portion extends to the first cylindrical portion and is keyed to the first cylindrical portion, one end of the elastic member abuts against the first cylindrical portion and the other end abuts against the second cylindrical portion, a synchronous wheel transmission-connected to the drive motor is fixed to the mounting shaft portion, and two transfer protrusions arranged radially are provided on the transfer platform.

6. The aseptic isolation device according to claim 5, characterized in that: The actuator comprises at least one power transfer seat rotatably mounted on the support seat and a working shaft connected to the power transfer seat, and the power transfer seat is provided with two transfer grooves matching with the two transfer protrusions.

7. The sterile isolation device according to claim 6, characterized in that: The sensing mechanism includes at least one trigger lever assembly for sensing the position of the working shaft.

8. The sterile isolation device according to claim 7, characterized in that: The support seat includes a shell, a first end cover arranged at one end of the shell, and a second end cover arranged at the other end of the shell. The power adapter seat is rotatably mounted on the first end cover, and the working shaft is rotatably mounted on the second end cover.

9. The sterile isolation device according to claim 8, characterized in that: The first end cover is connected to the second end cover via a first positioning pin, the first end cover is provided with a second positioning pin and a first positioning hole corresponding to the positioning sensor, the support is provided with a second positioning hole matching the first positioning pin, a third positioning hole matching the second positioning pin, and a third positioning pin matching the first positioning hole.

10. The sterile isolation device according to claim 9, characterized in that: The sterile adapter module comprises a sterile cover with an opening, a sterile adapter plate arranged at the opening of the sterile cover, and a sterile pressing frame tightly matched with the sterile adapter plate, wherein the inner periphery of the sterile pressing frame is provided with a plurality of limiting posts, and the outer periphery of the sterile adapter plate is provided with a plurality of limiting bayonet ports matched with the plurality of limiting posts; The sterile adapter plate is also provided with a first through-hole matching the drive shaft, a second through-hole corresponding to the second positioning hole, a third through-hole corresponding to the third positioning hole, a fourth through-hole corresponding to the third positioning pin, and a fifth through-hole corresponding to the trigger rod assembly.

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