Sterile adapter for connecting surgical instrument and surgical robot

Abstract

The utility model discloses a sterile adapter for connecting a surgical instrument and a surgical robot, which is characterized in that a metal sheet body with a through hole is arranged as a communication connecting piece, and a first connecting part from the surgical robot penetrates through a communication channel to be in contact with one surface of the communication connecting piece; the second connecting part from the surgical instrument is in contact with the other surface of the communication connecting piece, so that the connection between the surgical instrument and the surgical robot is changed from contact type contact to surface contact with a larger contact area, the communication stability can be effectively improved, and the conditions of poor contact or disconnection and the like can be effectively prevented.

Description

Technical Field

[0001] The utility model belongs to the field of medical auxiliary instruments, and particularly relates to a sterile adapter for connecting a surgical instrument and a surgical robot. Background Art

[0002] Performing surgical operations with remotely controlled surgical instruments poses new challenges. One challenge is the need to maintain a sterile condition in the area adjacent to the patient. However, the motors, sensors, encoders, and electrical connectors required to control the surgical instruments generally cannot be sterilized using conventional methods (e.g., steam, heat, pressure, or chemical agents) because they would be damaged or destroyed during the sterilization process.

[0003] A sterile adapter can engage and disengage the coupling device of a surgical instrument and a remote actuator (surgical robot) in a simpler and more effective manner, while preventing contamination of the remote actuator and allowing a series of surgical instruments to be attached quickly and reliably, thereby maintaining a sterile area around the surgical instrument.

[0004] Three invention patents with the authorized announcement numbers CN 106102638 B, CN 106102646 B, and CN 106102631 B respectively have all disclosed sterile adapters for connecting surgical instruments and surgical instrument manipulators.

[0005] In particular, the invention patent with the authorized announcement number CN 106102638 B also discloses a signal connector for a sterile barrier between a surgical instrument and a remote actuator on the sterile adapter. The signal connector disclosed in this invention patent realizes communication by the spring pins of the flux connector on the surgical robot contacting the openings of the flux connectors on the surgical instrument. However, in the existing communication connection structure, the contact surface is small. During the operation of the surgical robot, the vibration generated by the movement will cause poor contact, resulting in unstable communication, and further causing transmission failures. Summary of the Utility Model

[0006] In order to solve the problem that the communication connection structure of the existing sterile adapter is prone to unstable communication, the purpose of the utility model is to provide a sterile adapter for connecting a surgical instrument and a surgical robot.

[0007] The technical solution adopted by the utility model is as follows:

[0008] A sterile adapter for connecting a surgical instrument and a surgical robot, the sterile adapter comprising a bottom plate and a top plate disposed on both sides of a sterile bag, and transmission components for connecting the surgical instrument and the surgical robot are provided on the bottom plate and the top plate; a communication channel is formed on the bottom plate, and a communication connector is provided at a position on the top plate aligned with the communication channel; the communication connector is a metal sheet body provided with a through hole, a first connecting portion from the surgical robot passes through the communication channel and contacts one side of the communication connector, and a second connecting portion from the surgical instrument contacts the other side of the communication connector.

[0009] Optionally, limiting protrusions are provided on both sides of the top plate.

[0010] Optionally, a carriage card slot is provided on the edge sheet of the sterile bag, and a vertical wall attached to the carriage card slot is provided at one end of the top plate; the cross sections of the carriage card slot and the vertical wall are both trapezoidal; a plurality of reinforcing ribs are uniformly provided on both side walls of the vertical wall.

[0011] Optionally, a positioning protrusion is provided at one end of the bottom plate away from the communication channel, and a positioning groove is provided at the bottom end of the vertical wall, and the positioning protrusion is snapped into the positioning groove.

[0012] Optionally, the sterile adapter further comprises a clamping structure for clamping the surgical instrument, the clamping structure comprising a latch arm and an elastic element; the elastic element is provided on the bottom plate, and the latch arm is mounted on the elastic element and penetrates through the top plate.

[0013] Optionally, the elastic element is mounted on the bottom plate through a mounting hole on one side of a substrate, and a vertical elastic piece is provided on the other side of the elastic element; a clamping protrusion for connecting the vertical elastic piece is provided on the latch arm.

[0014] Optionally, a placement groove is formed on the bottom plate, a stop shaft is provided at the bottom end of the vertical elastic piece, and the stop shaft is located between the substrate of the elastic element and the placement groove.

[0015] Optionally, the sterile adapter further comprises a positioning pin for transmitting a in-place signal, one end of the positioning pin is elastically provided on the bottom plate, and the other end protrudes out of the top plate. The positioning pin allows the surgical instrument to contact and push one end thereof, so that the other end of the positioning pin contacts the surgical robot, thereby realizing the transmission of the in-place signal.

[0016] Optionally, a stepped hole is formed on the bottom plate, a spring is installed in the large hole of the stepped hole, and a communication through hole aligned with the position of the stepped hole is formed on the top plate; the positioning pin comprises a large end, a limiting ring and a small end, the small end of the positioning pin passes through the communication through hole, the large end of the positioning pin is located in the spring of the stepped hole, and the limiting ring of the positioning pin is located between the stepped hole and the communication through hole, and the outer diameter of the limiting ring is larger than the aperture of the large hole of the stepped hole.

[0017] Optionally, a plurality of clamping posts are provided on the bottom plate, and a plurality of clamping holes corresponding to the clamping posts are formed on the top plate. The clamping posts are respectively clamped in the clamping holes, so that the bottom plate and the top plate are connected together.

[0018] The beneficial effects of the present utility model are as follows:

[0019] 1) The present utility model provides a sterile adapter for connecting a surgical instrument and a surgical robot. By providing a metal sheet body with a through hole as a communication connection member, a first connection portion from the surgical robot passes through the communication channel and contacts one side of the communication connection member, and a second connection portion from the surgical instrument contacts the other side of the communication connection member. Thus, the connection between the surgical instrument and the surgical robot changes from point contact to surface contact with a larger contact area, which can effectively improve the stability of communication and effectively prevent problems such as poor contact or disconnection.

[0020] 2) The cross-section of the vertical wall is set as a trapezoid matching the shape of the carriage slot, which can effectively increase the contact area with the carriage slot and enhance the firmness of the contact surface. At the same time, a plurality of reinforcing ribs are provided on both sides of the vertical wall, thereby effectively improving the strength of the vertical wall.

[0021] 3) The positioning pin is divided into a small end, a limiting ring and a large end. When the surgical instrument contacts and pushes the small end, the large end of the positioning pin passes through the stepped hole and triggers the corresponding area on the surgical robot, thereby providing a positioning signal to the surgical robot that the surgical instrument has been connected to the sterile adapter. The limiting ring can limit the maximum movement range of the positioning pin. When the surgical instrument is detached from the sterile adapter, the spring pushes the limiting ring to make the positioning pin rebound to the initial position.

[0022] 4) The clamping structure is composed of a latch arm and an elastic element, which makes the latch arm more deformable by pressing and is more convenient to operate.

[0023] 5) Limiting protrusions are provided on both sides of the top plate. The limiting protrusions are used for clamping and limiting the surgical instrument, making the connection between the surgical instrument and the sterile adapter more firm. Description of the Drawings

[0024] Figure 1 and Figure 2 are schematic structural diagrams of the present utility model, and the sterile bag is omitted.

[0025] Figure 3 is Figure 1 the top view of

[0026] Figure 4 and Figure 5 are schematic structural diagrams of the bottom plate.

[0027] Figure 6It is a schematic structural diagram of the top plate.

[0028] Figure 7 It is a schematic structural diagram of the clamping structure.

[0029] Figure 8 It is Figure 3 The sectional view taken along A - A in

[0030] Figure 9 It is Figure 8 The enlarged schematic diagram of area B in

[0031] Figure 10 It is the complete schematic structural diagram of the present utility model.

[0032] Figure 11 It is a schematic structural diagram of the sterile bag.

[0033] In the figure: 100 - sterile bag, 101 - edge sheet, 102 - reinforcing sheet, 103 - carriage card slot, 201 - bottom plate, 210 - first connection through - hole, 211 - transmission component, 220 - placement groove, 230 - stepped hole, 240 - positioning protrusion, 250 - clamping post, 260 - communication channel, 301 - top plate, 310 - second connection through - hole, 320 - through - slot, 330 - communication through - hole, 340 - positioning slot, 350 - clamping hole, 401 - vertical wall, 402 - fitting groove, 403 - reinforcing rib, 501 - clamping structure, 510 - latch arm, 511 - elastic element, 512 - vertical elastic sheet, 513 - mounting hole, 514 - clamping protrusion, 515 - stop shaft, 601 - communication connector, 701 - in - place pin. Specific embodiments

[0034] Embodiment 1:

[0035] In this embodiment, as Figures 1 to 11A sterile adapter for connecting a surgical instrument and a surgical robot is shown. The sterile adapter includes a bottom plate 201 and a top plate 301 disposed on both sides of a sterile bag 100. Transmission components 211 for connecting the surgical instrument and the surgical robot are provided on the bottom plate 201 and the top plate 301. A communication channel 260 is formed on the bottom plate 201, and a communication connector 601 is provided at a position on the top plate 301 aligned with the communication channel 260. The communication connector 601 is a metal sheet body with a through hole. A first connecting portion from the surgical robot passes through the communication channel 260 and contacts one side of the communication connector 601, and a second connecting portion from the surgical instrument contacts the other side of the communication connector 601. By providing a metal sheet body with a through hole as the communication connector, the first connecting portion from the surgical robot passes through the communication channel and contacts one side of the communication connector, and the second connecting portion from the surgical instrument contacts the other side of the communication connector 601, so that the connection between the surgical instrument and the surgical robot changes from a point contact to a surface contact with a larger contact area, which can effectively improve the communication stability and effectively prevent problems such as poor contact or connection disconnection.

[0036] Specifically, a plurality of first connection through holes 210 and second connection through holes 310 corresponding in position are respectively formed on the bottom plate 201 and the top plate 301. The transmission component 211 passes through the first connection through hole 210 and the second connection through hole 310 to connect the surgical instrument and the surgical robot together.

[0037] In this embodiment, the structure of the transmission component 211 and the connection method with the surgical robot and the surgical instrument can refer to the ISA connector of the invention patent with the authorization announcement number CN 106102631 B (for details, please refer to paragraphs 0071-0124 of the specification of the invention patent and the attached drawings of the specification).

[0038] In this embodiment, a carriage slot 103 is provided on the edge sheet 101 of the sterile bag 100, and a vertical wall 401 attached to the carriage slot 103 is provided at one end of the top plate 301. The carriage of the surgical robot is clamped in the carriage slot 103 (for details, please refer to the attached Figures 1 to 5 ) of the specification of CN 106102638 B.

[0039] In this embodiment, a plurality of clamping posts 250 are provided on the bottom plate 201, and a plurality of clamping holes 350 corresponding to the clamping posts 250 are formed on the top plate 301. The clamping posts 250 are respectively clamped in the clamping holes 350, so that the bottom plate 201 and the top plate 301 are connected together. A positioning protrusion 240 is provided at one end of the bottom plate 201 away from the communication channel 260, and a positioning groove 340 is formed at the bottom end of the vertical wall 401. The positioning protrusion 240 is clamped in the positioning groove 340.

[0040] Embodiment Two:

[0041] On the basis of the first embodiment, this embodiment provides a more secure connection structure for the connection between the surgical instrument and the sterile adapter.

[0042] As Figures 1 to 3 shown, limiting protrusions 302 are provided on both sides of the top plate 301. During connection, the limiting protrusions 302 form limitations on both sides of the surgical instrument, which can effectively prevent the surgical instrument from loosening in both lateral directions, making the connection between the sterile adapter and the surgical instrument more secure.

[0043] Embodiment Three

[0044] On the basis of any of the above embodiments, this embodiment provides a solution with a more secure contact surface for the structures of the carriage slot 103 and the vertical wall 401.

[0045] In this embodiment, as Figures 1 to 2 shown, the cross-sections of both the carriage slot 103 and the vertical wall 401 are trapezoidal; an adaptation slot 402 is provided in the middle of the side of the vertical wall 401 away from the top plate 301, the carriage slot 103 is located within the adaptation slot 402, and a number of reinforcing ribs 403 are evenly provided on both side walls of the vertical wall 401. Compared with the prior art, the cross-section of the vertical wall 401 is trapezoidal, so that the contact area between the adaptation slot 402 and the carriage slot 103 is larger and the force is more evenly distributed; and the overall strengthening effect of the reinforcing ribs 403 evenly distributed on both side surfaces of the vertical wall 401 is also more prominent compared with the prior art (for details, please refer to paragraph 0054 of the specification of the invention patent with the authorization announcement number CN 106102638B).

[0046] Embodiment Four:

[0047] The prior art positions the control surface of the surgical instrument by setting a latch arm (for details, please refer to paragraphs 0064 - 0069 of the specification and the accompanying drawings of the invention patent with the authorization announcement number CN106102646 B). On the basis of any of the above embodiments, this embodiment provides a snap-fit structure for positioning the connection between the surgical instrument and the sterile adapter.

[0048] In this embodiment, as Figures 1 to 7As shown, the sterile adapter further includes a clamping structure 501 for clamping the surgical instrument. The clamping structure 501 includes a latch arm 510 and an elastic element 511. The elastic element 511 is disposed on the bottom plate 201. The latch arm 510 is mounted on the elastic element 511 and penetrates through the top plate 301. The elastic element 511 is mounted on the bottom plate 201 through a mounting hole 513 on one side of the substrate. A vertical elastic piece 512 is provided on the other side of the elastic element 511. A clamping protrusion 514 for connecting the vertical elastic piece 512 is provided on the latch arm 510. A placement groove 220 is formed on the bottom plate 201. A stop shaft 515 is provided at the bottom end of the vertical elastic piece 512. The stop shaft 515 is located between the substrate of the elastic element 511 and the placement groove 220.

[0049] When installing the surgical instrument, the angle of the latch arm 510 can be changed by pressing the latch arm 510 to align it with the corresponding area on the surgical instrument. After the latch arm 510 passes through the control surface of the surgical instrument, release the latch arm 510. The elasticity of the vertical elastic piece 512 drives the latch arm 510 back to the initial position. The elastic element 511 makes the latch arm 510 more deformable by pressing, making the operation more convenient when aligning with the surgical instrument.

[0050] Embodiment Five:

[0051] In the prior art, by providing an elastic plunger, a signal indicating that the surgical instrument is coupled to the sterile adapter in place is provided to the surgical robot (for details, please refer to paragraphs 0059-0061 of the specification and the accompanying drawings of the invention patent with the authorization announcement number CN 106102638 B). On the basis of any of the above embodiments, this embodiment provides another alternative solution for the specific structure of the in-place pin.

[0052] In this embodiment, as Figures 1 to 10 shown, the sterile adapter further includes an in-place pin 701 for transmitting the in-place signal. One end of the in-place pin 701 is elastically disposed on the bottom plate 201, and the other end protrudes beyond the top plate 301. The in-place pin 701 allows the surgical instrument to contact and push one end thereof, so that the other end of the in-place pin 701 contacts the surgical robot, thereby realizing the transmission of the in-place signal. A stepped hole 230 is formed on the bottom plate 201. A spring is installed in the large hole of the stepped hole 230. A communication through hole 330 aligned with the position of the stepped hole 230 is formed on the top plate 301. The in-place pin 701 includes a large end, a limiting ring, and a small end. The small end of the in-place pin 701 passes through the communication through hole 330. The large end of the in-place pin 701 is located in the spring of the stepped hole 230. The limiting ring of the in-place pin 701 is located between the stepped hole 230 and the communication through hole 330, and the outer diameter of the limiting ring is greater than the aperture of the large hole of the stepped hole 230.

[0053] When the surgical instrument contacts and pushes the small end, the large end of the positioning pin 701 passes through the stepped hole 230 and triggers the corresponding area on the surgical robot, thereby providing the surgical robot with a signal indicating that the surgical instrument has been connected to the sterile adapter. The limiting ring can limit the maximum movement range of the positioning pin 701. When the surgical instrument is detached from the sterile adapter, the spring pushes the limiting ring so that the positioning pin rebounds to the initial position.

[0054] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0055] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0056] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model.

Claims

1. A sterile adapter for connecting a surgical instrument and a surgical robot, the sterile adapter comprising a bottom plate (201) and a top plate (301) respectively arranged on both sides of a sterile bag (100), wherein a transmission component (211) for connecting the surgical instrument and the surgical robot is arranged on the bottom plate (201) and the top plate (301); Features: A communication channel (260) is provided on the bottom plate (201), and a communication connector (601) is provided at a position of the top plate (301) aligned with the communication channel (260); The communication connector (601) is a metal sheet with a through hole, and the first connection part from the surgical robot passes through the communication channel (260) and contacts one side of the communication connector (601), and the second connection part from the surgical instrument contacts the other side of the communication connector (601).

2. A sterile adapter for connecting a surgical instrument and a surgical robot according to claim 1, characterized in that: Limiting protrusions (302) are provided on both sides of the top plate (301).

3. A sterile adapter for connecting a surgical instrument and a surgical robot according to claim 1, characterized in that: The edge sheet (101) of the sterile bag (100) is provided with a slide slot (103), and one end of the top plate (301) is provided with a vertical wall (401) that fits on the slide slot (103); The cross sections of the slide slot (103) and the vertical wall (401) are both trapezoidal; A plurality of reinforcing ribs (403) are evenly arranged on both side walls of the vertical wall (401).

4. A sterile adapter for connecting a surgical instrument and a surgical robot according to claim 3, characterized in that: A positioning protrusion (240) is provided at one end of the bottom plate (201) away from the communication channel (260), and a positioning groove (340) is provided at the bottom end of the vertical wall (401), and the positioning protrusion (240) is snap-fitted into the positioning groove (340).

5. The sterile adapter for connecting a surgical instrument and a surgical robot according to claim 1, characterized in that: The sterile adapter further comprises a clamping structure (501) for clamping the surgical instrument, wherein the clamping structure (501) comprises a latch arm (510) and an elastic element (511); The elastic element (511) is disposed on the bottom plate (201), and the latch arm (510) is installed on the elastic element (511) and penetrates the top plate (301).

6. A sterile adapter for connecting a surgical instrument and a surgical robot according to claim 5, characterized in that: The elastic element (511) is mounted on the bottom plate (201) through a mounting hole (513) on one side of the base plate, and a vertical spring sheet (512) is provided on the other side of the elastic element (511); The latch arm (510) is provided with a clamping protrusion (514) for connecting with the vertical elastic sheet (512).

7. A sterile adapter for connecting a surgical instrument and a surgical robot according to claim 6, characterized in that: The bottom plate (201) is provided with a placement groove (220), and the bottom end of the vertical spring sheet (512) is provided with a stop shaft (515), and the stop shaft (515) is located between the base plate of the elastic element (511) and the placement groove (220).

8. The sterile adapter for connecting a surgical instrument and a surgical robot according to claim 1, characterized in that: The sterile adapter also includes a positioning pin (701) for transmitting a positioning signal, one end of the positioning pin (701) is elastically arranged on the bottom plate (201), and the other end protrudes out of the top plate (301). The positioning pin (701) allows a surgical instrument to contact and push one end thereof so that the other end of the positioning pin (701) contacts the surgical robot, thereby realizing the transmission of the positioning signal.

9. A sterile adapter for connecting a surgical instrument and a surgical robot according to claim 8, characterized in that: The bottom plate (201) is provided with a stepped hole (230), a spring is installed in the large hole of the stepped hole (230), and the top plate (301) is provided with a communication through hole (330) aligned with the stepped hole (230); The positioning pin (701) comprises a large end, a limiting ring and a small end, the small end of the positioning pin (701) passes through the communication through hole (330), the large end of the positioning pin (701) is located in the spring of the stepped hole (230), the limiting ring of the positioning pin (701) is located between the stepped hole (230) and the communication through hole (330), and the outer diameter of the limiting ring is larger than the aperture of the large hole of the stepped hole (230).

10. The sterile adapter for connecting a surgical instrument and a surgical robot according to claim 1, characterized in that: The bottom plate (201) is provided with a plurality of clamping posts (250), and the top plate (301) is provided with a plurality of clamping holes (350) corresponding to the clamping posts (250). The clamping posts (250) are clamped in the clamping holes (350) one by one, thereby connecting the bottom plate (201) and the top plate (301) together.

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