Sterile isolation assembly and surgical robot

Abstract

The utility model relates to the technical field of surgical robots, and discloses a sterile isolation assembly and a surgical robot. The sterile isolation assembly comprises a sterile bag, the sterile bag comprises a base part used for being arranged on the instrument holding arm in a sleeving mode and an isolation cover used for containing the driving mechanism, the isolation cover comprises a matching part, and a through hole is formed in the matching part; the instrument adapter comprises two connecting plates, and the matching part is clamped between the two connecting plates; the conductive part is U-shaped and penetrates through the through hole, and the instrument adapter is inserted into the opening of the conductive part; the mounting piece is arranged in the through hole in a penetrating mode, the mounting piece can make the conductive piece abut against the instrument adapter, the mounting piece is provided with a positioning face, at least part of the positioning face is located on the outer side of the isolation cover, and the positioning face is used for being attached to the outer side wall of the instrument box. According to the sterile isolation assembly, the installation position of the instrument box can be conveniently determined, the replacement efficiency of surgical instruments in an operation is improved, the safety of the operation is improved, the number of parts of the sterile isolation assembly is prevented from being increased, and the sterile isolation assembly can be conveniently assembled.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical robots, and in particular to a sterile isolation component and a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. They consist of a surgeon's control unit and a patient's operating unit. The patient's operating unit includes a gripping arm for mounting surgical instruments. During surgery, the surgeon controls the instruments using a control handle on the surgeon's control unit. The gripping arm is equipped with a drive mechanism for actuating the instruments.

[0003] The surgical arm and drive mechanism are typically not sterilizable. Therefore, the surgical arm is equipped with a sterile isolation assembly, which includes a sterile bag. The bagging body of the sterile bag is designed to fit over the surgical arm, and the sterile cover on the sterile bag is designed to fit over the drive mechanism. The sterile cover is equipped with an instrument adapter, through which the surgical instrument box can be removably connected to the drive mechanism. The instrument adapter includes two plates, each of which is removably connected to the drive mechanism and the instrument box. The instrument adapter is also equipped with a conductive member for electrically connecting to the conductive contacts on the drive mechanism and the conductive contacts on the instrument box.

[0004] In the prior art, the sterile isolation assembly is first installed on the drive mechanism, and then the instrument cassette is installed. When installing the instrument cassette, the instrument cassette needs to be docked with the plate so that the conductive contacts on the instrument cassette are electrically connected to the conductive members. However, the sterile isolation assembly does not have a structure to achieve the positioning of the instrument cassette, which makes it difficult to dock the instrument cassette with the plate, affecting the efficiency of changing surgical instruments during surgery, thereby reducing surgical efficiency and safety.

[0005] Based on this, there is an urgent need for a sterile isolation component and a surgical robot to solve the problems mentioned above. Utility Model Content

[0006] The purpose of the present utility model is to provide a sterile isolation component and a surgical robot, which are convenient for determining the installation position of the instrument box, improve the efficiency of replacing surgical instruments during surgery, improve the safety of surgery, avoid increasing the number of parts of the sterile isolation component, and facilitate the assembly of the sterile isolation component.

[0007] To achieve this purpose, the present invention adopts the following technical solutions:

[0008] Sterile isolator kit, including:

[0009] The sterile bag comprises a base for being mounted on the holding arm and an isolation cover for accommodating the driving mechanism, wherein the base is in communication with the isolation cover, and the isolation cover comprises a mating portion, wherein the mating portion is arranged to be aligned with the output end of the driving mechanism and has a through hole formed therein;

[0010] An instrument adapter comprising two connecting plates, the matching portion being sandwiched between the two connecting plates, and the through hole being located on one side of the instrument adapter;

[0011] A conductive member, which is U-shaped, is inserted into the through hole, and the instrument adapter is inserted into the opening of the conductive member;

[0012] A mounting member is provided through the through hole, and the mounting member is located on the side of the conductive member opposite to the instrument adapter and is connected to the instrument adapter to press the conductive member against the instrument adapter. The mounting member is provided with a positioning surface that is at least partially located outside the isolation cover, and the positioning surface is used to fit with the outer wall of the instrument box.

[0013] As an optional technical solution for the sterile isolation component, notches are provided on the side walls of the two connecting plates, the two notches are arranged opposite to the through hole, and the two notches and the through hole are connected to form an installation channel, and the mounting part and the conductive part are both passed through the installation channel.

[0014] As an optional technical solution for the sterile isolation component, the side walls of the two notches away from the open end are set as the first mouth side walls, and the first mouth side walls are provided with a receiving groove. The receiving grooves on the two first mouth side walls are arranged opposite each other, and the conductive part is passed through the two opposite receiving grooves, and the side wall of the conductive part is arranged coplanar with the two first mouth side walls, so that the side wall of the mounting part fits with the side wall of the conductive part and the two first mouth side walls.

[0015] As an optional technical solution for the sterile isolation component, the gap has two oppositely arranged second mouth side walls, which are connected to the first mouth side wall and the corresponding side wall of the connecting plate. The two second mouth side walls of at least one of the gaps are respectively fitted with the two side walls of the mounting member.

[0016] As an optional technical solution of the sterile isolation assembly, the side wall of the mounting member opposite to the conductive member is coplanar with the side walls of the two connecting plates having the notches, and the through hole is provided on the side of the mating portion facing the open end of the isolation cover;

[0017] A sealing piece is provided in the base, one end of the sealing piece is fitted and connected to the side wall of the connecting plate, the sealing piece covers the mounting piece, and the other end of the sealing piece is fitted and connected to the sterile bag to seal the gap formed between the through hole and the mounting piece and the instrument adapter.

[0018] As an optional technical solution for the sterile isolation component, a plurality of first connecting members are provided on one of the two connecting plates, and a plurality of second connecting members are provided on the other, the first connecting members are passed through the mating portion, a plurality of the first connecting members are connected one-to-one with a plurality of the second connecting members, and a plurality of the first connecting members are arranged at intervals along the circumference of the corresponding connecting plate.

[0019] As an optional technical solution of the sterile isolation assembly, a connecting ring is provided on the outer side wall of the open end of the isolation cover along the circumferential direction, and the base is fitted and connected to the end face of the connecting ring; or,

[0020] A connecting ring is provided on the outer side wall of the base opening end in a circumferentially protruding manner. The connecting ring is provided at the base opening end, and the side wall of the isolation cover is fitted and connected to the side wall of the connecting ring.

[0021] As an optional technical solution for the sterile isolation assembly, a detection member is movably provided in the holding arm, and the detection member has a first position extending outward from the end of the holding arm and a second position retracted into the holding arm;

[0022] The sterile isolation assembly also includes a puncture adapter, which is arranged on the base and can be detachably mounted on the end of the holding arm. The puncture adapter is provided with an avoidance channel, which is connected to the inner side of the base. The detection component is passed through the avoidance channel. The puncture adapter is provided with an isolation membrane, which blocks the avoidance channel. A avoidance portion is formed on the isolation membrane, and the avoidance portion is arched toward the side opposite to the end of the holding arm. When the puncture adapter is configured to be mounted on the holding arm, the detection component is placed in the avoidance portion and is in the first position.

[0023] As an optional technical solution for the sterile isolation component, the first end of the detection member can extend out of the holding arm, the end of the first end of the detection member is arc-shaped, the avoidance portion is arc-shaped, and the thickness of the avoidance portion decreases from the middle to the periphery.

[0024] A surgical robot comprising the sterile isolation assembly as described above.

[0025] Beneficial effects of the utility model:

[0026] The sterile isolation assembly provided by the present invention includes a sterile bag, an instrument adapter, a conductive part, and a mounting part. A through hole is provided on the matching portion of the sterile bag. The mounting part can pass through the through hole while pressing the conductive part against the instrument adapter, so that the positioning surface is at least partially exposed to fit with the outer wall of the instrument box, thereby achieving the function of positioning the instrument box, making it easy to determine the installation position of the instrument box, thereby facilitating the connection between the instrument box and the connecting plate, improving the efficiency of preoperative installation and intraoperative replacement of surgical instruments, and improving the safety of the operation; at the same time, the through hole is provided on the matching portion to avoid the mounting part, so that the mounting part can achieve the function of positioning the instrument box, and also avoid the connection between the connecting plate or the sterile bag. Other positioning structures are provided on the bag to avoid increasing the number of parts of the sterile isolation assembly, simplifying the structure of the connecting plate, sterile bag and sterile isolation assembly, reducing production costs, and facilitating the assembly of the sterile isolation assembly; in addition, compared with providing the mounting piece on the inside of the sterile bag, when the instrument box is fitted with the mounting piece, the sterile bag may be damaged due to friction between the outer wall of the instrument box and the mounting piece. The mounting piece provided in this embodiment passes through the isolation cover and is directly fitted and positioned with the instrument box, reducing the possibility of damage to the sterile bag, ensuring the sterilization effect of the sterile bag, and further improving the safety of the operation.

[0027] The surgical robot provided by the present invention includes the above-mentioned sterile isolation component. The mounting part not only presses the conductive part against the instrument adapter, but also realizes the function of positioning the instrument box, which is convenient for determining the installation position of the instrument box and improves the efficiency of preoperative installation and intraoperative replacement of surgical instruments. At the same time, the mounting part can realize the function of positioning the instrument box, which is also beneficial to reducing the number of parts of the sterile isolation component, simplifying the structure of the sterile isolation component, reducing production costs, facilitating the assembly of the sterile isolation component, reducing the possibility of damage to the sterile bag, ensuring the sterilization effect of the sterile bag, and further improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of a sterile isolation assembly and a robotic arm provided in Example 1 of the present invention;

[0029] Figure 2 yes Figure 1 The structural diagram of the robotic arm is omitted;

[0030] Figure 3 This is a schematic structural diagram of the sterile isolation assembly provided in Example 1 of the present utility model from a first perspective;

[0031] Figure 4 This is a schematic structural diagram of the sterile isolation assembly provided in the first embodiment of the present invention from a second perspective;

[0032] Figure 5This is a structural diagram of the instrument adapter, the conductive member, and the mounting member provided in the first embodiment of the present utility model;

[0033] Figure 6 This is an exploded view of the instrument adapter, the conductive member, and the mounting member provided in the first embodiment of the present invention;

[0034] Figure 7 This is an exploded view of the instrument adapter provided in the first embodiment of the present utility model;

[0035] Figure 8 This is a cross-sectional view of a sterile isolation assembly provided in Example 1 of the present utility model;

[0036] Figure 9 yes Figure 8 Schematic diagram of the structure at A in the middle;

[0037] Figure 10 This is a schematic structural diagram of a sterile bag provided in Example 1 of the present utility model;

[0038] Figure 11 This is a partial structural diagram of the sterile isolation assembly provided in Example 1 of the present utility model;

[0039] Figure 12 This is a structural diagram of a matching portion and a connecting plate provided in the first embodiment of the present invention;

[0040] Figure 13 This is an exploded view of the holding arm, trocar assembly, and trocar adapter provided in the first embodiment of the present invention;

[0041] Figure 14 This is a cross-sectional view of the trocar adapter provided in the first embodiment of the present invention;

[0042] Figure 15 This is a partial structural diagram of the sterile isolation assembly provided in Example 2 of the present utility model.

[0043] In the picture:

[0044] 10. Arm; 101. Detection element; 20. Drive mechanism; 30. Instrument box; 40. Conductive contact; 50. Trocar assembly;

[0045] 1. Sterile bag; 11. Base; 12. Isolation cover; 121. Fitting portion; 1211. Through hole; 1212. Perforation; 13. Connecting ring;

[0046] 2. Instrument adapter; 21. Connecting plate; 22. Notch; 221. First port side wall; 2211. Accommodation groove; 222. Second port side wall; 23. Mounting groove;

[0047] 3. Conductive member; 4. Mounting member; 41. Positioning surface; 42. Mounting portion;

[0048] 5. Blocking piece; 6. First connecting piece; 7. Second connecting piece;

[0049] 8. Trocar adapter; 81. Avoidance channel; 82. Isolation membrane; 821. Avoidance portion. DETAILED DESCRIPTION

[0050] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0051] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0052] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0053] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0054] This embodiment provides a surgical robot, which includes a doctor control end and a patient operation end. Figure 1-Figure 4As shown, the patient's surgical end includes a surgical arm 10. Arm 10 is equipped with a drive mechanism 20 for mounting surgical instruments. Drive components are internally mounted within drive mechanism 20, enabling it to drive the surgical instruments to perform surgical procedures. During surgery, the surgeon controls the surgical instruments using a control handle on the surgeon's control end.

[0055] Specifically, if Figures 1-14 As shown, the sterile isolation assembly includes a sterile bag 1 and an instrument adapter 2. The sterile bag 1 includes a base 11 and an isolation cover 12. The base 11 is cylindrical and is used to be mounted on the instrument holding arm 10. The isolation cover 12 is hollow inside and open at one end. The isolation cover 12 is used to accommodate the drive mechanism 20. The base 11 has an opening, and the opening of the isolation cover 12 is directly opposite and connected to the opening of the base 11. The edge of the opening end of the isolation cover 12 is circumferentially sealed to the edge of the opening end of the base 11, ensuring the sterilization effect of the sterile bag 1.

[0056] In this embodiment, base 11 can be made of materials such as polypropylene, polyethylene, or polytetrafluoroethylene. Base 11 is a flexible film that can follow the movement of robotic arm 10. Base 11 should be larger than robotic arm 10. During surgery, base 11 covers robotic arm 10, and its dimensions should ensure that it does not interfere with the movement of robotic arm 10.

[0057] The isolation cover 12 can be made of materials such as polypropylene, polyethylene, polytetrafluoroethylene, polyvinyl chloride, rubber or silicone. The material of the isolation cover 12 can be the same as or different from the material of the base 11. The isolation cover 12 should have a certain hardness and be roughly in the shape of a rectangular shell. When the drive mechanism 20 is placed in the isolation cover 12, the deformation of the isolation cover 12 should be small to avoid the isolation cover 12 being pulled and exerting excessive force on the drive mechanism 20 during the movement of the robotic arm 10, thereby ensuring that the drive mechanism 20 can reliably drive the surgical instrument to perform the surgical operation. The isolation cover 12 is an integrated structure and can be made by stamping, hot pressing, injection molding, casting, blow molding or blister molding.

[0058] The isolation cover 12 and the base 11 may be integrally formed, or the isolation cover 12 and the base 11 may be connected by bonding, hot pressing or other processes, which are not limited here.

[0059] Furthermore, the sterile isolation assembly also includes a conductive member 3 and a mounting member 4. The isolation cover 12 includes a mating portion 121, which is used to be arranged opposite to the output end of the drive mechanism 20. A through hole 1211 is provided on the mating portion 121. The instrument adapter 2 is connected to the sterile bag 1. The instrument adapter 2 includes two connecting plates 21, and the mating portion 121 is clamped between the two connecting plates 21, so that one connecting plate 21 is placed on the inner side of the sterile bag 1 and is used for detachable connection with the drive mechanism 20, and the other connecting plate 21 is placed on the outer side of the sterile bag 1 and is used for detachable connection with the instrument box 30 of the surgical instrument. The through hole 1211 is located on one side of the instrument adapter 2. The conductive member 3 is U-shaped, and the conductive member 3 is passed through the through hole 1211. One side of the instrument adapter 2 is inserted into the opening of the conductive member 3, that is, the two connecting plates 21 of the instrument adapter 2 are both inserted into the conductive member 3. The mounting member 4 is passed through the through hole 1211. The mounting member 4 is located on the side of the conductive member 3 opposite to the instrument adapter 2 and is connected to the instrument adapter 2 to press the conductive member 3 against the instrument adapter 2. The mounting member 4 is provided with a positioning surface 41 that is at least partially located on the outside of the isolation cover 12. The positioning surface 41 is used to fit with the outer wall of the instrument box 30.

[0060] The sterile isolation assembly provided in this embodiment includes a sterile bag 1, an instrument adapter 2, a conductive member 3 and a mounting member 4. A through hole 1211 is provided on the matching portion 121 of the sterile bag 1. The mounting member 4 can pass through the through hole 1211 while pressing the conductive member 3 against the instrument adapter 2, so that the positioning surface 41 is at least partially exposed to fit with the outer wall of the instrument box 30, and the function of positioning the instrument box 30 is achieved, which makes it easy to determine the installation position of the instrument box 30, thereby facilitating the connection between the instrument box 30 and the connecting plate 21, improving the efficiency of preoperative installation and intraoperative replacement of surgical instruments, and improving the safety of the operation; at the same time, the through hole 1211 is provided on the matching portion 121, which can avoid the mounting member 4, so that the mounting member 4 can achieve the function of positioning the instrument box 30, and also avoid Other positioning structures are provided on the connecting plate 21 or the sterile bag 1, which is beneficial to reducing the number of parts of the sterile isolation assembly, simplifying the structure of the connecting plate 21, the sterile bag 1 and the sterile isolation assembly, reducing production costs, and facilitating the assembly of the sterile isolation assembly; in addition, compared with setting the mounting member 4 on the inner side of the sterile bag 1, when the instrument box 30 is fitted with the mounting member 4, the sterile bag 1 may be damaged due to the friction between the outer wall of the instrument box 30 and the mounting member 4. The mounting member 4 provided in this embodiment passes through the isolation cover 12 and is directly fitted and positioned with the instrument box 30, reducing the possibility of damage to the sterile bag 1, ensuring the sterilization effect of the sterile bag 1, and further improving the safety of the operation.

[0061] The surgical robot provided in this embodiment includes the above-mentioned sterile isolation component. The mounting member 4 not only presses the conductive member 3 against the instrument adapter 2, but also positions the instrument box 30, which facilitates determining the installation position of the instrument box 30 and improves the efficiency of preoperative installation and intraoperative replacement of surgical instruments. At the same time, the mounting member 4 can be used to position the instrument box 30, which is also beneficial to reducing the number of parts of the sterile isolation component, simplifying the structure of the sterile isolation component, reducing production costs, facilitating the assembly of the sterile isolation component, and reducing the possibility of damage to the sterile bag 1, thereby ensuring the sterilization effect of the sterile bag 1 and further improving the safety of the operation.

[0062] In this embodiment, the connecting plate 21 is connected to the instrument box 30 and the driving mechanism 20 through a snap-fit ​​structure. The snap-fit ​​structure is a prior art and is not the focus of protection of this embodiment, so it will not be described in detail here.

[0063] In this embodiment, the conductive member 3 is made of a conductive material such as metal. The conductive member 3 is formed by bending a metal sheet. The conductive member 3 has two parallel and oppositely arranged side arms and a connecting arm connected between the two side arms. The connecting arm is inserted into the through hole 1211. The instrument adapter 2 is inserted into the opening of the conductive member 3 so that the two side arms of the conductive member 3 are respectively placed on the two connecting plates 21 facing away from each other. The conductive contacts 40 on the instrument box 30 and the drive mechanism 20 are respectively electrically connected to the two side arms, so that the conductive contacts 40 on the instrument box 30 and the drive mechanism 20 can be electrically connected through the conductive member 3. The conductive contacts 40 on the instrument box 30 are not shown in the figure.

[0064] In this embodiment, both connecting plates 21 in the instrument adapter 2 are non-deformable. The connecting plates 21 can be made of thermosetting resin or other insulating materials.

[0065] As previously described, "through hole 1211 is located on one side of the instrument adapter 2" indicates that both the conductive member 3 and the mounting member 4 are located on one side of the instrument adapter 2. A mounting slot 23 is provided on the side wall of the instrument adapter 2 facing the mounting member 4. A protruding mounting portion 42 is provided on the mounting member 4, which is capable of extending into the mounting slot 23 and connecting to the connecting plate 21. In this embodiment, the mounting portion 42 is configured as a hook, and a protrusion is provided within the mounting slot 23. The mounting portion 42 and the connecting plate 21 are connected by the hook and protrusion. In other embodiments, the mounting member 4 and the instrument adapter 2 may be connected by other structures, which are not limited here.

[0066] Furthermore, a mounting groove 23 is formed on the connecting plate 21 located inside the sterile bag 1 . The mounting groove 23 may or may not pass through the end surface of the connecting plate 21 facing the matching portion 121 .

[0067] As a preferred embodiment, notches 22 are formed in the sidewalls of both connecting plates 21. Both notches 22 are positioned opposite through-hole 1211, and the two notches 22 and through-hole 1211 communicate with each other to form a mounting channel. The mounting member 4 and the conductive member 3 are both disposed within the mounting channel, that is, both the mounting member 4 and the conductive member 3 are positioned within the notches 22. This improves the compactness of the structure between the instrument adapter 2, the conductive member 3, and the mounting member 4, reduces the volume of the sterile isolation assembly, and reduces the space occupied by the sterile isolation assembly, thereby increasing the flexibility of the surgical robot, reducing the possibility of interference during the movement of the robotic arm 10, and improving surgical safety.

[0068] In this embodiment, through hole 1211 is located on the side of the instrument adapter 2 facing the arm 10. Furthermore, through hole 1211 is provided on the side of the mating portion 121 facing the open end of the isolation cover 12. Through hole 1211 may extend through the edge of the open end of the isolation cover 12, or it may not extend through the edge of the open end of the isolation cover 12, which is not limited herein.

[0069] Furthermore, the side walls of the two notches 22 away from the open ends are set as first side walls 221, and the first side walls 221 are provided with receiving grooves 2211. The receiving grooves 2211 on the two first side walls 221 are arranged opposite each other. The conductive member 3 is inserted into the two receiving grooves 2211 arranged opposite each other, and the side walls of the conductive member 3 are arranged coplanar with the two first side walls 221, so that the side walls of the mounting member 4 are in contact with the side walls of the conductive member 3 and the two first side walls 221. The above arrangement further improves the structural compactness between the instrument adapter 2, the conductive member 3 and the mounting member 4, and also prevents bacteria on the drive mechanism 20 from entering the sterile environment outside the sterile bag 1 through the gap between the mounting member 4 and the conductive member 3 or the first side walls 221, thereby ensuring the bacteria isolation function of the sterile isolation component, reducing the risk of infection for the patient, and improving the safety of the operation.

[0070] In this embodiment, the connecting arms of the conductive member 3 are placed in two opposite receiving grooves 2211 , and the sidewalls of the conductive member 3 exposed from the receiving grooves 2211 are coplanar with the first opening sidewall 221 .

[0071] In this embodiment, the side wall of the mounting member 4 facing the accommodating groove 2211 is a positioning surface 41 , and the positioning surface 41 is fitted with the side wall of the conductive member 3 and the outer side wall of the instrument box 30 .

[0072] In this embodiment, the first port side wall 221 is provided with the aforementioned mounting groove 23 , and the positioning surface 41 of the mounting member 4 is provided with a mounting portion 42 .

[0073] Preferably, an elastic layer can be provided on the side wall of the mounting member 4 facing the accommodating groove 2211. The elastic layer is made of rubber or other materials, which can further play a sealing role, and the elastic layer can also play an insulating role. The mounting member 4 can be selected from insulating or conductive materials, which expands the selection range of the material of the mounting member 4.

[0074] Specifically, the notch 22 has two oppositely disposed second side walls 222, and the second side walls 222 are connected to the first side wall 221 and the corresponding side wall of the connecting plate 21. In other words, the notch 22 is U-shaped, and the side walls of the notch 22 include two second side walls 222 disposed opposite each other and a first side wall 221 connected between the two second side walls 222. The two second side walls 222 of at least one notch 22 are respectively fitted with the two side walls of the mounting member 4. The above arrangement prevents bacteria on the inside of the sterile bag 1 from entering the sterile environment outside the sterile bag 1 through the gap between the mounting member 4 and the second side walls 222, further ensuring the bacteria isolation function of the sterile isolation assembly, reducing the risk of infection for the patient, and improving the safety of the operation.

[0075] In this embodiment, the two second side walls 222 of the two notches 22 are both in contact with the two side walls of the mounting member 4 .

[0076] It can be understood that the side walls of the connecting arm on the conductive part 3 are in contact with the side walls on the corresponding sides of the receiving groove 2211, which further prevents the bacteria on the driving mechanism 20 from entering the sterile environment outside the sterile bag 1 through the gap between the conductive part 3 and the side walls of the receiving groove 2211, thereby ensuring the safety of the operation.

[0077] In this embodiment, both the notch 22 and the through-hole 1211 have roughly rectangular outlines, with their long sides and short sides parallel to each other. The long side of the notch 22 is shorter than the long side of the through-hole 1211, and the short side of the notch 22 is shorter than the short side of the through-hole 1211. Projected along the thickness of the connecting plate 21, the outline of the notch 22 lies inward of the outline of the through-hole 1211. The notches 22 on the two connecting plates 21 are identical in size, so that when the mating portion 121 is sandwiched between the two connecting plates 21, only a mounting channel the size of the notch 22 is formed.

[0078] Therefore, the three side walls of the mounting member 4 are respectively fitted with the first port side wall 221 and the two second port side walls 222, ensuring that bacteria inside the sterile bag 1 cannot enter the sterile environment outside the sterile bag 1 through the gap between the mounting member 4 and the side walls of the mounting channel.

[0079] As a preferred embodiment, the sidewall of the mounting member 4, facing away from the conductive member 3, is coplanar with the sidewalls of the two connecting plates 21 having the notches 22. A sealing member 5 is disposed within the base 11 and is located outside the opening of the isolation cover 12. One end of the sealing member 5 is affixed to the sidewall of the connecting plate 21, covering the mounting member 4. The other end of the sealing member 5 is affixed to the sterile bag 1 to seal the gap formed between the through hole 1211 and the mounting member 4 and the instrument adapter 2. Furthermore, the width of the sealing member 5 should be greater than the width of the through hole 1211 to completely cover the gap formed between the through hole 1211, the mounting member 4, and the instrument adapter 2.

[0080] The above-mentioned arrangement prevents bacteria on the inside of the sterile bag 1 from entering the sterile environment outside the sterile bag 1 through the gap between the mounting member 4 and the second side wall 222, further ensuring the sterilization effect of the sterile isolation assembly, reducing the risk of infection for the patient, and improving the safety of the operation; in addition, the arrangement of the blocking member 5 can also fix the sterile bag 1 on the side wall of the connecting plate 21, thereby increasing the connection structure between the sterile bag 1 and the instrument adapter 2, facilitating the fixing of the relative position between the sterile bag 1 and the instrument adapter 2, reducing the possibility of displacement between the sterile bag 1 and the instrument adapter 2, and avoiding the possibility that the holding arm 10 pulls the sterile bag 1 during movement, causing the isolation cover 12 to be pulled and exerting excessive force on the driving mechanism 20.

[0081] In order to clearly show the relevant structure, the blocking member 5 is Figure 11 The base 11 is shown as a dotted box in Figure 11 In this embodiment, the blocking member 5 is an adhesive structure with an adhesive layer on one side, such as tape, which avoids the need for a separate connection structure, facilitates connection of the blocking member 5 with the mounting member 4, the instrument adapter 2, and the sterile bag 1, and simplifies the structure of the sterile isolation assembly.

[0082] As a preferred embodiment, a plurality of first connectors 6 are provided on one of the two connecting plates 21, and a plurality of second connectors 7 are provided on the other. The first connectors 6 are provided through the mating portion 121, and the plurality of first connectors 6 are connected to the plurality of second connectors 7 in a one-to-one correspondence. The plurality of first connectors 6 are arranged at intervals along the circumference of the corresponding connecting plate 21. Through the above arrangement, the first connectors 6 and the second connectors 7 can realize the connection of the two connecting members 21 to the mating portion 121. At the same time, after the first connectors 6 pass through the mating portion 121 and then connect to the corresponding second connector 7, they can also play a role in determining the relative position between the mating portion 121 and the connecting plate 21.

[0083] Specifically, the first connector 6 is provided on the connecting plate 21 located outside the sterile bag 1, and the second connector 7 is provided on the connecting plate 21 located inside the sterile bag 1. A through hole 1212 is provided on the matching portion 121 for the first connector 6 to pass through.

[0084] In this embodiment, the first connecting member 6 is a hook, and the second connecting member 7 is a bayonet, and the first connecting member 6 is connected to the second connecting member 7 by snapping. In other embodiments, the first connecting member 6 and the second connecting member 7 can also be set as other connection structures, which are not limited here.

[0085] Preferably, the connecting plate 21 is roughly square, and the four corners of the connecting plate 21 are rounded. A first connecting member 6 is provided at the four corners of the connecting plate 21. The first connecting member 6 at each corner of the connecting plate 21 is arc-shaped, and the first connecting member 6 is roughly parallel to the side wall at the corresponding corner, that is, the first connecting member 6 at the corner of the connecting plate 21 is arc-shaped, which further ensures that the first connecting member 6 plays a role in determining the relative position between the mating portion 121 and the connecting plate 21.

[0086] In this embodiment, a detection member 101 is movably disposed within the holding arm 10. The detection member 101 has a first position, extending from the end of the holding arm 10, and a second position, retracted within the holding arm 10. The detection member 101 is used to detect the installation status of the puncture assembly 50 at the end of the holding arm 10. When the puncture assembly 50 is not installed at the end of the holding arm 10, the detection member 101 is in the first position. When the puncture assembly 50 is installed at the end of the holding arm 10, the puncture assembly 50 can push the detection member 101 from the first position to the second position, whereupon the detection member 101 triggers a detection switch located within the end of the holding arm 10.

[0087] The sterile isolation assembly also includes a trocar adapter 8, which is mounted on the base 11. The trocar adapter 8 is generally annular, with its edge circumferentially sealed to the base 11. The trocar adapter 8 is connected between the distal end of the holding arm 10 and the trocar assembly 50. The trocar adapter 8 is removably mounted on the distal end of the holding arm 10 and is removably connected to the distal end of the holding arm 10 via a snap mechanism. The trocar assembly 50 is removably connected to the trocar adapter 8 via a snap mechanism.

[0088] The trocar adapter 8 defines an escape channel 81, which communicates with the inner side of the base 11. The detection element 101 is disposed within the escape channel 81. A barrier diaphragm 82 is disposed on the trocar adapter 8, which blocks the escape channel 81. A barrier diaphragm 82 defines an escape portion 821, which arches toward the side facing away from the holding arm 10. When the trocar adapter 8 is mounted on the holding arm 10, the detection element 101 is positioned within the escape portion 821 and in the first position. By providing the isolation membrane 82, the avoidance channel 81 can be blocked, thereby preventing bacteria on the inside of the sterile bag 1 from entering the sterile environment outside the sterile bag 1 through the avoidance channel 81, further ensuring the bacteria isolation function of the sterile isolation component, reducing the risk of infection for patients, and improving the safety of the operation; in addition, by providing the arched avoidance portion 821, the detection component 101 can be avoided. When the puncture assembly 50 is not installed at the end of the mechanical arm 10, the isolation membrane 82 is prevented from pushing the detection component 101 from the first position to the second position, ensuring that the detection component 101 can accurately detect the installation status of the puncture assembly 50, thereby improving the safety of the operation.

[0089] Specifically, when the trocar adapter 8 is mounted on the arm 10 , the detection member 101 is placed in the avoidance portion 821 and is in the first position, and the interaction force between the avoidance portion 821 and the detection member 101 is zero.

[0090] In this embodiment, the isolation membrane 82 is made of rubber and is integrally formed. The isolation membrane 82 is bonded to the trocar adapter 8 via an adhesive layer.

[0091] In this embodiment, the first end of the detection member 101 can extend out of the robotic arm 10. Preferably, the end of the first end of the detection member 101 is arc-shaped, the avoidance portion 821 is arc-shaped, and the thickness of the avoidance portion 821 decreases from the middle to the periphery. When the detection member 101 contacts the puncture assembly 50, the center of the first end of the detection member 101 contacts the puncture assembly 50, so the center of the first end of the detection member 101 exerts the greatest pressure on the avoidance portion 821. The thickness of the avoidance portion 821 is set to decrease from the middle to the periphery, which reduces the possibility of damage to the avoidance portion 821, ensures the integrity of the avoidance portion 821, and prevents bacteria on the inside of the sterile bag 1 from entering the sterile environment outside the sterile bag 1 through the damaged part of the avoidance portion 821, further ensuring the bacteria isolation function of the sterile isolation assembly, reducing the risk of infection for the patient, and improving the safety of the operation.

[0092] Example 2

[0093] This embodiment provides a sterile isolation component and a surgical robot. The structures of the sterile isolation component and the surgical robot in this embodiment are basically the same as those in the first embodiment, with only the sterile bag structure being different. This embodiment will not repeat the same structure.

[0094] like Figure 15 As shown, the isolation cover 12 is provided separately from the base 11. Preferably, a connecting ring 13 is provided on the outer wall of the open end of the isolation cover 12, protruding circumferentially. The base 11 is fitted and connected to the end surface of the connecting ring 13. This arrangement increases the connection area between the base 11 and the isolation cover 12, ensuring a reliable connection between the base 11 and the isolation cover 12. In this embodiment, the connecting ring 13 is integrally formed with the isolation cover 12.

[0095] In some embodiments, a connecting ring 13 may be provided on the outer side wall of the open end of the base 11 and protrudes circumferentially. The connecting ring 13 is provided at the open end of the base 11, and the outer side wall of the isolation cover 12 is fitted and connected to the side wall of the connecting ring 13. In this case, the connecting ring 13 and the base 11 are integrally formed.

[0096] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A sterile isolation assembly, characterized in that: include: The sterile bag comprises a base for being mounted on the holding arm and an isolation cover for accommodating the driving mechanism, wherein the base is in communication with the isolation cover, and the isolation cover comprises a mating portion, wherein the mating portion is arranged to be aligned with the output end of the driving mechanism and has a through hole formed therein; An instrument adapter comprising two connecting plates, the matching portion being sandwiched between the two connecting plates, and the through hole being located on one side of the instrument adapter; A conductive member, which is U-shaped, is inserted into the through hole, and the instrument adapter is inserted into the opening of the conductive member; A mounting member is provided through the through hole, and the mounting member is located on the side of the conductive member opposite to the instrument adapter and is connected to the instrument adapter to press the conductive member against the instrument adapter. The mounting member is provided with a positioning surface that is at least partially located outside the isolation cover, and the positioning surface is used to fit with the outer wall of the instrument box.

2. The sterile isolation assembly according to claim 1, characterized in that Notches are provided on the side walls of the two connecting plates, and the two notches are arranged opposite to the through holes. The two notches and the through holes are connected to form a mounting channel, and the mounting member and the conductive member are both passed through the mounting channel.

3. The sterile isolation assembly according to claim 2, characterized in that: The side walls of the two notches away from the opening end are set as the first opening side walls, and the first opening side walls are provided with a receiving groove. The receiving grooves on the two first opening side walls are arranged opposite each other, and the conductive member is passed through the two opposite receiving grooves, and the side wall of the conductive member is arranged coplanar with the two first opening side walls, so that the side wall of the mounting member is in contact with the side wall of the conductive member and the two first opening side walls.

4. The sterile isolation assembly according to claim 3, characterized in that The notch has two oppositely arranged second side walls, which are connected to the first side wall and the corresponding side wall of the connecting plate. The two second side walls of at least one notch are respectively fitted with the two side walls of the mounting member.

5. The sterile isolation assembly according to claim 3, characterized in that: The side wall of the mounting member opposite to the conductive member is coplanar with the side walls of the two connecting plates where the notches are formed, and the through hole is formed on the side of the matching portion facing the open end of the isolation cover; A sealing piece is provided in the base, one end of the sealing piece is fitted and connected to the side wall of the connecting plate, the sealing piece covers the mounting piece, and the other end of the sealing piece is fitted and connected to the sterile bag to seal the gap formed between the through hole and the mounting piece and the instrument adapter.

6. The sterile isolation assembly according to any one of claims 1 to 5, characterized in that: A plurality of first connecting members are provided on one of the two connecting plates, and a plurality of second connecting members are provided on the other. The first connecting members are passed through the mating portion, and a plurality of the first connecting members are connected to a plurality of the second connecting members in a one-to-one correspondence. The plurality of first connecting members are arranged at intervals along the circumference of the corresponding connecting plate.

7. The sterile isolation assembly according to any one of claims 1 to 5, characterized in that: A connecting ring is provided on the outer side wall of the open end of the isolation cover in a circumferentially protruding manner, and the base is fitted and connected to the end surface of the connecting ring; or, A connecting ring is provided on the outer side wall of the base opening end in a circumferentially protruding manner. The connecting ring is provided at the base opening end, and the side wall of the isolation cover is fitted and connected to the side wall of the connecting ring.

8. The sterile isolation assembly according to any one of claims 1 to 5, characterized in that: A detection member is movably provided in the holding arm, and the detection member has a first position extending outward from the end of the holding arm and a second position retracted into the holding arm; The sterile isolation assembly also includes a puncture adapter, which is arranged on the base and can be detachably mounted on the end of the holding arm. The puncture adapter is provided with an avoidance channel, which is connected to the inner side of the base. The detection component is passed through the avoidance channel. The puncture adapter is provided with an isolation membrane, which blocks the avoidance channel. A avoidance portion is formed on the isolation membrane, and the avoidance portion is arched toward the side opposite to the end of the holding arm. When the puncture adapter is configured to be mounted on the holding arm, the detection component is placed in the avoidance portion and is in the first position.

9. The sterile isolation assembly according to claim 8, characterized in that: The first end of the detection member can extend out of the mechanical arm, the end of the first end of the detection member is arc-shaped, the avoidance portion is arc-shaped, and the thickness of the avoidance portion decreases from the middle to the periphery.

10. A surgical robot, characterized in that: The invention comprises a sterile isolation assembly according to any one of claims 1 to 9.

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