Puncture robot and sterile cover for an interventional puncture robot arm

Abstract

The application relates to a puncture surgical robot and a sterile cover for an interventional puncture surgical mechanical arm. The sterile cover comprises a protective sleeve, at least one profiling piece and a first fixing structure. The protective sleeve is used for sleeving an execution end; the at least one profiling piece comprises a moving profiling piece, the moving profiling piece has an opening, the profiling piece is communicated with the protective sleeve through the opening, and the profiling piece is used for adapting to the shape of an execution mechanism of the execution end to be sleeved outside the execution mechanism; and the moving profiling piece is fixedly connected with the execution mechanism through a second fixing structure, so that the cross-sectional dimension of the sterile cover in a first direction can be effectively reduced, that is, the redundancy of the sterile cover is reduced, and the risk of infection caused by the puncture needle puncturing the sterile cover is avoided.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to puncture surgery robots and sterile covers for robotic arms used in interventional puncture surgery. Background Technology

[0002] Percutaneous interventional surgery, with its advantages of minimal invasiveness and rapid postoperative recovery, has been widely used in the early diagnosis of tumors. To accurately locate lesions, most percutaneous interventional surgeries are performed under the guidance of CT images. With the development of technology, puncture surgical robots have begun to be used in clinical practice. Common percutaneous interventional procedures include puncture drainage, ablation, and particle implantation. In addition to single-needle procedures, multi-needle procedures are also quite common.

[0003] When performing robotic surgery, a sterile cover is usually placed over the surgical robot to reduce the risk of infection for the patient. Due to the limitations of the CT cavity, surgery is performed within a limited space. The sterile covers in related technologies are often bulky and redundant. During single-needle and multi-needle punctures, the sterile cover can easily interfere with the puncture instruments, leading to the sterile cover being punctured by the puncture needle and posing a risk of infection. Utility Model Content

[0004] Therefore, it is necessary to provide a puncture surgery robot and a sterile cover for an interventional puncture surgery robotic arm to address the problem of excessive redundancy in sterile covers.

[0005] A sterile hood for an interventional puncture surgical robotic arm, the sterile hood comprising:

[0006] A protective sleeve is used to cover the end effector of the surgical robotic arm;

[0007] At least one profiler having an opening, the protective sleeve communicating with the profiler around the opening, and at least one profiler being a movable profiler adapted to the shape of the actuator of the end effector for fitting over the actuator.

[0008] The first fixed structure is used to fix the movable contouring component to the actuator.

[0009] In one embodiment, the sterile cover includes a second fixing structure, and the movable conforming member is provided with the second fixing structure on at least one side along a first direction. The protective sleeve is used to fix the actuator end via the second fixing structure, and the first direction is the movement direction of the actuator.

[0010] In one embodiment, the second fixing structure and the first fixing structure are any one of a magnetic structure, a snap-on structure, a concealed snap structure, a rubber plug structure, and a Velcro structure.

[0011] In one embodiment, the first fixing structure includes an annular elastic snap-fit ​​member, the opening of the movable contour member is sealed to the inner wall of the elastic snap-fit ​​member, and the inner wall of the first fixing structure is used to snap with the actuator.

[0012] In one embodiment, the protective sleeve includes a first protective segment and a second protective segment connected in sequence and arranged at an angle, the first protective segment extending along a first direction, and the movable contouring member disposed on the first protective segment.

[0013] In one embodiment, the first protection segment has an end face away from the second protection segment, the first direction is perpendicular to the end face, and the end face is fixedly connected to the execution end via the second fixing structure.

[0014] In one embodiment, a light-transmitting opening is provided on the end face.

[0015] In one embodiment, at least one of the contouring elements is a fixed contouring element, which is disposed at the end of the first protection section away from the second protection section. The shape of the fixed contouring element is adapted to the shape of the guide mechanism so that the fixed contouring element is fitted onto the guide mechanism at the execution end.

[0016] In one embodiment, the end of the second protective segment away from the first protective segment is provided with an outwardly folded flange to form a finger operation channel between the second protective segment and the flange.

[0017] In one embodiment, the contouring member extends along a second direction toward the side away from the protective cover, the second direction being angled relative to the first direction.

[0018] In one embodiment, the profiling element extends along a first direction toward the side closer to the object to be punctured.

[0019] In one embodiment, the thickness or stiffness of the contouring element is greater than the thickness or stiffness of the protective sleeve.

[0020] A sterile hood for an interventional puncture surgical robotic arm, the sterile hood comprising:

[0021] A protective sleeve is used to cover the end effector of the surgical robotic arm;

[0022] At least one profiler having an opening, the protective sleeve communicating with the profiler around the opening, the profiler being disposed on one side of the protective sleeve along a second direction, and the profiler extending along the second direction away from the protective sleeve.

[0023] In one embodiment, the conforming member includes a first sleeve portion and a second sleeve portion disposed opposite to each other along a third direction, and an abutting portion disposed between the first sleeve portion and the second sleeve portion. The ends of the first sleeve portion and the second sleeve portion extend out of the abutting portion along a second direction away from the protective sleeve. The third direction is respectively set at an angle to the first direction and the second direction.

[0024] In one embodiment, the conforming member includes a first connecting segment and a second connecting segment connected in sequence. The end of the first connecting segment away from the second connecting segment is connected to the protective sleeve. The second connecting segment includes a first clamping portion, a second clamping portion, and the abutting portion. The first clamping portion, the second clamping portion, and the abutting portion are all in communication with the first connecting segment.

[0025] In one embodiment, the profiling element extends along a first direction toward the side closer to the object to be punctured.

[0026] In one embodiment, the extension direction of the first connecting segment is inclined to both the first direction and the second direction.

[0027] A puncture surgical robot includes a surgical cart, a robotic arm, an end effector, an actuator, and a sterile hood. One end of the robotic arm is mounted on the surgical cart, the end effector is mounted on the end of the robotic arm away from the surgical cart, the actuator is slidably mounted on the end effector along a first direction, the sterile hood is fitted over the end effector, and a contoured part is adapted to the shape of the actuator of the end effector for fitting over the actuator.

[0028] The aforementioned puncture surgery robot and the sterile cover of the robotic arm used for interventional puncture surgery are fitted onto the end effector. The shape of the movable profiling component adapts to the shape of the actuator, allowing it to conform to the actuator when fitted. This effectively reduces the cross-sectional dimension of the sterile cover along the first direction, thus reducing its redundancy. During single-needle and multi-needle punctures, the smaller cross-sectional dimension of the sterile cover along the first direction reduces interference with the puncture instruments, avoiding the risk of infection from needle puncture. Simultaneously, the movable profiling component is fixedly connected to the actuator via a first fixing structure. This first fixing structure ensures stable cooperation between the movable profiling component and the actuator during surgery, preventing displacement due to vibrations or instrument movement, thus ensuring effective management of the redundant portion of the sterile cover. When the actuator moves along the first direction, it moves the movable profiling component along the same direction to prevent interference between the sterile cover and the actuator, thus avoiding interference with the actuator's movement along the first direction. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a puncture surgery robot and a CT device working together in one embodiment.

[0030] Figure 2 This is an exploded structural diagram of the sterile hood and the execution end in one embodiment.

[0031] Figure 3 This is a schematic diagram of the structure of the sterile hood in one embodiment when it is not punctured.

[0032] Figure 4 This is a schematic diagram of the protective sleeve and end face in one embodiment.

[0033] Figure 5 This is a schematic diagram of the structure of the moving contouring component and the actuator in one embodiment.

[0034] Figure 6 This is a schematic diagram of the first fixed structure between the moving contour member and the actuator in another embodiment.

[0035] Figure 7 This is a schematic diagram of the structure in one embodiment where the movable contouring component is fitted onto the actuator.

[0036] Figure 8 This is a schematic diagram of the second fixing structure in another embodiment.

[0037] Reference numerals: 10. Sterile hood; 20. Robotic arm; 30. End effector; 31. Actuator; 32. Guide mechanism; 34. Connecting part; 35. Clearance part; 36. Clamping part; 37. Positioning element; 40. Surgical trolley; 50. CT chamber;

[0038] 100. Protective cover; 110. First protective section; 120. Second protective section; 121. Flanged edge; 122. Finger operation channel; 130. End face; 131. Light transmission port;

[0039] 200, Copying component; 200a, Movable copying component; 220b, Fixed copying component; 210, First connecting section; 220, Second connecting section; 221, First clamping part; 222, Second clamping part; 223, Abutting part;

[0040] 310. Second fixing structure; 311. First magnet; 312. Second magnet; 313. Elastic claw; 314. Locking part; 315. Elastic snap-fit ​​part; 316. Snap-fit ​​structure; 320. First fixing structure. Detailed Implementation

[0041] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0042] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0043] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0047] Combination Figure 1In robot-assisted surgery, to reduce the risk of patient infection, a sterile hood 10 is typically provided for the surgical robot. The surgical robot's end effector 30 is equipped with an actuator 31, which holds the puncture needle and moves it along a first direction on the end effector 30 to achieve precise puncture. To avoid the sterile hood 10 having an excessively small cross-sectional dimension along the first direction, which could affect the movement of the actuator 31 in that direction, the cross-sectional dimension of the sterile hood 10 in related technologies is generally large, i.e., with considerable redundancy. During single-needle and multi-needle puncture surgeries, the sterile hood is prone to interference with the puncture instruments, potentially leading to puncture and infection risk. Furthermore, during surgery, the end effector 30 is placed within the CT cavity 50, and the surgery is completed with the real-time guidance of CT images. However, due to the space limitations of the CT cavity 50, the management of the sterile cover 10 will be a challenge during the operation: when the actuator 31 moves the puncture needle upward after completing a puncture, a large amount of redundant sterile cover 10 will easily accumulate at the end of the actuator 30 near the inner wall of the CT cavity 50. These redundant parts will come into contact with the inner wall of the CT cavity 50, thus destroying the sterile environment; when the actuator 31 moves the puncture needle downward, too much sterile cover 10 will accumulate at the end of the actuator 30 near the patient. This will not only easily come into contact with the patient's body surface, but may also cause the instruments to move on the patient's body surface, thus causing the instruments to scratch the patient's tissue.

[0048] Based on this, see Figure 1 An embodiment of this application provides a sterile cover for an interventional puncture surgical robotic arm. The sterile cover 10 includes a protective sleeve 100, at least one contoured member 200, and a first fixing structure 320. The protective sleeve 100 is used to be fitted onto the end effector 30; the at least one contoured member 200 is a movable contoured member 200a, which has an opening. The protective sleeve 100 communicates with the movable contoured member 200a around the opening. The movable contoured member 200a is adapted to the shape of the actuator 31 of the end effector 30 for being fitted onto the actuator 31; the movable contoured member 200a is fixedly connected to the actuator 31 via the first fixing structure 320.

[0049] The protective sleeve 100 is connected to the movable contoured part 200a around the opening of the movable contoured part 200a. The protective sleeve 100 and the contoured part 200 are integrally formed, or the protective sleeve 100 and the contoured part 200 are separately formed and then detachably and sealed together. For example, after the protective sleeve 100 and the contoured part 200 are separately formed, the two are bonded together with an adhesive.

[0050] In this embodiment, the protective sleeve 100 is fitted onto the execution end 30, and the shape of the movable contouring component 200a is adapted to the shape of the execution mechanism 31. This allows the movable contouring component 200a to fit snugly against the execution mechanism 31 when it is fitted outside the execution mechanism 31, thereby effectively reducing the cross-sectional dimension of the sterile cover 10 along the first direction OZ, i.e., reducing the redundancy of the sterile cover 10. During single-needle and multi-needle puncture surgeries, the smaller cross-sectional dimension of the sterile cover along the first direction OZ makes it less likely to interfere with the puncture instruments, avoiding the risk of infection caused by the sterile cover being punctured by the puncture needle. Simultaneously, the movable contouring component 200a is fixedly connected to the execution mechanism 31 via the first fixing structure 320. The first fixing structure 320 ensures that the movable contouring component 200a stably cooperates with the execution mechanism 31 during surgery, preventing displacement due to vibrations during surgical operations, instrument movement, or other factors, thus ensuring effective management of the redundant portion of the sterile cover 10. When the actuator 31 moves along the first direction OZ, it can drive the moving contour part 200a to move along the first direction OZ, so as to avoid interference between the sterile cover 10 and the actuator 31, thereby affecting the movement of the actuator 31 along the first direction.

[0051] In some embodiments, the movable contour member 200a is provided with a second fixing structure 310 on at least one side along the first direction OZ, and the protective sleeve 100 is used to fix it to the execution end 30 through the second fixing structure 310.

[0052] In one embodiment, the movable contouring member 200a is provided with a second fixing structure 310 on one side along the first direction OZ, and the protective sleeve 100 is used to fix it to the execution end 30 through the second fixing structure 310.

[0053] For example, the first direction OZ is the height direction. A second fixing structure 310 is provided above the moving profiler 200a along the first direction OZ, that is, the second fixing structure 310 is provided on the side of the moving profiler 200a away from the object to be punctured along the first direction OZ. The protective sleeve 100 is used to fix the end effector 30 to the device via the second fixing structure 310. Specifically, the position of the second fixing structure 310 is higher than the highest position of the moving profiler 200a during its movement stroke to avoid interference between the moving profiler 200a and the second fixing structure 310 during movement. When the actuator 31 moves the puncture needle upward after completing one puncture, the actuator 31 also drives the moving profiler 200a to move upward. At this time, since the upper part of the protective sleeve 100 is fixedly connected to the end effector 30 via the second fixing structure 310, the redundant protective sleeve 100 is concentrated between the second fixing structure 310 and the moving profiler 200a, combined with... Figure 3 Therefore, it can prevent the redundant protective sleeve 100 from contacting the inner wall of the CT cavity 50 and thus avoid disrupting the sterile environment.

[0054] For example, the first direction OZ is the height direction. A second fixing structure 310 is provided below the moving contour member 200a along the first direction OZ. The protective sleeve 100 is fixedly connected to the execution end 30 through the second fixing structure 310. Specifically, the position of the second fixing structure 310 is lower than the lowest position during the movement stroke of the moving contour member 200a to avoid interference between the moving contour member 200a and the second fixing structure 310 during movement. When the actuator 31 moves the puncture needle downwards, the actuator 31 also moves the moving contour member 200a downwards. At this time, since the lower part of the protective sleeve 100 is fixedly connected to the execution end 30 through the second fixing structure 310, the redundant protective sleeve 100 is concentrated between the moving contour member 200a and the second fixing structure 310, combined with... Figure 2 Therefore, it can prevent the redundant protective sleeve 100 from coming into contact with the patient's body surface and prevent the instrument from scratching the patient's tissue.

[0055] In some other embodiments, the movable contouring member 200a is provided with a second fixing structure 310 on both sides along the first direction OZ, and the protective sleeve 100 is used to fix it to the execution end 30 through the second fixing structure 310.

[0056] In this embodiment, the protective sleeves 100 at both ends of the movable contour member 200a along the first direction OZ are fixedly connected to the execution end 30 via the second fixing structure 310, so that when the execution mechanism 31 moves along the first direction OZ, it can drive the movable contour member 200a to move along the first direction OZ, thereby causing the movable contour member 200a to drive the protective sleeves 100 to move between the two second fixing structures 310. When the execution mechanism 31 moves the puncture needle upward after completing one puncture, the execution mechanism 31 drives the movable contour member 200a to move upward. At this time, since the upper part of the protective sleeve 100 is fixedly connected to the execution end 30 via the second fixing structure 310, the redundant protective sleeve 100 is concentrated between the second fixing structure 310 and the movable contour member 200a. Therefore, it is possible to avoid the redundant protective sleeve 100 from contacting the inner wall of the CT cavity 50 and disrupting the sterile environment. When the actuator 31 moves the puncture needle downward, the actuator 31 also moves the movable profiling part 200a downward. At this time, since the lower part of the protective sleeve 100 is fixedly connected to the execution end 30 through the second fixing structure 310, the redundant protective sleeve 100 is concentrated between the movable profiling part 200a and the second fixing structure 310. Therefore, the redundant protective sleeve 100 can be prevented from contacting the patient's body surface, thus preventing the instrument from scratching the patient's tissue.

[0057] Specifically, the second fixing structure 310 and the first fixing structure 320 are any one of the following: magnetic structure, snap-on structure, concealed snap structure, rubber plug structure, and Velcro structure.

[0058] The first fixing structure 320, which connects the movable contouring component 200a to the actuator 31, can be any one of a magnetic structure, a snap-fit ​​structure, a concealed snap structure, a rubber plug structure, or a Velcro structure.

[0059] Example, combination Figure 5 The first fixed structure 320 is a magnetic attraction structure. A first magnet 311 is provided on the movable contouring component 200a, and a second magnet 312 is provided on the actuator 31. When the first magnet 311 approaches the second magnet 312, the first magnet 311 and the second magnet 312 use magnetic force to attract the actuator 31 and the movable contouring component 200a to each other. The movable contouring component 200a and the actuator 31 are connected by the magnetic attraction structure, making installation and disassembly relatively convenient, and it can adapt to actuator ends 30 of different shapes to a certain extent.

[0060] Example, combination Figure 6 The first fixing structure 320 is a snap-fit ​​structure. One of the movable contouring component 200a or the actuator 31 has two opposing elastic claws 313, and the other has a locking part 314. When the actuator 31 and the movable contouring component 200a approach each other, the locking part 314 can be inserted between the two elastic claws 313 to achieve a fixed connection between the actuator 31 and the movable contouring component 200a. The movable contouring component 200a is tightly connected to the actuator end 30 through the snap-fit ​​structure, providing a reliable fixing effect.

[0061] For example, the first fixing structure 320 is a concealed buckle structure. One of the movable contouring part 200a or the actuator 31 is provided with a male buckle column structure, and the other of the movable contouring part 200a or the actuator 31 is provided with a female buckle groove structure. When the column structure is inserted into the groove structure, the actuator 31 and the movable contouring part 200a can be fixedly connected.

[0062] For example, the first fixing structure 320 is a rubber plug structure made of an elastic material (such as silicone, rubber or medical-grade plastic). In use, the rubber plug structure is placed between the actuator 31 and the movable profiler 200a to fix the actuator 31 and the movable profiler 200a.

[0063] For example, the first fixing structure 320 is a hook and loop fastener structure. One of the movable contouring part 200a or the actuator 31 is provided with hook and loop fastener, and the other of the movable contouring part 200a or the actuator 31 is provided with loose hook and loop fastener. When the hook and loop fasteners are bonded together, the actuator 31 and the movable contouring part 200a can be fixedly connected.

[0064] In some embodiments, combined with Figure 7 and Figure 8The first fixing structure 320 includes an elastic snap-fit ​​member 315 with an annular structure. The opening of the movable contour member 200a is sealed to the inner wall of the elastic snap-fit ​​member 315, and the inner wall of the first fixing structure 320 is used to snap with the actuator 31.

[0065] In this embodiment, the elastic snap-fit ​​element 315 is a plastic sheet or a rubber sheet, giving it a certain degree of elasticity. A snap-fit ​​structure 316 is provided between the inner wall of the elastic snap-fit ​​element 315 and the outer wall of the actuator 31. For example, one of the elastic snap-fit ​​element 315 and the actuator 31 has a protrusion, and the other has a groove. When the contour piece 200 is fitted, pulling the elastic snap-fit ​​element 315 will cause it to move and deform, so that it can snap with the actuator 31 through the snap-fit ​​structure 316. The elastic snap-fit ​​element 315 facilitates the quick fitting of the contour piece 200 onto the actuator 31 and enables rapid snap-fit ​​between the two.

[0066] In some other embodiments, the second fixing structure 310 connecting the protective cover 100 and the execution end 30 is any one of a magnetic structure, a snap-on structure, a concealed snap structure, a rubber plug structure, and a Velcro structure.

[0067] For example, the second fixing structure 310 is a magnetic structure. The protective sleeve 100 is provided with a first magnet 311 and the execution end 30 is provided with a second magnet 312. When the first magnet 311 approaches the second magnet 312, the first magnet 311 and the second magnet 312 use magnetic force to attract the protective sleeve 100 and the execution end 30 to each other.

[0068] For example, the second fixing structure 310 is a snap-fit ​​structure. One of the protective sleeve 100 or the actuator 30 has two opposing elastic claws 313, and the other has a locking part 314. When the actuator 30 and the protective sleeve 100 approach each other, the locking part 314 can be inserted between the two elastic claws 313 to achieve a fixed connection between the actuator 30 and the protective sleeve 100. The protective sleeve 100 is tightly connected to the actuator 30 through the snap-fit ​​structure, providing a reliable fixing effect. It should be noted that since the protective sleeve 100 is made of a soft material, it is not convenient to directly set the elastic claws 313 or the locking part 314 on the protective sleeve 100. Therefore, during manufacturing, a hard rubber or plastic sheet is first set on the part of the protective sleeve 100 that needs to be fixed, so that the elastic claws 313 or the locking part 314 can be set on the hard rubber or plastic sheet.

[0069] For example, the second fixing structure 310 is a concealed snap-fit ​​structure. One of the protective sleeve 100 or the actuator 30 has a male snap-fit ​​columnar structure, and the other has a female snap-fit ​​grooved structure. When the columnar structure is inserted into the grooved structure, a fixed connection between the actuator 30 and the protective sleeve 100 can be achieved. The concealed snap-fit ​​structure on the protective sleeve 100 can be configured similarly to the snap-fit ​​structure on the protective sleeve 100 described above.

[0070] For example, the second fixing structure 310 is a rubber plug structure made of an elastic material (such as silicone, rubber or medical-grade plastic). In use, the rubber plug structure is placed between the actuator end 30 and the protective sleeve 100 to fix the actuator end 30 and the protective sleeve 100.

[0071] For example, the second fixing structure 310 is a hook and loop fastener structure. One of the protective sleeve 100 or the actuator 30 is provided with hook and loop fastener, and the other of the protective sleeve 100 or the actuator 30 is provided with loose hook and loop fastener. When the hook and loop fasteners are bonded together, the actuator 30 and the protective sleeve 100 can be fixedly connected.

[0072] In some embodiments, combined with Figure 2 The protective sleeve 100 includes a first protective section 110 and a second protective section 120 connected in sequence and arranged at an angle. The first protective section 110 extends along a first direction OZ, and the movable contour member 200a is disposed on the first protective section 110.

[0073] For example, the first protective segment 110 is perpendicular to the second protective segment 120, meaning the protective sleeve 100 has an L-shaped structure, and the actuator end 30 also has an L-shaped structure, so that when the protective sleeve 100 is fitted onto the actuator end 30, it is not easy to fall off. The protective sleeve 100 is made of a thin film material, including but not limited to TPU film, PE film, PP film, PVDC film, etc. When the sterile cover 10 is made of the aforementioned thin film material, it has airtightness and flexibility, achieving sterile isolation while allowing the actuator 31 of the actuator end 30 to move freely. Simultaneously, due to its flexibility, it is easy to fit the L-shaped protective sleeve 100 onto the actuator end 30. The first protective segment 110 extends along the first direction OZ, and the movable contouring component 200a is disposed on the first protective segment 110. Therefore, when the actuator 31 moves along the first direction OZ, it can drive the movable contouring component 200a to move along the first direction OZ.

[0074] Of course, in other embodiments, the first protection segment 110 and the second protection segment 120 may be inclined, as long as the shape of the protective sleeve 100 is adapted to the shape of the execution end 30.

[0075] In some embodiments, combined with Figure 4 The first protection segment 110 has an end face 130 that is away from the second protection segment 120. The first direction OZ is perpendicular to the end face 130. The end face 130 is fixedly connected to the execution end 30 through the second fixing structure 310.

[0076] Specifically, the actuator 31 has a non-puncture site ( Figure 3 ) and puncture site ( Figure 2 The puncture position is located below the non-puncture position. Before the puncture needle is punctured by the moving profile 200a, the actuator 31 is in the non-puncture position. After the puncture needle is punctured by the moving profile 200a, the actuator 31 is in the puncture position.

[0077] In this embodiment, the actuator end 30 is an L-shaped cylindrical structure, and the corresponding protective sleeve 100 is also an L-shaped cylindrical structure. The extension surface of the end face 130 is in the same direction as the extension of the second protective section 120. In actual operation, the first direction OZ is vertical, the end face 130 extends horizontally, and the end face 130 is located close to the patient's body surface. The end face 130 at the bottom of the movable contour member 200a is fixedly connected to the actuator end 30 through the second fixing structure 310, combined with... Figure 2 When the actuator 31 is in the puncture position, the redundant protective sleeve 100 is concentrated between the actuator 31 and the end face 130 to avoid the redundant protective sleeve 100 from contacting the patient's body surface, which may cause the instrument to scratch the patient's tissue.

[0078] Furthermore, in combination Figure 3 The side of the first protective section 110 closest to the second protective section 120 is fixedly connected to the end effector 30 via a second fixing structure 310. Specifically, both the first protective section 110 and the second protective section 120 are rectangular bodies, and their connection point forms a trapezoidal transition structure. That is, the total length of the outer sidewalls of the first protective section 110 and the second protective section 120 is greater than the total length of the inner sidewalls, making the connection surface of the first protective section 110 and the second protective section 120 an inclined plane. One end of this inclined plane connects to the outer sidewall, and the other end connects to the inner sidewall. The outer sidewall of the first protective section 110 closest to the second protective section 120 is fixedly connected to the end effector so that when the actuator 31 is in the non-puncture position, the redundant protective sleeve 100 is gathered near the inclined plane along the inclination direction of the inclined plane, thereby preventing interference between the redundant protective sleeve 100 and the inner wall of the CT cavity.

[0079] In some embodiments, combined with Figure 4 A light-transmitting opening 131 is provided on the end face 130. The light-transmitting opening 131 allows CT rays to pass through, ensuring that the execution end 30 of the puncture surgical robot does not obstruct the imaging of the lesion area when it is inside the CT cavity 50.

[0080] In some embodiments, combined with Figure 2 At least one contouring member 200 is a fixed contouring member 200b, which is disposed at the end of the first protection section 110 away from the second protection section 120. The fixed contouring member 200b is used to be sleeved on the guide mechanism 32 of the execution end 30.

[0081] The execution end 30 is equipped with an execution mechanism 31 and a guide mechanism 32. The execution mechanism 31 is used to drive the puncture needle to puncture, and the guide mechanism 32 is used to guide the puncture needle to prevent it from bending during puncture. Therefore, the guide mechanism 32 is located at the bottom of the execution mechanism 31. The fixing profile 200b is sleeved on the guide mechanism 32. The shape of the fixing profile 200b is adapted to the shape of the guide mechanism 32, which can improve the fit between the fixing profile 200b and the guide mechanism 32 and reduce the redundancy of the protective sleeve 100.

[0082] In some embodiments, the fixed contouring member 200b is disposed on the side of the movable contouring member 200a closer to the object to be punctured. When the movable contouring member 200a is provided with a second fixing structure 310 along one side of the first direction OZ, the fixed contouring member 200b can be fixedly connected to the guide mechanism 32 through the second fixing structure 310. Alternatively, when the movable contouring member 200a is provided with second fixing structures 310 on both sides along the first direction OZ, on the side closer to the object to be punctured, the fixed contouring member 200b is fixedly connected to the guide mechanism 32 through the second fixing structure 310, and on the side farther from the object to be punctured, the protective sleeve 100 is fixedly connected to the execution end 30 through the second fixing structure 310.

[0083] In some embodiments, the end of the second protection segment 120 away from the first protection segment 110 is provided with an outwardly folded flange 121 to form a finger operation channel 122 between the second protection segment 120 and the flange 121.

[0084] In this embodiment, the combination of the flange 121 and the second protective section 120 cleverly utilizes the space at the end of the second protective section 120 to create a dedicated finger operation channel 122 without significantly increasing the overall volume. This allows the finger to be inserted into the operation channel, and the protective sleeve 100 is then fitted over the execution end 30. The second protective section 120 can also serve as a physical barrier, effectively isolating the finger from contact with the bacteria-laden area.

[0085] Furthermore, the flange 121 is also provided with insertion marks, such as arrow marks, to indicate that a finger is inserted into the finger operation channel 122.

[0086] In some embodiments, combined with Figure 7The contoured part 200 extends along the second direction OY towards the side away from the protective sleeve 100, and the second direction OY is set at an angle to the first direction OZ. Specifically, the angle between the second direction OY and the first direction OZ can be any angle between 0° and 180°, for example, the angle between the second direction OY and the first direction OZ is 80°-100°.

[0087] For example, the second direction OY is perpendicular to the first direction OZ. The first direction OZ is vertical, while the second direction OY is horizontal. The contouring part 200 extends horizontally away from the protective sleeve 100, thereby increasing the horizontal distance between the puncture needle and the protective sleeve 100. This allows the puncture needle to move away from the redundant protective sleeve 100 on the execution end 30 along the second direction OY when the actuator 31 clamps and punctures the needle, thus avoiding interference between the puncture needle and the redundant protective sleeve 100 during puncture.

[0088] In some embodiments, combined with Figures 2-5 The profiling component 200 extends along the first direction OZ toward the side closer to the object to be punctured. The profiling component 200 is divided into a movable profiling component 200a and a fixed profiling component 220b. Both the movable profiling component 200a and the fixed profiling component 220b extend along the first direction OZ toward the side closer to the object to be punctured. Correspondingly, the actuator 31 and the guide mechanism 32 extend along the first direction OZ toward the side closer to the object to be punctured, so that the position where the actuator 31 and the guide mechanism 32 hold the puncture needle is lower. When the actuator 31 drives the puncture needle downwards for puncture, the effective puncture depth of the puncture needle is deeper. Based on this, the profile 200 extends horizontally away from the protective sleeve 100, thereby increasing the horizontal distance between the puncture needle and the protective sleeve 100. This allows the puncture needle to move away from the redundant protective sleeve 100 on the execution end 30 along the second direction OY when the actuator 31 clamps and punctures the needle, thus avoiding interference between the puncture needle and the redundant protective sleeve 100 during puncture.

[0089] In some embodiments, the thickness of the contouring element 200 is greater than the thickness of the protective sleeve 100, so that the contouring element 200 maintains flexibility while having good strength, preventing it from being pinched during multi-needle procedures, avoiding frequent changes to the sterile cover 10 during multi-needle procedures, reducing costs and surgical time, and reducing surgical risks such as patient infection. Specifically, the contouring element 200 can be made of TPU, EVA, PE, PP, or PVDC material.

[0090] Combination Figures 2-5An embodiment of this application also discloses a sterile cover for an interventional puncture surgical robotic arm. The sterile cover 10 includes a protective sleeve 100 and at least one contour member 200. The protective sleeve 100 is used to cover the end effector 30 of the surgical robotic arm; the contour member 200 has an opening, and the protective sleeve 100 communicates with the contour member 200 around the opening of the contour member 200. The contour member 200 is disposed on one side of the protective sleeve 100 along a second direction, and the contour member 200 extends along the second direction away from the protective sleeve 100.

[0091] In this embodiment, the profiling member 200 is divided into a movable profiling member 200a and a fixed profiling member 220b. Both the movable profiling member 200a and the fixed profiling member 220b extend along the second direction OY towards the side closer to the object to be punctured. Correspondingly, the actuator 31 and the guide mechanism 32 extend along the second direction OY towards the side closer to the object to be punctured. This also reduces the distance between two adjacent needles, making it easier to accurately cover small lesions or complex lesion areas and avoid treatment blind spots caused by excessive spacing.

[0092] In some other embodiments, the profiling member 200 extends along the first direction OZ toward the side closer to the object to be punctured. Both the movable profiling member 200a and the fixed profiling member 220b extend along the first direction OZ toward the side closer to the object to be punctured. Correspondingly, the actuator 31 and the guide mechanism 32 extend along the first direction OZ toward the side closer to the object to be punctured, so that the position where the actuator 31 and the guide mechanism 32 hold the puncture needle is lower. When the actuator 31 drives the puncture needle downward to puncture, the effective puncture depth of the puncture needle is deeper.

[0093] It should be noted that when the fixed profile 220b is sleeved on the guide mechanism 32, the fixed profile 220b extends along the first direction OZ towards the end closer to the object to be punctured to the end face 130 of the protective sleeve 100, so that the fixed profile 220b fixes the puncture needle on the side closer to the object to be punctured (at a lower position), thereby improving the accuracy and stability of the puncture needle.

[0094] In other embodiments, the profiler 200 extends along the second direction OY toward the side away from the protective sleeve 100, while the profiler 200 extends along the first direction OZ toward the side closer to the object to be punctured.

[0095] Specifically, the contouring component 200 includes a first sleeve portion 221 and a second sleeve portion 222 disposed opposite to each other along a third direction OX, and an abutment portion 223 connecting the first sleeve portion 221 and the second sleeve portion 222. The first sleeve portion 221 and the second sleeve portion 222 extend out of the abutment portion 223 along a second direction OY. The third direction OX is angularly disposed to the first direction OZ and the second direction OY respectively. The angle between the third direction OX and the first direction OZ is any angle between 0° and 180°, and the angle between the third direction OX and the second direction OY is any angle between 0° and 180°. For example, the third direction OX, the first direction OZ, and the second direction OY are all perpendicular to each other.

[0096] In this embodiment, the actuator 31 and the guide mechanism 32 each include two rotatably connected grippers. Each gripper includes a connecting portion 34, a clearance portion 35, and a clamping portion 36 connected in sequence. The ends of the two connecting portions 34 opposite to the clearance portion 35 are rotatably connected by a pivot point. The clearance portion 35 extends from the connecting portion 34 along the puncture direction towards the side closer to the puncture object. The clamping portion 36 is used to abut against the puncture needle. A positioning member 37 is also provided between the two grippers. The positioning member 37 has a positioning groove, and the groove wall is adapted to the outer wall of the puncture instrument. Specifically, the actuator 31 is used to clamp the adapter, so the groove wall on the actuator is adapted to the outer wall of the puncture instrument; the guide mechanism 32 is used to clamp the puncture needle, so the groove wall on the actuator 31 is adapted to the outer wall of the puncture needle. Among them, the first clamping portion 221 and the second clamping portion 222 of this application are adapted to the shape of the clamping portion 36, and the abutting portion 223 is adapted to the inner wall of the positioning groove. This ensures that the entire contoured part 200 is adapted to the shape of the actuator 31 or the guide mechanism 32, thereby reducing the redundant configuration of the sterile cover 10.

[0097] Furthermore, the contouring component 200 includes a first connecting segment 210 and a second connecting segment 220 connected in sequence. The end of the first connecting segment 210 away from the second connecting segment 220 is connected to the protective sleeve 100. The second connecting segment 220 includes a first clamping part 221, a second clamping part 222, and an abutting part 223. The first clamping part 221, the second clamping part 222, and the abutting part 223 are all in communication with the first connecting segment 210.

[0098] In this embodiment, the first jacket 221, the second jacket 222, and the abutment 223 are connected to the protective sleeve 100 through the second connecting section 220. The second connecting section 220 is used to fit over the clearance part 35 to adapt to the shape of the clearance part 35 and reduce the redundant setting of the sterile cover 10.

[0099] Specifically, the extension direction of the first connecting segment 210 is inclined simultaneously to the first direction OZ and the second direction OY. The second connecting segment 220 is used to be sleeved on the clamping end of the actuator 31 or the guide mechanism 32. That is, the arrangement of the first connecting segment 210 allows the second connecting segment 220 located at one end of the first connecting segment 210 to approach the object to be punctured along the first direction OZ, while allowing the second connecting segment 220 to move away from the protective sleeve 100 along the second direction OY.

[0100] In summary, the protective sleeve 100 of this application is fitted onto the execution end 30. The movable contouring component 200a is adapted to the shape of the execution mechanism 31, and the shape of the fixed contouring component 200b is adapted to the shape of the guide mechanism 32, so that the sterile cover 10 is compact in size. By fixing the two ends of the first protective section 110 to the second fixing structure 310 respectively, the redundant protective sleeve 100 is controlled between the two second fixing structures 310, which can greatly reduce the probability of collision between the redundant protective sleeve 100 and the CT cavity 50 and the patient, ensuring that the sterile environment is not damaged. At the same time, since the contouring component 200 extends far along the second direction OY, Extending from one side of the protective sleeve 100, it can be used for procedures such as ablation and particle implantation that require high spacing between multiple needles; the thickness of the contour piece 200 is greater than that of the protective sleeve 100, which can avoid the problem of damage from repeated use of the sterile cover, so that only one sterile cover is needed to complete the surgery in multi-needle procedures, reducing costs and surgical time, and reducing surgical risks such as patient infection; the protective sleeve 100 is fixed to the execution end 30 through the second fixation structure 310 and the first fixation structure 320, making the fixation of the protective sleeve 100 more reliable, with less redundancy, minimizing interference with the surgery, and making it convenient to use and easy for doctors to operate.

[0101] An embodiment of this application also provides a puncture surgery robot, which includes a surgical trolley 40, a robotic arm 20, an end effector 30, an actuator 31, and a sterile cover 10. One end of the robotic arm 20 is mounted on the surgical trolley 40, and the end effector 30 is mounted on the end of the robotic arm 20 away from the surgical trolley 40. The actuator 31 is slidably mounted on the end effector 30 along a first direction OZ. The sterile cover 10 is fitted onto the actuator 31. A movable contouring member 200a has an opening and communicates with a protective cover 100 through the opening. The movable contouring member 200a is adapted to the shape of the actuator 31 of the end effector 30 so as to be fitted onto the outside of the actuator 31. Second fixing structures 310 are respectively provided on both sides of the movable contouring member 200a along the first direction OZ, and the protective cover 100 is fixedly connected to the end effector 30 through the second fixing structures 310.

[0102] In this embodiment, the sterile cover 10 completely covers the end effector 30, forming a physical isolation barrier that effectively blocks external bacteria, dust, and other contaminants from directly contacting the instrument, thus preventing postoperative infection caused by instrument contamination during surgery. Using a disposable sterile cover 10 can replace the traditional, complex instrument sterilization process, reducing instrument wear caused by repeated disinfection and significantly shortening preoperative preparation time. The shape of the contoured component 200 is adapted to the shape of the actuator 31, ensuring a tight fit after application and reducing redundant elements in the protective cover 100. Furthermore, second fixing structures 310 are respectively provided at both ends of the movable contoured component 200a along the first direction OZ. When the actuator 31 moves the movable contoured component 200a along the first direction OZ, the second fixing structures 310 can confine the protective cover 100 between the two second fixing structures 310, thereby greatly reducing the probability of collision between the protective cover 100 and medical equipment or the patient, ensuring that the sterile environment is not compromised.

[0103] Specifically, the actuator 31 and the guide mechanism 32 extend outwards along the second direction OY to the actuator tip 30, overcoming the limitation of the inherent volume of the actuator tip 30 on the puncture spacing, reducing the distance between adjacent puncture needles, facilitating precise coverage of small lesions or complex-shaped lesions, avoiding treatment blind spots caused by excessive spacing, and improving the effectiveness of tumor ablation, biopsy, and other surgeries. Furthermore, the guide mechanism 32 is positioned below the actuator tip 30, allowing it to directly approach the puncture site, significantly shortening the physical distance to the puncture needle. This close-range guiding mode effectively reduces the risk of deviation due to excessive puncture path distance, enabling the puncture needle to more accurately enter the target area along the preset trajectory.

[0104] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0105] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A sterile cover for a robotic arm used in interventional puncture surgery, characterized in that, The sterile hood (10) includes: A protective sleeve (100) is used to cover the end effector (30) of the surgical robotic arm; At least one profiler (200) having an opening, the protective sleeve (100) communicating with the profiler (200) around the opening of the profiler (200), at least one of the profilers (200) being a movable profiler (200a) adapted to the shape of the actuator (31) of the end effector (30) for fitting over the actuator (31); The first fixed structure (320) is used to fix the movable contouring component (200a) to the actuator (31).

2. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 1, characterized in that, The sterile cover (10) includes a second fixing structure (310). The movable contour member (200a) is provided with the second fixing structure (310) on at least one side along the first direction (OZ). The protective sleeve (100) is used to fix the actuator (30) through the second fixing structure (310). The first direction (OZ) is the moving direction of the actuator (31).

3. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 2, characterized in that, The first fixing structure (320) and the second fixing structure (310) are any one of the following: magnetic structure, snap-on structure, concealed snap structure, rubber plug structure and Velcro structure.

4. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 2, characterized in that, The first fixing structure (320) includes an elastic snap-fit ​​member (315) with an annular structure. The opening of the movable contour member (200a) is sealed to the inner wall of the elastic snap-fit ​​member (315), and the inner wall of the first fixing structure (320) is used to snap with the actuator (31).

5. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 1, characterized in that, The protective sleeve (100) includes a first protective section (110) and a second protective section (120) connected in sequence and arranged at an angle. The first protective section (110) extends along a first direction (OZ), and the movable contouring member (200a) is disposed on the first protective section (110).

6. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 5, characterized in that, The first protection segment (110) has an end face (130) away from the second protection segment (120), and the end face (130) is fixedly connected to the execution end (30) by a second fixing structure (310).

7. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 6, characterized in that, A light-transmitting opening (131) is provided on the end face (130).

8. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 5, characterized in that, At least one of the contouring elements is a fixed contouring element (200b), which is disposed at the end of the first protection section (110) away from the second protection section (120). The shape of the fixed contouring element (200b) is adapted to the shape of the guide mechanism (32) of the execution end (30) so that the fixed contouring element (200b) is fitted onto the guide mechanism (32).

9. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 5, characterized in that, The second protection segment (120) has an outwardly folded flange (121) at the end away from the first protection segment (110) to form a finger operation channel (122) between the second protection segment (120) and the flange (121).

10. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 1, characterized in that, The profile (200) extends along the second direction (OY) toward the side away from the protective sleeve (100).

11. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 10, characterized in that, The profiling element extends along the first direction (OZ) toward the side closer to the object to be punctured, and the second direction (OY) is set at an angle to the first direction (OZ).

12. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 1, characterized in that, The thickness or stiffness of the contouring part (200) is greater than the thickness or stiffness of the protective sleeve (100).

13. A sterile cover for a robotic arm used in interventional puncture surgery, characterized in that, The sterile hood (10) includes: A protective sleeve (100) is used to cover the end effector (30) of the surgical robotic arm; At least one profiler (200) having an opening, the protective sleeve (100) communicating with the profiler (200) around the opening of the profiler (200), the profiler (200) being disposed on one side of the protective sleeve (100) along a second direction (OY), and the profiler (200) extending along the second direction (OY) away from the protective sleeve (100).

14. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 13, characterized in that, The profiling element (200) extends along the first direction (OZ) toward the side closer to the object to be punctured.

15. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 13, characterized in that, The contouring member (200) includes a first sleeve portion (221) and a second sleeve portion (222) disposed opposite to each other along a third direction (OX), and an abutment portion (223) disposed between the first sleeve portion (221) and the second sleeve portion (222). One end of the first sleeve portion (221) and the second sleeve portion (222) extends out of the abutment portion (223) along a second direction (OY) away from the protective sleeve (100). The third direction (OX) is set at an angle to the second direction (OY).

16. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 15, characterized in that, The contouring component (200) includes a first connecting segment (210) and a second connecting segment (220) connected in sequence. The end of the first connecting segment (210) away from the second connecting segment (220) is connected to the protective sleeve (100). The second connecting segment (220) includes a first sleeve portion (221), a second sleeve portion (222), and an abutment portion (223). The first sleeve portion (221), the second sleeve portion (222), and the abutment portion (223) are all connected to the first connecting segment (210).

17. The sterile cover for the robotic arm used in interventional puncture surgery according to claim 16, characterized in that, The extension direction of the first connecting segment (210) is simultaneously inclined to the first direction (OZ) and the second direction (OY).

18. A puncture surgery robot, characterized in that, The puncture surgical robot includes a surgical cart (40), a robotic arm (20), an end effector (30), an actuator (31), and a sterile cover for the robotic arm for interventional puncture surgery as described in any one of claims 1-17. One end of the robotic arm (20) is disposed on the surgical cart (40), the end effector (30) is disposed at the end of the robotic arm (20) away from the surgical cart (40), the actuator (31) is slidably disposed on the end effector (30) along a first direction (OZ), the protective sleeve (100) is sleeved on the end effector (30), and the contouring member is adapted to the shape of the actuator (31) for sleeved on the actuator (31).

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