A sterile adapter, instrument drive device and surgical robot system

Abstract

This utility model discloses a sterile adapter, an instrument drive device, and a surgical robot system, relating to the field of medical device technology. The sterile adapter is used to connect to the instrument drive device. The sterile adapter includes an adapter body and an elastic snap-fit ​​assembly. The adapter body has a first plate and a second plate disposed opposite to each other. The elastic snap-fit ​​assembly is rotatably connected between the first plate and the second plate. The elastic snap-fit ​​assembly includes a snap-fit ​​body and an elastic element. The snap-fit ​​body has a pressing part, a rotating part, and a snap-fit ​​part, with the rotating part located between the pressing part and the snap-fit ​​part. The elastic element acts on the snap-fit ​​body, providing an elastic force that causes the snap-fit ​​part to move towards the instrument drive device. Under the action of an external force, the pressing part overcomes the elastic force of the elastic element, causing the snap-fit ​​part to disengage from the instrument drive device. This enables a reliable connection between the sterile adapter and the instrument drive device, ensuring the continuity and accuracy of power transmission of the instrument drive device, and providing a guarantee for the safe and smooth performance of endoscopic surgery.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a sterile adapter, a device drive device, and a surgical robot system. Background Technology

[0002] In surgical robot systems, surgical instruments typically need to be mounted on the drive unit of the surgical robot via sterile adapters. Motion control is achieved through the drive unit of the surgical robot. In related technologies, the connection and separation of the sterile adapter and the drive unit are achieved by pressing a button on the sterile adapter. The button and the sterile adapter are integrally molded. When the pressing force of the button is large, it is easy for the material to undergo plastic deformation, causing the button to be unable to return to its original shape. This results in an unreliable connection between the sterile adapter and the drive unit. At the same time, during the operation, when the surgical instruments are subjected to force, the sterile adapter and the drive unit may be unexpectedly separated, affecting the normal progress of the operation. Utility Model Content

[0003] The purpose of this invention is to provide a sterile adapter, an instrument drive device, and a surgical robot system to ensure the reliability of the connection between the sterile adapter and the instrument drive device, reduce the risk of unexpected separation under force during surgery, and ensure the normal progress of the surgery.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] A sterile adapter for connecting an instrument drive device, comprising:

[0006] The adapter body has a first plate and a second plate that are positioned relative to each other.

[0007] A flexible snap-fit ​​assembly is rotatably connected between the first plate and the second plate;

[0008] The elastic snap-fit ​​assembly includes a snap-fit ​​body and an elastic element. The snap-fit ​​body has a pressing part, a rotating part, and a snap-fit ​​part. The rotating part is located between the pressing part and the snap-fit ​​part. The elastic element acts on the snap-fit ​​body to provide an elastic force that causes the snap-fit ​​part to move toward the instrument driving device. Under the action of an external force, the pressing part overcomes the elastic force of the elastic element and causes the snap-fit ​​part to disengage from the instrument driving device.

[0009] As an alternative to the sterile adapter, the elastic element is a torsion spring, which includes a torsion spring body, a first pin and a second pin located on opposite sides of the torsion spring body;

[0010] The torsion spring body is sleeved on the rotating part, the first pin abuts against the snap-fit ​​body, and the second pin abuts against the adapter body.

[0011] As an alternative to the sterile adapter, the rotating part includes a rotating shaft, and the adapter body is provided with a mounting base;

[0012] The rotating shaft is installed in the mounting base, which restricts the axial and radial displacement of the rotating shaft; the snap-fit ​​body is rotatably connected between the first plate and the second plate via the rotating shaft.

[0013] As an optional embodiment of the sterile adapter, the mounting base includes radial limiting holes and axial limiting surfaces respectively provided at both ends of the rotating shaft; the end of the rotating shaft passes through the radial limiting holes and abuts against the axial limiting surfaces.

[0014] As an alternative to the sterile adapter, the first plate has a first clearance groove for the pressing part to extend out, and the second plate has a second clearance groove for the snap-fit ​​part to extend out.

[0015] As an alternative to the sterile adapter, the first clearance groove is provided with an anti-rotation structure for limiting the rotation angle of the pressing part.

[0016] As an optional solution for the sterile adapter, two elastic snap-fit ​​components are provided, and the two elastic snap-fit ​​components are symmetrically arranged on the adapter body.

[0017] As an alternative to the sterile adapter, the first plate and the second plate are riveted together.

[0018] As an alternative to the sterile adapter, the first plate, the second plate, and the snap-fit ​​body are all made of a semi-rigid material.

[0019] An instrument driving device includes a connecting plate with an opening, and a snap-fit ​​structure is provided in the opening for engaging with a snap-fit ​​portion of a sterile adapter as described in any of the above embodiments.

[0020] A surgical robot system includes a sterile adapter as described above and an instrument drive device as described above, wherein the snap-fit ​​portion of the sterile adapter is engaged with the snap-fit ​​structure of the instrument drive device.

[0021] The beneficial effects of this utility model are:

[0022] This invention provides a sterile adapter for connecting an instrument drive device. The elastic snap-fit ​​component is separately disposed from the adapter body, and is rotatably connected between the first and second plates of the adapter body. The elastic snap-fit ​​component utilizes the elastic force of an elastic element to provide a force for the snap-fit ​​portion of the snap-fit ​​body to move towards the instrument drive device, thus connecting the sterile adapter to the instrument drive device. During disassembly, an external force applied to the pressing portion of the snap-fit ​​body overcomes the elastic force of the elastic element, causing the snap-fit ​​portion to detach from the instrument drive device, thereby disassembling the sterile adapter from the instrument drive device. This sterile adapter enables a reliable connection with the instrument drive device, significantly reducing the possibility of unexpected separation of the sterile adapter and the instrument drive device during surgery, ensuring the continuity and accuracy of power transmission of the instrument drive device, and providing a guarantee for the safe and smooth conduct of endoscopic surgery.

[0023] The instrument driving device provided by this utility model includes a connecting plate with an opening. The opening is provided with a snap-fit ​​structure that engages with the snap-fit ​​part of the sterile adapter, so that the instrument driving device can be stably connected to the sterile adapter, ensuring the continuity and accuracy of power transmission of the instrument driving device.

[0024] The surgical robot system provided by this utility model includes the aforementioned sterile adapter and the aforementioned instrument drive device, which reduces the possibility of unexpected separation between the sterile adapter and the instrument drive device during surgery, ensures the stability of the connection between the instrument drive device and the sterile adapter, and guarantees the smooth progress of endoscopic surgery. Attached Figure Description

[0025] Figure 1 This is an exploded view of the sterile adapter and instrument driving device provided in a specific embodiment of this utility model;

[0026] Figure 2 This is a cross-sectional view of the aseptic adapter and instrument driving device provided in a specific embodiment of this utility model.

[0027] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0028] Figure 4 This is a cross-sectional view of the elastic snap-fit ​​component and the adapter body provided in a specific embodiment of this utility model.

[0029] Figure 5 yes Figure 4 Enlarged view of part B in the middle

[0030] Figure 6 This is a structural schematic diagram of the elastic snap-fit ​​assembly provided in a specific embodiment of the present invention;

[0031] Figure 7 This is an exploded view of the elastic snap-fit ​​assembly provided in a specific embodiment of this utility model;

[0032] Figure 8 This is a schematic diagram of the structure of the first plate and the elastic snap-fit ​​assembly provided in a specific embodiment of the present utility model;

[0033] Figure 9 yes Figure 8 A magnified view of a section at point C.

[0034] In the picture:

[0035] 100. Machine drive device; 101. Connecting plate; 1011. Opening; 1012. Engaging step;

[0036] 1. Adapter body; 11. First plate; 111. Limiting channel; 112. First clearance groove; 113. Anti-rotation block; 1131. Anti-rotation surface; 12. Second plate; 121. Second clearance groove; 13. Mounting base; 131. First mounting base; 1311. Arc-shaped groove; 1312. Baffle; 132. Second mounting base;

[0037] 2. Elastic snap-fit ​​assembly; 21. Snap-fit ​​body; 211. Pressing part; 2111. Limiting rib; 2112. Friction structure; 212. Rotating part; 2121. Rotating shaft; 2122. Support ear; 2122a. Rotating shaft hole; 213. Snap-fit ​​part; 22. Torsion spring; 221. Torsion spring body; 222. First pin; 223. Second pin. Detailed Implementation

[0038] To make the technical problem solved by this utility model, the technical solution adopted, and the technical effect achieved clearer, the technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] A surgical robot system is a minimally invasive surgical platform that integrates robotics, high-definition imaging, precision mechanics, and artificial intelligence. It drives robotic arms to perform delicate surgical operations. The surgical robot system may also include endoscopic equipment, which provides real-time three-dimensional high-definition images of the patient's body, enabling precise surgery through "eye-hand coordination".

[0041] The surgical robot system includes an endoscope, a sterile adapter, and an instrument drive unit. The instrument drive unit is located at the end of the surgical robot's robotic arm, while the sterile adapter is positioned between the instrument drive unit and the endoscope, providing physical isolation between the sterile and non-sterile areas. The sterile adapter is snap-fitted into the instrument drive unit, with one end connected to the endoscope and the other end connected to the instrument drive unit. To ensure easy assembly and disassembly of the sterile adapter from the endoscope and instrument drive unit, both ends of the sterile adapter are snap-fitted into the endoscope and instrument drive unit respectively, and are operated via buttons.

[0042] Currently, the button on the sterile adapter is integrally molded with the adapter body. During operation, pressing the button causes it to deform, connecting and disconnecting the sterile adapter from the instrument drive device. Both the adapter body and the button are made of a plastic material with elastic deformation to facilitate button deformation and change the connection state between the sterile adapter and the instrument drive device. However, if the operator applies too much force to the button, it may not return to its original shape after deformation, resulting in an unreliable connection between the sterile adapter and the instrument drive device. During surgery, when the endoscope is subjected to force, it may cause unexpected separation of the sterile adapter and the instrument drive device, affecting the continuity and accuracy of power transmission of the instrument drive device, and causing the surgery to be unable to proceed normally.

[0043] To solve the above technical problems, such as Figures 1-3 As shown, this embodiment provides a surgical robot system, including a sterile adapter and an instrument drive device 100. After the sterile adapter and the instrument drive device 100 are snapped together and fixed, the stability of the connection is ensured, and the continuity and accuracy of the power transmission of the instrument drive device 100 are guaranteed.

[0044] This embodiment also provides a sterile adapter and an instrument drive device 100 that engages with the sterile adapter, which are applied to the surgical robot system described above. This reduces the possibility of unexpected separation between the sterile adapter and the instrument drive device 100 during surgery, ensures the stability of the connection between the instrument drive device 100 and the sterile adapter, and guarantees the smooth progress of endoscopic surgery.

[0045] The sterile adapter provided in this embodiment is used to connect to the instrument drive device 100. For example... Figure 4 and Figure 5As shown, the sterile adapter includes an adapter body 1 and an elastic snap-fit ​​assembly 2. The adapter body 1 has a first plate 11 and a second plate 12 disposed opposite to each other. The elastic snap-fit ​​assembly 2 is rotatably connected between the first plate 11 and the second plate 12. The adapter body 1 and the elastic snap-fit ​​assembly 2 are separately disposed, and the elastic force of the elastic snap-fit ​​assembly 2 is used to snap the sterile adapter to the instrument driving device 100. By overcoming the elastic force, the sterile adapter is disengaged from the instrument driving device 100, thus separating the sterile adapter from the instrument driving device 100. During the disassembly and assembly process, the structure of the elastic snap-fit ​​assembly 2 does not need to undergo plastic deformation, thereby avoiding the problem of unreliable connection caused by the structure's inability to recover from excessive plastic deformation. This ensures the reliability of the connection between the sterile adapter and the instrument driving device 100, guaranteeing the safe and smooth operation of the surgery.

[0046] Furthermore, in existing sterile adapters, the button is integrated with the adapter body 1. To allow the button to be pressed, enabling connection and separation between the sterile adapter and the instrument drive device 100 through material deformation, the sterile adapter cannot be made of a highly rigid material, limiting the overall rigidity of the adapter. Insufficient rigidity in the sterile adapter results in inadequate resistance to deformation under intraoperative stress, leading to coupling problems. In the sterile adapter provided in this embodiment, the adapter body 1 and the elastic snap-fit ​​component 2 are independent components, and the adapter body 1 can be made of a material with higher rigidity.

[0047] In one embodiment, the first plate 11 and the second plate 12 are made of a semi-rigid material. Exemplarily, the first plate 11 and the second plate 12 are made of high-strength plastic, such as plastic materials containing glass fiber or carbon fiber, to ensure the mechanical reliability, long-term durability and sterilization compatibility of the sterile adapter.

[0048] like Figures 5-7As shown, the elastic snap-fit ​​assembly 2 includes a snap-fit ​​body 21 and an elastic element. The snap-fit ​​body 21 has a pressing part 211, a rotating part 212, and a snap-fit ​​part 213. The rotating part 212 is located between the pressing part 211 and the snap-fit ​​part 213. The elastic element acts on the snap-fit ​​body 21, providing an elastic force that causes the snap-fit ​​part 213 to move toward the instrument driving device 100. Under the action of an external force, the pressing part 211 overcomes the elastic force of the elastic element, causing the snap-fit ​​part 213 to disengage from the instrument driving device 100. This elastic snap-fit ​​assembly 2 utilizes the elastic force of the elastic element to drive the snap-fit ​​part 213 of the snap-fit ​​body 21 to move toward the instrument driving device 100, thereby achieving snap-fit ​​fixation with the instrument driving device 100. By applying an external force to the pressing part 211 to overcome the elastic force of the elastic element, the snap-fit ​​part 213 moves away from the instrument driving device 100, thereby achieving separation of the snap-fit ​​part 213 from the instrument driving device 100. When the external force applied to the pressing part 211 is removed, the locking body 21 returns to its initial position under the elastic restoring force of the elastic member.

[0049] Furthermore, the snap-fit ​​body 21 is also made of a semi-rigid material, which further increases the rigidity of the sterile adapter and improves its ability to resist deformation under stress during surgery.

[0050] For example, the snap-fit ​​body 21 is a snap-fit ​​plate, the rotating part 212 is located in the middle of the snap-fit ​​plate, one end of the snap-fit ​​plate is bent inward to form a snap-fit ​​part 213 in the shape of a hook; the other end is a pressing part 211, and a friction structure 2112 is provided on the side of the pressing part 211 opposite to the hook. The friction structure 2112 increases the friction between the operator's hand and the pressing part 211, so as to avoid slipping when pressing the pressing part 211 and affecting the operation.

[0051] The specific structure of the friction structure 2112 is not specifically limited in this embodiment, and can be a rib or groove, etc.

[0052] In one embodiment, the rotating part 212 includes a rotating shaft 2121, and the adapter body 1 is provided with a mounting base 13. The rotating shaft 2121 is mounted in the mounting base 13, and the mounting base 13 restricts the axial and radial displacement of the rotating shaft 2121; the snap-fit ​​body 21 is rotatably connected between the first plate 11 and the second plate 12 via the rotating shaft 2121. The axial and radial displacement of the rotating shaft 2121 is restricted by the mounting base 13, so that the snap-fit ​​body 21 can rotate relative to the adapter body 1, realizing the connection and separation of the sterile adapter and the instrument drive device 100.

[0053] In one embodiment, the mounting base 13 includes radial limiting holes and axial limiting surfaces respectively provided at both ends of the rotating shaft 2121; the end of the rotating shaft 2121 passes through the radial limiting holes and abuts against the axial limiting surfaces.

[0054] For example, such as Figure 5 , Figure 8and Figure 9 As shown, the mounting base 13 includes a first mounting base 131 and a second mounting base 132. The first mounting base 131 is located on the side of the first plate 11 near the second plate 12, and the second mounting base 132 is located on the side of the second plate 12 near the first plate 11. Both the first mounting base 131 and the second mounting base 132 include two arc-shaped grooves 1311 spaced apart. A baffle 1312 is provided at the ends of the two arc-shaped grooves 1311 that are far apart from each other. After the first plate 11 and the second plate 12 are joined together, the first mounting base 131 and the second mounting base 132 are joined together to form the mounting base 13. The two opposing arc-shaped grooves 1311 are joined together to form a radial limiting hole, and the baffle 1312 forms an axial limiting surface.

[0055] Continue to refer to Figures 7-9 Two lugs 2122 are spaced apart at the middle of the snap-fit ​​body 21. Each lug 2122 has a corresponding pivot hole 2122a. One end of the pivot 2121 passes through one pivot hole 2122a, an elastic element, and the other pivot hole 2122a in sequence, completing the assembly with the snap-fit ​​body 21 to form the elastic snap-fit ​​assembly 2. The assembled elastic snap-fit ​​assembly 2 is then placed on the first plate 11, with the two lugs 2122 positioned between two arc-shaped grooves 1311, and both ends of the pivot 2121 located within the two arc-shaped grooves 1311. The elastic element passes through the pivot 2121 and is positioned between the two lugs 2122. Finally, the second plate 12 is joined to the first plate 11 to form a radial limiting hole and an axial limiting surface, restricting the radial movement of the pivot 2121 by the radial limiting hole and restricting its axial movement by the axial limiting surface.

[0056] In one embodiment, the first plate 11 and the second plate 12 are riveted together. The first plate 11 and the second plate 12 are formed by hot riveting, so that the first plate 11 and the second plate 12 are tightly connected, and the matrix layout of the rivet points generates a uniform clamping force.

[0057] In one embodiment, the elastic element is a torsion spring 22, which includes a torsion spring body 221 and a first pin 222 and a second pin 223 located on opposite sides of the torsion spring body 221. The torsion spring body 221 is sleeved on the rotating part 212, the first pin 222 abuts against the snap-fit ​​body 21, and the second pin 223 abuts against the adapter body 1. The torsion spring body 221 is directly sleeved on the rotating shaft 2121, so that the elastic torque output shaft and the rotation center of the snap-fit ​​body 21 are completely coincident, eliminating the lateral force loss of the traditional bias spring. The first pin 222 abuts against the side of the snap-fit ​​body 21, and the second pin 223 abuts against the adapter body 1. A certain angle is formed between the first pin 222 and the second pin 223, so that the torsion spring body 221 has a certain angular deformation, which is then converted into a constant locking force of the snap-fit ​​part 213.

[0058] For example, the side of the snap-fit ​​body 21 is provided with three limiting ribs 2111 spaced apart. The first pin 222 is placed between two of the limiting ribs 2111 to limit the left and right sway of the first pin 222. A limiting block is provided on one side of the arc-shaped groove 1311 on the first plate 11. The limiting block is located between two arc-shaped grooves 1311. A limiting channel 111 is provided on the limiting block corresponding to the second pin 223. After the assembled elastic snap-fit ​​assembly 2 is placed on the first plate 11, the second pin 223 is inserted into the limiting channel 111 to limit the deflection of the second pin 223 when the snap-fit ​​body 21 is pressed.

[0059] Of course, in other embodiments, the elastic element can also be a U-shaped or V-shaped spring sheet, with one end of the U-shaped or V-shaped spring sheet fixed to the adapter body 1 and the other end abutting against the snap-fit ​​body 21.

[0060] In one embodiment, continue to refer to Figure 3 and Figure 5 The first plate 11 has a first clearance groove 112 for the pressing part 211 to extend out, and the second plate 12 has a second clearance groove 121 for the engaging part 213 to extend out. The pressing part 211 extends from the first clearance groove 112 of the first plate 11 to facilitate pressing by the operator. The engaging part 213 extends from the second clearance groove 121 of the second plate 12 to facilitate engaging with the machine drive device 100 located below the second plate 12.

[0061] In one embodiment, the first clearance groove 112 is provided with an anti-rotation structure to limit the rotation angle of the pressing part 211. After the second pin 223 of the torsion spring 22 is inserted into the limiting channel 111, the first pin 222 contacts the side of the locking body 21, and the two limiting ribs 2111 restrict its left and right movement. By controlling the initial angle between the first pin 222 and the second pin 223 and the spring coefficient of the torsion spring 22, it is compressed between the first plate 11 and the second plate 12 and has a certain initial elastic force. This initial elastic force will push the pressing part 211 outward. When the pressing part 211 abuts against the anti-rotation structure, it is restricted from further rotation. At this time, the first pin 222 and the second pin 223 are still in a compressed state, and the locking part 213 can be stably locked with the instrument driving device 100. When the pressing part 211 is pressed, the pressing part 211 rotates around the rotating shaft 2121, and the locking part 213 moves outward, so that the locking part 213 can disengage from the instrument driving device 100. After the pressing part 211 is released, due to the elastic restoring force of the elastic element, the locking part 213 automatically moves inward and engages with the instrument drive device 100.

[0062] For example, the anti-rotation structure is an anti-rotation block 113, which is fixed in the first relief groove 112. The side near the snap-fit ​​body 21 is the anti-rotation surface 1131. When the button part abuts against the anti-rotation surface 1131, the snap-fit ​​body 21 stops rotating.

[0063] In one embodiment, two elastic snap-fit ​​components 2 are provided, and the two elastic snap-fit ​​components 2 are symmetrically arranged on the adapter body 1. By connecting the instrument driving device 100 through the two elastic snap-fit ​​components 2, on the one hand, the stability of the connection between the sterile adapter and the instrument driving device 100 is ensured; on the other hand, it is convenient for the operator to operate the pressing part 211 of the two elastic snap-fit ​​components 2 simultaneously with one hand to realize the connection and separation of the sterile adapter and the instrument driving device 100, thereby improving the convenience of operation.

[0064] Of course, in other embodiments, the number of elastic snap-fit ​​components 2 can be specifically set according to the actual structure of the instrument drive device 100. It can be one elastic snap-fit ​​component 2, or three or four elastic snap-fit ​​components 2.

[0065] Continue to refer to Figure 3 The instrument driving device 100 provided in this embodiment includes a connecting plate 101. An opening 1011 is provided on the connecting plate 101, and a snap-fit ​​structure is provided within the opening 1011 for engaging with the snap-fit ​​portion 213 of the aforementioned sterile adapter. The snap-fit ​​portion 213 extends into the connecting plate 101 through the opening 1011 and engages with the snap-fit ​​structure, achieving a stable connection between the snap-fit ​​portion 213 and the connecting plate 101.

[0066] For example, the connecting plate 101 is located above the instrument drive device 100. The snap-fit ​​structure is an engagement step 1012, and the snap-fit ​​part 213 hooks onto the stepped surface of the engagement step 1012.

[0067] Of course, in other embodiments, the snap-fit ​​structure can also be a bayonet or a slot or other structure.

[0068] The surgical robot system provided in this embodiment includes the sterile adapter and the instrument drive device 100 described above. This reduces the possibility of unexpected separation between the sterile adapter and the instrument drive device 100 during surgery, ensures the stability of the connection between the instrument drive device 100 and the sterile adapter, and guarantees the smooth progress of endoscopic surgery.

[0069] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A sterile adapter for connecting a surgical instrument driving device, characterized by include: The adapter body has a first plate and a second plate that are positioned relative to each other. A flexible snap-fit ​​assembly is rotatably connected between the first plate and the second plate; The elastic snap-fit ​​assembly includes a snap-fit ​​body and an elastic element. The snap-fit ​​body has a pressing part, a rotating part, and a snap-fit ​​part. The rotating part is located between the pressing part and the snap-fit ​​part. The elastic element acts on the snap-fit ​​body to provide an elastic force that causes the snap-fit ​​part to move toward the instrument driving device. Under the action of an external force, the pressing part overcomes the elastic force of the elastic element and causes the snap-fit ​​part to disengage from the instrument driving device.

2. The aseptic adapter of claim 1, wherein, The elastic element is a torsion spring, which includes a torsion spring body, a first pin and a second pin located on opposite sides of the torsion spring body; The torsion spring body is sleeved on the rotating part, the first pin abuts against the snap-fit ​​body, and the second pin abuts against the adapter body.

3. The aseptic adapter of claim 1, wherein, The rotating part includes a rotating shaft, and the adapter body is provided with a mounting base; The rotating shaft is installed in the mounting base, which restricts the axial and radial displacement of the rotating shaft; the snap-fit ​​body is rotatably connected between the first plate and the second plate via the rotating shaft.

4. The aseptic adapter of claim 3, wherein, The mounting base includes radial limiting holes and axial limiting surfaces respectively provided at both ends of the rotating shaft; the end of the rotating shaft passes through the radial limiting holes and abuts against the axial limiting surfaces.

5. The aseptic adapter of claim 1, wherein, The first plate has a first clearance groove for the pressing part to extend out, and the second plate has a second clearance groove for the snap-fit ​​part to extend out.

6. The aseptic adapter of claim 5, wherein, The first clearance groove is provided with an anti-rotation structure to limit the rotation angle of the pressing part.

7. The sterile adapter of any one of claims 1-5, wherein, Two elastic snap-fit ​​components are provided, and the two elastic snap-fit ​​components are symmetrically arranged on the adapter body.

8. The sterile adapter of any one of claims 1-5, wherein, The first plate and the second plate are riveted together.

9. The sterile adapter of any one of claims 1-5, wherein, The first plate, the second plate, and the snap-fit ​​body are all made of semi-rigid material.

10. A machine driving device, characterized in that, The device includes a connecting plate having an opening, and the opening having a snap-fit ​​structure for engaging with a snap-fit ​​portion of the sterile adapter as described in any one of claims 1-9.

11. A surgical robotic system, characterized by, Includes the sterile adapter as described in any one of claims 1-9 and the instrument driving device as described in claim 10, wherein the snap-fit ​​portion of the sterile adapter is engaged with the snap-fit ​​structure of the instrument driving device.

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