Connection adapter, connection assembly, and surgical robotic system

Abstract

The present disclosure relates to the field of medical devices, and discloses a connection adapter, a connection assembly and a surgical robot system. The connection adapter comprises a connection cylinder comprising a connection cylinder bottom and a connection cylinder wall, the connection cylinder wall being arranged at a distal end of the connection cylinder bottom; a locking cylinder, which is sleeved outside the connection cylinder, comprising a locking cylinder bottom located at a proximal end of the connection cylinder bottom, and a locking cylinder wall arranged at a distal end of the locking cylinder bottom, the locking cylinder wall being used for detachably connecting a distal end device and being capable of rotating relative to the connection cylinder to lock the distal end device with the connection adapter; and at least one locking member, which is fixedly connected with the locking cylinder bottom and the connection cylinder bottom and extends towards the proximal end, is used for detachably connecting a proximal end device and locking the proximal end device with the connection adapter.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a connection adapter, a connection component, and a surgical robot system. Background Technology

[0002] Laparoscopic surgery is a surgical procedure that has gradually developed and been widely used in recent years. It has advantages such as smaller incisions, which greatly reduces patients' recovery time, discomfort, and postoperative side effects. Laparoscopic surgery, especially single-port laparoscopic surgery, performed using surgical robot systems, can optimize the surgical procedure through remote computer control technology.

[0003] Connectivity adapters are an important component of surgical robot systems, used to connect surgical instruments and surgical carts. The stability and reliability of the connectivity adapters directly affect the operator's experience and the smoothness and safety of each stage of the surgery. Summary of the Invention

[0004] In some embodiments, this disclosure provides a connection adapter, including:

[0005] A connecting cylinder includes a bottom and a wall, with the wall located at the far end of the bottom.

[0006] A locking cylinder, fitted outside the connecting cylinder, includes:

[0007] Locking cylinder bottom, located near the end connecting cylinder bottom; and

[0008] A locking cylinder wall, located at the distal end of the bottom of the locking cylinder, is used for detachable connection of the remote device and is rotatable relative to the connecting cylinder to lock the remote device to the connecting adapter; and

[0009] At least one locking element, fixedly connected to the base of the locking cylinder and the base of the connecting cylinder and extending proximally, is used for detachably connecting the proximity device and locking the proximity device to the connecting adapter.

[0010] In some embodiments, the locking element includes:

[0011] The base, in a columnar shape, is fixedly connected to the bottom of the locking cylinder; and

[0012] The connecting cap is fixedly mounted near the base and its radial dimension is larger than that of the base; or

[0013] The locking element is plate-shaped and includes a slot at the proximal end that can be detachably engaged with the proximal device.

[0014] In some embodiments, the locking cylinder wall includes a plurality of locking grooves, the openings of which face the distal end;

[0015] The connecting cylinder wall includes multiple connecting cylinder slots, the openings of which face the distal end. The multiple connecting cylinder slots cooperate with multiple locking slots for detachable connection with the distal device.

[0016] In some embodiments, the locking slot includes:

[0017] The longitudinal portion extends longitudinally and has an opening facing the distal end; and

[0018] The transverse portion is located near the end of the longitudinal portion and extends circumferentially along the locking cylinder wall.

[0019] The locking cylinder wall can rotate relative to the connecting cylinder wall to lock the longitudinal portion by intersecting the slot of the connecting cylinder and by overlapping at least a portion of the transverse portion with at least a portion of the slot of the connecting cylinder, or to unlock the longitudinal portion by overlapping the slot of the connecting cylinder.

[0020] In some embodiments, the multiple connecting cylinder slots include:

[0021] At least one through groove extends longitudinally and has a uniform width.

[0022] In some embodiments, the longitudinal portion of the locking groove includes a first edge along an oblique direction and a second edge along a longitudinal direction, the width of the longitudinal portion tapering from the distal end to the proximal end, and the first edge is used to receive pressure that causes the locking cylinder wall to rotate in the unlocking direction.

[0023] In some embodiments, the lateral portion of the locking slot includes a first lateral edge located at the proximal end and connected to the second edge, and a second lateral edge located at the distal end and connected to the first edge.

[0024] In some embodiments, the plurality of connecting cylinder slots further include:

[0025] At least one unlocking groove, the unlocking groove including a third edge along the oblique direction and a fourth edge along the longitudinal direction, the width of the unlocking groove gradually decreasing from the distal end to the proximal end.

[0026] In some embodiments, the connectivity adapter further includes:

[0027] At least one elastic element is provided along the circumference of the connecting adapter, and the two ends of the elastic element are respectively connected to the connecting cylinder and the locking cylinder. The elastic element is used to apply a pre-elastic force in the locking direction to the locking cylinder.

[0028] In some embodiments, the locking cylinder further includes at least one receiving portion, which is fixedly disposed on the inner circumferential surface of the locking cylinder wall and located between the bottom of the connecting cylinder and the bottom of the locking cylinder, and the receiving portion includes a receiving groove;

[0029] The connecting cylinder also includes at least one blocking block, which is fixedly disposed at the bottom of the connecting cylinder and can slide within the receiving groove;

[0030] The elastic element is located within the receiving groove, and its two ends are respectively connected to the blocking block and one end of the receiving groove.

[0031] In some embodiments, this disclosure also provides a connection component, including:

[0032] Such as the connection adapter in any of the embodiments of this disclosure;

[0033] The near-end device is detachably connected to and lockable to the connection adapter; and

[0034] The remote device is detachably connected to the connection adapter and can be locked to the connection adapter.

[0035] In some embodiments, the proximal device includes a motor and multiple drive interfaces, and the distal device includes multiple transmission interfaces.

[0036] The connection adapter also includes multiple couplers that can rotate relative to the connecting sleeve and locking sleeve of the connection adapter. The proximal end of the coupler can be connected to the drive interface, and the distal end can be connected to the transmission interface.

[0037] In some embodiments, the near-end device further includes a controller that is communicatively connected to the motor and is configured to control the motor to drive multiple drive interfaces to rotate for connection with multiple couplers.

[0038] In some embodiments, the controller is configured to control the motor drive interface to reciprocate.

[0039] In some embodiments, the connection adapter further includes multiple coupling channels that extend through the bottom of the connecting cylinder and the bottom of the locking cylinder.

[0040] Multiple couplers are arranged within multiple coupling channels. The couplers include:

[0041] The base is located between the bottom of the connecting cylinder and the bottom of the locking cylinder, and the radial dimension of the base is larger than the radial dimension of the coupling channel;

[0042] A proximal connection structure, fixedly mounted at the proximal end of the base, protrudes from the bottom of the locking cylinder through the coupling channel, for connection to the drive interface of the proximal device; and

[0043] The remote connection structure is fixedly installed at the far end of the base, protruding from the bottom of the connecting cylinder through the coupling channel, and is used to connect to the transmission interface of the remote device.

[0044] In some embodiments, the remote device includes:

[0045] The remote unlocking element is disposed on the outer surface of the remote device. The remote unlocking element is capable of moving longitudinally and is used to apply pressure to the locking cylinder of the connecting adapter to cause the locking cylinder to rotate in the unlocking direction, thereby unlocking the remote device from the connecting adapter.

[0046] In some embodiments, the proximal device includes:

[0047] At least one connection hole with the opening facing the distal end, and at least one locking member of the connection adapter is capable of extending into or disengaging from the at least one connection hole;

[0048] At least one proximal unlocking element, the proximal unlocking element comprising:

[0049] The push part, exposed in the housing of the near end device, is used to receive pressure that causes the push part to move inward;

[0050] A push rod, fixedly connected to the actuating part, and extending from the actuating part into the housing of the proximal device; and

[0051] A blocking part, fixedly connected to a push rod, with at least a portion of the blocking part exposed in the cavity of at least one connecting hole, to prevent at least one locking member from entering or disengaging from at least one connecting hole; and

[0052] The first elastic reset member is retractable and fixedly connected to the blocking part. The first elastic reset member is used to apply a pre-elastic force to the blocking part to make the proximal unlocking member move outward.

[0053] In some embodiments, the proximal device further includes a distal cover, the distal cover comprising:

[0054] At least one slider is slidably disposed on the proximal face of the distal cover and is capable of radial sliding. The slider includes a protrusion structure disposed on a radially outer surface and protruding from the outer peripheral surface of the distal cover. At least one locking member of the connecting adapter is detachably engaged with the protrusion structure.

[0055] A second elastic reset element, which is telescopic, is connected to at least one slider. The second elastic reset element is used to apply a pre-elastic force to at least one slider to cause at least one slider to move radially outward.

[0056] In some embodiments, this disclosure also provides a surgical robot system, including:

[0057] At least one robotic arm; and

[0058] At least one connection component as described in some embodiments of this disclosure, the proximal end of the connection component being disposed at the distal end of at least one robotic arm, the distal end of the connection component including a surgical instrument, and the at least one robotic arm being capable of connecting to the surgical instrument via a connection adapter of the connection component.

[0059] Some embodiments of this disclosure have one or more of the following technical effects: the connection adapter is simple in design, compact in structure, stable, and easy to operate, and can be used to connect the robotic arm and surgical instruments of a surgical robot system; it can be locked to the robotic arm and surgical instruments of the surgical robot system respectively, thereby improving the stability of the connection and the smoothness and reliability of the movement of the surgical instruments during surgery; the connection adapter and the remote device can be easily unlocked through the remote unlocking component; the connection adapter and the proximal device can be easily unlocked through the proximal unlocking component; the controller can control the rotation of multiple drive interfaces of the proximal device to facilitate the rapid connection of multiple couplers of the connection adapter with the proximal device; it can be used to connect multiple drive interfaces of the proximal device and multiple transmission interfaces of the remote device, and can be used to transmit driving force to the surgical instruments to enable the surgical instruments to perform surgical operations; the connection adapter is easy to clean, which helps to improve safety and hygiene. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0061] Figure 1 A perspective view of a connection adapter according to some embodiments of the present disclosure is shown;

[0062] Figure 2 A perspective view of a connection adapter according to some embodiments of the present disclosure is shown from another angle.

[0063] Figure 3 A perspective view showing a connection adapter in a locked state according to some embodiments of the present disclosure;

[0064] Figure 4 An exploded side view of a portion of the structure of a connection adapter according to some embodiments of the present disclosure is shown;

[0065] Figure 5 A schematic diagram showing a connection adapter in an unlocked state according to some embodiments of the present disclosure;

[0066] Figure 6 A side view of a connecting cylinder according to some embodiments of the present disclosure is shown;

[0067] Figure 7 A schematic diagram showing a connection adapter in a locked state according to some embodiments of the present disclosure from another angle;

[0068] Figure 8 A perspective view showing a portion of the structure of a connection adapter according to some embodiments of the present disclosure;

[0069] Figure 9 This diagram illustrates a portion of the structure of a connection component according to some embodiments of the present disclosure in a locked state;

[0070] Figure 10 This diagram illustrates a portion of the structure of a connection component according to some embodiments of the present disclosure in an unlocked state.

[0071] Figure 11 A perspective view of the coupling channel of a connection adapter according to some embodiments of the present disclosure is shown;

[0072] Figure 12 A perspective view of a coupler of a connection adapter according to some embodiments of the present disclosure is shown;

[0073] Figure 13 A front view of the distal portion structure of a proximal device according to some embodiments of the present disclosure in a locked state is shown;

[0074] Figure 14 A front view of the distal portion structure of a proximal device according to some embodiments of the present disclosure in an unlocked state is shown;

[0075] Figure 15 An exploded perspective view of a portion of the structure of a connection component according to some embodiments of the present disclosure is shown.

[0076] Figure 16 A perspective view of the distal cover plate of a proximal device according to some embodiments of the present disclosure is shown;

[0077] Figure 17 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown.

[0078] List of reference numerals in the attached diagram:

[0079] 100. Connect the adapter;

[0080] 10. Connecting cylinder; 11. Connecting cylinder wall; 12. Connecting cylinder bottom; 13. Blocking block;

[0081] 20. Locking cylinder; 21. Locking cylinder wall; 22. Locking cylinder bottom; 23, 23a. Receiving part; 231, 231a. Receiving groove;

[0082] 30, 30a, locking element; 31, base; 32, connecting cap; 40, 40a, elastic element;

[0083] 50. Communication connector; 51a, 51b. Connection interface; 52. First insulating groove; 53. Second insulating groove;

[0084] 60. Coupler; 61. Proximal connection structure; 62. Distal connection structure; 63. Base; 64. Proximal base; 601. Coupling channel;

[0085] 200. Connecting assembly; 210. Remote device; 211. Connecting structure; 212. Remote unlocking element; 220. Proximal device; 221. Connecting hole; 222. Proximal unlocking element; 2221. Pressing part; 2222. Push rod; 2223. Blocking part; 222a. Proximal unlocking element; 2221a. Pressing part; 2222a. Push rod; 2223a. Blocking part; 223. Resilient reset element;

[0086] 300. Connecting assembly; 310. Connecting adapter; 311. Connecting cylinder; 312. Locking cylinder; 313. Locking element; 320. Distal cover plate; 321, 321a. Slider; 322. Resilient reset element;

[0087] 1000. Surgical robot system; 1010. Surgical trolley; 1011. Robotic arm; 1020. Main control trolley; 1021. Main manipulator;

[0088] C1, connecting cylinder slot; C11, through slot; C12, unlocking slot; C2, locking slot; C21, longitudinal portion; C22, transverse portion; C3, groove; C4, slot; C5, connecting slot; C6, slot; B1, first edge; B2, second edge; B3, third edge; B4, fourth edge; BH1, first transverse edge; BH2, second transverse edge; K1, hole structure; T1, T2, protruding structure; Y1, Y2, rounded corner structure. Detailed Implementation

[0089] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0090] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure 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 disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this disclosure, it should be noted that unless otherwise expressly specified and limited, the terms "installed," "connected," "coupled," and "coupled" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0091] In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear end, and the end opposite to the proximal end, proximal or rear end, or rear end is defined as the distal end, distal or front end, or front end. Alternatively, the end closer to the person being operated on (e.g., a surgical patient) is defined as the distal end, distal or front end, or front end, and the end opposite to the distal end, distal or front end, or front end is defined as the proximal end, proximal or rear end, or rear end. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0092] Some embodiments of this disclosure provide a connection adapter. Figure 1 A perspective view of a connection adapter 100 according to some embodiments of the present disclosure is shown. Figure 2 A perspective view of a connection adapter 100 according to some embodiments of the present disclosure is shown from another angle. In some embodiments, the connection adapter 100 can be used in a surgical robot system, for example for connecting surgical instruments (e.g., curved scissors, clamps, endoscopes, etc.) within the surgical robot system. The surgical robot system can be a variety of suitable surgical robot systems, including laparoscopic surgical robot systems. In some embodiments, the surgical robot system may include at least one robotic arm, and the connection adapter 100 can be used to connect at least one robotic arm and surgical instruments.

[0093] like Figure 1 and Figure 2As shown, the connector adapter 100 includes a connector cylinder 10 and a locking cylinder 20. The connector cylinder 10 includes a connector cylinder wall 11 and a connector cylinder bottom 12. The connector cylinder wall 11 is disposed at the distal end of the connector cylinder bottom 12. In some embodiments, the connector cylinder wall 11 can be fixedly disposed at the distal end of the connector cylinder bottom 12 by a suitable method such as welding, injection molding, or integral molding.

[0094] The locking cylinder 20 can be sleeved outside the connecting cylinder 10. The locking cylinder 20 may include a locking cylinder wall 21 and a locking cylinder bottom 22. The locking cylinder bottom 22 is located at the proximal end of the connecting cylinder bottom 12. The locking cylinder wall 21 is located at the distal end of the locking cylinder bottom 22. The locking cylinder wall 21 can be used to detachably connect to a distal device. In some embodiments, the distal device may include surgical instruments such as clamps, curved scissors, and endoscopes, or it may include non-surgical devices. In some embodiments, when connected to a distal device, the connecting adapter 100 may be sleeved on at least a portion of the distal device, for example, the proximal portion of the distal device.

[0095] The locking cylinder wall 21 is rotatable relative to the connecting cylinder 11 to lock the remote device to the connecting adapter 100. In some embodiments, the locking cylinder 20 is rotatable between a locked position and an unlocked position to lock or unlock the remote device to the connecting adapter 100. In some embodiments, the locking cylinder wall 21 may include a slot, a latch, or other structure to lock the remote device to the connecting adapter 100.

[0096] The connection adapter 100 may also include at least one locking element 30. The at least one locking element 30 may be used to detachably connect the proximal device and lock the proximal device to the connection adapter 100. In some embodiments, the proximal device may include the distal end of a robotic arm in a surgical robot system and a drive mechanism for driving the movement of surgical instruments, etc. In some embodiments, when connected to the proximal device, the locking cylinder bottom 22 may abut against the distal end of the proximal device.

[0097] At least one locking member 30 is fixedly connected to the locking cylinder base 22 and the connecting cylinder base 12 and extends proximally. In some embodiments, at least one locking member 30 may extend into the proximal device for connection thereto. In some embodiments, at least one locking member 30 may be fixedly disposed on the locking cylinder base 22 by a suitable method such as welding, injection molding, integral molding, etc. At least one locking member 30 may be secured to the locking cylinder base 22 by fasteners (e.g., Figure 1 The bolts 301 shown are fixedly connected to the bottom of the connecting cylinder 12, thereby fixing the relative positions of the locking cylinder bottom 22 and the connecting cylinder bottom 12. It should be understood that at least one locking element 30 may be one, two, or more, and this is not limited thereto.

[0098] Figure 3A perspective view showing a connection adapter 100 in a locked state according to some embodiments of the present disclosure. Figure 3 As shown, in some embodiments, the locking member 30 may include a base 31 and a connecting cap 32. The base 31 may be columnar and may be fixedly connected to the bottom of the locking cylinder 22. The connecting cap 32 may be fixedly disposed at the proximal end of the base 31. In some embodiments, the connecting cap 32 may be fixedly disposed at the proximal end of the base 31 by a suitable method such as welding, injection molding, or integral molding. The radial dimension of the connecting cap 32 may be larger than that of the base 31. When connected to a proximal device, the connecting cap 32 and at least a portion of the base 31 may extend into the proximal device and lock with it. In some embodiments, the connection adapter 100 may include multiple locking members, such as locking member 30 and locking member 30a.

[0099] The connection adapter 100 provided in some embodiments of this disclosure can be locked to the proximal and distal devices respectively, which helps to improve the stability of the connection between the proximal and distal devices. This helps to improve the smoothness of surgical instrument movement during surgery and enhances the safety and reliability of the surgical robot performing surgery.

[0100] In some embodiments, the connecting cylinder 10 and the locking cylinder 20 can be engaged to be detachably connected to a remote device. Figure 4 An exploded side view of a portion of the structure of a connection adapter 100 according to some embodiments of the present disclosure is shown. It should be noted that... Figure 4 The locking cylinder wall 21 of the connecting cylinder 10 and the locking cylinder 20 is shown. (See attached image.) Figure 4 As shown, in some embodiments, the locking cylinder wall 21 may include a plurality of locking slots C2, the openings of which face the distal end. The connecting cylinder wall 11 may include a plurality of connecting cylinder slots C1, the openings of which face the distal end. The plurality of connecting cylinder slots C1 cooperate with the plurality of locking slots C2 for detachable connection with the distal device, thereby enabling detachable connection between the distal device and the connecting adapter 100.

[0101] In some embodiments, the plurality of locking grooves C2 may be uniformly or non-uniformly distributed in the circumferential direction of the locking cylinder wall 21. The plurality of connecting cylinder slots C1 may be uniformly or non-uniformly distributed in the circumferential direction of the connecting cylinder wall 11. In some embodiments, the number of the plurality of connecting cylinder slots C1 and the plurality of locking grooves C2 may be the same, and the positions of the plurality of connecting cylinder slots C1 and the plurality of locking grooves C2 may correspond to each other to facilitate connection with a remote device.

[0102] In some embodiments, such as Figure 4As shown, the locking groove C2 may include a longitudinal portion C21 and a transverse portion C22. The longitudinal portion C21 extends longitudinally and has an opening facing the distal end. In this application, longitudinal refers to a direction parallel to the circumference of the connecting adapter 100. The transverse portion C22 is disposed near the proximal end of the longitudinal portion C21 and extends circumferentially along the locking cylinder wall 21.

[0103] The locking cylinder wall 21 is rotatable relative to the connecting cylinder wall 11 to lock or unlock the remote device. For example... Figure 3 As shown, in some embodiments, the longitudinal portion C21 of the locking groove C2 can intersect with the connecting cylinder slot C1, and at least a portion of the transverse portion C22 can overlap with at least a portion of the connecting cylinder slot C1, thereby achieving locking. Figure 3 In the locked state shown, at least a portion of the remote device (e.g., a protruding structure located at the proximal end of the outer peripheral surface of the remote device) can be confined within the overlapping portion of the locking groove C2 and the connecting cylinder slot C1, preventing it from moving to the remote end and disengaging from the connecting adapter, thereby locking the remote device and the connecting adapter 100.

[0104] Figure 5 A schematic diagram showing a connection adapter 100 in an unlocked state according to some embodiments of the present disclosure is illustrated. Figure 5 As shown, in some embodiments, the longitudinal portion C21 of the locking groove C2 can overlap with the slot C1 of the connecting cylinder to unlock. In such... Figure 5 In the unlocked state shown, at least a portion of the remote device can move from the bottom of the locking groove C2 and the connecting tube slot C1 to the remote opening to unlock with the connecting adapter 100 through the overlapping portion of the locking groove C2 and the connecting tube slot C1, or move from the remote opening of the locking groove C2 and the connecting tube slot C1 to the bottom to connect with the connecting adapter 100.

[0105] like Figure 4 As shown, in some embodiments, the plurality of connecting cylinder slots C1 may include at least one through slot C11. The through slot C11 extends longitudinally and has a uniform width. In some embodiments, the two sides of the distal opening of the through slot C11 may include rounded corner structures Y1 to facilitate the sliding of a distal device into and connection with the through slot C11. In some embodiments, the proximal portion of the through slot C11 may have a uniform width, and the width of the distal opening and the distal portion of the through slot C11 may be greater than the width of the proximal portion, tapering from the distal end to the proximal end to facilitate the sliding of a distal device into and connection with the through slot C11.

[0106] like Figure 4As shown, in some embodiments, the longitudinal portion C21 of the locking groove C2 may include a first edge B1 along an oblique direction and a second edge B2 along a longitudinal direction. The width of the longitudinal portion C21 may taper from the distal end to the proximal end. The first edge B1 may be used to receive pressure that causes the locking cylinder wall 21 to rotate in the unlocking direction. In some embodiments, an external device (e.g., a distal device or an unlocking element for unlocking, etc.) moves from the distal end to the proximal end to connect with the connection adapter 100. The first edge B1 is thus able to be subjected to pressure such as Figure 4 Pressure in the D1 direction. Under this pressure, the locking cylinder wall 21 can rotate in the unlocking direction, for example by... Figure 4 The shown locked state rotates to Figure 5 The unlock status is shown.

[0107] like Figure 4 As shown, in some embodiments, the two sides of the distal opening of the locking groove D2 may include rounded corner structures Y2 to facilitate the sliding of an external device into the locking groove C2.

[0108] In some embodiments, such as Figure 4 As shown, the lateral portion C22 of the locking groove C2 may include a first lateral edge BH1 located at the proximal end and connected to the second edge B2, and a second lateral edge BH2 located at the distal end and connected to the first edge B1. Both the first lateral edge BH1 and the second lateral edge BH2 extend circumferentially along the locking cylinder wall 21. Those skilled in the art will understand that in the locked state, for example, when the connecting adapter 100 is locked to the remote device, at least a portion of the remote device is located at the overlap of the locking groove C2 and the connecting cylinder slot C1, and the second lateral edge BH1 can restrict the remote device from moving to the distal end, thereby achieving a locking connection between the connecting adapter 100 and the remote device.

[0109] Figure 6 A side view of the connecting tube 10 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 6 As shown, the plurality of connecting tube slots C1 may further include at least one unlocking slot C12, which can be used to unlock the connecting adapter 100 and the remote device. The unlocking slot C12 includes a third edge B3 along an oblique direction and a fourth edge B4 along a longitudinal direction. The width of the unlocking slot C12 tapers from the distal end to the proximal end. In some embodiments, the third edge B3 along the oblique direction may be located on one side of the unlocking direction. In some embodiments, the unlocking slot C12 may be used to receive an unlocking element, which can be used to unlock the connecting adapter 100 and the remote device.

[0110] Figure 7 This is a schematic diagram showing the connection adapter 100 in a locked state according to some embodiments of the present disclosure from another angle. Figure 7As shown, in the locked state, the unlocking element can extend into the locking groove C2 and unlocking groove C12 through the distal openings of the locking groove C2 and unlocking groove C12, for example, along... Figure 7 The direction D2 shown extends into the locking groove C2 and the unlocking groove C12. The unlocking component can apply pressure to the first edge B1 of the locking groove C2, thereby pushing the locking cylinder wall 21 to move in the unlocking direction.

[0111] Those skilled in the art will understand that the shapes of the locking groove C2 and the connecting cylinder slot C1 are not limited to the above embodiments and may include any other suitable shapes. For example, the lateral portion C22 of the locking groove C2 may extend along the locking cylinder wall 21 while tilting towards the proximal or distal end, etc. The shape of the unlocking groove C12 may include other shapes that can cooperate with the unlocking member.

[0112] Figure 8 A perspective view of a portion of the structure of a connection adapter 100 according to some embodiments of the present disclosure is shown. It should be noted that... Figure 8 The locking cylinder bottom 22 is concealed to show the structure inside the connecting adapter 100. In some embodiments, the connecting adapter 100 may further include at least one elastic element 40. The elastic element 40 may be arranged circumferentially along the connecting adapter 100. The two ends of the elastic element 40 may be connected to the connecting cylinder 10 and the locking cylinder 20, respectively. The elastic element 40 may be used to apply a pre-spring force in the locking direction to the locking cylinder 20. Those skilled in the art will understand that when establishing a connection with a remote device, under the action of the pre-spring force applied by the elastic element 40, the locking cylinder 20 can automatically rotate in the locking direction, thereby allowing the connecting adapter 100 to automatically lock the remote device. Without being subjected to external force, under the action of the pre-spring force applied by the elastic element 40, the connecting adapter 100 can maintain the following position. Figure 3 The lock state is shown. When connected to a remote device, the lock to the remote device can be maintained.

[0113] In some embodiments, the connection adapter 100 may include a plurality of elastic elements, such as Figure 8 The elastic elements 40 and 40a are shown. In some embodiments, the connecting adapter 100 may include any suitable number of elastic elements 40. The elastic elements 40 may include any suitable type such as metal springs, rubber springs, pneumatic springs, etc.

[0114] In some embodiments, such as Figure 8As shown, the locking cylinder 20 may further include at least one receiving portion 23. The receiving portion 23 may be fixedly disposed on the inner circumferential surface of the locking cylinder wall 21, and the receiving portion 23 is located between the connecting cylinder bottom 12 and the locking cylinder bottom 22. In some embodiments, the receiving portion 23 may be disposed on the inner circumferential surface of the locking cylinder wall 21 by any suitable method such as welding, injection molding, or integral molding. In some embodiments, the receiving portion 23 may be flat to be disposed between the connecting cylinder bottom 12 and the locking cylinder bottom 22. The receiving portion 23 may include a receiving groove 231. In some embodiments, the receiving portion 23 may extend circumferentially along the locking cylinder wall 21, thereby allowing the receiving groove 231 to extend circumferentially along the locking cylinder wall 21.

[0115] In some embodiments, such as Figure 8 As shown, the connecting cylinder 10 may further include at least one blocking block 13. The blocking block 13 is fixedly disposed on the bottom 12 of the connecting cylinder. In some embodiments, the blocking block 13 may be fixedly disposed on the bottom 12 of the connecting cylinder by any suitable method such as welding or injection molding. In some embodiments, the blocking block 13 may be disposed towards the proximal end. The blocking block 13 is slidable within the receiving groove 231.

[0116] The elastic element 40 can be located within the receiving groove 231, and its two ends are respectively connected to the blocking block 13 and one end of the receiving groove 231, for example, by welding, bonding, or other suitable methods to fix or abut against each other. Those skilled in the art will understand that when the locking cylinder 20 rotates in the unlocking direction, the distance between the end of the receiving groove 231 away from the blocking block 13 and the blocking block 13 shortens, thereby compressing the elastic element 40, allowing the connecting adapter 10 to move to the unlocked state (e.g., ...). Figure 5 (As shown). In the unlocked state, if no external force is applied, the compressed and shortened elastic element 40 can push the receiving groove 231 away from one end of the blocking block 13, thereby locking the cylinder wall 21 and allowing it to move in the locking direction.

[0117] In some embodiments, such as Figure 8 As shown, the connector 100 may include multiple elastic elements, such as elastic element 40 and elastic element 40a. In some embodiments, the locking cylinder 20 may include multiple receiving portions, such as receiving portion 23 and receiving portion 23a. Receiving portion 23 may include a receiving groove 231, which can be used to receive elastic element 40. Receiving portion 23a may include a receiving groove 231a, which can be used to receive elastic element 40a.

[0118] In some embodiments, such as Figure 8As shown, the connection adapter 100 may further include a communication connector 50. The communication connector 50 may include an edge portion, a proximal portion, and a distal portion. The edge portion may be located between the connecting cylinder bottom 12 and the locking cylinder bottom 22. The proximal portion may be embedded within the locking cylinder bottom 22, and the distal portion may be embedded within the connecting cylinder bottom 12. Figure 1 and Figure 2 As shown, the communication connector 50 may include a connection interface 51 (which may include connection interfaces 51a and 51b). The proximal end of the connection interface 51 can be connected to a proximal device, and the distal end can be connected to a remote device. In some embodiments, connection interfaces 51a and 51b can be used to detect whether the monopole and bipole cables of the surgical robot are connected, whether the connection adapter 100 is connected to the remote device, etc.

[0119] like Figure 1 and Figure 2 As shown, in some embodiments, the communication connector 50 may further include a first insulating groove 52 located on the proximal end face and a second insulating groove 53 located on the distal end face. The first insulating groove 52 may be used to accommodate at least a portion of the proximal device (e.g., the communication device of the proximal device), and the second insulating groove 53 may be used to accommodate at least a portion of the distal device (e.g., the communication device of the distal device). In some embodiments, when both the proximal and distal devices are connected to the connection adapter 100, at least a portion of the communication device of the proximal device (e.g., a reader chip) may be accommodated in the first insulating groove 52, and at least a portion of the communication device of the distal device (e.g., a tag chip) may be accommodated in the second insulating groove 53. Based on this, the proximal and distal devices can achieve wireless communication; for example, the reader chip of the proximal device can read information in the tag chip of the distal device. In some embodiments, the communication connector 50 may be made of an insulating material, thereby preventing shielding of wireless communication between the proximal and distal devices.

[0120] In some embodiments, the connection adapter 100 may further include a circumferential positioning structure. For example Figure 6 As shown, the circumferential positioning structure may include a groove C3 provided on the connecting cylinder wall 11. This circumferential positioning structure facilitates the installation of the near-end device or the far-end device with the connecting adapter 100.

[0121] In some embodiments, such as Figure 4 As shown, the connecting cylinder 10 may also include multiple perforated structures K1. The perforated structures K1 help reduce the weight of the connecting adapter 100 and facilitate cleaning of the connecting adapter 100.

[0122] Some embodiments of this disclosure also provide a connection component. Figure 9This diagram illustrates a portion of the structure of a connection component 200 according to some embodiments of the present disclosure in a locked state. Figure 10 This diagram illustrates a portion of the structure of a connection component 200 according to some embodiments of the present disclosure in an unlocked state. For example... Figure 9 and Figure 10 As shown, the connection component 200 may include a connection adapter (e.g., connection adapter 100) as described in any of the embodiments of this disclosure, a near-end device (not shown), and a far-end device 210. Those skilled in the art will understand that... Figure 9 and Figure 10 The diagram shows a partial structure of the proximal end of the remote device 210. The proximal device can be detachably connected to and locked to the connection adapter 100. The remote device 210 can be detachably connected to and locked to the connection adapter 100.

[0123] In some embodiments, such as Figure 9 and Figure 10 As shown, the remote device 210 may include at least one connection structure 211. The connection structure 211 can be used to connect to the connection adapter 100. The connection structure 211 may be disposed near the proximal end of the outer peripheral surface of the remote device 210 and may protrude beyond the outer peripheral surface of the remote device 210. When the remote device 210 is connected to the connection adapter 100, the connection structure 211 can be connected through the overlapping portion of the locking groove C2 and the distal opening of the connecting sleeve slot C1 (e.g., ...). Figure 3 As shown), it extends into the locking groove C2 and the connecting cylinder slot C1. Continuing to move distally, the connecting structure 211 can move towards the first edge B1 of the locking groove C2 (see...). Figure 4 Pressure is applied to push the locking cylinder wall 21 in the unlocking direction. The connecting structure 211 can then move to the bottom through the overlapping locking groove C2 and the connecting cylinder slot C1, thereby locking the remote device 210 with the connecting adapter 100. In the locked state, the connecting structure 211 can be located and confined in the overlapping portion of the lateral portion C22 of the locking groove C2 and the connecting cylinder slot C1.

[0124] In some embodiments, the near-end device may include a motor and multiple drive interfaces. The far-end device may include multiple drive interfaces (not shown in the figures). Figure 1 and Figure 2As shown, the connection adapter 100 may further include multiple couplers 60. Each coupler 60 is rotatable relative to the connecting sleeve 10 and locking sleeve 20 of the connection adapter 100. The proximal end of each coupler 60 can be connected to a drive interface, and the distal end of each coupler 60 can be connected to a transmission interface. The motor of the proximal device can output driving force through multiple drive interfaces, and the driving force output by the proximal device can be transmitted to the transmission interface of the distal device through the multiple couplers 60 of the connection adapter 100, thereby causing the distal device to move.

[0125] Figure 11 A perspective view of the coupling channel 601 of a connection adapter 100 according to some embodiments of the present disclosure is shown. Figure 11 As shown, in some embodiments, the connection adapter 100 may further include multiple coupling channels 601. The coupling channels may extend through the bottom of the connection cylinder 12 (see Figure 100). Figure 1 ) and locking cylinder bottom 22. Multiple couplers 60 can be arranged in multiple coupling channels 601.

[0126] Figure 12 A perspective view of a coupler 60 of a connection adapter 100 according to some embodiments of the present disclosure is shown. Figure 12 As shown, the coupler 60 may include a proximal connection structure 61, a distal connection structure 62, and a base 63. The base 63 may be located between the bottom of the connecting cylinder 12 and the bottom of the locking cylinder 22. The radial dimension of the base 63 may be larger than the radial dimension of the coupling channel 601, thereby preventing the coupler 60 from detaching from the coupling channel 601.

[0127] The proximal connection structure 61 can be fixedly disposed at the proximal end of the base 63 and can protrude from the coupling channel 601 to the bottom of the locking cylinder 22. The proximal connection structure 61 can be used to connect with the drive interface of the proximal device. The distal connection structure 62 can be fixedly disposed at the distal end of the base 63 and can protrude from the coupling channel 601 to the bottom of the connecting cylinder 12. The distal connection structure 62 can be used to connect with the transmission interface of the distal device 210.

[0128] In some embodiments, such as Figure 12 As shown, the proximal connection structure 61 and the distal connection structure 62 can be cross-shaped. The drive interface of the proximal device and the transmission interface of the distal device can include cross-shaped grooves to facilitate connection with the proximal connection structure 61 and the distal connection structure 62, respectively. Those skilled in the art will understand that the shape and structure of the proximal connection structure 61 and the distal connection structure 62 are not limited to the above embodiments. For example, the proximal connection structure 61 and the distal connection structure 62 can include grooves of any suitable shape, such as cross-shaped grooves, and are respectively used to accommodate at least a portion of the drive interface and the transmission interface.

[0129] In some embodiments, the coupler 60 may further include a proximal base 64 and a distal base (not shown). The proximal base may be fixedly disposed at the proximal end of the base 63, and the proximal connection structure 61 may be fixedly disposed at the proximal end of the proximal base 64. The distal base may be fixedly disposed at the distal end of the base 63, and the distal connection structure 62 may be fixedly disposed at the distal end of the distal base. In some embodiments, the radial dimensions of the proximal base 64 and the distal base may be matched with the radial dimensions of the coupling channel 601 to reduce the wobble of the coupler 60 relative to the coupling channel 601.

[0130] In some embodiments, the various structural components of the coupler 60, such as the proximal connection structure 61, the distal connection structure 62, the base 63, the proximal base 64, and the distal base, can be fixedly connected by suitable methods such as welding, injection molding, or integral molding.

[0131] In some embodiments, the near-end device may further include a controller (not shown). The controller may be communicatively connected to a motor and may be configured to control the motor to drive multiple drive interfaces to rotate for connection with multiple couplers 60. For example, when the connection adapter 100 is connected to the near-end device, the controller may control the motor to drive multiple drive interfaces to rotate, thereby enabling the multiple drive interfaces to quickly connect to the near-end connection structure 61 of the multiple couplers 60.

[0132] In some embodiments, the controller may be configured to control the motor drive interface to reciprocate. In some embodiments, the drive interface includes a cross-shaped groove, and when the adapter 100 is connected to the proximal device, the controller may control the motor drive interface to reciprocate between -90 degrees and 90 degrees, thereby quickly docking with the cross-shaped proximal connection structure 61 of the coupler 60.

[0133] In some embodiments, the controller can control the motor drive interface to rotate in response to a trigger signal. In some embodiments, the distal end of the near-end device may include a distance sensor, which can generate a trigger signal in response to a detected distance being less than a preset threshold. In some embodiments, the trigger signal can also be generated by a triggering device, which can generate the trigger signal based on user operation. Based on this, the user can trigger the rotation of the drive interface of the near-end device by operating the triggering device, thereby connecting the connection adapter 100 and the near-end device.

[0134] In some embodiments, such as Figure 9 and Figure 10As shown, the remote device 210 may further include a remote unlocking member 212. The remote unlocking member 212 may be disposed on the outer surface of the remote device 210. The remote unlocking member 212 is capable of longitudinal movement. It should be noted that longitudinal movement here refers to the length direction of the remote device 210. In some embodiments, such as... Figure 10 As shown, the remote device 210 may include a pair of slide rails G1 and G2 arranged longitudinally and parallel to each other on its outer surface. The two sides of the remote unlocking member 212 are respectively slidable along the slide rails G1 and G2.

[0135] The remote unlocking element 212 can be used to apply pressure to the locking cylinder 20 of the connector 100, causing the locking cylinder 20 to rotate in the unlocking direction, thereby unlocking the remote device 210 from the connector 100. In such cases... Figure 9 In the locked state shown, the distal unlocking member 212 can slide towards the proximal end, extending into the locking groove C2 and unlocking groove C12 through the distal openings of the locking groove C2 and unlocking groove C12 and moving to the bottom, for example, moving to the position shown. Figure 10 The unlocked state is shown. During the sliding towards the proximal end, the distal unlocking member 212 can push the locking cylinder wall 21 to rotate in the unlocking direction. The locking cylinder wall 21 can rotate until the longitudinal portion C21 of the locking groove C2 overlaps with the connecting cylinder slot C1 (as shown). Figure 5 (As shown). The connection structure 211 of the remote device can thus be moved to the remote end to detach from the connection adapter 100, thereby unlocking.

[0136] Figure 13 A front view of the distal portion structure of the proximal device 220 according to some embodiments of the present disclosure in a locked state is shown. Figure 14 A front view of the distal portion structure of the proximal device 220 according to some embodiments of the present disclosure in the unlocked state is shown. Figure 13 and Figure 14 The proximal device 220 shown may include a drive module for a surgical robot, used to drive the movement of surgical instruments. It should be noted that... Figure 13 and Figure 14 A front view of the remote structure of the drive module is shown. Figure 13 and Figure 14 The remote cover of the drive module is hidden to show the internal structure of the remote end of the drive module.

[0137] like Figure 13 and Figure 14 As shown, in some embodiments, the proximal device 220 may include at least one connection hole 221 and at least one proximal unlocking member 222. The opening of the connection hole 221 may face the distal end. At least one locking member 30 of the connection adapter 100 (see...) Figure 3It can extend into or out of at least one connection hole 221. The proximal unlocking member 222 may include a push part 2221, a push rod 2222, and a blocking part 2223.

[0138] like Figure 13 and Figure 14 As shown, the actuating portion 2221 may protrude from the housing of the proximal device 220, and the actuating portion 2221 may be used to receive pressure that causes the actuating portion 2221 to move inward. Those skilled in the art will understand that the inward movement referred to herein refers to movement away from the housing of the proximal device 220. In some embodiments, the portion of the actuating portion 2221 protruding from the housing of the proximal device 220 may be rounded and slightly protrude from the housing of the proximal device 220 to facilitate user operation.

[0139] The push rod 2222 can be fixedly connected to the actuating part 2221, and the push rod 2222 can extend from the actuating part 2221 into the housing of the proximal device 220. In some embodiments, the push rod 2222 can be fixedly connected to the actuating part 2221 by a suitable method such as welding, injection molding, or integral molding. In some embodiments, the push rod 2222 and the actuating part 2221 can be arranged perpendicular to each other. In some embodiments, the proximal device 220 may include a track for sliding the push rod 2222 to prevent the movement of the push rod 2222 from deviating from the direction.

[0140] The blocking part 2223 can be fixedly connected to the push rod 2222. In some embodiments, the blocking part 2223 can be fixedly connected to the push rod 2222 by a suitable method such as welding, injection molding, or integral molding. In some embodiments, the blocking part 2223 and the push rod 2222 can be arranged perpendicular to each other. Figure 13 As shown, at least a portion of the blocking portion 2223 may be exposed in the cavity of at least one connection hole 221 to prevent at least one locking member 30 from extending into or disengaging from at least one connection hole 221.

[0141] With the proximal device 220 connected to the connector adapter 100, the blocking part 2223 is located at the bottom of the locking cylinder 22 and the connecting cap 32 of the locking member 30 (see...). Figure 3 The connection cap 32 of the locking member 30 is positioned between the two holes, thereby preventing the locking member 30 from disengaging from the connection hole 221 and thus maintaining the locking of the proximal device 220 and the connection adapter 100.

[0142] When unlocking the proximal device 220 and the connection adapter 100, the actuating part 2221 of the proximal unlocking member 222 is pressed, pushing the push rod 2222 and thereby causing the blocking part 2223 to move inward. For example... Figure 14As shown, the blocking part 2223 can move away from the cavity of at least one connection hole 221. The locking member 30 of the connection adapter 100 can be released, thereby unlocking the proximal device 220 and the connection adapter 100.

[0143] like Figure 13 and Figure 14 As shown, in some embodiments, the proximal device 220 may further include a resilient reset member 223. The resilient reset member 223 is telescopic and is connected to the blocking portion 2223. In some embodiments, the resilient reset member 223 may be fixedly connected to the blocking portion 2223 by welding, bonding, or other suitable means, or may abut against the blocking portion 2223. The resilient reset member 223 is used to apply a pre-elastic force to the blocking portion 2223 to move the proximal unlocking member 222 outward.

[0144] Under the pre-elastic force applied by the elastic reset member 223, the proximal locking member 222 remains in place even when the push part 2221 is not pressed. Figure 13 The locked state is shown. Based on this, after the near-end device 220 establishes a connection with the connection adapter 100, the connection adapter 100 can be automatically locked and maintained in a locked state.

[0145] In some embodiments, the elastic reset member 223 may include any suitable type such as a metal spring, a rubber spring, or a pneumatic spring.

[0146] In some embodiments, such as Figure 13 and Figure 14 As shown, the proximal device 220 may include multiple proximal locking members, such as proximal locking members 222 and 222a. In some embodiments, the resilient reset member 223 may be disposed at the center of the proximal device 220, and its two ends may be connected to the blocking portion 2223 of the proximal locking member 222 and the blocking portion 2223a of the proximal locking member 222a, respectively. When unlocking the connector adapter 100 and the proximal device 220, the pressing portion 2221 of the proximal locking member 222 and the pressing portion 2221a of the proximal locking member 222a may be pressed simultaneously. The blocking portions 2223 and 2223a move towards the center from both sides and can leave the cavities of the two connecting holes 221, thereby releasing the locking member 30. Furthermore, the blocking portions 2223 and 2223a can compress the resilient reset member 223 at both ends. After the pushers 2221 and 2221a are released, the elastic reset member 223 can push the two proximal unlocking members 222 and 222a to reset, restoring them to their original state. Figure 13 The locked state is shown.

[0147] Figure 15An exploded perspective view of a portion of the structure of a connection assembly 300 according to some embodiments of the present disclosure is shown. The connection assembly 300 may include a connection adapter 310 and a near-end device. It should be noted that... Figure 15 Only the distal end cover 320 of the proximal device is shown.

[0148] like Figure 15 As shown, the connection adapter 310 may include a connecting cylinder 311, a locking cylinder 312, and at least one locking element 313. The connecting cylinder 311 and locking cylinder 312 of the connection adapter 310 are similar to their corresponding parts of the connection adapter 100, and will not be described further to avoid repetition.

[0149] like Figure 15 As shown, in some embodiments, at least one locking member 313 may be fixedly disposed on the bottom of the locking cylinder of the locking cylinder 312 and extend proximally. In some embodiments, the locking member 313 may be fixedly disposed on the bottom of the locking cylinder by a suitable method such as welding, injection molding, or snap-fitting. In some embodiments, the locking member 313 may be plate-shaped and include a slot C4 disposed at its proximal end, the slot C4 being capable of detachably engaging with at least a portion of the proximal device. In some embodiments, the locking member 313 may be disposed close to the outer periphery of the connecting adapter 310.

[0150] Figure 16 A perspective view of the distal cover 320 of the proximal device according to some embodiments of the present disclosure is shown. Figure 15 and Figure 16 As shown, in some embodiments, the distal cover 320 may include at least one protrusion T1 disposed on its outer peripheral surface, the at least one protrusion T1 being detachably engaged with a slot C4 of at least one locking member 313, thereby enabling a detachable connection between the connection adapter 310 and the proximal device. In some embodiments, the protrusion T1 may include a ramp located at the distal end to facilitate engagement with the slot C4 of the locking member 313. Those skilled in the art will understand that, in the connected state, the protrusion T1 is located in the slot C4 and can restrict the connection adapter 310 from moving distally and disengaging from the proximal device.

[0151] like Figure 15 and Figure 16 As shown, in some embodiments, the distal cover plate 320 may further include at least one connecting groove C5 and at least one slot C6 disposed on its outer peripheral surface. The connecting groove C5 is recessed on the outer peripheral surface of the distal cover plate 320, and the slot C6 is disposed at the proximal end of the connecting groove C5. In some embodiments, the orthographic projection shape of the connecting groove C5 and the slot C6 may match the shape of the locking member 313 to facilitate the accommodation of the locking member 313.

[0152] The distal cover plate 320 may further include at least one slider 321, which is slidably disposed on the proximal end face of the distal cover plate 320 and is capable of sliding radially. A protrusion T1 may be disposed on the radially outer surface of the slider 321, and the protrusion T1 may protrude from the outer peripheral surface of the distal cover plate 320 at the slot C6 to facilitate connection with the locking member 313 of the connecting adapter 310. Those skilled in the art will understand that the recessed connecting slot C5 facilitates positioning of the protrusion T1 during connection.

[0153] In some embodiments, such as Figure 16 As shown, the distal cover 320 may include multiple protrusions (e.g., protrusions T1 and T2) and multiple sliders (e.g., sliders 321 and 321a). Correspondingly, the connection adapter 310 may include multiple locking elements, such as locking element 313 and another locking element (not shown) disposed on the opposite side of locking element 313. During connection, the multiple locking elements may be connected to the multiple protrusions T1 and T2 respectively to improve the stability of the connection.

[0154] In some embodiments, the distal cover plate 320 may further include a resilient reset member 322, which is telescopic and connected to at least one slider (e.g., slider 321 and / or slider 321a). The resilient reset member 322 can be used to apply a pre-spring force to at least one slider to cause at least one slider to move radially outward. In some embodiments, the resilient reset member 322 may be disposed between slider 321 and slider 321a and is used to apply a pre-spring force to slider 321 and slider 321a to move radially outward. During connection establishment, a plurality of locking members 313 of the connecting adapter 310 move proximally, overcoming the pre-spring force applied by the resilient reset member 322, pressing slider 321 and slider 321a inward and connecting them. When the device moves into position proximally, for example, when the proximal surface of the connector 310 abuts against the distal surface of the proximal device, the sliders 321 and 321a move radially outward under the action of the elastic reset member 322, so that the protruding structures T1 and T2 can respectively establish a connection with the slots C4 of the multiple locking members 313.

[0155] Those skilled in the art will understand that the structure, shape, number, location, and connection method with the proximal device of the locking member 313 of the connection adapter 310 are not limited to the above embodiments. For example, the locking member 313 may also be in a suitable shape such as conical, cylindrical, or uniform plate. The connection adapter 310 may include any suitable number of locking members 313, such as one or more. The locking member 313 may be located near the outer periphery or at the center of the proximal end of the connection adapter 310, etc.

[0156] In some embodiments, this disclosure also provides a surgical robot system 1000. Figure 17 A schematic diagram of a surgical robot system 1000 according to some embodiments of the present disclosure is shown. Figure 17 As shown, the surgical robot system 1000 may include at least one robotic arm 1011 and at least one connection component, such as connection component 200, as described in some embodiments of this disclosure. Those skilled in the art will understand that... Figure 17 Taking the connection component 200 as an example, in other embodiments, the surgical robot system may include a connection component 300, etc. Figure 17 As shown, the connection component 200 may include a remote device 210, a near-end device 220, and a connection adapter. Figure 17 Not shown, see as Figures 1 to 11 (See connection adapter 100 shown). The proximal end device 220 of the connection assembly 200 may be located at the distal end of at least one robotic arm 1011. The distal end device 210 of the connection assembly 200 may include surgical instruments, such as clamps, curved scissors, ultrasonic scalpels, endoscopes, etc. At least one robotic arm 1011 can be connected to surgical instruments via the connection adapter 100 of the connection assembly 200.

[0157] In some embodiments, the proximal device 220 may include a drive mechanism disposed at the distal end of the robotic arm 1011. The drive mechanism can be used to drive the movement of surgical instruments, such as moving them within a patient's body or performing surgical procedures. The drive mechanism can transmit driving force to the surgical instruments via a connection adapter 100.

[0158] In some embodiments, such as Figure 17 As shown, the surgical robot system 1000 may include a surgical cart 1010. At least one robotic arm 1011 may include a positioning arm of the surgical cart 1010. The surgical robot system 1000 may also include a master control cart 1020, which may include at least one master manipulator 1021. The at least one master manipulator 1021 may be used to receive user operations.

[0159] In some embodiments, the master control carriage 1020 may be located on the user side to receive user operations. The operating carriage 1020 may be located on the patient side to perform surgical procedures on the patient. During surgery, the user can input control commands on the master control carriage 1020 via the operating master controller 1021. The proximal device 220 (e.g., a drive unit) of the connection assembly 200 of the operating carriage 1020 can output a driving force in response to the control commands and transmit it to the distal device 210 (e.g., a surgical instrument) via the connection adapter 100, thereby enabling the surgical instrument to perform the corresponding surgical operation.

[0160] Those skilled in the art will understand that the surgical robot system 1000 provided in this embodiment can be any suitable surgical robot system, including laparoscopic surgical robot systems.

[0161] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A connection adapter, characterized in that, include: A connecting cylinder includes a connecting cylinder bottom and a connecting cylinder wall, wherein the connecting cylinder wall is disposed at the distal end of the connecting cylinder bottom; A locking cylinder, sleeved outside the connecting cylinder, includes: Locking cylinder bottom, located near the proximal end of the connecting cylinder bottom; and A locking cylinder wall, disposed at the distal end of the bottom of the locking cylinder, the locking cylinder wall being for detachably connecting the distal device and rotatable relative to the connecting cylinder to lock the distal device to the connecting adapter; and At least one locking element, fixedly connected to the bottom of the locking cylinder and the bottom of the connecting cylinder and extending proximally, is used for detachably connecting the proximity device and locking the proximity device to the connecting adapter.

2. The connection adapter according to claim 1, characterized in that, The locking element includes: The base, in a columnar shape, is fixedly connected to the bottom of the locking cylinder; and A connecting cap is fixedly disposed at the proximal end of the base and has a radial dimension larger than the base; or the locking member is plate-shaped and includes a slot disposed at the proximal end, the slot being capable of detachably engaging with the proximal device.

3. The connection adapter according to claim 1, characterized in that, The locking cylinder wall includes multiple locking grooves, the openings of which face the distal end; The connecting cylinder wall includes multiple connecting cylinder slots, the openings of which face the distal end. The multiple connecting cylinder slots cooperate with the multiple locking slots for detachable connection with the distal device.

4. The connection adapter according to claim 3, characterized in that, The locking slot includes: The longitudinal portion extends longitudinally and has an opening facing the distal end; and The transverse portion is located near the end of the longitudinal portion and extends circumferentially along the locking cylinder wall. The locking cylinder wall is rotatable relative to the connecting cylinder wall, so that the longitudinal portion intersects with the slot of the connecting cylinder and at least a portion of the transverse portion overlaps with at least a portion of the slot of the connecting cylinder to lock, or the longitudinal portion overlaps with the slot of the connecting cylinder to unlock.

5. The connection adapter according to claim 4, characterized in that, The multiple connecting cylinder slots include: At least one through slot, the through slot extending longitudinally, and the through slot having a uniform width.

6. The connection adapter according to claim 5, characterized in that, The longitudinal portion of the locking groove includes a first edge along an oblique direction and a second edge along a longitudinal direction. The width of the longitudinal portion gradually decreases from the distal end to the proximal end. The first edge is used to receive pressure that causes the locking cylinder wall to rotate in the unlocking direction.

7. The connection adapter according to claim 6, characterized in that, The lateral portion of the locking groove includes a first lateral edge located at the proximal end and connected to the second edge, and a second lateral edge located at the distal end and connected to the first edge.

8. The connection adapter according to claim 6, characterized in that, The multiple connecting cylinder slots also include: At least one unlocking slot, the unlocking slot including a third edge along an oblique direction and a fourth edge along a longitudinal direction, the width of the unlocking slot tapering from the distal end to the proximal end.

9. The connection adapter according to claim 1, characterized in that, Also includes: At least one elastic element is provided along the circumference of the connecting adapter, and the two ends of the elastic element are respectively connected to the connecting cylinder and the locking cylinder. The elastic element is used to apply a pre-elastic force in the locking direction to the locking cylinder.

10. The connection adapter according to claim 9, characterized in that, The locking cylinder further includes at least one receiving portion, which is fixedly disposed on the inner circumferential surface of the locking cylinder wall and located between the bottom of the connecting cylinder and the bottom of the locking cylinder. The receiving portion includes a receiving groove. The connecting cylinder also includes at least one blocking block, which is fixedly disposed at the bottom of the connecting cylinder and can slide within the receiving groove; The elastic element is located within the receiving groove, and its two ends are respectively connected to the blocking block and one end of the receiving groove.

11. A connecting component, characterized in that, include: The connection adapter as described in any one of claims 1-10; The near-end device is detachably connected to the connection adapter and can be locked to the connection adapter; as well as The remote device is detachably connected to the connection adapter and can be locked to the connection adapter.

12. The connection component according to claim 11, characterized in that, The proximal device includes a motor and multiple drive interfaces, and the distal device includes multiple transmission interfaces. The connection adapter also includes multiple couplers, which are rotatable relative to the connecting cylinder and locking cylinder of the connection adapter. The proximal end of the coupler can be connected to the drive interface, and the distal end can be connected to the transmission interface.

13. The connection component according to claim 12, characterized in that, The near-end device also includes a controller that is communicatively connected to the motor and is configured to control the motor to drive the plurality of drive interfaces to rotate in order to connect with the plurality of couplers.

14. The connection component according to claim 13, characterized in that, The controller is configured to control the motor to drive the drive interface to reciprocate.

15. The connection component according to claim 12, characterized in that, The connection adapter also includes multiple coupling channels that extend through the bottom of the connecting cylinder and the bottom of the locking cylinder. The plurality of couplers are disposed within the plurality of coupling channels, and the couplers include: A base is located between the bottom of the connecting cylinder and the bottom of the locking cylinder, and the radial dimension of the base is larger than the radial dimension of the coupling channel; A proximal connection structure, fixedly disposed at the proximal end of the base, protruding from the coupling channel at the bottom of the locking cylinder, is used for connection to the drive interface of the proximal device; and A remote connection structure is fixedly installed at the far end of the base, protruding from the bottom of the connecting cylinder through the coupling channel, and is used to connect to the transmission interface of the remote device.

16. The connection component according to claim 11, characterized in that, The remote device includes: A remote unlocking component is disposed on the outer surface of the remote device. The remote unlocking component is capable of longitudinal movement and is used to apply pressure to the locking cylinder wall of the connection adapter to cause the locking cylinder wall to rotate in the unlocking direction, thereby unlocking the remote device from the connection adapter.

17. The connection component according to claim 11, characterized in that, The proximal device includes: At least one connection hole with the opening facing the distal end, and at least one locking member of the connection adapter is capable of extending into or disengaging from the at least one connection hole; At least one proximal unlocking element, the proximal unlocking element comprising: The push part, exposed in the housing of the proximal device, is used to receive pressure that causes the push part to move inward; A push rod, fixedly connected to the actuating part and extending from the actuating part into the housing of the proximal device; and A blocking portion, fixedly connected to the push rod, and at least a portion of the blocking portion being exposed in the cavity of the at least one connecting hole to prevent the at least one locking member from extending into or disengaging from the at least one connecting hole; and The first elastic reset member is telescopic and fixedly connected to the blocking part. The first elastic reset member is used to apply a pre-elastic force to the blocking part to make the proximal unlocking member move outward.

18. The connection component according to claim 11, characterized in that, The proximal device further includes a distal cover plate, the distal cover plate comprising: At least one slider is slidably disposed on the proximal face of the distal cover and is capable of radial sliding. The slider includes a protrusion on a radially outer surface, the protrusion protruding beyond the outer peripheral surface of the distal cover. At least one locking member of the connecting adapter is detachably engaged with the protrusion. A second elastic reset member, which is telescopic, is connected to the at least one slider. The second elastic reset member is used to apply a pre-elastic force to the at least one slider to make the at least one slider move radially outward.

19. A surgical robot system, characterized in that, include: At least one robotic arm; as well as At least one connection component as described in claims 11 to 18, wherein the proximal end of the connection component is disposed at the distal end of the at least one robotic arm, the distal end of the connection component comprising a surgical instrument, and the at least one robotic arm being capable of being connected to the surgical instrument via a connection adapter of the connection component.

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