Sterile adapter and surgical robot

Abstract

The utility model provides a kind of sterile adapter and surgical robot, sterile adapter includes adapter upper cover, adapter lower cover and transmission disc, first circular hole of adapter upper cover has first axial limit surface and first circumferential clamping part, transmission disc has second circumferential clamping part for cooperating with first circumferential clamping part, second circular hole of adapter lower cover has second axial limit surface, third axial limit part of transmission disc can be axially moved between first axial limit surface and second axial limit surface, transmission disc side has first connecting structure for being connected with instrument, transmission disc other side has second connecting structure for being connected with power box.When docking sterile adapter, without directly circumferential alignment second connecting structure and power box, also without directly circumferential alignment first connecting structure and instrument, it can reduce the docking difficulty of sterile adapter, improve the docking efficiency of sterile adapter.

Description

Technical Field

[0001] This utility model belongs to the field of medical equipment technology, and more specifically, it relates to a sterile adapter and a surgical robot. Background Technology

[0002] Robotic minimally invasive surgical systems offer advantages such as accuracy, minimal trauma, flexible and convenient operation, small surgical wounds, and rapid postoperative recovery. Furthermore, with advancements in science and technology, robot-assisted laparoscopic minimally invasive surgery has become a growing trend. The surgical robot, through internal algorithms, replicates the surgeon's hand movements into the motions of corresponding instruments within the body, enabling procedures such as cutting, hemostasis, and suturing of diseased tissues.

[0003] The patient-side surgical robot performs surgical procedures via an end effector, a sterile adapter, and surgical instruments. The sterile adapter connects to the end effector and surgical instruments to transmit power and maintain sterility. Currently, the docking of the sterile adapter with the end effector and instruments is difficult and inefficient. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a sterile adapter and a surgical robot to solve the technical problems of high difficulty and low efficiency in docking sterile adapters in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A sterile adapter is provided, including an adapter upper cover, an adapter lower cover, and a transmission disk. The adapter upper cover has a first circular hole, and the adapter lower cover has a second circular hole directly opposite the first circular hole. The transmission disk is rotatably disposed within the first and second circular holes. The first circular hole has a first axial limiting surface and a first circumferential locking portion that are interconnected. The transmission disk has a third axial limiting portion that protrudes radially outward from the center in its axial direction. The third axial limiting portion has a second circumferential locking portion for engaging with the first circumferential locking portion. The second circular hole has a second axial limiting surface. The transmission disk is axially movable between the first and second axial limiting surfaces. The side of the transmission disk near the adapter upper cover has a first connecting structure for connecting with an instrument, and the side of the transmission disk near the adapter lower cover has a second connecting structure for connecting with a power box.

[0006] Optionally, the number of the second circumferential locking portions is at least two, and the plurality of the second circumferential locking portions are evenly spaced along the circumference of the transmission disk.

[0007] Optionally, the number of the second circumferential locking portions is at least three, and the plurality of the second circumferential locking portions are sequentially and continuously distributed along the circumference of the transmission disk.

[0008] Optionally, one of the first circumferential locking portion and the second circumferential locking portion is a ratchet, and the other is a mating groove.

[0009] Optionally, the second circumferential snap-fit ​​portion protrudes from the side of the third axial limiting portion facing the adapter cover.

[0010] Optionally, the first axial limiting portion is annular, and the first circumferential locking portion is recessed on the first axial limiting surface.

[0011] Optionally, the adapter top cover has a first axial limiting portion formed by radially protruding inward on the inner peripheral wall of the first circular hole, the first axial limiting surface being located on the side of the first axial limiting portion facing the adapter bottom cover, the adapter bottom cover has a second axial limiting portion formed by radially protruding inward on the inner peripheral wall of the second circular hole, the second axial limiting surface being located on the side of the second axial limiting portion facing the adapter top cover, and the third axial limiting portion being located between the first axial limiting portion and the second axial limiting portion.

[0012] Optionally, the first connection structure includes a first eccentric portion offset from the rotation center of the transmission disk, the first eccentric portion being used for circumferential fixed connection with the instrument.

[0013] Optionally, the second connection structure includes a second eccentric portion offset from the rotation center of the transmission disk, the second eccentric portion being used for circumferential fixed connection with the power box.

[0014] This utility model also provides a surgical robot, including a power box, an instrument, and the aforementioned sterile adapter. The instrument box of the instrument has a third connection structure that cooperates with the first connection structure, and the output disk of the power box has a fourth connection structure that cooperates with the second connection structure.

[0015] The beneficial effects of the sterile adapter and surgical robot provided by this utility model are as follows: Compared with the prior art, the sterile adapter of this utility model includes an adapter upper cover, an adapter lower cover, and a transmission disk. The transmission disk is located in the first circular hole of the adapter upper cover and the second circular hole of the adapter lower cover, and a third axial limiting part is formed by protruding in the middle of the transmission disk in the axial direction. When the sterile adapter is docked to the power box, the output disk of the power box axially pushes the transmission disk, so that the third axial limiting part abuts against the first axial limiting surface at the first circular hole. The output disk rotates, so that the first circumferential locking part and the second circumferential locking part at the first circular hole lock each other, and the transmission disk can no longer rotate. The output disk continues to rotate, so that the second connecting structure of the transmission disk docks with the output disk. When the instrument is docked to the sterile adapter, the instrument pushes the transmission disk, so that the first circumferential locking part and the second circumferential locking part disengage. During normal use, the output disk can rotate freely in two directions. Thus, when docking the sterile adapter, there is no need to directly circumferentially align the second connecting structure and the power box, nor is there a need to directly circumferentially align the first connecting structure and the instrument. This reduces the docking difficulty of the sterile adapter and improves the docking efficiency of the sterile adapter. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the surgical robot provided in an embodiment of the present utility model;

[0018] Figure 2 An exploded view of the sterile adapter provided in an embodiment of this utility model;

[0019] Figure 3 A cross-sectional view of the sterile adapter provided in the first state according to an embodiment of the present invention;

[0020] Figure 4 for Figure 3 A magnified view of a section at point A in the middle;

[0021] Figure 5 A cross-sectional view of the sterile adapter provided in the second state according to an embodiment of the present invention;

[0022] Figure 6 for Figure 5 A magnified view of section B in the image;

[0023] Figure 7A perspective structural view of the transmission disc provided for an embodiment of this utility model;

[0024] Figure 8 A perspective structural view of the adapter cover provided in an embodiment of this utility model;

[0025] Figure 9 A perspective structural view of the power box provided for an embodiment of this utility model;

[0026] Figure 10 A cross-sectional view of the power box provided in an embodiment of this utility model;

[0027] Figure 11 A perspective view of the output disk provided in an embodiment of this utility model;

[0028] Figure 12 A partial three-dimensional structural diagram of the device provided in an embodiment of this utility model.

[0029] The following are the labeling elements in the figure:

[0030] 10-Power box; 11-Output plate; 111-Fourth connecting structure; 1111-Fourth central part; 1112-Fourth eccentric part; 12-Output shaft; 20-Sterile adapter; 21-Adapter top cover; 211-First circular hole; 212-First axial limiting part; 213-First axial limiting surface; 214-First circumferential locking part; 22-Transmission plate; 221-Third axial limiting part; 222-Second circumferential locking part; 223-First connecting structure; 2231-First central part; 2232-First eccentric part; 2242-Second eccentric part; 23-Adapter bottom cover; 231-Second circular hole; 232-Second axial limiting part; 233-Second axial limiting surface; 30-Instrument; 31-Third connecting structure; 311-Third central part; 312-Third eccentric part. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0032] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] Robotic minimally invasive surgical systems offer advantages such as accuracy, minimal trauma, flexible and convenient operation, small surgical wounds, and rapid postoperative recovery. Furthermore, with advancements in science and technology, robot-assisted laparoscopic minimally invasive surgery has become a growing trend. The surgical robot, through internal algorithms, replicates the surgeon's hand movements into the motions of corresponding instruments within the body, enabling procedures such as cutting, hemostasis, and suturing of diseased tissues.

[0036] The patient-side surgical robot performs surgical operations via an end effector, a sterile adapter, and surgical instruments. The sterile adapter connects to the end effector and surgical instruments to transmit power and maintain sterility. Currently, when docking the sterile adapter with the end effector, and with the instruments, it is necessary to visually align the positioning structures on the sterile adapter, end effector, and instruments circumferentially, which makes docking difficult and inefficient.

[0037] To alleviate or solve the above technical problems, this utility model embodiment proposes a sterile adapter 20 and a surgical robot. When docking the sterile adapter 20 and the power box 10, the output disk 11 of the power box 10 axially pushes the transmission disk 22, so that the third axial limiting part 221 of the transmission disk 22 abuts against the first axial limiting surface 213 at the first circular hole 211. The output disk 11 rotates, so that the first circumferential locking part 214 and the second circumferential locking part 222 at the first circular hole 211 lock each other, and the transmission disk 22 can no longer rotate. The output disk 11 continues to rotate, so that the second connecting structure of the transmission disk 22 docks with the output disk 11. It is not necessary to circumferentially align the second connecting structure with the output disk 11 at the beginning of docking. When docking the instrument 30 and the sterile adapter 20, the instrument 30 pushes against the transmission disk 22, causing the first circumferential locking part 214 and the second circumferential locking part 222 to disengage from each other along the axial direction of the transmission disk 22. The output disk 11 rotates to dock the first connecting structure 223 on the transmission disk 22 with the instrument 30, without the need to align the first connecting structure 223 with the instrument 30 at the beginning of docking.

[0038] The sterile adapter provided in this embodiment of the present invention will now be described. The sterile adapter 20 is installed between the power box 10 and the instrument 30 to isolate the sterilizable instrument 30 from the non-sterilizable power box 10. The power box 10 provides power, and the instrument 30 is used to process human tissue, animal tissue, etc.

[0039] Please refer to the following: Figures 1 to 6 The sterile adapter 20 includes an adapter upper cover 21, an adapter lower cover 23, and a transmission disk 22. The adapter upper cover 21 has a first circular hole 211, and the adapter lower cover 23 has a second circular hole 231 opposite to the first circular hole 211. The transmission disk 22 is rotatably disposed within the first circular hole 211 and the second circular hole 231. The first circular hole 211 has a first axial limiting surface 213 and a first circumferential locking portion 214 that are interconnected. The transmission disk 22 has a second circumferential locking portion 214 for engaging with the first circumferential locking portion 214. 22. The second circular hole 231 has a second axial limiting surface 233. The transmission disk 22 has a third axial limiting part 221 that protrudes radially outward from the middle of its axial direction. The third axial limiting part 221 can move axially between the first axial limiting surface 213 and the second axial limiting surface 233. The transmission disk 22 has a first connecting structure 223 for cooperating with the device 30 on the side near the adapter upper cover 21. The transmission disk 22 has a second connecting structure for cooperating with the power box 10 on the side near the adapter lower cover 23.

[0040] When the sterile adapter 20 is installed between the power box 10 and the instrument 30, the adapter upper cover 21 is close to the instrument 30, and the adapter lower cover 23 is close to the power box 10. The adapter upper cover 21 has a first circular hole 211, which has a first axial limiting surface 213 and a first circumferential locking part 214. The first axial limiting surface 213 is used to limit the transmission disk 22 in the axial direction, and the first circumferential locking part 214 is used to lock with the second circumferential locking part 222 on the transmission disk 22. The adapter lower cover 23 has a second circular hole 231, which has a second axial limiting surface 233. The second axial limiting surface 233 is used to limit the third axial limiting part 221 of the transmission disk 22 in the axial direction. The second circular hole 231 is directly opposite the first circular hole 211. When the first circumferential locking part 214 and the second circumferential locking part 222 abut against each other, the transmission disk 22 cannot rotate relative to the adapter cover 21 in the first direction, but the transmission disk 22 can rotate relative to the adapter cover 21 in the second direction.

[0041] The transmission disk 22 is capable of moving in the axial direction, which is the direction of the central axis of the first circular hole 211 and the second circular hole 231. The transmission disk 22 is located within the first circular hole 211 and the second circular hole 231. When the transmission disk 22 moves axially, the first axial limiting surface 213 and the second axial limiting surface 233 respectively limit the third axial limiting part 221, so that the transmission disk 22 is located between the first axial limiting surface 213 and the second axial limiting surface 233.

[0042] When installing the sterile adapter 20 to the power box 10, the second connection structure of the power box 10 and the transmission disk 22 is initially connected, pushing the transmission disk 22 to move axially, so that the transmission disk 22 abuts against the first axial limiting surface 213. Then, the power box 10 rotates, driving the transmission disk 22 to rotate until the second circumferential locking part 222 of the transmission disk 22 abuts against the first circumferential locking part 214 in the first circular hole 211. At this time, the transmission disk 22 cannot rotate relative to the adapter cover 21. The power box 10 continues to output rotational motion, and the output disk 11 of the power box 10 rotates relative to the transmission disk 22, so that it is aligned and inserted with the connection structure of the transmission disk 22, thereby fixing the power box 10 and the sterile adapter 20 circumferentially.

[0043] When the instrument 30 is installed into the sterile adapter 20, the instrument 30 is initially connected to the first connection structure 223 of the transmission disk 22, pushing the transmission disk 22 to move axially, causing the transmission disk 22 to move and separate relative to the adapter cover 21 in the axial direction, so that the power box 10 can rotate forward or backward. Then the power box 10 outputs rotational motion, so that the instrument 30 and the first connection structure 223 of the transmission disk 22 are aligned and inserted, thereby fixing the instrument 30 and the sterile adapter 20 circumferentially.

[0044] The sterile adapter 20 in the above embodiment includes an adapter upper cover 21, an adapter lower cover 23, and a transmission disk 22. The transmission disk 22 is located inside the first circular hole 211 of the adapter upper cover 21 and the second circular hole 231 of the adapter lower cover 23, and the transmission disk 22 has a third axial limiting part protruding from its center in the axial direction. When the sterile adapter 20 is connected to the power box 10, the output disk 11 of the power box 10 axially pushes the transmission disk 22, so that the transmission disk 22 abuts against the first axial limiting surface 213 at the first circular hole 211. The output disk 11 rotates, so that the first circumferential locking part 214 and the second circumferential locking part 222 at the first circular hole 211 engage with each other, and the transmission disk 22 can no longer rotate. The output disk 11 continues to rotate, so that the second connecting structure of the transmission disk 22 engages with the output disk 11. When the instrument 30 is docked with the sterile adapter 20, the instrument 30 pushes against the transmission disc 22, causing the first circumferential locking part 214 and the second circumferential locking part 222 to disengage from each other. During normal use, the output disc 11 can rotate freely in both directions. Thus, when docking the sterile adapter 20, there is no need to directly circumferentially align the second connecting structure and the power box 10, nor is there a need to directly circumferentially align the first connecting structure 223 and the instrument 30. This reduces the docking difficulty of the sterile adapter 20 and improves its docking efficiency.

[0045] In some embodiments of this utility model, the number of second circumferential engaging portions 222 is at least two, and the plurality of second circumferential engaging portions 222 are evenly spaced along the circumference of the transmission disk 22. The specific number of second circumferential engaging portions 222 is not limited here, and may be three, four, five, etc. Since the plurality of second circumferential engaging portions 222 are evenly spaced along the circumference of the transmission disk 22, the circumferential angle between any two adjacent second circumferential engaging portions 222 is equal. For example, if the number of second circumferential engaging portions 222 is three, the circumferential angle between two adjacent second circumferential engaging portions 222 is 120 degrees. Another example is if the number of second circumferential engaging portions 222 is four, and the circumferential angle between two adjacent second circumferential engaging portions 222 is 90 degrees.

[0046] By setting a greater number of second circumferential locking portions 222, the first circumferential locking portion 214 can be rotated by a smaller angle to lock into its adjacent second circumferential locking portion 222, thereby improving the efficiency of docking between the sterile adapter 20 and the power box 10.

[0047] In some embodiments of this utility model, the number of second circumferential engaging portions 222 is at least three, and the plurality of second circumferential engaging portions 222 are sequentially and continuously distributed along the circumference of the transmission disk 22. The sequential and continuous distribution of the plurality of second circumferential engaging portions 222 along the circumference of the transmission disk 22 can be understood as follows: adjacent two second circumferential engaging portions 222 are interconnected, so that the plurality of second circumferential engaging portions 222 form a circumferentially continuous structure.

[0048] By setting multiple second circumferential locking parts 222 as a continuous circumferential structure, the second circumferential locking parts 222 can be meshed with the first circumferential locking parts 214. When the transmission disc 22 docks with the adapter lower cover 23, there is no idle stroke, and the docking efficiency and docking speed are faster.

[0049] Please refer to some embodiments of this utility model. Figure 7 and Figure 8 One of the first circumferential engaging portion 214 and the second circumferential engaging portion 222 is a ratchet, and the other is a mating groove. In one embodiment, the ratchet is located in the transmission disc 22, and the mating groove is located in the first circular hole 211. In another embodiment, the ratchet is located in the first circular hole 211, and the mating groove is located in the transmission disc 22.

[0050] By interlocking the ratchet and the mating groove, after the transmission disc 22 and the adapter cover 21 come into contact, the transmission disc 22 can only rotate relative to the adapter cover 21 in the second direction, so that the ratchet disengages from the mating groove and the transmission disc 22 cannot rotate relative to the adapter cover 21 in the first direction.

[0051] Please refer to some embodiments of this utility model. Figures 3 to 7 The second circumferential snap-fit ​​portion 222 protrudes from the side of the third axial limiting portion 221 facing the adapter cover 21. In this embodiment, the second circumferential snap-fit ​​portion 222 is disposed on the third axial limiting portion 221, which can be understood as being formed by the protrusion of the third axial limiting portion 221 facing the adapter cover 21.

[0052] By protruding the second circumferential locking part 222 onto the third axial limiting part 221, the limiting structure and locking structure of the transmission disc 22 can be more concentrated, making it easier to design and manufacture. The second circumferential locking part 222 can also be more easily locked with the first circumferential locking part 214.

[0053] In some embodiments, the first axial limiting portion 212 is annular, and correspondingly, the first axial limiting surface 213 is also annular. When the transmission disk 22 rotates relative to the adapter cover 21 and the second axial limiting portion 232 abuts against the first axial limiting surface 213, the rotation of the transmission disk 22 is stable, so that the second axial limiting portion 232 can smoothly abut against the first axial limiting portion 212.

[0054] Please refer to some embodiments of this utility model. Figures 3 to 7The adapter top cover 21 has a first axial limiting part 212 formed by radially protruding inward on the inner peripheral wall of the first circular hole 211. The first axial limiting surface 213 is located on the side of the first axial limiting part 212 facing the adapter bottom cover 23. The adapter bottom cover 23 has a second axial limiting part 232 formed by radially protruding inward on the inner peripheral wall of the second circular hole 231. The second axial limiting surface 233 is located on the side of the second axial limiting part 232 facing the adapter top cover 21. The third axial limiting part 221 is located between the first axial limiting part 212 and the second axial limiting part 232.

[0055] The first axial limiting part 212 is equivalent to the stepped protrusion structure inside the first circular hole 211, and the second axial limiting part 232 is equivalent to the stepped protrusion structure inside the second circular hole 231. The two sides of the first axial limiting part 212 and the second axial limiting part 232 that face each other are the first axial limiting surface 213 and the second axial limiting surface 233, respectively.

[0056] The transmission disk 22 is axially limited by the first axial limiting part 212 of the adapter upper cover 21 and the second axial limiting part 232 of the adapter lower cover 23, and a space for the transmission disk 22 to rotate is formed between the first axial limiting part 212 and the second axial limiting part 232.

[0057] In some embodiments, at least one of the second axial limiting portion 232 and the third axial limiting portion 221 is a closed ring. For example, one of the axial limiting portions is a closed ring, and the other axial limiting portion is a ring structure formed by a plurality of circumferentially spaced stop structures.

[0058] Please refer to some embodiments of this utility model. Figures 3 to 7 The first axial limiting portion 212 is annular, the first circumferential locking portion 214 is recessed in the inner wall of the first axial limiting portion 212, and the second circumferential locking portion 222 is protruding on the side of the third axial limiting portion 221 facing the adapter cover 21. The first circumferential locking portion 214 is a recessed structure, such as a mating groove; the second circumferential locking portion 222 is a protruding structure, such as a ratchet. When the sterile adapter 20 and the power box 10 are initially positioned, the transmission disk 22 is axially pushed, and the second circumferential locking portion 222 abuts against the first axial limiting surface 213. As the power box 10 drives the transmission disk 22 to rotate until the first circumferential locking portion 214 and the second circumferential locking portion 222 engage with each other, the sides of the first axial limiting surface 213 and the third axial limiting portion 221 facing the adapter cover 21 abut against each other.

[0059] The first circumferential locking part 214 is recessed in the first axial limiting part 212, and the second circumferential locking part 222 protrudes from the third axial limiting part 221. The first axial limiting part 212 can both axially limit the transmission disk 22 and circumferentially fix it when the two circumferential locking parts are engaged.

[0060] Please refer to some embodiments of this utility model. Figure 7 The first connecting structure 223 includes a first eccentric portion 2232 offset from the rotation center of the transmission disk 22. The first eccentric portion 2232 is used for circumferential fixed connection with the instrument 30. When docking the sterile adapter 20 and the instrument 30, the instrument 30 is first directly opposite the sterile adapter 20. The transmission disk 22 rotates relative to the instrument 30 at a certain angle, and the first eccentric portion 2232 is aligned and inserted with the instrument 30 to achieve circumferential fixed connection between the transmission disk 22 and the instrument 30.

[0061] When the sterile adapter 20 and the instrument 30 are docked, the transmission disk 22 of the sterile adapter 20 first performs initial positioning with the instrument 30 through the first central part 2231. Then, the transmission disk 22 of the sterile adapter 20 is driven by the power box 10 to rotate relative to the instrument 30, so that the first eccentric part 2232 is aligned and inserted with the instrument 30, thereby realizing the docking of the sterile adapter 20 and the instrument 30.

[0062] In some embodiments, the first connecting structure 223 further includes a first central portion 2231 located at the rotation center of the transmission disk 22. The first central portion 2231 is used for initial positioning with the instrument 30. When docking the sterile adapter 20 and the instrument 30, the instrument 30 is first initially positioned with the sterile adapter 20. Specifically, the first central portion 2231 is aligned and inserted with the instrument 30, so that the center of the transmission disk 22 and the center of the winding wheel of the instrument 30 are aligned, thus achieving the initial positioning of the instrument 30 and the sterile adapter 20. After the transmission disk 22 rotates relative to the instrument 30 by a certain angle, the first eccentric portion 2232 is aligned and inserted with the instrument 30, thus achieving a circumferential fixed connection between the transmission disk 22 and the instrument 30.

[0063] Optionally, the first central portion 2231 can be a raised columnar structure or a recessed columnar structure. In this way, when the sterile adapter 20 and the instrument 30 are in the initial positioning state, the transmission disk 22 can rotate relative to the instrument 30, thereby realizing the docking of the first eccentric portion 2232 with the instrument 30.

[0064] Please refer to some embodiments of this utility model. Figure 7The second connection structure includes a second eccentric portion 2242 offset from the rotation center of the transmission disk 22. The second eccentric portion 2242 is used for circumferential fixed connection with the power box 10. When docking the sterile adapter 20 and the power box 10, the sterile adapter 20 is first inserted into the power box 10 directly opposite each other. After the output disk 11 of the power box 10 drives the transmission disk 22 to rotate a certain angle, the transmission disk 22 and the adapter cover 21 are engaged with each other through the first circumferential locking portion 214 and the second circumferential locking portion 222. The output disk 11 continues to rotate, while the transmission disk 22 remains stationary. After rotating a certain angle, the second eccentric portion 2242 of the transmission disk 22 aligns and inserts with the corresponding structure on the output disk 11.

[0065] After the sterile adapter 20 and the power box 10 are initially positioned, the output disk 11 and the transmission disk 22 of the power box 10 can rotate synchronously. However, after the transmission disk 22 is engaged with the adapter cover 21, the transmission disk 22 cannot continue to rotate. At this time, the output disk 11 can continue to rotate relative to the transmission disk 22.

[0066] In some embodiments, the second connection structure further includes a second central portion located at the rotation center of the transmission disk 22. The second central portion is used for initial positioning with the power box 10. When docking the sterile adapter 20 and the power box 10, the sterile adapter 20 is first initially positioned with the power box 10. Specifically, the second central portion is aligned and inserted with the power box 10, so that the center of the transmission disk 22 and the center of the output disk 11 of the power box 10 are aligned, thus achieving the initial positioning of the sterile adapter 20 and the power box 10. After the sterile adapter 20 and the power box 10 are initially positioned, the output disk 11 of the power box 10 drives the transmission disk 22 to rotate a certain angle. The transmission disk 22 and the adapter cover 21 are engaged with each other through the first circumferential engaging portion 214 and the second circumferential engaging portion 222. The output disk 11 continues to rotate, while the transmission disk 22 remains stationary. After rotating a certain angle, the second eccentric portion 2242 of the transmission disk 22 is aligned and inserted with the corresponding structure on the output disk 11.

[0067] Optionally, the second central part is clearance-fitted with the output disk 11 of the power box 10 for guiding and positioning when the transmission disk 22 and the power box 10 are inserted into each other.

[0068] Optionally, the second central portion can be a raised columnar structure or a recessed columnar structure. In this way, when the sterile adapter 20 and the power box 10 are in the initial positioning state, the output disk 11 can rotate relative to the transmission disk 22, thereby realizing the docking of the second eccentric portion 2242 with the output disk 11.

[0069] Please see Figure 1This utility model also provides a surgical robot, which includes a power unit 10, an instrument 30, and a sterile adapter 20 as described in any of the above embodiments. The instrument 30 has an instrument housing with a third connecting structure 31 that mates with the first connecting structure 223. The output disk 11 of the power unit 10 has a fourth connecting structure 111 that mates with the second connecting structure. When the sterile adapter 20 is docked with the power unit 10, the first connecting structure 223 and the third connecting structure 31 are interconnected. When the sterile adapter 20 is docked with the instrument 30, the second connecting structure and the third connecting structure 31 are interconnected.

[0070] The surgical robot provided by this utility model adopts the aforementioned sterile adapter 20, including an adapter upper cover 21, an adapter lower cover 23, and a transmission disk 22. The transmission disk 22 is located within the first circular hole 211 of the adapter upper cover 21 and the second circular hole 231 of the adapter lower cover 23, and the transmission disk 22 is axially movable. When the sterile adapter 20 is connected to the power box 10, the output disk 11 of the power box 10 axially pushes the transmission disk 22, causing the transmission disk 22 to abut against the first axial limiting surface 213 at the first circular hole 211. The output disk 11 rotates, causing the first circumferential locking part 214 and the second circumferential locking part 222 at the first circular hole 211 to engage with each other, preventing the transmission disk 22 from rotating further. The output disk 11 continues to rotate, causing the second connecting structure of the transmission disk 22 to engage with the output disk 11. When the instrument box of instrument 30 is docked with the sterile adapter 20, the instrument box pushes against the transmission disc 22, causing the first circumferential locking part 214 and the second circumferential locking part 222 to disengage. During normal use, the output disc 11 can rotate freely in both directions. Thus, when docking the sterile adapter 20, there is no need to directly circumferentially align the second connecting structure and the power box 10, nor is there a need to directly circumferentially align the first connecting structure 223 and the instrument box. This reduces the docking difficulty of the sterile adapter 20 and improves its docking efficiency.

[0071] Please refer to some embodiments of this utility model. Figure 7 , Figures 9 to 11 The first connecting structure 223 includes a first eccentric portion 2232 offset from the rotation center of the transmission disk 22, and the third connecting structure 31 includes a third eccentric portion 312 for insertion and engagement with the first eccentric portion 2232. The instrument 30 is used to axially push the transmission disk 22, causing the first circumferential locking portion 214 and the second circumferential locking portion 222 to disengage from each other. When the sterile adapter 20 and the instrument 30 are docked, the instrument 30 pushes the transmission disk 22 to move axially, causing the transmission disk 22 to unlock from the adapter cover 21 (the first circumferential locking portion 214 and the second circumferential locking portion 222 separate from each other). Then, the power box 10 drives the transmission disk 22 to rotate, causing the first eccentric portion 2232 and the third eccentric portion 312 to align and engage, completing the docking.

[0072] In some embodiments, the first connecting structure 223 further includes a first central portion 2231 located at the rotation center of the transmission disk 22, and the third connecting structure 31 further includes a third central portion 311 for insertion with the first central portion 2231. When the sterile adapter 20 and the instrument 30 are docked, the first central portion 2231 and the third central portion 311 are inserted into each other, so that the transmission disk 22 and the instrument 30 are initially positioned, and the instrument 30 pushes the transmission disk 22 to move axially, so that the transmission disk 22 and the adapter cover 21 are unlocked from each other (the first circumferential locking portion 214 and the second circumferential locking portion 222 are separated from each other). Then the power box 10 drives the transmission disk 22 to rotate, so that the first eccentric portion 2232 and the third eccentric portion 312 are aligned and inserted into each other, completing the docking.

[0073] In some embodiments, the first central portion 2231 is a central pillar and the third central portion 311 is a central groove. Alternatively, the first central portion 2231 is a central groove and the third central portion 311 is a central pillar.

[0074] In some embodiments, the first eccentric portion 2232 is a protruding structure and the third eccentric portion 312 is a recessed structure. Alternatively, the first eccentric portion 2232 is a recessed structure and the third eccentric portion 312 is a protruding structure.

[0075] In some embodiments, there are multiple first eccentric portions 2232 and multiple third eccentric portions 312, and the multiple first eccentric portions 2232 and multiple third eccentric portions 312 are arranged around the rotation center of the transmission disk 22. In this way, the stability of the connection structure between the sterile adapter 20 and the instrument 30 can be enhanced.

[0076] Please refer to some embodiments of this utility model. Figure 7 and Figure 12 The second connecting structure includes a second eccentric portion 2242 offset from the rotation center of the transmission disk 22; the power box 10 includes an output shaft 12, an output disk 11 slidably connected to the output shaft 12, and an elastic element connecting the output shaft 12 and the output disk 11; the fourth connecting structure 111 includes a fourth eccentric portion 1112 that engages with the second eccentric portion 2242; the output disk 11 is used to axially push the transmission disk 22, causing the transmission disk 22 to abut against the first axial limiting surface 213. When the sterile adapter 20 and the power box 10 are docked, the output disk 11 pushes the transmission disk 22 axially to abut against the adapter cover 21, and the output disk 11 drives the transmission disk 22 to rotate, so that the second eccentric portion 2242 and the fourth eccentric portion 1112 are aligned and engaged, completing the docking.

[0077] In some embodiments, the second connecting structure further includes a second central portion located at the rotation center of the transmission disk 22, and the fourth connecting structure 111 further includes a fourth central portion 1111 for interlocking with the second central portion. When the sterile adapter 20 and the power box 10 are docked, the second central portion and the fourth central portion 1111 interlock, initially positioning the transmission disk 22 and the output disk 11. The output disk 11 pushes the transmission disk 22 axially to abut against the adapter cover 21. The output disk 11 drives the transmission disk 22 to rotate, aligning and interlocking the second eccentric portion 2242 and the fourth eccentric portion 1112, thus completing the docking.

[0078] In some embodiments, the second central portion is a central pillar, and the fourth central portion 1111 is a central groove. Alternatively, the second central portion is a central groove, and the fourth central portion 1111 is a central pillar.

[0079] In some embodiments, the second eccentric portion 2242 is a protruding structure and the fourth eccentric portion 1112 is a recessed structure. Alternatively, the second eccentric portion 2242 is a recessed structure and the fourth eccentric portion 1112 is a protruding structure.

[0080] In some embodiments, there are multiple second eccentric portions 2242 and multiple fourth eccentric portions 1112, and the multiple second eccentric portions 2242 and multiple fourth eccentric portions 1112 are arranged around the rotation center of the transmission disk 22. In this way, the stability of the connection structure between the sterile adapter 20 and the power box 10 can be enhanced.

[0081] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A sterile adapter, characterized in that, The adapter includes an upper cover (21), a lower cover (23), and a transmission disc (22). The upper cover (21) has a first circular hole (211), and the lower cover (23) has a second circular hole (231) opposite to the first circular hole (211). The transmission disc (22) is rotatably disposed within the first circular hole (211) and the second circular hole (231). The first circular hole (211) has a first axial limiting surface (213) and a first circumferential locking part (214) that are interconnected. The transmission disc (22) has a second circumferential locking part (222) for engaging with the first circumferential locking part (214). The second circular hole (231) has a second axial limiting surface (233), and the transmission disk (22) has a third axial limiting part (221) that protrudes radially outward in the middle of its axial direction. The third axial limiting part (221) can move axially between the first axial limiting surface (213) and the second axial limiting surface (233). The transmission disk (22) has a first connecting structure (223) for cooperating with the instrument (30) on the side near the adapter upper cover (21), and a second connecting structure for cooperating with the power box (10) on the side near the adapter lower cover (23).

2. The sterile adapter as described in claim 1, characterized in that, The number of the second circumferential locking parts (222) is at least two, and the plurality of the second circumferential locking parts (222) are evenly spaced along the circumference of the transmission disk (22).

3. The sterile adapter as described in claim 1, characterized in that, The number of the second circumferential locking parts (222) is at least three, and multiple second circumferential locking parts (222) are sequentially and continuously distributed along the circumference of the transmission disk (22).

4. The sterile adapter as described in claim 1, characterized in that, One of the first circumferential locking portion (214) and the second circumferential locking portion (222) is a ratchet, and the other is a mating groove.

5. The sterile adapter as described in claim 1, characterized in that, The second circumferential snap-fit ​​portion (222) is protruding on the side of the third axial limiting portion (221) facing the adapter cover (21).

6. The sterile adapter as described in claim 5, characterized in that, The first axial limiting surface (213) is annular, and the first circumferential locking portion (214) is recessed in the first axial limiting surface (213).

7. The sterile adapter as described in claim 1, characterized in that, The adapter top cover (21) has a first axial limiting part (212) that protrudes radially inward from the inner peripheral wall of the first circular hole (211). The first axial limiting surface (213) is located on the side of the first axial limiting part (212) facing the adapter bottom cover (23). The adapter bottom cover (23) has a second axial limiting part (232) that protrudes radially inward from the inner peripheral wall of the second circular hole (231). The second axial limiting surface (233) is located on the side of the second axial limiting part (232) facing the adapter top cover (21). The third axial limiting part (221) is located between the first axial limiting part (212) and the second axial limiting part (232).

8. The sterile adapter as described in any one of claims 1-7, characterized in that, The first connection structure (223) includes a first eccentric portion (2232) offset from the rotation center of the transmission disk (22), the first eccentric portion (2232) being used for circumferential fixed connection with the instrument (30).

9. The sterile adapter as described in any one of claims 1-7, characterized in that, The second connection structure includes a second eccentric portion (2242) offset from the rotation center of the transmission disk (22), the second eccentric portion (2242) being used for circumferential fixed connection with the power box (10).

10. A surgical robot, characterized in that, The device includes a power box (10), an instrument (30), and a sterile adapter (20) as described in any one of claims 1-9. The instrument box of the instrument (30) has a third connection structure (31) that is connected to the first connection structure (223), and the output disk of the power box (10) has a fourth connection structure (111) that is connected to the second connection structure.

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