CN113476061B

CN113476061B - Membrane body mounting mechanism

Info

Publication number: CN113476061B
Application number: CN202110556086.6A
Authority: CN
Inventors: 何裕源; 何超; 朱国征; 陈晓
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2021-05-21
Filing date: 2021-05-21
Publication date: 2024-02-27
Anticipated expiration: 2041-05-21
Also published as: CN113476061A; WO2022242518A1

Abstract

The invention discloses a membrane body installation mechanism, which relates to the technical field of operation cover cloth, and comprises: the first cover plate is provided with a second interface hole unit and a first clamping part, wherein the second interface hole unit corresponds to the first interface hole unit of the coupling object; a pressing piece having a pressing portion including a second clamping portion mated with the first clamping portion, the second clamping portion and the first clamping portion forming a channel for a surgical instrument to pass through; the first cover plate and the pressing part are used for clamping the film body between the first cover plate and the pressing part. The utility model provides a can solve the membrane body of aseptic bag and easily produce the fold and lead to the unable problem of installing in place of aseptic board at the installation.

Description

Membrane body mounting mechanism

Technical Field

The invention relates to the technical field of surgical drapes, in particular to a film body mounting mechanism.

Background

In recent years, with the application and development of related technologies of robots, particularly the development of computing technologies, medical surgical robots are receiving more and more attention in clinic. Wherein, the minimally invasive surgery robot system can alleviate doctor's manual labor in the operation in-process through interventional therapy's mode, reaches accurate operation purpose simultaneously, makes the patient can reach that the wound is little, blood loss is few, postoperative infection is few, postoperative resumes soon. The minimally invasive surgery robot system can enable a doctor to observe tissue characteristics in a patient body through two-dimensional or three-dimensional display equipment at a main control console, and control a mechanical arm and surgical instruments on the robot in a remote operation mode to finish operation. The doctor can finish the operation of the micro-wound operation in the same mode and feel as the traditional operation, so that the difficulty of the doctor in performing the micro-wound operation is greatly reduced, the operation efficiency and safety are improved, and the realization of the remote operation is made to be a breakthrough progress. In view of the superiority of surgical robotic systems, related research is actively being conducted in all countries of the world, and some products and prototypes are being produced.

The development of minimally invasive surgical robotic devices and/or systems not only enables a physician to complete a procedure with less trauma, the same view and operational experience as traditional open procedures. More importantly, it enables a doctor to perform an operation at a location remote from the patient, or to perform an operation beside the patient in a ward, or to remotely control the remote receiving device via the operation input device, thereby completing the operation. In teleoperation, the surgeon uses a remote control in the form of a servo or the like to manipulate the movement of the surgical instrument, rather than holding and moving the instrument directly. In tele-surgical systems, the surgeon performs the surgical operation on the patient by operating a master control device that in turn controls the movement of the servo-mechanism surgical instruments. However, if this is achieved, a system/device, typically a robotic arm, must be provided to support and move the surgical instrument.

The surgical instrument can be polluted by contacting with a focus of a patient in the surgical process, the surgical instrument is usually required to be disinfected and sterilized for multiple times to realize reuse, the mechanical arm of the robot is usually required to be reused, but the mechanical arm is usually required to be connected with the surgical instrument through the sterile plate in order to avoid the surgical instrument polluted in the surgical process from further polluting the mechanical arm due to the fact that the mechanical arm is usually required to be separated by the sterile plate because the mechanical arm of the surgical robot is large in size and contains a plurality of parts which are unfavorable for disinfection and sterilization, such as electronic devices, encoders and sensors. However, due to the irregular shape of the interface between the mechanical arm, the surgical instrument and the sterile adapter, on the one hand, the installation of the sterile bag and the protection of the mechanical arm are not facilitated, and on the other hand, the irregular shape of the interface easily causes the bag body to form wrinkles in the articulation region of the mechanical arm, the wrinkles may cause increased joint resistance and the wrinkles may be wound by the transmission part to cause potential safety hazards. The aseptic bag assembly structure in the prior art generally has the problem that the aseptic plate is easily folded in place in the installation process, so that the transmission joint coupling is affected. Accordingly, there remains a need for further improvements in the above-described approaches to improve the safety, convenience and functionality of use of minimally invasive surgical robotic systems.

Disclosure of Invention

In order to overcome the defects in the prior art, the technical problem to be solved by the embodiment of the invention is to provide a film body mounting mechanism which can solve the problem that a sterile plate cannot be mounted in place due to the fact that a film body is easy to generate folds in the mounting process.

The specific technical scheme of the embodiment of the invention is as follows:

a film body mounting mechanism for fixing a film body, the film body mounting mechanism comprising:

the first cover plate is provided with a second interface hole unit and a first clamping part, wherein the second interface hole unit corresponds to the first interface hole unit of the coupling object;

a pressing piece having a pressing portion including a second clamping portion mated with the first clamping portion, the second clamping portion and the first clamping portion forming a channel for a surgical instrument to pass through; the first cover plate and the pressing part are used for clamping the film body between the first cover plate and the pressing part.

Preferably, the first clamping portion and the second clamping portion are used for clamping the membrane body, so that the channel for the surgical instrument to pass through is formed by the membrane body.

Preferably, the shape of the first clamping part is matched with the first notch of the coupling object, and the coupling object comprises a mechanical arm power box.

Preferably, the film body mounting mechanism further includes: a second cover plate having a third interface hole unit corresponding to the second interface hole unit; the second cover plate is provided with a second notch corresponding to the first notch on the coupling object, and the coupling object comprises a mechanical arm power box.

Preferably, the second cover plate and the pressing member are integrally formed.

Preferably, the edge of the second interface hole in the second interface hole unit is provided with a protruding part, and the top end of the protruding part is provided with a cutting part.

Preferably, the protruding portion can be embedded into a corresponding third interface hole in the third interface hole unit, so that a fourth interface hole unit corresponding to the second interface hole unit is cut out of the film body.

Preferably, the cutting portion is located at an outer sidewall of a top of the boss.

Preferably, the film is capable of being fixed to the first cover plate by an adhesive; the pressing piece can be fixed with the film body through an adhesive.

Preferably, the first cover plate is provided with a first clamping part, and the pressing piece is provided with a second clamping part which can be clamped with the first clamping part.

Preferably, the coupling object has a third clamping portion, and the first cover plate has a first clamping portion capable of being clamped with the third clamping portion.

Preferably, one of the first clamping part and the second clamping part is concave, and the width of the bottom of the concave part is larger than that of the opening; the other of the first and second clamping portions has elasticity to be capable of being embedded in a concave shape.

Preferably, one of the third clamping part and the first clamping part is concave, and the width of the bottom of the concave part is larger than that of the opening; the other of the third clamping portion and the first clamping portion has elasticity so as to be embedded into the concave shape.

Preferably, when the first cover plate and the pressing portion sandwich the film body therebetween, the pressing portion surrounds the second interface hole unit or the pressing portion covers the first cover plate in the circumferential direction.

Preferably, the film body mounting mechanism further includes: the membrane body, the membrane body includes the membrane body of aseptic bag.

The technical scheme of the invention has the following remarkable beneficial effects:

the first clamping part and the second clamping part of the first cover plate of the film body mounting mechanism are formed with a channel for a surgical instrument to pass through, the pressing piece is provided with a pressing part, and the pressing part comprises a second clamping part matched with the first clamping part. When the film body is arranged on the first cover plate, the pressing piece is arranged above the film body, and the pressing part presses the film body around the second interface hole unit, so that the planar film body can be shaped and arranged on the first cover plate with irregular surface; meanwhile, the film body can be clamped by the second clamping part in the pressing part and the first clamping part of the first cover plate, so that the film body which is originally irregular in shape and provided with folds near the second interface hole unit of the first cover plate is well restrained and shaped. Through the process, the phenomenon that the folds generated at the first interface hole unit in the mounting process of the film body are accidentally clamped between the original sterile plate and the coupling object to generate redundant thickness or assembly gaps can be avoided, and therefore the coupling of the transmission joint is affected.

Specific embodiments of the invention are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not limited in scope thereby. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, proportional sizes, and the like of the respective components in the drawings are merely illustrative for aiding in understanding the present invention, and are not particularly limited. Those skilled in the art with access to the teachings of the present invention can select a variety of possible shapes and scale sizes to practice the present invention as the case may be.

Fig. 1 is an overall schematic diagram of an application scenario of a surgical robot system in an embodiment of the present invention.

Fig. 2 is a schematic view of a mounting structure of a sterile bag mounting mechanism on a mechanical arm according to an embodiment of the present invention.

FIG. 3 is a schematic view of an assembly of a surgical instrument and a membrane mounting mechanism in accordance with an embodiment of the present invention.

Fig. 4a is a schematic exploded view of a film body mounting mechanism according to a first embodiment of the present invention.

Fig. 4b is an enlarged partial schematic view of fig. 4 a.

Fig. 5a is a cross-sectional view of a first embodiment of a sterile pouch having a membrane in accordance with an embodiment of the present invention.

Fig. 5b is an enlarged partial schematic view of fig. 5 a.

Fig. 6 is an isometric view of the first embodiment of the present invention after the second cover plate is integrally formed with the pressing member.

Fig. 7 is an isometric view of a first cover plate in a first embodiment of the invention.

Fig. 8 is a schematic view of a first cover plate cutting portion in the first embodiment according to the embodiment of the invention.

Fig. 9 is a schematic diagram of a fourth interface hole unit on a membrane body in the first embodiment according to the embodiment of the invention.

Fig. 10 is a cross-sectional view of the film body and the first cover plate in the first embodiment of the present invention when assembled.

Fig. 11a is a schematic view of an assembly of a surgical instrument and a membrane in a second embodiment of the invention.

Fig. 11b is an enlarged partial schematic view of fig. 11 a.

Fig. 12 is a schematic view illustrating a film body mounting mechanism according to a second embodiment of the present invention.

Figure 13 is an isometric view of a press in a second embodiment of an embodiment of the invention.

Fig. 14 is a schematic view of a first cover plate in a second embodiment according to an embodiment of the invention.

Fig. 15a is a schematic view of the assembly of a surgical instrument and sterile bag in a third embodiment of an embodiment of the present invention.

Fig. 15b is an enlarged partial schematic view of fig. 15 a.

Fig. 16 is a sectional view of a film body mounting mechanism in a third embodiment of the present invention.

Fig. 17 is an assembly schematic diagram of a film body mounting mechanism in a third embodiment according to an embodiment of the present invention.

Figure 18 is an isometric view of a press in a third embodiment of an embodiment of the invention.

Fig. 19 is an expanded view of the pressing member in the third embodiment in the embodiment of the present invention.

Fig. 20 is a schematic view of a first cover plate in a third embodiment according to an embodiment of the invention.

Fig. 21 is an assembly schematic diagram of a film body mounting mechanism in a fourth embodiment of the present invention.

Fig. 22 is a sectional view of a film body mounting mechanism in a fourth embodiment of the present invention.

Figure 23 is an isometric view of a press in a fourth embodiment of an embodiment of the invention.

Figure 24 is an isometric view of a first cover plate in a fourth embodiment of the invention.

Fig. 25 is a cross-sectional view of a first engaging portion of a first cover plate in a fourth embodiment according to an embodiment of the present invention.

Fig. 26 is a partially enlarged view of fig. 25.

Reference numerals of the above drawings:

1. a patient end robot; 11. a main trolley; 12. an adjustment arm; 13. a mechanical arm; 131. a coupling object; 1311. a first notch; 1312. a first interface aperture unit; 1313. a third clamping part; 14. a surgical instrument; 141. an instrument bar; 15. a film body mounting mechanism; 151. a membrane body; 1511. a fourth interface aperture unit; 152. a first cover plate; 1521. a first clamping part; 1522. a second interface aperture unit; 1523. a boss; 15231. a cutting section; 1524. a first clamping part; 153. a second cover plate; 1531. a third interface aperture unit; 1532. a second notch; 154. a pressing member; 1541. a pressing part; 15411. a second clamping portion; 15412. a second clamping part; 16. a channel; 17. an endoscope; 18. a sterile bag; 2. a hospital bed; 3. an image vehicle; 4. a tool car; 5. a doctor console; 51. a main operator; 6. tabletting; 7. a fixing member; 8. and (5) driving the turntable.

Detailed Description

The details of the invention will be more clearly understood in conjunction with the accompanying drawings and description of specific embodiments of the invention. However, the specific embodiments of the invention described herein are for the purpose of illustration only and are not to be construed as limiting the invention in any way. Given the teachings of the present invention, one of ordinary skill in the related art will contemplate any possible modification based on the present invention, and such should be considered to be within the scope of the present invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, may be in communication with each other in two elements, may be directly connected, or may be indirectly connected through an intermediary, and the specific meaning of the terms may be understood by those of ordinary skill in the art in view of the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Fig. 1 is an overall schematic diagram of an application scenario of a surgical robot system in an embodiment of the present invention, where, as shown in fig. 1, the surgical robot system may include an execution end and a control end. The execution end may include an image platform 3, a patient end robot 1, a surgical instrument 14, a hospital bed 2, a tool car 4, and the like. The control end may include a doctor console 5 and a main manipulator 51, among other things. The patient-side robot 1 includes a main carriage 11, a robot arm 13 mounted on the main carriage 11, and an adjustment arm 12 for adjusting the robot arm 13. The surgical robot system is mainly used for realizing micro-wound surgical treatment on a patient on a sickbed 2 by a doctor through remote operation of a doctor console 5 and a main manipulator 51.

The master manipulator 51 is in a master-slave control relationship with the manipulator 13 and the surgical instrument 14 in the execution end. Specifically, the mechanical arm 13 and the surgical instrument 14 are moved according to the movement of the main manipulator 51, that is, the operation of the doctor's hand during the operation. Further, the main manipulator 51 may also receive information about the force applied to the surgical instrument 14 by the human tissue and organ and feed back the information to the hands of the doctor, so that the doctor can feel the operation more intuitively. The tool wagon 4 can then be used for placing different types of hand instruments 14 to be replaced, selected according to the specific situation of the patient, and then mounted on the mechanical arm 13.

The specific kind of surgical instrument in this embodiment is not particularly limited. The surgical instrument 14 is illustratively an active instrument such as an electrical hook, an electrical knife, or an ultrasonic knife. The surgical instrument 14 is illustratively a passive instrument such as a stapler, scissors, forceps, grasper, tube clamp, or scalpel. The image platform 3 is a vision subsystem of an endoscopic surgical instrument control system, and comprises an endoscope, an image processing host machine, an image trolley and the like; the endoscope is inserted into the abdominal cavity to collect depth information of tissues and organs in the abdominal cavity, the endoscope image processing host processes the collected image information, and the image information is transmitted to the three-dimensional display and the two-dimensional display by using a three-dimensional imaging algorithm.

Alternatively, the manipulator 13 may include at least one endoscope 17 mounted thereon, and the endoscope 17 is used to obtain surgical environment information such as a tissue and organ of a human body, the surgical instrument 14, a blood vessel, and a body fluid. The patient-end robot 1 may also comprise further mechanical arms 13, each mechanical arm 13 being individually loaded with a surgical instrument 14. The endoscope 17 and the surgical instrument 14 are passed through a wound in the patient's body to the patient's site, respectively. The mechanical arm 13 includes a mechanical arm power box, and the upper end surface of the mechanical arm power box is provided with a first interface hole unit 1312, which may include a plurality of first interface holes, and the first interface holes may have different shapes, so as to form a transmission interface, a sensor interface, and the like. The side wall of the mechanical arm power box is provided with a first notch 1311 extending in the vertical direction, and the first notch 1311 forms a channel 16, and the surgical instrument 14 can pass through the channel 16.

In order to solve the problem that a sterile plate cannot be installed in place due to easy wrinkling of a film body in an installation process, a film body installation mechanism is provided in the present application, fig. 2 is a schematic view of an installation structure of the film body installation mechanism on a mechanical arm in an embodiment of the present invention, and fig. 3 is an assembly schematic view of a surgical instrument and the film body installation mechanism in an embodiment of the present invention, as shown in fig. 2 to 4b, the film body installation mechanism may include: a first cover plate 152 and a pressing member 154. Fig. 4a to 26 are schematic structural views of respective components of the film body mounting mechanism in the first, second, third and fourth embodiments of the present invention, respectively, as shown in fig. 4a to 26, a film body 151 is provided to be disposed on a coupling object 131. The first cover plate 152 has a second interface hole unit 1522 and a first clamping portion 1521 corresponding to the first interface hole unit 1312 of the robot power box 131. The first clamp portion 1521 itself is formed with a channel 16 through which the surgical instrument 14 passes. The pressing member 154 has a pressing portion 1541, the pressing portion 1541 including a second clamping portion 15411 mated with the first clamping portion 1521, the second clamping portion 15411 and the first clamping portion 1521 forming a channel 16 through which the surgical instrument 14 passes; the first cover plate 152 and the pressing portion 1541 are configured to sandwich the film body 151 therebetween. As a practical matter, the first clamping portion 1521 and the second clamping portion 15411 can clamp the membrane body 151 such that the membrane body 151 forms the channel 16 through which the surgical instrument 14 passes.

The first clamping portion 1521 and the second clamping portion 15411 of the first cover plate 152 of the film body mounting mechanism in the present application are formed with a channel 16 through which the surgical instrument 14 passes, the pressing member 154 presses the portion 1541, and the pressing portion 1541 includes the second clamping portion 15411 that matches the first clamping portion 1521. When the film body 151 is disposed on the first cover plate 152, the pressing member 154 is mounted above the film body 151, and the pressing portion 1541 presses the film body 151 around the second interface hole unit 1522, so that the film body 151 that is originally folded can be mounted on the first cover plate 152 with irregular surface in a planar shape; meanwhile, the second clamping portion 15411 of the pressing portion 1541 and the first clamping portion 1521 of the first cover plate 152 can clamp the film body 151, so that the film body 151 with irregular shape and wrinkles near the second interface hole unit 1522 of the first cover plate 152 is well constrained and shaped. As a practical matter, the irregularly shaped pleated membrane 151 adjacent the channel 16 is well constrained and shaped, the constrained shaping of the membrane adjacent the channel 16 forming a channel 16 for the surgical instrument 14 to pass through. Through the above process, it is possible to prevent wrinkles generated at the first interface hole unit 1312 from being accidentally pinched between the aseptic plate and the coupling object 131 during the installation process of the membrane body 151, resulting in an excessive thickness or assembly gap, thereby affecting the coupling of the driving joint. Preferably, the otherwise unconstrained shaped membrane 151 is also prevented from affecting the passage of the surgical instrument 14 through the passageway 16.

As shown in fig. 2 and 3, the coupling object 131 may be a robot power box of the robot arm 13, or may be another mechanism with a first interface hole unit 1312, which is not limited in this application.

As shown in fig. 4a to 10, the membrane 151 is soft and is not easy to be constrained and shaped. The film body 151 is configured to be disposed on the coupling object 131, specifically disposed at the first interface hole unit 1312 of the coupling object 131, so as to cover and shelter the first interface hole unit 1312 of the coupling object 131. For example, the membrane 151 may be a membrane of the sterile bag 18, and at least a portion of the membrane of the sterile bag 18 needs to be sleeved at the robot power box. The surgical instrument 14 may be removably mounted on a robotic power pack 131. Before operation preparation, the sterile bag 18 is sleeved on the mechanical arm 13 in advance. The film 151 in the present application may be a film of a sterile bag, or may be a film of another device, which is not limited in the present application. As a practical matter, the film body mounting mechanism may also include a film body 151.

As shown in fig. 4a, 4b, 7, 11a to 12, 14 to 17, 20 to 22, and 24, the first cover plate 152 is for being disposed on the coupling object 131. The first cover plate 152 has a second interface hole unit 1522 and a first clamping portion 1521 corresponding to the first interface hole unit 1312 of the coupling object 131. The first cover plate 152 has an upper end surface of the first cover plate 152 and a sidewall of the first cover plate 152, which are substantially perpendicular to each other, the second interface hole unit 1522 is located on the upper end surface of the first cover plate 152, and the first clamping portion 1521 is located on the sidewall of the first cover plate 152. The first clamp 1521 may be shaped to mate with a first notch 1311 in a sidewall of the robotic power box to form a channel 16 for passage of a surgical instrument 14, e.g., for passage of an instrument rod 141 in the surgical instrument 14. When the first cover plate 152 is disposed on the robot cartridge, the second interface aperture unit 1522 of the first cover plate 152 is aligned with the first interface aperture unit 1312 of the robot cartridge.

As a practical matter, as shown in fig. 4a, 4b and 7, the first cover 152 may be detachably connected to the mechanical arm power box to achieve fixation. For example, the first clamping portion 1521 of the first cover plate 152 may be inserted or snapped into the first notch 1311 with a degree of tightness to achieve a relative fixation of the first cover plate 152.

As shown in fig. 11a to 13 and 15a to 19, the pressing member 154 has a pressing portion 1541 capable of sandwiching the film body 151 between the first cover plate 152 and the pressing member 154. When the first cover plate 152 and the pressing portion 1541 sandwich the film body 151 therebetween, the pressing portion 1541 at least partially surrounds the second interface hole unit 1522 in the circumferential direction or the pressing portion 1541 at least partially covers the first cover plate 152. Here, the extent to which the pressing portion 1541 at least partially surrounds the second interface hole 1522 in the circumferential direction or the extent to which the pressing portion 1541 at least partially covers the first cover plate 152 needs to be at least enough to allow the film body 151 that is originally folded to be flat-shaped to be mounted on the first cover plate 152 with an irregular surface. Thus, the pressing portion 1541 may not completely surround the second interface hole unit 1522 in the circumferential direction, the pressing portion 1541 may have a notch or the like in a partial orientation; the pressing portion 1541 may not be entirely covered on the first cover plate 152, and a partial area of the first cover plate 152 may not be covered with the pressing portion 1541. Of course, it is preferable that the pressing portion 1541 presses the film body 151 while completely surrounding the second interface hole unit 1522 in the circumferential direction, or that the pressing portion 1541 completely covers the first cover plate 152, the film body 151 is shaped in a planar shape.

The pressing portion 1541 can press the film body 151 above the first cover plate 152, and the film body 151 that is originally folded can be mounted on the first cover plate 152 with irregular surface in a planar shape. Therefore, the membrane 151 can be prevented from being accidentally clamped between the original sterile plate and the mechanical arm power box in the mounting process at the position of the first interface hole unit 1312, and redundant thickness or assembly clearance is generated, so that the coupling of the transmission joint is affected, and potential safety hazards caused by the increase of joint transmission resistance and accidental winding of the pleated membrane by moving parts are avoided.

The pressing portion 1541 includes a second clamping portion 15411 that mates with the first clamping portion 1521, the second clamping portion 15411 being shaped to mate with the first clamping portion 1521. Second gripping portion 15411 itself is also formed with a channel 16 for passage of surgical instrument 14 therethrough. The pressing portion 1541 presses the film body 151 near the side wall region of the first cover plate 152 by removing the portion of the second clamping portion 15411 from the side wall region of the first cover plate 152, and the second clamping portion 15411 presses the film body 151 near the side wall region of the first cover plate 152.

At the same time, second clamping portion 15411 can cooperate with first clamping portion 1521 to collectively form a passageway 16 for surgical instrument 14 therethrough. The first clamping portion 1521 and the second clamping portion 15411 can clamp the irregular pleated membrane 151 at the side wall of the first cover plate 152, so that the membrane 151 with irregular shape and pleats near the channel 16 is well constrained and shaped, and the constraint and shaping of the membrane 151 near the channel 16 forms a channel 16 for the surgical instrument 14 to pass through. In this manner, the otherwise unconstrained shaped membrane 151 is prevented from affecting the passage of the surgical instrument 14 through the passageway 16.

In order to fix the pressing member 154, as shown in fig. 11a to 12, as a practical matter, the film body 151 can be fixed to the first cover plate 152 by an adhesive; the pressing member 154 can be fixed to the film body 151 by an adhesive. The fixing of the pressing member 154 is indirectly achieved in the above-described manner.

As shown in fig. 11a to 13 and 15a to 19, the film body mounting mechanism may further include: and a second cover plate 153. The second cover plate 153 has a third interface hole unit 1531 corresponding to the second interface hole unit 1522. The second cover plate 153 can be mounted on the first cover plate 152, and the film body 151 is sandwiched between the first cover plate 152 and the second cover plate 153. The pressing portion 1541 of the pressing member 154 is wound around the second cover 153, the pressing portion 1541 is formed with an opening, and the first cover 152 is disposed in the opening. When the second cover plate 153 is mounted on the first cover plate 152, the third interface hole unit 1531 of the second cover plate 153 is aligned with the second interface hole unit 1522 of the first cover plate 152. As a practical matter, the second cover 153 has a second notch 1532 corresponding to the first notch 1311 in the mechanical arm power box for the surgical instrument 14 to pass through.

A surgical instrument 14 may be disposed on the second cover plate 153, and the surgical instrument 14 is connected to the robot power box through the third interface hole unit 1531, the second interface hole unit 1522, and the first interface hole unit 1312.

In another possible embodiment, as shown in fig. 4a to 6, the second cover plate 153 and the pressing member 154 may be integrally formed, and the two parts are integrally formed, so that the number of parts of the film body mounting mechanism may be optimized, and the mounting steps may be reduced.

As a practical matter, as shown in fig. 7 to 9, the edge of the second interface hole in the second interface hole unit 1522 has a protrusion 1523, and the tip of the protrusion 1523 has a cutting portion 15231. The protrusions 1523 can be inserted into corresponding third interface holes in the third interface hole unit 1531, so that the fourth interface hole unit 1511 corresponding to the second interface hole unit 1522 is cut out of the film body 151. The surgical instrument 14 may be coupled to various interfaces of the robotic power cartridge through a fourth interface aperture unit 1511.

Preferably, since the protrusion 1523 is inserted into the corresponding third interface hole of the third interface hole unit 1531, the outer sidewall of the protrusion 1523 abuts against the inner wall of the third interface hole and forms a relative motion, in order to more effectively cut the fourth interface hole unit 1511 corresponding to the second interface hole unit 1522 on the film body 151, as shown in fig. 8, the cutting portion 15231 may be located at the outer sidewall of the top of the protrusion 1523. For example, the cross-section of the cutting portion 15231 may be pointed, sloping from the outer sidewall to the inner sidewall of the boss 1523.

By the above mode, the film body mounting mechanism can automatically cut the fourth interface hole unit 1511 corresponding to the second interface hole unit 1522 on the film body 151 in the mounting process, especially when the second cover plate 153 is mounted, so that the assembly flow of the film body mounting mechanism can be simplified, and an operator does not need to cut the fourth interface hole unit 1511 on the film body 151 by himself. In addition, the cut complete fourth interface hole unit 1511 may form a safe transmission member passing port, avoiding the wrinkles of the film body 151 from contacting the transmission member.

As shown in fig. 4a, 4b, 11a, 11b, 15a, 15b, 21 and 25, the first cover plate 152 may be provided with a pressing piece 6 having an opening, and the pressing piece 6 is used for mounting the fixing member 7 and the transmission turntable 8. The location and shape of the openings in the press plate 6 match the openings in the first cover plate 152 to compensate for the thickness around the boss 1523 of the first cover plate 152, which in turn enables the fastener 7 to abut the press plate 6 rather than create a larger gap with the first cover plate 152. The fixing piece 7 can be arranged above the first cover plate 152 and the pressing piece 6, the fixing piece 7 is provided with a barb structure extending downwards, and the barb structure can penetrate through part of the holes in the pressing piece 6, the holes in the first cover plate 152 and the holes in the mechanical arm power box and then hook the wall surface of the mechanical arm power box, so that the fixing of the first cover plate 152 and the pressing piece 6 is realized. Of course, the opening edge of the first cover plate 152 may also have a protrusion 1523, and the top end of the protrusion 1523 has a cutting portion 15231. The film body 151 may be disposed between the pressing sheet 6 and the first cover plate 152, and the protrusion 1523 near the opening of the first cover plate 152 may be inserted into the opening of the pressing sheet 6 when the pressing sheet 6 is mounted to the first cover plate 152, so that the film body 151 is cut with a mouth corresponding to the opening. The fixing member 7 has a rod extending upward, and the second cover 153 has an opening through which the rod passes, and when the second cover 153 is mounted on the first cover 152, the rod of the fixing member 7 passes through the opening of the second cover 153. The second interface hole unit 1522 and the third interface hole unit 1531 are provided therein with a transmission dial 8, and in the vertical direction, the transmission dial 8 is confined between the first cover plates 152 and the second cover plates 153, and a plurality of transmission dials are used to transmit power on the mechanical arm to the surgical instrument.

As shown in fig. 15a to 26, in these embodiments, the mechanical arm power box, the first cover plate 152, and the pressing member 154 are detachably fixed by other means. As a feasible way, the mechanical arm power box is provided with a third clamping part 1313, the first cover plate 152 is provided with a first clamping part 1524 which can be clamped with the third clamping part 1313, and the first cover plate 152 is detachably connected with the mechanical arm power box through the third clamping part 1313 of the first cover plate 152 clamped into the mechanical arm power box by the first clamping part 1524 of the first cover plate 152. For example, one of the third clamping portion 1313 and the first clamping portion 1524 is concave, and the width of the bottom of the concave portion is greater than the width of the opening; the other of the third clamping portion 1313 and the first clamping portion 1524 has elasticity to be able to fit into the concave shape. The third clamping portion 1313 and the first clamping portion 1524 may be multiple and located at different positions, so as to ensure the connection firmness between the mechanical arm power box and the first cover plate 152.

In a specific embodiment, as shown in fig. 15a to 17, the third clamping portion 1313 on the mechanical arm power box is concave, the first clamping portion 1524 of the first cover plate 152 is in a convex shape corresponding to the concave shape toward one surface of the mechanical arm power box, when the first cover plate 152 is mounted on the mechanical arm power box, the first clamping portion 1524 has elasticity, and the width of the top end of the convex shape can be reduced, so that after passing through the opening of the concave shape, the convex shape of the first clamping portion 1524 is completely embedded into the concave shape of the third clamping portion 1313, since the width of the bottom of the concave portion is larger than the width of the opening, the first cover plate 152 is fixed, and the first clamping portion 1524 of the first cover plate 152 cannot be separated from the third clamping portion 1313 on the mechanical arm power box under the action of insufficient external force.

In another specific embodiment, as shown in fig. 21 to 26, the third clamping portion 1313 on the mechanical arm power box is in a convex shape, and the first clamping portion 1524 of the first cover plate 152 is in a concave shape corresponding to the convex shape toward one surface of the mechanical arm power box. When the first cover 152 is mounted on the mechanical arm power box, the first clamping portion 1524 has elasticity, and the width of the concave opening can be enlarged, so that the protruding tip of the third clamping portion 1313 passes through. After the protruding portion of the third clamping portion 1313 is completely embedded in the recessed portion of the first clamping portion 1524, since the width of the bottom portion of the recessed portion is greater than the width of the opening, the first cover plate 152 is fixed, and the first clamping portion 1524 of the first cover plate 152 cannot be separated from the third clamping portion 1313 on the mechanical arm power box under the action of insufficient external force.

As a practical matter, the first cover 152 has a first engaging portion 1524, and the pressing member 154 has a second engaging portion 15412 that can be engaged with the first engaging portion 1524. The detachable connection of the pressing piece 154 and the first cover plate 152 is achieved by the second clamping portion 15412 of the pressing piece 154 being clamped into the first clamping portion 1524 on the first cover plate 152. Similarly, one of the first engaging portion 1524 and the second engaging portion 15412 is concave, and the width of the bottom of the concave portion is larger than the width of the opening; the other of the first and second engaging portions 1524 and 15412 has elasticity to be able to be fitted into the concave shape.

In a specific embodiment, as shown in fig. 15a to 20, the first engaging portion 1524 of the first cover 152 is concave toward one side of the pressing member 154, the second engaging portion 15412 of the pressing member 154 is convex toward one side of the first cover 152 corresponding to the concave, when the pressing member 154 is mounted on the first cover 152, the second engaging portion 15412 has elasticity, and the width of the top end of the convex shape can be reduced, so that after the convex shape of the second engaging portion 15412 is completely embedded into the concave shape of the first engaging portion 1524 through the concave opening, the pressing member 154 is fixed because the width of the bottom of the concave portion is larger than the width of the opening, and the second engaging portion 15412 of the pressing member 154 cannot be separated from the first engaging portion 1524 on the first cover 152 without enough external force.

In another specific embodiment, as shown in fig. 21 to 26, the first engaging portion 1524 on the first cover 152 is convex toward one side of the pressing member 154, and the second engaging portion 15412 of the pressing member 154 is concave toward one side of the first cover 152 corresponding to the convex. When the pressing member 154 is mounted on the first cover 152, the second engaging portion 15412 has elasticity, and the width of the opening of the concave shape can be enlarged, so that the protruding tip of the first engaging portion 1524 passes through. After the protruding portion of the first engaging portion 1524 is completely embedded in the recessed portion of the second engaging portion 15412, the pressing member 154 is fixed because the width of the bottom portion of the recessed portion is larger than the width of the opening, and the second engaging portion 15412 of the pressing member 154 cannot be separated from the first engaging portion 1524 on the first cover 152 under the action of insufficient external force. Of course, in this embodiment, the second engaging portion 15412 may not have elasticity, and the first engaging portion 1524 may have elasticity.

As a practical matter, in all the above embodiments, the concave or convex edges, surfaces, etc. of the first clamping portion 1524, the second clamping portion 15412, and the third clamping portion 1313 are relatively round, so as to avoid damage, such as puncture or compression, to the membrane 151 when the first cover 152 and the pressing portion 154 sandwich the membrane 151.

All articles and references, including patent applications and publications, disclosed herein are incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not substantially affect the essential novel features of the combination. The use of the terms "comprises" or "comprising" to describe combinations of elements, components, or steps herein also contemplates embodiments consisting essentially of such elements, components, or steps. By using the term "may" herein, it is intended that any attribute described as "may" be included is optional. Multiple elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, component, section or step is not intended to exclude other elements, components, sections or steps.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.

Claims

1. A film body mounting mechanism for fixing a film body, characterized in that the film body mounting mechanism comprises:

a pressing piece having a pressing portion including a second clamping portion mated with the first clamping portion, the second clamping portion and the first clamping portion forming a channel for a surgical instrument to pass through; the first cover plate and the pressing part are used for clamping the film body between the first cover plate and the pressing part; the first clamping part and the second clamping part are used for clamping the membrane body so that the membrane body forms the channel for the surgical instrument to pass through.

2. The film body mounting mechanism of claim 1, wherein the first clamping portion is shaped to match a first notch of the coupling object, the coupling object comprising a robotic power pack.

3. The film body mounting mechanism of claim 1, further comprising: a second cover plate having a third interface hole unit corresponding to the second interface hole unit; the second cover plate is provided with a second notch corresponding to the first notch on the coupling object, and the coupling object comprises a mechanical arm power box.

4. A film body mounting mechanism as recited in claim 3, wherein the second cover plate is integrally formed with the pressing member.

5. The membrane body assembly mechanism of claim 4, wherein an edge of the second interface aperture in the second interface aperture unit has a boss, and a top end of the boss has a cutting portion.

6. The membrane body assembly mechanism of claim 5, wherein the boss is insertable into a corresponding one of the third interface aperture units to cut a fourth interface aperture unit corresponding to the second interface aperture unit from the membrane body.

7. The film body mounting mechanism of claim 5, wherein the cut-out portion is located at an outer sidewall of a top portion of the boss.

8. The membrane body assembly mechanism of claim 1, wherein the membrane body is secured to the first cover plate by an adhesive; the pressing piece can be fixed with the film body through an adhesive.

9. The film body mounting mechanism according to claim 1, wherein the first cover plate has a first engaging portion thereon, and the pressing member has a second engaging portion engageable with the first engaging portion thereon.

10. The film body mounting mechanism according to claim 1, wherein the coupling object has a third engaging portion thereon, and the first cover plate has a first engaging portion engageable with the third engaging portion thereon.

11. The film body mounting mechanism according to claim 9, wherein one of the first and second engaging portions is recessed, and a width of a bottom portion of the recessed portion is larger than a width of the opening; the other of the first and second clamping portions has elasticity to be capable of being embedded in a concave shape.

12. The film body mounting mechanism according to claim 10, wherein one of the third clamping portion and the first clamping portion is concave, and a width of a bottom of the concave portion is larger than a width of the opening; the other of the third clamping portion and the first clamping portion has elasticity so as to be embedded into the concave shape.

13. The film body mounting mechanism according to claim 1, wherein the pressing portion surrounds the second interface hole unit or the pressing portion covers on the first cover plate in a circumferential direction when the first cover plate and the pressing portion sandwich the film body therebetween.

14. The film body mounting mechanism of claim 1, further comprising: the membrane body, the membrane body includes the membrane body of aseptic bag.