CN215306655U - Surgical robot - Google Patents
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- CN215306655U CN215306655U CN202121598879.6U CN202121598879U CN215306655U CN 215306655 U CN215306655 U CN 215306655U CN 202121598879 U CN202121598879 U CN 202121598879U CN 215306655 U CN215306655 U CN 215306655U
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- instrument driver
- hook
- sterile
- surgical robot
- sterile adapter
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Abstract
The utility model discloses a surgical robot, which comprises: an instrument driver; a sterile adapter connectable with the instrument driver; the instrument driver and the first connection site of the sterile adapter mate by a hook surface and the instrument driver and the second connection site of the sterile adapter connect by a living snap. This surgical robot, through being connected of the first position of apparatus driver and aseptic adapter, it is through rigid connection to a certain extent, makes the two structural connection inseparable, makes the apparatus driver be difficult to produce structural activity or deformation with being connected of aseptic adapter, and first position and second position are connected simultaneously, make on the one hand apparatus driver and aseptic adapter connection structure inseparabler, durable, on the other hand reduces vibrations when using.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to a surgical robot.
Background
The surgical robot can help doctors to realize accurate positioning of operations, and has the advantages of reducing wounds of patients, shortening postoperative recovery time and the like. And it has stable operation platform, can solve the condition such as doctor's shiver, therefore has a large amount of applications in clinical surgery.
Surgical instruments in surgical robots typically have a rear end actuator in the form of a surgical tool, such as forceps, scissors, clips, etc., at one end of an elongated tube. The conventional motion structure of the rear end actuating mechanism is to adopt a steel wire rope to rotate the rear end actuating mechanism so as to finish pitching, deflecting and clamping actions.
The surgeon controls the instruments on the operation side driver on the console side, and in order to meet the use requirements of different surgical instruments in the operation, the surgical instruments and the instrument driver are usually designed to be detachable, so that the requirements of different surgical instruments can be changed in the operation, and meanwhile, the surgical instruments are usually sterilized and disinfected independently.
The instrument driver end is typically designed to be non-sterilizable, and to ensure sterility during the surgical procedure, a sterile adapter is added between the instrument driver and the instrument during the procedure to isolate the non-sterilizable instrument driver end from the sterilizable instrument end during the procedure.
The back end of the surgical instrument is connected with the upper surface of the sterile adapter, the instrument driver is connected with the lower surface of the sterile adapter, and the instrument driver provides driving force for the actuating mechanism at the back end of the surgical instrument through the sterile adapter, so that the purposes of pitching, deflecting and clamping actions are achieved.
Aseptic adapter lower surface and apparatus driver upper surface connection stably do not break away from after connecting, simultaneously can convenient and fast when needs unblock unlocks the separation from the apparatus driver with aseptic adapter, surgical instruments rear end and aseptic adapter upper surface connection remain stable after connecting and do not break away from, inform when needs unblock convenient and fast behind the separation of unlocks from aseptic adapter with surgical instruments.
In the prior art, the connection structure of the sterile adapter and the instrument driver is characterized in that two buckles are vertically extended from the middle of an upper cover plastic part of the sterile adapter, the lower buckle is connected with the instrument driver, the upper buckle is connected with the tail end of a surgical instrument, and the scheme is connected with the tail end of the instrument driver or the tail end of the surgical instrument by means of deformation of a plastic material.
The current existing solutions have several major problems: the aseptic adapter of present scheme and apparatus driver and surgical instruments connected mode rely on the plastic buckle that the lower extreme stretches out to carry out the lock and is connected on aseptic adapter middle part, the connection position is arranged at the middle part, this kind of overall arrangement provides drive power to surgical instruments rear end actuating mechanism through aseptic adapter at the apparatus driver, accomplish the every single move, when the action of deflecting and pressing from both sides holding, apparatus driver and aseptic adapter, aseptic adapter is connected as only both sides with surgical instruments, and two tip do not have connector link connection position, make entire system atress unbalanced, cause the structure vibration easily or take place the apparatus to topple.
The aseptic adapter of current scheme relies on the plastic buckle that the lower extreme stretches out to carry out the lock with apparatus driver and surgical instruments connected mode on the aseptic adapter middle part to be connected, connected mode relies on plastic material plastic deformation to carry out the lock card and goes into, its card income mode is along the plastic buckle root as the rotatory card of axle center on going into the fixed buckle of apparatus driver, if need satisfy the plastic buckle can block into fixed buckle completely, owing to there is a circular motion relation, the good back of lock, the plastic buckle must have the clearance with fixed buckle, so two buckles direct existence certain clearances after the lock is accomplished to current scheme, unstable behind the lock, there is certain influence to the stability of this system.
In the current scheme, due to the isolated structures of the plastic buckles at the two sides of the sterile adapter, when the sterile adapter and the instrument driver are installed, the two plastic buckles are required to align the respective buckle positions and adjust the deformation angle and the position, and the operation steps are excessive. The number of buckling points of the plastic buckle is too small, and the plastic buckle has certain deformation, so that only the rough alignment of the sterile adapter and the instrument driver can be achieved, but the precise alignment of the sterile adapter and the instrument driver cannot be achieved.
SUMMERY OF THE UTILITY MODEL
In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content of the present invention is not intended to define key features or essential features of the claimed solution, nor is it intended to be used to limit the scope of the claimed solution.
In order to solve the technical problems, the utility model designs a surgical robot which can ensure that an instrument driver and a sterile adapter are tightly connected and are not easy to deform in structure when in use, and the surgical robot is realized by adopting the following scheme:
a surgical robot, comprising:
an instrument driver;
a sterile adapter connectable with the instrument driver;
the instrument driver and the first connection site of the sterile adapter mate by a hook surface and the instrument driver and the second connection site of the sterile adapter connect by a living snap.
According to the surgical robot, the instrument driver is connected with the first site of the sterile adapter through rigid connection to a certain extent, so that the instrument driver and the sterile adapter are connected tightly, structural movement or deformation is not easy to generate when the instrument driver is connected with the sterile adapter, and meanwhile the first site is connected with the second site, so that the connection structure of the instrument driver and the sterile adapter is tighter and firmer on one hand, and on the other hand, vibration is reduced during use.
Preferably, at the first connection site, one of the instrument driver and the sterile adapter has a protruding hook-shaped surface and the other of the instrument driver and the sterile adapter has an inset cooperating with the protruding hook-shaped surface.
Preferably, the sterile adaptor has a hook-shaped surface that protrudes from the sterile adaptor housing structure and the instrument driver has a hook-shaped surface that is recessed from the instrument driver housing structure.
Preferably, there are two sets of the first connection sites, the two sets of the first connection sites being located on either side of the mating surfaces of the instrument driver and the sterile adapter.
Preferably, the hook surface of the sterile adaptor is integrally formed with the housing surface of the sterile adaptor.
Preferably, the hook-shaped surface of the sterile adapter and or the instrument driver has a width in a direction spanning along both sides of the sterile adapter.
Preferably, the hook surface has a combination of continuous curved and/or straight sections.
Preferably, the first connection site includes at least one connection side mating portion.
More preferably, the side engagement portions comprise straight engagement portions.
More preferably, the side mating portion has an arcuate guide surface on at least one of the mating surfaces of the instrument driver and the sterile adapter.
Preferably, at the second connection site, one of the instrument driver and the sterile adapter has a fixed catch and the other of the instrument driver and the sterile adapter has a movable catch cooperating with the fixed catch.
More preferably, the non-fitting surface portion of the movable buckle and/or the fixed buckle has a wedge surface.
More preferably, the part of the fixing button, which is not matched with the movable button, has a smooth curved surface.
More preferably, the fixing buckle has a slope surface at a portion thereof located toward the first connection point.
More preferably, the fixing buckle has a vertical curved surface at a portion thereof located in a direction away from the first connection site.
More preferably, the housing of the instrument driver or the sterile adaptor having the movable button has a full curved surface adapted to the fixed button.
Drawings
FIG. 1 is a schematic view of the assembled state of the instrument driver, sterile adapter and surgical instrument according to the embodiment of the present invention
FIG. 2 is a schematic view of an exploded view of a surgical instrument, sterile adapter and instrument driver according to an embodiment of the present invention
FIG. 3 is a side view of an assembled configuration of a device driver and sterile adapter according to an embodiment of the present invention
FIG. 4 is an enlarged detail view of the assembled state of the first connection site of the instrument driver and sterile adapter in an embodiment of the present invention
FIG. 5 is a side view of an unassembled instrument driver and sterile adapter in accordance with an embodiment of the present invention in an assembled configuration
FIG. 6 is an unassembled perspective view of a device driver and sterile adapter according to an embodiment of the present invention
FIG. 7 is a schematic diagram of the configuration of the first connection site of the instrument driver and sterile adapter in accordance with an embodiment of the present invention
FIG. 8 is a schematic diagram of a second attachment site for a sterile adapter and a device driver according to an embodiment of the present invention
FIG. 9 is a schematic exploded view of a sterile adaptor according to an embodiment of the utility model
FIG. 10 is a schematic diagram of the breakdown structure of the second attachment site in an embodiment of the utility model
FIG. 11 is a schematic illustration of the assembly of the instrument driver and sterile adapter in accordance with an embodiment of the present invention
Description of reference numerals:
100 instrument driver 101 fitting surface of instrument driver
103 hook-shaped mount 103a hook-shaped mount front
103a1 constituting the front part of the hook-shaped insert, 103b constituting the rear part of the hook-shaped insert
103b1 flat surface 103b2 arc surface
103b3 slope 1031 hook-shaped side part of clamping
1032 hook-shaped clamping guide part 104 fixing buckle
1041 clamping surface 1042 of fixing buckle curved surface structure of fixing buckle
1043 fitting surface 1044 smooth arc surface
1045 driver driving member with slope surface 130
200 sterile adaptor 210 sterile adaptor upper housing
211 upper surface 212 opening of sterile adaptor
220 lower housing 221 of sterile adaptor the lower surface of the sterile adaptor
222 hook-shaped member 222a hook-shaped member front portion
222a1 hook member front face 222b hook member rear
222b1 flat surface 222b2 arc surface
222b3 side of inclined surface 2221 hook member
2222 lower ends 223 of the hook member sides give way
224 guide groove 225 spring
226 Recessed Structure 230 adapter drive
240 movable buckle of movable part 241
2411 clamping surface 2412 of movable buckle
242 operation unit 243 operates buttons
244 guide part
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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 utility model and are not intended to limit the utility model.
The utility model provides a mechanism of a driving transmission part and an assembling part of a surgical robot surgical instrument. Embodiments of the present invention will be described below with reference to the drawings.
In the present invention, the mechanism of the surgical instrument drive transmission section mainly comprises three major parts, an instrument driver, a sterile adapter and a surgical instrument.
The instrument driver 100 is mounted on a distal end slide arm of the surgical robot, and can move up and down on the slide arm. The instrument driver is provided with a plurality of driving motors, three, four or five driving motors and the like, each motor corresponds to an output shaft, and the motors of the instrument driver are connected with the output shafts to transmit power to an actuating mechanism of the surgical instrument through a transmission structure on the surface of the instrument driver, a transmission structure of the sterile adapter and a transmission structure of the surgical instrument so as to drive the pitching, the deflecting and the clamping actions of the clamping jaw of the surgical instrument.
A surgical instrument 300 engaged with the sterile adaptor, the surgical instrument being provided with an instrument drive and the pitch, yaw and grip motions of the surgical instrument being driven by the instrument driver in cooperation with the adaptor drive of the sterile adaptor.
In the embodiment, in order to describe the positional relationship of each mechanism component, a plurality of direction nouns are defined, and the explanation of these direction nouns, the lengthwise direction of the sleeve of the surgical instrument is taken as the Z direction or the vertical direction, the span direction of two sides of the surgical instrument box or the instrument driver or the sterile adapter is taken as the X direction, the extending direction from the back of the surgical instrument to the sleeve of the surgical instrument is taken as the Y direction, wherein, the indication of the upper and lower is the visual angle of the surgical instrument, the sterile adapter and the instrument driver when in use, the indication of the front and the back is the angle between the surgical instrument sleeve of the surgical instrument and the back of the surgical instrument box as the basic direction, wherein, the direction facing the surgical instrument sleeve can be front, the direction facing the back of the surgical instrument box is back, and the left and right directions are left and right directions of two sides of the surgical instrument box which can be seen from the visual angle of the surgical instrument sleeve.
The following description is provided to illustrate embodiments of the present invention in connection with a practical application scenario.
Specifically, the instrument driver 100 includes a mounting surface 101 for mating with the sterile adapter, and the mounting surface 101 of the instrument driver is configured to mate with the mounting surface of the sterile adapter in a size and shape configuration. The mounting surface 101 of the instrument driver 100 is provided with mounting holes for mounting instrument driver transmissions 130, and the upper surface of the instrument driver transmission 130 protrudes above the mounting surface of the instrument driver. The number of instrument drivers 130, which is the same as the number of output shafts, may be three, four, five or more.
The sterile adaptor 200 has a lower surface 221 that mates with the instrument driver mounting surface 101 and an upper surface 211 that mates with the surgical instrument cartridge 300 at the rear end of the surgical instrument. The sterile adaptor 200 is mainly composed of an upper housing 210, a lower housing 220, and a sterile adaptor transmission 230 penetrating the upper and lower housings.
The portions of instrument driver 110 and sterile adapter 200 that are in driving connection with driver drive 130 and sterile adapter drive 230 are driving areas, and the areas that are near the edge portions of the mating surfaces of instrument driver 110 and sterile adapter 200 are non-driving areas. The connection of the instrument driver to the non-driving portion of the sterile adapter is primarily in the non-driving region.
Wherein the connection of the sterile adapter 200 to the instrument driver 100 has a first connection site that is a mating connection via a hook-shaped surface.
Specifically, as shown in FIGS. 3, 4, 5, 6 and 7, the device driver has a hook-shaped detent 103 formed as a depression, with the hook-shaped surface forming the hook-shaped detent 103 being integral with the mounting surface 101 of the device driver, i.e., the portion of the hook-shaped detent 103 that is integral with the upper housing 210 of the device driver. The hook-shaped detents 103 are located near the front end of the instrument driver.
Accordingly, the lower surface 221 of the sterile adaptor has a raised hook-shaped member 222, the hook-shaped surface of the hook-shaped member 222 being of unitary construction with the lower surface 221 of the sterile adaptor, i.e. the hook-shaped member 222 is integrally formed with the lower housing 220 of the sterile adaptor. Hook member the hook member 222 is located at the front end of the sterile adaptor.
Wherein the hook-shaped surface forming the hook-shaped clamping position has a combination of a plurality of sections of continuous curved surfaces and/or straight surfaces.
In an embodiment, the hook-shaped nest 103 mainly comprises a front portion 103a near the front side of the instrument driver and a rear portion 103b near the rear side of the instrument. Above the front part 103a there is the solid structure of the upper housing of the instrument driver, and the front part 103a is an accommodation space for accommodating the front end of the hook-shaped member. In an embodiment, the hook-shaped surface constituting the hook-shaped nest includes a face constituting the front portion 103a and a face constituting the rear portion 103 b. The face 103a1 that constitutes the front portion 103a, which is essentially the solid structure of the upper housing of the instrument driver, has a generally "S" shaped surface in the fore-aft span direction of the instrument driver, i.e., the face 103a1 is generally "S" shaped from a side view of the instrument driver. The face forming the rear portion 103b has a portion of flat surface 103b1 continuous with the face forming the front portion 103a1, and has a portion of flat arcuate surface 103b2 and inclined surface 103b3 continuous with the mounting surface 101 of the instrument driver.
In an embodiment, the hook-shaped surface that constitutes the hook-shaped detents 103 should have a width in the left-right direction of the instrument driver.
Accordingly, the hook surface of the hook-shaped member has a combination of continuous curved and/or straight sections.
The hook-shaped member essentially comprises a front portion 222a located at the front side of the sterile adaptor and a rear portion 222b located near the rear side of the sterile adaptor. In an embodiment, the front portion 222a of the hook-shaped member is a solid structure that has a face 222a1 that is generally "S" shaped on a surface in the forward-rearward span of the sterile adapter, i.e., the face 222a1 is generally "S" shaped from a side view. The front portion 222b of the hook member is also a solid structure having a flat face 222b1 that continues with the face 222a1, a curved face 222b2, and a sloped face 222b3 that continues with the sterile adaptor lower surface 221 in the left-right span direction.
In an embodiment, the hook-shaped surface of the hook-shaped member should have a width in the left-right direction of the instrument driver.
During installation, the hook-shaped member 222 of the sterile adapter is embedded in the hook-shaped embedding position 103 of the instrument driver, the hook-shaped surface of the hook-shaped member 222 and the hook-shaped embedding position 103 of the instrument driver have component force in the vertical direction, namely the Z direction in a wedging mode, meanwhile, the sterile adapter and the instrument driver can be connected in a certain rigid mode without adopting an external member at the part, and certain high accumulated tolerance caused by complicated structure, excessive external members and excessive movable members is avoided to a certain extent.
Wherein the hook-shaped element of the sterile adapter is smaller or even much smaller than the width of the sterile adapter in the left-right direction, i.e. the hook-shaped element is only a small protrusion in the lower part of the sterile adapter and correspondingly the hook-shaped engagement of the instrument driver is only a small recess, so that the hook-shaped engagement of the instrument driver, the engagement of the hook-shaped element with the hook-shaped engagement, has lateral engagement portions in addition to engagement portions in the forward-backward direction span of the sterile adapter.
In particular, the hook-shaped engagement 103 of the instrument driver may have one or two flat sides 1031, the sides 1031 may be vertical or inclined, and in the upper part of the sides 1031 there may be a portion of a smooth arc or curved surface, which is a guide 1032 for the hook-shaped engagement, and the hook-shaped member 222 of the sterile adapter, which corresponds thereto, may also have a flat side 2221 which can be engaged with the side 1031 of the hook-shaped engagement, and the lower end 2222 of the side of the hook-shaped member may also be a smooth curved or arc-shaped surface configuration, in which the hook-shaped engagement side 1031 and the hook-shaped member side 2221 can form a close engagement, and may limit the movement of the hook-shaped member 222 in the left-right direction, i.e. the X-direction, and thus the sterile adapter 200 in the X-direction, when the hook-shaped member is inserted into the hook-shaped engagement, while the hook-shaped engagement guide 1032 and the curved or arc-shaped surface of the hook-shaped member lower end 2222 have a guiding effect, it is more smooth and natural when the hook member of the sterile adapter is inserted into the hook-shaped nest of the instrument driver.
Wherein the hook-shaped members of the sterile adapter are disposed on both sides of the lower surface of the sterile adapter, and the hook-shaped detents of the instrument driver are disposed on both sides of the mating surface of the instrument driver such that the manner of connection of the two hook-shaped surfaces is visible after mating.
Further, on the front side of the lower end of the sterile adaptor, i.e. in front of the upper end of the hook-shaped member, there is a relief 223, the relief 223 is a bevel or smooth arc, the bevel or smooth arc of the relief 223 smoothly transitions with the hook-shaped surface of the hook-shaped member, i.e. the hook-shaped surface and the bevel of the hook-shaped member are in a < shape configuration in left side view, the upper wing of the < shape is the bevel or smooth arc of the relief, and the lower wing of the < shape is a part of the hook-shaped surface of the hook-shaped member 222.
The portion of the sterile adapter that engages the hook surface of the instrument driver is the first attachment point for both. The sterile adapter and the instrument driver further have a second connection site, and the second connection site is in a movable buckle connection mode. The second connection site spans the first connection site, i.e., on the mating surfaces of the sterile adapter and the instrument driver and has a span in the anterior-posterior direction, i.e., in the Y-direction.
Specifically, the instrument driver is provided with a fixed buckle 104, the sterile adaptor includes a movable buckle 241, and the movable buckle 241 and the fixed buckle 104 can form a clamping connection in the up-down direction, that is, the fixed buckle 104 has a downwards-oriented clamping connection surface 1041, and the movable buckle 241 has an upwards-oriented clamping connection surface 2411.
Wherein the retaining tabs 104 protrude from the upper surface 101 of the instrument driver and are integrally formed with the upper housing of the instrument driver. As shown in fig. 9 and 10, a movable element 240 is disposed on the sterile adapter, a movable buckle 241 is disposed at a lower portion of the movable element 240, an operating portion 242 is disposed at an upper portion of the movable element 240, and an operating button 243 is connected to the operating portion. The movable member 240 further includes a guide portion 244. A guide groove 224 for accommodating the guide portion is formed in the sterile adapter, and the guide portion 244 can be inserted into the guide groove 224 and moved in the direction of the guide groove. The opening direction of the guide groove 224 is along the left-right span direction of the sterile adaptor, i.e., the X direction. Likewise, the direction of movement of the guide 244 is along the left-right span of the sterile adapter. The guide 244 is located in the guide groove 244 and abuts against the spring 225 in the guide groove, and the spring 225 provides a pushing force to drive the guide 244 or the movable member 240 to move towards the left and right sides of the sterile adapter, i.e. away from the transmission part of the sterile adapter. In an embodiment, the sterile adaptor has two parts, an upper housing 210 and a lower housing 220, a guide groove is opened on the lower body 220, and both ends of the guide groove 224 are closed, so that the movable range of the guide part 244 can only be within the guide groove 224. The upper housing of the sterile adaptor is provided with an opening 212 located substantially above the guide groove 224, and the opening 212 provides a space for the operation unit to move. The locking position of the movable member 240 is a position in which the movable member abuts against the guide groove in a state away from the transmission portion of the sterile adapter due to the urging force of the spring, and the unlocking position of the movable member is a position in which the operation portion is manually moved so that the movable member approaches the transmission portion of the sterile adapter. In the illustrated embodiment, the two movable members of the sterile adaptor are not linked, and each movable member is connected with a spring, and when the sterile adaptor is operated, the two movable member operating buttons are respectively pinched to cause force to move the two movable members in a direction approaching each other, namely, in a direction approaching the transmission part of the sterile adaptor, so that the movable buckle is moved from the locking position to the unlocking position. In some embodiments, the guide grooves for accommodating the two guide portions may be disposed in communication, and a spring may be connected between the two guide portions to enable the two guide portions or the two movable members to be interlocked.
In some embodiments, as shown in fig. 10, the lower end of the movable buckle 241 further has a wedge surface 2412, that is, the wedge surface is located right below the clamping surface 2411 of the movable buckle and is a rising slope, so that when the sterile adaptor is installed, the wedge surface 2412 of the movable buckle and the top end of the fixed buckle 104 can generate a pressing force only by applying a downward force to the sterile adaptor without pinching the operation button, and the movable part can move from the locking position to the unlocking position.
Further, as shown in FIG. 8, the retaining tab 104 of the instrument driver is also configured to engage the lower surface of the sterile adapter such that the removably engaged portion not only provides a snap-fit function, but also provides a guiding and mating function. Specifically, the upper end portion of the fixing buckle of the instrument driver, which has the smooth curved surface structure 1042 on both the front and rear sides, the left and right sides, and the straight fitting surface 1043 on both the left and right sides of the fixing buckle in the vertical direction, that is, on the YZ plane, and the rear end of the fixing buckle 104, that is, the direction close to the rear end of the sterile adapter, has the smooth curved surface 1044 around the Z direction in the vertical direction.
Correspondingly, the lower shell 210 of the sterile adapter is provided with a concave structure 226 for embedding the fixing buckle, the first movable buckle is positioned in the first concave structure 226, and the concave structure 226 has a smooth curved surface structure in the X direction and the Y direction and can be perfectly matched with the fixing buckle. Similar to the hook-shaped mating surfaces described above, the mating of the retaining buckle and the recessed structure of the sterile adapter for the engagement of the retaining buckle is made rigid, which reduces the tolerance stack-up due to the movable buckle connection between the movable buckle and the retaining buckle.
In some embodiments, the front end of the retaining buckle of the instrument driver, i.e. the retaining buckle is located towards the first connection point, and the lower end of the retaining buckle also has a slope surface 1045, and correspondingly, the recessed structure of the sterile adapter also has a surface adapted to the slope surface.
The sterile adapter and the instrument driver are installed in the process that the front end of the sterile adapter is inclined downwards, the hook-shaped member is inserted into the hook-shaped clamping position of the instrument driver, the hook-shaped clamping position is guided by the guide part of the hook-shaped clamping position and the lower end of the hook-shaped member, the left and right directions of the front end position of the sterile adapter, namely the X direction, are adjusted to slightly move, then the rear end position of the sterile adapter is pressed downwards, the curved structures of the fixing buckles of the instrument driver, which are positioned on the left and right sides, are matched with the concave structure of the sterile adapter to form the fine adjustment of the rear end of the sterile adapter in the X direction, then the side parts of the hook-shaped clamping position are jointed with the side parts of the hook-shaped member, and the matching surfaces of the left and right sides of the fixing buckle are jointed with the vertical surface of the concave structure, and the side parts of the hook-shaped clamping position, the matching surfaces of the left and right sides of the fixing buckle form the limit in the X direction, so that the sterile adapter no longer adjusts to the position in the X-direction. The rear end of the sterile adapter is pressed downwards continuously, the curved surface structure of the fixing buckle of the instrument driver, which is positioned at the rear end, is matched with the concave structure of the sterile adapter to form Y-direction guide, so that the micro movement of the sterile adapter in the Y direction can be adjusted, meanwhile, due to the guide effect of the concave structure of the sterile adapter and the fixing buckle, the hook-shaped member at the front end of the sterile adapter is pushed forwards continuously, the rear end of the sterile adapter is pressed downwards further, the lower end of the movable buckle of the sterile adapter is abutted against the upper end of the fixing buckle of the instrument driver, due to the effect of the inclined surface of the lower end of the movable buckle and the inclined surface of the upper end of the fixed buckle, the movable buckle moves towards the transmission area of the sterile adapter, then the rear end of the sterile adapter is pressed downwards continuously, when the clamping surface of the movable buckle moves to the clamping surface of the fixing buckle, the movable buckle resets due to the driving force of the spring, and at the same time, the hook-shaped element at the front end of the sterile adapter is pushed forward until the hook-shaped element is fully inserted into the hook-shaped embedding position, the hook-shaped surface of the hook-shaped element is fully matched with the hook-shaped surface of the hook-shaped embedding position, and the Z-axis surface at the rear side of the fixing buckle is also fully matched with the concave structure of the sterile adapter.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (15)
1. A surgical robot, comprising:
an instrument driver;
a sterile adapter connectable with the instrument driver;
the instrument driver and the first connection site of the sterile adapter mate by a hook surface and the instrument driver and the second connection site of the sterile adapter connect by a living snap.
2. A surgical robot as claimed in claim 1, wherein at the first connection site one of the instrument driver and the sterile adapter has a convex hook-shaped surface and the other of the instrument driver and the sterile adapter has a nest which engages the convex hook-shaped surface.
3. A surgical robot as claimed in claim 2, wherein the sterile adaptor has a hook-shaped surface projecting from the sterile adaptor housing structure and the instrument driver has a hook-shaped surface recessed from the instrument driver housing structure.
4. A surgical robot as claimed in claim 1, wherein there are two sets of the first connection sites, the two sets of the first connection sites being located on either side of the mating surfaces of the instrument driver and the sterile adapter.
5. A surgical robot as claimed in claim 1, wherein the hook surface of the sterile adaptor is integrally formed with the housing surface of the sterile adaptor.
6. A surgical robot as claimed in claim 1, wherein the hook-shaped surface of the sterile adaptor and/or the instrument driver has a width in a direction along the left-right span of the sterile adaptor.
7. A surgical robot as claimed in claim 1 or 6, wherein the hook-shaped surface has a combination of continuous curved and/or straight sections.
8. A surgical robot as claimed in claim 1, wherein the first connection site comprises at least one connection side engagement portion.
9. A surgical robot as claimed in claim 8, wherein the side engagement portions comprise straight engagement portions.
10. A surgical robot as claimed in claim 8, wherein the side engagement portion has a guide surface on at least one of the engagement surface of the instrument driver and the engagement surface of the sterile adapter.
11. A surgical robot as claimed in claim 1, wherein at the second connection site, one of the instrument driver and the sterile adapter has a fixed catch and the other of the instrument driver and the sterile adapter has a movable catch cooperating with the fixed catch.
12. A surgical robot according to claim 11, wherein the non-mating surface portion of the movable clasp and/or the stationary clasp has a cammed surface.
13. A surgical robot as claimed in claim 11, wherein the top end of the holder buckle has a smooth curved surface in the left-right and front-rear directions.
14. A surgical robot as claimed in claim 11, wherein the retaining buckle has a vertically curved surface at a portion thereof facing away from the first connection site.
15. A surgical robot as claimed in claim 13 or 14, wherein the instrument driver with the moveable clasp or the housing of the sterile adaptor has a full curved surface adapted to the fixed clasp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202121598879.6U CN215306655U (en) | 2021-07-14 | 2021-07-14 | Surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121598879.6U CN215306655U (en) | 2021-07-14 | 2021-07-14 | Surgical robot |
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| CN215306655U true CN215306655U (en) | 2021-12-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023284515A1 (en) * | 2021-07-14 | 2023-01-19 | 深圳康诺思腾科技有限公司 | Instrument drive transmission mechanism and assembly mechanism of surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023284515A1 (en) * | 2021-07-14 | 2023-01-19 | 深圳康诺思腾科技有限公司 | Instrument drive transmission mechanism and assembly mechanism of surgical robot |
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