CN107028660A

CN107028660A - The draw bail of sterile adapter, runner draw bail and surgery instrument

Info

Publication number: CN107028660A
Application number: CN201611022153.1A
Authority: CN
Inventors: 李济善; 元钟硕; 闵东明; 崔胜旭; 李珉奎
Original assignee: Eaton Corp
Current assignee: Eaton Corp
Priority date: 2009-09-23
Filing date: 2010-09-20
Publication date: 2017-08-11
Also published as: CN102630154A; CN102630154B; CN104706426A

Abstract

The invention discloses a kind of runner draw bail, the devices hold and the surgery instrument on the devices hold formed for being connected on the robotic arm of operating robot, it includes：Driving wheel, receives driving force from the surgical machine arm and drives；Driven pulley, is matched with the driving wheel；Matching detection portion, combined with the driving wheel or the driven pulley, and the Electrical change occurred during by detecting that the driving wheel is matched with the driven pulley detects match condition；The alignment of runner and each equipment can be detected using electricity, magnetic, mechanical property etc. and situation is combined, so as to Accurate align and matching runner, error caused by runner rotation can be corrected during connection, and the alignment condition of multiple runners is detected using a sensor, so as to the effect for reducing volume and cost, with the effect of accuracy of detection can be improved.

Description

The draw bail of sterile adapter, runner draw bail and surgery instrument

The first time notification of examiner's opinion sent according to auditor, to being September in 2010 20 for the applying date, application Number be 201080050214.X, entitled " the connection knot of sterile adapter, runner draw bail and surgery instrument Divisional application (the application number that the original application of structure " is proposed：201510061121.1) divisional application is proposed again.

Technical field

The present invention relates to the draw bail of sterile adapter, runner draw bail and surgery instrument.

Background technology

Operation medically refers to skin, mucous membrane or other tissues are cut, cut or carried out using medicine equipment Operate and cure the behavior of disease.Particularly, cutting operation area skin and its internal etc. is treated, shaping or excision Laparotomy ventrotomy etc., the problems such as due to bleeding, side effect, patient suffering, scar, recently using robot (robot) operation Enjoy great popularity.

For the operating robot in robotic surgery, by main robot (master) portion and from robot (slave) portion Constitute, the main robot portion generates signal according to the operation of doctor and transmitted, and the letter of autonomous robot should be carried out from robot reception Number and the operation needed for being performed the operation to patient, main robot portion and can be with a comprehensive machine person form from portion of robot Realize, or respectively so that self-contained unit is constituted and is configured in operating room.

Operating robot has the robotic arm for the various actions for being used to perform operation, and use is formed with the leading section of robotic arm In the devices hold for installing surgery instrument (instrument).In order to install surgery instrument on robotic arm, by device Tool support combination sterile adapter (sterile adapter), and the shell of surgery instrument is embedded in sterile adapter, So as to which surgery instrument is arranged on robotic arm.

The driving wheel that surgery instrument is passed to for the driving force for generating robot is formed with devices hold, and The driving wheel for receiving driving force is also formed with surgery instrument, be formed with sterile adapter respectively with apparatus The driving wheel formed on support and the runner of the driving wheel matching formed on surgery instrument.

These rotaring wheel structures install sterile adapter with matching each other on devices hold, and are installed in sterile adapter Surgery instrument, then the driving force of robot generation surgery instrument is passed to by sterile adapter, and and surgery instrument Driving wheel connection steel wire transmit drive force to the actuator (Effector) combined with the terminal part of surgery instrument, from And actuator is run, to realize the various operations of operation.

Such, intervention has sterile adapter between the surgery instrument installed in operating robot and thereon, sterile Connection (coupling) structure of robotic arm and surgery instrument is realized on adapter.

But, it is, without any elastic structure, therefore to exist such as to form rotaring wheel structure in existing sterile adapter Lower limitation, in order to which sterile adapter is arranged on robotic arm, it is necessary to use bullet on the driving wheel formed on devices hold Spring adding pressure type elastic construction.

In addition, the rotaring wheel structure formed on existing robotic arm, sterile adapter and surgery instrument, in order to accurate right Neat runner and be used to detect that the structure whether it aligns is imperfect, and for detecting whether to align and aliging by various methods The structure of power also has limitation needed for transmission running afterwards.

Above-mentioned background technology is that inventor holds to export the present invention or learned during the present invention is exported The technical information arrived, is not necessarily before the present patent application the known technology disclosed in general public.

The content of the invention

Technical problem

Present invention offer is a kind of can easily to install the sterile adapter of surgery instrument on robotic arm.

Whether alignd using electricity, magnetic, mechanical property detection runner present invention aims at offer one kind, and for accurately right Neat runner draw bail and the draw bail of the Medical Devices whether combined using draw bail detection Medical Devices.

Technical problem in addition to problem proposed by the present invention can be should be readily appreciated that by following explanation.

Problem-solving approach

According to an embodiment of the present invention there is provided a kind of sterile adapter (sterile adapter), it is arranged to be formed Between devices hold on surgical machine arm and the surgery instrument on devices hold, it includes：Main part, has First face opposed with devices hold and second face opposed with surgery instrument；First runner, is elastically supported on main part, And showed out from first, and matched with forming the first driving wheel on devices hold；Second runner, is elastically supported in main body In portion, and showed out from second, and matched with forming the second driving wheel on surgery instrument.

The first projection (or cave in form the first groove) is equipped with the first driving wheel, is formed with the first runner First groove (or be equipped with first groove corresponding first projection) corresponding with the first projection, works as sterile adapter The first projection when being not inserted into the first groove on devices hold, the first runner is pushed so as to from the by the first projection Simultaneously it sink.Now, with the rotation of the first driving wheel, the first projection is inserted into the first groove and the first runner passes through elastic force Original position is returned to, so that the first runner is matched with the first driving wheel.

The second projection (or cave in form the second groove) is equipped with the second runner, is formed with the second driving wheel Second groove (or be equipped with second groove corresponding second projection) corresponding with the second projection, when by operation device Tool is arranged in sterile adapter and the second projection when being not inserted into the second groove, the second runner by the second projection push so as to It is sunk from the second face.Now, with the rotation of the second runner, the second projection is inserted into the second groove and the second runner passes through bullet Power returns to original position, so that the second runner is matched with the second driving wheel.

Main part can include：First sheet material, corresponding to the first face；Second sheet material, corresponding to the second face, and with can be from First sheet material is separated or close mode is incorporated into the first sheet material.

Guide rail (guide rail), the shifting for providing surgery instrument can be equipped with the both sides of the second sheet material Dynamic path, to install surgery instrument in sliding manner.Alignment can be formed with the end of surgery instrument with caving in Groove, and alignment protrusion is equipped with the one end of the second sheet material, to be matched with aligned recesses so that surgery instrument It is aligned in assigned position.Block (stopper) can be equipped with the other end of the second sheet material, it is mounted to limit Surgery instrument is moved to the opposite direction of its installation direction.

Second sheet material is installed into surgery instrument in the state of the separation of the first sheet material, the second sheet material is made afterwards close to the One sheet material simultaneously makes the second runner be protruded from the second sheet material, so as to make the second runner be matched with the second driving wheel.

The fixed projection towards the first face is equipped with the second sheet material, is equipped with the first sheet material for housing fixation The through hole of projection, as the first sheet material and the second sheet material are closer to each other, fixed projection can insertion through hole and prominent from the first face Go out.

Surgical machine arm is covered by sterile curtain (sterile drape), opening can be equipped with sterile curtain, the opening pair Ying Yu is arranged on the position of the sterile adapter on devices hold.By the way that sterile adapter is arranged on devices hold, from the Simultaneously prominent fixed projection can press to the peripheral part of opening, so that sterile curtain is close to devices hold.In devices hold Encapsulant is accordingly attached with periphery with the peripheral part of opening, the fixed projection that encapsulant can be highlighted presses and occurred Deformation.

The adhesive portion for adhering to sterile adapter can be formed with the peripheral part of opening, can also indicate indicate without The mark of the attachment position of bacterium adapter.

In addition, according to another embodiment of the present invention there is provided a kind of sterile adapter, being arranged at devices hold and installation On devices hold and between the surgery instrument with the first contact for being used to carry out electrosurgical (Electrosurgery), its Including：Main part, for installing surgery instrument；Second contact, with the first contact portion so as to electric to surgery instrument offer Source.

Surgery instrument is arranged on main part in sliding manner, and the end of the surgery instrument installation direction in main part The protuberance for installing surgery instrument can be equipped with portion.First contact can form in surgery instrument and protuberance On opposed face, and the second contact is formed over the projections.

According to another embodiment of the present invention there is provided a kind of runner draw bail, for being connected in operating robot The devices hold formed on robotic arm and the surgery instrument on devices hold, it includes：Driving wheel, from surgical machine Arm receives driving force and driven；Driven pulley, is matched with driving wheel；Matching detection portion, is combined with driving wheel or driven pulley, passes through inspection Survey the Electrical change detection match condition occurred when driving wheel is matched with driven pulley.

Here, matching detection portion can include：Light source；Change unit, make to change from the light that light source is projected；Light is detected Unit, by changing the light that unit changes when detection driving wheel is matched with driven pulley.

Here, driving wheel can have multiple first contacts, and driven pulley has when being matched with driving wheel and the first contact Connection and multiple second contacts for being connected with regulation resistance therebetween, matching detection portion can pass through measurement with the first contact portion Resistance value detection match condition when driving wheel is matched with driven pulley.

In addition, driven pulley can include：First driven pulley, with multiple second contacts, second contact with driving wheel With the first contact portion and being connected with first resistor therebetween when being matched in one side；Second driven pulley, it is another with the first driven pulley Simultaneously combine, with multiple 3rd contacts with the second contact portion；3rd driven pulley, with multiple 4th contacts, the 4th Contact with the second driven pulley in one side when matching with the 3rd contact portion and being connected with second resistance therebetween.

Here, matching detection portion can be by detecting that the combined resistance value of first resistor and second resistance detects matching feelings Condition, can be equipped with projection on the drive wheel, and be formed with the groove corresponding with projection on the driven wheel, and the first contact is formed In projection, and the second contact is formed in a groove.

In addition, driving wheel is formed by conductor, projection can include：First projection, is connected with conductor；Second projection, with leading Body insulate.

Furthermore, it is possible to form fluted on the drive wheel, and the projection corresponding to groove is equipped with the driven wheel, first Contact is formed in a groove, and the second contact is formed in projection.

Here, driven pulley is formed by conductor, projection can include：First projection, is connected with conductor；Second projection, with leading Body insulate.

According to another embodiment of the present invention there is provided a kind of runner draw bail, for being connected in operating robot The devices hold formed on robotic arm and the surgery instrument on devices hold, it also includes：Driving wheel, from surgical engine Device arm receives driving force and driven, and multiple first is formed with one side concavo-convex；Driven pulley, it is concavo-convex with multiple second, with Second bumps are accordingly incorporated into the first bumps when driving wheel is matched；Magnet, is combined with the side of driven pulley, and by regulation side To arrangement；Magnetic sensor, by detecting the orientation of magnet so as to detect alignment condition.

Memory cell can also be included in the present embodiment, combined with the side of driven pulley, the arrangement for storing magnet is missed Poor information, memory cell can be RFID (radio frequency recognizing electronic label), in addition, can also include receiving in the present embodiment coming From the RFID reader of RFID magnet array control information, operating robot may be referred to arrangement when operation is with apparatus Control information round-off error.

Here, the first bumps and the second bumps can be the bumps of fan-shaped, or the first bumps and the second bumps can be Any shape in cone, elliptical cone and pyramid, now, the first concavo-convex and the second bumps bottom surfaces are connected to adjacent Concavo-convex bottom surface, when driving wheel is matched with driven pulley, driving wheel or driven pulley rotate by axle of the normal of one side, so as to first recessed It is convex to be inserted into the second bumps.

In addition, magnetic sensor can be located at and the first concavo-convex adjoining position, the quantity of magnetic sensor and first respectively Concavo-convex concavo-convex quantity is identical or difference is less than or equal to 2, and magnet is located in the second bumps, and the quantity of magnet is less than magnetic transducing The quantity of device.

According to another embodiment of the present invention there is provided a kind of runner draw bail, for being connected in operating robot The devices hold formed on robotic arm and the surgery instrument on devices hold, it includes：Body；Driving wheel, bullet Property be supported on body, and form in one side the groove of oriented direction extension；Driven pulley, is formed with and is matched with driving wheel When corresponding to groove projection；Guidance unit, is formed on body, is used to make raised edge when driven pulley is moved to a direction Direction alignment.

Here, guidance unit can be protrudedly formed on the body for exposing driving wheel, and with width and driven pulley The funnel shaped that accordingly narrows of moving direction.

In addition, projection can extend to be formed in a part for driven pulley, when driven pulley is moved to a direction, projection by The eccentric rotational force of arrival bootstrap unit.

In addition, can also include in the present embodiment：Magnet, is arranged by prescribed direction, and is matched in driven pulley and driving wheel Face on projection abut combine；Magnetic sensor, by detecting the orientation of magnet, so as to detect alignment condition.

Here, as different from driven pulley and the another side in the face of driving wheel matching, could be formed with and projection Bearing of trend is in the second groove that predetermined angular extends, and is additionally may included on the another side of driven pulley to abut with the second groove and ties Merge the second magnet arranged along prescribed direction.

According to another embodiment of the present invention, guidance unit can be prominent on the body for expose driving wheel formed It is multiple pin-shaped, projection extends to be formed in a part for driven pulley, and when driven pulley is moved to a direction, projection can be arrived The eccentric rotational force of bootstrap unit, so that projection passes through multiple pin-shaped guidance units.

According to another embodiment of the present invention, it is possible to provide the devices hold comprising driving wheel, the runner connection is applicable Structure, and formed on surgical machine arm；Surgery instrument comprising driven pulley can be provided, the runner draw bail is applicable, And on devices hold.

In addition, according to another embodiment of the present invention there is provided a kind of sterile adapter, being applicable the runner connection knot Structure, it includes：Main part, with first face opposed with devices hold and second face opposed with surgery instrument；First turn Wheel, is elastically supported on main part, and is showed out from first, and is matched with forming the driving wheel on devices hold；Second turn Wheel, is elastically supported on main part, and is showed out from second, and is matched with forming the driven pulley on surgery instrument.

According to another embodiment of the present invention there is provided a kind of draw bail of Medical Devices, it includes combining test section, The Electrical change occurred when being combined by test adaptor with surgery instrument, detection combines situation, and the adapter is arranged in institute State between the devices hold that is formed on robotic arm and surgery instrument on devices hold.

It can include with reference to test section：Light source；Change unit, make to change from the light that light source is projected；Optical detecting unit, By changing the light that unit changes when being combined for test adaptor with surgery instrument.

In addition, adapter can have multiple 3rd contacts, and surgery instrument has multiple 4th contacts, the 4th contact When being combined with adapter with the 3rd contact portion and being connected with regulation resistance therebetween.

Here, with reference to test section and the 3rd contact portion, electricity when can be combined by measuring adapter with surgery instrument Resistance detects the situation of combination.

In addition, multiple first contacts being connected with reference to test section are could be formed with devices hold, in adapter Multiple second contacts are formed with simultaneously, second contact with devices hold when being combined with the first contact portion and being connected therebetween There is first resistor, and multiple three with the second contact portion are formed with the another side of the adapter combined with surgery instrument Contact, and multiple 4th contacts are formed with the one side of surgery instrument, the 4th contact is in the another side knot with adapter With the 3rd contact portion and being connected with second resistance therebetween during conjunction.

In addition, combined with reference to test section with devices hold, and by the first contact and the second contact and the 3rd contact portion, The situation of combination can be detected with reference to test section by detecting the combined resistance value of first resistor and second resistance.

In addition, being equipped with projection on adapter, and groove corresponding with projection is formed with surgery instrument, the 3rd Contact can be formed in projection, and the 4th contact is formed in a groove, and now adapter is formed by conductor, and projection can be wrapped Include：First projection, is connected with conductor；With the second projection, with conductor insulation.

In addition, forming fluted on adapter, and the projection corresponding to groove is equipped with surgery instrument, the 3rd Contact can be formed in a groove, and the 4th contact is formed in projection, and now surgery instrument is formed by conductor, and projection can be with Including：First projection, is connected with conductor；With the second projection, with conductor insulation.

In addition, according to another embodiment of the present invention there is provided a kind of runner draw bail, for being connected in surgical machine The devices hold formed on the robotic arm of people and the surgery instrument on devices hold, it includes：Body；Driving Wheel, is elastically supported on the body, and forms in one side the groove of oriented direction extension；Driven pulley, be formed with Corresponding to the projection of groove during the driving wheel matching；Apparatus guide portion, is combined with the body, and is accommodated in the operation With the guide protrusion formed on apparatus, for guiding the surgery instrument to be moved to specific direct of travel；First Flexible element, With reference between the body and the apparatus guide portion.

Guidance unit can also be included in the present embodiment, formed on the body, when the driven pulley is to described one When direction is moved, make the projection along one to alignment；Also include block, combined with the body, for making Surgery instrument is stated to stop avoiding moving to the direct of travel；When the surgery instrument overcomes first Flexible element Elastic force and to the direction different from the direct of travel move when, the surgery instrument may depart from the block.

In addition, the second Flexible element can also be included in the present embodiment, with reference between the block and the body, It is described when in order that the driven pulley is matched with the driving wheel and when the surgery instrument is moved to the direct of travel Block is in the state pressed by the surgery instrument, and when the driven pulley is matched with the driving wheel, the block Position can be resetted by second Flexible element.

According to another embodiment of the present invention there is provided a kind of runner draw bail, formed for coupling in surgical machine Devices hold on the robotic arm of people and the surgery instrument on devices hold, it includes：Body；Driving wheel, bullet Property be supported on the body, and form in one side the groove of oriented direction extension；Driven pulley, is formed with and is driven with described Corresponding to the projection of the groove when driving wheel is matched；Apparatus guide portion, is combined with the body, and is accommodated in the operation use The guide protrusion formed on apparatus, for guiding the surgery instrument to be moved to specific direct of travel；Release lever, it is and described Surgery instrument is combined, for promoting the apparatus guide portion to make the surgery instrument de- from the apparatus guide portion From.

Here, the apparatus guide portion is rotatably engaged on the body.

In addition, also including in the present embodiment：Block, is combined with the body, for stopping the surgery instrument To avoid moving to the direct of travel；Second Flexible element, with reference between the block and the body；When in order that The driven pulley matched with the driving wheel and make the surgery instrument to the direct of travel move when, the block is in The state pressed by the surgery instrument, and when the driven pulley is matched with the driving wheel, the position of the block can To be resetted by second Flexible element.

Other embodiment, feature, advantage in addition to that mentioned above, by following accompanying drawing, the scope of claim and Detailed description of the invention can be clearer and more definite.

Beneficial effect

Embodiments in accordance with the present invention, due to being applicable elastic construction in sterile adapter, can make to be formed sterile suitable Runner on orchestration is pressed two-way, therefore need not use single elastic construction on devices hold or surgery instrument, Also can by surgery instrument it is convenient and simple be arranged on robotic arm on.

In addition, runner draw bail and the draw bail of surgery instrument that embodiments of the invention are related to, it is possible to use Electricity, magnetic, mechanical property etc. detect the alignment of runner and each equipment and combine situation, so as to Accurate align and matching runner, Error caused by runner rotation can be corrected during connection, and the alignment condition of multiple runners is detected using a sensor, so that With the effect for reducing volume and cost, with the effect of accuracy of detection can be improved.

Brief description of the drawings

Fig. 1 is the exploded perspective view for representing the sterile adapter that embodiments of the invention are related to.

Fig. 2 is to represent that sterile adapter that embodiments of the invention are related to is installed in the signal of the state on devices hold Figure.

Fig. 3 is Fig. 2 ' A ' sectional view.

Fig. 4 is to represent showing for the state that the surgery instrument that embodiments of the invention are related to is installed in sterile adapter It is intended to.

Fig. 5 is Fig. 4 ' B ' sectional view.

Fig. 6 is the stereogram for representing the sterile adapter that embodiments of the invention are related to.

Fig. 7 is the main view for representing to install the state of surgery instrument in the sterile adapter being related in embodiments of the invention Figure.

Fig. 8 is Fig. 7 C-C ' sectional view.

Fig. 9 is the section view for representing to install the state of surgery instrument in the sterile adapter being related in embodiments of the invention Figure.

Figure 10 is the sectional view for representing the sterile adapter that embodiments of the invention are related to.

Figure 11 is to represent that the sterile adapter that embodiments of the invention are related to is installed on devices hold by opening The side view of state.

Figure 12 is to represent that sterile adapter that embodiments of the invention are related to is attached to the signal of the state on sterile curtain Figure.

Figure 13 is to represent to install the vertical of the state of surgery instrument in the sterile adapter being related in embodiments of the invention Body figure.

Figure 14 is the exploded perspective view for representing the sterile adapter that embodiments of the invention are related to.

Figure 15 is to represent showing for the state that the sterile adapter that embodiments of the invention are related to is installed on devices hold It is intended to.

Figure 16 is Figure 15 ' A ' sectional view.

Figure 17 is to represent that surgery instrument that embodiments of the invention are related to is installed in the state in sterile adapter Schematic diagram.

Figure 18 is Figure 17 ' B ' sectional view.

Figure 19 is to show the runner connection knot that alignment condition is detected according to electrical characteristics that the first embodiment of the present invention is related to The schematic diagram of structure.

Figure 20 is to show the runner insulation shape that alignment condition is detected according to electrical characteristics that the first embodiment of the present invention is related to The schematic diagram of state.

Figure 21 is to show the runner connection knot that alignment condition is detected according to magnetic characteristic that the second embodiment of the present invention is related to The schematic diagram of structure.

Figure 22 and Figure 23 are to show the runner that alignment condition is detected according to magnetic characteristic that the third embodiment of the present invention is related to The schematic diagram of draw bail.

Figure 24 is the runner draw bail for showing the runner that alignd according to mechanical property that the fourth embodiment of the present invention is related to Stereogram.

Figure 25 is the runner draw bail for showing the runner that alignd according to mechanical property that the fourth embodiment of the present invention is related to Front view.

Figure 26 is for illustrating showing for the principle according to mechanical property alignment runner that the fourth embodiment of the present invention is related to It is intended to.

Figure 27 is to show the runner draw bail that alignment is detected according to magnetic characteristic that the fifth embodiment of the present invention is related to Schematic diagram.

Figure 28 is to show the runner draw bail that alignment is detected according to magnetic characteristic that the fifth embodiment of the present invention is related to Stereogram.

Figure 29 is the runner draw bail for showing the runner that alignd according to mechanical property that the sixth embodiment of the present invention is related to Side view.

Figure 30 is the runner draw bail for showing the runner that alignd according to mechanical property that the sixth embodiment of the present invention is related to Top view.

Figure 31 is the runner draw bail for showing the runner that alignd according to mechanical property that the sixth embodiment of the present invention is related to Sectional view.

Figure 32 is to show the Medical Devices that the situation of combination is detected according to electrical characteristics that the seventh embodiment of the present invention is related to The schematic diagram of draw bail.

Figure 33 to Figure 37 is the schematic diagram for the draw bail for showing the Medical Devices that the eighth embodiment of the present invention is related to.

Figure 38 to Figure 41 is the schematic diagram for the draw bail for showing the Medical Devices that the ninth embodiment of the present invention is related to.

Embodiment

The present invention can carry out a variety of changes, can have various embodiments, it is illustrated that specific embodiment is described in detail. But, this is not to limit the invention to specific embodiment, and should be understood to include being contained in thought of the invention And all conversion, equivalent and substitute in technical scope.When illustrating the present invention about the detailed description of known technology In the case of the order that the present invention may be obscured, the detailed description is omitted.

The term such as " first ", " second " can be used to describe various inscapes, but the inscape is not Limited by the term.The term is only used for for the purpose of making a distinction an inscape and another inscape.

Term used herein is only used for describing specific embodiment, is not intended to limit the present invention.Odd number represents bag Complex representation is included, unless explicitly indicated that in article.In the application, the term such as " comprising " and " having " is intended to mean that to exist and said Feature, sequence number, step, operation, inscape, component employed in the description of bright book or its combination, and do not exclude the presence of or Increase one or more different features, numbering, step, operation, inscape, component or the possibility of its combination.

Below, embodiments of the present invention will be described in detail with reference to the accompanying drawings, when being described with reference to the accompanying drawings, identical or corresponding Inscape impart same-sign, omit the repeat specification to it.

Fig. 1 is the exploded perspective view for representing the sterile adapter that embodiments of the invention are related to.Reference picture 1, shows machine Device arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, the first face 14, the driving of the second face 17, first Take turns the 30, first runner 20, the second runner 24, the second driving wheel 50.

The present embodiment in order to the runner in sterile adapter to it is two-way, i.e. to the direction combined with devices hold And the direction elastic bearing combined with surgery instrument, and elastomer is added, therefore devices hold or surgery instrument need not Surgery instrument can be also arranged on using single elastic construction on devices hold.

That is, it is different from the existing structure for setting spring etc. to assign elasticity to driving wheel on devices hold, for Surgery instrument is combined and imparts elasticity in the sterile adapter on devices hold.

Sterile adapter 10 of the present invention, during installing surgery instrument 5 on devices hold 3, it is set Between devices hold 3 and surgery instrument 5, surgery instrument 5 is combined in devices hold 3 using sterile adapter 10.

The sterile adapter 10 that the present embodiment is related to from the basis of main part 12 to the two-face exposed He of the first runner 20 Second runner 24 is constituted, and the first runner 20 and the second runner 24 are respectively by the elastic bearing of main part 12.That is, by main part 12 with The opposed face of devices hold 3 as the first face 14, and the face opposed with surgery instrument 5 as the second face 17 when, the first runner 20 expose from the first face 14, the second runner 24 exposes from the second face 17, thus, first, second runner 20,24 main bodies 12 It is two-face exposed.

On the other hand, the first runner 20 and the second runner 24 pass through the elastomers such as spring (Fig. 1 ' E ') and main part respectively 12 combine, therefore, first, second runner 20,24 is caved in by external force, when release external force when by spring return to originally Position.That is, while the first runner 20 and the second runner 24 are connected to each other and rotated together with, spring etc. and the knot of main part 12 are passed through Close, so as to apply elastic force to the direction of press respectively the first runner 20 and the second runner 24.

When the sterile adapter 10 that the present embodiment is related to is arranged on devices hold 3, the first face 14 is connected to apparatus branch Frame 3, and first driving wheel 30 of the first runner 20 exposed from the first face 14 with being formed on devices hold 3 is matched.

In addition, when installing surgery instrument 5 in sterile adapter 10, the second face 17 is connected to surgery instrument 5, and Second driving wheel 50 of the second runner 24 exposed from the second face 17 with being formed on surgery instrument 5 is matched.Below, specifically The mode that the sterile adapter 10 that bright the present embodiment is related to is combined with devices hold 3 and surgery instrument 5.

Fig. 2 is to represent that sterile adapter that embodiments of the invention are related to is installed in the signal of the state on devices hold Figure, Fig. 3 is Fig. 2 ' A ' sectional view, and Fig. 4 is that to represent that surgery instrument that embodiments of the invention are related to is installed in sterile The schematic diagram of state on adapter, Fig. 5 is Fig. 4 ' B ' sectional view.Reference picture 2 shows devices hold 3, hand to Fig. 5 Art apparatus 5, sterile adapter 10, main part 12, the first face 14, the second face 17, the first driving wheel 30, projection 32,33, first Runner 20, the runner 24 of groove 22,23, second, the second driving wheel 50.

First, the combination between observation sterile adapter 10 and devices hold 3, then form on devices hold 3 It is equipped with projection 32 on first driving wheel 30, and is formed with the first runner 20 opposed with the first driving wheel 30 and is inserted into dashing forward Rise 32 groove 22.

By the way that sterile adapter 10 is arranged on devices hold 3, the first driving wheel 30 and the first runner 20 are against each other, When now projection 32 is inserted into groove 22, the first driving wheel 30 is matched with the first runner 20, but projection 32 be not inserted into it is recessed When in groove 22, projection 32 pushes the first runner 20.As noted previously, as the first runner 20 is elastically supported in sterile adapter 10 On, so when projection 32 pushes the first runner 20, as shown in Fig. 3 a, the first runner 20 is from the surface of sterile adapter 10 (the first face 14) is depressed.

It is such caved in because of the runner 20 of projection 32 first in the state of, the first driving wheel of left rotation and right rotation 30, then somewhere Projection 32 is inserted into groove 22, thus releases the pressurized state of 32 pair of first runner 20 of projection.It is such, with from prominent The external force for playing 32 is released, and as shown in Fig. 3 b, the first runner 20 is due to spring return to original position, so that the first runner 20 Matched with the first driving wheel 30.

So, when the first runner 20 rotates the first driving wheel 30 in the state of matching on the first driving wheel 30, first turn Wheel 20 moves rotation, so that the driving force that robot is generated is passed into the first runner 20 by the first driving wheel 30.

Secondly, the combination of observation sterile adapter 10 and operation between surgery instrument 5, on the second runner 24 Projection 33 is equipped with, and the groove for being inserted into projection 33 is formed with the second driving wheel 50 opposed with the second runner 24 23。

By the way that surgery instrument 5 is arranged in sterile adapter 10, the second driving wheel 50 is supported each other with the second runner 24 Connect, if now projection 33 is inserted into groove 23, the second driving wheel 50 matches each other with the second runner 24, but it is if prominent 33 are played when being not inserted into groove 23, the pushes protrusion 33 of the second driving wheel 50, thus the second runner 24 be also pushed.As above institute State, because the second runner 24 is elastically supported in sterile adapter 10, so when projection 33 pushes the second runner 24, such as Fig. 5 A shown in, the second runner 24 is depressed from the surface (the second face 17) of sterile adapter 10.

In the state of the second runner 24 is caved in, the first driving wheel of left rotation and right rotation 30 is then matched with the first driving wheel 30 The first runner 20 and the linkage rotation of the second runner 24 that is connected with the first runner 20, thus occur projection 33 and be inserted into groove Situation in 22, so as to release the state that the second runner 24 is pressed.So, with the releasing of external force, as shown in Fig. 5 b, the Two runners 24 are due to spring return to original position, so that the second runner 24 is matched with the second driving wheel 50.

So, when the second driving wheel 50 rotates the first driving wheel 30 in the state of being matched with the second runner 24, the first runner 20th, the second runner 24 and the second driving wheel 50 move rotation, so as to pass through the first driving wheel 30, the first runner 20 and second The driving force that robot is generated is passed to the second driving wheel 50 by runner 24.

The actuator connection that second driving wheel 50 can be combined by steel wire with the terminal part of surgery instrument 5, as described above, As driving force is delivered to the second driving wheel 50 and the second driving wheel 50 rotates, actuator is transmitted drive force to by steel wire, So that actuator is run.

Here, to forming projection 32,33 on the first driving wheel 30 and the second runner 24 in the first runner 20 and second The situation for forming groove 22,23 on driving wheel 50 and matching each other is illustrated, but projection and groove might not be as above Described formation, can also form projection in either one of a pair of turning wheels and groove is formed on the opposing party, so that mutual Match somebody with somebody.

Further, be not necessarily required on any one runner formed projection and on another runner formed groove side Formula is matched, it is of course possible to be applicable a variety of mechanical structures that a pair of turning wheels can be made to match each other.

Fig. 6 is the stereogram for representing the sterile adapter that embodiments of the invention are related to, and Fig. 7 is to represent the reality in the present invention The front view for the state that apparatus is installed in the sterile adapter that example is related to is applied, Fig. 8 is Fig. 7 C-C ' sectional view, and Fig. 9 is to represent The sectional view of the state of apparatus is installed in the sterile adapter that embodiments of the invention are related to.Reference picture 6 is shown to Fig. 9 Surgery instrument 5, sterile adapter 10, main part 12, the first sheet material 15, the second sheet material 18, the second runner 24, groove 23, lead Rail 126, aligned recesses 27, alignment protrusion 28, block 29, projection 33, the second driving wheel 50.

The main part 12 for the sterile adapter 10 that the present embodiment is related to can be by being combined into separable from one another or close one Sheet material 15,18 is constituted.That is, main part 12 by with the first sheet material 15 that is corresponding and abutting devices hold 3 of the first face 14 and with The second sheet material 18 that is corresponding and abutting surgery instrument 5 of second face 17 is constituted, and the first sheet material 15 and the second sheet material 18 can be tied Synthesis is separated or close each other.

Now, as shown in fig. 6, guide rail 126, the guide rail that the present embodiment is related to can be set in the both sides of the second sheet material 18 126, which play a part of offer mobile route, makes surgery instrument 5 be arranged in sliding manner in sterile adapter 10.

In order that surgery instrument 5 slides along guide rail 126 and in the sterile adapter 10, as shown in figure 8, can be The rail structure (' R ' of reference picture 8) corresponding with guide rail 126 is formed on the end face of surgery instrument 5.

On the other hand, when surgery instrument 5 is arranged in sterile adapter 10 in sliding manner, in order that operation is used Apparatus 5 is arranged on the correct position in sterile adapter 10, and alignment can be formed with the surgery instrument 5 that the present embodiment is related to (align) unit.That is, as shown in fig. 7, when being formed with aligned recesses 27 with caving in the end of surgery instrument 5, in the second plate Alignment protrusion 28 can also be equipped with the one end of material 18, to be matched with aligned recesses 27.

When surgery instrument 5 is arranged in sterile adapter 10 by sliding as shown in Figure 7a, surgery instrument 5 is moved Move until alignment protrusion 28 is matched and is mounted with aligned recesses 27, so as to which surgery instrument 5 is aligned in into correct position On.

The aligned recesses 27 and alignment protrusion 28 that the present embodiment is related to are to play the structure of alignment effect, to use operation Apparatus 5 be arranged on sterile adapter 10 on preassigned position, it is therefore desirable to precision manufactureing with prevent aligned recesses 27 with it is right Occurs unnecessary interval between neat projection 28.

On the other hand, slide surgery instrument 5 to a direction (installation direction) as described above and be arranged on sterile adaptation When on device 10, in order to prevent surgery instrument 5 from being come off from sterile adapter 10 to keep its installment state, i.e. in order to limit The surgery instrument 5 of installation is moved to the opposite direction of installation direction, can be equipped with block 29.

That is, block 29 is set on the other end of the second sheet material 18, and as shown in Figure 7a mobile surgery instrument 5 and It is mounted to as after Fig. 7 b so that block 29 is protruded, so as to prevent surgery instrument 5 from being come off to opposite direction.

Therefore, the block 29 that the present embodiment is related to can be supported by elastomer etc., to install the mistake of surgery instrument 5 Do not protruded in journey from the second sheet material 18, and install protrusion after surgery instrument 5, so as to fixed surgery instrument 5.Such as It is lower described, block 29 can also be made to be protruded with the second sheet material 18 close to the first sheet material 15 from the second sheet material 18.

On the other hand, as set forth above, it is possible to project projection 33 on the second runner 24 and formed on the second driving wheel 50 Groove 23 is so that the second driving wheel 50 is matched with the second runner 24, but surgery instrument 5 is arranged on sterile by sliding When on adapter 10, the projection 33 protruded from the second face may interfere with the movement of surgery instrument 5, so as to be installed to sliding type Bring difficulty.

Now, as shown in figure 9, a pair of sheet materials 15,18 of the main part 12 to separate each other, close are constituted, so projection 33 In the state of being protruded on the second runner 24 surgery instrument 5 can be also installed in sliding manner.

That is, as shown in Fig. 9 a, the second sheet material 18 is separated from the first sheet material 15, and the second runner 24 projection 33 not Surgery instrument 5 is installed in the state of being protruded from the surface of the second sheet material 18, after installing surgery instrument 5, such as Fig. 9 b It is shown, the second sheet material 18 is pressed, i.e. so that the second sheet material 18 is close to the first sheet material 15, so as to so that projection 33 is from the second plate The surface of material 18 is protruded.Thus, surgery instrument 5 is arranged in sterile adapter 10, and the second runner 24 can be with the second driving Wheel 50 is matched.

On the other hand, the second sheet material 18 of pressing make projection 33 from the second sheet material 18 protrudes when, if projection 33 is accurate slotting When entering into groove 23, with reference to as described in Figure 5, because the second runner 24 is elastically supported in sterile adapter 10, so second The pushes protrusion 33 of driving wheel 50, the second runner 24 is in the state that can not be protruded and be pushed from the second sheet material 18, but as above institute State, can in this condition the second runner of left rotation and right rotation 24 and projection 33 is matched with groove 23.

Figure 10 is the sectional view for representing the sterile adapter that embodiments of the invention are related to, and Figure 11 is the reality for representing the present invention The side view that the sterile adapter that example is related to is installed in the state on devices hold 3 by opening is applied, Figure 12 is to represent this hair The sterile adapter that bright embodiment is related to is attached to the schematic diagram of the state on sterile curtain.Reference picture 10 is shown to Figure 12 Robotic arm 1, devices hold 3, surgery instrument 5, sterile curtain 7, sterile adapter 10, main part 12, the first face 14, the first plate Material 15, through hole 116, the second face 17, the second sheet material 18, fixed projection 119, the first driving wheel 30, encapsulant 34, first turn Take turns the 20, second runner 24, the second driving wheel 50, opening 72, adhesive portion 74, mark 76.

As described above, the main part 12 for the sterile adapter 10 that the present embodiment is related to can by that can separate each other or closely With reference to a pair of sheet materials 15,18 constitute, now, the fixed projection that oriented first face 14 is projected can be formed on the second sheet material 18 119, and the through hole 116 for storing fixed projection 119 is equipped with the first sheet material 15.

That is, fixed projection 119 and through hole 116, as shown in Figure 10 a, a pair are respectively formed with a pair of sheet materials 15,18 In the state of sheet material 15,18 is separated each other, fixed projection 119 is in the state being housed in through hole 116, such as Figure 10 b institutes Show, when a pair of sheet materials 15,18 are closer to each other, fixed projection 119 can be with insertion through hole 116 from the surface of main part 12 It is prominent on (the first face 14).

So, main part 12 is made up of a pair of sheet materials 15,18, makes fixed projection as a pair of sheet materials 15,18 are closer to each other 119 it is prominent from the surface (the first face 14) of main part 12 when, sterile adapter is arranged on devices hold 3, and with a pair Sheet material 15,18 is closer to each other, and fixed projection 119 is prominent from the surface of sterile adapter 10, so that fixed projection 119 is to apparatus The assigned position of support 3 is pressed.So prominent fixed projection 119 is played as described below is fixed on device by sterile curtain 7 Effect on tool support 3.

During robotic surgery, operation robotic arm is covered by sterile curtain (sterile drape), but the present embodiment Opening 72 can be equipped with the sterile curtain 7 being related to.Opening 72 can be located in outside the grade of dismounting surgery instrument 5 on robotic arm The position of device, the opening 72 that the present embodiment is related to can be located in the part of devices hold 3, be used to pacify sterile adapter 10 Position on devices hold 3.

It is arranged on by the sterile adapter 10 that is related to the present embodiment on devices hold 3, fixed projection 119 is from its surface (the first face 14) is prominent, and robotic arm 1 is in the state of being covered by sterile curtain 7 when installing sterile adapter 10, and the fixation of projection is dashed forward The peripheral part for playing the opening 72 of 119 pairs of sterile curtains 7 presses, so that sterile curtain 7 is tightly fixed on devices hold 3.

In addition, the fixed projection 119 with being protruded in sterile adapter 10 is accordingly, set on the periphery of devices hold 3 The encapsulants such as rubber seal 34 are put, then only just sterile curtain 7 can be fixed on robotic arm 1 by installing sterile adapter 10 On.

That is, with the peripheral part of opening 72 accordingly devices hold 3 and/or its periphery paste that elastomeric material is made it is close During closure material 34, make the projection of fixed projection 119 by installing sterile adapter 10, and fixed projection 119 is to the opening of sterile curtain 7 72 peripheral part and pressurizeed with the encapsulant 34 of its relative set, so that the fixed projection that encapsulant 34 is highlighted 119 pressurize and sink.

Then, the opening 72 of sterile curtain 7 is in peripheral part and clamped and fixed shape by fixed projection 119 and encapsulant 34 State, by installing sterile adapter 10, sterile curtain 7 is fixed on robotic arm 1.

On the other hand, the sterile adapter 10 the present embodiment being related to is arranged on before devices hold 3, can first will be sterile Adapter 10 is attached on the assigned position of sterile curtain 7, such as the above-mentioned part of opening 72, therefore, attachment can needed sterile suitable The part (opening 72 peripheral part) of orchestration 10 forms the adhesive portions 74 such as paster (sticker), and marks around it quadrangle Deng mark 76, so as to represent the position for adhering to sterile adapter 10 in advance.

When so forming adhesive portion 74 and mark 76 on sterile curtain 7 in advance, the paster diaphragm of sterile curtain 7 is torn, will The alignment quadrangle mark of sterile adapter 10 is attached on sterile curtain 7, pre- so as to which sterile adapter 10 is accurately attached to The position first specified, the position for being equipped with opening 72.

In addition, sterile adapter 10 is attached in the state of the specified location of sterile curtain 7, sterile adapter 10 is installed On devices hold 3, so as to which sterile curtain 7 is fixed on into robotic arm 1.

Figure 13 is the stereogram for representing to install the state of apparatus in the sterile adapter being related in embodiments of the invention.Ginseng According to Figure 13, surgery instrument 5, sterile adapter 10, main part 12, protuberance 113, contact 133,134 are shown.

The apparatus or tool of electrosurgical (Electrosurgery) can be installed in the sterile adapter 10 of the present embodiment There is the apparatus of electrosurgical function, at this time, it may be necessary to provide the power supply for electrosurgical to surgery instrument 5.

That is, with being formed with the surgery instrument 5 of contact 133 in order to carry out electrosurgical accordingly, in sterile adapter 10 On be formed with the contact 134 of power supply, contact 133,134 is connected to each other during surgery instrument 5 is installed, so as to Powered to surgery instrument 5.

For example, surgery instrument 5 can be arranged in the sterile adapter 10 that the present embodiment is related in sliding manner, this When, in the end that direction is mounted with surgery instrument 5 of main part, as shown in figure 13, protuberance 113 is formed with, so as to Surgery instrument 5 is enough installed.

Now, the contact for being powered to surgery instrument 5 can be formed with the protuberance 113 that the present embodiment is related to 134, in this correspondingly, contact 133 can also be formed with surgery instrument 5.

That is, formed so as to be connected to by the power supply provided with robot of performing the operation on the protuberance 113 of sterile adapter 10 Contact 133 in the state of, install surgery instrument 5 so that between contact 133,134 connect, so electricity need not be connected individually Source and the power supply needed for only can providing electrosurgical by installing surgery instrument 5.

The quantity of contact can be made according to the type of electrosurgical apparatus it is a variety of, for example, monopole (monopolar) mould The situation of formula can form a contact, and the situation of twin-stage (bipolar) pattern can form two contacts.

Figure 14 is the exploded perspective view for representing the sterile adapter that embodiments of the invention are related to.Reference picture 14, shows Robotic arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, the first face 14, the second face 17, first are driven Driving wheel 30, the first runner 20, the second runner 24, the second driving wheel 50.

The sterile adapter 10 that the present embodiment is related to, is arranged at during surgery instrument 5 is installed on devices hold 3 Therebetween, surgery instrument 5 is combined using sterile adapter 10 with devices hold 3.

The sterile adapter 10 that the present embodiment is related to from the basis of main part 12 to the two-face exposed He of the first runner 20 Second runner 24 is constituted, and first, second runner 20,24 is elastically supported on main part 12 respectively.That is, by main part 12 with The opposed face of devices hold 3 is as the first face 14, when the face opposed with surgery instrument 5 is as the second face 17, the first runner 20 Showed out from first, the second runner 24 exposes from the second face 17, so that first, second runner 20,24 is from the two sides of main part 12 Expose.

On the other hand, the first runner 20 and the second runner 24 pass through the elastomers such as spring (Figure 14 ' E ') and main body respectively Portion 12 is combined, therefore, and first, second runner 20,24 is caved in due to external force, when releasing external force due to spring return to original The position come.That is, the first runner 20 and the second runner 24 are connected to each other and rotated together with, and pass through spring etc. and the knot of main part 12 Close, therefore the first runner 20 and the second runner are configured to the direction mutually pushed by elastic force.

The sterile adapter 10 that the present embodiment is related to is arranged on devices hold 3, then the first face 14 abuts devices hold 3, the first runner 20 exposed from the first face 14 is matched with forming the first driving wheel 30 on devices hold 3.

In addition, installing surgery instrument 5 in sterile adapter 10, then the second face 17 abuts surgery instrument 5, from second The second runner 24 that face 17 is exposed is matched with forming the second driving wheel 50 on surgery instrument 5.Below, this reality is described in detail Apply the mode that the sterile adapter 10 that example is related to is combined with devices hold 3 and surgery instrument 5.

Figure 15 is to represent showing for the state that the sterile adapter that embodiments of the invention are related to is installed on devices hold It is intended to, Figure 16 is Figure 15 ' A ' sectional view, and Figure 17 is to represent that the surgery instrument that embodiments of the invention are related to is installed in The schematic diagram of state in sterile adapter, Figure 18 is Figure 17 ' B ' sectional view.Reference picture 15 shows apparatus to Figure 18 Support 3, surgery instrument 5, sterile adapter 10, main part 12, the first face 14, the second face 17, the first driving wheel 30, projection 32nd, the 33, first runner 20, the runner 24 of groove 22,23, second, the second driving wheel 50.

The combination between sterile adapter 10 and devices hold 3 is observed, the first driving formed on devices hold 3 Projection 32 is equipped with wheel 30, and is formed with the first runner 20 opposed with the first driving wheel 30 and is inserted into the recessed of projection 32 Groove 22.

By the way that sterile adapter 10 is arranged on devices hold 3, the first driving wheel 30 and the first runner 20 are against each other, Now projection 32 is inserted into groove 22, then the first driving wheel 30 is matched with the first runner 20, but when projection 32 is not inserted into When in groove 22, projection 32 pushes the first runner 20.Because the first runner 20 is elastically supported in sterile adapter 10, so prominent When playing 32 the first runner 20 of pushing, as illustrated in fig 16 a, the first runner 20 is pressed from the surface of sterile adapter 10 (the first face 14) Enter.

So, in the state of the first runner 20 is caved in because of projection 32, the first driving wheel of left rotation and right rotation 30, the then quilt of projection 32 It is inserted into groove 22, thus the pressurized state of 32 pair of first runner 20 of projection is released from.With the external force from projection 32 Release, as shown in Figure 16 b, the first runner 20 is due to spring return to original position, so that the first runner 20 and first Driving wheel 30 is matched.

When rotating the first driving wheel 30 in the state of so the first runner 20 is matched on the first driving wheel 30, first Runner 20 moves rotation, so that the driving force that robot is generated is passed into the first runner 20 by the first driving wheel 30.

Secondly, the combination between observation sterile adapter 10 and surgery instrument 5, is equipped with the second runner 24 Projection 33, and the groove 23 for being inserted into projection 33 is formed with the second driving wheel 50 opposed with the second runner 24.

By the way that surgery instrument 5 is arranged in sterile adapter 10, the second driving wheel 50 is supported each other with the second runner 24 Connect, when now projection 33 is inserted into groove 23, the second driving wheel 50 matches each other with the second runner 24, but work as projection 33 not When being inserted into groove 23, the pushes protrusion 33 of the second driving wheel 50 causes the second runner 24 to be pushed.As noted previously, as the Two runners 24 are elastically supported in sterile adapter 10, so when projection 33 pushes the second runner 24, as shown in Fig. 5 a, the Two runners 24 are pressed into from the surface (the second face 17) of sterile adapter 10.

In the state of the second runner 24 is caved in, the first driving wheel of left rotation and right rotation 30 is then matched with the first driving wheel 30 The first runner 20 and the linkage rotation of the second runner 24 that is connected with the first runner 20 so that projection 33 is inserted into groove 22 In, thus release the state that the second runner 24 is pressed.So, with the releasing of external force, as shown in Figure 18 b, the second runner 24 due to spring return to original position, so that the second runner 24 matches each other with the second driving wheel 50.

The first driving wheel 30 is rotated in the state of the second driving wheel 50 and the second runner 24 are matched, then the first runner 20th, the second runner 24 and the linkage rotation of the second driving wheel 50, so as to pass through the first driving wheel 30, the first runner 20 and the second runner 24 driving forces for generating robot pass to the second driving wheel 50.

Second driving wheel 50 can be connected by steel wire with the actuator combined in the terminal part of surgery instrument 5, as above It is described with driving force is delivered to the second driving wheel 50 and the second driving wheel 50 rotates, transmitted drive force to and held by steel wire Row device, so that actuator is run.

Here, to forming projection 32,33 on the first driving wheel 30 and the second runner 24 in the first runner 20 and second Form groove 22,23 on driving wheel 50 and situation about matching each other be illustrated, but projection and groove be not necessarily to as Upper described formation, can also form projection in either one of a pair of turning wheels and form the mode of groove each other on the opposing party Matching.

Further, it is the first runner 20, the second runner 24, the first driving wheel 30, second in the draw bail of runner described later The structure that driving wheel 50 is coupled to each other, is not exclusively applicable for specific rotaring wheel structure.Certainly, the runner connection that the present embodiment is related to Structure is not used exclusively in Medical Devices, in the structure that multiple runners are combined, as long as detection alignment condition can be applicable The structure of technology or the structure that can transmit specified force, the present embodiment are applicable.

In addition, the body in embodiment described later is the body for representing to combine for runner, can be devices hold 3rd, surgery instrument 5, main part 12 etc..In addition, driving wheel and driven pulley are the general designations for distinguishing runner, can be respectively One runner 20, the second runner 24, the first driving wheel 30, second driving wheel 50 etc..That is, driving wheel and driven pulley are relative concepts, Identical runner can be censured.For example, the second driving wheel 50 having on surgery instrument 5, when driving the actuator As driving wheel, and as driven pulley when being driven with the driving for the first driving wheel 30 having on devices hold 3.With It can be provided in the power source of driving driving wheel and driven pulley by operation robotic arm 1.

In addition, the above primarily illustrates the situation that the first runner 20 and the second runner 24 are made up of independent component, but It is that embodiment described later is not limited in these structures, it is of course possible to realized by same structure, forms described respectively on two sides Projection and groove, so as to be combined with the first driving wheel 30 and the second driving wheel 50.In addition, embodiment described later mainly illustrate with The difference of the embodiment first illustrated.

Figure 19 is to show the runner draw bail that alignment is detected according to electrical characteristics that the first embodiment of the present invention is related to Schematic diagram.Reference picture 19, show the first runner 20, the runner 24 of groove 22,23, second, the first driving wheel 30, projection 32,33, Matching detection portion 35, the driving wheel 50 of contact 43,44, second.It is described later also to be fitted about the structure of each runner and the explanation of function For the runner with different names.

The runner draw bail that the present embodiment is related to, it is characterised in that whether alignd using electrical characteristics detection runner.That is, When multiple runners are coupled to each other, contact is connected to each other and is powered, and the electrical characteristics changed through energization are detected by sensor, so that It is capable of detecting when that runner is coupled.

First runner 20 as described above, the second runner 24, the first driving wheel 30, the second driving wheel 50 can be respectively to differences Direction is rotated, and the projection 32,33 formed when being coupled to each other on each runner may be not inserted into groove 22,23.Therefore, Need to be inserted into groove 22,23 according to each projection 32,33 and detect the technology whether runner aligns each other.The present embodiment is profit The technology whether runner aligns is detected with electrical characteristics.

The Electrical change occurred when the present embodiment is by detecting that each runner is matched judges its match condition.Here, detection matching The method of Shi Fasheng Electrical change has a variety of.According to one embodiment of the invention, when can include by detecting that each runner is matched The Electrical change of generation detects the matching detection portion of match condition, and matching detection portion can be by detecting electric signal, resistance value, electric current The Electrical changes such as value, magnitude of voltage detect match condition.

For example, matching detection portion can include：In light source, the one side for being located at a runner；Optical detecting unit, for detecting The light change of light source；Change unit, be located at the runner or the one side of corresponding another runner on, the light for changing light source is special Property.The light characteristic of light source can with reflection, refraction, diffraction, interference and change, and change light characteristic can be light row Enter direction, color, brightness, chromaticity coordinates, colour temperature, diffraction pattern, interference pattern etc..For example, it is for reflected light to change unit The situation of unit, when runner on these structures is not matched and when separating regulation spacing each other, optical detecting unit can't detect light The light in source, and runner is when matching each other, the light of light source is reflected by reflector element, so optical detecting unit, which can pass through, detects reflection Light detects that runner matches each other.Here, optical detecting unit can be photodiode etc., reflector element can be speculum Deng.

Be mainly explained below runner combination resistance and by detection resistance value change come detect whether matching situation, But the present invention is applicable to detect match condition as described above by the electromagnetic change that is detected according to light of detection, or utilize it A variety of methods of the change detection match condition of its electromagnetic property.For example, the present embodiment can also utilize such as resistance (resistance) change, electric capacity (capacitance) change, inductance (inductance) change etc. are using passively (passive) electromagnetic change of element or other actives (active) element testing match condition.

First, the marriage relation of the first runner 20 and the first driving wheel 30 is illustrated.Due to what is protruded on the first driving wheel 30 Projection 32 is inserted into the groove 22 formed on the first runner 20, so the first driving wheel 30 joins each other with the first runner 20 Connect.Projection 32 and the quantity of groove 22 can be one or more, and be not particularly limited explanation point in its forming position, Figure 19 Not there are two.

Contact 43 is formed with one end of projection 32, and contact 44 is formed with the medial surface of groove 22, works as projection 32 when being inserted into groove 22, and two contacts 43,44 are electrically connected to each other.What contact 43,44 was formed in projection 32 or groove 22 As long as the position that position can be connected each other is not specially limited, for example, it may be the terminal part of projection 32, middle part etc. Diverse location.

The contact 43 of each projection 32 is connected with matching detection portion 35, and matching detection portion 35 is used for the contact 43 for detecting projection 32 Whether contacted with the contact 44 of groove 22.Matching detection portion 35 can be received electric signal and carry out analysis to export current shape The device of state information.

For example, matching detection portion 35 by detection resistance value and can analyze the resistance value that is detected and judge contact 43rd, 44 contact situation.That is, in the state of shown in Figure 19, the contact 43 of projection 32 is spaced apart, so matching detection portion 35 The resistance value of measurement is infinitely great (∞).But, when projection 32 is inserted into groove 22 and contact 43,44 is in contact with each other, Electricity with the resistance value measured by test section 35 equivalent to the first resistor R1 between being connected to the contact 44 that is formed on groove 22 Resistance.

Therefore, matching detection portion 35 can be compared to each other measured resistance value or with the resistance value progress not in contact with state Compare, so as to judge the contact situation of contact 43,44.Here, illustrating that matching detection portion 35 judges to be by detection resistance value The situation of no contact, but the present invention can also judge to contact feelings by measuring other electrical characteristics such as current value, magnitude of voltage Condition.So, matching detection portion 35 can be any one in resistance measuring instrument and current measuring instrument and pressure measuring instrument more than.Sentence Disconnected result can by provide unit such as sound, light, vibration export, or can also be used as be used for start machine arm 1 normally transport Capable information and use.

Secondly, the marriage relation of the second runner 24 and the second driving wheel 50 is illustrated.The prominent projection on the second runner 24 33 are inserted into the groove 23 formed on the second driving wheel 50, so that the second runner 24 joins each other with the second driving wheel 50 Connect.Contact 43 is formed with one end of projection 33, and contact 44 is formed with the medial surface of groove 23, when projection 33 is inserted into When in groove 23, projection 33 and two contacts 43,44 of groove 23 are electrically connected to each other.

Now, two contacts 43,44 of two contacts 43,44 of projection 32 and groove 22 and projection 33 and groove 23 are each other Contact, so as to form the circuit with new combined resistance.That is, it is connected to the first resistor between two contacts 43 of groove 22 Second resistance R2 between R1 and two contacts 43 for being connected to groove 23 is connected in parallel to each other, so new combined resistance value R meter Calculate formula as follows.

Formula 1

Now, matching detection portion 35 can detect devices hold 3, sterile adapter by detecting combined resistance value R 10 and the normal connection each other of surgery instrument 5.

In addition, now due to only having projection 32 to be inserted into resistance value R1 when in groove 22 with projection 33 also while being inserted into Resistance value R when in groove 23 is different from each other, so matching detection portion 35 can be utilized to measure the coupled situation of each runner. For example, R1 is 100 Ω, and when R2 is 0 Ω, when only projection 32 is contacted with two contacts 43,44 of groove 22, matching detection portion 35 The resistance value measured is 100 Ω.But, in this condition, projection 33 and two contacts 43,44 of groove 23 are also in contact with each other When, the resistance value that matching detection portion 35 is measured is 0 Ω.Therefore, using this electrical characteristics, each turn can be more accurately detected Take turns coupled situation.

Here, the first driving wheel 30, the first runner 20, the second runner 24 and the second driving wheel 50 are said with its title It is bright, but driving wheel, the first driven pulley, the second driven pulley and the 3rd driven pulley can also be referred to as successively respectively and illustrated.

Figure 20 is to show the runner insulation shape that alignment condition is detected according to electrical characteristics that the first embodiment of the present invention is related to The schematic diagram of state.Reference picture 20, shows the first driving wheel 30, projection 32,32 ', contact 43,43 ', matching detection portion 35.

The present embodiment is to be exclusively used in making the knot insulated from each other of projection 32,32 ' when the first driving wheel 30 is formed by conductors such as iron The technology of structure.The outer surface of the opening of first driving wheel 30 is integrally formed by conductor, and prominent projection is formed with one side 32′.Correspondingly be equipped with hole with projection 32 on the outer surface of the opening of the first driving wheel 30, projection 32 be inserted into the hole and Expose contact 43.Therefore, even if the first driving wheel 30 is formed by conductor, contact 43,43 ' can also keep state insulated from each other.

Figure 21 is to show the runner draw bail that alignment is detected according to magnetic characteristic that the second embodiment of the present invention is related to Schematic diagram.Reference picture 21, shows that devices hold 3, surgery instrument 5, the first driving wheel 30, magnetic sensor 37, second drive Driving wheel 50, magnet 56, memory cell 58.

The runner draw bail that the present embodiment is related to has the characteristic for the alignment condition that runner is detected using magnetic characteristic.That is, When multiple runners are coupled to each other, the alignment shape of runner is detected by detecting the orientation for the magnet being attached on specified runner State, so as to detect the connection situation and normal alignment condition of runner.

Defined bumps are formed with each face that the first driving wheel 30 and the second driving wheel 50 are bonded to each other, these are concavo-convex It can censure respectively as first concavo-convex and the second bumps.First formed on a face of the first driving wheel 30 is concavo-convex with being formed The second concavo-convex concavo-convex combination of progress on second driving wheel 50, so that the first driving wheel 30 is coupled to each other with the second driving wheel 50.

Here, the first bumps and the second bumps can be the bumps of fan-shaped.As illustrated, the bumps of fan-shaped are in from central part Radiated entends and constitute recessed with the convex bumps being alternatively formed.First driving wheel 30 and the second driving wheel 50 rotate degree without Closing ground can be bonded to each other by this fan-shaped bumps.That is, because fan-shaped bumps have been alternatively formed multiple concave and convex, so side Even if runner can also carry out concavo-convex combination to keep being bonded to each other in the state of predetermined angular.

The magnet 56 arranged by prescribed direction is attached with the one side of the second driving wheel 50.In the side institute of the first driving wheel 30 The magnetic sensor 37 having detects its ordered state by detecting the magnetic characteristic of magnet 56.Here, show magnet 56 with Magnetic sensor 37 is located at the situation in each face centre of the second driving wheel 50 and the first driving wheel 30, but the present invention is not These ad-hoc locations are defined in, as long as magnetic sensor 37 is able to detect that the position of the arrangement of magnet 56 may be applicable to this Invention.

When coupling with the second driving wheel 50, magnetic sensor 37 can be by detecting the polarity (N poles and S poles) of magnet 56 Judge its degree of rotation.For example, under the initial setting state of the second driving wheel 50, magnet 56 be arranged in N poles and S poles relative to Stipulated standard line is perpendicular or level, and as described above, the second driving wheel 50 in the state of rotation predetermined angular even if also It is enough to be combined with the first driving wheel 30, so magnetic sensor 37 can detect the second driving wheel 50 by measuring the anglec of rotation of magnet 56 Degree of rotation.

Robotic arm 1 refers to the anglec of rotation of the second driving wheel 50 detected when running, so as to correct the second driving wheel 50 Operation.For example it is assumed that the state that a pair of jaws that actuator has are engaged each other is initial setting state, and pass through steel wire The second driving wheel 50 combined with the actuator of the state is in non-rotation status, and magnet 56 is arranged in operation with parastate During with the corner of apparatus 5, joined when the second driving wheel 50 is connected on the first driving wheel 30 with the state for rotating predetermined angular When connecing, magnetic sensor 37 can be by detecting that its anglec of rotation understands the status information of actuator, can by correcting the status information Accurately control actuator.

On the other hand, magnet 56 is attached to when on the second driving wheel 50 as adhered to free from error normal condition at the beginning In the case of, as described above, being seemed by way of measuring the anglec of rotation of magnet 56 and exporting the rotation information of the second driving wheel 50 When rationally, but when making there is defined arrangement error when magnet 56 is attached on the second driving wheel 50, these rotation letters Breath derivation program becomes meaningless.It is therefore desirable to which whether measure magnet 56 is attached on the second driving wheel 50 rear polarity with just Normal state alignment attachment, and the information of measurement is stored, and these metrical informations are applied flexibly in actual use.

Memory cell 58 is used for the control information for storing the arrangement of these magnet 56.That is, when making surgery instrument 5, the Adhere in the one side of two driving wheels 50 or formed after magnet 56, measure the ordered state of its polarity, so that control information is generated, And store that information in memory cell 58.Memory cell 58 can adhere to as being stored on the side of surgery instrument 5 Magnet 56 and make each surgery instrument intrinsic information medium and apply flexibly.Here, memory cell 58 can be such as RFID Etc. the medium for being capable of storage information.

There is the read write line of memory cell 58, such as RFID reader (not shown) in the side of devices hold 3.RFID reader The arrangement error information of magnet 56 is received from memory cell 58, and communicates this information to the control unit of robotic arm 1 or is stored in Storage part is provided, the control unit of robotic arm 1 refers to arrangement error information when operation is with apparatus 5 come round-off error, so that The action of corrective surgery apparatus 5.For example, when the magnet 56 that is stored with memory cell 58 rotates the arrangement error letter of 5 degree of attachments During breath, the control unit of robotic arm 1 may be referred to the arrangement error information, and correct -5 degree to control the action of surgery instrument 5.

Figure 22 and Figure 23 are to show the runner that alignment condition is detected according to magnetic characteristic that the third embodiment of the present invention is related to The schematic diagram of draw bail.Reference picture 22 and Figure 23, show devices hold 3, surgery instrument 5, groove 23, the first driving wheel 30th, projection 32, magnetic sensor 37, the second driving wheel 50, magnet 56.Main explanation and above-mentioned difference.

The runner draw bail that the present embodiment is related to detects the alignment condition of runner using magnetic characteristic as described above, and it is special Levy and be, anglec of rotation when the second driving wheel 50 couples is limited by determining the quantity of projection 32, so as to reduce runner The error of alignment.

It is formed with multiple projections 32 on the open surface of the first driving wheel 30, and the shape on the open surface of the second driving wheel 50 Into there is the groove 23 that is inserted into projection 32.Here, projection 32 can be described first concavo-convex, groove 23 can be described second It is concavo-convex.

The projection 32 formed on the first driving wheel 30 can be that vertical section is (bent comprising oval part for circle, ellipse Line), cone, elliptical cone, the pyramid (multiple-angle pyramid) of polygon etc. etc..It is real with cone, elliptical cone, pyramid etc. Existing each projection 32 is connected to the bottom surface of adjacent projection 32, therefore independently can be plugged into the second drive with the degree of rotation of runner In the groove 23 of driving wheel 50.

For example, as illustrated, forming that four form and dimensions are identical and bottom surface is against each other in abutment lug 32 and abuts In the case of the projection 32 of the open surface frame of first driving wheel 30, with first under the initial setting state of the second driving wheel 50 When driving wheel 32 is matched, the worst error angle of rotation is 45 degree (- 45 degree to+45 degree).That is, the most advanced sensing groove of projection 32 23 intersect each other with groove 23 point when, matched after at most 45 degree of the rotation of the second driving wheel 50 with the first driving wheel 30.

Therefore, according to the present embodiment, the rotation error scope of the second driving wheel 50 can be limited in particular range.These Error range can be determined according to the quantity of projection 32.For example, the quantity of projection 32 be 5 when, error angle be 36 degree (- 36 degree extremely+ 36 degree), when the quantity of projection 32 is N number of, error angle is 180/n degree (- 180/n degree to+180/n degree).Although, in above-mentioned middle vacation The situation that setting tool has the projection 32 of formed objects and shape is illustrated, but the present embodiment is not limited to these structures, dashes forward The size and shape for playing 32 can also be different from each other.

The magnet 56 arranged by prescribed direction is attached with the second driving wheel 50, and the first driving wheel 30 has for examining Survey the magnetic sensor 37 of magnet 56.The quantity and binding site of magnetic sensor 37 can determine according to the binding site of magnet 56 It is fixed.For example, as illustrated, when magnet 56 is located in a groove 23 of the second driving wheel 50, magnetic sensor 37 can be set respectively In four projections 32 formed on the first driving wheel 30.In addition, magnet 56 can also be located at the second driving outside groove 23 On wheel 50, magnetic sensor 37 can be attached on the first driving wheel 30 in the outside of projection 32, or be respectively provided at devices hold 3 On side, such as four corners (reference picture 23).

Here, the quantity of magnetic sensor 37 can be identical with the quantity of projection 32, or the difference of its quantity is less than or equal to 2, The quantity of magnet 56 can be less than the quantity of magnetic sensor.When the first driving wheel 30 and the second driving wheel 50 match each other, Magnetic sensor 37 can detect position, its orientation and the match condition of magnet 56 by detecting the magnetic field of magnet 56.

Figure 24 and Figure 25 are the runner connection for showing the runner that alignd according to mechanical property that the fourth embodiment of the present invention is related to The stereogram and front view of binding structure, Figure 26 are for illustrating that what the fourth embodiment of the present invention was related to aligns according to mechanical property The schematic diagram of the principle of runner.Reference picture 24 shows surgery instrument 5, sterile adapter 10, main part 12, to Figure 26 One sheet material 15, the second sheet material 18, groove 23, the second runner 24, guidance unit 25, aligned recesses 27, alignment protrusion 28, projection 33rd, the second driving wheel 50.

The runner draw bail that the present embodiment is related to has the feature of the runner using mechanical property alignment needs connection. That is, according to the present embodiment, the direction alignment of the projection groove to be inserted along being formed with formed on the runner for needing to couple is said, So as to the runner that aligns.

Reference picture 24, has been protrudedly formed funnelform guidance unit 25 in the sterile adapter 10.Here, main Illustrate sterile adapter 10, but the structure that the present embodiment as described above is related to can also be in devices hold 3 and surgery instrument 5 It is upper to realize, these can be referred to as body.

Guidance unit 25 is formed on the side for the sterile adapter 10 inserted in sliding manner in surgery instrument 5, can be had There is the shape close to its narrowed width of the second runner 24.Projection 33 and groove 23 are formed extended at both sides to a direction, the shape of groove 23 Shape is the shape that can be matched with projection 33.

Reference picture 25 and Figure 26, when surgery instrument 5 is inserted in sliding manner, the projection formed on the second driving wheel 50 33 from guidance unit 25 by eccentric rotational force so that the direction of the groove 23 with being formed on the second runner 24 is correspondingly right Together.

Here, when surgery instrument 5 is arranged in sterile adapter 10 in sliding manner, in order that surgery instrument 5 is pacified On the correct position of sterile adapter 10, alignment (align) can be formed with the surgery instrument 5 that the present embodiment is related to Unit.I.e., as shown in figure 25, when forming aligned recesses 27 with caving in the end of surgery instrument 5, the one of the second sheet material 18 The alignment protrusion 27 that can be matched with aligned recesses 27 can also be equipped with end.

As shown in figure 25, by surgery instrument 5 slide and when in the sterile adapter 10, until alignment protrusion 28 with Aligned recesses 27 move surgery instrument 5 and installed untill matching, so as to which apparatus is aligned on correct position.This The aligned recesses 27 and alignment protrusion 28 that embodiment is related to can play alignment effect, so that surgery instrument 5 is arranged on sterile Preassigned position on adapter 10, it is therefore desirable to manufacture to avoid producing between aligned recesses 27 and alignment protrusion 28 meticulously Raw unnecessary interval.

Reference picture 26, the projection 33 formed on the second driving wheel 50 is protruded with eccentric manner and is formed at the second driving wheel 50 A part on.Bias is that the state of side and ragged center is partial at the center of certain object, when projection 33 is contorted When under state by guidance unit 25, projection 33 is rotated due to the resistance of any assistant in two assistants of guidance unit 25.

Due to the width of one end of guidance unit 25 is wide and the narrow width of the other end to the direction of the second runner 24, so institute Stating resistance turns into the eccentric rotational force to projection 33, so that projection 33 is rotated to the state being inserted into groove 23.Here, The inboard width of the other end of guidance unit 25 can be identical or almost identical with the width of groove 23.According to the present embodiment, projection 33 rotate according to the eccentric rotational force that guidance unit 25 is provided, and corresponding to which, the second driving wheel 50 rotates, so that second Driving wheel 50 can be matched with initially setting up state with the second runner 24.

Figure 27 is to show the runner connection knot that alignment condition is detected according to magnetic characteristic that the fifth embodiment of the present invention is related to The schematic diagram of structure, Figure 28 is to show the runner connection that alignment condition is detected according to magnetic characteristic that the fifth embodiment of the present invention is related to The stereogram of structure.Reference picture 27 and Figure 28, show robotic arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, Main part 12, the first face 14, the second face 17, the first runner 20, the runner 24 of groove 22,23, second, the first driving wheel 30, projection 32nd, 33, magnetic sensor 37, the driving wheel 50 of magnet 41,42,56, second.

The runner draw bail that the present embodiment is related to detects the alignment condition of runner using magnetic characteristic, it is possible to use a magnetic Property sensor 37 detects the alignment condition of multiple runners.That is, in the first runner 20 and the second runner 24 not relative two each other The projection 32 formed on face is rotated by 90 ° with groove 23, so as to use a magnetic sensor for being located at the side of the first driving wheel 30 37 detect the alignment condition of the first driving wheels 30, the first runner 20, the second runner 24 and the second driving wheel 50.Projection 32 and groove The angle of 23 bearing of trend formation can be 90 degree, 180 degree or other specified angles, and 90 degree of situation is mainly explained below.

In addition, here, mainly the first runner 20 of explanation and the second runner 24 situation different from each other, but the present embodiment is not These structures are defined in, for example, forming projection 32 and magnet 41 in the one side of a runner, and groove are formed on another side 23 and during magnet 42, it can similarly be acted according to illustrated principle.

Observe runner connection operation and alignment detection operation, first, the first driving wheel 30 matched with the first runner 20 and Connection, and magnetic sensor 37 judges whether the first runner 20 normally aligns by detecting magnet 41.Secondly, the first driving wheel 30 The second runner 24 that being rotated by 90 ° makes the first runner 20 and be coupled is rotated by 90 °, and thus magnetic sensor 37 can be detected The magnet 42 for rotating specified angle on the second runner 24 relative to magnet 41 and adhering to is stated, so as to detect degree of rotation and alignment Degree.Afterwards, the second driving wheel 50 is matched with the second runner 24, and magnetic sensor 37 can be attached to the second driving by detection Magnet 56 on wheel 50 judges the aligned condition of the second driving wheel 50.Here, can save magnet 42 on the second runner 24 and Any magnet in the magnet 56 on the second driving wheel 50 is attached to, now, magnetic sensor 37 can only detect appointing for attachment One magnet determines the aligned condition of the second driving wheel 50.

According to this structure, it is possible to use a magnetic sensor 37 detects the aligned condition of multiple runners, so as to have The effect of volume and cost is reduced, in addition, when the width of sterile adapter 10 makes smaller, with accuracy of detection can be improved Advantage.

Figure 29 to Figure 31 is the runner connection for showing the runner that alignd according to mechanical property that the sixth embodiment of the present invention is related to Side view, top view and the sectional view of binding structure.Reference picture 29 to Figure 31, show surgery instrument 5, sterile adapter 10, Groove 23, the second runner 24, projection 33, the second driving wheel 50, pulley (pulley) 55, pilot pin 61.Be mainly explained below with it is upper The difference stated.

The runner that the runner draw bail that the present embodiment is related to is coupled using mechanical property unlike those described above alignment needs. That is, according to the present embodiment, the guidance unit using pin-shaped pilot pin using come the projection that is formed on the runner that couples to being formed with For the direction alignment of the groove of insertion, so as to the runner that aligns.

Figure 31 of the B of reference picture 29, the Figure 30 watched in Figure 29 A directions and Figure 29 sectional view, drives with second Take turns in the one side of 50 the second opposed runners 24 or pilot pin 61 is formed with sterile adapter 10, the pilot pin 61 is used to make second The projection 33 of driving wheel 50 rotates and is inserted into the groove 23 of the second runner 24 and forms alignment.It can form multiple in both sides Pilot pin 61, so that the projection 33 of the second driving wheel 50 can pass through between them, the width between pilot pin 61 it is roughly the same or More than the width of projection 33, with projection 33 can be made from the width passed through between them.Pulley (pulley) 55 is with second The rotation of driving wheel 50 and rotate, so as to control the motion of the axle of surgery instrument 5, actuator etc..

Amplifier section C in reference picture 30, the projection 33 formed on the second driving wheel 50 protrudes landform with eccentric manner Into in the part in the second driving wheel 50.As described above, the center that bias is certain object be partial to side and center each other Unjustified state, so when projection 33 is when in the state of rotation by pilot pin 61, projection 33 is produced because bumping against with pilot pin 61 Raw resistance and rotated.When the width between pilot pin 61 is identical with the width of projection 33 or almost identical, projection 33 is revolved Go to the state of pluggable groove 23.

According to the present embodiment, projection 33 rotates according to the eccentric rotational force that pilot pin 61 is provided, and corresponding to which, second Driving wheel 50 rotates, so that the second driving wheel 50 can be matched with initially setting up state with the second runner 24.

Figure 32 is to show the connection that the medicine equipment combined is detected according to electrical characteristics that the seventh embodiment of the present invention is related to The schematic diagram of structure.Reference picture 32, shows devices hold 3, surgery instrument 5, sterile adapter 10, the first runner 20, Two runners 24, the first driving wheel 30, the second driving wheel 50, contact 63,64, with reference to test section 65.

The draw bail for the medicine equipment that the present embodiment is related to detects the combination situation of medicine equipment using electrical characteristics.That is, The runner draw bail can detect the Electrical change produced when multiple medicine equipments are coupled to each other in the same manner, so as to judge that it is combined Situation.

The present embodiment can utilize the technology of the alignment condition by detecting the Electrical change detection runner to detect medical treatment The connection situation of apparatus.So the content of the embodiment can be applied mechanically in the present embodiment, according to each structure and function Different specific draw bails can be different.Explanation i.e., in the described embodiment about runner and matching detection portion etc., Ke Yifen The medicine equipment of the present embodiment is not useful in and is combined on test section etc..It is mainly explained below and above-mentioned difference.

The medicine equipment that the present embodiment is related to can be devices hold 3, surgery instrument 5, sterile adapter 10 etc..Except this Outside, the present embodiment can also be useful on the integrated structure for the other various medicine equipments for being bonded to each other and acting.

Reference picture 32, is combined with the order of devices hold 3, sterile adapter 10, surgery instrument 5.Due to three kinds of medical treatment Apparatus is combined, so faying face has 4, by these be referred to as devices hold 3, sterile adapter 10 while and it is another Face, the one side of surgery instrument 5.

Multiple first contacts 63 are formed with the one side of devices hold 3, what is combined with the one side of devices hold 3 is sterile suitable Multiple second contacts 64 are formed with the one side of orchestration 10, multiple 3rd contacts are formed with the another side of sterile adapter 10 63, multiple 4th contacts 64 are formed with the one side of the surgery instrument 5 combined with the another side of sterile adapter 10.It is not special Each 63,64 forming position on each face of contact is not limited, can be formed on the position that can be electrically connected each other.

As described above, each contact 63,64 is connected when devices hold 3 is combined with sterile adapter 10, and sterile adapter 10 each contacts 63,64 when being combined with surgery instrument 5 are connected, and circuit different from each other are constituted according to object is combined, according to each electricity Hinder R3, R4 total resistance value it is also different, therefore be located at the combination test section 65 of the side of devices hold 3 can be by measuring these resistance values To detect the combination situation of each medicine equipment.Devices hold 3, sterile adapter 10 and hand can be not only detected using aforesaid way The connection situation of art apparatus 5, can also detect each driving wheel and driven pulley couples situation.

Figure 33 to Figure 37 is the schematic diagram for the draw bail for showing the medicine equipment that the eighth embodiment of the present invention is related to.Tool Body is, Figure 33 is the stereogram of surgery instrument 5, and Figure 34 is the stereogram of sterile adapter 10, Figure 35 be surgery instrument 5 with The side view of the bonding state of sterile adapter 10, Figure 36 is the front view of surgery instrument 5 and the bonding state of sterile adapter 10, Figure 37 is the sectional view of Figure 36 line C-C.Reference picture 33 shows surgery instrument 5, sterile adapter 10, first to Figure 37 Flexible element 11, guiding groove 16, apparatus guide portion 19, block 29, guide protrusion 59, pilot pin 61.Main explanation is implemented with described The difference of example.

There is provided can not only consolidate easily to dismount with reference to runner and user in runner draw bail for the present embodiment The structure of runner.That is, the present embodiment has following features, i.e. set on the direct of travel of medicine equipment for being attached with runner Guide device and block, stably move and combine runner, using Flexible element so as to reality during dismounting so as to convenient Existing a variety of dismounting directions.Here, the state that surgery instrument 5 is combined with sterile adapter 10 is illustrated, but the present embodiment also may be used The feelings combined with the situation and/or surgery instrument 5 that are combined suitable for sterile adapter 10 with devices hold 3 with devices hold 3 Condition.

The pilot pin 59 of surgery instrument 5 is moved along the guiding groove 16 formed in the inner side of apparatus guide portion 19, so as to turn Wheel is bonded to each other.Reference picture 35, surgery instrument 5 is housed in the state of guiding groove 16 with pilot pin 59 and moved to B opposite direction Move and combined with sterile adapter 10.Now, when the runner of surgery instrument 5 is matched with the runner of sterile adapter 10, block 29 play the barrier effect for preventing surgery instrument 5 from being moved to B directions.

When dismounting surgery instrument 5, user can utilize two step disassembly and assembly structures, i.e. make surgery instrument 5 to A side Moved again to B directions after to movement.That is, it is housed in the pilot pin 59 of surgery instrument 5 in the state of guiding groove 16, to A Direction move surgery instrument 5 so that surgery instrument 5 depart from block 29, combined backward with pilot pin 59 along guiding groove 16 When direct of travel it is opposite direction movement, so as to which surgery instrument 5 is separated from sterile adapter 10.

Reference picture 37, apparatus guide portion 19 is combined by the first Flexible element 11 with the body of sterile adapter 10, device Tool guide portion 19 can be moved to the opposite direction in A directions again when being moved to A directions from the first Flexible element 11 by elastic force. This, the first Flexible element 11 can be spring.

In addition, according to the present embodiment, block 29 can be combined by the second Flexible element with the body of sterile adapter 10. When to the application elastic force of block 29, block 29 is pressed, the second Flexible element, which is assigned, makes the power that it returns to original state.That is, Opposite direction from surgery instrument 5 to B directions move when, block 29 is pressed, and surgery instrument 5 reach runner matched position When, block 29 resets to prevent surgery instrument 5 from moving to B directions.In addition, user can pin block 29 in this condition And surgery instrument 5 is moved to B directions, so that surgery instrument 5 be separated from sterile adapter 10.

Figure 38 to Figure 41 is the schematic diagram for the draw bail for showing the medicine equipment that the ninth embodiment of the present invention is related to.Tool Body is that Figure 38 is the stereogram of surgery instrument 5 and the bonding state of sterile adapter 10, and Figure 39 is the vertical of surgery instrument 5 Body figure, Figure 40 is the front view of sterile adapter 10, and Figure 41 is the sectional view of Figure 40 line C-C.Reference picture 38 is shown to Figure 41 Surgery instrument 5, sterile adapter 10, release lever 13, apparatus guide portion 19, the second runner 24, pushing unit 26, block 29th, projection 33, the second driving wheel 50, pilot pin 61, contact 63.Mainly illustrate the difference with the embodiment below.

The present embodiment can easily dismount the structure of runner there is provided user in runner draw bail using bar.I.e., originally Embodiment can promote apparatus guide portion 19 using release lever 13 when dismounting runner so that pilot pin 59 departs from guiding groove 16, so that Surgery instrument 5 is easily separated from from sterile adapter 10.

Reference picture 39, release lever 13 is attached on surgery instrument 5, and the other end is protruded when user presses.Here, release The other end of bar 13 is properly termed as pushing unit 26.Reference picture 38, when pressing release lever 13, pushing unit 26 can be with pusher Tool guide portion 19, makes apparatus guide portion 19 be rotated centered on A axles.When apparatus guide portion 19 rotates, the pilot pin 59 departs from Guiding groove 16, therefore user can be such that surgery instrument 5 is moved to the unrelated direction in direction that formed with guiding groove 16, so that It is separated from sterile adapter 10.

Reference picture 41, the contact 63 and resistance R3 formation in a side of sterile adapter 10, when surgery instrument 5 with When movable state is connected in sterile adapter 10, available for detecting its connection situation.That is, surgery instrument 5 is connected in During sterile adapter 10, contact 63 is electrically coupled with the contact 64, with reference to test section 65 can by measure change resistance value come Detect the combination situation of each medicine equipment.

Now, as described above, can also be adapted to using the Flexible element operation apparatus 5 of block 29 and second with sterile The separation and combination of device 10.That is, as described above, opposite direction from surgery instrument 5 to B directions move when, block 29 is pressed, and When surgery instrument 5 reaches the matched position of runner, block 29 is resetted to prevent surgery instrument 5 from being moved to B directions, in the shape User pins block 29 and moves surgery instrument 5 to B directions under state, so that by surgery instrument 5 from sterile adapter 10 Upper separation.

It is illustrated above in relation to the preferred embodiments of the present invention, although it will be appreciated that for skill belonging to the present invention For the those of ordinary skill in art field, without departing from the thought of the invention and the scope in field described in claims Interior, the present invention can carry out numerous variations and deformation.

Claims

1. a kind of runner draw bail, for being connected in the devices hold formed on the robotic arm of operating robot with being arranged on institute The surgery instrument on devices hold is stated, it includes：

Body；

Driving wheel, is elastically supported on the body, and forms in one side the groove of oriented direction extension；

Driven pulley, is formed with the projection corresponding to groove when being matched with the driving wheel；

Guidance unit, is formed on the body, when the driven pulley to one to it is mobile when make it is described it is raised along One is to alignment.

2. runner draw bail according to claim 1, it is characterised in that

The guidance unit is protrudedly formed on the body for exposing the driving wheel, and with width along it is described from The funnel shaped that the moving direction of driving wheel narrows.

3. runner draw bail according to claim 1, it is characterised in that

The projection extends to be formed in a part for the driven pulley, when the driven pulley to one to it is mobile when, institute Projection is stated by the eccentric rotational force from the guidance unit.

4. runner draw bail according to claim 1, it is characterised in that also include：

Magnet, is arranged by prescribed direction, and abuts knot with the projection on the face that the driven pulley and the driving wheel are matched Close；

Magnetic sensor, alignment condition is detected by detecting the orientation of the magnet.

5. runner draw bail according to claim 4, it is characterised in that

As different from the driven pulley and the another side in the face of driving wheel matching, being formed with and prolonging with the projection It is in the second groove that predetermined angular extends to stretch direction.

6. runner draw bail according to claim 5, it is characterised in that also include：

On the another side of the driven pulley the second magnet for combining and being arranged along prescribed direction is abutted with second groove.

7. runner draw bail according to claim 1, it is characterised in that

The guidance unit is that prominent formation is multiple pin-shaped on the body for exposing the driving wheel.

8. runner draw bail according to claim 7, it is characterised in that

The projection extends to be formed in a part for the driven pulley, when the driven pulley to one to it is mobile when, institute Projection is stated by the eccentric rotational force from the guidance unit, so that the projection passes through the multiple pin-shaped guiding list Between member.

9. a kind of devices hold, is applicable the runner draw bail any one of claim 1 to 8, the devices hold shape Into on surgical machine arm, and include driving wheel.

10. a kind of surgery instrument, is applicable the runner draw bail any one of claim 1 to 8, the operation device Tool is arranged on devices hold, and includes driven pulley.