CN102630154B - Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument - Google Patents

Abstract

Disclosed is a sterile adapter. The sterile adapter is interposed between an instrument holder formed at a surgical robot arm and a surgical instrument mounted on the instrument holder, wherein the sterile adapter comprises: a body portion comprising a first surface facing the instrument holder, and a second surface facing the surgical instrument; a first wheel which is elastically supported in the body portion, is exposed to the first surface, and is fitted to a first drive wheel formed at the instrument holder; and a second wheel which is elastically supported in the body portion, is exposed to the second surface, and is fitted to a second drive wheel formed at the instrument.; An elastic structure is applied to the sterile adapter to allow the wheels formed in the sterile adapter to be pushed in both directions, thereby enabling the easy and convenient mounting of a surgical instrument on a robot arm without applying a separate elastic structure to the instrument holder or the instrument.

Description

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

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 and uses medical apparatus and instruments to cut, cut or operate skin, mucosa or other tissue and cure the behavior of disease.Particularly, cutting operation area skin and its internal etc. is treated, the laparotomy ventrotomy etc. of shaping or excision, due to the problem such as hemorrhage, side effect, patient suffering, cicatrix, use the operation of robot (robot) to enjoy great popularity recently.

For the operating robot in robotic surgery, form by main robot (master) portion with from robot (slave) portion, this main robot portion generates signal according to the operation of doctor and transmits, should receive the signal of autonomous robot and the operation needed for patient is performed the operation from robot, main robot portion and can realizing with a comprehensive robot form from portion of robot, or formed with self-contained unit respectively and be configured in operating room.

Operating robot has the robotic arm of the various actions for performing operation, is formed with the devices hold for installing surgery instrument (instrument) in the leading section of robotic arm.In order to install surgery instrument on robotic arm, by devices hold in conjunction with sterile adapter (sterile adapter), and the shell of surgery instrument to be embedded in sterile adapter, thus surgery instrument is arranged on robotic arm.

Driving force devices hold is formed for being generated by robot passes to the driving wheel of surgery instrument, and the driving wheel be also formed on surgery instrument for receiving driving force, sterile adapter is formed the runner mated with the driving wheel formed on devices hold and the driving wheel that formed on surgery instrument respectively.

These rotaring wheel structures install sterile adapter with matching each other on devices hold, and surgery instrument is installed in sterile adapter, the driving force that then robot generates passes to surgery instrument by sterile adapter, and driving force is passed to the steel wire that the driving wheel of surgery instrument connects the executor (Effector) be combined with the terminal part of surgery instrument, thus executor runs, to realize the various operations of performing the operation.

Like this, get involved between the surgery instrument that operating robot and its are installed and have sterile adapter, sterile adapter achieves connection (coupling) structure of robotic arm and surgery instrument.

But, the rotaring wheel structure be formed in existing sterile adapter is without any elastic structure, therefore there is following limitation, in order to sterile adapter is arranged on robotic arm, need the driving wheel that formed on devices hold uses spring pressurization formula elastic construction.

In addition, the rotaring wheel structure that existing robotic arm, sterile adapter and surgery instrument are formed, imperfect for detecting its structure of whether aliging in order to Accurate align runner, and for detected by various method whether align and align after transmit power needed for running structure also have limitation.

Above-mentioned background technology be inventor in order to derive the present invention and hold or deriving the technical information acquired in process of the present invention, not necessarily before the present patent application disclosed in general public known technology.

Summary of the invention

Technical problem

The invention provides a kind of sterile adapter easily can installing surgery instrument on robotic arm.

Whether the object of the invention is to provide a kind of and utilizes electricity, magnetic, mechanical property to detect runner to align, and for the runner draw bail of Accurate align and the draw bail of the armarium that utilizes this draw bail detection armarium whether to combine.

Technical problem except the problem that the present invention proposes can by explanation easy to understand below.

Problem-solving approach

According to an embodiment of the present invention, a kind of sterile adapter (sterile adapter) is provided, be arranged between the devices hold be formed on surgical machine arm and the surgery instrument be arranged on devices hold, it comprises: main part, has the first surface opposed with devices hold and opposed with surgery instrument second; First runner, is elastically supported on main part, and exposes from first surface, and mates with the first driving wheel be formed on devices hold; Second runner, is elastically supported on main part, and shows out from second, and mates with the second driving wheel be formed on surgery instrument.

First driving wheel is equipped with the first projection (or formation first groove that caves in), first runner is formed first groove (or be equipped with first groove corresponding first projection) corresponding with the first projection, when sterile adapter is arranged on that on devices hold, the first projection is not inserted in the first groove, the first runner is by the first projection pushing thus sink from first surface.Now, along with the rotation of the first driving wheel, the first projection to be inserted in the first groove and the first runner by spring return to original position, thus the first runner is mated with the first driving wheel.

Second runner is equipped with the second projection (or formation second groove that caves in), second driving wheel is formed second groove (or be equipped with second groove corresponding second projection) corresponding with the second projection, when surgery instrument being arranged in sterile adapter, the second projection is not inserted in the second groove, the second runner is by the second projection pushing thus sink from second.Now, along with the rotation of the second runner, the second projection to be inserted in the second groove and the second runner by spring return to original position, thus the second runner is mated with the second driving wheel.

Main part can comprise: the first sheet material, corresponding to first surface; Second sheet material, corresponding to second, and can be incorporated into the first sheet material from the first sheet material separation or close mode.

Guide rail (guide rail) can be equipped with, for specifying the mobile route of surgery instrument, to install surgery instrument in sliding manner on the both sides of the second sheet material.On the end of surgery instrument, aligned recesses can be formed with caving in, and on an end of the second sheet material, be equipped with alignment protrusion, to mate with aligned recesses thus to make surgery instrument be aligned in assigned position.Block (stopper) can be equipped with, so that the mounted surgery instrument of restriction moves to the opposite direction of its installation direction on the other end of the second sheet material.

Second sheet material is installed surgery instrument from the state that the first sheet material is separated, makes the second sheet material close to the first sheet material afterwards and the second runner is given prominence to from the second sheet material, thus the second runner can be made to mate with the second driving wheel.

Second sheet material is equipped with the fixed projection towards first surface, the first sheet material is equipped with the through hole for accommodating fixed projection, along with the first sheet material and the second sheet material closer to each other, fixed projection can through through hole and from first surface give prominence to.

Surgical machine arm is covered by aseptic curtain (sterile drape), and aseptic curtain can be equipped with opening, and this opening is corresponding to the position of the sterile adapter be arranged on devices hold.By being arranged on devices hold by sterile adapter, the fixed projection given prominence to from first surface can be exerted pressure to the peripheral part of opening, thus makes aseptic curtain be close to devices hold.The periphery of devices hold is attached with encapsulant accordingly with the peripheral part of opening, and the fixed projection that encapsulant can be highlighted is exerted pressure and deforms.

The adhesive portion for adhering to sterile adapter can be formed on the peripheral part of opening, the labelling of the attachment position representing sterile adapter can also be indicated.

In addition, according to another embodiment of the present invention, a kind of sterile adapter is provided, be arranged at devices hold and be arranged on devices hold and between the surgery instrument with the first contact for carrying out electrosurgical (Electrosurgery), it comprises: main part, for installing surgery instrument; Second contact, is connected to provide power supply to surgery instrument with the first contact.

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

According to another embodiment of the present invention, a kind of runner draw bail is provided, for being connected in the devices hold that the robotic arm of operating robot is formed and the surgery instrument be arranged on devices hold, it comprises: driving wheel, receives driving force and drive from surgical machine knee-joint; Driven pulley, mates with driving wheel; Matching detection portion, is combined with driving wheel or driven pulley, and the Electrical change occurred during by detecting driving wheel and mating with driven pulley detects match condition.

At this, matching detection portion can comprise: light source; Change unit, make to change from the light of light source injection; Optical detecting unit, detects when driving wheel mates with driven pulley by changing the light that unit changes.

At this, driving wheel can have multiple first contact, and driven pulley has multiple second contacts being connected with the first contact when mating with driving wheel and being connected with regulation resistance therebetween, matching detection portion can be connected with the first contact, and resistance value when mating with driven pulley by measuring driving wheel detects match condition.

In addition, driven pulley can comprise: the first driven pulley, has multiple second contact, and this second contact is connected with the first contact when mating in one side with driving wheel and is connected with the first resistance therebetween; Second driven pulley, is combined with the another side of the first driven pulley, has multiple 3rd contacts be connected with the second contact; 3rd driven pulley, has multiple 4th contact, and the 4th contact is connected with the 3rd contact when mating in one side with the second driven pulley and is connected with the second resistance therebetween.

At this, match condition can detect by the combined resistance value of detection first resistance and the second resistance in matching detection portion, can be equipped with projection on the drive wheel, and be formed with the groove corresponding with projection on the driven wheel, first contact is formed in projection, and the second contact is formed in a groove.

In addition, driving wheel is formed by conductor, and projection can comprise: the first projection, is connected with conductor; Second projection, with conductor insulation.

In addition, can be formed with groove on the drive wheel, and be equipped with the projection corresponding to groove on the driven wheel, the first contact is formed in a groove, and the second contact is formed in projection.

At this, driven pulley is formed by conductor, and projection can comprise: the first projection, is connected with conductor; Second projection, with conductor insulation.

According to another embodiment of the present invention, a kind of runner draw bail is provided, for being connected in the devices hold that the robotic arm of operating robot is formed and the surgery instrument be arranged on devices hold, it also comprises: driving wheel, receive driving force and driving from surgical machine knee-joint, one side is formed multiple first concavo-convex; Driven pulley, has multiple second concavo-convex, when mating with driving wheel this second concavo-convex be incorporated into accordingly first concavo-convex; Magnet, is combined with the side of driven pulley, and by prescribed direction arrangement; Magnetic sensor, by detecting the orientation of Magnet thus detecting alignment condition.

Memory element can also be comprised in the present embodiment, be combined with the side of driven pulley, for storing the arrangement error information of Magnet, memory element can be RFID(radio frequency recognizing electronic label), in addition, can also comprise the rfid interrogator received from the magnet array control information of RFID in the present embodiment, operating robot can with reference to arrangement error Information revision error when operation apparatus.

At this, first concavo-convex and second concavo-convex can be the concavo-convex of fan-shaped, or first concavo-convex and second concavo-convex can be arbitrary shape in cone, elliptical cone and pyramid, now, first concavo-convex and the second concavo-convex bottom surface is connected to adjacent concavo-convex bottom surface, when driving wheel mates with driven pulley, driving wheel or driven pulley with the normal of one side for axle rotates so that first concavo-convex be inserted into second concavo-convex in.

In addition, magnetic sensor can lay respectively at the concavo-convex adjoining position with first, and the quantity of magnetic sensor is identical with the first concavo-convex concavo-convex quantity or differ and be less than or equal to 2, Magnet be positioned at second concavo-convex on, the quantity of Magnet is less than the quantity of magnetic sensor.

According to another embodiment of the present invention, provide a kind of runner draw bail, for being connected in the devices hold that the robotic arm of operating robot is formed and the surgery instrument be arranged on devices hold, it comprises: body; Driving wheel, is elastically supported on body, and in one side, be formed with the groove extended to a direction; Driven pulley, is formed with the projection corresponding to groove when mating with driving wheel; Guidance unit, is formed on body, raised along a direction alignment for making when driven pulley moves to a direction.

At this, guidance unit can be formed in highlightedly and expose on the body of driving wheel, and has the funnel shaped that width narrows accordingly with the moving direction of driven pulley.

In addition, projection can extend to form in a part for driven pulley, and when driven pulley moves to a direction, projection is subject to the eccentric rotational force from guidance unit.

In addition, can also comprise in the present embodiment: Magnet, by prescribed direction arrangement, and combine with projection is adjacent on the face of driven pulley and driving wheel coupling; Magnetic sensor, by detecting the orientation of Magnet, thus detects alignment condition.

At this, as be different from driven pulley and driving wheel coupling face another side on, can be formed with the bearing of trend of projection is the second groove that predetermined angular extends, and the another side that can also be included in driven pulley adjoins with the second groove and combines and the second Magnet arranged along prescribed direction.

According to another embodiment of the present invention, guidance unit can be the multiple pin-shaped of outstanding formation on the body exposing driving wheel, projection extends to form in a part for driven pulley, when driven pulley moves to a direction, projection can be subject to the eccentric rotational force from guidance unit, so that projection is through multiple pin-shaped guidance unit.

According to another embodiment of the present invention, can providing package containing the devices hold of driving wheel, be suitable for described runner draw bail, and be formed on surgical machine arm; Can providing package containing the surgery instrument of driven pulley, be suitable for described runner draw bail, and be arranged on devices hold.

In addition, according to another embodiment of the present invention, provide a kind of sterile adapter, be suitable for described runner draw bail, it comprises: main part, has the first surface opposed with devices hold and opposed with surgery instrument second; First runner, is elastically supported on main part, and exposes from first surface, and mates with the driving wheel be formed on devices hold; Second runner, is elastically supported on main part, and shows out from second, and mates with the driven pulley be formed on surgery instrument.

According to another embodiment of the present invention, a kind of draw bail of armarium is provided, it comprises in conjunction with test section, by test adaptor and surgery instrument in conjunction with time the Electrical change that occurs, detection is in conjunction with situation, and this adapter is arranged at the devices hold that formed on described robotic arm and is arranged between the surgery instrument on devices hold.

Can comprise in conjunction with test section: light source; Change unit, make to change from the light of light source injection; Optical detecting unit, for test adaptor and surgery instrument in conjunction with time by changing the light that unit changes.

In addition, adapter can have multiple 3rd contact, and surgery instrument has multiple 4th contact, and the 4th contact is being connected with the 3rd contact with during adapter combination and being connected with regulation resistance therebetween.

At this, be connected with the 3rd contact in conjunction with test section, by measure adapter and surgery instrument in conjunction with time resistance value detect in conjunction with situation.

In addition, devices hold can be formed multiple first contacts be connected with in conjunction with test section, the one side of adapter is formed multiple second contact, this second contact with devices hold in conjunction with time to be connected with the first contact and to be connected with the first resistance therebetween, and the another side of the adapter be combined with surgery instrument is formed with multiple 3rd contacts be connected with the second contact, and in the one side of surgery instrument, be formed with multiple 4th contact, the 4th contact with the another side of adapter in conjunction with time to be connected with the 3rd contact and to be connected with the second resistance therebetween.

In addition, be combined with devices hold in conjunction with test section, and be connected with the 3rd contact by the first contact and the second contact, detect in conjunction with situation by the combined resistance value detecting the first resistance and the second resistance in conjunction with test section.

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

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

In addition, according to another embodiment of the present invention, provide a kind of runner draw bail, for being connected in the devices hold that the robotic arm of operating robot is formed and the surgery instrument be arranged on devices hold, it comprises: body; Driving wheel, is elastically supported on described body, and in one side, be formed with the groove extended to a direction; Driven pulley, is formed with the projection corresponding to groove when mating with described driving wheel; Apparatus guide portion, is combined with described body, and is accommodated in the guide protrusion that described surgery instrument is formed, and moves to specific direct of travel for guiding described surgery instrument; First Flexible element, is combined between described body and described apparatus guide portion.

Can also guidance unit be comprised in the present embodiment, be formed on described body, when described driven pulley is to one to time mobile, make described projection along one to alignment; Also comprising block, be combined with described body, stopping avoiding moving to described direct of travel for making described surgery instrument; When described surgery instrument overcomes the elastic force of described first Flexible element and moves to the direction different from described direct of travel, described surgery instrument may depart from described block.

In addition, the second Flexible element can also be comprised in the present embodiment, be combined between described block and described body, when making described surgery instrument move to described direct of travel to make described driven pulley mate with described driving wheel, described block is in the state pressed by described surgery instrument, and when described driven pulley mates with described driving wheel, the position of described block can be resetted by described second Flexible element.

According to another embodiment of the present invention, provide a kind of runner draw bail, for connecting the devices hold be formed on the robotic arm of operating robot and the surgery instrument be arranged on devices hold, it comprises: body; Driving wheel, is elastically supported on described body, and in one side, be formed with the groove extended to a direction; Driven pulley, is formed with the projection corresponding to described groove when mating with described driving wheel; Apparatus guide portion, is combined with described body, and is accommodated in the guide protrusion that described surgery instrument is formed, and moves to specific direct of travel for guiding described surgery instrument; Release lever, is combined with described surgery instrument, for promoting described apparatus guide portion to make described surgery instrument depart from from described apparatus guide portion.

At this, described apparatus guide portion is rotatably combined on described body.

In addition, also comprising in the present embodiment: block, be combined with described body, stopping avoiding moving to described direct of travel for making described surgery instrument; Second Flexible element, is combined between described block and described body; When making described surgery instrument move to described direct of travel to make described driven pulley mate with described driving wheel, described block is in the state pressed by described surgery instrument, and when described driven pulley mates with described driving wheel, the position of described block can be resetted by described second Flexible element.

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

Beneficial effect

According to embodiments of the invention, owing to being suitable for elastic construction in sterile adapter, the runner be formed in sterile adapter can be made to be pressed two-way, therefore need not use independent elastic construction on devices hold or surgery instrument, also can be arranged on convenient and simple for surgery instrument on robotic arm.

In addition, the runner draw bail that embodiments of the invention relate to and the draw bail of surgery instrument, can utilize electricity, magnetic, mechanical property etc. detect runner and each equipment alignment and in conjunction with situation, thus can Accurate align and coupling runner, runner can be corrected during connection and rotate the error caused, and utilize a sensor to detect the alignment condition of multiple runner, thus there is the effect reducing volume and cost, there is the effect that can improve accuracy of detection.

Accompanying drawing explanation

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

Fig. 2 represents that sterile adapter that embodiments of the invention relate to is installed in the schematic diagram of the state on devices hold.

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

Fig. 4 represents that surgery instrument that embodiments of the invention relate to is installed in the schematic diagram of the state in sterile adapter.

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

Fig. 6 is the axonometric chart representing the sterile adapter that embodiments of the invention relate to.

Fig. 7 represents the front view sterile adapter that relates at embodiments of the invention being installed the state of surgery instrument.

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

Fig. 9 represents the sectional view sterile adapter that relates at embodiments of the invention being installed the state of surgery instrument.

Figure 10 is the sectional view representing the sterile adapter that embodiments of the invention relate to.

Figure 11 represents that sterile adapter that embodiments of the invention relate to is installed in the side view of the state on devices hold by opening.

Figure 12 represents that sterile adapter that embodiments of the invention relate to is attached to the schematic diagram of the state on aseptic curtain.

Figure 13 represents the axonometric chart sterile adapter that relates at embodiments of the invention being installed the state of surgery instrument.

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

Figure 15 represents that sterile adapter that embodiments of the invention relate to is installed in the schematic diagram of the state on devices hold.

Figure 16 is the sectional view of Figure 15 ' A '.

Figure 17 represents that surgery instrument that embodiments of the invention relate to is installed in the schematic diagram of the state in sterile adapter.

Figure 18 is the sectional view of Figure 17 ' B '.

Figure 19 is the schematic diagram detecting the runner draw bail of alignment condition according to electrical characteristics illustrating that the first embodiment of the present invention relates to.

Figure 20 is the schematic diagram detecting the runner state of insulation of alignment condition according to electrical characteristics illustrating that the first embodiment of the present invention relates to.

Figure 21 is the schematic diagram detecting the runner draw bail of alignment condition according to magnetic characteristic illustrating that the second embodiment of the present invention relates to.

Figure 22 and Figure 23 is the schematic diagram detecting the runner draw bail of alignment condition according to magnetic characteristic illustrating that the third embodiment of the present invention relates to.

Figure 24 is the axonometric chart that the runner draw bail according to mechanical property alignment runner that the fourth embodiment of the present invention relates to is shown.

Figure 25 is the front view that the runner draw bail according to mechanical property alignment runner that the fourth embodiment of the present invention relates to is shown.

Figure 26 is the schematic diagram of principle according to mechanical property alignment runner related to for illustration of the fourth embodiment of the present invention.

Figure 27 is the schematic diagram detecting the runner draw bail of alignment according to magnetic characteristic illustrating that the fifth embodiment of the present invention relates to.

Figure 28 is the axonometric chart detecting the runner draw bail of alignment according to magnetic characteristic illustrating that the fifth embodiment of the present invention relates to.

Figure 29 is the side view that the runner draw bail according to mechanical property alignment runner that the sixth embodiment of the present invention relates to is shown.

Figure 30 is the top view that the runner draw bail according to mechanical property alignment runner that the sixth embodiment of the present invention relates to is shown.

Figure 31 is the sectional view that the runner draw bail according to mechanical property alignment runner that the sixth embodiment of the present invention relates to is shown.

Figure 32 be illustrate that the seventh embodiment of the present invention relates to detect schematic diagram in conjunction with the draw bail of the armarium of situation according to electrical characteristics.

Figure 33 to Figure 37 is the schematic diagram of the draw bail that the armarium that the eighth embodiment of the present invention relates to is shown.

Figure 38 to Figure 41 is the schematic diagram of the draw bail that the armarium that the ninth embodiment of the present invention relates to is shown.

Detailed description of the invention

The present invention can carry out multiple change, can have various embodiments, illustrates specific embodiment and is described in detail.But this is not limit the invention to concrete embodiment, and should be understood to comprise all conversion be contained in thought of the present invention and technical scope, equivalent and substitute.The detailed description of related known technology may obscure order of the present invention when illustrating of the present invention, omit this detailed description.

Can use such as the term such as " first ", " second " to describe various element, but described element does not limit by described term.Described term is only for being undertaken dividing into object by an element and another element.

The term used in the application, only for describing specific embodiment, is not intended to limit the present invention.Odd number represents and comprises complex representation, unless clearly represented in article.In the application, such as " comprise " and the term such as " having " be intended to represent exist adopt in the description of description feature, sequence number, step, operation, element, assembly or its combination, and do not get rid of the probability that there is or increase one or more different feature, numbering, step, operation, element, assembly or its combination.

Below, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when being described with reference to accompanying drawing, identical or corresponding element imparts same-sign, omits the repeat specification to it.

Fig. 1 is the exploded perspective view representing the sterile adapter that embodiments of the invention relate to.With reference to Fig. 1, show robotic arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first surface 14, second face 17, first driving wheel 30, first runner 20, second runner 24, second driving wheel 50.

The present embodiment in order to the runner be arranged in sterile adapter to two-way, namely to the direction be combined with devices hold and the direction elastic bearing be combined with surgery instrument, and add elastomer, therefore devices hold or surgery instrument need not use independent elastic construction also surgery instrument can be arranged on devices hold.

That is, spring etc. is set on devices hold from existing to give elastic structure to driving wheel different, the sterile adapter for being combined in by surgery instrument on devices hold imparts elasticity.

The sterile adapter 10 that the present invention relates to, devices hold 3 is installed in the process of surgery instrument 5, it is arranged between devices hold 3 and surgery instrument 5, utilizes sterile adapter 10 that surgery instrument 5 is combined in devices hold 3.

The sterile adapter 10 that the present embodiment relates to is by being that benchmark is formed to the first two-face exposed runner 20 and the second runner 24 with main part 12, and the first runner 20 and the second runner 24 are respectively by main part 12 elastic bearing.Namely, using the face opposed with devices hold 3 of main part 12 as first surface 14, and the face opposed with surgery instrument 5 as the second face 17 time, first runner 20 exposes from first surface 14, second runner 24 exposes from the second face 17, thus, first, second runner 20,24 main body 12 is two-face exposed.

On the other hand, the first runner 20 and the second runner 24 are combined with main part 12 respectively by the elastomers such as spring (' E ' of Fig. 1), and therefore, first, second runner 20,24 is caved in by external force, when remove external force time by spring return to original position.That is, while the first runner 20 and the second runner 24 are connected to each other and together rotate, be combined with main part 12 by spring etc., thus apply elastic force to the direction of exert pressure respectively the first runner 20 and the second runner 24.

When the sterile adapter 10 related to by the present embodiment is arranged on devices hold 3, first surface 14 is connected to devices hold 3, and mates from the first runner 20 that first surface 14 exposes with the first driving wheel 30 formed at devices hold 3.

In addition, when installing surgery instrument 5 in sterile adapter 10, the second face 17 is connected to surgery instrument 5, and the second runner 24 exposed from the second face 17 mates with the second driving wheel 50 formed at surgery instrument 5.Below, the mode that the sterile adapter 10 that detailed description the present embodiment relates to is combined with devices hold 3 and surgery instrument 5.

Fig. 2 represents that sterile adapter that embodiments of the invention relate to is installed in the schematic diagram of the state on devices hold, Fig. 3 is the sectional view of Fig. 2 ' A ', Fig. 4 represents that surgery instrument that embodiments of the invention relate to is installed in the schematic diagram of the state in sterile adapter, and Fig. 5 is the sectional view of Fig. 4 ' B '.With reference to Fig. 2 to Fig. 5, show devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first surface 14, second face 17, first driving wheel 30, projection 32,33, first runner 20, groove 22,23, second runner 24, second driving wheel 50.

First, observe the combination between sterile adapter 10 and devices hold 3, then the first driving wheel 30 formed on devices hold 3 is equipped with projection 32, and the first runner 20 opposed with the first driving wheel 30 is formed with the groove 22 that can insert projection 32.

By sterile adapter 10 is arranged on devices hold 3, first driving wheel 30 and the first runner 20 against each other, when now projection 32 is inserted in groove 22, the first driving wheel 30 mates with the first runner 20, but when projection 32 is not inserted in groove 22, projection 32 pushes the first runner 20.As mentioned above, because the first runner 20 is elastically supported in sterile adapter 10, so when projection 32 pushes the first runner 20, as shown in a of Fig. 3, the first runner 20 is depressed from the surface (first surface 14) of sterile adapter 10.

Like this because projection 32 first runner 20 is by under the state of caving in, left rotation and right rotation first driving wheel 30, then projection 32 is inserted in groove 22 somewhere, removes projection 32 thus to the pressurized state of the first runner 20.Like this, along with the external force from projection 32 is removed, as shown in the b of Fig. 3, the first runner 20 is because spring return is to original position, thus the first runner 20 mates with the first driving wheel 30.

Like this, when the first runner 20 rotates the first driving wheel 30 under mating the state on the first driving wheel 30, the driving force that robot generates with its linkage rotation, thus is passed to the first runner 20 by the first driving wheel 30 by the first runner 20.

Secondly, observe the combination between sterile adapter 10 and operation surgery instrument 5, the second runner 24 is equipped with projection 33, and is formed with the groove 23 that can insert projection 33 on the second driving wheel 50 opposed with the second runner 24.

By surgery instrument 5 is arranged in sterile adapter 10, second driving wheel 50 and the second runner 24 against each other, if when now projection 33 is inserted in groove 23, second driving wheel 50 and the second runner 24 match each other, when but if projection 33 is not inserted in groove 23, second driving wheel 50 pushes protrusion 33, the second runner 24 is also pushed thus.As mentioned above, because the second runner 24 is elastically supported in sterile adapter 10, so when projection 33 pushes the second runner 24, as shown in a of Fig. 5, the second runner 24 is depressed from the surface (the second face 17) of sterile adapter 10.

At the second runner 24 by under the state of caving in, left rotation and right rotation first driving wheel 30, the first runner 20 then mated with the first driving wheel 30 and the second runner 24 linkage rotation be connected with the first runner 20, generation projection 33 is inserted into the situation in groove 22 thus, thus the state that releasing the second runner 24 is pressed.Like this, along with the releasing of external force, as shown in the b of Fig. 5, the second runner 24 is because spring return is to original position, thus the second runner 24 mates with the second driving wheel 50.

Like this, when rotating the first driving wheel 30 under the state that the second driving wheel 50 mates with the second runner 24, the driving force that robot generates with its linkage rotation, thus is passed to the second driving wheel 50 by the first driving wheel 30, first runner 20 and the second runner 24 by the first runner 20, second runner 24 and the second driving wheel 50.

The executor that second driving wheel 50 can be combined with surgery instrument 5 terminal part by steel wire connects, as mentioned above, along with driving force is delivered to the second driving wheel 50 and the second driving wheel 50 rotates, by steel wire, driving force is passed to executor, thus executor is run.

At this, on the first runner 20 and the second driving wheel 50, groove 22,23 is formed and situation about matching each other is illustrated to forming projection 32,33 on the first driving wheel 30 and the second runner 24, but projection and groove might not be formed as above, also can form projection in either party of pair of turning wheels and on the opposing party, form groove, thus mutually mating.

Further, projection might not be formed on any one runner and the mode forming groove on another runner is mated, certainly can be suitable for the multiple frame for movement that pair of turning wheels can be made to match each other.

Fig. 6 is the axonometric chart representing the sterile adapter that embodiments of the invention relate to, Fig. 7 is the front view of the state representing installing apparatus in the sterile adapter that relates at embodiments of the invention, Fig. 8 is the sectional view of the C-C ' of Fig. 7, and Fig. 9 is the sectional view of the state representing installing apparatus in the sterile adapter that relates at embodiments of the invention.With reference to Fig. 6 to Fig. 9, show surgery instrument 5, sterile adapter 10, main part 12, first sheet material 15, second sheet material 18, second runner 24, groove 23, guide rail 126, aligned recesses 27, alignment protrusion 28, block 29, projection 33, second driving wheel 50.

The main part 12 of the sterile adapter 10 that the present embodiment relates to can be formed by being combined into separable from one another or close a pair sheet material 15,18.That is, main part 12 is by corresponding with first surface 14 and abut the first sheet material 15 of devices hold 3 and and second sheet material 18 that abuts surgery instrument 5 corresponding with the second face 17 is formed, and the first sheet material 15 and the second sheet material 18 can be combined into separated from one another or close.

Now, as shown in Figure 6, can arrange guide rail 126 in the both sides of the second sheet material 18, the guide rail 126 that the present embodiment relates to plays provides mobile route to make surgery instrument 5 be arranged on effect in sterile adapter 10 in sliding manner.

In order to make surgery instrument 5 along guide rail 126 slippage and be arranged in sterile adapter 10, as shown in Figure 8, the rail structure (' R ' with reference to Fig. 8) corresponding with guide rail 126 can be formed on the end face of surgery instrument 5.

On the other hand, when in sliding manner surgery instrument 5 being arranged in sterile adapter 10, in order to make surgery instrument 5 be arranged on tram in sterile adapter 10, the surgery instrument 5 that the present embodiment relates to can be formed with alignment (align) unit.That is, as shown in Figure 7, when the end of surgery instrument 5 is formed with aligned recesses 27 with caving in, an end of the second sheet material 18 also can be equipped with alignment protrusion 28, to mate with aligned recesses 27.

When surgery instrument 5 is arranged on by slippage in sterile adapter 10 as shown in Figure 7a, surgery instrument 5 is moved until alignment protrusion 28 is mated with aligned recesses 27 and is mounted, thus surgery instrument 5 can be aligned on tram.

The aligned recesses 27 that the present embodiment relates to and alignment protrusion 28 play the structure of alignment effect, to make surgery instrument 5 be arranged on preassigned position in sterile adapter 10, therefore need precision manufactureing to prevent from, between aligned recesses 27 and alignment protrusion 28, unnecessary interval occurs.

On the other hand, when being arranged in sterile adapter 10 to a direction (installation direction) slip surgery instrument 5 as above, come off to keep its installment state from sterile adapter 10 to prevent surgery instrument 5, namely, in order to the surgery instrument 5 that the limits installation opposite direction to installation direction moves, block 29 can be equipped with.

That is, the other end of the second sheet material 18 arranges block 29, and mobile surgery instrument 5 and be mounted to as after Fig. 7 b as shown in Figure 7a, block 29 is given prominence to, thus prevents surgery instrument 5 from coming off to opposite direction.

For this reason, the block 29 that the present embodiment relates to by supportings such as elastomers, not give prominence to from the second sheet material 18 in the process of installing surgery instrument 5, and can be given prominence to after installing surgery instrument 5, thus can fixing operation apparatus 5.As described below, block 29 also can be made to give prominence to from the second sheet material 18 close to the first sheet material 15 along with the second sheet material 18.

On the other hand, as mentioned above, can on the second runner 24, project projection 33 and on the second driving wheel 50, form groove 23 thus the second driving wheel 50 is mated with the second runner 24, when but surgery instrument 5 is arranged on by slippage in sterile adapter 10, the movement of surgery instrument 5 may be disturbed from second outstanding projection 33, thus install to sliding type and bring difficulty.

Now, as shown in Figure 9, main part 12 is formed with separated from one another, close a pair sheet material 15,18, so also can install surgery instrument 5 in sliding manner under the state outstanding on the second runner 24 of projection 33.

Namely, as shown in a of Fig. 9, second sheet material 18 is separated from the first sheet material 15, and from the state that the surface of the second sheet material 18 is given prominence to, surgery instrument 5 is not installed, after installing surgery instrument 5, as shown in the b of Fig. 9 in the projection 33 of the second runner 24, press the second sheet material 18, that is, make the second sheet material 18 close to the first sheet material 15, thus projection 33 can be made to give prominence to from the surface of the second sheet material 18.Thus, surgery instrument 5 is arranged in sterile adapter 10, and the second runner 24 can mate with the second driving wheel 50.

On the other hand, press the second sheet material 18 when projection 33 is given prominence to from the second sheet material 18, if when projection 33 is not accurately inserted in groove 23, reference as described in Figure 5, because the second runner 24 is elastically supported in sterile adapter 10, thus the second driving wheel 50 pushes protrusion 33, second runner 24 be in can not and the state that be pushed outstanding from the second sheet material 18, but as mentioned above, can left rotation and right rotation second runner 24 and projection 33 is mated with groove 23 in this condition.

Figure 10 is the sectional view representing the sterile adapter that embodiments of the invention relate to, Figure 11 represents that sterile adapter that embodiments of the invention relate to is installed in the side view of the state on devices hold 3 by opening, and Figure 12 represents that sterile adapter that embodiments of the invention relate to is attached to the schematic diagram of the state on aseptic curtain.With reference to Figure 10 to Figure 12, show robotic arm 1, devices hold 3, surgery instrument 5, aseptic curtain 7, sterile adapter 10, main part 12, first surface 14, first sheet material 15, through hole 116, second face 17, second sheet material 18, fixed projection 119, first driving wheel 30, encapsulant 34, first runner 20, second runner 24, second driving wheel 50, opening 72, adhesive portion 74, labelling 76.

As mentioned above, the main part 12 of the sterile adapter 10 that the present embodiment relates to can be made up of a pair sheet material 15,18 that can separated from one another or closely combine, now, second sheet material 18 can be formed the fixed projection 119 projected to first surface 14, and on the first sheet material 15, be equipped with the through hole 116 for receiving fixed projection 119.

Namely, a pair sheet material 15,18 is formed with fixed projection 119 and through hole 116 respectively, as shown in Figure 10 a, under a pair sheet material 15,18 states separated from one another, fixed projection 119 is in the state be housed in through hole 116, as shown in the b of Figure 10, when a pair sheet material 15,18 closer to each other time, fixed projection 119 can through through hole 116 and giving prominence to from the surface (first surface 14) of main part 12.

Like this, main part 12 is made up of a pair sheet material 15,18, along with a pair sheet material 15,18 closer to each other make fixed projection 119 outstanding from the surface (first surface 14) of main part 12 time, sterile adapter is arranged on devices hold 3, and along with a pair sheet material 15,18 closer to each other, fixed projection 119 is given prominence to from the surface of sterile adapter 10, thus exerts pressure in the assigned position of fixed projection 119 pairs of devices holds 3.Fixed projection 119 outstanding like this plays the as described below effect be fixed on by aseptic curtain 7 on devices hold 3.

In robotic surgery process, operation robotic arm is covered by aseptic curtain (sterile drape), but the aseptic curtain 7 that relates to of the present embodiment can be equipped with opening 72.Opening 72 can be located in the position of the external device (ED) such as dismounting surgery instrument 5 grade on robotic arm, and the opening 72 that the present embodiment relates to can be located in devices hold 3 part, namely for sterile adapter 10 being arranged on the position on devices hold 3.

Be arranged on devices hold 3 by the sterile adapter 10 that the present embodiment is related to, fixed projection 119 is given prominence to from its surface (first surface 14), and when sterile adapter 10 being installed under the state that covered by aseptic curtain 7 of robotic arm 1, the peripheral part of fixed projection 119 to the opening 72 of aseptic curtain 7 of projection is exerted pressure, thus aseptic curtain 7 is closely fixed on devices hold 3.

In addition, with fixed projection 119 outstanding in sterile adapter 10 accordingly, the encapsulants such as rubber seal 34 are set at the periphery of devices hold 3, then just aseptic curtain 7 can be fixed on robotic arm 1 by means of only installation sterile adapter 10.

Namely, with the peripheral part of opening 72 accordingly when devices hold 3 and/or its periphery paste the encapsulant 34 that elastomeric material makes, fixed projection 119 projection is made by installing sterile adapter 10, and fixed projection 119 to the peripheral part of the opening 72 of aseptic curtain 7 and and the encapsulant 34 of its relative set pressurize, thus the fixed projection 119 that encapsulant 34 is highlighted pressurizes and sink.

So the opening 72 of aseptic curtain 7 is in be fixed projection 119 and encapsulant 34 of peripheral part and clamps and fixing state, and by installing sterile adapter 10, aseptic curtain 7 is fixed on robotic arm 1.

On the other hand, before the sterile adapter 10 related to by the present embodiment is arranged on devices hold 3, can first sterile adapter 10 be attached on the assigned position of aseptic curtain 7, such as above-mentioned opening 72 part, for this reason, the adhesive portion 74 such as paster (sticker) can be formed needing the part (peripheral part of opening 72) of adhering to sterile adapter 10, and around it, mark the labellings such as tetragon 76, thus indicate the position for adhering to sterile adapter 10 in advance.

When forming adhesive portion 74 and labelling 76 so in advance on aseptic curtain 7; tear the paster protecting film of aseptic curtain 7; the tetragon labelling that sterile adapter 10 alignd is attached on aseptic curtain 7, thus sterile adapter 10 accurately can be attached to preassigned position, namely be equipped with the position of opening 72.

In addition, under state sterile adapter 10 being attached to the assigned address of aseptic curtain 7, sterile adapter 10 is arranged on devices hold 3, thus aseptic curtain 7 can be fixed on robotic arm 1.

Figure 13 is the axonometric chart of the state representing installing apparatus in the sterile adapter that relates at embodiments of the invention.With reference to Figure 13, show surgery instrument 5, sterile adapter 10, main part 12, protuberance 113, contact 133,134.

The sterile adapter 10 of the present embodiment can be provided with the apparatus of electrosurgical (Electrosurgery) or there is the apparatus of electrosurgical function, now, needing the power supply being provided for electrosurgical to surgery instrument 5.

Namely, the surgery instrument 5 of contact 133 is formed with accordingly with in order to carry out electrosurgical, sterile adapter 10 is formed the contact 134 of power supply, in the process of installing surgery instrument 5, contact 133,134 is connected to each other, thus can powers to surgery instrument 5.

Such as, surgery instrument 5 can be arranged in the sterile adapter 10 that the present embodiment relates in sliding manner, now, in the end being mounted direction with surgery instrument 5 of main part, as shown in figure 13, be formed with protuberance 113, thus surgery instrument 5 can be installed.

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

Namely, under the state being connected to the contact 133 formed on the protuberance 113 of sterile adapter 10 to make the power supply provided by operation robot, surgery instrument 5 is installed thus makes to connect between contact 133,134, so power supply need not be connected separately and can provide the power supply needed for electrosurgical by means of only installation surgery instrument 5.

The quantity of contact can be made multiple according to the type of electrosurgical apparatus, and such as, the situation of one pole (monopolar) pattern can form a contact, and the situation of twin-stage (bipolar) pattern can form two contacts.

Figure 14 is the exploded perspective view representing the sterile adapter that embodiments of the invention relate to.With reference to Figure 14, show robotic arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first surface 14, second face 17, first driving wheel 30, first runner 20, second runner 24, second driving wheel 50.

The sterile adapter 10 that the present embodiment relates to, devices hold 3 is installed in the process of surgery instrument 5 and is arranged at therebetween, and surgery instrument 5 utilizes sterile adapter 10 to be combined with devices hold 3.

The sterile adapter 10 that the present embodiment relates to is by being that benchmark is formed to the first two-face exposed runner 20 and the second runner 24 with main part 12, and first, second runner 20,24 is elastically supported on main part 12 respectively.Namely, using the face opposed with devices hold 3 of main part 12 as first surface 14, when the face opposed with surgery instrument 5 is as the second face 17, the first runner 20 exposes from first surface, second runner 24 exposes from the second face 17, thus two-face exposed from main part 12 of first, second runner 20,24.

On the other hand, first runner 20 and the second runner 24 are combined with main part 12 respectively by the elastomers such as spring (' E ' of Figure 14), therefore, first, second runner 20,24 is caved in due to external force, when removing external force because spring return is to original position.That is, the first runner 20 and the second runner 24 are connected to each other and together rotate, and are combined with main part 12 by spring etc., and therefore the first runner 20 and the second runner are configured to be subject to elastic force to the direction of pushing mutually.

The sterile adapter 10 related to by the present embodiment is arranged on devices hold 3, then first surface 14 abuts devices hold 3, and the first runner 20 exposed from first surface 14 mates with the first driving wheel 30 be formed in devices hold 3.

In addition, sterile adapter 10 is installed surgery instrument 5, then the second face 17 abuts surgery instrument 5, and the second runner 24 exposed from the second face 17 mates with the second driving wheel 50 be formed in surgery instrument 5.Below, the mode that the sterile adapter 10 that detailed description the present embodiment relates to is combined with devices hold 3 and surgery instrument 5.

Figure 15 represents that sterile adapter that embodiments of the invention relate to is installed in the schematic diagram of the state on devices hold, Figure 16 is the sectional view of Figure 15 ' A ', Figure 17 represents that surgery instrument that embodiments of the invention relate to is installed in the schematic diagram of the state in sterile adapter, and Figure 18 is the sectional view of Figure 17 ' B '.With reference to Figure 15 to Figure 18, show devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first surface 14, second face 17, first driving wheel 30, projection 32,33, first runner 20, groove 22,23, second runner 24, second driving wheel 50.

Observe the combination between sterile adapter 10 and devices hold 3, the first driving wheel 30 that devices hold 3 is formed is equipped with projection 32, and first runner 20 opposed with the first driving wheel 30 is formed with the groove 22 that can insert projection 32.

By sterile adapter 10 is arranged on devices hold 3, first driving wheel 30 and the first runner 20 against each other, now projection 32 is inserted in groove 22, then the first driving wheel 30 mates with the first runner 20, but when projection 32 is not inserted in groove 22, projection 32 pushes the first runner 20.Because the first runner 20 is elastically supported in sterile adapter 10, so when projection 32 pushes the first runner 20, as illustrated in fig 16 a, the first runner 20 is pressed into from sterile adapter 10 surface (first surface 14).

Like this, the first runner 20 is because projection 32 is by under the state of caving in, and left rotation and right rotation first driving wheel 30, then projection 32 is inserted in groove 22, and the pressurized state of projection 32 to the first runner 20 is removed thus.Along with the releasing of the external force from projection 32, as shown in the b of Figure 16, the first runner 20 because spring return is to original position, thus makes the first runner 20 mate with the first driving wheel 30.

When rotating the first driving wheel 30 under the state of mating on the first driving wheel 30 making the first runner 20 like this, the driving force that robot generates with its linkage rotation, thus is passed to the first runner 20 by the first driving wheel 30 by the first runner 20.

Secondly, observe the combination between sterile adapter 10 and surgery instrument 5, the second runner 24 is equipped with projection 33, and is formed with the groove 23 that can insert projection 33 on the second driving wheel 50 opposed with the second runner 24.

By surgery instrument 5 is arranged in sterile adapter 10, second driving wheel 50 and the second runner 24 against each other, when now projection 33 is inserted in groove 23, second driving wheel 50 and the second runner 24 match each other, but when projection 33 is not inserted in groove 23, second driving wheel 50 pushes protrusion 33, causes the second runner 24 to be pushed.As mentioned above, because the second runner 24 is elastically supported in sterile adapter 10, so when projection 33 pushes the second runner 24, as shown in a of Fig. 5, the second runner 24 is pressed into from the surface (the second face 17) of sterile adapter 10.

At the second runner 24 by under the state of caving in, left rotation and right rotation first driving wheel 30, the first runner 20 then mated with the first driving wheel 30 and the second runner 24 linkage rotation be connected with the first runner 20, thus make projection 33 be inserted in groove 22, remove the state that the second runner 24 is pressed thus.Like this, along with the releasing of external force, as shown in the b of Figure 18, the second runner 24 is because spring return is to original position, thus the second runner 24 and the second driving wheel 50 match each other.

The first driving wheel 30 is rotated by under the state of mating at the second driving wheel 50 and the second runner 24, then the first runner 20, second runner 24 and the second driving wheel 50 linkage rotation, thus by the first driving wheel 30, first runner 20 and the second runner 24, the driving force that robot generates is passed to the second driving wheel 50.

Second driving wheel 50 can be connected by the executor of steel wire with the terminal part being combined in surgery instrument 5, along with driving force is delivered to the second driving wheel 50, the second driving wheel 50 rotates as above, by steel wire, driving force is passed to executor, thus executor is run.

At this, on the first runner 20 and the second driving wheel 50, groove 22,23 is formed and situation about matching each other is illustrated to forming projection 32,33 on the first driving wheel 30 and the second runner 24, but projection and groove might not be formed as above, also projection can be formed in either party of pair of turning wheels and the mode forming groove on the opposing party matches each other.

Further, projection might not be formed on any one runner and the mode forming groove on another runner is mated, certainly can be suitable for the multiple frame for movement that pair of turning wheels can be made to match each other.

Further, be the structure that the first runner 20, second runner 24, first driving wheel 30, second driving wheel 50 is coupled to each other in the draw bail of runner described later, be not only applicable to specific rotaring wheel structure.Certainly, the runner draw bail that the present embodiment relates to has more than in armarium, and in the structure that multiple runner combines, as long as the structure that can be suitable for the technology detecting alignment condition maybe can transmit the structure of specified force, the present embodiment is all applicable.

In addition, the body in embodiment described later represents the body combined for runner, can be devices hold 3, surgery instrument 5, main part 12 etc.In addition, driving wheel and driven pulley are the general designations for distinguishing runner, can be the first runner 20, second runner 24, first driving wheel 30, second driving wheel 50 etc. respectively.That is, driving wheel and driven pulley are relative concepies, can censure identical runner.Such as, the second driving wheel 50 that surgery instrument 5 has, when driving described executor as driving wheel, and as driven pulley when driving along with the driving of the first driving wheel 30 had on devices hold 3.Can be provided by operation robotic arm 1 for driving the power source of driving wheel and driven pulley.

In addition, foregoing mainly describes the situation that the first runner 20 and the second runner 24 are made up of independent component, but embodiment described later is not limited in these structures, certainly can be realized by same structure, two sides forms described projection and groove respectively, thus is combined with the first driving wheel 30 and the second driving wheel 50.In addition, embodiment described later mainly illustrates the difference with the embodiment formerly illustrated.

Figure 19 is the schematic diagram detecting the runner draw bail of alignment according to electrical characteristics illustrating that the first embodiment of the present invention relates to.With reference to Figure 19, show the first runner 20, groove 22,23, second runner 24, first driving wheel 30, projection 32,33, matching detection portion 35, contact 43,44, second driving wheel 50.The explanation of the structure about each runner described later and function is also applicable to the runner with different names.

Whether the runner draw bail that the present embodiment relates to, is characterized in that, utilize electrical characteristics to detect runner and align.That is, when multiple runner is coupled to each other, contact is connected to each other and is energized, and the electrical characteristics changed through energising detected by sensor, thus can detect that runner is coupled.

First runner 20, second runner 24, first driving wheel 30, second driving wheel 50 as above can rotate respectively to different directions, and the projection 32,33 formed on each runner when being coupled to each other may not be inserted in groove 22,23.Therefore, need to be inserted in groove 22,23 according to each projection 32,33 technology detecting runner and whether align each other.The present embodiment is the technology utilizing electrical characteristics whether to align to detect runner.

The Electrical change occurred when the present embodiment is by detecting each runner coupling judges its match condition.At this, the method for the Electrical change occurred when detecting coupling has multiple.According to one embodiment of the invention, the Electrical change occurred when can comprise by detecting each runner coupling detects the matching detection portion of match condition, and match condition can detect by detecting the Electrical change such as the signal of telecommunication, resistance value, current value, magnitude of voltage in matching detection portion.

Such as, matching detection portion can comprise: light source, is located in the one side of a runner; Optical detecting unit, the light for detection light source changes; Change unit, be located in the one side of described runner or another runner corresponding with it, change the light characteristic of light source.The light characteristic of light source can along with reflection, refraction, diffraction, interference and changing, and the light characteristic of change can be the direct of travel, color, brightness, chromaticity coordinates, colour temperature, diffraction pattern, interference pattern etc. of light.Such as, change the situation that unit is the unit for reflected light, when runner does not mate each other and separates prescribed distance on these structures, optical detecting unit can't detect the light of light source, and runner is when matching each other, the light of light source is reflected by reflector element, so by detection of reflected light, optical detecting unit can detect that runner matches each other.At this, optical detecting unit can be photodiode etc., and reflector element can be reflecting mirror etc.

Main explanation detects the situation of whether mating at runner in conjunction with resistance and by the change of detection resistance value below, but the present invention is applicable detects match condition as described above by detecting the electromagnetic change detected according to light, or utilize the multiple method of change-detection match condition of other electromagnetic property.Such as, the present embodiment also can utilize as resistance (resistance) change, electric capacity (capacitance) change, inductance (inductance) change etc. utilize the electromagnetic change of passive (passive) element or other initiatively (active) element testing match condition.

First, the marriage relation of the first runner 20 and the first driving wheel 30 is described.Because projection 32 outstanding on the first driving wheel 30 is inserted in the groove 22 formed on the first runner 20, so the first driving wheel 30 and the first runner 20 are coupled to each other.The quantity of projection 32 and groove 22 can be one or more, and is not particularly limited its forming position, and the situation respectively with two is described in Figure 19.

One end of projection 32 is formed with contact 43, and on the medial surface of groove 22, is formed with contact 44, when projection 32 is inserted in groove 22, two contacts 43,44 are electrically connected to each other.As long as the position that the position that contact 43,44 is formed in projection 32 or groove 22 can connect each other is not particularly limited to, such as, can be the diverse locations such as the terminal part of projection 32, middle part.

The contact 43 of each projection 32 is connected with matching detection portion 35, and whether matching detection portion 35 contacts with the contact 44 of groove 22 for the contact 43 detecting projection 32.Matching detection portion 35 receives the signal of telecommunication and carries out analyzing thus export the device of current state information.

Such as, matching detection portion 35 can also analyze by detection resistance value the resistance value that is detected and judge the contact situation of contact 43,44.That is, under the state shown in Figure 19, the contact 43 of projection 32 is spaced, so the resistance value that matching detection portion 35 is measured is infinitely great (∞).But when projection 32 is inserted into that in groove 22, contact 43,44 contacts with each other, the resistance value measured by matching detection portion 35 is equivalent to be connected to the resistance value of the first resistance R1 between contact 44 that groove 22 is formed.

Therefore, matching detection portion 35 can mutually more measured resistance value or compare with the resistance value of non-contact condition, thus judges the contact situation of contact 43,44.At this, describe the situation that matching detection portion 35 judges whether by detection resistance value to contact, but the present invention also can judge contact situation by measuring other electrical characteristics such as current value, magnitude of voltage etc.So matching detection portion 35 can be more than any one in resistance measuring instrument and current measuring instrument and pressure measuring instrument.Judged result by outputs such as regulation unit such as sound, light, vibrations, or also can use as the information normally run for the arm 1 that starts the machine.

Secondly, the marriage relation of the second runner 24 and the second driving wheel 50 is described.Projection 33 outstanding on the second runner 24 is inserted in the groove 23 formed on the second driving wheel 50, thus the second runner 24 and the second driving wheel 50 are coupled to each other.One end of projection 33 is formed with contact 43, and on the medial surface of groove 23, is formed with contact 44, when projection 33 is inserted in groove 23, projection 33 is electrically connected to each other with two contacts 43,44 of groove 23.

Now, projection 32 contacts with each other with two contacts 43,44 of groove 22 and two contacts 43,44 of projection 33 and groove 23, thus forms the circuit with new combined resistance.That is, the first resistance R1 between two contacts 43 being connected to groove 22 and the second resistance R2 between two contacts 43 being connected to groove 23 is connected in parallel to each other, so the computing formula of new combined resistance value R is as follows.

Formula 1

$R=\frac{R1\×R2}{R1+R2}$

Now, by detecting combined resistance value R, matching detection portion 35 can detect that devices hold 3, sterile adapter 10 and surgery instrument 5 normally connect each other.

In addition, now because resistance value R when resistance value R1 when only having projection 32 to be inserted in groove 22 and projection 33 are also inserted in groove 23 is different from each other simultaneously, so matching detection portion 35 can utilize it to measure the coupled situation of each runner.Such as, R1 is 100 Ω, R2 when being 0 Ω, and when only having projection 32 to contact with two contacts 43,44 of groove 22, the resistance value that matching detection portion 35 measures is 100 Ω.But in this condition, when projection 33 also contacts with each other with two contacts 43,44 of groove 23, the resistance value that matching detection portion 35 measures is 0 Ω.Therefore, utilize this electrical characteristics, each runner coupled situation can be detected more accurately.

At this, the first driving wheel 30, first runner 20, second runner 24 and the second driving wheel 50 are illustrated with its title, but also can be called drivewheel, the first driven pulley, the second driven pulley and the 3rd driven pulley respectively successively and be described.

Figure 20 is the schematic diagram detecting the runner state of insulation of alignment condition according to electrical characteristics illustrating that the first embodiment of the present invention relates to.With reference to Figure 20, show the first driving wheel 30, projection 32,32 ', contact 43,43 ', matching detection portion 35.

The present embodiment is exclusively used in the technology making projection 32, the 32 ' structure insulated from each other when the first driving wheel 30 is formed by conductors such as ferrum.The outer surface entirety of the opening of the first driving wheel 30 is formed by conductor, and one side is formed outstanding projection 32 '.The outer surface of the opening of the first driving wheel 30 correspondingly wears porose with projection 32, and projection 32 is inserted in this hole and exposes contact 43.Therefore, even if the first driving wheel 30 is formed by conductor, contact 43,43 ' also can keep state insulated from each other.

Figure 21 is the schematic diagram detecting the runner draw bail of alignment according to magnetic characteristic illustrating that the second embodiment of the present invention relates to.With reference to Figure 21, show devices hold 3, surgery instrument 5, first driving wheel 30, magnetic sensor 37, second driving wheel 50, Magnet 56, memory element 58.

The runner draw bail that the present embodiment relates to has the characteristic utilizing magnetic characteristic to detect the alignment condition of runner.That is, when multiple runner is coupled to each other, by detecting the aligned condition being attached to and specifying the orientation of the Magnet on runner to detect runner, thus the connection situation of runner and normal alignment condition can be detected.

Each that is bonded to each other at the first driving wheel 30 and the second driving wheel 50 is formed with the concavo-convex of regulation, and these are concavo-convex can censure respectively is first concavo-convex and second concavo-convex.Be formed on a face of the first driving wheel 30 first concavo-convex be formed in second on the second driving wheel 50 and concavo-convexly carry out concavo-convex combination, thus the first driving wheel 30 and the second driving wheel 50 are coupled to each other.

At this, first concavo-convex and second concavo-convex can be the concavo-convex of fan-shaped.As shown in the figure, fan-shaped concavo-convex from central part radially extend and form recessed and convex alternately formed concavo-convex.First driving wheel 30 and the second driving wheel 50 are independently bonded to each other by this fan-shaped is concavo-convex with its degree of rotation.That is, be alternately formed because fan-shaped is concavo-convex multiple recessed and convex, even if so the runner of side is to be bonded to each other under the state keeping predetermined angular, also can concavo-convex combination be carried out.

The one side of the second driving wheel 50 is attached with the Magnet 56 by prescribed direction arrangement.The magnetic sensor 37 had in the first driving wheel 30 side detects its ordered state by the magnetic characteristic detecting Magnet 56.At this, show the situation that Magnet 56 and magnetic sensor 37 are positioned at each centre of the second driving wheel 50 and the first driving wheel 30, but the present invention is not limited to these ad-hoc locations, as long as magnetic sensor 37 can detect that the position of the arrangement of Magnet 56 is all applicable to the present invention.

When connecting with the second driving wheel 50, magnetic sensor 37 can judge its degree of rotation by the polarity (N pole and S pole) detecting Magnet 56.Such as, under the initial setting state of the second driving wheel 50, it is horizontal or vertical relative to stipulated standard line that Magnet 56 is arranged in N pole and S pole, and as mentioned above, even if also can be combined with the first driving wheel 30 under the state that the second driving wheel 50 rotates predetermined angular, so magnetic sensor 37 detects the degree of rotation of the second driving wheel 50 by the anglec of rotation measuring Magnet 56.

With reference to the anglec of rotation of the second driving wheel 50 detected, thus the operation of the second driving wheel 50 can be corrected when robotic arm 1 runs.Such as, assuming that the state that a pair jaw that executor has is engaged each other is initial setting state, and be in non-rotation status by the second driving wheel 50 that steel wire is combined with the executor of this state, and Magnet 56 is when being arranged in the corner of surgery instrument 5 with parastate, time coupled with the state rotating predetermined angular when the second driving wheel 50 is connected on the first driving wheel 30, the status information of executor understood by magnetic sensor 37 by detecting its anglec of rotation, accurately can control executor by correcting this status information.

On the other hand, when when Magnet 56 is attached on the second driving wheel 50 at the beginning as adhered to free from error normal condition, as mentioned above, the mode being derived the rotation information of the second driving wheel 50 by the anglec of rotation measuring Magnet 56 seems reasonable, but when having the arrangement error of regulation when Magnet 56 is attached on the second driving wheel 50 when making, these rotation information derivation programs become meaningless.So, need measurement Magnet 56 to be attached to polarity after on the second driving wheel 50 and whether adhere to normal condition arrangement, and store the information of measurement, and apply flexibly these metrical informations when reality uses.

Memory element 58 is for storing the control information of these Magnet 56 arrangement.That is, when making surgery instrument 5, the one side of the second driving wheel 50 adhered to or after formation Magnet 56, measures the ordered state of its polarity, thus generating control information, and this information is stored in memory element 58.Memory element 58 can be used as the medium of the intrinsic information of each surgery instrument that attachment magnets 56 also makes on the side for being stored in surgery instrument 5 and applies flexibly.At this, memory element 58 can be as RFID etc. can store the medium of information.

There is the read write line of memory element 58, such as rfid interrogator (not shown) in devices hold 3 side.Rfid interrogator receives the arrangement error information of Magnet 56 from memory element 58, and this information sent to the control part of robotic arm 1 or be stored in regulation storage part, the control part of robotic arm 1 carrys out round-off error when operation apparatus 5 with reference to arrangement error information, thus the corrective surgery action of apparatus 5.Such as, when storing Magnet 56 in memory element 58 and rotating the arrangement error information of 5 degree of attachments, the control part of robotic arm 1 with reference to this arrangement error information, and can correct the action that-5 degree control surgery instrument 5.

Figure 22 and Figure 23 is the schematic diagram detecting the runner draw bail of alignment condition according to magnetic characteristic illustrating that the third embodiment of the present invention relates to.With reference to Figure 22 and Figure 23, show devices hold 3, surgery instrument 5, groove 23, first driving wheel 30, projection 32, magnetic sensor 37, second driving wheel 50, Magnet 56.Main explanation and above-mentioned difference.

The runner draw bail that the present embodiment relates to utilizes magnetic characteristic as above to detect the alignment condition of runner, it is characterized in that, by determining the quantity of projection 32 and the anglec of rotation that limits when the second driving wheel 50 connects, thus can reduce the error of runner alignment.

The open surface of the first driving wheel 30 is formed multiple projection 32, and on the open surface of the second driving wheel 50, is formed with the groove 23 that can insert projection 32.At this, projection 32 can be described first concavo-convex, and groove 23 can be described second concavo-convex.

The projection 32 be formed on the first driving wheel 30 can be vertical section is circle, the cone, elliptical cone, pyramid (multiple-angle pyramid) etc. of ellipse (comprising oval partial trace), polygon etc.The each projection 32 realized with cone, elliptical cone, pyramid etc. is connected to the bottom surface of adjacent projection 32, therefore independently can be inserted in the groove 23 of the second driving wheel 50 with the degree of rotation of runner.

Such as, as shown in the figure, formed four shapes and the identical and bottom surface of size against each other in abutment lug 32 and near the first driving wheel 30 open surface frame projection 32 when, when mating with the first driving wheel 32 under the initial setting state of the second driving wheel 50, the maximum error angle of rotation is 45 degree (-45 degree are to+45 degree).That is, the most advanced sensing groove 23 of projection 32 intersect each other with groove 23 some time, the second driving wheel 50 rotates at most 45 degree and mates with the first driving wheel 30 afterwards.

Therefore, according to the present embodiment, the rotation error scope of the second driving wheel 50 can be limited in particular range.These range of error can determine according to the quantity of projection 32.Such as, when the quantity of projection 32 is 5, error angle is 36 degree (-36 degree are to+36 degree), and when the quantity of projection 32 is N number of, error angle is 180/n degree (-180/n degree is to+180/n degree).Although the situation in above-mentioned middle hypothesis with the projection 32 of formed objects and shape is illustrated, and the present embodiment is not limited to these structures, the size of projection 32 and shape also can be different from each other.

Second driving wheel 50 is attached with the Magnet 56 by prescribed direction arrangement, and the first driving wheel 30 has the magnetic sensor 37 for detecting Magnet 56.The quantity of magnetic sensor 37 and binding site can determine according to the binding site of Magnet 56.Such as, as shown in the figure, when Magnet 56 is located in a groove 23 of the second driving wheel 50, magnetic sensor 37 can be located in four projections 32 of formation on the first driving wheel 30 respectively.In addition, Magnet 56 also can be located on the second driving wheel 50 of groove 23 outside, and magnetic sensor 37 can be attached on the first driving wheel 30 in the outside of projection 32, or is located at the side of devices hold 3 respectively, such as, on four corners (with reference to Figure 23).

At this, 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, and 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 detects the position of Magnet 56, its orientation and match condition by detecting the magnetic field of Magnet 56.

Figure 24 and Figure 25 is axonometric chart and the front view of the runner draw bail according to mechanical property alignment runner illustrating that the fourth embodiment of the present invention relates to, and Figure 26 is the schematic diagram of the principle according to mechanical property alignment runner related to for illustration of the fourth embodiment of the present invention.With reference to Figure 24 to Figure 26, show surgery instrument 5, sterile adapter 10, main part 12, first sheet material 15, second sheet material 18, groove 23, second runner 24, guidance unit 25, aligned recesses 27, alignment protrusion 28, projection 33, second driving wheel 50.

The runner draw bail that the present embodiment relates to has the feature of the runner utilizing mechanical property alignment needs to connect.That is, according to the present embodiment, say that the projection needing the runner of connection is formed is along the direction alignment being formed with the groove that will insert, thus the runner that can align.

With reference to Figure 24, described sterile adapter 10 is formed with funnelform guidance unit 25 highlightedly.At this, main explanation sterile adapter 10, but the structure that the present embodiment as above relates to also can realize on devices hold 3 and surgery instrument 5, these can be referred to as body.

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

With reference to Figure 25 and Figure 26, when surgery instrument 5 inserts in sliding manner, the projection 33 that the second driving wheel 50 is formed is subject to eccentric rotational force from guidance unit 25, thus correspondingly aligns with the direction of the groove 23 formed on the second runner 24.

At this, when surgery instrument 5 is arranged in sterile adapter 10 in sliding manner, in order to make surgery instrument 5 be arranged on the tram of sterile adapter 10, the surgery instrument 5 that the present embodiment relates to can be formed with alignment (align) unit.That is, as shown in figure 25, when the end of surgery instrument 5 forms aligned recesses 27 with caving in, an end of the second sheet material 18 also can be equipped with the alignment protrusion 27 can mated with aligned recesses 27.

As shown in figure 25, when surgery instrument 5 slippage is arranged in sterile adapter 10, mobile surgery instrument 5 till alignment protrusion 28 is mated with aligned recesses 27 and installing, thus apparatus can be aligned on tram.The aligned recesses 27 that the present embodiment relates to and alignment protrusion 28 can play alignment effect, to make surgery instrument 5 be arranged on preassigned position in sterile adapter 10, therefore need meticulously to manufacture to avoid producing unnecessary interval between aligned recesses 27 and alignment protrusion 28.

With reference to Figure 26, the projection 33 that the second driving wheel 50 is formed give prominence to eccentric manner be formed at the second driving wheel 50 a part on.Bias is the state that side and ragged center are partial in the center of certain object, when projection 33 under rotation status by guidance unit 25 time, projection 33 rotates due to the resistance of the arbitrary assistant in two assistants of guidance unit 25.

Width due to one end of guidance unit 25 is wide and width to the other end in the second runner 24 direction is narrow, so described resistance becomes the eccentric rotational force to projection 33, thus projection 33 rotates the state to being inserted in groove 23.At this, the inboard width of guidance unit 25 other end can be identical with the width of groove 23 or almost identical.According to the present embodiment, the eccentric rotational force that projection 33 provides according to guidance unit 25 and rotating, and with its correspondingly, the second driving wheel 50 rotates, thus the second driving wheel 50 can mate with the second runner 24 with initial set condition.

Figure 27 is the schematic diagram detecting the runner draw bail of alignment condition according to magnetic characteristic illustrating that the fifth embodiment of the present invention relates to, and Figure 28 is the axonometric chart detecting the runner draw bail of alignment condition according to magnetic characteristic illustrating that the fifth embodiment of the present invention relates to.With reference to Figure 27 and Figure 28, show robotic arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first surface 14, second face 17, first runner 20, groove 22,23, second runner 24, first driving wheel 30, projection 32,33, magnetic sensor 37, Magnet 41,42,56, second driving wheel 50.

The runner draw bail that the present embodiment relates to utilizes magnetic characteristic to detect the alignment condition of runner, and a magnetic sensor 37 can be utilized to detect the alignment condition of multiple runner.Namely, projection 32 and groove 23 90-degree rotation that two faces that first runner 20 and the second runner 24 are not relative are each other formed, thus the magnetic sensor 37 being located at the first driving wheel 30 side can be used to detect the alignment condition of the first driving wheel 30, first runner 20, second runner 24 and the second driving wheel 50.The angle that projection 32 is formed with the bearing of trend of groove 23 can be 90 degree, 180 degree or other specified angle, below the situation of main explanation 90 degree.

In addition, at this, main explanation first runner 20 and the second runner 24 situation different from each other, but the present embodiment is not limited to these structures, such as, the one side of a runner is formed projection 32 and Magnet 41, and when forming groove 23 and Magnet 42 on another side, action can be carried out according to illustrated principle too.

Observe connection operation and the alignment detection operation of runner, first, the first driving wheel 30 mates with the first runner 20 and connects, and by detecting Magnet 41, magnetic sensor 37 judges whether the first runner 20 normally aligns.Secondly, the second runner 24 90-degree rotation that first driving wheel 30 90-degree rotation makes the first runner 20 and connects with it, magnetic sensor 37 can detect and above-mentionedly on the second runner 24, rotate specified angle relative to Magnet 41 and the Magnet 42 that adheres to thus, thus detects degree of rotation and degree of registration.Afterwards, the second driving wheel 50 mates with the second runner 24, and magnetic sensor 37 judges the aligned condition of the second driving wheel 50 by detecting the Magnet 56 be attached on the second driving wheel 50.At this, can save the Magnet 42 on the second runner 24 and be attached to the arbitrary Magnet in the Magnet 56 on the second driving wheel 50, now, arbitrary Magnet that magnetic sensor 37 only can detect attachment measures the aligned condition of the second driving wheel 50.

According to this structure, a magnetic sensor 37 can be utilized to detect the aligned condition of multiple runner, thus there is the effect reducing volume and cost, in addition, when the width of sterile adapter 10 is made less, there is the advantage that can improve accuracy of detection.

Figure 29 to Figure 31 is the side view of the runner draw bail according to mechanical property alignment runner illustrating that the sixth embodiment of the present invention relates to, top view and sectional view.With reference to Figure 29 to Figure 31, show surgery instrument 5, sterile adapter 10, groove 23, second runner 24, projection 33, second driving wheel 50, pulley (pulley) 55, pilot pin 61.Main explanation below and above-mentioned difference.

Runner draw bail that the present embodiment relates to utilizes and above-mentioned different mechanical property is alignd runner that needs connect.That is, according to the present embodiment, the projection that described guidance unit utilizes pin-shaped pilot pin to make the runner for connecting is formed is to the direction alignment forming the useful groove in inserting, thus the runner that can align.

With reference to Figure 29, Figure 31 of the sectional view of the B of Figure 30 and Figure 29 of watching in the A direction of Figure 29, in the one side of second runner 24 opposed with the second driving wheel 50 or be formed with pilot pin 61 in sterile adapter 10, this pilot pin 61 is inserted into for making the projection 33 of the second driving wheel 50 rotate in the groove 23 of the second runner 24 and forms alignment.Can form multiple pilot pin 61 in both sides, so that the projection 33 of the second driving wheel 50 can from passing through between them, the width between pilot pin 61 is roughly the same or be greater than the width of projection 33, have can make projection 33 from them between the width that passes through.Pulley (pulley) 55 rotates along with the rotation of the second driving wheel 50, thus controls the motion of the axle, executor etc. of surgery instrument 5.

With reference to the amplifier section C in Figure 30, the projection 33 that the second driving wheel 50 is formed is formed in a part for the second driving wheel 50 highlightedly with eccentric manner.As mentioned above, bias is that side and center unjustified state are each other partial in the center of certain object, thus when projection 33 under the state rotated by pilot pin 61 time, the resistance that projection 33 produces because bumping against with pilot pin 61 and rotating.Width between pilot pin 61 identical with the width of projection 33 or almost identical time, projection 33 rotates to inserting the state of groove 23.

According to the present embodiment, the eccentric rotational force that projection 33 provides according to pilot pin 61 and rotating, and with its correspondingly, the second driving wheel 50 rotates, thus the second driving wheel 50 can mate with the second runner 24 with initial set condition.

Figure 32 is the schematic diagram detecting the draw bail of the medical apparatus and instruments combined according to electrical characteristics illustrating that the seventh embodiment of the present invention relates to.With reference to Figure 32, show devices hold 3, surgery instrument 5, sterile adapter 10, first runner 20, second runner 24, first driving wheel 30, second driving wheel 50, contact 63,64, in conjunction with test section 65.

The draw bail of the medical apparatus and instruments that the present embodiment relates to utilize electrical characteristics detect medical apparatus and instruments in conjunction with situation.That is, described runner draw bail can detect the Electrical change produced when multiple medical apparatus and instruments is coupled to each other in the same manner, thus judges that it is in conjunction with situation.

The present embodiment can utilize the technology detecting the alignment condition of runner by detecting described Electrical change to detect the connection situation of medical apparatus and instruments.So the content of described embodiment can be applied mechanically in the present embodiment, the concrete draw bail of difference according to each structure and function can be different.That is, in the described embodiment about the explanation in runner and matching detection portion etc., can be useful in respectively the present embodiment medical apparatus and instruments and in conjunction with on test section etc.Main explanation below and above-mentioned difference.

The medical apparatus and instruments that the present embodiment relates to can be devices hold 3, surgery instrument 5, sterile adapter 10 etc.In addition, the present embodiment also can be useful in and to be bonded to each other and on the integrated structure of other various medical apparatus and instruments of action.

With reference to Figure 32, combine with the order of devices hold 3, sterile adapter 10, surgery instrument 5.Because three kinds of medical apparatus and instruments combine, so faying face has 4, these are called the one side of the one side of the one side of devices hold 3, sterile adapter 10 and another side, surgery instrument 5.

The one side of devices hold 3 is formed multiple first contact 63, the one side of the sterile adapter 10 be combined with the one side of devices hold 3 is formed with multiple second contact 64, the another side of sterile adapter 10 is formed multiple 3rd contact 63, the one side of the surgery instrument 5 be combined with the another side of sterile adapter 10 is formed with multiple 4th contact 64.Be not particularly limited the forming position of each contact 63,64 on each, can be formed on the position that can be electrically connected each other.

As mentioned above, when devices hold 3 and sterile adapter 10 in conjunction with time each contact 63,64 connect, and sterile adapter 10 and surgery instrument 5 in conjunction with time each contact 63,64 connect, circuit different from each other is formed according in conjunction with object, also different according to each resistance R3, R4 total resistance value, be therefore located at devices hold 3 side in conjunction with test section 65 can by measure these resistance values detect each medical apparatus and instruments in conjunction with situation.Utilize aforesaid way not only can detect the connection situation of devices hold 3, sterile adapter 10 and surgery instrument 5, that also can detect described each driving wheel and driven pulley connects situation.

Figure 33 to Figure 37 is the schematic diagram of the draw bail that the medical apparatus and instruments that the eighth embodiment of the present invention relates to is shown.Be specially, Figure 33 is the axonometric chart of surgery instrument 5, Figure 34 is the axonometric chart of sterile adapter 10, Figure 35 is the side view of surgery instrument 5 and sterile adapter 10 bonding state, Figure 36 is the front view of surgery instrument 5 and sterile adapter 10 bonding state, and Figure 37 is the sectional view of the C-C line of Figure 36.With reference to Figure 33 to Figure 37, show surgery instrument 5, sterile adapter 10, first Flexible element 11, guiding groove 16, apparatus guide portion 19, block 29, guide protrusion 59, pilot pin 61.The difference of main explanation and described embodiment.

The present embodiment is in runner draw bail, and providing can not only firmly can the structure of easy dismounting runner in conjunction with runner and user.That is, the present embodiment has following features, that is, the direct of travel of medical apparatus and instruments being attached with runner arranges guiding device and block, thus can facilitate and stably move and in conjunction with runner, utilize Flexible element thus can realize multiple dismounting direction during dismounting.At this, describe the state that surgery instrument 5 is combined with sterile adapter 10, but the present embodiment also goes for situation that sterile adapter 10 is combined with devices hold 3 and/or the situation that surgery instrument 5 is combined with devices hold 3.

The pilot pin 59 of surgery instrument 5 moves along the guiding groove 16 formed in the inner side of apparatus guide portion 19, thus runner is bonded to each other.With reference to Figure 35, move to the opposite direction of B under the state that surgery instrument 5 is housed in guiding groove 16 with pilot pin 59 and be combined with sterile adapter 10.Now, when the runner of surgery instrument 5 mates with the runner of sterile adapter 10, block 29 plays the barrier effect stoping surgery instrument 5 to the movement of B direction.

During dismounting surgery instrument 5, user can utilize two step disassembly and assembly structures, that is, make surgery instrument 5 move to B direction after A direction is moved again.Namely, under the state being housed in guiding groove 16 with the pilot pin 59 of surgery instrument 5, surgery instrument 5 is moved to A direction, thus make surgery instrument 5 depart from block 29, backward with pilot pin 59 along guiding groove 16 in conjunction with time the contrary direction of direct of travel move, thus surgery instrument 5 can be separated from sterile adapter 10.

With reference to Figure 37, apparatus guide portion 19 is combined with the body of sterile adapter 10 by the first Flexible element 11, can be subject to elastic force again to move to the opposite direction in A direction when apparatus guide portion 19 moves to A direction from the first Flexible element 11.At this, the first Flexible element 11 can be spring.

In addition, according to the present embodiment, block 29 is combined by the body of the second Flexible element with sterile adapter 10.When applying elastic force to block 29, block 29 is pressed, the second Flexible element is given and is made it return to the power of original state.That is, when surgery instrument 5 moves to the opposite direction in B direction, block 29 is pressed, and when surgery instrument 5 arrives runner matched position, block 29 resets to prevent surgery instrument 5 from moving to B direction.In addition, user can be pinned block 29 and surgery instrument 5 is moved to B direction in this condition, thus is separated from sterile adapter 10 by surgery instrument 5.

Figure 38 to Figure 41 is the schematic diagram of the draw bail that the medical apparatus and instruments that the ninth embodiment of the present invention relates to is shown.Be specially, Figure 38 is the axonometric chart of the bonding state of surgery instrument 5 and sterile adapter 10, and Figure 39 is the axonometric chart of surgery instrument 5, and Figure 40 is the front view of sterile adapter 10, and Figure 41 is the sectional view of the C-C line of Figure 40.With reference to Figure 38 to Figure 41, show surgery instrument 5, sterile adapter 10, release lever 13, apparatus guide portion 19, second runner 24, pushing unit 26, block 29, projection 33, second driving wheel 50, pilot pin 61, contact 63.The difference of main explanation and described embodiment below.

The present embodiment, in runner draw bail, provides user to utilize bar can the structure of easy dismounting runner.That is, the present embodiment can utilize release lever 13 to promote apparatus guide portion 19 to depart from guiding groove 16 to make pilot pin 59 when dismounting runner, thus surgery instrument 5 is easily departed from from sterile adapter 10.

With reference to Figure 39, release lever 13 is attached on surgery instrument 5, and during user pressing, the other end is given prominence to.At this, the other end of release lever 13 can be called pushing unit 26.With reference to Figure 38, when pressing release lever 13, pushing unit 26 can promote apparatus guide portion 19, and apparatus guide portion 19 is rotated centered by A axle.When apparatus guide portion 19 rotates, described pilot pin 59 departs from guiding groove 16, and therefore user can make surgery instrument 5 move to the direction that the formation direction with guiding groove 16 is irrelevant, thus it is separated from sterile adapter 10.

With reference to Figure 41, described contact 63 and resistance R3 are formed in the end side of sterile adapter 10, when surgery instrument 5 is connected in sterile adapter 10 with movable state, can be used for detecting its connection situation.That is, when surgery instrument 5 is connected in sterile adapter 10, contact 63 and described contact 64 are electrically coupled, in conjunction with test section 65 by the resistance value measuring change detect each medical apparatus and instruments in conjunction with situation.

Now, as mentioned above, being separated and combining of block 29 and the second Flexible element operation apparatus 5 and sterile adapter 10 can also be utilized.Namely, as mentioned above, when surgery instrument 5 moves to the opposite direction in B direction, block 29 is pressed, and surgery instrument 5 is when arriving the matched position of runner, block 29 resets to prevent surgery instrument 5 from moving to B direction, and user is pinned block 29 and moved surgery instrument 5 to B direction in this condition, thus is separated from sterile adapter 10 by surgery instrument 5.

Be illustrated above with reference to the preferred embodiments of the present invention, but should be understood to, for general technical staff of the technical field of the invention, in the scope not exceeding the thought of the present invention and field recorded in claims, the present invention can carry out numerous variations and distortion.

Claims (14)

1. a sterile adapter, be arranged at the devices hold that is formed on surgical machine arm and be arranged between the surgery instrument on described devices hold, it comprises:

Main part, has the first surface opposed with described devices hold and opposed with described surgery instrument second;

First runner, is elastically supported on described main part, and exposes from described first surface, and mates with the first driving wheel be formed on described devices hold;

Second runner, is elastically supported on described main part, and shows out from described second, and mates with the second driving wheel be formed on described surgery instrument;

Described main part comprises:

First sheet material, corresponding to described first surface;

Second sheet material, corresponding to described second, and can be incorporated into described first sheet material from described first sheet material separation or close mode;

Described second sheet material is equipped with the fixed projection towards described first surface,

Described first sheet material is equipped with the through hole for accommodating described fixed projection,

Along with described first sheet material and described second sheet material closer to each other, the through described through hole of described fixed projection is also given prominence to from described first surface,

Described surgical machine arm is covered by aseptic curtain,

Described aseptic curtain is equipped with opening, and this opening is arranged on the position on described devices hold corresponding to described sterile adapter,

By being arranged on described devices hold by described sterile adapter, the described fixed projection given prominence to from described first surface is exerted pressure the peripheral part of described opening, thus makes described aseptic curtain be close to described devices hold.

2. sterile adapter according to claim 1, is characterized in that,

Described first driving wheel is equipped with the first projection, described first runner is formed with first groove corresponding with described first projection, when described sterile adapter being arranged on described devices hold, described first projection is not inserted in described first groove, described first runner is sunk from described first surface by described first projection pushing.

3. sterile adapter according to claim 1, is characterized in that,

Described first runner is equipped with the first projection, described first driving wheel is formed with first groove corresponding with described first projection, when described sterile adapter being arranged on described devices hold, described first projection is not inserted in described first groove, described first runner is sunk from described first surface by described first projection pushing.

4. the sterile adapter according to Claims 2 or 3, is characterized in that,

Along with the rotation of described first driving wheel, described first projection is inserted in described first groove, and described first runner to original position, thus makes described first runner mate with described first driving wheel by spring return.

5. sterile adapter according to claim 1, is characterized in that,

Described second runner is equipped with the second projection, described second driving wheel is formed with second groove corresponding with described second projection, when described surgery instrument being arranged in described sterile adapter, described second projection is not inserted in described second groove, described second runner is sunk from described second by described second projection pushing.

6. sterile adapter according to claim 1, is characterized in that,

Described second driving wheel is equipped with the second projection, described second runner is formed with second groove corresponding with described second projection, when described surgery instrument being arranged in described sterile adapter, described second projection is not inserted in described second groove, described second runner is sunk from described second by described second projection pushing.

7. the sterile adapter according to claim 5 or 6, is characterized in that,

Along with the rotation of described second runner, described second projection is inserted in described second groove, and described second runner by spring return to original position, thus described second runner is mated with described second driving wheel.

8. sterile adapter according to claim 1, is characterized in that,

The both sides of described second sheet material are equipped with guide rail, this guide rail for specifying the mobile route of described surgery instrument, to install described surgery instrument in sliding manner.

9. sterile adapter according to claim 8, is characterized in that,

The end of described surgery instrument is formed with aligned recesses with caving in, and on an end of described second sheet material, is equipped with alignment protrusion, this alignment protrusion is mated with described aligned recesses thus is made described surgery instrument be aligned in assigned position.

10. sterile adapter according to claim 8, is characterized in that,

The other end of described second sheet material is equipped with block, and this block moves to the opposite direction of its installation direction for limiting mounted described surgery instrument.

11. sterile adapter according to claim 8, is characterized in that,

Described second sheet material is being installed described surgery instrument from the state that described first sheet material is separated, close to described first sheet material, described second runner is given prominence to from described second sheet material described second sheet material afterwards, thus described second runner mated with described second driving wheel.

12. sterile adapter according to claim 1, is characterized in that,

The periphery of described devices hold is attached with encapsulant accordingly with the peripheral part of described opening, and the described fixed projection that encapsulant is highlighted pushes and deforms.

13. sterile adapter according to claim 1, is characterized in that,

The peripheral part of described opening is formed the adhesive portion for adhering to described sterile adapter.

14. sterile adapter according to claim 13, is characterized in that,

The labelling of the attachment position representing described sterile adapter is marked with at the peripheral part of described opening.