CN112618023B

CN112618023B - Sterile isolation device and surgical robot system

Info

Publication number: CN112618023B
Application number: CN202011611892.0A
Authority: CN
Inventors: 郭刘杰; 陈功; 蒋友坤; 何超
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-05-10
Anticipated expiration: 2040-12-30
Also published as: CN112618023A

Abstract

The invention relates to a sterile isolation device and a surgical robot system, wherein the sterile isolation device is arranged on a surgical robot, and the surgical robot comprises a mechanical arm; the sterile isolation device comprises a sterile bag, the near end of the sterile bag is used for being connected with the appointed position of the mechanical arm, and the far end of the sterile bag is used for covering the tail end of the mechanical arm; the sterile bag is configured to change its length as the pose of the robotic arm changes. Therefore, the length of the sterile isolation device changes in real time along with the pose change of the mechanical arm, the sterile isolation device can adapt to different poses of the mechanical arm, and the problems of falling and cracking caused by pulling transition are solved.

Description

Sterile isolation device and surgical robot system

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a sterile isolation device and a surgical robot system.

Background

The design concept of surgical robots is to perform complex surgical procedures precisely in a minimally invasive manner. The surgical robot is developed under the condition that the traditional surgical operation faces various limitations, breaks through the limitation of human eyes, and can more clearly present organs in the human body to an operator by utilizing a three-dimensional imaging technology. And to the narrow and small region that some people's hand can't stretch into, the operation robot still steerable surgical instruments accomplish to move, swing, centre gripping and 360 rotations to can avoid the shake, improve the operation accuracy, further reach the advantage that the wound is little, the bleeding is few, the postoperative resumes soon, greatly shorten patient's postoperative time of being in hospital. Therefore, the surgical robot is popular among doctors and patients and widely applied to various clinical operations.

In performing surgical procedures with surgical robots, sterile bags are used to construct sterile barriers to isolate the environment between the surgical environment and the robot body. In particular, the surgical robot includes an adjustment arm, a tool arm, and a surgical instrument system, wherein the surgical instrument system includes a driver and a surgical instrument disposed at a distal end of the tool arm. One end of the sterile bag is fixedly arranged at the tail end of the adjusting arm, and the other end of the sterile bag is arranged on the sterile plate. In the operation process, the sterile bag is pulled along with the swinging of the tool arm, but the sterile bag is not good in elasticity because the sterile bag is generally made of PE films, and is easy to crack or fall off due to excessive pulling, so that the sterile environment is damaged, the operation is interrupted, and even an operation accident is caused.

Disclosure of Invention

The invention aims to provide a sterile isolation device and a surgical robot system, wherein the length of the sterile isolation device can be automatically adjusted along with the swinging of a tool arm, and the sterile isolation device is prevented from being cracked or falling off due to transitional pulling.

In order to achieve the above object, the present invention provides an aseptic isolation device for being disposed on a surgical robot, the surgical robot including a robot arm; the sterile isolation device comprises a sterile bag, the sterile bag is sleeved on the mechanical arm, the near end of the sterile bag is used for being connected with a specified position on the mechanical arm, and the far end of the sterile bag is used for covering the tail end of the mechanical arm; the sterile bag is configured to be capable of changing a length of the sterile bag as a pose of the robotic arm changes.

Optionally, the sterile bag comprises an adjustable part with variable length and a bag body with constant length; the adjustment portion is configured to elongate when subjected to a tensile force to increase the length of the sterile bag; the adjustment portion is further configured to retract upon removal of the pulling force to reduce the length of the sterile bag.

Optionally, the adjusting portion includes a plurality of elastic members, the elastic members are arranged along a circumferential direction of the bag body, a proximal end of each elastic member is used for being connected to the designated position on the mechanical arm, and a distal end of each elastic member is connected to the bag body.

Optionally, the adjusting part further comprises a first connecting ring, a proximal end of the elastic member is disposed on the first connecting ring, and the first connecting ring is configured to be disposed at the designated position on the robot arm; and/or the presence of a gas in the atmosphere,

the adjusting part further comprises a second connecting ring, and the second connecting ring is arranged on the bag body; the distal end of the elastic member is formed as a hook, and the hook is hung on the second connection ring.

Optionally, the adjusting part comprises an elastic film segment, and the elongation at break of the material of the elastic film segment is greater than the elongation at break of the material of the bag body.

Optionally, the elastic film segment material has an elongation at break of greater than 50%.

Optionally, the material of the elastic membrane section comprises a thermoplastic polyurethane elastomer rubber.

Optionally, the adjusting part comprises a bellows section.

Optionally, the bellows section comprises a plurality of arcs connected in series in a longitudinal section of the sterile bag.

Optionally, the sterile bag comprises a bag body and an adjusting part; the far end of the bag body is used for covering the tail end of the mechanical arm, and the near end of the bag body is wound on the adjusting part; the adjusting part is disposed at the designated position of the robot arm, and is used for releasing or recovering the bag body to change the length of the aseptic bag.

Optionally, the adjusting part comprises a fixed bracket, a rotating shaft and a coil spring; the fixed support is used for being sleeved at the specified position of the mechanical arm; the rotating shaft is rotatably arranged on the fixed bracket; one end of the coil spring is arranged on the rotating shaft, and the other end of the coil spring is arranged on the fixed support; the near end of the bag body is wound on the rotating shaft;

the aseptic bag is configured such that when the spindle is rotated in a first direction by an external force, the bag body is released to increase the length of the aseptic bag while the coil spring is deformed and stores elastic potential energy; when the external force is cancelled, the coil spring releases the elastic potential energy and drives the rotating shaft to rotate along a second direction, so that the bag body is recovered to reduce the length of the sterile bag; the second direction is opposite to the first direction.

Optionally, the adjusting portion further includes a pressing piece, the pressing piece is connected to the fixing bracket and disposed corresponding to the rotating shaft, and is configured to apply pressure to an outer surface of the bag body when the rotating shaft rotates, so as to keep the bag body flat.

Optionally, the adjusting part further comprises a limiting structure for limiting the deformation amount of the coil spring.

Optionally, the adjusting portion includes a rear cover, and the rear cover is disposed at an end portion of the rotating shaft; the limiting structure comprises a positioning pin and a pull wire, the positioning pin is fixed on the rear cover, one end of the pull wire is connected with the positioning pin, and the other end of the pull wire is connected with the coil spring;

the adjusting part is configured to wind the pull wire on the coil spring along with the deformation of the coil spring when the rotating shaft rotates in the first direction, and prevent the coil spring from continuously deforming when the pull wire is tensioned, thereby preventing the rotating shaft from continuously rotating in the first direction.

To achieve the above object, the present invention also provides a surgical robot system including:

a surgical robot comprising a robotic arm; and the number of the first and second groups,

the sterile isolation device as described above, wherein the proximal end of the sterile bag is used for connecting with the designated position of the robotic arm, and the distal end of the sterile bag is used for covering the tail end of the robotic arm.

Optionally, a monitoring mechanism is included for monitoring whether the length of the sterile bag reaches a predetermined maximum value.

Optionally, the monitoring mechanism comprises a signal emitting device and a signal receiving device, one of which is disposed on the surgical robot and the other of which is disposed on the sterile bag;

the surgical robotic system is configured such that when the signal receiving means does not receive the signal transmitted by the signal transmitting means, the length of the sterile bag does not reach the predetermined maximum value; when the signal receiving device receives the signal transmitted by the signal transmitting device, the length of the sterile bag reaches the preset maximum value.

Optionally, the robotic arm comprises an adjustment arm and a tool arm, the tool arm is used for driving the surgical instrument to move around a mechanical fixed point, the adjustment arm is used for adjusting the position of the mechanical fixed point, and the designated position on the robotic arm is the tail end of the adjustment arm.

Optionally, the surgical robot system further comprises a surgical instrument system, wherein the surgical instrument system comprises a driver and a surgical instrument arranged at the tail end of the mechanical arm; aseptic isolating device still includes the division board, the division board be used for with the power transmission of driver to surgical instruments, aseptic bag with the division board is connected, just the distal end of aseptic bag passes through the division board covers the end of arm.

Compared with the prior art, the sterile isolation device and the surgical robot have the following advantages:

the sterile isolation device is mounted on a robot, and the robot comprises a mechanical arm. The sterile isolation device comprises a sterile bag, the near end of the sterile bag is used for being connected with a specified position on the mechanical arm, and the far end of the sterile bag is used for covering the tail end of the mechanical arm; the sterile bag is configured to change the length of the sterile bag along with the change of the pose of the mechanical arm, so that the sterile isolation device can adapt to different poses of the tool arm, and the sterile isolation device is prevented from being excessively pulled by the tool arm to fall off or break from the surgical robot, thereby ensuring that a surgical process always has a reliable sterile environment and ensuring the smooth operation of the surgical process.

Drawings

The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

FIG. 1 is a schematic diagram of a master-slave mapping surgical robotic system provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic diagram of a surgical robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of a sterile barrier according to a first embodiment of the present invention, showing the sterile bag mounted at its proximal end to the distal end of an adjustment arm, and in a stretched, elongated condition;

FIG. 4 is a schematic view of a portion of a sterile barrier device according to a first embodiment of the present invention;

FIG. 5 is a schematic view of a sterile barrier according to a first embodiment of the present invention, showing a sterile bag of the barrier in an unstretched, lengthened condition;

fig. 6 is a partial schematic view of the sterile barrier device according to the first embodiment of the present invention, wherein the bag body and the second connecting ring of the adjusting portion are not shown;

FIG. 7 is a partial schematic view of a sterile isolation device provided in accordance with a second embodiment of the present invention;

FIG. 8 is a schematic view of a sterile isolation device according to a third embodiment of the present invention;

FIG. 9 is a partial schematic view of a sterile isolation device provided in accordance with a third embodiment of the present invention;

FIG. 10 is a partial schematic view of a sterile isolation device provided in accordance with a fourth embodiment of the present invention;

FIG. 11 is a partial schematic view of a sterile isolation device according to a fourth embodiment of the invention, with the bag not shown;

FIG. 12 is a schematic view of a sterile barrier according to a fourth embodiment of the invention, only a portion of the pouch being shown with the arrow pointing in a first direction;

fig. 13 is a schematic view of a sterile bag according to a fourth embodiment of the invention, only a portion of the bag body being shown in the drawings with the arrows pointing in a second direction;

FIG. 14 is a partial schematic view of an adjustment portion of a sterile isolation device according to a fourth embodiment of the invention, showing a clamping device;

fig. 15 is a partial schematic view of an adjusting part of an aseptic isolation device provided in accordance with a fourth embodiment of the present invention, in which a position limiting mechanism is shown.

[ reference numerals are described below ]:

10-a doctor console;

11-main manipulator;

20-a surgical robot;

21-column, 22-adjusting arm, 23-tool arm, 24-surgical instrument system;

1000-sterile bag;

1100-bag body;

1211-elastic member, 1212-first connecting ring, 1213-second connecting ring;

1220-an elastic membrane segment;

1230-bellows sections;

1241-a fixed bracket, 1242-a rotating shaft, 1243-a coil spring, 1244-a clamping device, 1245-a rear cover, 1246-a positioning pin, 1247-a pull wire and 1248-a tablet;

1300-a junction region;

1410-signal emitting device.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Furthermore, each of the embodiments described below has one or more technical features, and thus, the use of the technical features of any one embodiment does not necessarily mean that all of the technical features of any one embodiment are implemented at the same time or that only some or all of the technical features of different embodiments are implemented separately. In other words, those skilled in the art can selectively implement some or all of the features of any embodiment or combinations of some or all of the features of multiple embodiments according to the disclosure of the present invention and according to design specifications or implementation requirements, thereby increasing the flexibility in implementing the invention.

As used in this specification, the singular forms "a", "an" and "the" include plural referents, and the plural forms "a plurality" includes more than two referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The core idea of the invention is to provide a sterile isolation device for being installed on a surgical robot, which comprises a sterile bag, wherein when the sterile isolation device is installed on the surgical robot, the sterile bag can automatically change in length along with the change of the pose of a mechanical arm of the surgical robot, so that the length of the sterile bag can always adapt to the pose of the mechanical arm, the sterile isolation device is prevented from falling off or breaking due to transition pulling caused by the swinging of the mechanical arm, and the smooth operation of the surgical process is ensured.

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to the appended drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. The same or similar reference numbers in the drawings identify the same or similar elements.

Fig. 1 shows a schematic diagram of a master-slave mapping surgical robot system, and fig. 2 shows a structural schematic diagram of a surgical robot.

As shown in fig. 1 and 2, the master-slave mapping surgical robot system includes a control end and an execution end. The control end comprises a doctor control console 10, and a main operating hand 11 is arranged on the doctor control console 10. The execution end comprises a surgical robot 20, the surgical robot 20 comprising a column 21, a mechanical arm and a surgical instrument system 24. More specifically, the surgical instrument system 24 includes a driver and a surgical instrument. The driver is used for providing driving force for the surgical instrument. The surgical instrument is arranged at the tail end of the mechanical arm, and the mechanical arm is used for driving the surgical instrument to rotate around a fixed point. The mechanical arm and the surgical instrument form a master-slave mapping relation with the master manipulator 11 of the doctor console, that is, the mechanical arm and the surgical instrument move according to the operation of the doctor's hand, and the master manipulator 11 also receives the information of the acting force of the human tissue organ on the surgical instrument and feeds the information back to the doctor's hand, so that the doctor can feel the operation more intuitively.

The present embodiment does not particularly limit the configuration of the robot arm. According to the type of the immobile point, the mechanical arm can be divided into an active immobile point mechanical arm and a mechanical immobile point mechanical arm. The active motionless point mechanical arm comprises a space structure with at least six degrees of freedom, and a controller of the robot calculates the rotation angle of each joint of the mechanical arm according to the position of the active motionless point and enables the surgical instrument to enter the inside of a human body target position through the active motionless point for operation. As shown in fig. 1, the mechanical dead-end robot arm may include an adjustment arm 22 and a tool arm 23. After the structure of the tool arm 23 is determined, the mechanical dead point mechanical arm has a positional relationship with the mechanical dead point. The upright 21 is used for supporting a plurality of the adjusting arms 22, the end of each adjusting arm 22 is connected to the tool arm 23, and the tool arm 23 is used for mounting the surgical instrument 4 (i.e. the surgical instrument is arranged at the end of the tool arm 23). The adjustment arm 22 is used for adjusting the position of the motionless point of the mechanical arm, and the tool arm 23 is used for driving the surgical instrument system to rotate around the motionless point.

Referring with emphasis to fig. 2, in the course of performing a surgical operation using a master-slave mapping surgical robotic system, a sterile isolation device is mounted on the surgical robot 20. Specifically, the sterile isolation device comprises a sterile bag 1000, the proximal end of the sterile bag 1000 is used for connecting with a designated position on the mechanical arm, and the distal end of the sterile bag 1000 is used for covering the tail end of the mechanical arm (shown as B in FIG. 2). The "designated position" herein generally refers to a position of the robotic arm that is accessible to an operator. The aseptic operation environment is realized by isolating the part of the mechanical arm which can be contacted by an operator through an aseptic isolation device. In one non-limiting embodiment, the designated location on the robotic arm is the end of the adjustment arm 22 (i.e., as shown in fig. 2 a). Of course, those skilled in the art will appreciate that in other embodiments, the designated position may be other positions on the robotic arm as determined by actual needs. Alternatively, in other surgical robots, for example, when the robot arm does not distinguish between the adjustment arm and the tool arm, the designated position may be set according to actual needs. The following description will be given by taking the designated position as the end of the adjusting arm as an example, but the invention should not be limited thereto.

Further, the sterile isolation device preferably further comprises an isolation plate (not shown) for being disposed between the driver and the surgical instrument to transmit the power provided by the driver to the surgical instrument, and a person skilled in the art knows how to connect the isolation plate with the driver and the surgical instrument, which will not be described in detail herein. As such, the distal end of the sterile bag 1000 may be connected to the isolation plate to cover the end of the robotic arm. Then, in this non-limiting embodiment, the adjustment arm end, the tool arm 23, and the driver are covered by a sterile bag 1000, such that the sterile bag 1000 creates a sterile barrier that isolates the adjustment arm end, the tool arm 23, and the driver from the outside environment. In the present invention, the sterile bag 1000 is configured to be able to automatically change its own length as the posture of the tool arm 23 changes. Therefore, during the operation, when the tool arm 23 of the surgical robot 20 swings, the length of the sterile bag 1000 can be adjusted in real time to adapt to the posture of the tool arm 23, and accidents such as falling off and cracking caused by excessive pulling of the sterile isolation device by the tool arm 23 are avoided.

It should be understood by those skilled in the art that although the application scenario of the sterile isolator is described herein by way of example of a master-slave mapping robot, the sterile isolator may also be applied to a non-master-slave mapping robot, which has substantially the same structure as a surgical robot of the master-slave mapping robot system, and thus has substantially the same application manner.

In the present invention, the sterile bag 1000 may change its own length in any suitable manner. Alternative implementations of the sterile barrier device will be described below by way of specific examples.

In some embodiments, the sterile bag 1000 comprises a length-changeable adjusting part and a length-unchangeable bag body 1100, and the adjusting part is configured to be capable of being stretched to be lengthened when being subjected to a tensile force, and to be capable of being retracted to be shortened after the tensile force is cancelled. In other words, in these embodiments, the length of the adjusting part itself is variable, and the purpose of adjusting the length of the sterile bag 1000 can be achieved by the length change of the adjusting part. That is, when the tool arm 23 is swung to a posture in which a tensile force is applied to the aseptic isolator, the adjusting portion is extended by the tensile force to increase the length of the aseptic bag 1000, and when the tool arm 23 is swung to a posture in which a tensile force is no longer applied to the aseptic isolator, the adjusting portion is retracted to decrease the length of the aseptic bag 1000. It should be noted that the "length of the bag 1100 is not literally understood, in other words, the length of the bag 1100 is not changed, including the length is not changed at all, and the change is very small and negligible (in practical applications, the bag is generally made of PE, and the change of the length caused by the deformation when the bag is subjected to a tensile force is negligible).

Specifically, referring to fig. 3 to 5, in the first embodiment of the present invention, the adjusting portion includes a plurality of elastic members 1211 (i.e., two or more elastic members 1211), and the plurality of elastic members 1211 are disposed along a circumferential direction of the bag body 1100, i.e., the plurality of elastic members 1211 are disposed in a ring shape. A plurality of elastic members 1211 are disposed around the adjustment arm 22 when the sterile isolation device is mounted to the surgical robot 20, and a proximal end of each elastic member 1211 is used to connect to an end of the adjustment arm (i.e., a designated position on the robotic arm), and a distal end of each elastic member 1211 is connected to the bag 1100. Taking the orientation shown in fig. 3 as an example, the proximal end of the elastic member 1211 as an upper end, and the distal end of the elastic member 1211 as a lower end, such that the lower end of the elastic member 1211 is connected to the upper end of the bag 1100, and the lower end of the bag 1100 is used for connecting to the isolation plate.

When the tool arm 23 swings to a posture where a tensile force is applied to the bag body 1100, the bag body 1100 transmits the tensile force to the elastic member 1211, and the elastic member 1211 is extended by the tensile force to increase the length of the aseptic bag 1000. When the tool arm 23 swings to a posture where the pulling force is no longer applied to the bag body 1100, the elastic member 1211 retracts under its own elastic force, so that the length of the aseptic bag 1000 is reduced.

The elastic member 1211 includes, but is not limited to, a spring, and preferably a plurality of elastic members 1211 are uniformly arranged along a circumferential direction of the bag body 1100, so that when the sterile isolation device is mounted to the surgical robot 20, a plurality of elastic members 1121 are uniformly arranged along a circumferential direction of the adjustment arm 22. Further, the adjusting portion further comprises a first connecting ring 1212, and the proximal ends of all the elastic members 1211 can be disposed on the first connecting ring 1212 by screws or any other suitable means, and the first connecting ring 1212 is configured to be disposed on the end of the adjusting arm. Further, the adjusting portion further includes a second connecting ring 1213, and the second connecting ring 1213 is disposed on the bag 1100, for example, at the proximal end of the bag 1100. The distal ends of all the elastic members 1211 are connected to the second connection rings 1213. In this embodiment, as shown in fig. 6, a distal end of each of the elastic members 1211 is formed as a hook, and the hook is hung on the second connection ring 1213.

Alternatively, as shown in fig. 7, in the second embodiment of the present invention, the aseptic isolation device may further include the bag body 1100 and the adjustment portion. The adjusting part comprises an elastic film section 1220, the elastic film section 1220 is axially connected with the bag body 1100, and the elongation at break of the material of the elastic film section 1220 is greater than that of the bag body 1100.

For example, the adjustment portion includes one of the elastic film segments 1220, and one of the elastic film segments 1220 is disposed at the proximal end of the pouch body 1100. When the sterile isolation device is mounted on the surgical robot 20, the proximal end of the elastic membrane section 1220 is connected to the end of the adjustment arm, and the distal end of the bag 1100 is connected to the isolation plate. That is, the sterile barrier device comprises two parts, namely a relatively elastic membrane section 1220 and a relatively less elastic bag body 1100, wherein the elastic membrane section 1220 can be extended or retracted along with the swinging of the tool arm 23, so as to change the length of the sterile bag 1000.

Optionally, the elastic membrane segment 1220 has a material elongation at break greater than 50%, and the elastic membrane segment 1220 is selected in consideration of its sterilization properties and biocompatibility. Generally, materials that can be used for the elastic membrane section 1220 include, but are not limited to, thermoplastic polyurethane elastomer rubber, and the bag body 1100 can be made of PE. The elastic membrane section 1220 and the bag body 1100 are integrally connected by any suitable means, preferably by composite compression, so that the two have good mechanical properties in the joint area 1300.

In this embodiment, the number of the elastic film segments 1220 may also be multiple, so that the bag body 1100 also includes multiple segments separated from each other, and the elastic film segments 1220 and the segments of the bag body 1100 are arranged at intervals.

Still alternatively, in the third embodiment of the present invention, the sterile bag 1000 also includes a bag body 1100 and the adjusting part, referring to fig. 8, the adjusting part includes a bellows portion 1230. That is, as the tool arm 23 swings, the bellows segment 1230 extends or retracts, causing the length of the sterile bag 1000 to change to accommodate different poses of the tool arm 23. Alternatively, in some embodiments, the bag body 1100 and the adjusting portion are of an integral structure, that is, after the bag body 1100 and the adjusting portion are made of the same material to form the elongated sterile bag 1000, at least a portion of the sterile bag 1000 is folded to form a bellows portion 1230, which serves as the adjusting portion, and the unfolded portion of the sterile bag 1000 constitutes the bag body 1100. In other embodiments, the bag body 1100 and the adjusting portion may be formed separately and then connected together in any suitable manner, and in this case, the materials of the bag body 1100 and the adjusting portion may be the same or different.

Preferably, as shown in fig. 9, the bellows portion 1230 comprises a plurality of arcs connected in sequence in a longitudinal section of the sterile bag 1000. With this arrangement, when the aseptic bag 1000 is folded to form the adjustment portion, damage to the aseptic bag 1000 can be reduced, and the performance of the aseptic bag 1000 can meet the use requirement.

In another embodiment, for example, as shown in fig. 10, in a fourth embodiment of the present invention, the sterile bag includes a bag body 1100 and an adjusting part connected to each other, and in this embodiment, the lengths of the bag body 1100 and the adjusting part are not adjustable. In this embodiment, the distal end of the bag body 1100 is connected to the isolation plate, the proximal end of the bag body 1100 is connected to the adjusting part, and the bag body 1100 is partially wound around the adjusting part, and the adjusting part changes the length of the aseptic bag by releasing or recovering the bag body 1100.

In a specific implementation, a specific structure of the adjusting part is as shown in fig. 11. Referring to fig. 11, the adjusting part includes a fixed bracket 1241, a rotation shaft 1242 and a coil spring 1243. The fixing bracket 1241 is used to be sleeved at the end of the adjusting arm. The rotating shaft 1242 is rotatably provided on the fixed bracket 1241. One end of the coil spring 1243 is disposed on the rotation shaft 1242, and the other end is disposed on the fixing bracket 1241. The near end of the bag body 1100 is disposed on the rotating shaft 1242, and the portion of the bag body 1100 near the near end is wound on the rotating shaft 1242.

Referring again to fig. 12 and 13, the sterile barrier device is configured such that when the shaft 1242 is rotated in a first direction (as indicated by the arrow in fig. 12) by an external force, the pouch body 1100 is released to increase the length of the sterile pouch, while the coil spring 1243 deforms and stores elastic potential energy; when the external force is removed, the coil spring 1243 releases the elastic potential energy and drives the rotating shaft 1242 to rotate in a second direction (as shown by the arrow in fig. 13), so that the bag body 1100 is recovered to reduce the length of the aseptic bag. The second direction is opposite to the first direction, for example, when the first direction is clockwise, the second direction is counterclockwise, and vice versa.

That is, in the present embodiment, when the tool arm 23 swings to a posture where a pulling force is applied to the pouch body 1100, the pouch body 1100 transmits the pulling force to the rotation shaft 1242 to drive the rotation shaft 1242 to rotate in the first direction, so that the pouch body 1100 is released while the coil spring 1243 is torsionally deformed to store elastic potential energy. When the tool arm 23 swings to a posture where the pulling force is no longer applied to the bag body 1100, the coil spring 1243 releases the elastic potential energy and drives the rotating shaft 1242 to rotate in the second direction to recover a portion of the bag body 1100 that was previously released, so that the length of the aseptic bag is shortened and matches the posture of the tool arm 23.

Since the sterile bag needs to cover the end of the adjustment arm, the tool arm 23 and the driver in the circumferential direction, the number of the rotation shafts 1242 may be four, four rotation shafts 1242 are disposed around the end of the adjustment arm, and each rotation shaft 1242 is provided with the coil spring 1243. The proximal end of the bag body 1100 is spread and formed in a quadrangular shape in cross section, and then four sides of the bag body 1100 are wound around the four rotation shafts 1242, respectively. Of course, in alternative embodiments, the number of the rotating shafts 1242 may be three or five, and the upper end of the bag 1100 is correspondingly spread to form a triangle or a pentagon.

The pouch 1100 is a disposable consumable, so that the proximal end of the pouch 1100 can be detachably mounted on the hinge 1242 by a C-shaped clamp 1244 as shown in fig. 14 or other attachment means, and then the pouch 1100 is partially wrapped around the hinge 1242. In addition, as will be understood by those skilled in the art, both axial ends of the rotating shaft 1242 may be respectively connected to the fixed bracket 1241 through bearings (not labeled in the drawings) to improve the stability of the rotating shaft 1242 during the rotation process.

Further, the adjusting part further comprises a limiting structure for limiting the deformation of the coil spring 1243. Specifically, referring to fig. 15, two ends of the rotating shaft 1242 are respectively provided with a rear cover 1245, the limiting structure includes a positioning pin 1246 and a pulling wire 1247, the positioning pin 1246 is fixed on the rear cover 1245, one end of the pulling wire 1247 is connected with the positioning pin 1246, and the other end is connected with the coil spring 1243. When the rotating shaft 1242 rotates in the first direction, the coil spring 1243 deforms, and the pulling wire 1247 is wound around the coil spring 1243, so that when the pulling wire 1247 is pulled, the coil spring 1243 cannot deform further, thereby preventing the rotating shaft 1242 from rotating in the first direction, and at this time, the length of the sterile bag reaches a maximum value. On the contrary, when the rotating shaft 1242 is rotated in the second direction, the coil spring 1243 releases the pulling wire 1247 so that the pulling wire 1247 becomes slack.

Preferably, the adjusting part is further provided with a pressing piece 1248, the pressing piece 1248 is arranged on the fixing bracket 1241, each pressing piece 1248 is arranged corresponding to one of the rotating shafts 1242, and the pressing piece 1248 is used for applying pressure to the outer surface of the bag body 1100 when the rotating shafts 1242 rotate so as to keep the bag body 1100 flat.

Further, the present invention also provides a surgical robot system comprising a surgical robot 20 and the sterile isolation device. The sterile isolation device is mounted on the surgical robot 20. Specifically, the surgical robot includes a robot arm. The proximal end of the sterile bag 1000 of the sterile isolation device is connected with a designated position of the robotic arm, and the distal end of the sterile bag 1000 is used to cover the distal end of the robotic arm. The surgical robots described herein include, but are not limited to, surgical robots in the master-slave mapping surgical robotic system.

Preferably, the surgical robotic system further comprises a monitoring mechanism for monitoring whether the length of the sterile bag 1000 reaches a predetermined maximum value.

In detail, the monitoring alarm device includes a signal transmitting device 1410 (shown in fig. 6) and a signal receiving device (not shown in the figure). One of the signal emitting device 1410 and the signal receiving device is disposed on the surgical robot 20, and the other is disposed on the sterile bag 1000. For example, referring to fig. 3 and 6, the signal emitting device 1410 is disposed at the end of the adjusting arm (i.e., at a designated position on the robotic arm), and the signal receiving device is disposed on the bag body 1100 of the sterile bag 1000. And the position of the signal transmitting device 1410 in the circumferential direction of the tip of the adjustment arm corresponds to the position of the signal receiving device in the circumferential direction of the bag body 1100. When the length of the sterile bag 1000 reaches the predetermined maximum value, the signal receiving device moves to the position where the signal emitting device 1410 is located, so that the signal emitting device 1410 can receive the signal emitted by the signal receiving device. And when the length of the sterile bag 1000 is less than the predetermined maximum value, the signal emitting device 1410 and the signal receiving device are staggered, and the signal emitted by the signal emitting device 1410 cannot be received by the signal receiving device. That is, when the length of the sterile bag 1000 is smaller than the predetermined maximum value, the signal receiving device does not receive a signal, but when the length of the sterile bag 1000 reaches the predetermined maximum value, the signal receiving device receives a signal and transmits the signal to a control device, such as a doctor control end device of the surgical robot system, and then an alarm device, such as a buzzer alarm, a sound and light alarm, etc., gives an alarm to remind medical staff. In other embodiments, one of the signal emitting device 1410 and the signal receiving device may be disposed on the tool arm 23, which is not limited by the present invention. Through setting up monitoring mechanism, medical personnel can in time know aseptic bag 1000's length reaches predetermined maximum value, and then executable corresponding processing, further avoid aseptic isolating device passes through to be dragged and arouses the emergence that drops or the condition of breaking.

Although the present invention is disclosed above, it is not limited thereto. Various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A sterile isolation device for placement on a surgical robot, the surgical robot comprising a robotic arm; the sterile isolation device is characterized by comprising a sterile bag and a first monitoring module; the sterile bag is sleeved on the mechanical arm, the near end of the sterile bag is used for being connected with a specified position on the mechanical arm, and the far end of the sterile bag is used for covering the tail end of the mechanical arm; the sterile bag is configured to be capable of changing its length as the pose of the robotic arm changes; the first monitoring module is one of a signal transmitting device and a signal receiving device of a monitoring mechanism, is arranged on the sterile bag and is configured to monitor whether the length of the sterile bag reaches a preset maximum value.

2. An aseptic isolation device as defined in claim 1, wherein said aseptic bag comprises a length-variable adjustment portion and a length-constant bag body; the adjustment portion is configured to elongate when subjected to a tensile force to increase the length of the sterile bag; the adjustment portion is further configured to retract upon removal of the pulling force to reduce the length of the sterile bag.

3. An aseptic isolation device as defined in claim 2, wherein said adjustment portion comprises a plurality of elastic members, a plurality of said elastic members being arranged along a circumferential direction of said bag body, and a proximal end of each of said elastic members being adapted to be connected to said designated position on said robot arm, and a distal end of each of said elastic members being connected to said bag body.

4. An aseptic isolation device as defined in claim 3, wherein said adjustment portion further comprises a first connection ring on which a proximal end of said elastic member is disposed, said first connection ring being adapted to be disposed at said designated position on said robot arm; and/or the presence of a gas in the atmosphere,

5. An aseptic isolation device as defined in claim 2, wherein said adjustment portion comprises an elastic membrane section of a material having an elongation at break greater than that of the bag body.

6. An aseptic isolation device as defined in claim 5, wherein said elastic membrane section material has an elongation at break of greater than 50%.

7. An aseptic isolation device as defined in claim 6, wherein the material of said elastic membrane section comprises a thermoplastic polyurethane elastomer rubber.

8. An aseptic isolation device as defined in claim 2, wherein said adjustment portion comprises a bellows section.

9. An aseptic isolation device as defined in claim 8, wherein said bellows section comprises a plurality of sequentially connected arcs in a longitudinal cross-section of said aseptic bag.

10. An aseptic isolation device as defined in claim 1, wherein said aseptic bag comprises a bag body and an adjusting portion; the far end of the bag body is used for covering the tail end of the mechanical arm, and the near end of the bag body is wound on the adjusting part; the adjusting part is arranged at the designated position on the mechanical arm and is used for releasing or recovering the bag body so as to change the length of the sterile bag.

11. An aseptic isolation device as defined in claim 10, wherein said adjustment portion includes a fixed bracket, a rotary shaft and a coil spring; the fixed support is used for being sleeved at the specified position on the mechanical arm; the rotating shaft is rotatably arranged on the fixed bracket; one end of the coil spring is arranged on the rotating shaft, and the other end of the coil spring is arranged on the fixed support; the near end of the bag body is wound on the rotating shaft;

12. An aseptic isolation device as defined in claim 11, wherein said adjustment portion further comprises a pressing plate connected to said fixed bracket and disposed in correspondence with said rotating shaft for applying a pressure to an outer surface of said bag body when said rotating shaft rotates to keep said bag body flat.

13. An aseptic isolation device as defined in claim 11, wherein said adjustment portion further includes a limiting structure for limiting the amount of deformation of said coil spring.

14. An aseptic isolation device as defined in claim 13, wherein said adjusting portion includes a rear cover provided at an end portion of said rotating shaft; the limiting structure comprises a positioning pin and a pull wire, the positioning pin is fixed on the rear cover, one end of the pull wire is connected with the positioning pin, and the other end of the pull wire is connected with the coil spring;

15. A surgical robotic system, comprising:

a surgical robot comprising a robotic arm;

the sterile barrier device of any one of claims 1-14, a proximal end of said sterile bag for connecting to a designated location on said robotic arm, a distal end of said sterile bag for covering an end of said robotic arm; and the number of the first and second groups,

the second monitoring module is the other one of the signal transmitting device and the signal receiving device of the monitoring mechanism, and is arranged on the mechanical arm;

the signal emitting device is matched with the signal receiving device to monitor that the length release of the sterile bag reaches a preset maximum value.

16. A surgical robotic system as claimed in claim 15,

17. A surgical robotic system as claimed in claim 15, wherein the robotic arm comprises an adjustment arm and a tool arm, the tool arm being for driving a surgical instrument attached to a distal end of the tool arm to move about a mechanical fixed point, the adjustment arm being for adjusting a position of the mechanical fixed point, a pointed location on the robotic arm being a distal end of the adjustment arm.

18. A surgical robotic system as claimed in claim 15, further comprising a surgical instrument system including a driver and a surgical instrument disposed at a distal end of the robotic arm; aseptic isolating device still includes the division board, the division board is used for with the power transmission of driver to surgical instruments, aseptic bag with the division board is connected, just the distal end of aseptic bag passes through the division board covers the end of arm.