CN113229943A - Joint device, slave operation device, and surgical robot - Google Patents

Abstract

The embodiment of the application provides a jointing device for jointing an instrument and a driving device so as to carry out sterile isolation on the driving device and the instrument, the jointing device comprises a first main body and a receiving groove formed in the first main body, an instrument accommodating end of the receiving groove for accommodating an instrument shaft is positioned in the middle area of the first main body, and a jointing disc of the jointing device is divided into four corners of the instrument accommodating end, so that the jointing device is suitable for jointing the instrument with the instrument shaft positioned in the middle area of an instrument box.

Description

Joint device, slave operation device, and surgical robot

Technical Field

The present application relates to the field of medical devices, and in particular, to a joint device, a slave operation device having the joint device, and a surgical robot having the slave operation device.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation. The surgical instrument is connected to the drive device of the slave manipulator for performing a surgical operation, and the end-effector of the surgical instrument comprises an end-effector for performing the surgical operation and a joint connected to the end-effector and movable in a plurality of degrees of freedom.

The surgical instruments are connected with the driving devices of the slave operation devices, the surgical instruments need to be subjected to sterile treatment, the slave operation devices are not subjected to sterile treatment generally, and therefore the surgical instruments are jointed between the driving devices of the slave operation devices of the surgical instrument box through a sterile jointing device so as to avoid pollution to the surgical instruments.

Disclosure of Invention

In view of the above, in order to solve the above problems, the present application provides a joint device, a slave operation apparatus having the joint device, and a surgical robot including the slave operation apparatus, wherein the input device includes:

an engagement device for engaging an instrument with a drive device, the engagement device comprising a first body and a receiving slot opening in the first body, the receiving slot having an instrument receiving end located in a medial region of the first body for receiving an instrument shaft of the instrument.

Preferably, the receiving groove is a chute.

Preferably, the receiving slot includes an opening disposed on a first side of the first body, the opening communicating with the instrument receiving end, the opening being located in a non-central region of the first side.

Preferably, the receiving groove includes a first sidewall and a second sidewall located at both sides of a central axis of the receiving groove, and a length of the first sidewall is smaller than a length of the second sidewall.

Preferably, the engaging means comprises a second side non-parallel to the first side, the first side wall being at an acute angle to the included angle of the first side, and/or the second side wall being at an acute angle to the included angle between the second sides.

Preferably, a distance between a center of the opening and the second side is smaller than a distance between a center of the instrument housing end and the second side.

Preferably, the joint device further includes a first buckle, a second buckle and a third buckle arranged on the first main body, the first buckle and the second buckle are used for buckling with the instrument and a buckle seat on the driving device, the third buckle is used for buckling with the buckle seat of the driving device, and the instrument accommodating end is located in a triangular area formed by the first buckle, the second buckle and the third buckle.

Preferably, the first buckle is arranged at the first side edge, and the third buckle is arranged at the second side edge.

Preferably, the first catch is located between the first side wall and the first side edge.

Preferably, the engagement means further comprises first and second engagement discs for engaging the instrument and drive means, the receiving slot being located between the first and second engagement discs.

Preferably, the first catch is located between the receiving slot and the first engagement disc, and/or the second engagement disc is located between the receiving slot and the second side edge.

Preferably, the first catch and the second catch are symmetrically disposed on the first body.

Preferably, the first catch and/or the second catch may be rotatable relative to the first body.

Preferably, the first buckle, and/or the second buckle, and/or the third buckle are/is pivoted on the first body.

Preferably, said third catch includes an instrument clip extending proximally along said engagement means for gripping said instrument.

Preferably, a distance between a center plane of the first and second catches to the first side wall is smaller than a width of the first catch, or the center plane passes through the instrument receiving end.

Preferably, the engagement device further comprises a second body perpendicular to the first body, the second body comprising a straight plate and curved plates at both ends of the straight plate, the second body being for guiding engagement of the instrument to the engagement device.

Preferably, the concave faces of the two curved plates face the instrument receiving end of the receiving slot so that the second body embraces the instrument case of the instrument during engagement of the instrument to the engagement means.

Preferably, a bullet-shaped guide strip is arranged on the straight plate and used for guiding the instrument to be jointed to the jointing device.

A slave manipulator apparatus comprising drive means mounted on said robotic arm and said engagement means described above, the upper engagement means being engaged on said drive means.

A surgical robot comprises a main operation device and the slave operation device, wherein the slave operation device executes corresponding operation according to the instruction of the main operation device.

The instrument receiving end of the receiving groove of the engagement device of the present application is opened at the center of the engagement device, and can be adapted to engage an instrument having an instrument shaft at the center of the instrument cartridge.

Drawings

FIG. 1 is a schematic view of a slave manipulator of a surgical robot according to one embodiment of the present application;

FIG. 2 is a schematic view of the main operating equipment of the surgical robot of one embodiment of the present application;

FIG. 3 is a schematic view of an instrument according to an embodiment of the present application mounted on an instrument support arm;

FIG. 4 is a schematic illustration of an embodiment of the present application prior to attachment of the engagement apparatus to an instrument and drive device;

FIG. 5 is a top view of the splice device of FIG. 4;

FIG. 6 is a cross-sectional view of the engagement device of FIG. 5 taken along plane AA;

FIG. 7 is a perspective view of an instrument according to one embodiment of the present application;

FIG. 8 is a schematic view of an engagement device in one embodiment of the present application;

FIG. 9 is a schematic view of the engagement device of the embodiment of FIG. 8 engaged with an instrument and drive device;

FIG. 10 is a schematic view of the internal structure of the cartridge of the instrument of one embodiment of the present application;

FIG. 11 is a top view of an engagement device in an embodiment of the present application.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "above," "below," and the like are for illustrative purposes only and do not denote a single embodiment, it being understood that such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., elements or features described as "below" or "beneath" other elements or features would be oriented "above" the other elements or features if the device were turned over in the figures. Thus, the example term "below" can encompass both an orientation of above and below.

As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure. As used herein, "coupled" may be broadly understood to mean where two or more objects are connected to any event in a manner that allows the objects to be absolutely coupled to operate with each other so that there is no relative movement between the objects in at least one direction, such as a projection and groove coupling, which may be in a radial relative movement but not in an axial relative movement.

The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical tool such as an electrocautery, a forceps, a stapler, a scissors, an imaging device (e.g., an endoscope or ultrasound probe), and the like, for performing surgical procedures. Some instruments used in embodiments of the present application further include providing the end effector with articulating components (e.g., joint assemblies) such that the position and orientation of the end effector can be manipulated to move in one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end effector includes jaws that also include functional mechanical degrees of freedom, such as opening and closing. The instrument may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system components.

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

As shown in fig. 1 and 2, the surgical robot according to an embodiment of the present application includes a slave operation device 10 and a master operation device 20, the slave operation device 10 is located at a side of a patient for performing a surgical operation, wherein the slave operation device 10 includes a plurality of robot arms 11 and instruments 12 mounted on the robot arms 11, the instruments 12 may be an electrocautery device, a forceps holder, a stapler, a scissors device, etc. for performing a surgical operation, or may be a camera or other surgical instruments for acquiring images, and the plurality of instruments 12 are inserted into the body of the patient from different incisions. The robotic arm is configured to be supported by the mast by a plurality of large arms, and in other embodiments the robotic arm of the slave manipulator apparatus may be mounted on a wall or ceiling.

The robotic arm 11 further includes a parallelogram linkage on the distal end of which the instrument 12 is removably mounted, which may allow the instrument 12 to move or move in multiple mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). The parallelogram linkage is used to constrain the motion of the constraint instrument 12 near the Remote Center of Motion (RCM) on the surgical instrument, which is held stationary relative to the patient, which is typically located where the instrument enters the patient's body. In other embodiments, the big arm of the secondary manipulator is configured differently, and a plurality of instruments of the secondary manipulator are detachably mounted on the power mechanism at the far end of the big arm, enter the human body from an incision, and control and restrain the instruments to move near the remote motion center, please refer to chinese patent application CN 201810664598.2.

The slave manipulator 10 comprises a plurality of robot arms 11, the robot arms 11 being provided at their distal end with an instrument support arm 14, the instrument support arm 14 being provided with drive means 13, the drive means 13 being adapted to drive movement of an end effector 17 at the distal end of the instrument 12, the drive means 13 being movable on the instrument support arm 14 along its proximal or distal end. The implement 12 is mounted on a drive mechanism 13, and the implement 12 is movable with the drive mechanism 13 toward the distal or proximal end of the implement support arm 14 to move the distal end of the implement 12 into or out of the body.

During use of the surgical robot, the instrument 12 is entirely sterile, and the robotic arm 11 and the drive device 13 of the slave manipulator 10 are sterile, and these sterile structures are isolated from the sterile environment by sterile enclosures (not shown). As shown in fig. 3, the instrument cassette 19 of the instrument 12 is coupled to the driving device 13 via the coupling device 18, and the coupling device 18 is disposed aseptically during use, so that the coupling device 18 can aseptically isolate the instrument 12 from the driving device 13.

The end effector 17 is supported by an instrument shaft 16 of the instrument 12. in one embodiment, the instrument shaft 16 is hollow, a transmission mechanism within an instrument housing 19 is coupled to the end effector 17 by a cable, and the drive device 13 drives the transmission mechanism to move so that the transmission mechanism retracts or releases the cable to operate the end effector 17 to move.

The instrument shaft 16 passes through the poking card 15 and is restrained by the poking card 15, the poking card 12 is butted with the instrument supporting arm 13 through a poking card clamping device, so that the poking card 12 can be driven to move together through the mechanical arm 11, the mechanical arm 11 can drive the poking card 12 to rotate around a remote motionless point due to the fact that the poking card 12 is butted on the instrument supporting arm 13, and the instrument shaft 16 passing through the poking card 12 also rotates around the remote motionless point, so that the end effector 17 of the instrument 12 has a larger movement range in the human body.

The surgical robot also typically includes an imaging system portion (not shown) that enables an operator to view the surgical site from outside the patient's body. The vision system variously typically includes a video image capture function (e.g., instrument 12 with image acquisition functionality) and one or more video display devices for displaying the captured images. Generally, the instrument 12 with image acquisition capabilities includes optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images within the body of the patient. The one or more imaging sensors may be placed at the distal end of the instrument 12 with image acquisition capabilities, and the signals generated by the one or more sensors may be transmitted along a cable or by wireless for processing and display on a video display device.

The main operation device 20 is located on the operator side, the main operation device 20 is used for sending control commands to the slave operation device 10 and displaying images acquired from the slave operation device 10 according to the operation of the operator, the operator can observe three-dimensional stereoscopic imaging in the patient body provided by the imaging system through the main operation device 20, and the operator can control the slave operation device 10 to perform relevant operations (such as performing an operation or acquiring images in the patient body) in an immersive sensation by observing the three-dimensional images in the patient body. The main operation device 20 includes a main console 21 and an input device 22, and the main console 21 includes a display device for displaying an image acquired by the imaging system, an armrest, a control signal processing system, and a viewing device. The armrest is used for placing the arm and/or hand of the operator to make the operator more comfortable operating the input device, and the observation device is used for observing the image displayed by the display device. The handrail can be omitted according to actual requirements; or omitting the observation device, in which case direct observation is possible. The operator controls the movement of the slave operation device 10 by operating the input device 22, the control signal processing system of the master console 21 processes the input signal of the input device 22 and then sends a control command to the slave operation device, and the slave operation device 300 is used for responding to the control command sent by the master console 21 and performing corresponding operation.

Referring to fig. 4 and 5, fig. 5 is a top view of the engagement device 280 of fig. 4, in one embodiment, the instrument 12 is engaged with the driving device 23 by an engaging device 280, the engaging device 280 includes a first body 281, and a first catch 283 and a second catch 284 rotatably disposed on the first body 281, specifically, the first catch 283 is rotatably disposed near a first side 2811 of the first body 281, the second catch 284 and the first catch 283 are symmetrically disposed on the first body and can rotate relative to the first body 281, that is, the first catch 283 and the second catch 284 are symmetrically arranged about a central axis X of the first body 281, which passes through the center of the first body 281 and divides the first body 280 into two along the length direction, and the first catch 283 and the second catch 284 are used for connecting the engaging means 280 to the driving means 23 and the cartridge 19 of the instrument 12 to the engaging means 280.

As shown in FIGS. 6 and 7, FIG. 6 is a cross-sectional view taken along plane AA of FIG. 5. in one embodiment, first catch 283 and second catch 284 are pivotally coupled to first body 281 via pivots 2833, 2843. first catch 283 and second catch 284 each include an instrument-side jaw and a drive-side jaw for engaging with catch receptacles 1921, 1922 of instrument cassette 19 and catch receptacles 233, 234 of drive device 23, respectively, to couple instrument cassette 19 and drive device 23 to interface device 280. Specifically, instrument side pawl 2831 of first clasp 283 is configured to engage with first clasp seat 1921 on instrument cassette 19, and instrument side pawl 2841 of second clasp 284 is configured to engage with second clasp seat 1922 on instrument cassette 19. The driving side claw 2832 of the first buckle 283 is used for being buckled with the third buckle seat 233 at the proximal end of the driving device 23, and the driving side claw 2834 of the second buckle 284 is used for being buckled with the fourth buckle seat 234 of the driving device 23.

When it is desired to remove the instrument 12, the operator presses the release mechanisms 191 on both sides of the instrument box 19 of the instrument 12, and the release mechanisms 191 are used for releasing the connection between the first buckle 283 and the second buckle 284 and the instrument box 19, so as to disengage the instrument 12 from the engagement device 280, and since the first buckle 283 and the second buckle 284 are symmetrical about the central axis X, the two release mechanisms 191 can also be symmetrically arranged on both sides of the instrument box 191, which is more convenient for the operator to operate the release mechanisms 191 to separate the instrument 12 from the engagement device 280.

Referring again to fig. 4-6, in one embodiment, the engagement device 280 further includes a third catch 285, the third catch 285 being disposed at a second side 2812 of the first body 281 and extending along the distal end of the first body 281, the second side 2812 being located opposite the instrument support arm 14 and non-parallel to the first side 2811, the third catch 285 being configured to engage with a fifth catch seat 235 on the driver 23. This allows the third catch 285 to form a triangular relationship with the first catch 283 and the second catch 284, and the receiving slot 282 for receiving the instrument shaft 16 is located between the three catches, so that three sides of the engaging device 280 have catches for engaging with the driving device 23, thereby allowing the engaging device 280 to be firmly engaged with the driving device, avoiding the situation that the engaging device and the driving device 23 fall off due to the instrument 12 being forced to overturn during the operation, and providing the safety of the operation.

Referring to fig. 8, in one embodiment, the third catch 285 includes an instrument clip 2852 extending proximally of the engagement means 280, the instrument clip 2852 for gripping the instrument cartridge 19. As shown in fig. 10, the third latch 285 is pivotally connected to the first body 281 of the engaging device 280 via a pivot 2853, after the engaging device 281 is coupled to the driving device 23, the driving claw 2851 of the third latch 285 engages with the fifth latch seat 235 of the driving device 23, and the resilient member 2855 located on the first body 281 is used to bias the driving claw 2851, so as to maintain the driving claw 2851 engaged with the fifth latch seat 235.

After the instrument 12 is attached to the attachment device 280, the instrument case 12 longitudinally compresses the instrument clip 2854 of the third catch 285 so that the protrusion 2854 of the proximal end of the instrument clip 2852 abuts the side of the instrument case 19, thereby rotating the instrument catch 285 clockwise about the pivot 2853 to snap the drive catch 2851 into the fifth catch holder 285 tighter, and the instrument clip 2852 of the third catch 285 clamps the instrument case 19 to prevent the instrument 12 from deflecting away from the instrument support arm 14 to more securely engage the instrument 12 to the attachment device 280.

When it is desired to remove the engaging means 280 from the driving means 23, the operator pinches the instrument-side jaw 2831 of the first catch 283 and the instrument-side jaw 2841 of the second catch 284 toward the center of the engaging means 280, so that the first catch 283 and the second catch 284 rotate about the pivots 2833, 2843, so that the driving jaws 2843 of the first catch 283 and the driving jaws 2844 of the second catch 284 open away from the center of the engaging means 280, and the driving jaws 2843 release the connection with the third catch holder 233, and the driving jaws 2842 release the connection with the fourth catch holder 234. At this time, only the fifth buckle 285 is still clamped with the fifth buckle seat 285 of the driving device 23, and the operator only needs to hold the engaging device 280 to move the engaging device 280 in the direction away from the instrument supporting arm 14, so that the connection between the fifth buckle 285 and the fifth buckle seat 235 can be released, a release mechanism for releasing the fifth buckle is not required to be separately arranged, and the difficulty of removing the engaging device 280 by the operator is not increased.

Referring again to fig. 4 and 5, in one embodiment, the first body 281 of the engagement device 280 defines a receiving slot 282 for receiving the instrument shaft 16 of the instrument 12, the receiving slot 282 being a tapered slot, specifically, an instrument receiving end 2821 of the receiving slot 282 is located in a central region of the first body 281 for receiving the instrument shaft 16 after the instrument 12 is coupled to the engagement device 280, an opening 2822 of the receiving slot 282 is defined in a non-central region of a first side 2811 of the first body 281, the opening 2822 of the receiving slot 2822 communicates with the instrument receiving end 2821, and a central axis Y of the receiving slot 282 is at a non-right angle with respect to a central axis X of the first body 281 such that the receiving slot 282 is at a non-right angle with respect to a side of the first body 281. Further, α is acute such that the opening 2822 of the receiving slot 282 faces outwardly from the lateral side, i.e., the distance from the center of the opening 2822 to the first lateral side 2812 is less than the distance from the center of the instrument receiving end 2821 to the first lateral side 2812. In other words, the first sidewall 2823 of the receiving slot 282 forms an acute angle with the first side 2811 of the first body 281, and the second sidewall 2824 of the receiving slot 282 forms an acute angle with the second side 2812 of the first body 281, wherein the length s1 of the first sidewall 2823 is smaller than the length s2 of the second sidewall 2824, and the first sidewall 2823 and the second sidewall 2823 refer to straight portions of the slot walls of the receiving slot 282.

Since the receiving slot for receiving the instrument shaft 16 is the receiving slot 282, the space of the first body 281 between the first side wall 2812 and the first side edge 2811 of the receiving slot 282 is larger than the space of the receiving slot perpendicular to the first side edge 2811, so that the first catch 283 can be made larger in volume, and the larger volume of the first catch 283 and the second catch 281 can make the connection between the instrument 12 and the driving device 23 and the engaging device 280 more secure.

Additionally, because the second side 2812 of the first body 280 faces the operator during use, the opening 2822 of the receiving slot 282 is closer to the operator than the instrument receiving end 2821, during loading of the instrument 12 into the interface 280, the operator holding the instrument 12 translates the instrument receiving end 2821 from the opening 2822 of the receiving slot 282 along the central axis Y thereof to load the instrument 12 more easily by the operator.

As shown in fig. 5, in one embodiment, the plurality of engagement discs 2861, 2862, 3863, 3864 of the engagement device 280 are distributed around the first body 281, the plurality of engagement discs 2861, 2862, 2863, 2864 being for engaging the instrument disc 1931 of the instrument 12 and the drive disc 236 of the drive device 23. The receiving groove 282 is located in the middle of the plurality of engagement discs 2861, 2862, 3863, 3864, and specifically, the first catch 283 is located between the first side wall 2823 and the first connection disc 2861 of the receiving groove 282, and the second connection disc 2862 is located between the second connection disc 2812 and the second side wall 2824.

In one embodiment, the instrument receiving end 2821 of the receiving slot 282 is located within the triangular area defined by the first catch 283, the second catch 284 and the third catch 285, such that the three catches securely lock the instrument case of the instrument 12 regardless of whether the instrument 12 is flipped in any direction. Further, the distance from the center of instrument receiving end 2821 to center plane AA of first catch 283 and second catch 284 is L, and the smaller the distance L, the less the moment that the instrument exerts on first catch 283 and second catch 284, preferably L is less than width M of first catch 283, and further L is less than half of width M of first catch, i.e., L < M/2, such that instrument 12 is stably coupled to engaging device 280.

As shown in fig. 7 and 10, a plurality of instrument trays 1931, 1932, 1933, 1934 corresponding to the plurality of engagement trays 2861, 2862, 2863, 2864 are also positioned about the engagement surface of the instrument cartridge 19, wherein the first engagement tray 283 is positioned between the first catch 283 and the third side 2813 of the engagement device 280 and the second engagement tray 2862 is positioned between the second side 2812 and the second side wall 2824 of the receiving slot 282. The plurality of instrument trays 1931, 1932, 1933, 1934 are coupled to a plurality of capstans 1921, 1922, 1923, 1924, respectively, located within the instrument pod 19, and the plurality of drive disks 236 drive the rotation of the instrument trays 1931, 1932, 1933, 1934 via a plurality of coupling disks 2861, 2862, 2863, 2864, thereby driving the rotation of the plurality of capstans 1921, 1922, 1923, 1924. Accordingly, a corresponding plurality of capstans 1921, 1922, 1923, 1924 are also located near the four corners of the instrument cartridge 19, the proximal end of the instrument shaft 16 is located in a central region of the instrument cartridge 19, and a plurality of drive cables 1925 extend around the capstans 1921, 1922, 1923, 1924 at one end and through the instrument shaft 16 to the distal end of the instrument shaft 16 at the other end.

Because the proximal end of the instrument shaft 16 is located in a central region of the instrument cartridge 19, and the plurality of capstans 1921, 1922, 1923, 1924 may be distributed around the instrument shaft 16, the included angle between the drive cables 1925 wound on different capstans may be relatively large, reducing interference between the drive cables 1925 within the instrument cartridge 19, and facilitating routing of the drive cables 1925.

As shown in fig. 11, in one embodiment, the receiving slot 382 of the engaging device 380 is a curved chute, specifically, the first side wall 3823 and the second side wall 2834 of the receiving slot 382 are both arc-shaped side walls, and the instrument receiving end 3821 of the receiving slot 382 extends further toward the inner side of the first body of the engaging device 380, so that the center planes AA of the first catch 283 and the second catch 284 pass through the instrument receiving end 3821, so that the distance from the axis of the instrument shaft 16 to the center plane AA is very small after the instrument 12 is engaged with the engaging device 380, so that the moment applied to the first catch 283 and the second catch 284 when the instrument 12 is forced to overturn is also very small, and therefore, the instrument 12 is less likely to be disengaged from the engaging device 380, and more preferably, the center planes AA of the first catch 283 and the second catch 284 pass through the center of the instrument receiving end 3821, so that the moment applied to the first catch 283 and the second catch 284 by the instrument 12 due to the force is almost zero, thereby completely avoiding the risk of the instrument 12 being forced to tip over and disengage from the engagement means 380.

Referring again to fig. 5, 8 and 9, in one embodiment, the third side edge of the engagement apparatus 280 extends proximally out of a second body 287, the second body 287 is perpendicular to the first body 282, the second body 287 is a surrounding plate-shaped structure, and in particular, the second body 287 comprises a straight plate 2871 located in a middle area of the third side edge 2813 and two curved plates 2872 located at two ends of the third side edge 2813, and the concavity of the two curved plates 2872 faces the center of the engagement apparatus 280. The cartridge 19 of the instrument 12 has rectangular rounded corners 1911 at both ends adjacent the leading end surface 192 of the second body 287 and a flat end surface 1912 intermediate the two rectangular rounded corners 1911 and aligned with the straight plate 2871 of the second body 287. Thereby, during loading of the instrument 12 into the engaging means 280, the leading end surface 192 of the instrument cartridge 19 slides along the second body 287 of the engaging means 280 from its proximal end to its distal end, and after the leading end surface 192 slides into the embracing region formed by the two curved plates 2872 of the second body 287, the rectangular rounded corner 1911 of the leading end surface 192 is clamped in the embracing region, preventing the instrument cartridge 19 from shifting in direction during loading, and improving the efficiency and accuracy of loading.

In one embodiment, the guide bar 2873 is also provided on the flat end surface 1912 of the second body 287 of the engagement device 280, the guide bar 2873 being bullet shaped, i.e., the guide bar 2873 includes a bullet-head shaped front portion 2874 and an elongated rear portion 2875. Correspondingly, as shown in fig. 7, the straight plate 2871 of the guide end surface 192 of the instrument 12 is provided with a guide groove 1913, and the width of the bottom groove 1914 of the guide groove 1913 is larger than that of the top groove 1915. As the instrument 12 is loaded onto the guide engagement device 280, the forward portion 2874 of the guide bar 2873 advances into the bottom slot 1914, as the instrument 12 is moved further distally, the forward portion 2874 of the guide bar 2873 moves along the bottom slot 1914 toward the top slot 1915, and after the instrument 12 is successfully engaged with the engagement device 280, the forward portion 2874 of the guide bar 2873 is received within the top slot 1915 of the guide slot 1913 and the rearward portion 2875 of the guide bar 2873 is received within the bottom slot 1914 of the guide slot 1913.

The guide bar 2873 and the guide slot 1913, as well as the embracing second body 287, work together to further improve accuracy and efficiency in loading the instrument 12. In some embodiments, the guide bar 2873 and the guide slot 1913 are two, and the cooperation of the two guide bars 2873 with the two guide slots 1913, respectively, further provides for high accuracy and efficiency in loading the instrument 12.

Referring again to fig. 4 and 7, in one embodiment, engagement device 280 has alignment pin 288 on the instrument engagement surface and instrument 12 has alignment slot 1941 on the engagement surface that mates with alignment pin 288. after instrument 12 is engaged to engagement device 280, first alignment pin 288 is inserted into first alignment slot 1941. after first alignment pin 288 is inserted into first alignment slot 1941, movement of instrument 12 may be further restricted to provide a more secure engagement of instrument 12 to engagement device 280. Further, the first positioning pins 288 and the first positioning grooves 1941 are two, the two first positioning pins 288 are respectively located at both sides of the instrument receiving end 2821 of the receiving groove 282 and located on the central axis X of the engaging device, and the two first positioning pins 288 and the two first positioning grooves 1941 can effectively restrain the rotation of the instrument 12.

In one embodiment, the driving device 13 has a second positioning pin 237 disposed on the engagement surface thereof, and correspondingly, the engagement device 280 has a second positioning slot (not shown) disposed on the driving engagement surface thereof adjacent to the driving device 13, wherein the second positioning pin 237 is inserted into the second positioning slot after the engagement device 280 is engaged with the driving device 13, and the second positioning pin 237 is inserted into the second positioning slot to inhibit the rotation of the whole of the instrument 12 and the engagement device 280. In some embodiments, there are two second positioning pins 237 and two second positioning slots, and the second positioning pins are located at two sides of the receiving slot 232 of the driving device 23.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (19)

1. An engagement device for engaging an instrument with a drive device, the engagement device comprising a first body and a receiving slot opening in the first body, the receiving slot having an instrument receiving end located in a medial region of the first body for receiving an instrument shaft of the instrument.

2. The engagement device of claim 1, wherein the receiving slot is an angled slot.

3. The engagement device of claim 1, wherein the receiving slot includes an opening disposed on a first side of the first body, the opening communicating with the instrument receiving end, the opening being located in a non-central region of the first side.

4. The engagement device of claim 3, wherein the receiving groove includes a first sidewall and a second sidewall on both sides of a central axis of the receiving groove, the first sidewall having a length less than a length of the second sidewall.

5. The engagement device according to claim 4, wherein the engagement device comprises a second side edge non-parallel to the first side edge, wherein the angle between the first side wall and the first side edge is acute and/or the angle between the second side wall and the second side edge is acute.

6. The engagement device of claim 5, wherein a center of the opening is a smaller distance from the second side than a distance between a center of the instrument housing end and the second side.

7. The engagement device according to claim 4, further comprising a first catch and a second catch provided on the first body for engaging with a catch seat on the instrument and the drive device, the first catch and the second catch being provided at the first side.

8. The engagement device according to claim 7, further comprising a third catch provided at the second side for engaging with the catch of the driving device, wherein the instrument receiving end is located within a triangular region defined by the first catch, the second catch, and the third catch.

9. The engagement device according to claim 7 or 8, wherein the first catch is located between the first side wall and the first side edge.

10. The engagement device according to any one of claims 7-9, wherein the engagement device further comprises a first engagement disc and a second engagement disc for engaging the instrument and the drive device, the receiving slot being located between the first engagement disc and the second engagement disc.

11. The engagement device of claim 10, wherein the first catch is located between the receiving slot and the first engagement disc and/or the second engagement disc is located between the receiving slot and the second side edge.

12. The engagement device according to any one of claims 7 to 10, wherein the first catch and the second catch are symmetrically arranged on the first body.

13. The joining device according to any one of claims 7 to 10, characterized in that the first catch and/or the second catch can be rotated relative to the first body.

14. The joining device of claim 13, wherein said first catch, and/or said second catch, and/or said third catch are pivotally connected to said first body.

15. The joining device of claims 7-10, wherein the first catch and/or the second catch is fixedly mounted on the first body, or the first catch and/or the second catch is integrally formed with the first body.

16. The engagement device of claim 8, wherein the third clip includes an instrument clip extending along a proximal end of the engagement device, the instrument clip for gripping the instrument.

17. The engagement device of claim 7, wherein a distance between a center plane of the first catch and the second catch to the first sidewall is less than a width of the first catch or the center plane passes through the instrument receiving end.

18. A slave manipulator apparatus, characterized in that it comprises drive means mounted on said robot arm and engagement means according to any of claims 1-17, which engage on said drive means.

19. A surgical robot, characterized in that it comprises a master operating device and a slave operating device according to claim 18, which performs the respective operations according to the instructions of the master operating device.

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