CN114176797A

CN114176797A - Surgical instrument installation detection system, surgical instrument, sterile plate, power device and surgical robot

Info

Publication number: CN114176797A
Application number: CN202111363325.2A
Authority: CN
Inventors: 何裕源; 范宏伟; 何超
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2022-03-15
Anticipated expiration: 2041-11-17
Also published as: CN114176797B

Abstract

The invention relates to a surgical instrument installation detection system, which is used for detecting whether surgical instruments, a sterile plate and a power device are in an assembled state or a non-assembled state, it is characterized in that the surgical instrument installation detection system comprises a light path micro-motion device, a light-transmitting device and a light signal transceiver, the state of the optical path micro-motion device includes a reflective state and a non-reflective state, and the optical path micro-motion device reaches the reflective state in the assembled state, or in said non-assembled state, said non-reflective state, light passing means capable of allowing light to pass through said sterile sheet via said light passing means, the optical signal transceiver is configured to enable light emitted by the optical signal transceiver to return to the optical signal transceiver through the action of the light-passing device and the optical path micro-motion device in the assembled state. The light can be emitted and received to form a closed loop, and whether the surgical instrument is reliably connected or not can be accurately identified.

Description

Surgical instrument installation detection system, surgical instrument, sterile plate, power device and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument installation detection system, a surgical instrument, a sterile plate, a power device and a surgical robot.

Background

In recent years, with the application and development of related technologies of robots, especially the development of computing technologies, the role of medical surgical robots in clinical practice is more and more emphasized. The minimally invasive surgery robot can relieve the physical labor of a doctor in the surgery process in an interventional therapy mode, and meanwhile achieves the purpose of accurate surgery, so that the patient has small trauma, less blood loss, less postoperative infection and quick postoperative recovery.

The micro-wound surgical robot enables a doctor to observe tissue characteristics in a patient body through two-dimensional or three-dimensional display equipment at a main console, and operates mechanical arms and surgical tool instruments on the robot in a remote control mode to complete operation. The doctor can accomplish the operation of microtrauma operation with the mode and the sensation the same with traditional operation, has alleviateed the degree of difficulty when doctor carries out microtrauma operation greatly, has also improved the efficiency and the security of operation simultaneously to make the realization of remote operation take place breakthrough's progress. In view of the superiority of surgical robots, research on related aspects is actively being conducted in various countries of the world.

The development of minimally invasive surgical robotic devices and systems not only allows physicians to complete surgery with less trauma, but also with the same viewing angle and operational experience as traditional open surgery. More importantly, the medical instrument enables a doctor to perform an operation at a place far away from a patient, or perform an operation beside the patient in a ward, or remotely control a remote receiving device through an operation input device, thereby completing the operation of the operation.

In telesurgery, the surgeon uses some form of remote control, such as a servo, to manipulate the movement of the surgical instruments, rather than directly holding and moving the instruments. In telesurgery systems, a surgeon controls a surgical workstation by operating a master control device, which in turn controls movement of servo-mechanical surgical instruments, to perform a surgical procedure on a patient. This type of operation, if achieved, requires a system or device, typically a robotic arm, to support and move the surgical instrument. Surgical instruments can contact with the focus of a patient to be polluted in the operation process, multiple times of disinfection and sterilization are generally required to be carried out to realize multiplexing, and mechanical arms of the robot are generally required to be repeatedly used, but the mechanical arms are large in size and contain a plurality of parts which are not beneficial to disinfection and sterilization, such as electronic devices, encoders, sensors and the like, so that the mechanical arms are prevented from being further polluted by the surgical instruments polluted in the operation process, the surgical instruments and the mechanical arms are generally required to be isolated by a sterile board, and the mechanical arms of the surgical robot are connected with the surgical instruments through the sterile board.

Minimally invasive surgical robots typically employ a variety of different surgical instruments during a surgical procedure, but minimally invasive procedures limit the number of incisions in the patient, which are typically less than the number of surgical instruments used during the procedure, and thus, the surgical instruments may be installed and removed from a single surgical incision multiple times during the procedure. However, there are many connections between the surgical instrument and the robotic arm for transmitting power, electrical signals, data, etc., which complicates the installation and removal of the surgical instrument, and thus it is important to accurately identify whether the surgical instrument is reliably connected.

Disclosure of Invention

Based on this, it is necessary to provide a surgical instrument installation detection system, a surgical instrument, a sterile plate, a power device, and a surgical robot for the problem of accurately identifying whether the surgical instrument installation is reliable.

The invention provides a surgical instrument installation detection system, which is used for detecting that a surgical instrument, a sterile plate and a power device are in an assembled state or a non-assembled state, and comprises:

an optical path micro-motion device, the state of which includes a reflective state and a non-reflective state, and which reaches the reflective state in the assembled state or reaches the non-reflective state in the non-assembled state;

a light-transmitting device capable of allowing light to pass through the sterile plate;

an optical signal transceiver configured such that, in the assembled state, light emitted by the optical signal transceiver is able to return to the optical signal transceiver via the action of the light passing device and the optical path micro-movement device.

In one embodiment, the optical path micro-motion device is configured for mounting on the surgical instrument or the sterile plate, the light passing means is configured for mounting on the sterile plate, and the optical signal transceiver is configured for mounting on the power device.

In one embodiment, the optical path micro-motion device comprises:

a first stationary base configured for fitting on the surgical instrument or the sterile plate;

a first movable base including a connecting portion rotatably connected to a first position of the first fixed base and a movable portion having a first rotational position and a second rotational position due to rotation of the connecting portion, the movable portion being configured to be rotatable to the first rotational position in the assembled state or to the second rotational position in the unassembled state;

a first reflecting member mounted on the first movable base, the first reflecting member being configured to bring the optical path fine-moving device into the reflective state when the movable portion is rotated to the first rotational position, or to bring the optical path fine-moving device into the non-reflective state when the movable portion is rotated to the second rotational position.

In one embodiment, the optical path fine-motion device further includes:

the first limiting part is arranged on the first fixing base and is configured to limit the movable part to rotate within a preset rotation range.

In one embodiment, the movable portion is resiliently assembled with the first fixed base at the second position, so that the movable portion can rotate from the first rotation position to the second rotation position.

In one embodiment, the movable part is elastically connected with the second position in a rebounding mode through a first elastic piece; alternatively, the first and second electrodes may be,

the movable part and the second position are assembled in a magnetic rebounding mode through a pair of first magnets with mutually exclusive magnetic force.

In one embodiment, the first fixing base defines a receiving groove, and the first position and the second position are both located in the receiving groove.

In one embodiment, the first fixing base is provided with an accommodating groove, the first rotating position is located inside the accommodating groove, and the second rotating position is located outside the accommodating groove.

In one embodiment, the optical path micro-motion device is configured to be assembled on a proximal end surface of the surgical instrument, and the movable part is configured to be in force contact fit with a distal end surface of the sterile plate in the assembled state so as to rotate to the first rotation position;

alternatively, the first and second electrodes may be,

the optical path micro-motion device is configured to be mounted on a distal end surface of the sterile plate, and the movable portion is configured to be in force-contact engagement with a proximal end surface of the surgical instrument in the mounted state to rotate to the first rotational position.

In one embodiment, the optical path fine-motion device further includes:

a first magnetic member fitted to the movable portion;

a second magnetic member configured to be fitted on the light passing member and/or the sterile plate, or configured to be fitted on the surgical instrument;

the first magnetic part and the second magnetic part are configured to be matched with each other in a mutually exclusive way, so that the movable part can be rotated to the second rotating position in the non-assembly state.

In one embodiment, the optical path fine-motion device further includes:

and the dustproof cover is hermetically covered on the notch of the accommodating groove.

In one embodiment, the optical path micro-motion device is configured to be mounted on a proximal surface of the surgical instrument, and the second magnetic member is configured to be mounted on the light passing member and/or a distal surface of the sterile plate; alternatively, the first and second electrodes may be,

the optical path micro-motion device is configured to be mounted on a distal surface of the sterile plate, and the second magnetic member is configured to be mounted on a proximal surface of the surgical instrument.

In one embodiment, the optical path micro-motion device comprises:

a second stationary base having a guide structure, the second stationary base configured for fitting over the surgical instrument or the sterile plate;

a second movable base that is guide-fitted on the guide structure along a guide locus of the guide structure and has a first movement position and a second movement position, the second movable base being configured to be movable to the first movement position in the fitted state or to the second movement position in the non-fitted state;

a second reflecting member mounted on the second movable base, the second reflecting member being configured to bring the optical path fine-moving device into the reflective state when the second movable base is moved to the first moving position, or to bring the optical path fine-moving device into the non-reflective state when the second movable base is moved to the second moving position.

In one embodiment, the optical path fine-motion device further includes:

the second limiting part is arranged on the second fixed base and is configured to limit the second fixed base to move within a preset moving range.

In one embodiment, the optical path fine-motion device further includes:

a guide configured to fit over a distal surface of the sterile plate or a proximal surface of the surgical instrument;

the second movable base comprises a connecting part and a guide part, the connecting part is in rebounding assembly with the second fixed base and can enable the second movable base to move from the first moving position to the second moving position, and the guide part is configured to be matched with the guide part in a guiding mode and can enable the second movable base to move from the second moving position to the first moving position.

In one embodiment, the connecting part is elastically connected with the first moving position in a rebounding mode through a second elastic piece; alternatively, the first and second electrodes may be,

the connecting part and the first moving position are assembled in a magnetic rebounding mode through a pair of second magnets with mutually exclusive magnetic force.

In one embodiment, the second fixed base is mounted on a proximal surface of the surgical instrument and the guide is mounted on a distal surface of the sterile plate; alternatively, the first and second electrodes may be,

the second fixed base is mounted on a distal surface of the sterile plate, and the guide is mounted on a proximal surface of the surgical instrument.

In one embodiment, the guide structure is a guide rail groove formed on the second fixed base, and the guide rail groove contains the first moving position and the second moving position.

In one embodiment, the second fixing base is mounted on a proximal surface of the surgical instrument, and the second fixing base is configured to be an integral structure or a separate structure with the surgical instrument.

In one embodiment, the reflecting component is one or any combination of a prism, an elliptical reflector, a parabolic reflector, a double parabolic reflector and a plane reflector.

In one embodiment, the light-passing device is an optical lens group or a transparent lens.

In one embodiment, the optical signal transceiver comprises:

a transceiver substrate configured for mounting on the power plant, the transceiver substrate including a transmitting location and a receiving location;

the light generator is arranged at the emission position and can emit light to the light path micro-motion device through the light-transmitting device when the light path micro-motion device is in the reflective state;

and the light receiver is arranged at the receiving position and can receive the light reflected by the light path micro-motion device through the light-transmitting device when the light path micro-motion device is in the reflecting state.

The present invention also provides a surgical instrument configured for mounting said optical path micromotion device; the surface of the near end of the surgical instrument is provided with a first mounting groove, and the optical path micro-motion device is assembled in the first mounting groove.

The invention also provides a sterile plate, wherein a mounting hole is formed in the sterile plate, and the mounting hole is configured to be used for assembling the light-transmitting device or the light-transmitting device and the light path micro-motion device.

The invention also provides a power device, which is characterized in that the power device is configured to be used for assembling the optical signal transceiver.

In one embodiment, the distal surface of the power unit defines a second mounting slot, and the optical signal transceiver is mounted in the second mounting slot.

The present invention also provides a surgical robot comprising:

a sterile plate having a mounting hole;

a surgical instrument mounted on a distal surface of the sterile plate;

a power device mounted on a proximal surface of the sterile plate;

the optical path micro-motion device is assembled in the near end surface of the surgical instrument or the mounting hole, and the optical signal transceiver is assembled on the far end surface of the power device.

In the surgical instrument installation detection system, the light path micro-motion device, the light-transmitting device and the optical signal transceiver can form a closed loop through the emission and the reception of light, the light path micro-motion device has a reflective state or a non-reflective state, and the reflective state or the non-reflective state can be used as a variable of the light path micro-motion device and can be used for forming matching with the optical signal transceiver, so that the assembled state or the non-assembled state is identified, and whether the surgical instrument is reliably connected or not is accurately identified.

Drawings

FIG. 1 is a perspective view of a surgical robot according to one embodiment of the present invention;

FIG. 2 is an exploded view of a surgical robot according to one embodiment of the present invention;

FIG. 3 is a perspective view of a surgical instrument according to one embodiment of the present invention;

FIG. 4 is a cross-sectional view of a surgical robot in an unassembled state in accordance with one embodiment of the present invention;

FIG. 5 is an enlarged partial view of the surgical robot shown in FIG. 4;

FIG. 6 is a cross-sectional view of a surgical robot in an assembled state in accordance with one embodiment of the present invention;

FIG. 7 is an enlarged partial view of the surgical robot shown in FIG. 6;

FIG. 8 is a schematic view of the reflection state of light rays in the unassembled state according to one embodiment of the present invention;

FIG. 9 is a schematic view of the assembled state showing the reflection of light rays in accordance with one embodiment of the present invention;

FIG. 10 is a view showing a state where the first elastic member is not assembled according to an embodiment of the present invention;

FIG. 11 is a view showing a state where the first elastic member according to one embodiment of the present invention is assembled;

fig. 12 is a view showing a state where the first elastic member is not assembled according to another embodiment of the present invention;

fig. 13 is a view showing a state in which a first elastic member according to another embodiment of the present invention is assembled;

FIG. 14 is a cross-sectional view of a surgical robot in an unassembled state in accordance with another embodiment of the present invention;

FIG. 15 is an enlarged partial view of the surgical robot shown in FIG. 14;

FIG. 16 is a cross-sectional view of a surgical robot in an assembled state in accordance with another embodiment of the present invention;

FIG. 17 is an enlarged partial view of the surgical robot shown in FIG. 16;

fig. 18 is a state view showing the first magnetic member and the second magnetic member in a non-assembled state according to an embodiment of the present invention;

fig. 19 is a state view showing the first magnetic member and the second magnetic member in an assembled state according to an embodiment of the present invention;

FIG. 20 is a cross-sectional view of a surgical robot in an unassembled state in accordance with yet another embodiment of the present invention;

FIG. 21 is a cross-sectional view of a surgical robot in an assembled state in accordance with yet another embodiment of the present invention;

FIG. 22 is a schematic diagram of the light reflection of an elliptical reflector in accordance with one embodiment of the present invention;

FIG. 23 is a schematic view of the elliptical reflector of FIG. 22 in an unassembled state showing the reflection of light;

FIG. 24 is a schematic view of the elliptical reflector of FIG. 22 in an assembled state showing the reflection of light;

FIG. 25 is a schematic diagram of the light reflection of a parabolic reflector according to one embodiment of the present invention;

FIG. 26 is a schematic view of the parabolic reflector of FIG. 25 in an unassembled state for reflecting light;

FIG. 27 is a schematic view of the parabolic reflector of FIG. 25 in an assembled state showing the reflection of light;

FIG. 28 is a schematic diagram of the light reflection of a double parabolic reflector in accordance with one embodiment of the present invention;

FIG. 29 is a schematic view of the double parabolic reflector of FIG. 28 in an unassembled state for reflecting light;

fig. 30 is a schematic view showing the reflection state of light rays in the assembled state of the double parabolic mirror shown in fig. 28.

Reference numerals:

001. a surgical instrument; 002. a sterile plate; 003. a power plant;

100. a light path micro-motion device; 200. a light-transmitting device; 300. an optical signal transceiver;

110. a first fixed base; 120. a first movable base; 130. a first reflecting member; 140. a first limit piece; 150. a guide structure; 160. a second movable base; 170. a second reflecting member;

111. a containing groove; 112. a first position; 113. a second position; 114. a dust cover;

121. a connecting portion; 122. a movable portion; 123. a first elastic member; 124. a first magnetic member; 125. a second magnetic member;

131. an elliptical reflector; 132. a parabolic reflector; 133. a double parabolic reflector;

161. a connecting portion; 162. a guide portion; 163. a second elastic member; 164. a guide member;

310. a transceiver substrate; 320. a light generator; 330. an optical receiver.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Further, the present invention, when describing the orientation, is "proximal" with respect to a direction of approach of the patient to the operator (or the surgical system) at the time of operation, and "distal" with respect to a direction of departure from the operator (or the surgical system). Thus, the proximal surface of surgical instrument 001, the proximal surface of sterile plate 002, and the distal surface of sterile plate 002, are each oriented toward the operator (or surgical system) in the use configuration, and the distal surface of power unit 003, are each oriented away from the operator (or surgical system) in the use configuration.

Referring to fig. 1 to 3, the assembled state among the surgical instrument 001, the sterile plate 002 and the power device 003 indicates an assembled state in which the surgical instrument 001, the sterile plate 002 and the power device 003 are stably assembled and can be safely used after being mutually assembled, and the unassembled state is opposite to the assembled state in meaning, that is, the surgical instrument 001, the sterile plate 002 and the power device 003 are not stably assembled, or the assembled state does not reach the standard and cannot be safely used although the surgical instrument 001, the sterile plate 002 and the power device 003 are assembled. Generally, the assembled state of the surgical instrument 001, the sterile plate 002 and the power device 003 represents that the proximal end surface of the surgical instrument 001 and the distal end surface of the sterile plate 002 are stably fitted and assembled, and the proximal end surface of the sterile plate 002 and the distal end surface of the power device 003 are stably fitted and assembled, but the assembled state may present different assembly standards according to different models, specifications or use scenes, and is not limited to the common assembly standards, and a person skilled in the art may define the actual meaning of the assembled state according to actual requirements, and is not limited herein.

Referring to fig. 4 to 7, the present invention provides a surgical instrument installation detection system for detecting an assembled state or an unassembled state between a surgical instrument 001, a sterile plate 002, and a power unit 003, the surgical instrument installation detection system including: an optical path micro-motion device 100, a light passing means 200, an optical signal transceiver 300, said optical path micro-motion device 100 being configured for being mounted on said surgical instrument 001 or said sterile plate 002, the state of said optical path micro-motion device 100 including a reflective state and a non-reflective state, and said optical path micro-motion device 100 being capable of reaching said reflective state in said mounted state or said non-reflective state in said non-mounted state; the light passing device 200 is configured for fitting on the sterile sheet 002, capable of allowing light to penetrate the sterile sheet 002 through the light passing device 200; the optical signal transceiver 300 is configured to be mounted on the power unit 003, and the optical signal transceiver 300 is configured such that, in the mounted state, light emitted from the optical signal transceiver 300 can return to the optical signal transceiver 300 through the action of the light passing device 200 and the optical path fine movement device. The light can be laser or light with a certain scattering angle, and the light-transmitting device can be an optical lens group or a transparent lens and other devices with light-transmitting function.

Referring to fig. 8 and 9, the optical path fine-motion device 100, the light-transmitting device 200, and the optical signal transceiver 300 of the surgical instrument installation detection system form a closed loop by transmitting and receiving light, so as to recognize an assembled state or an unassembled state, and therefore, the optical path fine-motion device 100 may have a reflective state or an unassembled state, and the reflective state or the unassembled state may be used as a variable of the optical path fine-motion device 100 to cooperate with the optical signal transceiver 300, so as to recognize the assembled state or the unassembled state.

The assembled state and the unassembled state depend on whether the surgical instrument 001, the sterile plate 002, and the power unit 003 are assembled in place, and thus the assembled state of the surgical instrument 001, the sterile plate 002, and the power unit 003 will determine the reflective state or the non-reflective state of the optical path micro-motion device 100. The relative assembly positions and relationships of the surgical instrument 001, the sterile plate 002 and the power unit 003 in the assembled state and the unassembled state are different, so that the optical path micro-motion device 100 can be prompted to be switched between the reflective state and the non-reflective state based on the mechanical changes generated by the assembly positions and relationships of the surgical instrument 001, the sterile plate 002 and the power unit 003 in the assembled state and the unassembled state, and the assembled state and the unassembled state can be identified in turn.

Optical path micro-motion device 100, light-passing device 200 and optical signal transceiver 300 cooperate with each other, when discerning assembled state or non-assembled state, need assemble respectively on surgical instruments 001, aseptic board 002 and power device 003, for example in a mode, optical path micro-motion device 100 assembles surgical instruments 001, light-passing device 200 assembles on aseptic board 002, optical signal transceiver 300 assembles on power device 003, in another mode, optical path micro-motion device 100 assembles on aseptic board 002, light-passing device 200 also assembles on aseptic board 002, optical signal transceiver 300 assembles on power device 003.

Referring to fig. 8, when the surgical instrument 001, the sterile plate 002, and the power device 003 are in the unassembled state, the variables of the optical path fine movement device 100 are changed and switched to the unreflected state, and at this time, even if light is emitted from the optical signal transceiver 300, the light cannot reach the optical path fine movement device 100 through the light-transmitting member, and therefore, the optical path fine movement device 100 cannot reflect the light and receive the light by the optical signal transceiver 300, and it can be recognized that the surgical instrument 001, the sterile plate 002, and the power device 003 are in the unassembled state.

Referring to fig. 9, when the surgical instrument 001, the sterile plate 002 and the power device 003 are in the assembled state, the variables of the optical path micro-motion device 100 are changed and can be switched to the reflective state, at this time, light can be emitted from the optical signal transceiver 300 and reach the optical path micro-motion device 100 through the light-transmitting component, and because the optical path micro-motion device 100 is in the reflective state, the light can be reflected and reversely returned through the light-transmitting component to be received by the optical signal transceiver 300, so that it can be recognized that the surgical instrument 001, the sterile plate 002 and the power device 003 are in the assembled state.

The above is the identification principle of the surgical instrument installation detection system for identifying whether the optical path micromotion device 100, the light-transmitting device 200 and the optical signal transceiver 300 are in the assembled state or the unassembled state.

With continued reference to fig. 4-9, in one configuration of the optical path micro-motion device 100, the optical path micro-motion device 100 includes a first fixed base 110, a first movable base 120, a first reflective member 130, the first fixed base 110 configured for mounting on the surgical instrument 001 or the sterile plate 002; the first movable base 120 includes a connecting portion 121 and a movable portion 122, the connecting portion 121 is rotatably connected to the first position 112 of the first fixed base 110, the movable portion 122 has a first rotating position and a second rotating position due to rotation of the connecting portion 121, and the movable portion 122 is configured to be rotatable to the first rotating position in the assembled state or rotatable to the second rotating position in the unassembled state; a first reflecting member 130 is attached to the first movable base 120, and the first reflecting member 130 is configured to allow the optical path fine-movement device 100 to assume the reflecting state when the movable portion 122 is rotated to the first rotational position, or to allow the optical path fine-movement device 100 to assume the non-reflecting state when the movable portion 122 is rotated to the second rotational position.

The first fixed base 110 may serve as a basis for assembling the first movable base 120 and the first reflecting member 130, and at this time, the optical path fine-movement device 100 may be assembled on the surgical instrument 001 by disposing the first fixed base 110 on the surgical instrument 001, and at this time, the first fixed base 110 may be actually formed as an integral structure or a separate structure with the surgical instrument 001, and similarly, the optical path fine-movement device 100 may be assembled on the sterile plate 002 by disposing the first fixed base 110 on the sterile plate 002.

The first movable base 120 may have any structure, such as a rod, a block, or a special-shaped body, the connecting portion 121 and the movable portion 122 are generally located at opposite ends of the first movable base 120, the connecting portion 121 may be rotatably mounted on the first fixed base 110 through a rotating component such as a rotating shaft, the movable portion 122 may be a position that can be changed in position by the rotation of the first movable base 120, and the rotation of the movable portion 122 may be used to determine the variable transformation of the optical path fine-moving device 100.

The movable portion 122 is limited to be rotatable to a first rotation position and a second rotation position, and whether it is actually rotatable to the first rotation position or the second rotation position depends on mechanical changes generated by the assembly positions and the relationship among the surgical instrument 001, the sterile plate 002 and the power device 003 in the assembled state and the unassembled state, and the mechanical changes can cause the rotation position of the movable portion 122 to change, so that the change of the variables is formed, the optical path micro-motion device 100 can be prompted to be switched between the reflective state and the non-reflective state, and the assembled state and the unassembled state can be identified in turn.

For example, when the surgical instrument 001, the sterile plate 002 and the power unit 003 are assembled in place and in the assembled state, mechanical variation among the three causes the movable portion 122 to rotate to the first rotational position, thereby switching the optical path fine-moving device 100 to the reflective state, while when the surgical instrument 001, the sterile plate 002 and the power unit 003 are not assembled in place, they can only be in the non-assembled state, and mechanical variation among the three also causes the movable portion 122 to rotate to the second rotational position, thereby switching the optical path fine-moving device 100 to the non-reflective state.

In the unassembled state, since the surgical instrument 001, the sterile plate 002, and the power unit 003 are normally not engaged with each other, the movable portion 122 is not actively rotated to the second rotational position by mechanical fluctuation of the three, and therefore, in order to ensure that the movable portion 122 is in the second rotational position in the unassembled state and to switch the optical path fine-movement device 100 to the non-reflection state, the movable portion 122 can be resiliently fitted to the second position 113 of the first fixed base 110, and by this resilient fitting, the movable portion 122 tends to be separated from the second position 113, and the movable portion 122 can be rotated from the first rotational position to the second rotational position.

For the implementation of the resilient assembly, the movable portion 122 and the second position 113 may be resiliently coupled by a first resilient member 123, or the movable portion 122 and the second position 113 may be magnetically resiliently assembled by a pair of first magnets which are magnetically repulsive. Referring to fig. 10 to 13, when the first elastic element 123 is adopted, the first elastic element 123 may be a spring, a spring plate, or the like, and the spring plate may be a linear plate or a cantilever, or the like, which is not limited herein.

The optical path fine-motion device 100 further includes a first limiting member 140, the first limiting member 140 is disposed on the first fixed base 110, and the first limiting member 140 is configured to limit the movable portion 122 to rotate within a predetermined rotation range. The first limiting member 140 may be a separate component, or may be an integrally formed part of the first fixed base 110, when the first limiting member 140 is a separate component, the first limiting member 140 may be a column, a block, or a special-shaped body, the assembling position of the first limiting member 140 depends on the rotation range of the first movable base 120, the preset rotation range may be preset by a person skilled in the art, and the first limiting member 140 is assembled at a predetermined position according to the predictable rotation range, when the rotation range of the first movable base 120 exceeds the rotation range, the first limiting member 140 may form a limitation with the first movable base 120 by means of limiting abutment, and the first movable base 120 is prohibited from rotating in a space beyond the rotation range.

As to the specific assembly form of the first movable base 120 on the first fixed base 110, the first movable base 120 may be directly assembled on the surface of the first fixed base 110, or the first fixed base 110 is provided with a receiving groove 111, and the first position 112 and the second position 113 are both located in the receiving groove 111, so that the first movable base 120 is also correspondingly assembled in the receiving groove 111 based on the specific positions of the first position 112 and the second position 113 in the receiving groove 111.

The two assembling manners of the first movable base 120 are selected depending on the assembling relationship between the surgical instrument 001 and the sterile plate 002, and if the surgical instrument 001 and the sterile plate 002 are tightly assembled by surface fitting, a containing groove 111 needs to be formed on the first fixed base 110, so that the first movable base 120 is contained in the first fixed base 110 without forming a part protruding out of the first fixed base 110, so as to prevent interference between the surgical instrument 001 and the sterile plate 002, but if the surgical instrument 001 and the sterile plate 002 are tightly assembled by non-surface fitting, the first movable base 120 may be assembled in the first fixed base 110 without forming the containing groove 111, and a part of or the entire structure is allowed to protrude out of the first fixed base 110, which can be set by those skilled in the art according to the needs, and are not limited herein.

When the first movable base 120 is accommodated in the accommodating groove 111, the movable portion 122 of the first movable base 120 may be accommodated in the accommodating groove 111 or exposed out of the accommodating groove 111 to form a variable transformation, wherein the first fixed base 110 is provided with the accommodating groove 111, and the first rotational position is located within the accommodating groove 111, so that the movable portion 122 rotates to the first rotational position, which may cause the optical path fine-moving device 100 to be in a reflective state, and the second rotational position is located outside the accommodating groove 111, which may cause the movable portion 122 to rotate to the second rotational position, which may cause the optical path fine-moving device 100 to be in a non-reflective state. The movable portion 122 is also accommodated in the accommodation groove 111 or exposed to the accommodation groove 111 due to mechanical variations among the surgical instrument 001, the sterile plate 002, and the power unit 003.

In one embodiment, referring to fig. 4 to 7, the optical path micro-motion device 100 is configured to be mounted on the proximal surface of the surgical instrument 001, and the movable portion 122 is configured to be in force-contact fit with the distal surface of the sterile plate 002 in the mounted state to rotate to the first rotation position, in which the proximal surface of the surgical instrument 001 is in fit with the distal surface of the sterile plate 002, and the proximal surface of the sterile plate 002 is in fit with the distal surface of the power unit 003, which is a mounted state among the surgical instrument 001, the sterile plate 002 and the power unit 003, and the mounted state proves that the surgical instrument 001, the sterile plate 002 and the power unit 003 are mounted in a safe working state. Therefore, when the distal end surface of sterile plate 002 and the proximal end surface of surgical instrument 001 are fitted together, movable portion 122 can be in force contact with the distal end surface of sterile plate 002, and under the pressing of the distal end surface of sterile plate 002, movable portion 122 can be driven by force to rotate to the first rotational position, that is, movable portion 122 can be driven to rotate to the first rotational position by mechanical variation among surgical instrument 001, sterile plate 002 and power unit 003.

Referring to fig. 14 to 17, the optical path micro-motion device 100 is configured to be mounted on the distal surface of the sterile plate 002, the movable portion 122 is configured to be in force-contact fit with the proximal surface of the surgical instrument 001 in the mounted state so as to rotate to the first rotation position, at which the proximal surface of the surgical instrument 001 fits snugly with the distal surface of the sterile plate 002, and the proximal surface of the sterile plate 002 fits snugly with the distal surface of the power unit 003, which is a mounted state among the surgical instrument 001, the sterile plate 002 and the power unit 003, and the mounted state proves that the surgical instrument 001, the sterile plate 002 and the power unit 003 are mounted in a state of safe operation. Therefore, when the distal end surface of the sterile plate 002 and the proximal end surface of the surgical instrument 001 are fitted together, the movable portion 122 can be in force contact with the proximal end surface of the surgical instrument 001, and the movable portion 122 can be driven to rotate to the first rotational position by the force of the proximal end surface of the surgical instrument 001, that is, the movable portion 122 can be driven to rotate to the first rotational position by the mechanical change among the surgical instrument 001, the sterile plate 002 and the power unit 003.

Referring to fig. 18 and 19, in addition to the action force formed by the force contact to drive the movable portion 122 to rotate, the movable portion 122 may also be driven to rotate in a non-contact manner, for example, the optical path fine-moving device 100 further includes a first magnetic member 124 and a second magnetic member 125, and the first magnetic member 124 is assembled to the movable portion 122; the second magnetic member 125 is configured to be separately mounted on the light-transmitting member or the sterile plate 002, or simultaneously mounted in contact with the light-transmitting member and the sterile plate 002, or the second magnetic member 125 is configured to be mounted on the surgical instrument 001, and the first magnetic member 124 and the second magnetic member 125 are configured to be magnetically mutually-repulsive-fit, so when the first magnetic member 124 and the second magnetic member 125 approach each other, a mutually-repulsive force is generated between the first magnetic member 124 and the second magnetic member 125, and the movable portion 122 can be rotated to the second rotational position in the non-mounted state in a non-contact manner. Since the first magnetic member 124 and the second magnetic member 125 need to be in a relatively close position even when a repulsive force is generated between the first magnetic member 124 and the second magnetic member 125, the movable portion 122 is passively rotated to the first rotational position due to mechanical fluctuations among the surgical instrument 001, the sterile plate 002, and the power unit 003 even though the first magnetic member 124 and the second magnetic member 125 are not in contact with each other.

At least one advantage of the non-contact manner of rotating the movable portion 122 to the first rotation position is that the first magnetic member 124 and the second magnetic member 125 can have a solid object to form an isolation, as long as the acting force relationship between the first magnetic member 124 and the second magnetic member 125 is not affected, and based on this advantage, when the receiving groove 111 is formed on the first fixing base 110, the optical path fine-moving device 100 can include the dust cap 114, the dust cap 114 can seal and cover the notch of the receiving groove 111 to prevent dust from entering, and the material of the dust cap 114 is not required to adopt a material such as metal that affects the acting force between the first magnetic member 124 and the second magnetic member 125.

In one embodiment, the optical path micro-motion device 100 is configured to be mounted on the proximal surface of the surgical instrument 001, and the second magnetic member 125 is configured to be mounted on the light-transmitting member or the distal surface of the sterile plate 002 alone or in contact with the light-transmitting member and the distal surface of the sterile plate 002, wherein the proximal surface of the surgical instrument 001 is mounted in contact with the distal surface of the sterile plate 002, and the proximal surface of the sterile plate 002 is mounted in contact with the distal surface of the power unit 003, and the mounted state among the surgical instrument 001, the sterile plate 002 and the power unit 003 proves that the surgical instrument 001, the sterile plate 002 and the power unit 003 are mounted in a safe working state. Therefore, when the distal end surface of the sterile plate 002 and the proximal end surface of the surgical instrument 001 are fitted together, the first magnetic member 124 and the second magnetic member 125 are also close to each other, and as the proximal end surface of the surgical instrument 001 and the distal end surface of the sterile plate 002 are gradually close to each other, a mutually repulsive force is formed between the first magnetic member 124 and the second magnetic member 125, and the force drives the movable portion 122 to passively rotate to the first rotational position, that is, the movable portion 122 is passively rotated to the first rotational position due to mechanical variation among the surgical instrument 001, the sterile plate 002 and the power unit 003.

The optical path micro-motion device 100 is configured to be mounted on the distal end surface of the sterile plate 002, and the second magnetic member 125 is configured to be mounted on the proximal end surface of the surgical instrument 001, at this time, the proximal end surface of the surgical instrument 001 is fit with the distal end surface of the sterile plate 002, and the proximal end surface of the sterile plate 002 is fit with the distal end surface of the power device 003, which belongs to the mounted state among the surgical instrument 001, the sterile plate 002 and the power device 003, and the mounted state proves that the surgical instrument 001, the sterile plate 002 and the power device 003 are mounted to a state capable of safe operation. Therefore, when the distal end surface of the sterile plate 002 and the proximal end surface of the surgical instrument 001 are fitted together, the first magnetic member 124 and the second magnetic member 125 are also close to each other, and as the proximal end surface of the surgical instrument 001 and the distal end surface of the sterile plate 002 are gradually close to each other, a mutually repulsive force is formed between the first magnetic member 124 and the second magnetic member 125, and the force drives the movable portion 122 to passively rotate to the first rotational position, that is, the movable portion 122 is passively rotated to the first rotational position due to mechanical variation among the surgical instrument 001, the sterile plate 002 and the power unit 003.

In another configuration of the optical path micro-motion device 100, referring to fig. 20 and 21, the optical path micro-motion device 100 includes a second fixed base having a guide structure 150, a second movable base 160, a second reflection member 170, the second fixed base being configured to be fitted on the surgical instrument 001 or the sterile plate 002; a second movable base 160 that is guide-fitted on the guide structure 150 along a guide track of the guide structure 150 and has a first movement position and a second movement position, the second movable base 160 being configured to be movable to the first movement position in the fitted state or to the second movement position in the unassembled state; a second reflecting member 170 is mounted on the second movable base 160, and the second reflecting member 170 is configured to allow the optical path fine-moving device 100 to assume the reflecting state when the second movable base 160 is moved to the first moving position, or to allow the optical path fine-moving device 100 to assume the non-reflecting state when the second movable base 160 is moved to the second moving position.

The second fixed base may be used as a basis for assembling the second movable base 160 and the second reflective member 170, and at this time, the second fixed base may be disposed on the surgical instrument 001 to implement the assembling of the optical path fine-motion device 100 on the surgical instrument 001, and at this time, the second fixed base may be actually integrated with the surgical instrument 001 or may be a separate structure, and when the second fixed base is integrated with the surgical instrument 001, the guide structure 150 on the second fixed base may be equivalently formed directly on the surgical instrument 001 and belongs to an area or a portion of the surgical instrument 001, and the second movable base 160 and the second reflective member 170 may also be equivalently assembled directly on the surgical instrument 001. Similarly, the mounting of the optical path micromotion device 100 on the sterile plate 002 can also be realized by disposing the second fixing base on the sterile plate 002.

The second movable base 160 is limited to be movable to a first movable position and a second movable position, and whether the second movable base is actually moved to the first movable position or the second movable position depends on mechanical changes generated by the assembly positions and the relationship among the surgical instrument 001, the sterile plate 002 and the power device 003 in the assembled state and the unassembled state, the mechanical changes can cause the movable position of the second movable base 160 to change, so that variable transformation is formed, the optical path micro-motion device 100 can be prompted to switch between the reflective state and the non-reflective state, and the assembled state and the unassembled state can be identified in turn.

For example, when the surgical instrument 001, the sterile plate 002 and the power device 003 are assembled in place and in the assembled state, mechanical variation among the three causes the second movable base 160 to move to the first moving position, thereby switching the optical path fine-moving device 100 to the reflective state, while when the surgical instrument 001, the sterile plate 002 and the power device 003 are not assembled in place, they can only be in the non-assembled state, and mechanical variation among the three causes the second movable base 160 to move to the second moving position, thereby switching the optical path fine-moving device 100 to the non-reflective state.

The second movable base 160 may be in any structure form, such as a rod, a block or a profile body, as long as a guiding assembly, such as a guiding sliding assembly, on the guiding structure 150 can be achieved. The second movable base 160 can passively reciprocate between the first movement position and the second movement position due to mechanical fluctuations among the surgical instrument 001, the sterile plate 002, and the power unit 003, and at the same time, the second reflecting member 170 is driven to change its position, and the optical path fine-moving device 100 is switched to the reflecting state or the non-reflecting state by the second movable base 160 between the first movement position and the second movement position.

The mechanical variation among the surgical instrument 001, the sterile plate 002 and the power device 003 can cause the second movable base 160 to move to the first moving position or the second moving position in a non-contact manner or in a mechanical contact manner, for example, by referring to the cooperation of the first magnetic member 124 and the second magnetic member 125 to form a non-contact force and using the non-contact force to drive the second movable base 160 to move, or the optical path micro-motion device 100 further includes a guide member 164, the guide member 164 is configured to be mounted on the distal end surface of the sterile plate 002 or the proximal end surface of the surgical instrument 001, the second movable base 160 includes a connecting portion 161 and a guiding portion 162, the connecting portion 161 is resiliently mounted on the second fixed base, and the second movable base 160 can be moved from the first moving position to the second moving position, and the guiding portion 162 is configured to be in guiding cooperation with the guide member 164, the second movable base 160 may be moved from the second movement position to the first movement position. The guide portion 162 may have a wedge-shaped guide surface.

The connecting portion 161 and the guiding portion 162 are generally disposed at opposite ends of the second movable base 160, the connecting portion 161 can be used as a mounting portion of the second movable base 160 with respect to the first movable base 120, and is specifically used to form a resilient mounting with the second fixed base, the guiding portion 162 can be used as a mating portion with the guiding member 164, and can form a force for driving the second movable base 160 to move on the guiding structure 150 due to the force contact with the guiding member 164, and the movement of the second movable base 160 can be used to determine the variable transformation of the optical path fine-moving apparatus 100.

In the assembled state of the surgical instrument 001, the sterile plate 002, and the power unit 003, the guide 162 and the guide 164 are in force contact with each other based on the mechanical variation in the assembling position and relationship at that time, and the guide 162 is pressed by the driving of the guide 164, so that the force for moving the second movable base 160 on the guide structure 150 is generated, and the surgical instrument is moved to the first moving position. In the unassembled state, since the surgical instrument 001, the sterile plate 002, and the power unit 003 are normally not in a fitting relationship, the second movable base 160 is not actively moved to the second movement position by mechanical fluctuation of the three, and therefore, in order to ensure that the second movable base 160 is in the second movement position in the unassembled state and to switch the optical path fine-moving device 100 to the non-reflection state, the second movable base 160 can be resiliently fitted to the second fixed base, and by this resilient fitting, the second movable base 160 can be moved from the first movement position to the second movement position with a tendency to move away from the first movement position.

For the implementation of the rebound assembly, the connection portion 161 and the first moving position may be elastically rebounded by the second elastic member 163, or the connection portion 161 and the first moving position may be magnetically rebounded by a pair of second magnets which are magnetically repulsive. When the second elastic member 163 is used, the second elastic member 163 may be a spring, a spring plate, and the spring plate may be a linear plate or a cantilever, and is not limited herein.

The optical path fine-motion device 100 may further include a second limiting member (not shown) disposed on the second fixed base, and the second limiting member is configured to limit the second fixed base to move within a preset moving range. The second limiting member may be an individual component, or may be a part integrally formed on the second fixed base, when the second limiting member is an individual component, the second limiting member may be a column, a block, or a special-shaped body, the assembling position of the second limiting member depends on the moving range of the second movable base 160, the preset moving range may be preset by a person skilled in the art, and the second limiting member is assembled at a predetermined position according to the predictable moving range, and when the moving range of the second movable base 160 exceeds the moving range, the second limiting member may form a limitation with the second movable base 160 by means of limiting and abutting, and the second movable base 160 is prohibited from moving in a space beyond the moving range.

The guide structure 150 may be a guide groove formed on the second fixed base, and the guide groove includes the first moving position and the second moving position, so that the second movable base 160 can move in the guide groove in a guiding manner and reciprocate between the first moving position and the second moving position. The second fixing base is assembled on the proximal end surface of the surgical instrument 001, and when the second fixing base is configured to be an integrally formed structure with the surgical instrument 001, the guide groove may be directly provided on the surgical instrument 001, and if the second fixing base is configured to be a separate structure from the surgical instrument 001, the guide groove is provided on the second fixing base.

The second fixing base is assembled on the proximal end surface of the surgical instrument 001, and the guide 164 is assembled on the distal end surface of the sterile plate 002, at this time, the proximal end surface of the surgical instrument 001 is fitted with the distal end surface of the sterile plate 002, and the proximal end surface of the sterile plate 002 is fitted with the distal end surface of the power unit 003, which belongs to the assembled state among the surgical instrument 001, the sterile plate 002 and the power unit 003, and the assembled state proves that the surgical instrument 001, the sterile plate 002 and the power unit 003 are assembled to a state capable of working safely. Therefore, when the distal surface of sterile plate 002 and the proximal surface of surgical instrument 001 are fitted together, guide 164 on sterile plate 002 will come into force contact with guide 162 and apply a force to guide 162, which indirectly drives second movable base 160 to move to the first movable position via guide 162, i.e., second movable base 160 is passively moved to the first movable position due to mechanical variations among surgical instrument 001, sterile plate 002 and power unit 003.

The second fixing base is assembled on the distal end surface of the sterile plate 002, the guiding element 164 is assembled on the proximal end surface of the surgical instrument 001, at this time, the proximal end surface of the surgical instrument 001 is assembled with the distal end surface of the sterile plate 002 in a fitting manner, and the proximal end surface of the sterile plate 002 is assembled with the distal end surface of the power device 003 in a fitting manner, which belongs to the assembled state among the surgical instrument 001, the sterile plate 002 and the power device 003, and the assembled state proves that the surgical instrument 001, the sterile plate 002 and the power device 003 are assembled to a state capable of working safely. Therefore, when the distal end surface of the sterile plate 002 and the proximal end surface of the surgical instrument 001 are fitted together, the guide 164 on the surgical instrument 001 may be in force contact with the guide portion 162 and apply a force to the guide portion 162, which indirectly drives the second movable base 160 to move to the first moving position via the guide portion 162, that is, the second movable base 160 is passively moved to the first moving position due to mechanical variations among the surgical instrument 001, the sterile plate 002 and the power unit 003.

The reflecting member (i.e., the first reflecting member 130 or the second reflecting member 170) may take various forms as long as it can cooperate with the optical signal transceiver 300 to transmit and receive light, for example, one or any combination of a prism, an elliptical reflecting mirror 131, a parabolic reflecting mirror 132, a double parabolic reflecting mirror 133132, and a plane reflecting mirror.

Optical signal transceiver 300 includes transceiver base plate 310, light generator 320, light receiver 330, transceiver base plate 310 is configured to be used for the assembly in power device 003 is last, transceiver base plate 310 contains transmitting position and receiving position, and light generator 320 sets up transmitting position, and can be in light path micro-motion device 100 is the light that can reflect the state is passed through to lead light device 200 to light path micro-motion device 100 transmission light, and light receiver 330 sets up receiving position, and can be in light path micro-motion device 100 is can reflect the state is passed through to lead light device 200 and receive the light that light path micro-motion device 100 reflects back.

The transmitting position and the receiving position on the transceiver substrate 310 are for providing predetermined mounting positions of the optical generator 320 and the optical receiver 330, so that the optical generator 320 and the optical receiver 330 can cooperate with the optical path micro-motion device 100 to transmit and receive light, and therefore, the predetermined positions of the transmitting position and the receiving position on the transceiver substrate 310 depend not only on the mounting positions of the optical path micro-motion device 100, the light-passing component and the optical signal transceiver 300 on the surgical instrument 001, the sterile plate 002 and the power unit 003, but also on the reflection condition of the reflection component.

Referring to fig. 22 to 24, when the reflecting component is the elliptical reflecting mirror 131, the elliptical reflecting mirror 131 has two focal points, and thus the emitting position and the receiving position are respectively located at the two focal points of the elliptical reflecting mirror 131, so that the light generator 320 and the light receiver 330 are also respectively located at the two focal points of the elliptical reflecting mirror 131, and the light of the light generator 320 is reflected to be converged to the other focal point to be received by the light receiver 330, thereby improving the detection sensitivity of the light receiver 330.

Referring to fig. 25 to 27, when the reflective component is the parabolic reflector 132, the parabolic reflector 132 has a focus, and therefore, the emitting position or the receiving position can be both located at the focus of the elliptical reflector 131, so that the light generator 320 or the light receiver 330 is located at the focus of the parabolic reflector 132, and after the light generator 320 at the focus emits light, the light is reflected and converged to the light receiver 330 in parallel, thereby improving the detection sensitivity of the light receiver 330.

Referring to fig. 28 to 30, when the reflection component is a double parabolic reflector 133132, the left and right parabolic mirror surfaces of the double parabolic reflector 133132 each have a focus, and thus the emission position and the reception position are respectively located at a focus, so that the light generator 320 and the light receiver 330 are also respectively located at a focus, the left and right parabolic mirror surfaces are symmetrically arranged with respect to a perpendicular bisector of the two focuses, and the light of the light generator 320 at the focus is reflected by one parabolic mirror surface, then is parallel-absorbed into the other parabolic mirror surface, and is again reflected and converged at the other focal light receiver 330, so that the detection sensitivity of the light receiver 330 can be improved.

The present invention also provides a surgical instrument 001, said surgical instrument 001 being configured for mounting said optical path micro-motion device 100; the proximal surface of the surgical instrument 001 is provided with a first mounting groove in which the optical path micro-motion device 100 is fitted. When the optical path micro-motion device 100 is assembled in the first installation groove, the optical path micro-motion device can be flush with the surface of the surgical instrument 001, so that the surface of the surgical instrument 001 is smooth, and any adverse effect is not caused on the use of the surgical instrument 001.

The invention also provides a sterile plate 002, wherein mounting holes are formed in the sterile plate 002, and the mounting holes are configured to be used for assembling the light-transmitting device 200 or used for assembling the light-transmitting device 200 and the light path micro-motion device 100.

The invention also provides a power device 003, wherein the power device 003 is configured to be used for assembling the optical signal transceiver 300. The assembly of the optical signal transceiver 300 on the power device 003 can depend on the assembly relationship between the power device 003 and the sterile plate 002, and because the component needing to be replaced frequently is the surgical instrument 001, the sterile plate 002 and the power device 003 can be kept relatively stable to a certain extent, and are not frequently disassembled, the assembly state between the power device 003 and the sterile plate 002 can be kept unchanged for a long time to a certain extent, so the power device 003 and the sterile plate 002 can be assembled in a surface fitting manner or assembled with a certain gap or space, and for different assembly structures, the optical signal transceiver 300 can also be assembled in a surface protruding manner or assembled in a groove accommodating manner on the power device 003.

For the slotted receiving assembly, the distal end surface of the power unit 003 may be formed with a second mounting slot into which the optical signal transceiver 300 is mounted. When optical signal transceiver 300 is assembled into the second mounting groove, it can be flush with the surface of power unit 003, so that the surface of power unit 003 is flat, and does not have any adverse effect on the use of power unit 003. The invention also provides a surgical robot, which comprises a sterile plate 002, a surgical instrument 001 and a power device 003, wherein the sterile plate 002 is provided with a mounting hole, the surgical instrument 001 is assembled on the distal end surface of the sterile plate 002, and the power device 003 is assembled on the proximal end surface of the sterile plate 002; the light-transmitting device 200 is mounted in the mounting hole, the optical path micro-motion device 100 is mounted in the proximal end surface of the surgical instrument 001 or the mounting hole, and the optical signal transceiver 300 is mounted in the distal end surface of the power device 003. The power device 003 is typically a power box, but is not limited to other devices or apparatuses that can provide power. Since the detailed structure, functional principle and technical effect of the sterile plate 002, the surgical instrument 001, the power device 003 and the surgical instrument installation detection system have been described in detail, detailed description thereof is omitted, and any technical content related to the surgical instrument installation detection system can be referred to the above description.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

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

1. A surgical instrument installation detection system for detecting an assembled or unassembled condition between a surgical instrument, a sterile plate, and a power plant, the surgical instrument installation detection system comprising:

2. A surgical instrument installation detection system as recited in claim 1, wherein the optical path micro-motion device is configured for mounting on the surgical instrument or the sterile plate, the light passing means is configured for mounting on the sterile plate, and the optical signal transceiver is configured for mounting on the motive device.

3. The surgical instrument installation detection system of claim 1, wherein the optical path micro-motion device comprises:

4. The surgical instrument installation detection system of claim 3, wherein the optical path micro-motion device further comprises:

5. A surgical instrument installation detection system according to claim 3, wherein the movable portion is resiliently mounted to the first stationary base between the second position and the first position to allow the movable portion to rotate from the first rotational position to the second rotational position.

6. The surgical instrument installation detection system of claim 5, wherein the movable portion is resiliently coupled to the second position by a first resilient member; alternatively, the first and second electrodes may be,

7. The surgical instrument installation detection system of claim 5, wherein the first fixed base defines a receiving slot, and wherein the first position and the second position are both located in the receiving slot.

8. The surgical instrument installation detection system of claim 5, wherein the first stationary base defines a receiving slot, the first rotational position being located within the receiving slot, and the second rotational position being located outside the receiving slot.

9. A surgical instrument installation detection system according to claim 8, wherein the optical path micromotion device is configured for mounting at a proximal surface of the surgical instrument, the movable portion being configured to be in force-contacting engagement with a distal surface of the sterile plate in the mounted state for rotation to the first rotational position;

alternatively, the first and second electrodes may be,

10. The surgical instrument installation detection system of claim 7, wherein the optical path micro-motion device further comprises:

a first magnetic member fitted to the movable portion;

11. The surgical instrument installation detection system of claim 10, wherein the optical path micro-motion device further comprises:

12. A surgical instrument installation detection system according to claim 10, wherein the optical path micromotion device is configured for mounting on a proximal surface of the surgical instrument, the second magnetic element being configured for mounting on the light passing member and/or on a distal surface of the sterile plate; alternatively, the first and second electrodes may be,

13. The surgical instrument installation detection system of claim 1, wherein the optical path micro-motion device comprises:

14. The surgical instrument installation detection system of claim 13, wherein the optical path micro-motion device further comprises:

15. The surgical instrument installation detection system of claim 13, wherein the optical path micro-motion device further comprises:

16. A surgical instrument installation detection system according to claim 15, wherein the connection portion is resiliently connected to the first displaced position by a second resilient member; alternatively, the first and second electrodes may be,

17. A surgical instrument installation detection system according to claim 15, wherein the second stationary base is mounted to a proximal surface of the surgical instrument and the guide is mounted to a distal surface of the sterile plate; alternatively, the first and second electrodes may be,

18. The surgical instrument installation detection system of claim 13, wherein the guide structure is a rail slot cut in the second stationary base, the rail slot containing the first and second moveable positions therein.

19. The surgical instrument installation detection system of claim 13, wherein the second stationary base is mounted to a proximal surface of the surgical instrument, and the second stationary base is configured to be an integrally formed structure or a separate structure from the surgical instrument.

20. A surgical instrument installation detection system according to any one of claims 1 to 19, wherein the reflective member is one or any combination of a prism, an elliptical reflector, a parabolic reflector, a double parabolic reflector and a planar reflector.

21. A surgical instrument installation detection system according to any one of claims 1 to 19, wherein the light passing means is an optical lens group or a transparent lens.

22. A surgical instrument installation detection system according to any one of claims 1 to 19, wherein the optical signal transceiver includes:

23. A surgical instrument configured for fitting with an optical path micro-motion device as claimed in any one of claims 1-22; the surface of the near end of the surgical instrument is provided with a first mounting groove, and the optical path micro-motion device is assembled in the first mounting groove.

24. An aseptic plate, characterized in that the aseptic plate is provided with a mounting hole, and the mounting hole is configured to be used for assembling the light-transmitting device as claimed in any one of claims 1 to 20, or used for assembling the light-transmitting device as claimed in any one of claims 1 to 22 and an optical path micro-motion device.

25. A power plant, characterized in that it is configured for assembling an optical signal transceiver according to any of claims 1-22.

26. The power unit of claim 25, wherein a distal surface of the power unit defines a second mounting slot, the optical signal transceiver being mounted within the second mounting slot.

27. A surgical robot, comprising:

a sterile plate having a mounting hole;

a surgical instrument mounted on a distal surface of the sterile plate;

a power device mounted on a proximal surface of the sterile plate;

the surgical instrument installation detection system of any one of claims 1-22, the light passing device being mounted within the mounting hole, the optical path micro-motion device being mounted within a proximal surface of the surgical instrument or the mounting hole, the optical signal transceiver being mounted on a distal surface of the power device.