CN114176797B

CN114176797B - Surgical instrument installation detection system, surgical instrument and surgical robot

Info

Publication number: CN114176797B
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: 2023-08-18
Anticipated expiration: 2041-11-17
Also published as: CN114176797A

Abstract

The invention relates to a surgical instrument installation detection system for detecting an assembled state or an unassembled state among a surgical instrument, a sterile plate and a power device, which is characterized by comprising an optical path micro-motion device, a light-passing device and an optical signal transceiver, wherein the state of the optical path micro-motion device comprises a reflective state and a non-reflective state, the optical path micro-motion device reaches the reflective state in the assembled state or reaches the non-reflective state in the unassembled state, the light-passing device can allow light to pass through the sterile plate through the light-passing device, and the optical signal transceiver is configured so that the light emitted by the optical signal transceiver can return to the optical signal transceiver under 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 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 and a surgical robot.

Background

In recent years, with the application and development of related technologies of robots, particularly the development of computing technologies, medical surgical robots are receiving more and more attention in clinic. Wherein, the minimally invasive surgery robot can alleviate doctor's manual labor in the operation in-process through interventional therapy's mode, reaches accurate operation purpose simultaneously, makes patient's wound little, blood loss little, postoperative infection little, postoperative resumes soon.

The minimally invasive surgical robot can enable a doctor to observe tissue characteristics in a patient body through two-dimensional or three-dimensional display equipment at a main control console, and control a mechanical arm and surgical tool instruments on the robot in a remote control mode to finish operation. The doctor can finish the operation of the micro-wound operation in the same mode and feel as the traditional operation, so that the difficulty of the doctor in performing the micro-wound operation is greatly reduced, the operation efficiency and safety are improved, and the realization of the remote operation is made to have breakthrough progress. In view of the superiority of surgical robots, research is actively being conducted in all countries of the world.

The development of minimally invasive surgical robotic devices and systems not only enables doctors to complete surgery with less trauma and the same view and operational experience as traditional open surgery. More importantly, it enables a doctor to perform an operation at a location remote from the patient, or to perform an operation beside the patient in a ward, or to remotely control a remote receiving device through an operation input device, thereby completing the operation.

In teleoperation, the surgeon uses some form of remote control, such as a servo, to manipulate the movement of the surgical instrument rather than holding and moving the instrument directly. In tele-surgical systems, the surgeon performs the surgical operation on the patient by operating a master control device that in turn controls the movement of the servo-mechanism surgical instruments. If this is achieved, a system or device, typically a robotic arm, must support and move the surgical instrument. The surgical instrument can be polluted by contacting with a focus of a patient in the surgical process, the surgical instrument is usually required to be disinfected and sterilized for multiple times to realize reuse, and the mechanical arm of the robot is usually required to be reused, but because the mechanical arm is large in size and internally provided with a plurality of parts which are unfavorable for disinfection and sterilization, such as electronic devices, encoders, sensors and the like, in order to prevent the surgical instrument polluted in the surgical process from further polluting the mechanical arm, a sterile plate is usually required to isolate the surgical instrument from the mechanical arm, so that the mechanical arm of the surgical robot and the surgical instrument are connected through the sterile plate.

Minimally invasive surgical robots typically employ a number of different surgical instruments during surgery, but minimally invasive surgery requires a limited number of incisions in the patient, which is typically less than the number of surgical instruments used during surgery, and therefore multiple installation and removal of surgical instruments from a single surgical incision during surgery. However, there are many connections between the surgical instrument and the mechanical arm for transmitting power, electrical signals, data, etc., which complicates the mounting and dismounting of the surgical instrument, and thus it is particularly 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, and a surgical robot for the problem of accurate identification of whether the surgical instrument installation is reliable.

The invention provides a surgical instrument installation detection system for detecting an assembled state or an unassembled state among a surgical instrument, a sterile plate and a power device, comprising:

an optical path micro-motion device, the states of the optical path micro-motion device including a reflectable state and a non-reflectable state, the optical path micro-motion device including a movable base and a reflective component mounted on the movable base, the movable base configured to move to a first movement position in the mounted state, to a second movement position in the non-mounted state, the reflective component configured to cause the optical path micro-motion device to assume the reflectable state when the movable base is in the first movement position, and to assume the non-reflectable state when the movable base is in the second movement position;

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

And the optical signal transceiver is configured in the assembled state, and light emitted by the optical signal transceiver can return to the optical signal transceiver through the action of the light passing device and the optical path micro-motion 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 device 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 includes a first stationary base configured for assembly on the surgical instrument or the sterile plate;

the movable base comprises a first movable base, the first movable base comprises a connecting part and a movable part, the connecting part is rotationally connected with a first movement position of the first fixed base, the movable part has a first rotation position and a second rotation position due to the rotation of the connecting part, and the movable part is configured to rotate to the first rotation position in the assembled state or to rotate to the second rotation position in the unassembled state;

The reflecting component comprises a first reflecting component which is assembled on the first movable base, the first reflecting component is configured to enable the light path micro-motion device to be in the reflecting state when the movable part rotates to the first rotating position, and enable the light path micro-motion device to be in the non-reflecting state when the movable part rotates to the second rotating position.

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

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

In one embodiment, the movable part is assembled with the second movement position of the first fixed base in a rebound way, so that the movable part rotates from the first rotation position to the second rotation position.

In one embodiment, the movable part and the second movement position are elastically and elastically connected in a rebound manner through a first elastic piece; or alternatively, the process may be performed,

the movable part and the second movement position are assembled in a magnetic rebound way through a pair of first magnets which are mutually exclusive by magnetic force.

In one embodiment, the first fixing base is provided with a containing groove, and the first movement position and the second movement position are both located in the containing groove.

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

In one embodiment, the optical path micro-motion device is configured for assembly to a proximal surface of the surgical instrument, the movable portion being configured for force contact engagement with a distal surface of the sterile plate in the assembled state for rotation to the first rotational position;

or alternatively, the process may be performed,

the optical path micro-motion device is configured for assembly at a distal surface of the sterile plate, and the movable portion is configured for force contact engagement with a proximal surface of the surgical instrument in the assembled state for rotation to the first rotational position.

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

a first magnetic member mounted on the movable portion;

a second magnetic member configured for assembly on the light passing device and/or the sterile plate, or the second magnetic member is configured for assembly on the surgical instrument;

the first magnetic piece and the second magnetic piece are configured to be mutually exclusive and matched in a magnetic force mode, so that the movable part rotates to the second rotation position in the non-assembled state.

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

and the dustproof cover is used for sealing and covering the notch of the accommodating groove.

In one embodiment, the optical path micro-motion device is configured for fitting on a proximal surface of the surgical instrument, and the second magnetic element is configured for fitting on the light passing device and/or a distal surface of the sterile plate; or alternatively, the process may be performed,

the optical path micro-motion device is configured for fitting at a distal surface of the sterile plate, and the second magnetic element is configured for fitting at a proximal surface of the surgical instrument.

In one embodiment, the optical path micro-motion device includes a second stationary base having a guiding structure, the second stationary base configured for fitting over the surgical instrument or the sterile plate;

the movable base comprises a second movable base which is assembled on the guide structure along the guide track of the guide structure in a guiding way and is provided with a first moving position and a second moving position, and the second movable base is configured to move to the first moving position in the assembled state or to move to the second moving position in the unassembled state;

The reflecting component comprises a second reflecting component which is assembled on the second movable base, the second reflecting component is configured to enable the light path micro-motion device to be in the reflecting state when the second movable base moves to the first moving position, and enable the light path micro-motion device to be in the non-reflecting state when the second movable base moves to the second moving position.

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

and the second limiting piece 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 micro-motion device further includes:

a guide configured for fitting at 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 guiding part, the connecting part is assembled with the second fixed base in a rebound mode, so that the second movable base moves from the first moving position to the second moving position, and the guiding part is configured to be in guiding fit with the guiding piece, so that the second movable base moves from the second moving position to the first moving position.

In one embodiment, the connecting part is elastically and elastically connected with the first moving position through a second elastic piece; or alternatively, the process may be performed,

the connecting part and the first moving position are assembled in a magnetic rebound way through a pair of second magnets which are mutually exclusive by magnetic force.

In one embodiment, 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; or alternatively, the process may be performed,

the second stationary base is mounted to a distal surface of the sterile plate and the guide is mounted to 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 stationary base is mounted to a proximal surface of the surgical instrument and the second stationary base is configured to be in an integral or separate structure with the surgical instrument.

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

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

In one embodiment, the optical signal transceiver comprises:

a transceiver substrate configured for assembly on the power device, the transceiver substrate comprising a transmit position and a receive position;

the light generator is arranged at the transmitting position and transmits light rays to the light path micro-motion device through the light passing device when the light path micro-motion device is in the reflecting state;

the light receiver is arranged at the receiving position and is used for receiving the light reflected by the light path micro-motion device through the light passing device when the light path micro-motion device is in the reflecting state.

In one embodiment, the aseptic plate is provided with a mounting hole, and the mounting hole is configured to be used for assembling at least one of the light-passing device and the light path micro-motion device.

In one embodiment, the power device is configured for assembling the optical signal transceiver.

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

A surgical instrument configured for assembling the optical path micro-motion device; the proximal end surface 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.

A surgical robot, comprising:

a sterile plate having a mounting hole;

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

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

the surgical instrument installation detection system is characterized in that the light passing device is assembled in the installation hole, the light path micro-motion device is assembled on the proximal surface of the surgical instrument or in the installation hole, and the light signal transceiver is assembled on the distal surface of the power device.

In the surgical instrument installation detection system, the surgical instrument and the surgical robot, the optical path micro-motion device, the light passing device and the optical signal transceiver can form a closed loop through the transmission and the reception of light, and the optical path micro-motion device has a reflective state or a non-reflective state which can be used as a variable of the optical path micro-motion device and can be matched with the optical signal transceiver so as to identify the assembled state or the non-assembled state and accurately identify whether the surgical instrument is reliably connected.

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 shown in an unassembled state according to one embodiment of the present invention;

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

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

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

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

FIG. 9 is a schematic view showing a reflection state of light in an assembled state according to an embodiment of the present invention;

FIG. 10 is a state diagram of the first elastic member in an unassembled state according to one embodiment of the present invention;

FIG. 11 is a state diagram of the first elastic member in an assembled state according to an embodiment of the present invention;

FIG. 12 is a state diagram of the first elastic member in an unassembled state according to another embodiment of the present invention;

FIG. 13 is a state diagram of a first elastic member in an assembled state according to another embodiment of the present invention;

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

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

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

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

FIG. 18 is a state diagram of the first magnetic member and the second magnetic member in an unassembled state according to one embodiment of the present invention;

FIG. 19 is a state diagram of 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 a non-assembled state, according to yet another embodiment of the present invention;

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

FIG. 22 is a schematic diagram of the reflection of light from an elliptical reflector according to one embodiment of the present invention;

FIG. 23 is a schematic view of the elliptical reflector of FIG. 22 in a non-assembled state;

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

FIG. 25 is a schematic diagram of the reflection of light from 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 a non-assembled state;

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

FIG. 28 is a schematic diagram of the reflection of light from a double parabolic reflector according to one embodiment of the present invention;

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

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

Reference numerals:

001. a surgical instrument; 002. an aseptic plate; 003. a power device;

100. an optical 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 limiting member; 150. a guide structure; 160. a second movable base; 170. a second reflecting member;

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

121. a connection part; 122. a movable part; 123. a first elastic member; 124. a first magnetic member; 125. a second magnetic member;

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

161. A connection part; 162. a guide part; 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 that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

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

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" 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 are used herein for illustrative purposes only and are not meant to be the only embodiment.

In addition, the present invention, when oriented as described, is "proximal" with respect to the direction of the patient approaching the operator (or surgical system) and "distal" with respect to the direction away from the operator (or surgical system). Thus, the proximal surface of the surgical instrument 001, the proximal surface of the sterile plate 002, i.e., in a direction toward the operator (or surgical system) in use, and the distal surface of the sterile plate 002, the distal surface of the power device 003, i.e., in a direction away from the operator (or surgical system) in use.

Referring to fig. 1 to 3, the assembled state of the surgical instrument 001, the aseptic plate 002 and the power unit 003 means that the surgical instrument 001, the aseptic plate 002 and the power unit 003 are assembled together and then stably assembled and safely used, and the unassembled state is opposite to the assembled state, that is, the surgical instrument 001, the aseptic plate 002 and the power unit 003 are not stably assembled, or the surgical instrument 001, the aseptic plate 002 and the power unit 003 are assembled, but the assembled state does not reach the standard and the safely used assembled state cannot be realized. Generally, the assembled state of the surgical instrument 001, the aseptic plate 002 and the power device 003 means that the proximal end surface of the surgical instrument 001 is stably assembled with the distal end surface of the aseptic plate 002, and the proximal end surface of the aseptic plate 002 is stably assembled with the distal end surface of the power device 003, however, the assembled state may present different assembly standards according to different models, specifications or use situations, 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 mounting detection system for detecting an assembled state or an unassembled state among a surgical instrument 001, a sterilization plate 002 and a power unit 003, the surgical instrument mounting detection system comprising: an optical path micro-motion device 100, a light passing device 200, an optical signal transceiver 300, the optical path micro-motion device 100 being configured for mounting on the surgical instrument 001 or the sterile plate 002, the states of the optical path micro-motion device 100 comprising a reflectable state and a non-reflective state, the optical path micro-motion device 100 comprising a movable base and a reflective member mounted on the movable base, the movable base being configured to move to a first movement position in the mounted state and to a second movement position in the non-mounted state, the reflective member being configured to cause the optical path micro-motion device 100 to assume the reflectable state when the movable base is in the first movement position and to assume the non-reflective state when the movable base is in the second movement position; the light passing device 200 is configured for fitting on the aseptic plate 002, capable of allowing light to pass through the aseptic plate 002 via the light passing device 200; the optical signal transceiver 300 is configured to be mounted on the power device 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 light-passing device 200 and the optical path micro-motion device. The light can be laser or light with a certain scattering angle, and the light-transmitting device can be a device with a light-transmitting function such as an optical lens group or a transparent lens.

Referring to fig. 8 and 9, the optical micro-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 through the transmission and reception of light, so as to recognize the assembled state or the unassembled state, and therefore, the optical micro-motion device 100 may have a reflective state or an unreflected state, and the reflective state or the unreflected state may be used as a variable of the optical micro-motion device 100 to form a fit with the optical signal transceiver 300, so as to recognize the assembled state or the unassembled state.

The assembled and unassembled states depend on whether the surgical instrument 001, the sterility plate 002 and the power means 003 are assembled in place, and thus the assembled states of the surgical instrument 001, the sterility plate 002 and the power means 003 will determine the reflectable or non-reflectable state of the optical path micro-motion device 100. The relative assembly positions and relationships of the surgical instrument 001, the aseptic plate 002 and the power unit 003 in the assembled state and in the unassembled state are different, so that the mechanical change generated based on the assembly positions and relationships of the surgical instrument 001, the aseptic plate 002 and the power unit 003 in the assembled state and in the unassembled state can be used for promoting the optical path micro-motion device 100 to switch between the reflectable state and the non-reflectable state, thereby identifying the assembled state and the unassembled state in turn.

When the optical micro-motion device 100, the light-passing device 200 and the optical signal transceiver 300 are mutually matched to identify the assembled state or the unassembled state, the optical micro-motion device 100, the light-passing device 200 and the optical signal transceiver 300 need to be assembled on a surgical instrument 001, a sterile plate 002 and a power device 003 respectively, for example, in one mode, the optical micro-motion device 100 is assembled on the surgical instrument 001, the light-passing device 200 is assembled on the sterile plate 002, the optical signal transceiver 300 is assembled on the power device 003, in another mode, the optical micro-motion device 100 is assembled on the sterile plate 002, the light-passing device 200 is also assembled on the sterile plate 002, and the optical signal transceiver 300 is assembled on the power device 003.

Referring to fig. 8, in the unassembled state of the surgical instrument 001, the aseptic plate 002 and the power unit 003, the variables of the optical micro-motion device 100 are changed to be switched to the non-reflective state, and at this time, even if the light is emitted from the optical signal transceiver 300, the light cannot reach the optical micro-motion device 100 through the light transmission device, so that the optical micro-motion device 100 cannot reflect the light and receive the optical signal transceiver 300, and at this time, the surgical instrument 001, the aseptic plate 002 and the power unit 003 can be identified as being in the unassembled state.

Referring to fig. 9, in the assembled state of the surgical instrument 001, the aseptic plate 002 and the power device 003, the variables of the optical micro-motion device 100 are changed and can be switched to a reflective state, at this time, light can be emitted from the optical signal transceiver 300 and reach the optical micro-motion device 100 through the light transmission device, and the optical micro-motion device 100 can reflect light and return back through the light transmission device because of the reflective state, so as to obtain the reception of the optical signal transceiver 300, and at this time, the surgical instrument 001, the aseptic plate 002 and the power device 003 can be identified as being in the assembled state.

The above is the principle of identifying whether the surgical instrument installation detection system is in the assembled state or the unassembled state for the optical micro-motion device 100, the light passing device 200 and the optical signal transceiver 300.

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 stationary base 110, a first movable base 120, a first reflective component 130, the first stationary base 110 configured for mounting on the surgical instrument 001 or the sterile plate 002; the first movable base 120 includes a connection part 121 and a movable part 122, the connection part 121 is rotatably connected with the first movement position 112 of the first fixed base 110, the movable part 122 has a first rotation position and a second rotation position due to rotation of the connection part 121, and the movable part 122 is configured to be rotatable to the first rotation position in the assembled state or to the second rotation position in the unassembled state; the first reflecting member 130 is mounted on the first movable base 120, and the first reflecting member 130 is configured to enable the optical micro-motion device 100 to be in the reflective state when the movable portion 122 is rotated to the first rotation position, or enable the optical micro-motion device 100 to be in the non-reflective state when the movable portion 122 is rotated to the second rotation position.

The first fixed base 110 may serve as a base for assembling the first movable base 120 and the first reflecting member 130, at this time, the optical path micro-motion device 100 may be assembled to the surgical instrument 001 by disposing the first fixed base 110 to the surgical instrument 001, and at this time, the first fixed base 110 may be formed integrally with the surgical instrument 001 or as a separate structure, and also, the optical path micro-motion device 100 may be assembled to the aseptic plate 002 by disposing the first fixed base 110 to the aseptic plate 002.

The first movable base 120 may be in any structural form, 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 assembled on the first fixed base 110 through a rotating member such as a rotating shaft, the movable portion 122 is used as a position that can be changed due to the rotation of the first movable base 120, and the rotation of the movable portion 122 can be used to determine the variable transformation of the optical path micro-motion device 100.

The movable portion 122 is defined to be rotatable to a first rotational position and a second rotational position, and whether it is actually rotatable to the first rotational position or the second rotational position depends on mechanical variations generated by the assembled position and relationship between the surgical instrument 001, the aseptic plate 002 and the power unit 003 in the assembled state and the unassembled state, and the mechanical variations cause the rotational position of the movable portion 122 to be changed, thereby forming a variable change, which can cause the optical micro-motion device 100 to switch between the reflective state and the non-reflective state, thereby identifying the assembled state and the unassembled state in turn.

For example, when the surgical device 001, the aseptic plate 002 and the power device 003 are assembled in place and in the assembled state, the mechanical movement between the three causes the movable portion 122 to rotate to the first rotational position, so that the optical micro-motion device 100 is switched to the reflective state, whereas when the surgical device 001, the aseptic plate 002 and the power device 003 are not assembled in place, they are only in the non-assembled state, the mechanical movement between the three causes the movable portion 122 to rotate to the second rotational position, so that the optical micro-motion device 100 is switched to the non-reflective state.

In the unassembled state, since the surgical instrument 001, the aseptic plate 002 and the power unit 003 are not normally engaged, the movable portion 122 is not actively rotated to the second rotation position by mechanical movements of the three, so that the movable portion 122 can be resiliently assembled with the second movement position 113 of the first fixed base 110 to rotate the movable portion 122 from the first rotation position to the second rotation position in order to ensure that the movable portion 122 is in the second rotation position in the unassembled state and to switch the optical path micro-motion device 100 to the non-reflection state, and the movable portion 122 can be separated from the second movement position 113 by the resilient assembly.

For the implementation of the rebound assembly, the movable portion 122 and the second moving position 113 may be elastically rebound-connected by a first elastic member 123, or the movable portion 122 and the second moving position 113 may be magnetically rebound-assembled by a pair of magnetically-exclusive first magnets. Referring to fig. 10 to 13, if the first elastic member 123 is used, the first elastic member 123 may be a spring, a shrapnel, etc., and the shrapnel may be a linear sheet or a cantilever, etc., which is not limited herein.

The optical path micro-motion device 100 further includes a first limiting member 140, where 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 preset rotation range. The first limiting member 140 may be a separate component or may be integrally formed at a portion 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 assembled 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 limit with the first movable base 120 by means of limiting abutment and the like, so as to inhibit the first movable base 120 from rotating in a space beyond the rotation range.

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

The above two assembling modes of the first movable base 120 are selected according to the assembling relationship between the surgical instrument 001 and the aseptic plate 002, if the surgical instrument 001 and the aseptic plate 002 are assembled tightly by surface bonding, the first movable base 120 needs to be accommodated in the first fixed base 110 without forming a portion protruding from the first fixed base 110, so as to prevent interference between the surgical instrument 001 and the aseptic plate 002, but if the surgical instrument 001 and the aseptic plate 002 are assembled tightly by non-surface bonding, the first movable base 120 can be assembled inside the first fixed base 110 without forming interference between the surgical instrument 001 and the aseptic plate 002, and a part of or all of the structures can protrude from the first fixed base 110, so that those skilled in the art can perform the arrangement according to the requirements without limitation.

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 variable conversion, wherein the accommodating groove 111 is opened in the first fixed base 110, and the first rotation position is located within the accommodating groove 111, so that the movable portion 122 rotates to the first rotation position, that is, the optical path micro-motion device 100 may be in a reflective state, and the second rotation position is located outside the accommodating groove 111, so that the movable portion 122 rotates to the second rotation position, that is, the optical path micro-motion device 100 may be in a non-reflective state. The accommodation of the movable portion 122 in the accommodation groove 111 or the exposure of the movable portion 122 to the accommodation groove 111 is also caused by mechanical changes among the surgical instrument 001, the aseptic plate 002, and the power unit 003.

In one embodiment, referring to fig. 4 to 7, the optical micro-motion device 100 is configured to be assembled on the proximal surface of the surgical instrument 001, the movable portion 122 is configured to be in force contact with the distal surface of the aseptic plate 002 in the assembled state, so as to rotate to the first rotation position, at which time the proximal surface of the surgical instrument 001 is assembled in a fitting manner with the distal surface of the aseptic plate 002, the proximal surface of the aseptic plate 002 is assembled in a fitting manner with the distal surface of the power device 003, and the assembled state between the surgical instrument 001, the aseptic plate 002 and the power device 003 is proved to be assembled in a safe operation state. Therefore, when the distal end surface of the aseptic plate 002 is attached to the proximal end surface of the surgical instrument 001, the movable portion 122 can be in force contact with the distal end surface of the aseptic plate 002, and under the pressing of the distal end surface of the aseptic plate 002, the movable portion 122 can be passively rotated to the first rotation position due to the driving of the force, that is, the movable portion 122 is passively rotated to the first rotation position due to the mechanical movement among the surgical instrument 001, the aseptic plate 002 and the power device 003.

Referring to fig. 14 to 17, the optical micro-motion device 100 is configured to be assembled on the distal end surface of the aseptic plate 002, the movable portion 122 is configured to be in force contact with the proximal end surface of the surgical instrument 001 in the assembled state so as to rotate to the first rotation position, at this time, the proximal end surface of the surgical instrument 001 is assembled in a fitting manner with the distal end surface of the aseptic plate 002, the proximal end surface of the aseptic plate 002 is assembled in a fitting manner with the distal end surface of the power device 003, and the assembled state is a state between the surgical instrument 001, the aseptic plate 002 and the power device 003, which proves that the surgical instrument 001, the aseptic plate 002 and the power device 003 are assembled to be safely operable. Therefore, when the distal end surface of the aseptic plate 002 is fitted to the proximal end surface of the surgical instrument 001, 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 passively rotated to the first rotational position by the force driven by the extrusion of the proximal end surface of the surgical instrument 001, that is, the movable portion 122 is passively rotated to the first rotational position due to the mechanical movement among the surgical instrument 001, the aseptic plate 002 and the power device 003.

Referring to fig. 18 and 19, in addition to the force formed by force contact driving the movable portion 122 to rotate, a non-contact manner may be used to drive the movable portion 122 to rotate, for example, the optical path micro-motion device 100 further includes a first magnetic member 124 and a second magnetic member 125, where the first magnetic member 124 is assembled on the movable portion 122; the second magnetic member 125 is configured to be mounted on the light-transmitting device or the aseptic plate 002 separately or in contact with both the light-transmitting device and the aseptic 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 magnetically and mutually exclusive, so that when the first magnetic member 124 and the second magnetic member 125 are brought close to each other, a mutually exclusive 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. The first magnetic member 124 and the second magnetic member 125 are required to be in a relatively close position by the repulsive force therebetween, and therefore, although the first magnetic member 124 and the second magnetic member 125 are not in contact with each other, the movable portion 122 is passively rotated to the first rotational position due to the mechanical change among the surgical instrument 001, the aseptic plate 002 and the power device 003.

At least one advantage of rotating the movable portion 122 to the first rotating position in this non-contact manner is that the first magnetic member 124 and the second magnetic member 125 may be isolated by a physical object, so 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 accommodating groove 111 is formed in the first fixed base 110, the optical micro-motion device 100 may include the dust cover 114, the dust cover 114 may seal the notch covered in the accommodating groove 111 to prevent dust from entering, and the material of the dust cover 114 may be a material that does not use metal or the like to affect the acting force between the first magnetic member 124 and the second magnetic member 125.

In one embodiment, the optical micro-motion device 100 is configured to be assembled on the proximal surface of the surgical instrument 001, the second magnetic element 125 is configured to be assembled on the light-passing device alone or on the distal surface of the aseptic plate 002, or simultaneously in contact with the light-passing device and the distal surface of the aseptic plate 002, at which time the proximal surface of the surgical instrument 001 is assembled in contact with the distal surface of the aseptic plate 002, the proximal surface of the aseptic plate 002 is assembled in contact with the distal surface of the power device 003, and the assembled state between the surgical instrument 001, the aseptic plate 002 and the power device 003 is a safe operation state. Therefore, when the distal end surface of the aseptic 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 aseptic plate 002 are gradually close to each other, a repulsive force is formed between the first magnetic member 124 and the second magnetic member 125, which 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 variations among the surgical instrument 001, the aseptic plate 002 and the power unit 003.

The optical path micro-motion device 100 is configured to be assembled on the distal end surface of the aseptic plate 002, the second magnetic member 125 is configured to be 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 in a fitting manner with the distal end surface of the aseptic plate 002, the proximal end surface of the aseptic plate 002 is assembled in a fitting manner with the distal end surface of the power device 003, and the assembled state of the surgical instrument 001, the aseptic plate 002 and the power device 003 is proved to be assembled in a state that can safely work. Therefore, when the distal end surface of the aseptic 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 aseptic plate 002 are gradually close to each other, a repulsive force is formed between the first magnetic member 124 and the second magnetic member 125, which 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 variations among the surgical instrument 001, the aseptic plate 002 and the power unit 003.

In another structure 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, a second movable base 160, and a second reflecting member 170, the second fixed base having a guide structure 150, the second fixed base being configured to be mounted on the surgical instrument 001 or the aseptic plate 002; a second movable base 160 is guide-assembled on the guide structure 150 along a guide track of the guide structure 150, and has a first moving position and a second moving position, the second movable base 160 being configured to be movable to the first moving position in the assembled state or to the second moving 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 make the optical path micro-motion device 100 in the reflective state when the second movable base 160 is moved to the first moving position, or make the optical path micro-motion device 100 in the non-reflective state when the second movable base 160 is moved to the second moving position.

The second fixed base may be used as a base for assembling the second movable base 160 and the second reflecting member 170, at this time, the optical path micro-motion device 100 may be assembled on the surgical instrument 001 by disposing the second fixed base on the surgical instrument 001, and at this time, the second fixed base may be actually formed integrally with the surgical instrument 001 or be formed separately, and when the second fixed base is formed integrally with the surgical instrument 001, the guide structure 150 on the second fixed base may be formed directly on the surgical instrument 001, belonging to an area or portion of the surgical instrument 001, and the second movable base 160 and the second reflecting member 170 may be also directly assembled on the surgical instrument 001. Also, the assembly of the optical path micro-motion device 100 to the aseptic plate 002 may be achieved by providing the second fixing base to the aseptic plate 002.

The second movable base 160 is defined to be movable to a first movement position and a second movement position, and whether it actually moves to the first movement position or the second movement position depends on the mechanical variation generated by the assembly position and the relationship between the surgical instrument 001, the aseptic plate 002 and the power device 003 in the assembled state and the unassembled state, and the mechanical variation causes the movement position of the second movable base 160 to be changed, so as to form a variable transformation, which can cause the optical path micro-motion device 100 to switch between the reflectable state and the non-reflectable state, and in turn, identify the assembled state and the unassembled state.

For example, when the surgical device 001, the aseptic plate 002 and the power device 003 are assembled in place and in the assembled state, the mechanical movement between the three causes the second movable base 160 to move to the first moving position, so that the optical micro-motion device 100 is switched to the reflective state, whereas when the surgical device 001, the aseptic plate 002 and the power device 003 are not assembled in place, they are only in the non-assembled state, the mechanical movement between the three causes the second movable base 160 to move to the second moving position, so that the optical micro-motion device 100 is switched to the non-reflective state.

The second movable base 160 may be any structure, such as a rod, a block, or a profile, as long as a guide assembly, such as a guide sliding assembly, on the guide structure 150 can be achieved. The second movable base 160 can passively reciprocate between the first moving position and the second moving position due to mechanical changes among the surgical instrument 001, the aseptic plate 002 and the power unit 003, and simultaneously drives the second reflecting member 170 to change positions, and further, the optical path micro-motion device 100 is switched to a reflective state or a non-reflective state by the second movable base 160 being in the first moving position and the second moving position.

The mechanical movement of the surgical instrument 001, the aseptic plate 002 and the power device 003 may cause the second movable base 160 to move to the first moving position or the second moving position, by a non-contact manner or a mechanical contact manner, for example, by referring to the mating manner of the first magnetic member 124 and the second magnetic member 125, a non-contact force may be formed, and the second movable base 160 may be driven to move by the force, or the optical path micro-motion device 100 may further include a guide 164, where the guide 164 is configured to be mounted on the distal end surface of the aseptic plate 002 or the proximal end surface of the surgical instrument 001, and the second movable base 160 includes a connecting portion 161 and a guide 162, where the connecting portion 161 is resiliently mounted with the second fixed base, so that the second movable base 160 may be moved from the first moving position to the second moving position, and the guide 162 is configured to be in guide-fit with the guide 164, so that the second movable base 160 may be moved from the second moving position to the first moving position. The guide 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, and the connecting portion 161 may serve as an assembling portion of the second movable base 160 with respect to the first movable base 120, and is specifically configured to form a rebound assembly with the second fixed base, and the guiding portion 162 serves as a portion cooperating with the guiding member 164, and may form an acting force for driving the second movable base 160 to move on the guiding structure 150 due to a force contact between the guiding member 164, and the movement of the second movable base 160 may be used to determine a variable transformation of the optical path micro-motion device 100.

In the assembled state, the surgical instrument 001, the aseptic plate 002 and the power unit 003 are in force contact with the guide 162 and the guide 164 based on the mechanical changes generated by the assembly position and the relationship at this time, so that the guide 162 is pressed by the drive of the guide 164, and the force for moving the second movable base 160 on the guide structure 150 is generated, and the movement is further moved to the first movement position. In the unassembled state, since the surgical instrument 001, the aseptic plate 002 and the power unit 003 are not normally engaged, the second movable base 160 is not actively moved to the second moving position by mechanical movements of the three, and therefore, in order to ensure that the second movable base 160 is in the second moving position in the unassembled state and the optical path micro-motion device 100 is switched to the non-reflective state, the second movable base 160 may form a rebound fit with the second fixed base, and by this rebound fit, the second movable base 160 may have a tendency to move away from the first moving position, and the guide portion 162 may be moved from the first moving position to the second moving position.

For the implementation of the rebound assembly, the connection part 161 and the first moving position may be elastically rebound-connected by a second elastic member 163, or the connection part 161 and the first moving position may be magnetically rebound-assembled by a pair of magnetically-exclusive second magnets. If the second elastic member 163 is used, the second elastic member 163 may be a spring, a shrapnel, or the like, and the shrapnel may be a linear sheet or a cantilever, or the like, which is not limited herein.

The optical path micro-motion device 100 may further include a second limiting member (not shown) disposed on the second fixed base, the second limiting member being configured to limit the second fixed base from moving within a preset movement range. The second limiting member may be a separate component or may be integrally formed at a portion of the second fixed base, where when the second limiting member is a separate 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 limit with the second movable base 160 by a limiting abutment or other means, so as to inhibit the second movable base 160 from moving in a space beyond the moving range.

The guide structure 150 may be a guide rail groove formed on the second fixed base, and the guide rail groove includes the first moving position and the second moving position, so that the second movable base 160 may move in a guiding manner in the guide rail groove 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 the guide groove can be directly formed on the surgical instrument 001 when the second fixing base is configured to be in an integrated structure with the surgical instrument 001, and the guide groove is formed on the second fixing base when the second fixing base is configured to be in a separated structure with the surgical instrument 001.

The second fixing base is assembled on the proximal surface of the surgical instrument 001, the guide member 164 is assembled on the distal surface of the aseptic plate 002, at this time, the proximal surface of the surgical instrument 001 is assembled with the distal surface of the aseptic plate 002, the proximal surface of the aseptic plate 002 is assembled with the distal surface of the power device 003, and the assembled state of the surgical instrument 001, the aseptic plate 002 and the power device 003 is proved to be assembled to a state that can safely work. Therefore, when the distal end surface of the aseptic plate 002 is fitted to the proximal end surface of the surgical instrument 001, the guide 164 on the aseptic plate 002 is in force contact with the guide 162 and applies a force to the guide 162, which indirectly drives the second movable base 160 to move to the first movement position via the guide 162, that is, the second movable base 160 is passively moved to the first movement position due to mechanical movement among the surgical instrument 001, the aseptic plate 002 and the power device 003.

The second fixing base is assembled on the distal end surface of the aseptic plate 002, the guide member 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 aseptic plate 002, the proximal end surface of the aseptic plate 002 is assembled with the distal end surface of the power device 003, and the assembled state of the surgical instrument 001, the aseptic plate 002 and the power device 003 is proved to be assembled to a state that can safely work. Therefore, when the distal end surface of the aseptic plate 002 is fitted to the proximal end surface of the surgical instrument 001, the guide 164 on the surgical instrument 001 is in force contact with the guide 162 and applies a force to the guide 162, which indirectly drives the second movable base 160 to move to the first movement position via the guide 162, that is, the second movable base 160 is passively moved to the first movement position due to mechanical movement among the surgical instrument 001, the aseptic plate 002 and the power device 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 be mated with the optical signal transceiver 300 to achieve the emission and reception of 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.

The optical signal transceiver 300 includes a transceiver substrate 310, an optical generator 320, and an optical receiver 330, where the transceiver substrate 310 is configured to be mounted on the power device 003, and the transceiver substrate 310 includes an emitting position and a receiving position, where the optical generator 320 is disposed at the emitting position and can emit light to the optical micro-motion device 100 through the light-passing device 200 when the optical micro-motion device 100 is in the reflective state, and the optical receiver 330 is disposed at the receiving position and can receive light reflected back from the optical micro-motion device 100 through the light-passing device 200 when the optical micro-motion device 100 is in the reflective state.

The transmitting and receiving positions on the transceiver substrate 310 are to provide predetermined mounting positions of the light generator 320 and the light receiver 330 so that the light generator 320 and the light receiver 330 can cooperate with the optical path micro-motion device 100 to achieve the transmission and reception of light, and thus, the predetermined positions of the transmitting and receiving positions on the transceiver substrate 310 depend not only on the mounting positions of the optical path micro-motion device 100, the light passing device, and the optical signal transceiver 300 on the surgical instrument 001, the aseptic plate 002, and the power device 003, but also on the reflection conditions of the reflection member.

Referring to fig. 22 to 24, when the reflecting member is an elliptical reflecting mirror 131, the elliptical reflecting mirror 131 has two focuses, so that the transmitting position and the receiving position are respectively located at the two focuses of the elliptical reflecting mirror 131, so that the light generator 320 and the light receiver 330 are respectively located at the two focuses of the elliptical reflecting mirror 131, and the light of the light generator 320 is reflected and converged at the other focus 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 reflecting component is a parabolic reflector 132, the parabolic reflector 132 has a focal point, so that the emitting position or the receiving position can be located at the focal point of the elliptical reflector 131, so that the light generator 320 or the light receiver 330 is located at the focal point of the parabolic reflector 132, and after the light generator 320 at the focal point emits light, the light is reflected and converged to the light receiver 330 in parallel, thereby improving the sensitivity of the detection of the light receiver 330.

Referring to fig. 28 to 30, when the reflecting member is a double parabolic mirror 133132, the left and right parabolic mirrors of the double parabolic mirror 133132 each have a focus, so that the emitting position and the receiving position are respectively located at one focus, so that the light generator 320 and the light receiver 330 are also respectively located at one focus, the left and right parabolic mirrors are symmetrically arranged about perpendicular bisectors of the two focuses, and the light of the light generator 320 at the focus is reflected by one parabolic mirror and then is parallelly absorbed into the other parabolic mirror, and is reflected again and converged at the other focus light receiver 330, so that the sensitivity of the detection of the light receiver 330 can be improved.

The present invention also provides a surgical instrument 001, the surgical instrument 001 being configured to assemble the optical path micro-motion device 100; the proximal end surface of the surgical instrument 001 is provided with a first mounting groove, and the optical path micro-motion device 100 is assembled in the first mounting groove. When the optical path micro-motion device 100 is assembled in the first mounting 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 flat, and any adverse effect on the use of the surgical instrument 001 is avoided.

The invention also provides a sterile plate 002, wherein the sterile plate 002 is provided with a mounting hole, and the mounting hole is configured to be used for assembling the light-passing device 200 or used for assembling the light-passing device 200 and the optical path micro-motion device 100.

The present invention also provides a power plant 003, said power plant 003 being configured for assembling said optical signal transceiver 300. The assembly of the optical signal transceiver 300 on the power unit 003 may depend on the assembly relationship between the power unit 003 and the aseptic plate 002, because the components that need to be replaced frequently are the surgical instruments 001, so that the aseptic plate 002 and the power unit 003 can be kept relatively stable to a certain extent and not frequently disassembled, so that the assembly state between the power unit 003 and the aseptic plate 002 can be kept unchanged for a long time to a certain extent, and therefore, the power unit 003 and the aseptic plate 002 can be assembled in a surface fitting way or with a certain gap or space, and for different assembly structures, the optical signal transceiver 300 can also be assembled in a protruding way or a slotted accommodating way on the surface of the power unit 003.

For slotted receiving assembly, the distal surface of the power device 003 may be provided with a second mounting slot in which the optical signal transceiver 300 is mounted. When the optical signal transceiver 300 is assembled in the second mounting groove, the optical signal transceiver can be flush with the surface of the power device 003, so that the surface of the power device 003 is flat, and any adverse effect is not caused to the use of the power device 003. The invention also provides a surgical robot, which comprises an aseptic plate 002, a surgical instrument 001 and a power device 003, wherein the aseptic plate 002 is provided with a mounting hole, the surgical instrument 001 is assembled on the distal end surface of the aseptic plate 002, and the power device 003 is assembled on the proximal end surface of the aseptic plate 002; the light passing device 200 is assembled in the mounting hole, the light path micro-motion device 100 is assembled on the proximal surface of the surgical instrument 001 or in the mounting hole, and the optical signal transceiver 300 is assembled on the distal surface of the power device 003. Power device 003 is typically a power box, but is not limited to other devices or apparatuses that can provide power. Since the specific structure, functional principle and technical effects 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, the description thereof will not be repeated herein, and any technical content related to the surgical instrument installation detection system can be referred to in the description.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

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

2. The surgical instrument mounting detection system of claim 1, wherein the optical path micro-motion device is configured for mounting on the surgical instrument or the sterile plate, the light passing device is configured for mounting on the sterile plate, and the optical signal transceiver is configured for mounting on the power device.

3. The surgical instrument mounting detection system of claim 1, wherein the optical path micro-motion device comprises a first fixed base configured for assembly on the surgical instrument or the sterile plate;

4. A surgical instrument mounting detection system according to claim 3, wherein the optical path micro-motion device further comprises:

5. A surgical instrument mounting detection system according to claim 3 wherein the resilient mounting between the movable portion and the second movement position of the first stationary base rotates the movable portion from the first rotational position to the second rotational position.

6. The surgical instrument mounting detection system of claim 5, wherein the movable portion is resiliently coupled to the second movement position by a first resilient member; or alternatively, the process may be performed,

7. A surgical instrument mounting detection system according to claim 5, wherein the first stationary base defines a receiving slot, and wherein the first and second movement positions are both located within the receiving slot.

8. A surgical instrument mounting detection system according to 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 of the receiving slot.

9. The surgical instrument mounting detection system of claim 8, wherein the optical path micro-motion device is configured for assembly to a proximal surface of the surgical instrument, the movable portion being configured for force contact engagement with a distal surface of the sterile plate in the assembled state for rotation to the first rotational position;

or alternatively, the process may be performed,

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

a first magnetic member mounted on the movable portion;

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

12. The surgical instrument mounting detection system of claim 10, wherein the optical path micro-motion device is configured for fitting on a proximal surface of the surgical instrument, the second magnetic member is configured for fitting on the light passing device and/or a distal surface of the sterile plate; or alternatively, the process may be performed,

13. The surgical instrument mounting detection system of claim 1, wherein the optical path micro-motion device comprises a second stationary base having a guiding structure, the second stationary base configured for fitting over the surgical instrument or the sterile plate;

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

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

16. The surgical instrument mounting detection system of claim 15, wherein the connection is resiliently coupled to the first displaced position by a second resilient member; or alternatively, the process may be performed,

17. The surgical instrument mounting detection system of 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; or alternatively, the process may be performed,

18. A surgical instrument mounting detection system according to claim 13, wherein the guide structure is a guide rail slot formed in the second stationary base, the guide rail slot including the first and second movement positions.

19. The surgical instrument mounting 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 in an integral or separate structure with the surgical instrument.

20. The surgical instrument mounting detection system of any one of claims 1-19, wherein the reflective component is one or any combination of a prism, an elliptical mirror, a parabolic mirror, a double parabolic mirror, and a planar mirror.

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

22. The surgical instrument mounting detection system of any one of claims 1-19, wherein the optical signal transceiver comprises:

23. The surgical instrument mounting detection system of claim 1, wherein the sterile plate is provided with a mounting hole configured for assembling at least one of the light passing device and the light path micro-motion device.

24. A surgical instrument mounting detection system according to claim 1, wherein the power device is configured for assembling the optical signal transceiver.

25. A surgical instrument mounting detection system according to claim 24 wherein the distal surface of the power device defines a second mounting groove, the optical signal transceiver being mounted within the second mounting groove.

26. A surgical instrument configured for assembling the optical path micro-motion device of any one of claims 1-25; the proximal end surface 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.

27. A surgical robot, comprising:

a sterile plate having a mounting hole;

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

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

the surgical instrument mounting detection system of any one of claims 1-25, the light passing device being mounted within the mounting hole, the light path micro-motion device being mounted within a proximal surface of the surgical instrument or the mounting hole, the light signal transceiver being mounted at a distal surface of the power device.