CN115998438A

CN115998438A - Sterile adapter, sterile barrier and medical system

Info

Publication number: CN115998438A
Application number: CN202111226052.7A
Authority: CN
Inventors: 黄文景; 毛颖; 李佳桂; 请求不公布姓名; 杨哲辉; 孙晓文; 马超
Original assignee: Ronovo Shanghai Medical Science and Technology Ltd
Current assignee: Ronovo Shanghai Medical Science and Technology Ltd
Priority date: 2021-10-21
Filing date: 2021-10-21
Publication date: 2023-04-25
Also published as: WO2023066321A1

Abstract

The invention belongs to the technical field of medical equipment, and discloses a sterile adapter, a sterile barrier and a medical system. The sterile adapter comprises a shell, a coupling disc and a braking piece, wherein a mounting hole penetrating through the shell is formed in the shell, and the shell is configured to be mounted on a driving device; the coupling disc is rotatably arranged in the mounting hole and can be in transmission connection with the output end of the driving device; a brake is connected to the housing and is switchable between an unlocked position and a locked position, the brake being configured to lock the coupling disc and the housing in the locked position and to be driven by the drive device from the locked position to the unlocked position when the housing is mounted to the drive device to release the locking of the coupling disc and the housing. Before the aseptic adapter is assembled with the driving device, the brake piece can lock the positions of the coupling disc and the shell, so that the coupling disc is at an initial angle, and the assembly difficulty is reduced.

Description

Sterile adapter, sterile barrier and medical system

Technical Field

The invention relates to the technical field of medical equipment, in particular to a sterile adapter, a sterile barrier and a medical system.

Background

Robotic surgical systems are a complex set of systems that include an electronic display system, a robotic arm, and a surgical instrument, wherein the robotic arm has one or more motors that can actuate one or more degrees of freedom of the surgical instrument when positioned at a surgical site within a patient based on commands from an operator. The mechanical arm is close to the patient and its sterility is important for the success of the procedure, however the mechanical arm contains several components (e.g. motors, encoders, sensors etc.) which make it practically impossible to sterilize using conventional sterilization methods such as steam or heat etc. One solution to maintain sterility is to provide a sterile barrier between the robotic arm and the surgical instrument, isolate the robotic arm (non-sterile) from the surgical instrument (sterile) while not interfering with the robotic arm's actuation of the surgical instrument, and may transmit simple signals, such as disassembly signals, etc., between the robotic arm and the surgical instrument.

The main body of the current sterile barrier is a flexible membrane to which a sterile adapter is attached that can be adapted to the drive unit and the surgical instrument. Sterile adapters need to be able to transmit actuation forces and signals. The sterile adapter includes coupling plate and board subassembly, and coupling plate and board subassembly rotate to be connected for accurate transmission arm actuating torque to the surgical instrument, this leads to the coupling plate when installing with arm or surgical instrument, and the angle of coupling plate is indefinite, needs the adjustment coupling plate to the angle of needs to engage, has increased the assembly butt joint degree of difficulty.

Disclosure of Invention

An object of the present invention is to provide a sterile adapter, which solves the problem of the prior art that the angle of a coupling disc needs to be adjusted to perform butt joint, resulting in high assembly and butt joint difficulty.

To achieve the purpose, the invention adopts the following technical scheme:

a sterile adapter, comprising:

a housing provided with a mounting hole therethrough, the housing configured to be mountable to a drive device;

the coupling disc is rotationally arranged in the mounting hole and can be in transmission connection with the output end of the driving device;

and a brake member connected to the housing and switchable between an unlock position and a lock position, the brake member being configured to lock the coupling disc and the housing in the lock position and to be moved from the lock position to the unlock position by the driving device when the housing is mounted to the driving device, so as to release the lock state of the coupling disc and the housing.

Wherein, one of the coupling disc and the braking piece is provided with a bulge, and the other is provided with a groove matched with the bulge;

when the brake is in the unlocked position, the protrusion and the groove are disengaged.

The shell comprises a top plate and a bottom plate which are fixedly connected, the bottom plate can be installed on the driving device, an installation cavity for accommodating the braking piece is formed between the top plate and the bottom plate, the braking piece is movably arranged in the installation cavity, a pushing part is formed on the braking piece, and the pushing part can extend out of the shell and can be abutted to the driving device so as to drive the braking piece to move relative to the shell.

The grooves are through grooves extending along the arrangement direction of the top plate and the bottom plate, and the braking piece can move in the mounting cavity along the arrangement direction of the top plate and the bottom plate.

The brake piece is provided with an avoidance hole, an elastic arm is arranged in the avoidance hole, one end of the elastic arm is connected with the side wall of the avoidance hole, and the other end of the elastic arm is abutted to the top plate;

the elastic arm comprises a first connecting arm and a second connecting arm, wherein the first connecting arm and the second connecting arm are arranged at an included angle, one end of the first connecting arm is connected with the inner wall of the avoidance hole, and two ends of the second connecting arm are respectively abutted to the top plate and the bottom plate.

The bottom surface of the top plate and/or the top surface of the bottom plate are/is provided with a protruding part, and the protruding part can be abutted with the bottom plate or the top plate.

Wherein the top plate and the bottom plate are detachably connected.

The bottom plate is provided with a clamping arm, the clamping arm extends along the arrangement direction of the top plate and the bottom plate, one end of the clamping arm extends upwards from the top surface of the bottom plate and penetrates through the top plate, and the other end of the clamping arm extends downwards from the bottom surface of the bottom plate and can be clamped with the driving device.

The connecting position of the bottom plate and the clamping arm is provided with a flexible structure so that the clamping arm can rotate relative to the bottom plate;

the base plate is provided with at least one group of clamping arms, each group of clamping arms comprises two opposite clamping arms, and one side, facing the other clamping arm in the same group, of the bottom end of each clamping arm is provided with a buckle.

Wherein the number of the coupling disks is a plurality, and the braking piece can be matched with a plurality of the coupling disks so as to lock or unlock the plurality of the coupling disks and the shell at the same time.

The plurality of coupling discs are arranged in at least two rows, one braking piece is arranged between every two adjacent rows of coupling discs, and the braking pieces are respectively matched with the two rows of coupling discs.

The top surface and the bottom surface of the coupling disc are respectively provided with a coupling structure, and the coupling structures can be connected with the coupling parts on the driving device or the surgical instrument.

The coupling structure is a convex structure or a concave structure, the coupling structure is a non-rotary structure, and the outer contour shapes of at least two opposite sides of the coupling structure are different.

Wherein the two axial ends of the coupling disc are respectively connected with the driving device and the surgical instrument in a transmission way, the sterile adapter further comprises an indication pin, a sliding through hole is arranged on the shell, the indicator pin is slidably disposed within the sliding through hole, the indicator pin being configured to trigger a sensing element on the drive device upon pushing of the surgical instrument.

The indication pin comprises a pin shaft and a limit flange protruding radially along the pin shaft, the sliding through hole comprises a first aperture section, a second aperture section and a third aperture section which are communicated sequentially, the apertures of the first aperture section and the second aperture section are smaller than those of the second aperture section, the apertures of the first aperture section and the second aperture section are larger than the diameter of the pin shaft and smaller than the diameter of the limit flange, the diameter of the limit flange is smaller than the diameter of the second aperture section, the limit flange is located in the second aperture section, and the axial dimension of the second aperture section is larger than that of the limit flange.

The shell comprises a top plate and a bottom plate which are fixedly connected, the first aperture section and the second aperture section are arranged on the bottom plate, and the third aperture section is arranged on the top plate.

Another object of the present invention is to provide a sterile barrier, which solves the problem of the prior art that the assembly and the docking of the sterile barrier are difficult.

To achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an aseptic barrier, includes aseptic drape and foretell aseptic adapter, the casing with aseptic drape is connected, the axial one end of mounting hole with aseptic drape inboard intercommunication, the axial other end of mounting hole with aseptic drape's outside intercommunication.

It is yet another object of the present invention to provide a medical system that solves the problem of the difficulty in assembling and interfacing an existing sterile barrier with a drive device.

To achieve the purpose, the invention adopts the following technical scheme:

the medical system comprises a driving device, a surgical instrument and the sterile barrier, wherein the driving device is arranged in the sterile barrier, the surgical instrument is arranged outside the sterile barrier, one end of the coupling disc is in transmission connection with the output end of the driving device, and the other end of the coupling disc is in transmission connection with the surgical instrument.

The driving device comprises a mechanical arm and a driving unit arranged at the tail end of the mechanical arm, and the output end of the driving unit is connected with the coupling disc.

The invention has the beneficial effects that:

in the sterile adapter provided by the invention, before the sterile adapter is assembled with the driving device, the brake piece can lock the positions of the coupling disc and the shell so that the coupling disc is at an initial angle, the coupling disc, the driving device and the surgical instrument are convenient to assemble, and the assembling difficulty is reduced; when the sterile adapter is assembled with the drive device, the brake can release the locking state of the coupling disc and the shell under the action of the drive device, so that the coupling disc can transmit the actuating torque of the drive device, and the drive device can be in transmission connection with the surgical instrument.

The sterile barrier and the medical system can reduce the assembly difficulty of the sterile barrier, the driving device and the surgical instrument by adopting the sterile adapter, and are convenient to assemble.

Drawings

FIG. 1 is a schematic diagram of a medical system provided by the present invention;

FIG. 2 is a schematic view of the structure of the sterility barrier provided by the present invention;

FIG. 3 is a schematic view of the assembled drive unit, sterile adapter and surgical instrument provided by the present invention;

FIG. 4 is a schematic illustration of the drive unit, sterile adapter and surgical instrument provided by the present invention prior to assembly;

fig. 5 is a schematic view of the structure of the sterile adapter provided by the present invention;

FIG. 6 is an exploded view of the sterile adapter provided by the present invention;

fig. 7 is a schematic view of the structure of the sterile adapter provided by the present invention when the top plate is not assembled;

fig. 8 is a cross-sectional view of the sterile adapter provided by the present invention in a first position with the housing and coupling disc locked by the detent;

fig. 9 is a second cross-sectional view of the sterile adapter provided by the present invention with the housing and coupling disc locked by the detent;

FIG. 10 is a cross-sectional view I of the sterile adapter provided by the present invention with the brake unlocking the housing and coupling disc;

FIG. 11 is a second cross-sectional view of the sterile adapter provided by the present invention with the brake unlocking the housing and coupling disc;

FIG. 12 is a front view of a surgical instrument provided by the present invention;

FIG. 13 is a schematic illustration of an assembled sterile adapter and surgical instrument of the present invention;

FIG. 14 is a second schematic view of the assembled sterile adapter and surgical instrument provided by the present invention;

fig. 15 is a schematic view of the structure of the sterile adapter and drive unit provided by the present invention when not assembled;

FIG. 16 is a schematic view of the structure of a base plate provided by the present invention;

fig. 17 is a schematic view of a part of the structure of the aseptic adapter and drive unit provided by the present invention when assembled.

In the figure:

100. a driving device; 110. a mechanical arm; 120. a driving unit; 1201. a clamping hole; 1202. a first mounting surface; 1203. a first coupling part; 1204. an induction member; 200. a surgical instrument; 2001. a second mounting surface; 2002. a claw; 2003. a second coupling part; 2004. a second clamping groove; 2005. a plug pin; 300. a sterile barrier; 310. sterile drape; 320. a sterile adapter; 1. a housing; 11. a top plate; 111. a first clamping groove; 112. a clamping protrusion; 12. a bottom plate; 121. a clamping arm; 1211. a buckle; 122. a recessed portion; 2. a coupling plate; 21. a coupling structure; 22. a protrusion; 3. a brake member; 31. a groove; 32. a pushing part; 33. an elastic arm; 4. an indication pin; 41. a pin shaft; 42. and a limit flange.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The present embodiment provides a medical system that may be used in surgical procedures. As shown in fig. 1, the medical system includes a driving device 100, a display device, and a surgical instrument 200. The driving device 100 is used to drive the distal end of the surgical instrument 200 to achieve one or more degrees of freedom for the surgical instrument 200 to perform a surgical procedure. The display device is used for displaying images of the part to be operated and various operation parameters so that the medical staff can use the medical system.

To avoid infection of the surgical site, both the driving device 100 and the surgical instrument 200 should be in a sterile state, and the driving device 100 cannot use a conventional sterilization method (e.g., steam sterilization or heat sterilization) due to the electrical components such as a motor, an encoder, a sensor, etc. provided in the driving device 100. For this reason, the medical system in this embodiment further includes a sterile barrier 300, where the sterile barrier 300 is covered outside the driving device 100, so as to separate the driving device 100 from the medical apparatus, so as to separate the non-sterile module from the sterile module, and ensure that the modules contacting the portion to be operated are sterile modules, so as to ensure a sterile operation environment.

Optionally, the driving device 100 includes a mechanical arm 110 and a driving unit 120, where the driving unit 120 is disposed at an end of the mechanical arm 110, and the driving unit 120 is driven to rotate by the mechanical arm 110, and an output end of the driving unit 120 is used for driving the surgical instrument 200 to move relative to the mechanical arm 110, so that the surgical instrument 200 can flexibly perform a surgical operation.

As shown in fig. 2, sterile barrier 300 includes sterile drape 310 and sterile adapter 320, sterile adapter 320 being connected to sterile drape 310, sterile adapter 320 having a first mating surface on the inside of sterile drape 310 for mating with drive device 100 and a second mating surface on the outside of sterile drape 310 for mating with surgical instrument 200 such that drive device 100 transmits an actuation torque to surgical instrument 200 through sterile adapter 320 to drive surgical instrument 200.

As shown in fig. 3, opposite sides of the sterile adapter 320 can interface with the drive unit 120 and the surgical instrument 200, respectively, and drivingly connect the drive unit 120 and the surgical instrument 200 to achieve a normal drive upon spacing the drive device 100 from the surgical instrument 200. As shown in fig. 4, the driving unit 120 and the surgical instrument 200 are both provided with coupling parts, and for convenience of description, the coupling part on the driving unit 120 is a first coupling part 1203, the coupling part on the surgical instrument 200 is a second coupling part 2003, and the first coupling part 1203 and the second coupling part 2003 are in driving fit with the sterile adapter 320.

As shown in fig. 5, sterile adapter 320 includes housing 1 and coupling tray 2. The casing 1 has relative first adaptation surface and the second adaptation surface that sets up, be provided with the mounting hole that runs through first adaptation surface and second adaptation surface on the casing 1, the coupling dish 2 rotates to set up in the mounting hole, the both ends along axial of coupling dish 2 expose outside casing 1 through the both ends of mounting hole respectively, and all be provided with coupling structure 21 on the both ends face along axial of coupling dish 2, coupling structure 21 can dock with the first coupling portion 1203 or the second coupling portion 2003 of corresponding side, thereby realize actuating torque's transmission, thereby drive surgical instrument 200 action through drive unit 120.

Because the coupling plate 2 needs to be rotated relative to the housing 1 to transmit torque, this results in an indefinite angle of the coupling plate 2 when the aseptic adapter 320 is mounted with the drive unit 120, requiring adjustment of the coupling plate 2 to the desired angle for engagement, increasing the difficulty of assembly interfacing.

To solve the above problem, as shown in fig. 6, the aseptic adapter 320 further includes a stopper 3, where the stopper 3 is connected to the housing 1, and the stopper 3 can lock the coupling disc 2 and the housing 1, and prevent the coupling disc 2 from rotating relative to the housing 1, so that the coupling disc 2 is always at an initial angle when the aseptic adapter 320 is not assembled with the driving unit 120, and the coupling disc 2 is conveniently docked with the driving unit 120. When the housing 1 of the sterile adapter 320 is mounted to the drive device 100, the brake 3 can release the locking state of the coupling disc 2 and the housing 1 under the action of the drive device 100, so that the coupling disc 2 can rotate relative to the housing 1 after the sterile adapter 320 is mounted to the drive device 100, thereby transmitting the actuation torque.

To facilitate the assembly of the braking member 3 with the housing 1, the housing 1 includes a top plate 11 and a bottom plate 12 that are detachably connected, and the braking member 3 is disposed between the top plate 11 and the bottom plate 12. Specifically, the top plate 11 and the bottom plate 12 are connected by screws to facilitate the disassembly and assembly. The top plate 11 is provided with a first mounting hole, the bottom plate 12 is provided with a second mounting hole at a position corresponding to the first mounting hole, and the first mounting hole and the opposite second mounting hole form a mounting hole for mounting the coupling disc 2.

Specifically, as shown in fig. 7, the stopper 3 is provided between the top plate 11 and the bottom plate 12, and is switchable between a locked position and an unlocked position. The coupling disc 2 is provided with a protrusion 22 protruding in its radial direction on its outer circumferential surface, and the stopper 3 is provided with a recess 31 cooperating with the protrusion 22. When the sterile adapter 320 is not assembled with the drive unit 120, the stopper 3 is in the locking position, and at this time, the projection 22 is positioned in the recess 31 to prevent the coupling disc 2 from rotating, thereby locking the housing 1 with the coupling disc 2. When the sterile adapter 320 is mounted on the drive unit 120, the drive unit 120 moves the drive brake 3 from the locked position to the unlocked position to disengage the projection 22 from the recess 31, thereby unlocking the coupling disc 2 from the housing 1 and enabling the coupling disc 2 to rotate relative to the housing 1.

In some embodiments, the coupling disc 2 is provided with a groove 31 on the outer circumferential surface, and the detent 3 is provided with a protrusion 22 matching with the groove 31, so that the coupling disc 2 and the housing 1 can be locked.

Optionally, sterile adapter 320 comprises a plurality of coupling discs 2, with which detent 3 can cooperate to simultaneously lock or unlock a plurality of coupling discs 2 with housing 1. Specifically, the plurality of coupling discs 2 are arranged in at least two rows, a braking member 3 is arranged between each two adjacent rows of coupling discs 2, and the braking member 3 is respectively matched with the two adjacent rows of coupling discs 2. By adopting the arrangement mode of the coupling discs 2, one braking piece 3 can be matched with a plurality of coupling discs 2, so that the number of the braking pieces 3 is reduced, the structure of the sterile adapter 320 is simpler, and the cost of the sterile adapter 320 is reduced.

In this embodiment, the number of the coupling discs 2 is six, the six coupling discs 2 are arranged in two rows, the braking member 3 is in a strip shape and is arranged between the two rows of coupling discs 2, and the braking member 3 is provided with a groove 31 corresponding to each coupling disc 2.

In order to enable the braking member 3 to move within the housing 1, a mounting chamber accommodating the braking member 3 is formed between the top plate 11 and the bottom plate 12, and as shown in fig. 8, the braking member 3 is constructed with a pushing portion 32. When the sterile adapter 320 is assembled with the driving unit 120, the driving unit 120 can abut against the pushing portion 32, and push the pushing portion 32 to move relative to the housing 1 to drive the braking member 3 to move relative to the housing 1, so that the protrusion 22 is disengaged from the groove 31.

It will be appreciated that in order to ensure that the braking member 3 is movable within the housing 1, the size of the mounting cavity in the pushing direction of the pushing portion 32 is larger than the size of the braking member 3 in the pushing direction of the pushing portion 32, so that a movable space of the braking member 3 is reserved in the mounting cavity.

Optionally, the bottom surface of the top plate 11 and/or the top surface of the bottom plate 12 is provided with a protrusion that can abut the bottom plate 12 or the top plate 11 to space the top plate 11 and the bottom plate 12 to form a mounting cavity. Wherein, the protruding part can be a convex column or a rib plate.

In this embodiment, the groove 31 is a through groove extending along the arrangement direction of the top plate 11 and the bottom plate 12, and as shown in fig. 8, a pushing portion 32 extends in a direction away from the top plate 11 on one side of the braking member 3 near the bottom plate 12. When the sterile adapter 320 is not mounted with the drive unit 120, as shown in fig. 9, the projection 22 is located in the recess 31 and the pushing portion 32 can protrude outside the housing 1. When the aseptic adapter 320 is assembled with the drive unit 120, as shown in fig. 10, the surface of the drive unit 120 (the surface that mates with the first mating surface) abuts against the pushing portion 32, and the stopper 3 is pushed by the pushing portion 32 to move in a direction approaching the top plate 11, and when the stopper 3 abuts against the top plate 11, the projection 22 is completely disengaged from the recess 31 as shown in fig. 11.

In order to make it easier to switch the braking member 3 from the locking position to the unlocking position, the braking member 3 is provided with a relief hole, which is provided in close proximity to the pushing portion 32. When the pushing portion 32 is stressed, the braking member 3 is easier to move, and the braking member 3 is easier to deform under the action of the pushing portion 32, so as to further ensure that the protrusion 22 can be disengaged from the groove 31.

Further, the brake member 3 is configured with an elastic arm 33, the elastic arm 33 is located in the avoidance hole, a fixed section of the elastic arm 33 is connected with the inner wall of the avoidance hole, and a free end of the elastic arm 33 is always abutted against the inner wall of the bottom surface of the top plate 11. When the aseptic adapter 320 is mounted to the drive unit 120, when the pushing portion 32 pushes the stopper 3 to move toward the top plate 11, the abutment force between the free end of the elastic arm 33 and the top plate 11 increases, so that the fixed end of the elastic arm 33 can apply an elastic force toward the top plate 11 to the stopper piece, so that the stopper 3 can be further ensured to move to the unlocking position.

Alternatively, the resilient arm 33 comprises a first connecting arm and a second connecting arm arranged at an angle. When the sterile adapter 320 is not assembled with the drive unit 120, the first connecting arm is substantially parallel to the top plate 11, the second connecting arm extends substantially in the arrangement direction of the top plate 11 and the bottom plate 12, and one end of the second connecting arm abuts against the top plate 11. When the sterile adapter 320 is assembled with the driving unit 120, the driving unit 120 pushes the pushing portion 32 to approach the top plate 11, and in this process, the abutment force between the second connecting arm and the top plate 11 increases, so that the first connecting arm will deform to the state shown in fig. 10, and the end of the first connecting arm, which is far away from the second connecting arm, will drive the stopper 3 to approach the top plate 11, so that the protrusion 22 is completely disengaged from the groove 31.

Further, the two ends of the second connecting arm are respectively abutted against the top plate 11 and the bottom plate 12, so that the first connecting arm can be smoothly deformed to drive the brake plate to move towards the direction close to the top plate 11.

Alternatively, the elastic arm 33 and the braking member 3 are integrally formed, so as to improve the linkage effect of the first connecting arm and the braking member 3.

As shown in fig. 12, the surgical instrument 200 has a second mounting surface 2001 which mates with a second mating surface, and a second coupling portion 2003 which mates with the coupling plate 2 is provided on the second mounting surface 2001, and the coupling plate 2 can rotate the second coupling portion 2003 in synchronization. In order to facilitate the smooth cooperation of the coupling disc 2 and the second coupling portion 2003 and facilitate the user to understand the current rotation angle of the coupling disc 2, the coupling structure 21 is a non-rotating structure so as to prevent the coupling structure 21 and the second coupling portion 2003 from rotating relatively. Further, at least two opposite sides of the coupling structure 21 have different outer shapes to form a foolproof structure, and the second coupling portion 2003 has a shape and size adapted to the coupling structure 21. By forming the fool-proof structure, the coupling plate 2 is facilitated to be abutted with the second coupling portion 2003 on the one hand, and the medical staff can be facilitated to distinguish the rotation angle of the coupling structure 21 on the other hand.

In this embodiment, the coupling structure 21 is a concave structure, and correspondingly, the second coupling portion 2003 is a convex structure, so as to achieve the coupling fit between the coupling disc 2 and the surgical instrument 200.

In some embodiments, the coupling structure 21 may be a protruding structure or a combination structure of a recess and a protrusion 22, and correspondingly, the second coupling portion 2003 may be a recess structure or a combination structure of a protrusion 22 and a recess, which may implement the coupling engagement of the coupling disc 2 with the surgical instrument 200.

To avoid the coupling disc 2 from being separated from the second coupling part 2003, the housing 1 is detachably connected to the surgical instrument 200 to improve the stability of the assembly. In this embodiment, the housing 1 is clamped with the surgical instrument 200, so as to facilitate disassembly and assembly.

As shown in fig. 13, the housing 1 is provided with a locking groove, and the second mounting surface 2001 of the surgical device 200 is provided with a claw 2002, wherein the claw 2002 can be engaged with the first locking groove 111. As shown in fig. 14, a locking protrusion 112 is provided on a side of the housing 1 opposite to the first locking groove 111, a second locking groove 2004 is provided on the surgical instrument 200 at a position corresponding to the locking protrusion 112, and the locking protrusion 112 can be engaged with the second locking groove 2004. The sterile adapter 320 and the surgical instrument 200 are connected by the clamping structures on opposite sides, so that the fixing effect of the sterile adapter 320 and the surgical instrument 200 can be improved, and the two can be fixed more firmly.

In some embodiments, the pawl 2002 may be disposed on the housing 1, and correspondingly, the first detent 111 is disposed on the surgical instrument 200; the snap tab 112 may be disposed on the surgical instrument 200 and correspondingly, the second snap slot 2004 disposed on the sterile adapter 320, as well as the removable connection of the sterile adapter 320 to the surgical instrument 200.

As shown in fig. 17, the driving unit 120 is provided with a first mounting surface 1202 that mates with the first adapting surface, and the first mounting surface 1202 is provided with a first coupling portion 1203 that mates with the coupling disc 2, where the first coupling portion 1203 can drive the coupling disc 2 to rotate synchronously. In this embodiment, the coupling structure 21 of the coupling disc 2 mated with the first coupling portion 1203 is also a non-rotating structure, and the outer contour shapes of at least two opposite sides of the coupling structure 21 are different to form a foolproof structure. The shape and size of the first coupling portion 1203 are adapted to the coupling structure 21, so that the coupling disc 2 is conveniently abutted to the first coupling portion 1203, and the medical staff can conveniently distinguish the rotation angle of the coupling structure 21.

The mating structure of the coupling disc 2 and the first coupling portion 1203 may be the same as the mating structure of the coupling disc 2 and the second coupling portion 2003, which will not be described in detail herein.

To avoid the coupling disc 2 from being separated from the first coupling portion 1203, the aseptic adapter 320 is detachably connected to the driving unit 120, so as to improve the stability of assembly. In this embodiment, the housing 1 is clamped with the driving unit 120, so as to facilitate assembly and disassembly.

As shown in fig. 15, the bottom plate 12 is configured with a latch arm 121, the latch arm 121 extends in the arrangement direction of the top plate 11 and the bottom plate 12, one end (hereinafter referred to as a top end) of the latch arm 121 extends upward from the top surface of the bottom plate 12 and passes through the top plate 11, and the other end (hereinafter referred to as a bottom end) of the latch arm 121 extends downward from the bottom surface of the bottom plate 12 and can be latched with the driving device 100. When the sterile adapter 320 is assembled with the driving unit 120, the top end of the clamping arm 121 is pulled to drive the bottom end of the clamping arm 121 to move so as to be clamped with the driving unit 120. Specifically, the bottom end of the clamping arm 121 is provided with a buckle 1211, and the driving unit 120 is provided with a clamping hole 1201, and the buckle 1211 can be clamped with the clamping hole 1201 to fix the driving unit 120 and the sterile adapter 320.

In order to improve the locking stability of the driving unit 120 and the aseptic adapter 320, at least one set of locking arms 121 is disposed on the bottom plate 12, each set of locking arms 121 includes two opposite locking arms 121, each locking arm 121 is configured with a buckle 1211 toward the direction of the other locking arm 121 of the same set, and the driving unit 120 is locked and fixed between the two locking arms 121 of the same set, so that the locking effect is firmer. When the driving unit 120 and the sterile adapter 320 are assembled, the top ends of the two clamping arms 121 in the same group are pressed to enable the top ends of the two clamping arms 121 in the same group to be close to each other, and the bottom ends of the two clamping arms 121 in the same group can be driven to deviate from each other, so that the distance between the two buckles 1211 in the same group is increased, and the sterile adapter 320 and the driving unit 120 are conveniently clamped.

In order to make the clamping arm 121 easier to deform, as shown in fig. 16, the connection position of the bottom plate 12 and the clamping arm 121 is configured as a flexible structure, so that when the top end of the clamping arm 121 is subjected to an external force, the clamping arm 121 is easier to rotate relative to the bottom plate 12, so that the bottom end of the clamping arm 121 moves.

In this embodiment, a recess 122 is disposed at a connection position of the base plate 12 and the clamping arm 121 to form a flexible structure. Alternatively, the recess 122 may be the groove 31. The groove 31 may be elongated and extend circumferentially around the snap arm 121. The number of the grooves 31 may be one, and the grooves 31 may be intermittently provided in plural stages.

Alternatively, the concave portion 122 is a plurality of concave portions, and the concave portions are arranged in the circumferential direction of the engaging arm 121.

In some embodiments, the flexible structure may be a thin-walled structure, and the clamping arm 121 may also be easier to rotate relative to the base plate 12.

As shown in fig. 17, the sterile adapter 320 further includes an indicator pin 4, where the indicator pin 4 is movably connected to the housing 1, and the indicator pin 4 can trigger the sensing element 1204 on the driving device 100 under the pushing of the surgical instrument 200, so that the medical system obtains the assembly condition of the sterile adapter 320 and the surgical instrument 200.

Specifically, a sliding through hole is provided on the housing 1, the indication pin 4 is slidably disposed in the sliding through hole, one end of the indication pin 4 can be abutted against the surgical instrument 200, and the other end of the indication pin 4 can trigger the sensing member 1204. When the sterile adapter 320 is assembled with the surgical instrument 200, the surgical instrument 200 will push the indicator pin 4 to slide within the sliding through hole to move the indicator pin 4 and trigger the sensing element 1204.

In the present embodiment, the slide through holes penetrate the top plate 11 and the bottom plate 12, and the indicator pins 4 are provided in the slide through holes and are slidable in the arrangement direction of the top plate 11 and the bottom plate 12. When sterile adapter 320 is assembled with surgical instrument 200, surgical instrument 200 pushes indicator pin 4 in a direction toward base plate 12 to trigger sensing element 1204. When sensing element 1204 is triggered, sensing element 1204 will send a signal to a control device of the medical system, which, based on the received signal, obtains that surgical instrument 200 has been assembled with sterile adapter 320.

Alternatively, the sensing element 1204 may be a micro switch or a proximity switch. When the sensing piece 1204 is a micro switch, the indication pin 4 can press the micro switch when moving towards the direction of the bottom plate 12 so as to trigger the micro switch. When the sensing piece 1204 is a proximity switch, the proximity switch can be triggered after the distance between the indicating pin 4 and the proximity switch is smaller than the specified distance.

In order to avoid the indicator pin 4 from being separated from the housing 1, the indicator pin 4 comprises a pin shaft 41 and a limiting flange 42 protruding along the radial direction of the pin shaft 41, the sliding through hole comprises a first aperture section, a second aperture section and a third aperture section which are sequentially communicated, the apertures of the first aperture section and the second aperture section are smaller than those of the second aperture section, the apertures of the first aperture section and the second aperture section are larger than the diameter of the pin shaft 41 and smaller than the diameter of the limiting flange 42, the diameter of the limiting flange 42 is smaller than the diameter of the second aperture section, the limiting flange 42 is positioned in the second aperture section, and the axial dimension of the second aperture section is larger than the axial dimension of the limiting flange 42. The limiting flange 42 is limited to the second aperture section, so that the indicator pin 4 can be prevented from being separated from the housing 1, the limiting position of the indicator pin 4 can be limited, and the indicator pin 4 can be prevented from being excessively moved to damage the sensing piece 1204.

To facilitate assembly of the indicator pin 4 with the housing 1, the first and second aperture sections are provided on the bottom plate 12 and the third aperture section is provided on the top plate 11.

Alternatively, the indicator pin 4 may be elastically coupled with the housing 1 by an elastic member. The elastic member can drive the indication pin 4 to move towards the direction approaching to the top plate 11, so that after the sterile adapter 320 is separated from the surgical instrument 200, the indication pin can automatically reset, and the sensing member 1204 is not triggered any more, so that a control device of the medical system can timely know that the surgical instrument 200 is not assembled with the sterile adapter 320 according to the signal change of the sensing member 1204.

Optionally, a latch 2005 is provided on the surgical instrument 200, and the latch 2005 can push the indicator pin 4, so that the indicator pin 4 triggers the sensing element 1204.

In some embodiments, sterile adapter 320 may not be provided with indicator pin 4, by extending the length of latch 2005, and by latch 2005 driving housing 1 back trigger sensor 1204.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. A sterile adapter, comprising:

a housing (1), wherein a mounting hole penetrating through the housing (1) is arranged on the housing (1), and the housing (1) is configured to be mounted on a driving device (100);

the coupling disc (2) is rotationally arranged in the mounting hole, and the coupling disc (2) can be in transmission connection with the output end of the driving device (100);

a braking member (3) connected to the housing (1) and switchable between an unlocked position and a locked position, the braking member (3) being configured to lock the coupling disc (2) and the housing (1) in the locked position and to be driven by the driving device (100) to move from the locked position to the unlocked position when the housing (1) is mounted to the driving device (100) to release the locked state of the coupling disc (2) and the housing (1).

2. A sterile adapter according to claim 1, characterized in that one of the coupling disc (2) and the stopper (3) is provided with a projection (22) and the other is provided with a recess (31) cooperating with the projection (22);

when the brake (3) is in the unlocking position, the protrusion (22) and the groove (31) are disengaged.

3. The sterile adapter according to claim 2, characterized in that the housing (1) comprises a top plate (11) and a bottom plate (12) which are fixedly connected, the bottom plate (12) can be mounted on the driving device (100), a mounting cavity for accommodating the braking piece (3) is formed between the top plate (11) and the bottom plate (12), the braking piece (3) is movably arranged in the mounting cavity, a pushing part (32) is configured on the braking piece (3), and the pushing part (32) can extend out of the housing (1) and can be abutted with the driving device (100) so as to drive the braking piece (3) to move relative to the housing (1).

4. A sterile adapter according to claim 3, characterized in that the braking member (3) is provided with a relief hole, in which is provided an elastic arm (33), one end of the elastic arm (33) being connected to the side wall of the relief hole and the other end being in abutment with the top plate (11);

the elastic arm (33) comprises a first connecting arm and a second connecting arm which are arranged at an included angle, one end of the first connecting arm is connected with the inner wall of the avoidance hole, and two ends of the second connecting arm are respectively abutted to the top plate (11) and the bottom plate (12).

5. A sterile adapter according to claim 3, characterized in that the base plate (12) is provided with a clamping arm (121), the clamping arm (121) extending in the direction of arrangement of the top plate (11) and the base plate (12), one end of the clamping arm (121) extending upwards from the top surface of the base plate (12) and through the top plate (11), and the other end of the clamping arm (121) extending downwards from the bottom surface of the base plate (12) and being capable of being clamped with the drive device (100).

6. A sterile adapter according to claim 5, characterized in that the base plate (12) is constructed in a flexible structure at the connection point with the clamping arm (121) so that the clamping arm (121) can rotate relative to the base plate (12);

at least one group of clamping arms (121) are constructed on the bottom plate (12), each group of clamping arms (121) comprises two opposite clamping arms (121), and a buckle (1211) is constructed on one side, facing the other clamping arms (121) in the same group, of the bottom ends of the clamping arms (121).

7. A sterile adapter according to any one of claims 1-6, characterized in that the number of coupling discs (2) is plural, the detent (3) being engageable with a plurality of the coupling discs (2) to lock or unlock a plurality of the coupling discs (2) with the housing (1) simultaneously.

8. The sterile adapter according to any one of claims 1-6, characterized in that the coupling disc (2) is configured at both axial ends for driving connection with the drive device (100) and a surgical instrument (200), respectively, the sterile adapter further comprising an indicator pin (4), the housing (1) being provided with a sliding through hole, the indicator pin (4) being slidably arranged in the sliding through hole, the indicator pin (4) being configured to trigger an inductive element (1204) on the drive device (100) under the pushing of the surgical instrument (200).

9. The sterile adapter according to claim 8, characterized in that the indicator pin (4) comprises a pin shaft (41) and a limit flange (42) protruding radially along the pin shaft (41), the sliding through hole comprises a first aperture section, a second aperture section and a third aperture section communicating in sequence, the apertures of the first aperture section and the second aperture section are smaller than the aperture of the second aperture section, and the apertures of the first aperture section and the second aperture section are larger than the diameter of the pin shaft (41) and smaller than the diameter of the limit flange (42), the diameter of the limit flange (42) is smaller than the diameter of the second aperture section, the limit flange (42) is located in the second aperture section, and the axial dimension of the second aperture section is larger than the axial dimension of the limit flange (42).

10. A sterile barrier comprising a sterile drape (310) and a sterile adapter according to any of claims 1-9, the housing (1) being connected to the sterile drape (310), the axial one end of the mounting hole being in communication with the inside of the sterile drape (310) and the axial other end of the mounting hole being in communication with the outside of the sterile drape (310).

11. A medical system, characterized by comprising a driving device (100), a surgical instrument (200) and the sterile barrier according to claim 10, wherein the driving device (100) is arranged in the sterile barrier, the surgical instrument (200) is arranged outside the sterile barrier, one end of the coupling disc (2) is in transmission connection with the output end of the driving device (100), and the other end of the coupling disc (2) is in transmission connection with the surgical instrument (200).