CN116172706A

CN116172706A - Sterile adapter for surgical robot, surgical instrument cassette, instrument driver and surgical robot

Info

Publication number: CN116172706A
Application number: CN202111432838.4A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shenzhen Konuositeng Technology Co ltd
Current assignee: Shenzhen Konuositeng Technology Co ltd
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2023-05-30

Abstract

The invention discloses a sterile adapter for a surgical robot, a surgical instrument box, an instrument driver and the surgical robot. The instrument driver comprises a first guide piece which is arranged on the upper surface of the instrument driver and protrudes from the upper surface of the instrument driver; the sterile adapter is connected to the instrument driver, and the sterile adapter comprises a second guide piece which is arranged on the upper surface of the sterile adapter and protrudes from the upper surface of the sterile adapter; the aseptic adapter comprises a first guide groove, wherein an opening of the first guide groove is arranged on the lower surface of the aseptic adapter and is used for accommodating the first guide piece; the surgical instrument cassette is connected to the sterile adapter, the surgical instrument cassette including a second guide slot having an opening disposed in a lower surface of the surgical instrument cassette for receiving the second guide. The sterile adapter, the surgical instrument box and the instrument driver have simple and smooth assembly process.

Description

Sterile adapter for surgical robot, surgical instrument cassette, instrument driver and surgical robot

Technical Field

The present invention relates generally to the field of surgical robots, and more particularly to a sterile adapter for a surgical robot, a surgical instrument cassette, an instrument driver, and a surgical robot.

Background

The medical surgical instrument on the surgical robot (also called as a minimally invasive robotic surgical system) has the advantages of accurate positioning, stable operation, strong dexterity, large working range, radiation resistance, infection resistance and the like, and is widely applied to various operations. The use of the operation robot is beneficial to improving the operation precision of a surgeon, solving the tremble, fatigue and muscle nerve feedback of the hand of the surgeon, enabling the surgeon to perform operation in the most comfortable state, having important value for improving the success rate of the operation and relieving the pain of the patient, and becoming a new field of medical instrument application.

On surgical robots, surgical instruments typically have a rear end effector in the form of a surgical tool, such as forceps, scissors, clips, etc., at one end of an elongate tube. The conventional motion structure of the rear end actuating mechanism adopts a steel wire to rotate the rear end actuating mechanism so as to complete pitching, deflecting and clamping actions. The surgical robotic system requires an instrument driver to provide driving force to the surgical instrument backend actuator for achieving the surgical instrument pitch, yaw and grip motions.

The surgeon controls the instruments on the surgical side driver on the console side, and in order to meet the needs of different surgical instruments in the operation, the surgical instruments and instrument drivers are typically designed to be detachable for changing different surgical instrument needs during the operation.

The surgical instruments are in direct contact with the patient and must be sterilized. For ease of use, the instrument drivers are typically designed so that they do not require sterilization. To ensure sterility during surgery, a sterile adapter is required between the instrument driver and the surgical instrument during surgery to isolate the non-sterilizable instrument driver end from the sterilizable surgical instrument end during surgery.

The surgical instrument is connected to the surgical instrument cassette. The surgical instrument box is connected with the upper surface of the sterile adapter, the instrument driver is connected with the lower surface of the sterile adapter, and the instrument driver provides driving force for the surgical instrument rear end actuating mechanism in the surgical instrument box through the sterile adapter, so that the purposes of pitching, deflecting and clamping are achieved.

In practical application, the sterile adapter is connected with a sterile cloth (transparent plastic material). The sterile cloth has a large area, and can wrap the sliding arm and the instrument driver, so that the instrument driver is isolated from the outside. When installed in place, the side of the sterile adapter facing the surgical cassette is bare, and the portion facing the instrument driver is wrapped in sterile cloth, isolated from the outside.

The device driver is connected with the sterile adapter, the sterile adapter is connected with the rear end of the surgical device, and after the connection is completed, the driving disk of the device driver can drive the connecting piece of the sterile adapter and the connecting piece of the sterile adapter to drive the driven disk of the surgical device box and the driven disk to drive the steel wire for pulling the surgical device, so that the surgical device is controlled to complete pitching, deflection and clamping actions. Therefore, the axial alignment requirements between the driving disc and the connector and between the driving disc and the driven disc are high, and if the axial center of the driving disc and the axial center of the driven disc deviate or deviate greatly during assembly, the transmission of driving force stability is greatly affected, so that the fact that the driving disc of the instrument driver and the driven disc of the surgical instrument remain coaxial is required.

In the existing surgical robot, two longer buckles on the lower surface of the sterile adapter are matched with two clamping grooves on the instrument driver in a guiding way when the sterile adapter is installed, and the sterile adapter is connected and buckled after guiding insertion. The method has the advantages that the acceptable installation offset distance of the guide is smaller, the absorbable guide size is smaller, and the installation condition of the guide is not in place when the guide is slightly offset; meanwhile, when the surgical instrument box is mounted on the sterile adapter, the mounting offset distance acceptable in guiding is smaller, and the guiding is unsmooth due to slight dislocation during assembly, so that the situation of insufficient mounting occurs.

In existing surgical robots, the sterile adapter is provided with arcuate guides for guiding the installation of the surgical instrument cassette. When the surgical instrument cassette is mounted, the guide surface is curved, so that the surgical instrument cassette is deflected in a horizontal plane. In this way, the doctor has to pay attention to the deflection of the lower end position of the surgical instrument box (the lower end of the surgical instrument box is connected with the surgical instrument which is put into the patient body, the lower end of the surgical instrument sleeve needs to be inserted into a pipe fitting which is put into the patient body, and the inner diameter of the pipe fitting is only slightly larger than that of the sleeve of the surgical instrument), and the accurate positioning connection of the surgical instrument box and the sterile adapter is realized by adjusting the angle of the surgical instrument box. This mode of operation increases the rotational motion in the horizontal plane and requires attention to both the upper and lower ends of the instrument during installation, but requires minimal motion amplitude and minimal motion changes for the surgeon, and thus makes it difficult to improve the installation efficiency.

In the actual use process, the sterile adapter and the surgical instrument box are assembled and disassembled on site by medical staff according to the surgical needs. Therefore, the installation accuracy is ensured, and the installation efficiency and the operation of medical staff are also required to be considered.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above-described problems, a first aspect of the present invention provides a sterile adapter for a surgical robot including an instrument driver and a surgical instrument cassette, the instrument driver being connected to a sliding arm of the surgical robot, the sterile adapter comprising:

a first guide slot having an opening provided at a lower surface of the sterile adapter for guiding the mounting of the sterile adapter to the instrument driver; and

a second guide disposed on and protruding from an upper surface of the sterile adapter for guiding the mounting of the surgical instrument cassette to the sterile adapter, the second guide comprising:

a second guide surface disposed on at least one of two lateral sides of the second guide, the second guide surface configured as a ramp inclined relative to a lateral direction such that the second guide allows the surgical instrument cassette to move in the lateral direction relative to the sterile adapter, and

A second additional guide surface provided on at least one of the two longitudinal sides of the second guide, the second additional guide surface being configured as a ramp inclined with respect to the longitudinal direction such that the second guide allows the surgical instrument cassette to move in the longitudinal direction with respect to the sterile adapter,

wherein the transverse direction is perpendicular to the longitudinal direction.

According to the sterile adapter, the guide piece of the sterile adapter can be easily inserted into the guide groove of the surgical instrument box, so that the sterile adapter is convenient for users to use.

Optionally, the second guide further comprises:

a second limiting surface disposed on a lateral side of the second guide and below the second guide surface, the second limiting surface configured as a plane perpendicular to the lateral direction such that the second guide limits movement of the surgical instrument cassette in the lateral direction relative to the sterile adapter; and

a second additional limiting surface disposed on a longitudinal side of the second guide and below the second additional limiting surface, the second additional limiting surface configured as a plane perpendicular to the longitudinal direction such that the second guide limits movement of the surgical instrument cassette relative to the sterile adapter in the longitudinal direction.

According to the sterile adapter, the guide surface and the limiting surface are arranged continuously, so that accurate guide can be automatically implemented between components, and the assembly efficiency is greatly improved.

Optionally, the second guiding surface is smoothly connected with the second limiting surface, and/or

The second additional guiding surface is smoothly connected with the second additional limiting surface.

Optionally, the second guide is disposed at an end of the aseptic adapter for facing the sliding arm, and the first guide groove is disposed at an outer surface of the second guide for facing the sliding arm, wherein a direction toward or away from the sliding arm is the longitudinal direction.

Optionally, the second additional guide surface and the second additional limiting surface are provided on a longitudinal side of the second guide on a side facing away from the sliding arm.

According to the sterile adapter, the guide piece and the guide groove are arranged, so that the sterile adapter, the surgical instrument box and the instrument driver are all arranged on the front side of the sliding arm, and the operation of a user is convenient.

Optionally, the sterile adapter further comprises:

at least one first locating pin disposed on and protruding from a lower surface of the sterile adapter; and

And at least one second locating pin which is arranged on the upper surface of the aseptic adapter and protrudes from the upper surface of the aseptic adapter, wherein the first locating pin and the second locating pin are formed into a whole.

Optionally, the first positioning pin and the second positioning pin are arranged in pairs, and the first positioning pin and the second positioning pin which are arranged in pairs are coaxial.

Optionally, the first positioning pin and the second positioning pin arranged in pairs are formed by the same pin shaft.

The sterile adapter according to the invention can be connected with the surgical instrument box and the instrument driver in a precisely positioned manner, so that the instrument driver can control the surgical instrument box more precisely.

Optionally, the outer surface of the head of the first positioning pin is provided with a guiding inclined surface, and/or

The outer surface of the end head of the second locating pin is provided with a guide inclined surface.

Optionally, the height of the second locating pin is not greater than the distance between the lower end of the second guide surface and the upper surface of the sterile adapter, and the height of the second locating pin is not greater than the distance between the lower end of the second additional guide surface and the upper surface of the sterile adapter.

Optionally, the second locating pin is disposed at a mid-position or a peripheral position of the upper surface of the sterile adapter.

Optionally, the first guide slot includes a first slot limiting surface disposed on a lateral side wall of the first guide slot, the first slot limiting surface configured as a plane perpendicular to the lateral direction such that the first guide slot limits movement of the sterile adapter relative to the instrument driver in the lateral direction.

A second aspect of the present invention provides a surgical cassette for a surgical robot comprising a sterile adapter and a sliding arm, the surgical cassette comprising a second guide slot, an opening of the second guide slot being provided in a lower surface of the surgical cassette for guiding the mounting of the surgical cassette to the sterile adapter.

According to the surgical instrument box provided by the invention, the guide piece of the sterile adapter can be easily inserted into the guide groove of the surgical instrument box, so that the surgical instrument box is convenient for a user to use.

Optionally, the second guide slot includes a second slot limiting surface disposed on a lateral side wall of the second guide slot, the second slot limiting surface configured as a plane perpendicular to the lateral direction such that the second guide slot limits movement of the surgical instrument cassette relative to the sterile adapter in the lateral direction.

According to the surgical instrument box disclosed by the invention, accurate guiding can be automatically implemented among components, so that the assembly efficiency is greatly improved.

Optionally, the second guide groove is provided on an outer surface of the surgical instrument cassette facing the sliding arm, wherein the lateral direction is perpendicular to a direction facing or away from the sliding arm.

The surgical instrument box is arranged on the front side of the sliding arm, so that the operation of a user is facilitated.

Optionally, the surgical instrument cassette further comprises:

a second mounting for mounting a driven plate for driving a surgical instrument; and

at least one second locating hole is provided in a lower surface of the second mount for receiving a second locating pin of the sterile adapter.

Optionally, the inner surface of the opening of the second positioning hole is provided with a guiding inclined plane.

According to the surgical instrument box disclosed by the invention, the positioning piece and the mounting piece of the driven plate are arranged on one part, so that the accurate control of the driven plate can be ensured.

A third aspect of the present invention provides an instrument driver for a surgical robot, the surgical robot including a sterile adapter and a sliding arm, the instrument driver including a first guide disposed on and protruding from an upper surface of the instrument driver for guiding the mounting of the sterile adapter to the instrument driver, the first guide comprising:

A first guide surface disposed on at least one of two lateral sides of the first guide, the first guide surface configured as a ramp inclined relative to a lateral direction such that the first guide allows movement of the sterile adapter relative to the instrument driver in the lateral direction; and

a first additional guide surface provided on at least one of the two longitudinal sides of the first guide, the first additional guide surface being configured as a ramp inclined with respect to the longitudinal direction such that the first guide allows the sterile adapter to move in the longitudinal direction with respect to the instrument driver,

According to the instrument driver of the present invention, the guide member of the instrument driver can be easily inserted into the guide groove of the sterile adapter, thereby facilitating the use of the instrument driver by a user.

Optionally, the first guide further comprises:

a first limiting surface disposed on a lateral side of the first guide and below the first guide surface, the first limiting surface configured as a plane perpendicular to the lateral direction such that the first guide limits movement of the sterile adapter relative to the instrument driver in the lateral direction; and

A first additional limiting surface disposed on a longitudinal side of the first guide and below the first additional limiting surface, the first additional limiting surface configured as a plane perpendicular to the longitudinal direction such that the first guide limits movement of the sterile adapter relative to the instrument driver in the longitudinal direction.

According to the instrument driver, the instrument driver and the sterile adapter automatically realize accurate guiding, so that the assembly efficiency is greatly improved.

Optionally, the first guiding surface is smoothly connected with the first limiting surface, and/or

The first additional guiding surface is smoothly connected with the first additional limiting surface.

Optionally, the first guide is provided at an end of the instrument driver for facing the sliding arm, wherein a direction toward or away from the sliding arm is the longitudinal direction.

Optionally, the first additional guide surface and the first additional limiting surface are provided on a longitudinal side of the first guide on a side facing away from the sliding arm.

According to the invention, the instrument driver and the sterile adapter are both arranged on the front side of the sliding arm, so that the use is convenient for users.

Optionally, the instrument driver further comprises:

a first mounting for mounting a drive disk; and

at least one first locating hole is provided in an upper surface of the first mount for receiving a first locating pin of the sterile adapter.

Optionally, an inner surface of the opening of the first positioning hole has a guiding slope.

According to the instrument driver of the invention, the positioning member and the mounting member of the driving disc are arranged on one part, so that the movement of the surgical instrument can be controlled better.

A fourth aspect of the present invention provides a surgical robot comprising:

the sterile adapter for a surgical robot and the surgical instrument cassette for a surgical robot described above; or alternatively

The sterile adapter for a surgical robot described above and the instrument driver for a surgical robot described above.

According to the surgical robot, the assembly method of the sterile adapter, the surgical instrument box and the instrument driver is simple, the positioning accuracy is high, and the assembly efficiency is greatly improved.

Drawings

The following drawings are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.

In the accompanying drawings:

FIG. 1 is a perspective view of a surgical instrument cassette, sterile adapter and instrument driver according to a preferred embodiment of the present invention;

FIG. 2 is a rear perspective view of the surgical instrument cassette, sterile adapter and instrument driver shown in FIG. 1;

FIG. 3 is a side cross-sectional view of the surgical instrument cassette, sterile adapter and instrument driver shown in FIG. 1;

FIG. 4 is a rear plan view of the surgical instrument cassette, sterile adapter and instrument driver assembled together in accordance with the preferred embodiment of the present invention; and

fig. 5 is a side cross-sectional view of the surgical instrument cassette, sterile adapter and instrument driver shown in fig. 3.

Reference numerals illustrate:

10: sterile adapter

10A: sterile adapter upper surface

10B: sterile adapter lower surface

10C: sterile adapter recess

11: first locating pin

11A: first pin guide slope

11B: first pin guide

11C: first pin positioning part

12: second locating pin

12A: second pin guide slope

12B: second pin guide part

12C: second pin positioning part

13: first guide groove

13A: the front inner surface of the first guide groove

13C: first groove limiting surface

13D: first guide slot opening

14: second guide member

14B: second guide surface

14C: second limiting surface

14E: second additional guide surface

14F: second additional limiting surface

19: coupling piece

20: surgical instrument box

20B: lower surface of surgical instrument box

20D: surgical instrument box rear end face

22: second positioning hole

22A: second hole guiding inclined plane

22B: second hole opening part

22C: second hole extension

23: second guide groove

23A: the front inner surface of the second guide groove

23C: second groove limiting surface

23D: second guide slot opening

25: second mounting member

28: slender tube

29: driven plate

30: instrument driver

30A: instrument driver upper surface

30C: instrument driver recess

31: first positioning hole

31A: first hole guiding inclined plane

31B: first hole opening part

31C: first bore extension

34: first guide member

34B: a first guide surface

34C: a first limiting surface

34E: first additional guide surface

34F: first additional limiting surface

35: first mounting piece

39: driving disc

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the embodiments of the invention.

In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the present invention. It will be apparent that embodiments of the invention may be practiced without limitation to the specific details that are set forth by those skilled in the art.

The invention provides a surgical instrument cassette, a sterile adapter and an instrument driver for a surgical robot. Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

As shown in fig. 1-5, in a preferred embodiment, the surgical robot includes an instrument driver 30, a sterile adapter 10, and a surgical instrument cassette 20. Wherein the instrument driver 30 is connected to and controllably movable on a sliding arm of the surgical robot. Sterile adapter 10 is coupled to instrument driver 30. The surgical cassette 20 is connected to the sterile adapter 10. Specifically, the sterile adapter 10 is mounted to the upper surface 30A of the instrument driver 30, and the surgical instrument cassette 20 is mounted to the upper surface 10A of the sterile adapter 10. The sterile adapter 10 is sandwiched between the instrument driver 30 and the surgical instrument cassette 20 to removably couple a sterile surgical instrument to a non-sterile instrument driver 30. When mounted to the slide arm, the instrument driver 30, the sterile adapter 10 and the surgical instrument cassette 20 are all located on the same side of the slide arm so as to be movable as a unit on the slide arm. The wires for the surgical instrument are received in the elongate tube 28 of the surgical cassette 20. The elongate tube 28 is typically disposed at an end of the surgical cassette 20 remote from the sliding arm. The extension direction of the elongated tube 28 is parallel to the extension direction of the sliding arm. One end of the wire is connected to the surgical instrument and the other end is connected to a driven disc 29 in the surgical instrument cassette 20. The driven disk 29 is coupled to a drive disk 39 in the instrument driver 30 by a coupling 19 in the sterile adapter 10. The sterile adapter 10 is provided with a sterile adapter recess 10C and the instrument driver 30 is provided with an instrument driver recess 30C for receiving the elongate tube 28.

For ease of description, the extending direction of the sliding arm and the elongated tube 28 is referred to herein as the vertical or Z-direction; the instrument driver 30, the sterile adapter 10 and the end of the surgical instrument cassette 20 near the sliding arm are referred to as the rear end or rear side; one end corresponding to the position of the elongated tube 28, i.e., the end opposite the rear end, is referred to as the front end or front side; the direction connecting the front end and the rear end is referred to as the longitudinal direction or the X direction, wherein the X direction is perpendicular to the Z direction; the direction perpendicular to both the X-direction and the Z-direction is referred to as the lateral or Y-direction. Vertical, i.e., up-down, longitudinal, i.e., front-to-back, and transverse, i.e., left-to-right.

As shown in fig. 4 and 5, the outer dimensions of the instrument driver 30, the sterile adapter 10 and the main body portion of the surgical instrument cassette 20 are set to be the same in the lateral and longitudinal directions such that the instrument driver 30, the sterile adapter 10 and the surgical instrument cassette 20 have flush outer surfaces when assembled. The assembly and disassembly of the instrument driver 30, the sterile adapter 10 and the surgical cassette 20 is accomplished in a substantially vertical direction.

For ease of assembly, the instrument driver 30, the sterile adapter 10 and the surgical instrument cassette 20 are provided with an assembly structure for assembly. The assembled structure includes the first guide 34, the first guide groove 13, the second guide 14, and the second guide groove 23.

Specifically, the first guide 34 is disposed on the instrument driver upper surface 30A and protrudes from the instrument driver upper surface 30A. A first guide slot 13 is provided in the sterile adapter 10 for receiving a first guide 34, the notch 13D of which is provided in the lower surface 10B of the sterile adapter 10. The sterile adapter 10 can be mounted to the instrument driver 30 by aligning the first guide slot 13D with the first guide 34 and then moving the sterile adapter 10 longitudinally from top to bottom. Thus, the first guide 34 and the first guide slot 13 serve to guide the mounting of the sterile adapter 10 to the instrument driver 30. The second guide 14 is provided on the upper surface 10A of the aseptic adapter 10 and protrudes from the aseptic adapter upper surface 10A. A second guide groove 23 is provided in the surgical instrument cassette 20 for receiving the second guide 14, and a notch 23D thereof is provided in the lower surface 20B of the surgical instrument cassette 20. The surgical cassette 20 can be mounted to the sterile adapter 10 by aligning the second guide slot notch 23D with the second guide 14 and then moving the surgical cassette 20 longitudinally from top to bottom. Thus, the second guide 14 and the second guide slot 23 serve to guide the mounting of the surgical cassette 20 to the sterile adapter 10.

In order to facilitate the replacement of the sterile adapter 10 and the surgical cassette 20 by medical personnel during the surgical procedure, the method of aligning the guide slots with the guide members is simple and easy to implement, and the guide members can limit and guide the guide slots.

Specifically, the second guide 14 is provided at the rear end of the sterile adapter 10, i.e. the end of the sterile adapter 10 for approaching or facing the slide arm. The second guide 14 is centrally located with respect to the transverse midline of the sterile adapter 10. The second guide 14 has a plate-like structure with a transverse dimension greater than its longitudinal dimension. . Accordingly, a second guide slot 23 is also provided at the rear end of the surgical cassette 20. The second guide slot 23 is centrally located with respect to the lateral midline of the surgical cassette 20. The second guide groove 23 is provided on the surgical instrument case rear end surface 20D (the outer surface of the surgical instrument case 20 on the side for facing the slide arm), and a recess is formed in the surgical instrument case rear end surface 20D, which is completely open at the rear end and the bottom. To adapt the shape of the second guide 14, the second guide groove 23 has a larger dimension in the transverse direction than in the longitudinal direction.

The lateral sides of the second guide 14 include a second guide surface 14B inclined with respect to the lateral direction at the upper side and a second restricting surface 14C extending vertically (perpendicular to the lateral direction) at the lower side, respectively. The two second limiting surfaces 14C are parallel to each other, both in the X-direction and in the Z-direction. The second guide surface 14B is in contact with the second limiting surface 14C, and from the junction of the two, the two second guide surfaces 14B are inclined so as to approach each other. Thus, the lateral dimension of the upper portion of the second guide 14 is smaller than the lateral dimension of the lower portion thereof. Preferably, the second guide surface 14B is smoothly connected to the second limiting surface 14C.

The lower lateral side walls of the second guide groove 23 include two opposing and mutually parallel second groove restricting surfaces 23C. The distance between the two second groove limiting surfaces 23C is adapted to the distance between the two second limiting surfaces 14C. Thus, the distance between the two second groove limiting surfaces 23C is greater than the lateral dimension of the upper portion of the second guide 14. I.e. the lateral dimension of the second guide groove 23 is larger than the lateral dimension of the upper part of the second guide 14.

When installing the surgical cassette 20, the user may first generally laterally align the surgical cassette 20 with the sterile adapter 10 above the sterile adapter upper surface 10A, then send the surgical cassette 20 back out until the second guide channel front inner surface 23A contacts the front outer surface of the second guide 14 (at which time the upper portion of the second guide 14 has entered the second guide channel 23), then move the surgical cassette 20 downward in a straight line, keeping the second guide channel front inner surface 23A in constant contact (against) with the front outer surface of the second guide 14 until the surgical cassette lower surface 20B contacts the sterile adapter upper surface 10A (at which time the second guide 14 fully enters the second guide channel 23).

In the above-described process of mounting the surgical instrument cassette 20 to the sterile adapter 10, first, because the lateral outer dimensions of the main body of the surgical instrument cassette 20 are substantially the same as the lateral outer dimensions of the main body of the sterile adapter 10, it is easy to laterally align the surgical instrument cassette 20 with the sterile adapter 10. Second, since the rear end of the second guide groove 23 is completely opened and the lateral dimension of the second guide groove 23 is greater than the lateral dimension of the upper portion of the second guide 14, it is easy to fit the second guide groove 23 around the upper portion of the second guide 14. Third, the lower portion of the second guide member 14 is provided with a second limiting surface 14C that mates with the second slot limiting surface 23C, and as the second guide slot 23 moves downwardly against the second guide member 14, the second guide member 14 is gradually nested within the second guide slot 23, and the surgical instrument cassette 20 can be finally aligned in the transverse direction with respect to the sterile adapter 10 under the guiding action of the second limiting surface 14C and the second slot limiting surface 23C, and the surgical instrument cassette 20 can be finally aligned in the longitudinal direction with respect to the sterile adapter 10 under the guiding action of the front outer surface of the second guide member 14. Fourth, the second guide 14 extends laterally a width that is greater than 1/2 the lateral dimension of the sterile adapter 10 to facilitate overcoming misalignment caused by rotation about the longitudinal axis during installation. Fifth, the surgical instrument cassette 20, the sterile adapter 10, and the instrument driver 30 are coupled to the slide arm at the rear end so that the user can operate more conveniently at the front end, and the second guide 14 and the second guide groove 23 are provided at the rear end so that the user can perform the operation at the front end, i.e., push the surgical instrument cassette 20 from the front side to the rear side, thereby facilitating the user's operation. In order to keep the second guide groove 23 in constant contact with the second guide 14 during downward movement of the second guide groove 23 against the second guide 14, the user needs to intentionally apply a rearward force to the surgical cassette 20. Since the user moves the surgical instrument cassette 20 forward and backward at the time of initial installation, i.e., applies a force to the surgical instrument cassette 20 to the rear side at the time of initial installation, the above-described operation and the direction of application of force are completely compliant with ergonomic requirements when the user installs the surgical instrument cassette 20 at the front side of the drive assembly. The mutually adapted structure of the second guide 14 and the second guide groove 23 can make the mounting process of the surgical instrument cassette 20 simple and smooth.

Preferably, in order to allow the upper portion of the second guide 14 to smoothly enter the second guide groove 23 provided in the opening of the lower surface 20B of the surgical instrument cassette, upper portions of both longitudinal sides of the second guide 14 are also provided with inclined second additional guide surfaces 14E, and lower portions of both longitudinal sides of the second guide 14 are provided with second additional restriction surfaces 14F parallel to the Z-direction and the Y-direction, so that the longitudinal dimension of the upper portion of the second guide 14 is smaller than the longitudinal dimension of the lower portion. The second additional guide surface 14E may be provided at one or both of the longitudinal sides of the second guide 14. In the illustrated embodiment, the second additional guide surface 14E is provided at an outer surface of the front side of the second guide 14. The outer surface of the second guide 14 at the lower portion of the second additional guide surface 14E is a plane parallel to the Y-direction and the Z-direction. Preferably, the second additional guiding surface 14E is smoothly connected with the second additional limiting surface 14F.

During the installation of the above-described surgical instrument cassette 20, in the first half of the installation, the second guide surface 14B is configured as a slope inclined with respect to the lateral direction, such that the second guide 14 allows the surgical instrument cassette 20 to move in the lateral direction with respect to the sterile adapter 10; the second additional guide surface 14E is configured as a ramp inclined relative to the longitudinal direction such that the second guide 14 allows the surgical cassette 20 to move in the longitudinal direction relative to the sterile adapter 10. In the latter half of the installation, the second limiting surface 14C is configured as a plane perpendicular to the lateral direction such that the second guide 14 limits movement of the surgical cassette 20 in the lateral direction relative to the sterile adapter 10; the second additional limiting surface 14F is configured as a plane perpendicular to the longitudinal direction such that the second guide 14 limits movement of the surgical instrument cassette 20 in the longitudinal direction relative to the sterile adapter 10; the second slot-limiting surface 23C is configured as a plane perpendicular to the lateral direction such that the second guide slot 23 limits movement of the surgical instrument cassette 20 in the lateral direction relative to the sterile adapter 10. Thus, in the first half of the installation, the user does not need to precisely position the second guide 14 into the second guide groove 23. Further, the second guide 14 automatically and precisely guides the second guide groove 23 in the latter half of the installation due to the smooth transition of the respective guide surface and the limiting surface.

Preferably, the first guide 34 and the first guide groove 13 are provided in a similar manner to the method of adapting the second guide 14 and the second guide groove 23.

Specifically, the first guide 34 is provided at the rear end of the instrument driver 30, i.e., the end of the instrument driver 30 for approaching or facing the sliding arm. The first guide 34 is centrally located with respect to the lateral midline of the instrument driver 30. The first guide 34 has a plate-like structure with a transverse dimension greater than a longitudinal dimension thereof. The lateral dimension of the first guide 34 is greater than 1/3 of the lateral dimension of the sterile adapter 10. Correspondingly, a first guide slot 13 is also provided at the rear end of the sterile adapter 10. The first guide slot 13 is centrally located with respect to the transverse midline of the sterile adapter 10. The first guide groove 13 is provided on the rear end face of the aseptic adapter 10, that is, on the rear end face of the second guide 14 (the outer face of the second guide 14 for facing the slide arm), as a recess formed on the rear end face of the aseptic adapter 10, which recess is completely open at the rear end and the bottom. To adapt the shape of the second guide 14, the first guide groove 13 has a larger dimension in the transverse direction than in the longitudinal direction.

Preferably, both lateral sides of the first guide 34 include a first guide surface 34B inclined with respect to the lateral direction at the upper side and a first restriction surface 34C extending vertically (perpendicular to the lateral direction) at the lower side, respectively. The two first limiting surfaces 34C are parallel to each other, both parallel to the X-direction and the Z-direction. The first guide surface 34B is connected to the first restricting surface 34C, and from the junction between the two first guide surfaces 34B, the two first guide surfaces 34B are inclined so as to be close to each other. Thus, the lateral dimension of the upper portion of the first guide 34 is smaller than the lateral dimension of the lower portion thereof. Preferably, the first guide surface 34B is smoothly connected to the first limiting surface 34C.

Preferably, the lower lateral side walls of the first guide groove 13 include two opposing and mutually parallel first groove restricting surfaces 13C. The distance between the two first groove limiting surfaces 13C is adapted to the distance between the two first limiting surfaces 34C. Thus, the distance between the two first groove limiting surfaces 13C is greater than the lateral dimension of the upper portion of the first guide 34. I.e. the lateral dimension of the first guide slot 13 is greater than the lateral dimension of the upper part of the first guide 34.

Preferably, the upper portions of the two longitudinal sides of the first guide 34 are also provided with inclined first additional guide surfaces 34E, and the lower portions of the two longitudinal sides of the first guide 34 are provided with first additional restriction surfaces 34F parallel to the Z-direction and the Y-direction, so that the longitudinal dimension of the upper portion of the first guide 34 is smaller than the longitudinal dimension of the lower portion. The first additional guide surface 34E may be provided at one or both of the longitudinal sides of the first guide 34. In the illustrated embodiment, the first additional guide surface 34E is provided on an outer surface of the front side of the first guide 34. The outer surface of the first guide 34 at the lower portion of the first additional guide surface 34E is a plane parallel to the Y-direction and the Z-direction. Preferably, the first additional guiding surface 34E is smoothly connected with the first additional limiting surface 34F.

Similarly, when installing sterile adapter 10, the user may generally first laterally align sterile adapter 10 with instrument driver 30 above instrument driver upper surface 30A, then send sterile adapter 10 back out until the front inner surface of first guide slot 13 contacts the front outer surface of first guide 34 (at which time the upper portion of first guide 34 has entered first guide slot 13), then move surgical instrument cassette 20 downward in a straight-forward manner, holding the front inner surface of first guide slot 13 in constant contact (against) the front outer surface of first guide 34 (the user may consciously apply a rearward force to sterile adapter 10) until lower surface 10B of sterile adapter 10 contacts upper surface 30A of instrument driver 30 (at which time second guide 14 fully enters second guide slot 23). This mounting process is also ergonomically compatible and thus can be accomplished easily and smoothly.

During the installation of the above-described sterile adapter 10, in the first half of the installation, the first guide surface 34B is configured as a bevel inclined with respect to the transverse direction, such that the first guide 34 allows the sterile adapter 10 to move in the transverse direction with respect to the instrument driver 30; the first additional guide surface 34E is configured as a ramp inclined relative to the longitudinal direction such that the first guide 34 allows the sterile adapter 10 to move in the longitudinal direction relative to the instrument driver 30. In the latter half of the installation, the first limiting surface 34C is configured as a plane perpendicular to the lateral direction such that the first guide 34 limits movement of the sterile adapter 10 in the lateral direction relative to the instrument driver 30; the first additional limiting surface 34F is configured as a plane perpendicular to the longitudinal direction such that the first guide 34 limits movement of the sterile adapter 10 in the longitudinal direction relative to the instrument driver 30; the first slot limiting surface 13C is configured as a plane perpendicular to the lateral direction such that the first guide slot 13 limits movement of the sterile adapter 10 in the lateral direction relative to the instrument driver 30. Thus, in the first half of the installation, the user does not need to precisely position the first guide 34 into the first guide groove 13. Further, the first guide 34 automatically and precisely guides the first guide groove 13 in the latter half of the installation due to the smooth transition of the respective guide surface and the limiting surface.

It will be appreciated that for the installation process described above to be simple and easy, the clearance fit of the first guide 34 with the first guide slot 13 and the clearance fit of the second guide 14 with the second guide slot 23 are provided with suitable redundancy. While it has been described in the background, the driven disk 29 in the surgical instrument cassette 20 needs to be highly coaxial with the drive disk 39 in the instrument driver 30 to ensure accuracy in the operation of the surgical instrument. Therefore, the fitting accuracy between the guide and the guide groove is insufficient to achieve the mounting accuracy required for the driven plate 29 and the driving plate 39.

To ensure the mounting accuracy between the driven disk 29 and the drive disk 39, in a preferred embodiment, the assembly structure of the instrument driver 30, the sterile adapter 10 and the surgical instrument cassette 20 according to the present invention further comprises a first positioning pin 11, a second positioning pin 12, a first positioning hole 31 and a second positioning hole 22.

A first locating pin 11 and a second locating pin 12 are provided on the sterile adapter 10. Wherein a first locating pin 11 projects downwardly from the lower surface 10B of the sterile adapter and a second locating pin 12 projects upwardly from the upper surface 10A of the sterile adapter 10. The first positioning hole 31 opens at the upper surface 30A of the instrument driver 30 and extends downward for receiving the first positioning pin 11. A second locating hole 22 opens into the lower surface 20B of the surgical cassette 20 and extends upwardly for receiving the second locating pin 12.

The circumferential outer surface of the protruding end portion of the first positioning pin 11 is provided with a first pin guide slope 11A such that the first positioning pin 11 is configured in the form of a cylindrical connecting truncated cone (or a prismatic connecting truncated pyramid), in which the radial dimension of the protruding end portion is smaller than that of the cylindrical portion. The cylindrical portion of the first positioning pin 11 is also referred to as a first pin positioning portion 11C, and the truncated cone portion of the first positioning pin 11 is also referred to as a first pin guiding portion 11B. Similarly, the outer surface of the protruding end portion of the second positioning pin 12 is provided with a positioning second pin guide slope 12A such that the second positioning pin 12 is configured in the form of a cylindrical connecting truncated cone (or a prismatic connecting truncated pyramid), in which the radial dimension of the protruding end portion is smaller than the radial dimension of the cylindrical portion. The cylindrical portion of the second positioning pin 12 is also referred to as a second pin positioning portion 12C, and the truncated cone portion of the second positioning pin 12 is also referred to as a second pin guiding portion 12B.

The first positioning hole 31 includes an opening portion and an extension portion. The first positioning hole 31 is provided with a first hole guiding slope 31A on the inner surface of the opening portion, and the extension portion is a side surface of a cylinder (or a prism), so that the size of the first positioning hole 31 at the opening portion is larger than the size of the first positioning hole at the extension portion. The opening of the first positioning hole 31 is also referred to as a first hole opening 31B, and the extension of the first positioning hole 31 is also referred to as a first hole extension 31C. The radial dimension of the first hole extension 31C matches the radial dimension of the first pin positioning portion 11C. Therefore, the radial dimension of the first hole opening portion 31B is larger than the radial dimension of the first pin guide portion 11B. Similarly, the second positioning hole 22 includes an opening portion and an extension portion. The second positioning hole 22 is provided with a second hole guiding slope 22A on the inner surface of the opening portion, and the extension portion is a side surface of a cylinder (or a prism), so that the size of the second positioning hole 22 at the opening portion is larger than the size of the second positioning hole at the extension portion. The opening portion of the second positioning hole 22 is also referred to as a second hole opening portion 22B, and the extension portion of the second positioning hole 22 is also referred to as a second hole extension portion 22C. The radial dimension of the second bore extension 22C matches the radial dimension of the second pin locator 12C. Therefore, the radial dimension of the second hole opening portion 22B is larger than the radial dimension of the second pin guide portion 12B.

In a preferred embodiment, the dimension of the first positioning pin 11 in the Z direction matches the dimension of the first limiting surface 34C of the first guide 34 in the Z direction and the dimension of the first additional limiting surface 34F in the Z direction. The dimension of the first limiting surface 34C in the Z direction may be equal to the dimension of the first additional limiting surface 34F in the Z direction. When the sterile adapter 10 is mounted, the sterile adapter 10 is moved downwards against the first guide 34, and after the first limiting surface 34C and the first additional limiting surface 34F have entered the first guide slot 13, the longitudinal axis of the sterile adapter 10 is substantially parallel to the longitudinal axis of the instrument driver 30 and the transverse axis of the sterile adapter 10 is also substantially parallel to the transverse axis of the instrument driver 30 under the guiding action of the first limiting surface 34C and the first additional limiting surface 34F. At this time, the first positioning pin 11 is substantially aligned with the first positioning hole 31. The tip of the first positioning pin 11 can easily enter the first positioning hole 31 by the first pin guide slope 11A and the first hole guide slope 31A. As the sterile adapter 10 continues to move down, the first pin detent 11C enters the first bore extension 31C, thereby achieving a more accurate positioning of the sterile adapter 10 and the instrument driver 30.

It will be appreciated that the accuracy of the engagement of the first positioning hole 31 with the first positioning pin 11 is higher than the accuracy of the engagement of the first guide groove 13 with the first guide 34. The core purpose of the design of the first guide groove 13 and the first guide 34 is to enable the user to enable the tip of the first positioning pin 11 (i.e., the guide portion of the first positioning pin 11) to enter the opening portion of the first positioning hole 31 in a simple and smooth installation process. Once the first alignment pin 11 enters the first alignment hole 31, the subsequent installation process is completely controlled by the first alignment pin 11 and the first alignment hole 31.

The process of mounting the sterile adapter 10 to the instrument driver 30 can be summarized as including the following four processes:

1. coarse guiding process: a mounting stage of the upper portion of the first guide 34 being sleeved in the first guide groove 13;

2. fine guiding process: the first restriction surface 34C and the first additional restriction surface 34F enter the first guide groove 13, while the first pin guide 11B has not entered the installation stage of the first hole opening 31B;

3. coarse positioning: the first pin guide 11B enters the first hole opening portion 31B, while the first pin positioning portion 11C has not entered the installation stage of the first hole extension portion 31C;

4. fine positioning process: the first pin positioning portion 11C enters the installation stage after the first hole extension portion 31C.

It will be appreciated that during rough guiding, the first locating pin 11 is not yet adapted to enter the first locating hole 31, and therefore, the height of the first locating pin 11 is not greater than the distance between the lower end of the first guide surface 34B (the upper end of the first limiting surface 34C) and the instrument driver upper surface 30A, and the height of the first locating pin is not greater than the distance between the lower end of the first additional guide surface 34E (the upper end of the first additional limiting surface 34F) and the instrument driver upper surface 30A.

Similarly, in the preferred embodiment, the dimension of the second locating pin 12 in the Z direction matches the dimension of the second limiting surface 14C of the second guide 14 in the Z direction and the dimension of the second additional limiting surface 14F in the Z direction. The dimension of the second limiting surface 14C in the Z direction may be equal to the dimension of the second additional limiting surface 14F in the Z direction. When the surgical instrument cassette 20 is mounted, the surgical instrument cassette 20 is moved downwards against the second guide 14, and after the second limiting surface 14C and the second additional limiting surface 14F enter the second guide groove 23, the longitudinal axis of the surgical instrument cassette 20 is substantially parallel to the longitudinal axis of the sterile adapter 10 and the transverse axis of the surgical instrument cassette 20 is also substantially parallel to the transverse axis of the sterile adapter 10 under the guiding action of the second limiting surface 14C and the second additional limiting surface 14F. At this time, the second positioning pin 12 is substantially aligned with the second positioning hole 22. The tip of the second positioning pin 12 can easily enter the second positioning hole 22 by the second pin guide slope 12A and the second hole guide slope 22A. As the surgical cassette 20 continues to move downward, the second pin locator 12C enters the second bore extension 22C, thereby achieving a more accurate positioning of the surgical cassette 20 with the sterile adapter 10.

It will be appreciated that the accuracy of the engagement of the second positioning hole 22 with the second positioning pin 12 is higher than the accuracy of the engagement of the second guide groove 23 with the second guide 14. The core purpose of the design of the second guide groove 23 and the second guide 14 is to enable the user to enable the tip of the second positioning pin 12 (i.e., the guide portion of the second positioning pin 12) to enter the opening portion of the second positioning hole 22 in a simple and smooth installation process. Once the second locating pin 12 enters the second locating hole 22, the subsequent installation process is controlled entirely by the second locating pin 12 and the second locating hole 22.

The process of mounting surgical instrument cassette 20 to sterile adapter 10 may be summarized as including the following four processes:

1. coarse guiding process: a mounting stage of the upper portion of the second guide 14 being sleeved in the second guide groove 23;

2. fine guiding process: the second limiting surface 14C and the second additional limiting surface 14F enter the second guide groove 23, while the second pin guide 12B has not yet entered the installation stage of the second hole opening 22B;

3. coarse positioning: the second pin guide 12B enters the second hole opening 22B, while the second pin positioning portion 12C has not entered the installation stage of the second hole extension 22C;

4. fine positioning process: the second pin positioning portion 12C enters the installation stage after the first hole extending portion 31C.

It will be appreciated that during rough guiding, the second locating pin 12 is not yet adapted to enter the second locating hole 22, and therefore, the height of the second locating pin 12 is not greater than the distance between the lower end of the second guiding surface 14B (the upper end of the second limiting surface 14C) and the upper surface 10A of the sterile adapter, and the height of the second locating pin is not greater than the distance between the lower end of the second additional guiding surface 14E (the upper end of the second additional limiting surface 14F) and the upper surface 10A of the sterile adapter.

According to the sterile adapter, the surgical instrument box and the instrument driver for the surgical robot, the rough guiding process of assembly can be easily implemented by a user, and the fine guiding, rough positioning and fine positioning processes are implemented by the assembly structure mainly through the dimensional precision and the relative position relation of related components, so that the installation operation can be finished at one time, the installation process is simple and convenient, and the installation precision is high. The guide and the guide groove may be collectively referred to as a guide member, and the positioning pin and the positioning hole may be collectively referred to as a positioning member, depending on the respective functions.

In order to further ensure the coaxial accuracy of the driven disk 29 and the drive disk 39, installation errors of the components are also avoided as much as possible in the preferred embodiment of the invention.

Specifically, the first positioning pin 11 and the second positioning pin 12 are formed on one piece, and an installation error caused by individually installing the first positioning pin 11 or the second positioning pin 12 can be avoided. Preferably, the first positioning pin 11 is coaxial with the second positioning pin 12. When a specific machining process is employed, the positional accuracy of the coaxial members with respect to each other may be higher than the positional accuracy of the different coaxial members. More preferably, the first positioning pin 11 and the second positioning pin 12 are formed of the same pin shaft, so that the positional accuracy error of the first positioning pin 11 and the second positioning pin 12 can be eliminated to the greatest extent.

The instrument driver 30 includes a first mount 35 for mounting a drive disk 39. In a preferred embodiment, the first positioning hole 31 is provided at the first mount 35. That is, the first positioning hole 31 is provided on the part on which the driving disk 39 is mounted, so as to reduce assembly errors between the parts.

The surgical instrument cassette 20 includes a second mount 25 for mounting a driven plate 29. In the preferred embodiment, the second locating hole 22 is only in the second mounting member 25. That is, the second positioning hole 22 is provided on the part on which the driven plate 29 is mounted, so as to reduce assembly errors between the parts.

Preferably, the locating pin and the locating hole are respectively located at a transverse midline of the respective device and are spaced apart by a certain distance. Specifically, the aseptic adapter 10 includes two first positioning pins 11 and two second positioning pins 12. Two first locating pins 11 and two second locating pins 12 are each located at the lateral midline of the sterile adapter 10. The two first positioning pins 11 are spaced apart from each other by a distance, one near the front end and one near the rear end. The two second positioning pins 12 are spaced apart from each other by a distance, one near the front end and one near the rear end. The instrument driver 30 comprises two first positioning holes 31, which first positioning holes 31 are located in the lateral centre line of the instrument driver 30 at a distance from each other, one near the front end and one near the rear end. The surgical instrument cassette 20 includes two second positioning holes 22, and the two second positioning holes 22 are located in a lateral center line of the surgical instrument cassette 20 and spaced apart by a certain distance, one near the front end and one near the rear end.

It will be appreciated that the first and second locating pins 11, 12 may be disposed at intermediate or peripheral locations on the upper surface 10A of the sterile adapter.

According to the sterile adapter, the surgical instrument box and the instrument driver, the structure for assembling can guide the assembling process by itself, so that a user can easily complete the assembling when the user is inconvenient to see the position of the assembly, and the user experience is greatly improved.

The present invention also contemplates a surgical robot comprising the above-described sterile adapter and surgical instrument cassette, or comprising the above-described sterile adapter and instrument driver, or comprising the above-described sterile adapter, surgical instrument cassette, and instrument driver. According to the surgical robot disclosed by the invention, the assembly structure of each part can automatically guide the assembly process, so that the assembly efficiency of the surgical robot is greatly improved.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the invention. Terms such as "disposed" or the like as used herein may refer to either one element being directly attached to another element or one element being attached to another element through an intermediate member. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. Those skilled in the art will appreciate that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed.

Claims

1. A sterile adapter for a surgical robot, the surgical robot including an instrument driver and a surgical instrument cassette, the instrument driver being connected to a slide arm of the surgical robot, comprising:

2. The sterile adapter of claim 1, wherein the second guide further comprises:

3. The sterile adapter according to claim 2, wherein,

the second guiding surface is smoothly connected with the second limiting surface and/or

4. The sterile adapter according to claim 2, wherein the second guide is provided at an end of the sterile adapter for facing the sliding arm, and the first guide groove is provided at an outer surface of the second guide for facing the sliding arm, wherein a direction toward or away from the sliding arm is the longitudinal direction.

5. The sterile adapter according to claim 4, wherein the second additional guide surface and the second additional limiting surface are provided on a longitudinal side of the second guide on a side remote from the slide arm.

6. The sterile adapter of claim 1, further comprising:

7. The sterile adapter of claim 6, wherein the first dowel is paired with the second dowel, the paired first dowel and second dowel being coaxial.

8. The sterile adapter of claim 7 wherein the first and second locating pins of the pair are formed from the same pin shaft.

9. The sterile adapter according to any one of claims 6-8, wherein,

the outer surface of the end head of the first positioning pin is provided with a guiding inclined surface and/or

10. The sterile adapter of claim 6 wherein the height of the second locating pin is no greater than the distance between the lower end of the second guide surface and the upper surface of the sterile adapter and the height of the second locating pin is no greater than the distance between the lower end of the second additional guide surface and the upper surface of the sterile adapter.

11. The sterile adapter of claim 6, wherein the second locating pin is disposed at a mid-position or a peripheral position of an upper surface of the sterile adapter.

12. The sterile adapter of claim 1, wherein the first guide slot includes a first slot-limiting surface disposed on a lateral side wall of the first guide slot, the first slot-limiting surface configured to be perpendicular to a plane of the lateral direction such that the first guide slot limits movement of the sterile adapter relative to the instrument driver in the lateral direction.

13. A surgical cassette for a surgical robot comprising a sterile adapter and a sliding arm, characterized by comprising a second guide slot, the opening of which is provided in the lower surface of the surgical cassette for guiding the mounting of the surgical cassette to the sterile adapter.

14. A surgical instrument cassette as defined in claim 13, wherein the second guide slot includes a second slot limiting surface disposed on a lateral side wall of the second guide slot, the second slot limiting surface configured to be perpendicular to a plane of the lateral direction such that the second guide slot limits movement of the surgical instrument cassette in the lateral direction relative to the sterile adapter.

15. A surgical instrument cassette according to claim 13, wherein the second guide slot is provided at an outer surface of the surgical instrument cassette facing the sliding arm, wherein the lateral direction is perpendicular to a direction facing or away from the sliding arm.

16. A surgical instrument cassette as recited in claim 13, further comprising:

17. A surgical instrument cassette as recited in claim 16, wherein an inner surface at the opening of the second locating hole has a lead-in chamfer.

18. An instrument driver for a surgical robot, the surgical robot including a sterile adapter and a sliding arm, comprising a first guide disposed on and protruding from an upper surface of the instrument driver for guiding the mounting of the sterile adapter to the instrument driver, the first guide comprising:

19. The instrument driver of claim 18 wherein the first guide further comprises:

20. The instrument driver of claim 19 wherein the instrument driver,

the first guiding surface is smoothly connected with the first limiting surface, and/or

21. The instrument driver of claim 19 wherein the first guide is disposed at an end of the instrument driver for facing the sliding arm, wherein the direction toward or away from the sliding arm is the longitudinal direction.

22. The instrument driver of claim 21 wherein the first additional guide surface and the first additional limiting surface are disposed on longitudinal sides of a side of the first guide away from the sliding arm.

23. The instrument driver of claim 18, further comprising:

A first mounting for mounting a drive disk; and

24. The instrument driver of claim 23 wherein the inner surface at the opening of the first positioning hole has a guide ramp.

25. A surgical robot, comprising:

a sterile adapter for a surgical robot according to any one of claims 1-12 and a surgical instrument cassette for a surgical robot according to any one of claims 13-17; or alternatively

A sterile adapter for a surgical robot according to any one of claims 1-12 and an instrument driver for a surgical robot according to any one of claims 18-24.