CN116965861A - Surgical instrument and method for joining same with sterile adapter - Google Patents
Surgical instrument and method for joining same with sterile adapter Download PDFInfo
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- CN116965861A CN116965861A CN202310391847.6A CN202310391847A CN116965861A CN 116965861 A CN116965861 A CN 116965861A CN 202310391847 A CN202310391847 A CN 202310391847A CN 116965861 A CN116965861 A CN 116965861A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 230000000903 blocking effect Effects 0.000 claims description 47
- 239000012636 effector Substances 0.000 description 8
- 238000001356 surgical procedure Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 230000000670 limiting effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036512 infertility Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
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- Surgical Instruments (AREA)
Abstract
The application belongs to the technical field of medical appliances, and provides a surgical appliance and a method for jointing the surgical appliance and a sterile adapter, wherein the surgical appliance is connected with the sterile adapter and comprises the following components: an instrument seat; the device driver is arranged on the device seat and can be actuated and rotated by a transmission piece of the sterile adapter; an instrument shaft, the instrument driver being rotationally coupled with the instrument shaft, the instrument shaft being actuatable for rotation; the stop part is fixedly arranged relative to the instrument shaft and can synchronously rotate along with the instrument shaft; a stop assembly that stops the first rotational direction of the stop portion and the instrument shaft, and stops the second rotational direction of the instrument driver when the instrument shaft is rotated by the stop; wherein the first rotational direction and the second rotational direction are configured as coupling directions of the instrument driver and the instrument shaft. The surgical instrument and the method for connecting the surgical instrument and the sterile adapter can ensure that the transmission piece of the sterile adapter is connected with the instrument transmission device.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a surgical instrument and a method for jointing the surgical instrument with a sterile adapter.
Background
The surgical robot is high-end medical equipment which gradually appears and develops along with the development of minimally invasive surgery, and is mainly used for eliminating the adverse effect of large-area wounds caused by the surgery on patients by a minimally invasive means, so that the purposes of reducing pain of the patients, accelerating the postoperative recovery speed and the like are achieved, and meanwhile, the uncontrollable surgical risk caused by hand tremors and the like of doctors in the conventional surgery can be reduced.
The surgeon controls the surgical instruments on the surgical side driver on the console side, and in order to meet the use requirements of different surgical instruments in surgery, the surgical instruments and the driving mechanism are usually designed to be detachable for changing different surgical instrument requirements in surgery, and meanwhile, the surgical instruments can be independently disinfected and sterilized. The drive mechanism is typically designed to be non-sterilizable, and to ensure sterility of the surgical procedure, a sterile adapter needs to be added between the drive mechanism and the surgical instrument during surgery to isolate the non-sterilizable drive mechanism end from the sterilizable surgical instrument end during surgery.
Currently, in order to engage a surgical instrument with a sterile adapter, the drive member of the sterile adapter is rotated to align the engagement features of the sterile adapter and the engagement features of the surgical instrument, but because friction is created when the engagement features of the sterile adapter come into contact with the drive plate portion of the instrument, the drive plate of the surgical instrument may rotate infinitely as the sterile adapter rotates, and thus it is not possible to determine whether the surgical instrument is fully engaged with the sterile adapter.
Disclosure of Invention
Based on this, it is necessary to provide a surgical instrument and a method for joining the surgical instrument and the sterile adapter, so as to solve the technical problem that whether the surgical instrument and the sterile adapter are completely joined cannot be determined in the prior art.
According to one aspect of the present application there is provided a surgical instrument for connection with a sterile adapter, the surgical instrument comprising:
an instrument seat is arranged on the upper surface of the instrument seat,
an instrument driver disposed at the instrument seat, the instrument driver being actuatable and rotatable by a driver of the sterile adapter;
an instrument shaft, the instrument driver being rotationally coupled with the instrument shaft, the instrument shaft being actuatable for rotation;
the stop part is fixedly arranged relative to the instrument shaft and can synchronously rotate along with the instrument shaft;
a stop assembly, the stop assembly being operable to stop a first rotational direction of the stop and the instrument shaft, a second rotational direction of the instrument driver being stopped when the instrument shaft is stopped from rotating;
wherein the first rotational direction and the second rotational direction are configured as coupling directions of the instrument shaft and the instrument driver.
Further, after the stop portion and the instrument shaft are stopped by the stop assembly, the instrument shaft can rotate in a third rotation direction, the third rotation direction is opposite to the first rotation direction, and the rotatable angle range of the instrument shaft is not less than 360 degrees.
Further, the stop assembly includes:
a first stop rotatable, the rotational axis of the first stop coinciding with the rotational axis of the instrument shaft, a portion of the rotational path of the first stop coinciding with the rotational path of the stop;
a second blocking piece which is arranged on the instrument seat,
wherein the second stop may stop a first rotational direction of the first stop, and the first stop may stop a first rotational direction of the instrument shaft.
Further, the stop assembly has a first state and a second state, the instrument shaft being infinitely rotatable under the influence of an external force when the stop assembly is in the first state, the stop assembly being capable of providing a limited range of rotation of the instrument shaft when the stop assembly is in the second state, the first state and the second state being mutually translatable.
Further, the second stop is movable relative to the instrument holder, the second stop being located outside of the rotational path of the first stop when the stop assembly is in the first state; when the stop assembly is in the second state, at least part of the second stop is positioned in the rotating path of the first stop, and the second stop can stop the first stop.
Further, the stop is configured as a protrusion, at least a portion of which may abut at least a portion of the first stop.
Further, when the protrusion abuts against the first blocking piece, the first blocking piece moves synchronously along with the protrusion, and when the first blocking piece is separated from the protrusion, the first blocking piece does not move synchronously along with the protrusion.
Further, the second blocking piece is movably arranged on the instrument seat.
Further, a guide part is arranged at the end part of the second baffle close to the first baffle.
Further, the guide part of the second blocking piece is provided with two guide inclined planes.
Further, an elastic component is arranged on the second baffle, and when the second baffle is in a second state, the bottom of the second baffle can be tightly abutted against the sterile adapter by the elastic component.
Further, guide parts are arranged at two ends of the first blocking piece.
Further, the guide portion of the first blocking member is two guide inclined surfaces.
According to another aspect of the present application, there is also provided a method of engaging a surgical instrument with a sterile adapter, comprising the steps of:
abutting an instrument seat of the surgical instrument with the upper surface of the sterile adapter,
the sterile adapter drives an instrument driver of the surgical instrument to rotate through rotary friction, the instrument driver drives an instrument shaft of the surgical instrument to rotate,
when the stop on the instrument shaft is stopped by the stop assembly, the instrument driver is restricted from rotating, thereby engaging the surgical instrument with the sterile adapter.
Further, after the instrument shaft rotates to the limit position, the stop part can rotate along with the instrument shaft to be abutted with the stop component, and the surgical instrument reaches the zero position.
Further, when the surgical instrument reaches a zero position, the instrument shaft may be rotated clockwise to be stopped by the stop assembly, and the instrument shaft may also be rotated counterclockwise to be stopped by the stop assembly.
The surgical instrument of the present application limits rotation of the instrument shaft by providing a stop assembly such that the instrument transmission is limited in rotation such that the sterile adapter engages the surgical instrument.
Drawings
FIG. 1 is a schematic view of a surgical instrument, sterile adapter, instrument driver combination provided in an embodiment of the present application;
FIG. 2 is an exploded schematic view of a surgical instrument, sterile adapter, instrument driver provided in an embodiment of the present application;
FIG. 3 is a schematic view of a surgical instrument according to an embodiment of the present application;
FIG. 4 is a schematic view of another view of a surgical instrument according to an embodiment of the present application;
FIG. 5 is a cross-sectional view of a surgical instrument with a stop assembly according to an embodiment of the present application in a first state;
FIG. 6 is a cross-sectional view of a surgical instrument with a stop assembly according to an embodiment of the present application in a second state;
fig. 7A-7F are schematic views illustrating different positions of the stop assembly and the stop portion.
Reference numerals illustrate:
a surgical instrument 100; sterile adapter 200; an instrument driver 300;
an instrument holder 101; an instrument shaft 103;
a protrusion 104; a first stopper 105; a second stopper 106;
an instrument drive gear 102a; an instrument drive plate 102b; recess 102b-1;
an adapter body 201; an adapter drive plate 202; a convex portion 202a;
a first stopper guide 105a; a second stopper guide 106a;
an elastic member 106b; and a mounting boss 106c.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the application 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 application.
In the following description, a detailed description will be given for the purpose of thoroughly understanding the present application. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. It will be apparent that embodiments of the application may be practiced without limitation to the specific details that are familiar to those skilled in the art. Preferred embodiments of the present application are described in detail below, however, the present application may have other embodiments in addition to these detailed descriptions.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component".
It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used herein for illustrative purposes only and are not limiting.
An exemplary embodiment according to the present application will now be described in more detail with reference to fig. 1 to 7.
Referring to fig. 1 and 2, a patient side portion of a surgical system according to an embodiment of the present application includes support assemblies and surgical instrument 100 and instrument driver 300 at each support assembly end, with a sterile adapter 200 typically being placed between surgical instrument 100 and instrument driver 300 in order to provide a sterile field of operation when the surgical system is in use. Wherein the sterile adapter 200 is connected to the instrument driver 300 and the surgical instrument 100 is connected to the sterile adapter 200. The instrument driver 300 provides driving force to the surgical instrument 100 through the sterile adapter 200, thereby causing an end effector (not shown) of the surgical instrument 100 to perform pitch, yaw, and grip actions.
With the housing removed for illustration, referring to fig. 3 and 4, a surgical instrument 100 includes an instrument holder 101, an instrument driver mounted on the instrument holder 101, an instrument shaft 103 extending through the instrument holder 101, and an end effector (not shown) connected to the instrument driver 101 at one end of the instrument shaft 103 and connected to the end effector (not shown) at the other end. The end effector (not shown) may be forceps, scissors, clamps, or the like.
In an embodiment of the present application, the end effector (not shown) may be an ultrasonic blade that is coupled to the instrument shaft 103 via a transducer that is threadably coupled to the instrument shaft 103, such that the instrument shaft 103 needs to be rotated unrestricted prior to the mounting of the sterile adapter 200 to the surgical instrument 100 in order to mount the transducer to the surgical instrument 100.
In some embodiments, surgical instrument 100 further includes a stop assembly that is capable of providing a limited range of rotation of instrument shaft 103 after surgical instrument 100 is coupled with sterile adapter 200 via rotational friction, and when instrument shaft 103 is rotated to a limit position, i.e., instrument shaft 103 is stopped by the stop assembly, the instrument driver is simultaneously limited in rotation and sterile adapter 200 is rotated into engagement with the instrument driver.
Specifically, the stop assembly has a first state and a second state, the first state being a state in which the stop assembly is in when the surgical instrument 100 is not mounted with the sterile adapter 200; the second state is the state in which the stop assembly is in after the surgical instrument 100 is installed with the sterile adapter 200. The instrument shaft 103 is capable of infinitely rotating under the influence of an external force when the stop assembly is in the first state and the stop assembly is capable of providing a limited range of rotation of the instrument shaft 103 when the stop assembly is in the second state.
The following is a detailed description in conjunction with fig. 5 and 6:
the instrument driver 300 drives an instrument driver of the surgical instrument through the sterile adapter 200, the instrument driver includes a transmission gear 102a and a transmission disc 102b, the transmission gear 102a and the transmission disc 102b coaxially rotate, the transmission gear 102a of the instrument driver is meshed with the transmission gear 103a of the instrument shaft, and the transmission gear 102 of the instrument driver drives the transmission gear 103a of the instrument shaft to rotate.
It should be noted that the number of the transmission gears 102a and the transmission discs 102b of the instrument driver may be determined according to the degree of freedom of the end effector 104 of the surgical instrument to be driven, and the number may be selected according to the need, that is, the number of the transmission gears 102a and the transmission discs 102b of the instrument may be one or more, and for convenience of description, only one transmission gear and one transmission disc of the instrument are illustrated in the embodiment of the present application.
The drive plate 102b of the instrument driver is provided with a recess 102b-1.
In some embodiments, the recess 102b-1 on the drive plate 102b of the instrument driver may be provided with one or more than two recesses 102b-1 in an eccentric configuration on the drive plate 102b of the instrument driver.
The sterile adapter 200 comprises an adapter body 201 and an adapter drive disk 202, the adapter drive disk 202 being independently rotatable relative to the adapter body 201, the number of adapter drive disks 202 being the same as the number of drive disks 102b of the instrument driver, the adapter drive disk 202 being provided with protrusions 202a cooperating with the drive disks 102b of the instrument driver.
In some embodiments, the boss 202a on the adapter drive disk 202 may be provided with one or more than two bosses 202a in an eccentric configuration on the adapter drive disk.
It should be noted that the transmission plate 102b of the instrument driver may also be provided with a convex portion 202a, and correspondingly, the adapter transmission plate 202 is provided with a concave portion 102b-1 that mates with the transmission plate of the instrument driver.
When attempting to connect the surgical instrument 100 with the sterile adapter 200, if the male portion 202a of the adapter drive disk 202 is not initially aligned with the female portion 102b-1 of the instrument drive disk 102b, the male portion 202a of the adapter drive disk 202 contacts the disk portion of the instrument drive disk 102 b. To engage surgical instrument 100 with sterile adapter 200, sterile adapter 200 is rotated to align male portion 202a of adapter drive disk 202 with female portion 102b-1 of instrument drive disk 102 b. However, since friction is generated when the boss 202a of the adapter drive disk 202 contacts the disk portion of the instrument drive disk 102b, the instrument drive disk 102b may rotate as the adapter drive disk rotates. Thus, it is necessary to ensure that the recess 102b-1 of the instrument drive plate 102b engages the protrusion 202a of the adapter drive plate 202, thereby enabling the instrument driver 300 to more precisely control the instrument driver 101.
In the embodiment of the application, in order to realize the engagement of the instrument transmission disc 102b and the adapter transmission disc 202, a stop part and a stop component are arranged, wherein the stop part is fixedly arranged relative to the instrument shaft 103, and the stop part can synchronously rotate along with the instrument shaft 103; the stop assembly may stop the stop and the first rotational direction of the instrument shaft 103, and stop the second rotational direction of the instrument driver when the instrument shaft 103 is stopped from rotating; wherein the first rotational direction and the second rotational direction are configured as coupling directions of the instrument shaft 103 and the instrument driver.
Specifically, the stopper is configured as a boss 104 fixedly provided under the transmission gear 103a of the instrument shaft, the boss 104 rotates in synchronization with the instrument shaft 103, when the boss 104 is stopped by the stopper assembly, the transmission gear 103a of the instrument shaft stops rotating, and the instrument transmission plate 102b is restricted from rotating, so that the instrument transmission plate 102b is engaged with the adapter transmission plate 202.
The first rotation direction and the second rotation direction may be clockwise or counterclockwise, and the first rotation direction and the second rotation direction may be the same or opposite, and are not limited to specific rotation directions, but only the coupling relation between the instrument driver and the instrument shaft 103 is described.
In the actual operation process, not only the problem of stable installation is considered, but also whether an end effector (not shown) of the surgical instrument is in a zero position in an initial state before working is considered, and if the end effector (not shown) starts working in a non-zero state, the safety in the operation process is not guaranteed. The stop assembly of the present application not only engages the surgical instrument 100 with the sterile adapter 200, but also enables the instrument shaft 103 to rotate clockwise as well as counterclockwise after the surgical instrument 100 reaches the zero position.
Specifically, the stop assembly includes a first stop 105 and a second stop 106:
the first blocking piece 105 is rotatably arranged below the transmission gear 103a of the instrument shaft, when the protrusion 104 rotates to be abutted against the first blocking piece 105, the first blocking piece 105 moves synchronously with the protrusion 104, and when the protrusion 104 is separated from the first blocking piece 105, the first blocking piece 105 is static at a separated position and does not move synchronously with the protrusion 104.
The second blocking piece 106 is arranged on the instrument seat 101 in a vertically movable way, when the second blocking piece 106 is in the first state, as shown in fig. 6, the second blocking piece 106 is positioned outside the rotating path of the first blocking piece, and the first blocking piece 105 can synchronously and infinitely rotate along with the protrusion 104; the second blocking member 106 is in a second state, as shown in fig. 7, at least part of the second blocking member 106 is located in the rotation path of the first blocking member 105, so that when the first blocking member 105 rotates to the second blocking member 106 along with the protrusion 104, the second blocking member 106 stops and limits the first blocking member 105.
In the embodiment of the present application, the end portion of the second stopper 106 near the first stopper 105 is provided with a guide portion 106a.
Since the first stopper 105 may be located at any position along the rotation path, the end portion of the second stopper 106 near the first stopper 105 may contact the bottom of the first stopper 105 during the process of installing the aseptic adapter 200, which may result in the blockage of the installation.
In some embodiments, the guide 106a is two symmetrical guide ramps and the intersection of the two symmetrical guide ramps extends through the central axis of the instrument shaft. The guiding inclined plane can lead
When the first stopper 105 contacts the second stopper 106, a component force in the horizontal direction is generated, so that the first stopper 105 is compressively displaced from the second stopper 106.
The contact surface between the second blocking piece 106 and the stop limit of the first blocking piece 105 is a plane.
The second blocking member 106 is provided with an elastic component, and when the surgical instrument 100 is connected with the sterile adapter 200, the elastic component can enable the end portion of the second blocking member 106, which is close to the instrument seat 101, to be closely abutted against the upper surface of the sterile adapter 200, so that the stability of the surgical instrument is improved.
In some embodiments, the elastic assembly includes a snap ring 106b, an elastic member 106c, a mounting boss 106d, where the snap ring 106b is disposed in an annular groove of the second stop 106, the mounting boss 106c is disposed at an end of the second stop 106 near the instrument seat 101, and the elastic member 106c is disposed between the snap ring 106b and the mounting boss 106c.
The clasp 106b according to the embodiment of the present application is used to limit the displacement of the elastic member 106c, and the clasp 106c is used to engage with the instrument holder 101 to prevent the second stopper 106 from falling off when the surgical instrument 100 is not mounted on the sterile adapter 200. That is, when the second blocking member 106 is in the first state, the bottom of the second blocking member 106 extends out of the instrument seat 101, and the clip ring 106b is engaged with the instrument seat 101. When second stopper 106 is in the second state, elastic member 106c presses against mounting boss 106d to enable second stopper 106 to be tightly engaged with the surface of aseptic adapter 200.
The two ends of the first blocking piece 105 in the embodiment of the present application are provided with the guiding portions 105a, and the beneficial effects of the guiding portions are the same as those of the guiding portions of the second blocking piece, which are not described herein.
In some embodiments, the guide portion 105a of the first stop portion is two symmetrical guide ramps, and the intersection extension of the two symmetrical guide ramps passes through the central axis of the instrument shaft 103.
The contact surface of the first stopper 105 abutting against the projection 104 is a plane.
The following describes, in connection with fig. 7A-7F, how the stop mechanism of an embodiment of the present application, after engagement of the surgical instrument with the sterile adapter is achieved, determines the zero position of the surgical instrument:
it should be noted that, after the surgical instrument is connected to the sterile adapter, the protrusion and the first blocking member may be at any position, but the movement principle is the same, so the embodiment of the present application assumes that the protrusion 104, the first blocking member 105, and the second blocking member 106 are at initial positions as shown in fig. 7A, when the protrusion on the driving disc 103B of the instrument shaft rotates to the first blocking member 105, as shown in fig. 7B, the protrusion 104 pushes the first blocking member 105 to move synchronously until the first blocking member 105 abuts against the second blocking member 106, as shown in fig. 7C, the second blocking member 106 stops the first blocking member 105, the instrument shaft 103 reaches a limit position, and the instrument driver is limited to rotate, at this time, the driving disc 102B of the instrument driver and the adapter driving disc 202 are engaged.
After the surgical instrument 100 is engaged with the sterile adapter 200, as shown in FIG. 7D, the instrument shaft 103 is pivoted to the other side of the first stop 105, i.e., at an angle of 360-X, under the control of the instrument driver 300 1 -X 2 ,X 1 X is the radian corresponding to the protrusion 104 2 Which is the arc corresponding to the first stop 105. At this point, the surgical device 100 reaches an initial zero position. For example, the projection 104 corresponds to an arc of 10 ° and the first stop 105 corresponds to an arc of 10 °, and when the surgical instrument 100 is engaged with the sterile adapter 200, the instrument shaft 103 is rotated 340 ° under the control of the instrument driver 300 to reach the zero position of the surgical instrument.
After the surgical instrument 100 reaches the zero position, as shown in fig. 7E, the instrument driver 300 may drive the instrument shaft 103 to rotate continuously, and the protrusion 104 pushes the first blocking member 105 to rotate synchronously until the first blocking member 105 is blocked by the second blocking member 106, that is, after the surgical instrument 100 reaches the zero position, the instrument driver may drive the instrument shaft to rotate continuously in the original direction by 360 ° -X 1 -X 2 . As shown in FIG. 7F, the instrument driver 300 may also drive the instrument shaft 103 to rotate in a reverse direction until the protrusion 104 rotates to the other side of the first stop 105, the first stop 105 is stopped by the second stop 106, i.e., after the surgical instrument 100 reaches the zero position, the instrument driver 300 drives the instrument shaft 103 to rotate 360-X in a direction opposite to the original direction 1 -X 2 。
The surgical instrument realizes the joint of the surgical instrument and the sterile adapter by arranging the stop component, and the rotation of the instrument shaft is controlled to be 360-X after the surgical instrument is jointed with the sterile adapter 1 -X 2 To reach the zero position of the surgical instrument. The stop component of the application can realize that the instrument shaft can rotate clockwise by 360-X after the surgical instrument reaches the zero position 1 -X 2 Can also rotate anticlockwise by 360-X 1 -X 2 . From another perspective, the instrument shaft of the present application can be rotated 2X (360 ° -X 1 -X 2 ) The rotation stroke is enlarged, thereby meeting higher design requirements.
The surgical instrument provided by the embodiment of the application is jointed with the sterile adapter, and comprises the following steps: the instrument holder of the surgical instrument 100 is abutted against the upper surface of the sterile adapter 200,
the adapter drive plate 202 of the sterile adapter 200 rotates the instrument drive plate 102b of the surgical instrument 100 by rotational friction, the instrument drive plate 102b rotates the instrument shaft 103 of the surgical instrument 100,
when the protrusion 104 on the instrument shaft 103 abuts the stop assembly and is stopped, the instrument shaft 103 rotates to the limit position and the instrument driver is restricted from rotating, thereby engaging the adapter drive disk 202 with the instrument driver. I.e. the engagement features of the drive discs of the sterile adapter and the drive disc of the surgical instrument match to enable the drive disc of the surgical instrument to be driven normally to operate, in particular, force transmission may be achieved in a mating manner such as a male-female arrangement.
When the rotation of the instrument driver is restricted in one rotation direction, the rotation of the transmission disc of the sterile adapter is also restricted in the rotation direction, and the engagement of the instrument driver and the transmission disc of the sterile adapter is confirmed, and the engagement of the surgical instrument and the sterile adapter is completed; or alternatively, the first and second heat exchangers may be,
when the instrument driver is restrained from rotating in one rotation direction, the drive disk of the sterile adapter can continue to rotate in the rotation direction, and the drive disk of the sterile adapter is driven to rotate continuously until the drive disk of the sterile adapter is restrained from rotating, and the instrument driver is confirmed to be in complete engagement with the drive disk of the sterile adapter, and the surgical instrument is confirmed to be in complete engagement with the sterile adapter. After the instrument shaft of the embodiment of the application rotates to the limit position, the instrument shaft 103 can rotate to abut against the stop assembly, and the surgical instrument 100 reaches the zero position.
When the surgical instrument 100 reaches the zero position, the instrument shaft 103 may continue to rotate in the rotational direction before reaching the zero position until the instrument shaft 103 is again stopped by the stop assembly; the instrument shaft 103 may also be rotated in a direction opposite to the direction of rotation prior to reaching the zero position until the instrument shaft 103 is stopped by the stop assembly.
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 application pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the application. 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 application 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 application 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 application, which variations and modifications are within the scope of the application as claimed.
Claims (16)
1. A surgical instrument coupled to a sterile adapter, the surgical instrument comprising:
an instrument seat is arranged on the upper surface of the instrument seat,
an instrument driver disposed at the instrument seat, the instrument driver being actuatable and rotatable by a driver of the sterile adapter;
an instrument shaft, the instrument driver being rotationally coupled with the instrument shaft, the instrument shaft being actuatable for rotation;
the stop part is fixedly arranged relative to the instrument shaft and can synchronously rotate along with the instrument shaft;
a stop assembly, the stop assembly being operable to stop a first rotational direction of the stop and the instrument shaft, a second rotational direction of the instrument driver being stopped when the instrument shaft is stopped from rotating;
wherein the first rotational direction and the second rotational direction are configured as coupling directions of the instrument shaft and the instrument driver.
2. A surgical instrument as recited in claim 1, wherein the instrument shaft is rotatable in a third rotational direction, the third rotational direction being opposite the first rotational direction, after the stop and the instrument shaft are stopped by the stop assembly, the instrument shaft having a rotatable angular range of not less than 360 °.
3. A surgical instrument as recited in claim 2, wherein the stop assembly includes:
a first stop rotatable, the rotational axis of the first stop coinciding with the rotational axis of the instrument shaft, a portion of the rotational path of the first stop coinciding with the rotational path of the stop;
a second blocking piece which is arranged on the instrument seat,
wherein the second stop may stop a first rotational direction of the first stop, and the first stop may stop a first rotational direction of the instrument shaft.
4. A surgical instrument according to claims 1 to 3, wherein the stop assembly has a first state and a second state, the instrument shaft being infinitely rotatable under the influence of an external force when the stop assembly is in the first state, the stop assembly being capable of providing a limited range of rotation of the instrument shaft when the stop assembly is in the second state, the first and second states being mutually convertible.
5. A surgical instrument as recited in claim 3, wherein the second stop is movable relative to the instrument holder, the second stop being located outside of a rotational path of the first stop when the stop assembly is in the first state; when the stop assembly is in the second state, at least part of the second stop is positioned in the rotating path of the first stop, and the second stop can stop the first stop.
6. A surgical instrument as recited in claim 5, wherein the stop is configured as a protrusion, at least a portion of the protrusion being abuttable with at least a portion of the first stop.
7. A surgical instrument as recited in claim 6, wherein the first stop moves synchronously with the projection when the projection abuts the first stop, and wherein the first stop does not move synchronously with the projection when the first stop is disengaged from the projection.
8. A surgical instrument as recited in claim 3, wherein the second stop is movably disposed on the instrument holder.
9. A surgical instrument as recited in claim 8, wherein an end of the second stop adjacent the first stop is provided with a guide.
10. A surgical instrument as recited in claim 9, wherein the guide portion of the second stop is two guide ramps.
11. A surgical instrument as recited in claim 5, wherein the second stop is provided with a resilient assembly that enables a bottom portion of the second stop to abut the sterile adapter when the second stop is in the second state.
12. A surgical instrument according to claim 3, wherein the first stop is provided with guides at both ends.
13. A surgical instrument as recited in claim 12, wherein the guide portion of the first stop is two guide ramps.
14. A method of engaging a surgical instrument with a sterile adapter, comprising the steps of:
abutting an instrument seat of the surgical instrument with the upper surface of the sterile adapter,
the transmission disc of the sterile adapter drives the instrument driver of the surgical instrument to rotate through rotary friction, the instrument driver drives the instrument shaft of the surgical instrument to rotate,
when the stop on the instrument shaft is stopped by the stop assembly, the instrument driver is restricted from rotating, thereby engaging the surgical instrument with the sterile adapter.
15. The method of engaging a surgical instrument with a sterile adapter according to claim 14, wherein the stop is rotatable with the instrument shaft into abutment with the stop assembly after the instrument shaft is rotated to an extreme position, the surgical instrument reaching a zero position.
16. The method of engaging a surgical instrument with a sterile adapter according to claim 15, wherein the instrument shaft is rotatable clockwise to be stopped by the stop assembly and the instrument shaft is also rotatable counter-clockwise to be stopped by the stop assembly when the surgical instrument reaches a zero position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310391847.6A CN116965861A (en) | 2023-04-04 | 2023-04-04 | Surgical instrument and method for joining same with sterile adapter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310391847.6A CN116965861A (en) | 2023-04-04 | 2023-04-04 | Surgical instrument and method for joining same with sterile adapter |
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| CN116965861A true CN116965861A (en) | 2023-10-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117942174A (en) * | 2024-03-26 | 2024-04-30 | 北京云力境安科技有限公司 | Aseptic protective sheath of flexible apparatus surgical robot |
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- 2023-04-04 CN CN202310391847.6A patent/CN116965861A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117942174A (en) * | 2024-03-26 | 2024-04-30 | 北京云力境安科技有限公司 | Aseptic protective sheath of flexible apparatus surgical robot |
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