CN116965932A - Connection structure and surgical instrument connected with same - Google Patents

Abstract

The application belongs to the technical field of medical appliances, and provides a connecting structure of a sterile adapter and an appliance driver, wherein a driver fixing buckle is arranged on the surface of the appliance driver, the sterile adapter is connected to the appliance driver, and the sterile adapter comprises: the adapter comprises an adapter body and an adapter connecting assembly, wherein the adapter connecting assembly is arranged on the adapter body and used for fixing the adapter body to an instrument driver, the adapter connecting assembly is provided with a movable buckle which can be matched with the driver fixing buckle, and the movable buckle can rotate around a pivot shaft so that the movable buckle can rotate between an engagement position for being engaged with the driver fixing buckle and a position for being disengaged from the driver fixing buckle.

Description

Connection structure and surgical instrument connected with same

Technical Field

The application relates to the technical field of medical instruments, in particular to a connecting structure and a surgical instrument connected with the same.

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. At present, the aseptic adapter adopts the buckle to be connected with the instrument driver, promotes the button when the unblock, makes buckle and fixed knot separation, but has the clearance between buckle and the lock face, easily causes the atress uneven, the lock is unstable, appear vibrating etc. have adverse effect to the stability of whole system.

Disclosure of Invention

Based on this, there is a need to provide a connecting structure and a surgical instrument connected thereto, so as to solve the problems in the prior art.

In one aspect, the present application provides a connection structure for connecting a first member and a second member, the connection structure comprising:

a locking member disposed on the first component, the locking member having an engaged position for engagement with the second component and a disengaged position for disengagement from the second component;

the unlocking piece is connected with the locking piece and is pressed, and the unlocking piece enables the locking piece to move from an engagement position to a disengagement position;

at least one resilient member provides a force to the unlocking member urging the locking member toward the engaged position.

Further, the locking member includes:

the locking piece body is provided with a locking piece,

a rotating part which is arranged on the locking piece body and is connected with the first component through a pivot shaft,

the connecting part is arranged on the locking piece body and is used for being movably connected with the unlocking piece,

a clamping part which is arranged at one end of the locking piece body close to the second component and is used for being jointed with the second component,

the unlocking piece is pressed, relative rotation occurs between the unlocking piece and the connecting portion, the locking piece body rotates around the pivot shaft, and the clamping portion moves synchronously with the locking piece body.

Further, the unlocking piece is pressed, and the horizontal displacement direction of the clamping part is the same as the horizontal component direction of the acting force received by the unlocking piece.

Further, the connecting portion is disposed between the rotating portion and the engaging portion.

Further, the connecting portion is a kidney-shaped groove arranged in the locking piece body, the unlocking piece is provided with a fixed shaft, and the fixed shaft is arranged in the kidney-shaped groove.

Further, the unlocking piece is pressed, and the horizontal displacement direction of the clamping part is opposite to the horizontal component force direction of the acting force received by the unlocking piece.

Further, the rotating portion is disposed between the connecting portion and the engaging portion.

Further, the connecting portion is a U-shaped groove arranged at one end of the locking piece body away from the clamping portion, a fixed shaft is arranged on the unlocking piece, and the fixed shaft is arranged in the U-shaped groove.

Further, the pivot axis is parallel to the upper surface of the first member.

Further, a U-shaped groove is formed in the end portion, connected with the locking piece, of the unlocking piece, the connecting portion of the locking piece is a fixed shaft arranged on the locking piece body, and the fixed shaft is arranged in the U-shaped groove.

Further, the pivot axis is perpendicular to the upper surface of the first member.

Further, the connection structure includes:

at least two locking pieces, wherein the at least two locking pieces are oppositely arranged;

at least two unlocking pieces, wherein the at least two unlocking pieces are oppositely arranged;

wherein the elastic member is arranged between at least two of said unlocking members such that at least two of said unlocking members are movable relative to each other.

Further, the unlocking piece comprises an unlocking button and an extending part vertically connected with the unlocking button, and the elastic piece is arranged between the extending parts.

Further, a cavity is formed in one end, close to the elastic piece, of the extension portion.

Further, the closed end of the cavity part is provided with a fixing column protruding towards the elastic piece, and the end part of the elastic piece is sleeved to the fixing column.

In another aspect, the present application provides a surgical instrument, including a base, and a housing, where the housing is covered on the base, and the base is used to connect with the above-mentioned connection structure.

Further, a locking channel is arranged on the base and used for accommodating the unlocking piece and limiting the movement of the unlocking piece.

Further, a concave part is arranged on the base and used for accommodating the unlocking piece, and the concave part can provide a movable space for the unlocking piece.

Further, a through hole is formed in the outer shell of the surgical instrument, and the through hole is used for enabling a temporary unlocking tool to pass through and applying acting force to the unlocking piece.

Drawings

FIG. 1 is a top view of a surgical system according to an embodiment of the present application;

FIG. 2 is a schematic view of a combination of a surgical instrument, a sterile adapter, and an instrument driver provided in an embodiment of the present application;

FIG. 3 is a schematic illustration of a connection between a sterile adapter and an instrument driver provided in accordance with a first embodiment of the present application;

FIG. 4 is a schematic view of a connection structure installed in an adapter body according to a first embodiment of the present application;

FIG. 5 is a cross-sectional view of a connection structure provided in accordance with a first embodiment of the present application installed in an adapter body;

fig. 6 is a schematic structural diagram of a connection structure according to a first embodiment of the present application;

fig. 7 is a schematic structural view of a connection structure provided in the second embodiment of the present application installed in an adapter body;

FIG. 8 is a cross-sectional view of a connection structure provided in accordance with two embodiments of the present application installed in an adapter body;

fig. 9 is a schematic structural diagram of a connection structure according to a second embodiment of the present application;

FIG. 10 is a schematic view of a connection structure provided in a third embodiment of the present application installed in an adapter body;

fig. 11 is a schematic structural diagram of a connection structure according to a third embodiment of the present application;

FIG. 12 is a cross-sectional view of a surgical instrument provided in an embodiment of the present application prior to assembly with a sterile adapter;

FIG. 13 is a cross-sectional view of another embodiment of the present application prior to assembly of a surgical instrument with a sterile adapter;

fig. 14 is a block diagram of a surgical instrument provided in accordance with an embodiment of the present application after assembly with a sterile adapter.

Reference numerals illustrate:

10-doctor console; a 20-display system; 30-patient side portion;

100-surgical instrument; 200-sterile adapter; 300-instrument driver;

201-an adapter body; 202-an adapter cover;

210-a first locking member body; 220-second locking member body

211-a first rotating part; 221-a second rotating part;

212-a first connection; 222-a second connection;

213-a first moving clasp; 223-a second mobile clasp;

214-a first cavity portion; 224-a second cavity portion;

215-a first extension; 225-a second extension;

216—a first fixed shaft; 226-a second stationary shaft;

218-a first pivot axis; 228-a second pivot axis;

219-first button; 229-a second button;

230-a first opening; 231-a second opening; 232-a spring member;

211-1, 211-2-two first locking member bodies;

221-1, 221-2-two second locking member bodies;

301-a first driver securing clasp; 302-a second driver securing clasp;

101-a housing of a surgical instrument; 102-a first via; 103-a first locking channel; 104-a second locking channel; 105-a first recess; 106-a second recess; 107-base of the surgical instrument.

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 14.

Referring to fig. 1, fig. 1 is a top view of a surgical system according to an embodiment of the present application, including a surgeon's console 10, a display system 20, a patient side portion 30, the surgeon's console 10 for use by a surgeon during surgery, the display system 20 operable to display images of a surgical site, the patient side portion 30 including an operating table and a support system on which the surgeon performs a surgical procedure on a patient, the support system having a surgical device assembly disposed on an arm thereof, and referring to fig. 2, the surgical device assembly including a surgical instrument 100 and an instrument driver 300, in order to provide a sterile field of operation when using the surgical system, a sterile adapter 200 is generally disposed between the surgical instrument 100 and the instrument driver 300. 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.

The present embodiment provides a connecting structure for connecting a first component, which may be a surgical instrument 100, and a second component, which may be a sterile adapter 200, or alternatively, a sterile adapter 200, and a device driver 300, although it should be noted that the first component and the second component may be other combinations, and are not limited thereto. The embodiment of the present application will be described with reference to the first component being sterile adapter 200 and the second component being instrument driver 300.

In an embodiment of the application, the surface of the instrument driver is provided with driver fixation tabs. The number thereof may be one group or more, etc. In a preferred embodiment of the application, the number of groups referred to is 2. It will be readily appreciated that a group may refer to 3, 4, 5 or 6, etc.

The sterile adapter 200 includes an adapter body 201 and an adapter cover 202. The bottom of the adapter body 201 is connected to the upper surface of the instrument driver 300 such that the driver securing clasp extends at least partially into the adapter body 201. The adapter cover 202 is then fixedly connected to the adapter body 201.

The connection structure of the embodiment of the present application is at least partially disposed in the adapter body 201, and in the embodiment of the present application, the locking member is provided with a moving buckle that can be matched with the driver fixing buckle. So that the connection structure can secure the adapter body 201 to the instrument driver 300. The movable clasp is rotatable about the pivot axis to move the movable clasp between an engaged position in which the movable clasp forms a clasp with the driver securing clasp and a disengaged position in which the movable clasp is disengaged from the driver securing clasp.

The upper surface of the driver fixing buckle is configured to be inclined or arc-shaped, and correspondingly, the lower surface of the moving buckle is configured to be inclined or arc-shaped, so that when the adapter connecting assembly moves downwards during assembly, the lower surface of the moving buckle can squeeze the upper surface of the driver fixing buckle, and the moving buckle moves inwards transversely under the squeezing action. Along with the continuous downward movement of the adapting connecting component, after the extrusion interference of the lower surface of the movable buckle and the upper surface of the driver fixing buckle is finished, the movable buckle rebounds under the action of the elastic piece 232, so that the buckling action is completed.

In some embodiments, the driver securing clasp is configured as a slot having a mating face with the mating face facing downward. And when the horizontal movement is combined, the surface-to-surface contact clamping is realized.

In some embodiments, the surface of the instrument driver 300 is provided with two sets of driver fixation tabs, and the two sets of driver fixation tabs are spaced apart and disposed opposite each other. Specifically, two sets of driver fasteners are disposed on opposite sides of the instrument driver, respectively, each set of driver fasteners including two driver fasteners, the two driver fasteners of each set being disposed on sides of the instrument driver 300 spaced apart from one another.

Correspondingly, the connecting structure of the embodiment of the application is provided with two groups of moving buckles matched with the driver fixing buckles in position and number, namely, the positions of the moving buckles are the same as those of the driver fixing buckles. For this reason, the connection structure of the embodiment of the present application includes two locking pieces and two unlocking pieces, the two locking pieces are oppositely disposed on the adapter body 201, and the two unlocking pieces are oppositely disposed on the adapter body 201. The lock has an engaged position with the instrument driver 300 and a disengaged position disengaged from the instrument driver 300; pressing a button of an unlocking member, the unlocking member moving the locking member from the engaged position to the disengaged position; the elastic member disposed between the two unlocking members provides the unlocking members with a force urging the locking members toward the engaged position.

Specifically, the two locking members include a first locking member and a second locking member, the two unlocking members include a first unlocking member and a second unlocking member, the first locking member includes a first locking member body 210, a first rotating portion 211, a first connecting portion 212, and a first engaging portion, the first rotating portion 211 is disposed on the first locking member body 210 and is used for movably connecting with the first unlocking member, the first engaging portion is disposed on an end of the first locking member body, which is close to the instrument driver 300, of the first extending portion 215. The first unlocking member includes a first button 219, and when the first button is pressed, the first unlocking member rotates relative to the first connecting portion 212, so that the first locking member body 210 rotates around the first pivot shaft 218, and the first moving buckle 213 moves synchronously with the first locking member body 210.

Similarly, the second locking member includes a second locking member body 220, a second rotating portion 221, a second connecting portion 222, and a second engaging portion, where the second rotating portion 221 is disposed on the second locking member body 220 and is used for movably connecting with the second unlocking member, and the second engaging portion is disposed at an end of the second locking member body near the instrument driver 300. The second unlocking member includes a second button 229, and the second unlocking member rotates relative to the second connecting portion 222 by pressing the second button 229, so that the second locking member body 220 rotates about the second pivot shaft 228, and the second moving buckle 223 moves synchronously with the second locking member body 220.

The first unlocking member includes a first extending portion 215 extending vertically along the first button, and the second unlocking member includes a second extending portion 225 extending vertically along the second button, and the first extending portion 215 and the second extending portion 225 are connected via an elastic member 232 such that the first button 219 and the second button 229 are movable with respect to each other. The resilient member 232 provides a resilient force to the first and second extensions 215, 225 and the resilient force urges the moving clasp from the disengaged position to the engaged position.

The end of the first extension 215 is provided with a first cavity 214 and the end of the second extension 225 is provided with a second cavity 224. The elastic member 232 is preferably configured as a spring provided in the first and second chamber portions 214 and 224, specifically, one end of the elastic member 232 abuts against the closed end of the first chamber portion 214 and the other end thereof is connected to the closed end of the second chamber portion 224.

In order to enable stable mounting of the elastic member 232 within the cavity, the first cavity 214 is further provided with a first fixing post protruding towards the second extension 222, which is located at the closed end of the first cavity 214. The end of the second cavity 224 is provided with a second fixing post protruding toward the first extension 212. The two ends of the spring are respectively sleeved on the first fixing column and the second fixing column to form a stable support.

Next, a process of locking and unlocking the sterile adapter and the instrument driver will be specifically described, taking a first locking member and a first unlocking member as an example.

Locking:

the abutment of the guide slope of the first driver securing clasp 301 with the guide slope of the first engaging portion forcibly presses the sterile adapter 200 against the instrument driver 300, thereby locking the first driver securing clasp 301 with the first engaging portion, and completing the assembly of the sterile adapter 200 and the instrument driver 300. The guide slope is not limited to a flat surface, and may be a smoothly curved surface.

And (3) unlocking:

when the moving buckle is at the engaged position, the first button 219 can be moved in a direction approaching each other by the pushing of the user, so that the first button 219 drives the first connecting portion 212, and the first unlocking member and the first connecting portion 212 relatively rotate, so that the first locking member body 210 rotates around the first pivot shaft 218, and the first moving buckle 213 rotates from the engaged position to the disengaged position. When the first moving buckle 213 is located at the disengaged position, the first extension 215 can move the first moving buckle 213 to the engaged position under the pushing of the elastic member 232.

The locking and unlocking processes of the second locking piece and the second unlocking piece are the same as those described above, and are not repeated here.

In some embodiments, referring to fig. 3-6, the first connection portion 212 is disposed between the first rotation portion 211 and the first engagement portion. Specifically, the first connection portion 212 is a kidney-shaped groove formed in the first locking member body 210, the first unlocking member is provided with a first fixing shaft 216, the first fixing shaft 216 is disposed in the kidney-shaped groove, and an extending direction of the first fixing shaft 216 is parallel to a surface of the aseptic adapter 200. The first rotating portion 211 is a U-shaped groove provided at one end of the first locking member body 210, the first pivot shaft 218 is provided in the U-shaped groove, both ends of the first pivot shaft 218 are fixed to the adapter body 201, and the first pivot shaft 218 is parallel to the surface of the adapter body 201. The second connection portion 222 is disposed between the second rotation portion 221 and the second engagement portion. Specifically, the second connecting portion 222 is a kidney-shaped groove disposed in the second locking member body 220, the second unlocking member is provided with a second fixing shaft 226, the second fixing shaft 226 is disposed in the kidney-shaped groove, and the extending direction of the second fixing shaft 226 is parallel to the surface of the aseptic adapter 200. The second rotating portion 221 is a U-shaped groove provided at one end of the second locking member body 220, the second pivot shaft 228 is provided in the U-shaped groove, both ends of the second pivot shaft 228 are fixed to the adapter body 201, and the second pivot shaft 228 is parallel to the surface of the adapter body 201.

In the present embodiment, the first moving buckle 213 and the second moving buckle 223 are disposed opposite to each other. Pushing the first button 219, the first button 219 drives the first locking member body 210 to rotate around the first pivot shaft 218 toward the second button 229, so that the first moving buckle 213 is away from the engaged position, and when the first moving buckle 213 reaches the disengaged position, the elastic member 232 drives the first extension 215 to move away from the second extension 225, so that the first moving buckle 213 is engaged with the first driver fixing buckle 301. The second button 229 is pushed, and the second moving button 223 is engaged with and disengaged from the second driver fixing button 302 in the same manner as described above, and thus, a detailed description thereof will be omitted.

In some embodiments, referring to fig. 7-9, the first rotating portion 211 is disposed between the first connecting portion 212 and the first engaging portion. Specifically, the first connection portion 212 is a U-shaped groove disposed at one end of the first locking member body 210 away from the first moving buckle 213, the first unlocking member is provided with a first fixing shaft 216, the first fixing shaft 216 is disposed in the U-shaped groove, and an extending direction of the first fixing shaft 216 is parallel to a surface of the aseptic adapter 200. The first rotating portion 211 is a through hole provided in the first locking member body 210, the first pivot shaft 218 is provided in the through hole, and both ends of the first pivot shaft 218 are fixed to the adapter main body 201, the first pivot shaft 218 being parallel to the upper surface of the aseptic adapter 200. Similarly, the second rotating portion 221 is disposed between the second connecting portion 222 and the second engaging portion. Specifically, the second connecting portion 222 is a U-shaped groove disposed at one end of the second locking member body 220 away from the second engaging portion, the second unlocking member is provided with a second fixing shaft 226, the second fixing shaft 226 is disposed in the U-shaped groove, and an extending direction of the second fixing shaft 226 is parallel to the surface of the aseptic adapter 200. The second rotating portion 221 is a through hole provided in the second locking member body 220, the second pivot shaft 228 is provided in the through hole, and both ends of the second pivot shaft 228 are fixed to the adapter main body 201, the second pivot shaft 228 being parallel to the upper surface of the aseptic adapter 200.

In the present embodiment, the first moving button 213 and the second moving button 223 are disposed opposite to each other. When the first button 219 is pushed, the first button 219 drives the first locking member body 210 to rotate about the first pivot shaft 218 in a direction away from the second button 229, so that the first moving buckle 213 is away from the engaged position, and when the first moving buckle 213 reaches the disengaged position, the elastic member 232 drives the first extension 215 to move in a direction approaching the second extension 225, so that the first moving buckle 213 is engaged with the first driver fixing buckle 301. The second button 229 is pushed, and the second moving button 223 is engaged with and disengaged from the second driver fixing button 302 in the same manner as described above, and thus, a detailed description thereof will be omitted.

In some embodiments, referring to fig. 10 and 11, the first locking member includes two first locking member bodies 211-1 and 211-2 extending from the first unlocking member to both sides in a direction perpendicular to the first extending portion 215, and the two first locking member bodies 211-1 and 211-2 are symmetrically disposed to form a T-shaped head together, and the first extending portion 215 is a T-shaped tail. One end of the two first locking member bodies 211-1 and 211-2 is connected with the first extension portion 215 in a matched manner, the other end of the two first locking member bodies is provided with a first movable buckle 213, the end portion of each first locking member body connected with the first extension portion 215 in a matched manner is provided with a first fixed shaft 216, the axis of the first fixed shaft 216 is perpendicular to the surface of the adapter main body 201, the first extension portion 215 is provided with a first U-shaped groove 233 matched with the first fixed shaft 216, the first locking member bodies can move relative to the first U-shaped groove 233, and when the first extension portion 215 drives the two first locking member bodies 211-1 and 211-2 to rotate, the first U-shaped groove 233 provides a rotation space for the two first locking member bodies 211-1 and 211-2. The two first locking member bodies 211-1 and 211-2 are respectively connected with corresponding first pivot shafts 218, and the axes of the first pivot shafts 218 are perpendicular to the surface of the adapter main body 201 and parallel to the axes of the first fixed shafts 216.

In this embodiment, the first moving buckle 213 and the second moving buckle 223 are disposed opposite to each other, the first button 219 is pushed, the two first locking member bodies 211-1 and 211-2 rotate about the corresponding first pivot shafts 218, so that the first moving buckle 213 moves away from the second button 229, and when the first moving buckle 213 reaches the disengaged position, the elastic member 232 drives the first extension 215 to move toward the second extension 225, so that the first moving buckle 213 is engaged with the first driver fixing buckle 301.

In some embodiments, the adapter cover 202 is provided with a first opening 230 and a second opening 231 spaced apart from each other. Wherein the positions of the first opening 230 and the second opening 231 correspond to the positions of the first button 219 and the second button 229, respectively, such that the first button 219 and/or the second button 229 can extend through the first opening 230 and/or the second opening 231, respectively, to protrude from the upper surface of the adapter cover 202. And, the cross-sectional size of the first opening 230 and/or the second opening 231 is larger than the cross-sectional size of the first button 219 and/or the second button 229, respectively, so as to reserve the active space of the first button 219 and/or the second button 229.

In some embodiments, referring to fig. 12, sterile adapter 200 is coupled to a base of surgical instrument 100, which is provided with first locking channel 103 and second locking channel 104 at positions corresponding to first button 219 and second button 229, respectively. The first button 219 and the second button 229 are respectively received in the first locking channel 103 and the second locking channel 104. The inner contour of the first locking through 103 is matched with the outer contour of the first button 219, and the inner contour of the second locking through 104 is matched with the outer contour of the first button 229, so that the first button 219 and the second button 229 are limited in the locking position, and the first button 219 and the second button 229 can only be inserted into and out of the first locking channel 103 and the second locking channel 104 along the axial direction, and have no other directions of freedom.

In some embodiments, referring to fig. 13, a first recess 105 and a second recess 106 are provided on the surgical instrument 100 corresponding to the positions of the first button 219 and the second button 229, and when the surgical instrument 100 is connected to the sterile adapter 200, the two first buttons 2033 are respectively accommodated in the first recess 105 and the second recess 106 after passing through the base of the surgical instrument, so that when the surgical instrument 100 is connected to the sterile adapter 200, the first recess 105 and the second recess 106 can play a certain role in protecting the two first buttons 219 and the second button 229, so as to avoid affecting the stability of the whole instrument due to the fact that the buttons are touched by mistake.

Further, referring to fig. 14, a first through hole 102 and a second through hole (not shown) are provided on both sides of the housing 101 of the surgical instrument 100 near the first button 219 and the second button 229, the first through hole 102 corresponds to the first button 219, and the second through hole (not shown) corresponds to the second button 229. When a malfunction occurs, surgical instrument 100 may not be completely unlocked from sterile adapter 200, or when it is desired to unlock surgical instrument 100 and sterile adapter 200 as a whole from instrument driver 300, an unlocking tool may be passed through first throughbore 102 and/or a second throughbore (not shown) to effect the unlocking of surgical instrument 100 from sterile adapter 200, or to unlock surgical instrument 100 and sterile adapter 200 as a whole from instrument driver 300.

In the connection structure of the sterile adapter and the instrument driver, the surface of the instrument driver is provided with a driver fixing buckle, the sterile adapter is connected to the instrument driver, and the sterile adapter comprises: an adapter body; an adapter coupling assembly is provided on the adapter body for securing the adapter body to the instrument driver, the adapter coupling assembly having a movable clasp engageable with the driver securing clasp, the movable clasp being rotatable about a pivot axis to permit the movable clasp to be rotatable between an engaged position in engagement with the driver securing clasp and a disengaged position from the driver securing clasp. The connecting structure can realize stable and tight joint, and the unlocking mode is more convenient.

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 (19)

1. A connection structure for connecting a first member and a second member, the connection structure comprising:

a locking member disposed on the first component, the locking member having an engaged position for engagement with the second component and a disengaged position for disengagement from the second component;

the unlocking piece is connected with the locking piece and is pressed, and the unlocking piece enables the locking piece to move from an engagement position to a disengagement position;

at least one resilient member provides a force to the unlocking member urging the locking member toward the engaged position.

2. The connection structure according to claim 1, wherein the locking member includes:

the locking piece body is provided with a locking piece,

a rotating part which is arranged on the locking piece body and is connected with the first component through a pivot shaft,

the connecting part is arranged on the locking piece body and is used for being movably connected with the unlocking piece,

a clamping part which is arranged at one end of the locking piece body close to the second component and is used for being jointed with the second component,

the unlocking piece is pressed, relative rotation occurs between the unlocking piece and the connecting portion, the locking piece body rotates around the pivot shaft, and the clamping portion moves synchronously with the locking piece body.

3. The connection structure according to claim 2, wherein the direction of horizontal displacement of the engaging portion is the same as the direction of horizontal component of the force applied to the unlocking member by pressing the unlocking member.

4. A connection structure according to claim 3, wherein the connection portion is provided between the rotation portion and the engagement portion.

5. The connecting structure according to claim 4, wherein the connecting portion is a kidney-shaped groove provided in the lock body, the unlocking member is provided with a fixing shaft, and the fixing shaft is provided in the kidney-shaped groove.

6. The connection structure according to claim 2, wherein the unlocking member is pressed, and a horizontal displacement direction of the engaging portion is opposite to a horizontal component direction of the urging force applied to the unlocking member.

7. The connection structure according to claim 6, wherein the rotating portion is provided between the connecting portion and the engaging portion.

8. The connecting structure according to claim 7, wherein the connecting portion is a U-shaped groove provided at an end of the locking member body away from the engaging portion, and the unlocking member is provided with a fixing shaft provided in the U-shaped groove.

9. The connection of claim 8, wherein the pivot axis is parallel to an upper surface of the first member.

10. The connecting structure according to claim 7, wherein a U-shaped groove is provided at an end portion of the unlocking member to which the locking member is connected, the connecting portion of the locking member is a fixed shaft provided on the locking member body, and the fixed shaft is provided in the U-shaped groove.

11. The connection of claim 10, wherein the pivot axis is perpendicular to an upper surface of the first member.

12. The connection structure according to claims 1 to 11, characterized in that it comprises:

at least two locking pieces, wherein the at least two locking pieces are oppositely arranged;

at least two unlocking pieces, wherein the at least two unlocking pieces are oppositely arranged;

wherein the elastic member is arranged between at least two of said unlocking members such that at least two of said unlocking members are movable relative to each other.

13. The connection structure according to claim 1, wherein the unlocking member includes an unlocking button and an extension portion perpendicularly connected to the unlocking button, and the elastic member is disposed between the extension portions.

14. The sterile adapter and instrument driver connection structure of claim 13, wherein the extension is provided with a cavity near an end of the resilient member.

15. The connection structure of the sterile adapter and the instrument driver according to claim 14, wherein the closed end of the cavity portion is provided with a fixing post protruding toward the elastic member, and an end portion of the elastic member is sleeved to the fixing post.

16. A surgical instrument comprising a base, a housing, the housing being over the base, the base being adapted to be coupled to the coupling structure of any one of claims 1 to 15.

17. A surgical instrument as recited in claim 16, wherein the base is provided with a locking channel for receiving the unlocking member and limiting movement of the unlocking member.

18. A surgical instrument as claimed in claim 16, wherein the base is provided with a recess for receiving an unlocking member of the connecting structure, the recess being capable of providing a living space for the unlocking member.

19. A surgical instrument as recited in claim 18, wherein a through hole is provided in the housing of the surgical instrument, the through hole being for a temporary unlocking tool to pass through and apply a force to the unlocking member.