CN117426880A

CN117426880A - Sterile isolation assembly and surgical robot

Info

Publication number: CN117426880A
Application number: CN202210836667.XA
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: 2022-07-15
Filing date: 2022-07-15
Publication date: 2024-01-23
Also published as: WO2024012315A1

Abstract

The application discloses a sterile isolation assembly and a surgical robot. The sterile isolation assembly is for connection between an instrument driver of the surgical robot and the surgical instrument assembly. The sterile isolation assembly includes a sterile adapter and a sterile sleeve. The sterile adapter includes an adapter body and an adapter cover. The bottom side of the adapter body is for connection with an instrument driver. The sterile bagging sleeve is constructed as an integral structure. The adapter cover is fixedly connected with the adapter body, and the top side of the adapter cover is used for being connected with the surgical instrument assembly. The adapter main part is located the inboard of aseptic cover bag, and the adapter lid is located the outside of aseptic cover bag, and adapter lid, the aseptic cover bag of part and adapter main part three are overlapped in proper order and are established, and the upper surface of adapter main part is provided with positioning feature, and aseptic cover bag is provided with the butt joint characteristic, and the position of butt joint characteristic corresponds with positioning feature's position, and the butt joint characteristic is constructed and can form structural fit with positioning feature. According to the aseptic isolation component, the cost is low, and the environmental protection performance is good.

Description

Sterile isolation assembly and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a sterile isolation assembly and a surgical robot.

Background

The surgical robot can help doctors to realize accurate positioning of operations, and has the advantages of reducing wounds of patients and shortening postoperative recovery time. The device has a stable operation platform, and can solve the tremble of doctors and the like, so that the device has a great deal of application in clinical surgery.

The surgical robot on the patient side performs a surgical operation by means of a surgical tool with an end effector. To meet the use requirements of different surgical instruments in surgery, the surgical instruments and the instrument drivers are usually designed to be detachable for changing different surgical instruments in surgery. Meanwhile, the surgical instruments can be independently sterilized.

The instrument driver end is typically designed to be non-sterilizable, and to ensure sterility during surgery, a sterile adapter needs to be added 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 sterile adaptor is provided with an instrument driver sterile bagging, and the instrument driver sterile bagging is wrapped on the instrument driver and plays a role in isolating a sterile area of the instrument driver from a sterile area of the operation area.

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 present application is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used to determine the scope of the claimed subject matter.

The present application provides a sterile isolation assembly for connection between an instrument driver of a surgical robot and a surgical instrument assembly, the sterile isolation assembly comprising:

a sterile adapter comprising an adapter body having a bottom side for connection with the instrument driver and an adapter cover having a top side for connection with the surgical instrument assembly, the bottom side of the adapter cover being fixedly connected with the adapter body; and

the sterile bagging is constructed into an integrated structure;

the adapter main part is located the inboard of aseptic cover bag, the adapter lid is located the outside of aseptic cover bag, adapter lid, part aseptic cover bag with the adapter main part three are overlapped in proper order, the upper surface of adapter main part is provided with location feature, aseptic cover bag is provided with docking feature, docking feature's position with location feature's position corresponds, docking feature is constructed to be able to form structural fit with location feature.

The sterile isolation assembly is easy to install and position, simple in structure and small in number of parts; the reinforcing plate and the adhesive are not required to be specially introduced for fixation, so that the cost is reduced; and no chemical substances such as adhesives are used, so that the environment friendliness is good.

Optionally, the bottom side of the adapter cover is provided with a mating feature, the location of which corresponds to the positioning feature of the adapter body, the mating feature being configured to be able to form a structural fit with the positioning feature.

Optionally, the adapter body is provided with an adapter connector for driving between the instrument driver and the surgical instrument assembly, the sterile sleeve having a void area thereon corresponding to the adapter connector, a projection of the void area onto the adapter body covering the adapter connector.

Optionally, a plurality of said locating features are provided along the periphery of said adapter body; and/or

A plurality of the locating features are disposed about a plurality of the adapter connectors.

Optionally, a plurality of the locating features are symmetrically arranged with respect to a midline axis of the adapter body in a first direction; and/or

Adjacent ones of the locating features are staggered along the first direction.

Optionally, the adapter body has a plurality of the adapter connectors, at least two of the adapter connectors are arranged in a first direction, and at least two of the adapter connectors are arranged in a second direction to form at least two rows of the adapter connectors;

the sterile sleeve has a reinforcement portion around/surrounding the void-free region, the reinforcement portion being located between two adjacent rows of the adapter connectors, the reinforcement portion forming a continuous structure along the first direction and/or the second direction.

Optionally, the locating feature of the adapter body comprises a locating post, the docking feature of the sterile sleeve comprises a docking aperture, the mating feature of the adapter cover comprises a mating aperture, wherein the locating post extends through the docking aperture and into the mating aperture; or alternatively

The locating feature of the adapter body includes a mating aperture, the docking feature of the sterile sleeve includes a docking aperture, and the mating feature of the adapter cover includes a locating post, wherein the locating post extends through the docking aperture and into the mating aperture.

Optionally, the positioning feature comprises a mounting portion, the docking feature comprises a relief hole, the mating feature comprises a mounting hole, and the sterile adapter further comprises a securing member passing through the mounting hole and the relief hole and connecting with the mounting portion to secure the adapter cover and the adapter body together.

Optionally, an operation buckle is provided on the adapter body, and an avoidance port is further provided on the sterile sleeve bag so as to avoid the operation buckle.

A second aspect of the present application provides a surgical robot comprising the sterile isolation assembly of the first aspect described above.

According to the surgical robot of the present application, the sterile isolation assembly of the first aspect is provided, and therefore, similar technical effects as those of the sterile isolation assembly of the first aspect can be achieved.

Drawings

The following drawings of the present application are included to provide an understanding of the present application as part of the present application. The drawings illustrate embodiments of the present application and their description to explain the principles of the present application.

In the accompanying drawings:

FIG. 1 is a partial schematic view of a surgical robot according to a preferred embodiment of the present application;

fig. 2 is a schematic perspective view of a sterile isolation assembly according to a preferred embodiment of the present application;

FIG. 3 is an exploded schematic view of a sterile isolation assembly according to a preferred embodiment of the present application; and

fig. 4 is a schematic view of the sterile sleeve of fig. 3 from another perspective.

Reference numerals illustrate:

10: surgical robot 11: instrument driver

12: surgical instrument assembly 100: sterile isolation assembly

110: the adapter body 111: adapter connector

112: positioning column 113: mounting part

114: operating button 120: adapter cover

121: docking aperture 122: mounting hole

130: sterile sleeve 131: butt joint hole

132: the clearance area 133: yielding hole

134: avoidance port L1: first direction

L2: second direction 135: reinforcing part

13: curtain body 14: mechanical arm

Detailed Description

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

For a thorough understanding of the present application, a detailed description will be set forth in the following description. 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 present 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 implementations in addition to these detailed descriptions.

It should be 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 in accordance with 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 words such as "first" and "second" recited in this application are merely identifying and do not have any other meaning, e.g., a particular order, etc. 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.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings.

Referring to fig. 1, a surgical robot 10 of the present application may include a robotic arm 14, a sterile drape assembly, a surgical instrument assembly 12, an instrument driver 11, and the like. Wherein a portion of surgical robot 10 is encased within a sterile drape assembly during a surgical procedure to provide a sterile barrier between non-sterile surgical robot 10 and a sterile operating environment.

The sterile enclosure assembly includes an enclosure body 13 and a sterile isolation assembly 100. The curtain body 13 is mainly used for shielding the robot arm 14, and may be made of a material such as polypropylene, polyethylene, or polytetrafluoroethylene. The curtain body 13 is flexible and/or deformable. This may help the curtain body 13 to encase the surgical robot without interfering with the position and/or movement of the robotic arm 14 and/or instruments during the surgical procedure. The sterile isolation assembly 100 is used to isolate a non-sterilizable instrument driver 11 from a sterilizable surgical instrument assembly 12.

The sterile isolation assembly 100 includes a sterile adapter and a sterile sleeve 130. Wherein a sterile adapter is connected between the instrument driver 11 and the surgical instrument assembly 12, and a sterile sleeve 130 is used to encase the instrument driver 11. Specifically, the lower surface of the sterile adapter is matingly coupled to the upper surface of the instrument driver 11. The forward end of the surgical instrument assembly 12 is configured as a surgical tool such as forceps, scissors, a clip light, or the like. The rear end of the surgical instrument assembly 12 is connected to the upper surface of the sterile adapter, and the instrument driver 11 provides driving force to the instrument actuator at the rear end of the surgical instrument assembly 12 via the sterile adapter, so that the surgical tool can perform pitching, deflecting and gripping actions via the traction assembly (e.g., wire rope, etc.) in the cannula. And the connection of the instrument driver 11 and the sterile adapter, as well as the connection of the sterile adapter and the surgical instrument assembly 12, may be configured as a snap-fit connection.

Sterile sleeve 130 may be integrally formed with a portion of drape body 13 or sterile sleeve 130 may be attached to drape body 13. The sterile pouch 130 may be constructed of polypropylene, polyethylene, polytetrafluoroethylene, polyvinyl chloride, rubber, or silicone. The sterile sleeve 130 may be the same material as the curtain body 13 or a different material. The sterile sleeve 130 may be constructed using processes such as stamping, hot pressing, injection molding, casting, blow molding, or suction molding. The sterile adapter is non-deformable and may be made of thermosetting resins such as phenolic, polyurethane, epoxy, unsaturated polyester, furan, silicone or acryl resins.

Referring now to fig. 2 and 3, the sterile adapter includes an adapter body 110 and an adapter cover 120. Wherein the bottom side of the adapter body 110 is adapted to be coupled to the instrument driver 11 and the top side of the adapter cover 120 is adapted to be coupled to the surgical instrument assembly 12, the adapter cover 120 being fixedly coupled to the adapter body 110. The sterile sleeve 130 itself is preferably constructed as a unitary structure. The sterile sleeve 130 is disposed over the adapter body 110, or the adapter body 110 is positioned substantially within the sterile sleeve 130, with the corresponding adapter cover 120 positioned outside of the sterile sleeve 130. In other words, the adapter cover 120, the partially sterile pouch 130, and the adapter body 110 are stacked one on top of the other.

The upper surface of the adapter body 110 is provided with a locating feature and the adapter cover 120 is provided with a docking feature. And, the location of the docking feature corresponds to the location of the locating feature, the docking feature being configured to form a structural fit with the locating feature.

According to the aseptic isolation assembly 100 of the present application, the aseptic bagging 130 is easier to install and position, and has a simple structure and a small number of parts; the reinforcing plate and the adhesive are not required to be specially introduced for fixation, so that the cost is reduced; and no chemical substances such as adhesives are used, so that the environment friendliness is good.

Preferably, the bottom side of the adapter cover 120 is provided with mating features, the location of which corresponds to the positioning features of the adapter body 110, the mating features being configured to form a structural fit with the positioning features. Thereby, the limit of the sterile sleeve 130 can be made more stable.

With continued reference to fig. 2, 3 and 4, the sterile adapter further includes an adapter connector 111 disposed on the adapter body 110, preferably in a central portion of the adapter body 110. The adapter connector 111 is used to transmit between the instrument driver 11 and the surgical instrument assembly 12. For example, the instrument driver 11 may be provided with a driver connector and the adapter connector 111 may be nested over the driver connector to form an engagement to receive power from the instrument driver 11.

The sterile sleeve 130 has a void area 132 thereon corresponding to the adapter connector 111, and the projection of the void area 132 onto the adapter body 110 covers the adapter connector 111 to expose the adapter connector 111 when the sterile sleeve 130 is sleeved onto the adapter body 110 so that the tip of the adapter connector 111 can form a driving connection with the driving connector at the rear end of the surgical instrument assembly 12.

In an alternative embodiment, the adapter body 110 has a plurality of adapter connectors 111, at least two adapter connectors 111 being arranged in a first direction L1, and at least two adapter connectors 111 being arranged in a second direction L2. Thereby, at least two rows of adapter connectors 111 are formed. The first direction L1 may be a longitudinal direction of the adapter body 110, and the second direction L2 may be a width direction of the adapter body 110. Wherein the first direction L1 is perpendicular to the second direction L2. Correspondingly, the top surface of the sterile sleeve 130 is provided with a plurality of clearance areas 132 to correspond one-to-one with the plurality of adapter connectors 111.

Illustratively, four adapter connectors 111 are provided on the adapter body 110. Wherein the adapter connectors 111 are aligned in pairs along a first direction L1 and a second direction L2. That is, the four adapter connectors 111 form two rows in both the first direction L1 and the second direction L2. Four keep-out areas 132 are also correspondingly provided on the sterile sleeve 130.

To maintain the sterile sleeve 130 sufficiently strong to prevent deformation thereof after being pulled, the sterile sleeve 130 is preferably provided with a reinforcement 135 laterally of the void-free region 132. That is, the reinforcement 135 is located around/around the void region 132. The reinforcement 135 is configured as part of the sterile sleeve 130 itself. The reinforcement 135 preferably forms a continuous structure along the first direction L1 and/or the second direction L2. And, the reinforcement portions 135 are positioned between two adjacent rows of the adapter connectors 111. This can avoid the void areas 132 from being all connected together.

Illustratively, in the present embodiment, the reinforcement portion 135 forms a continuous structure along the second direction L2, and divides the four adapter connectors 111 into two parts, and two sides of the reinforcement portion 135 along the first direction L1 have two void areas 132, respectively.

From another perspective, the plurality of keep-out areas 132 may be arranged as follows:

two void areas 132 adjacent in the first direction L1 are connected to each other, and two void areas 132 adjacent in the second direction L2 are spaced apart from each other. Or two void areas 132 adjacent in the second direction L2 are connected, and two void areas 132 adjacent in the first direction L1 are spaced apart. Or between two void regions 132 adjacent in the first direction L1 and between two void regions 132 adjacent in the second direction L2.

In the present embodiment, two void regions 132 adjacent in the second direction L2 are connected. In other words, two sides of the reinforcement portion 135 along the first direction L1 have two void areas 132, respectively, and the two void areas 132 are connected.

In an alternative embodiment, four keep-out areas 132 may be each spaced apart, thereby enabling reinforcement 135 in both the first direction L1 and the second direction L2. That is, a continuous structure disposed crosswise can be formed.

To provide a more secure installation of sterile sleeve 130, a plurality of locating features are provided along the periphery of adapter body 110. That is, a ring of locating features is provided along the circumference of the adapter body 110. Preferably, a plurality of locating features are provided around the plurality of adapter connectors 111. That is, a ring of locating features is provided around the plurality of adapter connectors 111.

Correspondingly, the perimeter of the top surface of sterile sleeve 130 is provided with a loop of docking features. A ring of docking features is provided around the void area 132 of the top surface of the sterile sleeve 130. Preferably, a ring of locating features is provided along the periphery of the adapter cover 120. Preferably, a plurality of locating features are provided around the plurality of adapter connectors 111. That is, a ring of mating features is provided around the plurality of adapter connectors 111. A ring of mating features is also provided on the adapter cover 120 around the location through which the corresponding adapter connector 111 passes.

To further enhance the securement of the installation, the plurality of locating features are symmetrically arranged with respect to a centerline axis of the adapter body 110 in the first direction L1. The first direction L1 may be a longitudinal direction of the adapter body 110. The midline may also be the symmetry axis of the adapter body 110 itself. Optionally, adjacent positioning features are staggered along the first direction L1. Alternatively, the plurality of locating features are not collinear along the first direction L1.

In a preferred embodiment, the positioning features of the adapter body 110 include the positioning posts 112, the docking features of the sterile sleeve 130 include the docking aperture 131, and the mating features of the adapter cover 120 include the mating aperture. Wherein the mating hole 131 may be a through hole and the mating hole may be a blind hole. Thus, when assembled, the locating post 112 may extend through the mating hole 131 and into the mating hole.

In another alternative embodiment, the locating feature of the adapter body comprises a mating hole, the docking feature of the sterile sleeve comprises a docking hole, and the mating feature of the adapter cover comprises a locating post. Wherein the butt joint hole can be a through hole, and the mating hole can be a blind hole. Thus, when assembled, the locator post may extend through the mating aperture and into the mating aperture.

Further, the locating feature may include a mounting portion 113, the docking feature may include a relief hole 133, and the mating feature may include a mounting hole 122. Wherein both the mounting portion 113 and the mounting hole 122 may have a screw structure. The relief holes 133 may be perforations. The sterile adapter further includes a fastener. The fixing may be a screw. Thus, when assembled, the securing member can pass through the mounting hole 122 and the relief hole 133 and connect with the mounting portion 113 to secure the adapter cover 120 and the adapter body 110 together.

In an alternative embodiment, the adapter body 110 is provided with an operating button 114, which button 114 can be operated by a user to effect a snap-fit connection of the adapter body 110 and the underlying instrument driver 11. Correspondingly, the sterile sleeve 130 is further provided with an avoidance port 134 for allowing the operation buckle 114 to pass through for avoidance.

According to the surgical robot 10 of the present application, since the above-described aseptic isolation assembly 100 is provided, a technical effect similar to that of the above-described aseptic isolation assembly 100 can be achieved.

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 belongs. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the present application. 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.

While the application has been described by way of example and with reference to the above embodiments, it is to be understood that the above embodiments are for illustration and description only and that the application is not limited to the above embodiments, and that many variations and modifications may be made in accordance with the teachings of the application, which variations and modifications are within the scope of the application as claimed.

Claims

1. A sterile isolation assembly for connection between an instrument driver of a surgical robot and a surgical instrument assembly, comprising:

a sterile adapter comprising an adapter body having a bottom side for connection with the instrument driver and an adapter cover having a top side for connection with the surgical instrument assembly, the adapter cover being fixedly connected to the adapter body; and

the sterile bagging is constructed into an integrated structure;

2. The sterile isolation assembly according to claim 1, wherein the underside of the adapter cover is provided with mating features positioned to correspond with the locating features of the adapter body, the mating features being configured to form a structural fit with the locating features.

3. The sterile isolation assembly according to claim 2 wherein the adapter body is provided with an adapter connector for driving between the instrument driver and surgical instrument assembly, the sterile sleeve having a void area thereon corresponding to the adapter connector, the projection of the void area onto the adapter body overlying the adapter connector.

4. A sterile isolation assembly according to claim 3 in which,

a plurality of the locating features are disposed along a periphery of the adapter body; and/or

5. The sterile isolation assembly according to claim 4, wherein,

a plurality of the locating features are symmetrically arranged with respect to a centerline axis of the adapter body in a first direction; and/or

Adjacent ones of the locating features are staggered along the first direction.

6. A sterile isolation assembly according to claim 3 wherein the adapter body has a plurality of said adapter connectors, at least two of said adapter connectors being arranged in a first direction and at least two of said adapter connectors being arranged in a second direction to form at least two rows of said adapter connectors;

7. The sterile barrier assembly according to any one of claims 2-6, wherein,

the locating feature of the adapter body comprises a locating post, the docking feature of the sterile sleeve comprises a docking aperture, the mating feature of the adapter cover comprises a mating aperture, wherein the locating post extends through the docking aperture and into the mating aperture; or alternatively

8. The sterile isolation assembly of claim 7, wherein the locating feature comprises a mounting portion, the docking feature comprises a relief hole, the mating feature comprises a mounting hole, and the sterile adapter further comprises a securing member passing through the mounting hole and the relief hole and connecting with the mounting portion to secure the adapter cap and the adapter body together.

9. The sterile isolation assembly according to claim 7, wherein an operating button is provided on the adapter body, and wherein an evacuation port is further provided on the sterile sleeve to evacuate the operating button.

10. A surgical robot comprising a sterile isolation assembly according to any one of claims 1-9.