CN215914887U - Sterile adapter and abdominal cavity robot - Google Patents

Abstract

The utility model relates to a sterile adapter and an abdominal cavity robot. The sterile adapter comprises a first connecting sheet, a second connecting sheet and a power transmission disc; the first connecting piece is provided with a first connecting hole, the second connecting piece is provided with a second connecting hole, the first connecting piece, the power transmission disc and the second connecting piece are sequentially connected along the axial direction, and two ends of the power transmission disc respectively penetrate through the first connecting hole and the second connecting hole; the first connecting piece is further provided with a first clamping jaw or a first clamping beam which is connected with the power end in a clamping mode, and the second connecting piece is further provided with a second clamping jaw or a second clamping beam which is connected with the instrument end in a clamping mode. The sterile adapter is in quick connection with the power end and the instrument end respectively in a buckling connection mode, and has higher use flexibility and convenience.

Description

Sterile adapter and abdominal cavity robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a sterile adapter and an abdominal cavity robot.

Background

The laparoscopic minimally invasive surgery is more and more popular among doctors and patients due to the advantages of small wound, light pain, quick recovery, less bleeding, short hospitalization time and the like. Meanwhile, with the progress of scientific technology, a trend of performing laparoscopic minimally invasive surgery by a robot-assisted surgeon has been developed. The doctor operates the robot, and then the corresponding control mechanism, the sensor and other components in the robot perform response feedback, so that the hand action of the doctor is reproduced by the instrument end of the robot, and the treatment such as cutting, suturing and the like of the pathological tissue is achieved.

At present, the operation must be carried out in a sterile environment, but the robot is provided with electronic components such as a motor, a control circuit, various sensors and the like, so that the whole robot cannot be sterilized once by one-time use, the power end and the instrument end of the robot must be isolated by virtue of a sterile adapter so as to achieve the purpose that the instrument end can be sterilized independently after the operation is finished, and the sterile adapter is used as a disposable medical instrument article and directly carries out corresponding treatment according to the hospital regulations after the operation is finished. Therefore, the sterile adapter needs to be simple in structure so as to be convenient for disassembly and assembly operation and ensure the convenience of use.

SUMMERY OF THE UTILITY MODEL

Based on the aseptic adapter, the aseptic adapter which is simple in structure and convenient to disassemble and assemble is provided, so that the use convenience of the aseptic adapter is improved.

A sterile adapter comprises a first connecting sheet, a second connecting sheet and a power transmission disc; the first connecting piece is provided with a first connecting hole, the second connecting piece is provided with a second connecting hole, the first connecting piece, the power transmission disc and the second connecting piece are sequentially connected along the axial direction, and two ends of the power transmission disc respectively penetrate through the first connecting hole and the second connecting hole; the first connecting piece is further provided with a first clamping jaw or a first clamping beam which is connected with the power end in a clamping mode, and the second connecting piece is further provided with a second clamping jaw or a second clamping beam which is connected with the instrument end in a clamping mode.

In one embodiment, the first connecting piece is provided with a first claw which forms a snap connection with the power end, and the first claw is fixed at the edge position of the first connecting piece.

In one embodiment, along the length direction of the first jaw, the middle part of the first jaw is fixedly connected with the first connecting piece, two ends of the first jaw are respectively provided with a first barb and a pressing cap, and the first barb and the pressing cap are positioned on two opposite surfaces of the first jaw.

In one embodiment, the first connecting piece is provided with a groove; the groove is located at the circumferential edge position of the first connecting piece and corresponds to the inner side position of the first claw where the pressing cap is arranged.

In one embodiment, the first connecting piece is provided with a deformation hole; the deformation hole penetrates through the first connecting piece and is positioned at the edge position of the first connecting piece; one end of the first clamping jaw is provided with a first barb, and the other end of the first clamping jaw is fixed on the hole wall of the deformation hole.

In one embodiment, the second connecting piece is provided with a second clamping beam which is in clamping connection with the instrument end.

In one embodiment, the power transmission disc forms an axially and circumferentially movable connection with the first and second connecting tabs.

In one embodiment, the power transmission disc is of a cylindrical structure, and a positioning ring is arranged on the outer circumferential surface of the power transmission disc; when the first connecting piece is axially connected with the second connecting piece, a positioning groove is formed between the first connecting hole and the second connecting hole so as to accommodate the positioning ring.

In one embodiment, the positioning groove is formed in the second connecting piece and is located at one end, close to the first connecting hole, of the second connecting hole.

In one embodiment, the first connecting piece and the second connecting piece are fixedly connected in an open-disassembly mode.

An abdominal cavity robot comprises a power end, an instrument end and the sterile adapter, wherein the power end and the instrument end are connected through the sterile adapter.

In the abdominal cavity robot of one embodiment, the power end is provided with a first clamping beam which forms a clamping connection with the first connecting sheet, and the instrument end is provided with a second clamping jaw which forms a clamping connection with the second connecting sheet.

In the abdominal cavity robot of one of the embodiments, along the length direction of the second jaw, one end of the second jaw is connected with the body part of the instrument end, the other end is provided with a second barb, and a movable gap is provided between one end of the second jaw provided with the second barb and the body part of the instrument end.

An abdominal cavity robot comprises a sterile adapter, a power end and an instrument end, wherein the sterile adapter comprises a first connecting sheet and a second connecting sheet; the first connecting piece and the second connecting piece are connected along the axial direction; the sterile adaptor is characterized in that a first clamping jaw or a first clamping beam which is connected with the power end in a buckling mode is arranged on the first connecting piece, a second clamping jaw or a second clamping beam which is connected with the instrument end in a buckling mode is arranged on the second connecting piece, and the power end and the instrument end are connected through the sterile adaptor.

In the sterile adapter, the power transmission disc is arranged between the first connecting sheet and the second connecting sheet, two ends of the power transmission disc respectively penetrate through the first connecting sheet and the second connecting sheet and are connected with the power end and the instrument end, the first connecting sheet is provided with a clamping jaw or a clamping beam connected with the power end in a clamping mode, the second connecting sheet is provided with a clamping jaw or a clamping beam connected with the instrument end in a clamping mode, and the sterile adapter can be fixedly connected with the power end and the instrument end in a clamping and locking mode. Like this, carry out the installation of this aseptic adapter with power end and apparatus end and align and remove the operation in-process, can directly accomplish aseptic adapter and power end and apparatus end's be connected fixedly and remove through pressing the jack catch in the buckle connection, need not to install again after aligning and remove the removal after fixing to make this aseptic adapter have higher use flexibility and convenience.

Drawings

FIG. 1 is a schematic view of a connection relationship between a sterile adapter and a power end in an abdominal cavity robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the connection between the sterile adaptor and the instrument end of the laparoscopic robot according to an embodiment of the present invention;

FIG. 3 is an exploded view of a sterile adapter in accordance with an embodiment of the present invention;

FIG. 4 is a schematic cross-sectional view of a sterile adaptor according to an embodiment of the present invention;

FIG. 5 is a schematic top view of a first tab configuration of a sterile adapter according to another embodiment of the present invention;

fig. 6 is a cross-sectional view of a sterile adaptor according to another embodiment of the present invention.

Description of the reference symbols:

10-a sterile adaptor; 20-a power end; 30-an instrument end; 110-a first connecting tab in one embodiment; 111-a first connection aperture; 112-a first jaw; 113-a first barb; 114-pressing the cap; 115-grooves; 120-a second connecting piece; 121-a second connection hole; 122-positioning grooves; 123-a second clamp beam; 124-a clamping beam guide surface; 130-a power transmission disc; 131-a positioning ring; 140-locating pins; 150-connecting bolts; 110 a-first connecting tab in another embodiment; 111 a-deformation hole; 112 a-a first jaw in another embodiment; 21-a first clamp beam; 31-a second jaw; 311-a second barb; 312-jaw guide surface.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 and 2, fig. 1 shows a connection manner of a sterile adapter and a power end in an abdominal cavity robot according to an embodiment of the utility model, and fig. 2 shows a connection manner of a sterile adapter and an instrument end in an abdominal cavity robot according to an embodiment of the utility model.

In an embodiment of the utility model, the abdominal cavity robot comprises a sterile adapter 10, a power end 20 and an instrument end 30. Wherein, the power end 20 and the instrument end 30 are respectively fixed at two ends of the sterile adapter 10 by means of snap connection, so that the power output by the power end 20 is transmitted to the instrument end 30 by the sterile adapter 10 to drive the instrument end 30 to perform the abdominal cavity operation.

Through being connected aseptic adapter and power end and apparatus end design for the buckle formula, can align and demolish the operation in-process at the installation of power end and apparatus end and aseptic adapter, through the closure that jack catch and card roof beam formed in step and break away from in the buckle connection, can accomplish the fixed and demolish of being connected of power end and apparatus end and aseptic adapter simultaneously, need not to install again after aligning and remove after fixing, thereby improved the convenience that aseptic adapter connects power end and apparatus end.

Referring to fig. 3 and 4, fig. 3 shows the structure relationship of the sterile adaptor according to one embodiment of the present invention in an exploded state, and fig. 4 shows the cross-sectional structure of the sterile adaptor according to one embodiment of the present invention in an assembled state.

In one embodiment of the present invention, the sterile adaptor 10 includes a first connecting piece 110, a second connecting piece 120, and a power transmission disc 130. Here, five first connection holes 111 in the form of through holes are provided on the first connection piece 110, five second connection holes 121 in the form of through holes are provided on the second connection piece 120, and the axes of the five first connection holes 111 are aligned with the axes of the five second connection holes 121, respectively.

The first connecting piece 110, the power transmission disc 130 and the second connecting piece 120 are connected in sequence along the axial direction, two ends of the five power transmission discs 130 respectively pass through the five first connecting holes 111 and the five second connecting holes 121, and meanwhile, the power transmission discs 130 are movably connected with the first connecting piece 110 and the second connecting piece 120, so that the power transmission discs 130 can perform axial reciprocating movement and reciprocating rotation relative to the first connecting piece 110 and the second connecting piece 120, and power transmission connection between the power end 20 and the instrument end 30 is realized.

In this embodiment, the power transmission disc 130 has a cylindrical structure, and is provided with a positioning ring 131 on the outer circumferential surface thereof, and a positioning groove 122 on the second connecting piece 120. The diameter and axial dimensions of the positioning groove 122 are greater than the outer diameter and axial dimensions of the positioning ring 131, and the positioning groove 122 is opened in the second connecting hole 121 near one end of the first connecting hole 111 and keeps coaxial relationship with the second connecting hole 121, so that the second connecting hole 121 and the positioning groove 122 form a step hole structure.

At this moment, carry out the in-process of axial connection to first connection piece and second connection piece, can directly hold the holding ring of power transmission dish with the help of the constant head tank of seting up on the second connection piece to under the condition of guaranteeing that first connection piece and second connection piece form the laminating and connect, make power transmission dish and first connection piece and second connection piece form the swing joint along axial and circumferencial direction, power transmission dish both can carry out reciprocal rotation promptly, also can carry out reciprocating motion to the direction that is close to first connection piece and the direction that is close to the second connection piece. Like this, not only can fix power transmission dish between first connection piece and second connection piece with swing joint's mode, guarantee power transmission and connect, with the help of power transmission dish along the free activity of axial and whole circumferencial direction, can carry out nimble adjustment to its position and the gesture with power end and apparatus end connection in-process, especially under the condition that needs to accomplish a plurality of power transmission dish fixed connection simultaneously, can improve the convenience of being connected with power end and apparatus end greatly.

In other embodiments, for the opening of the positioning groove, according to the structural form and the processing condition of the first connecting sheet and the second connecting sheet, the positioning groove can be adjusted to the first connecting sheet to be opened, and the positioning groove can be divided into two parts to be respectively opened on the first connecting sheet and the second connecting sheet, so that the structural strength and the stability of the first connecting sheet and the second connecting sheet after the positioning groove is opened under the condition that the thickness and the size of the first connecting sheet and the second connecting sheet are small are ensured.

In the sterile adapter of the present embodiment, the first connecting piece 110 and the second connecting piece 120 are detachably and fixedly connected by the positioning pin 140 and the connecting bolt 150, that is, after the first connecting piece 110 and the second connecting piece 120 are circumferentially positioned by the positioning pin 140, the first connecting piece 110 and the second connecting piece 120 are axially and fixedly connected by the connecting bolt 150.

Through carrying out detachable fixed connection to first connection piece and second connection piece, can carry out the free combination to first connection piece, second connection piece and power transmission dish, promptly to power end and apparatus end in with the difference of power transmission dish connected mode, can be under the unchangeable circumstances of first connection piece and second connection piece, carry out quick assembly disassembly change and quantity control to power transmission dish alone to satisfy the use in the different operating modes, improve the availability factor of this aseptic adapter.

In this way, in assembling the sterile adapter of the present embodiment, it is sufficient to place the five power transmission disks 130 between the first connection piece 110 and the second connection piece 120 and to be kept coaxial with the first connection hole 111 and the second connection hole 121 while placing the positioning pins 140 and the sterile plastic film between the first connection piece 110 and the second connection piece 120 with the five first connection holes 111 and the five second connection holes 121 being axially aligned, and thereafter to fixedly connect the first connection piece 110 and the second connection piece 120 in the axial direction by the connection bolts 150.

Referring to fig. 1, 3 and 4, two first claws 112 are further provided on the first connecting piece 110 of the present embodiment, and two corresponding first catches 21 are provided on the power end 20, so that the snap connection formed by the two first claws 112 and the two first catches 21 connects the power end 20 and the sterile adapter 10.

The first jaw 112 is fixed at an edge of the first connecting plate 110, and along a length direction of the first jaw 112, a middle portion of the first jaw 112 is fixedly connected with the first connecting plate 110, two ends of the first jaw 112 are respectively provided with a first barb 113 and a pressing cap 114, and the first barb 113 and the pressing cap 114 are located on two opposite surfaces of the first jaw 112.

Further, a groove 115 is further provided on the first connecting piece 110 of the present embodiment. Wherein, the groove 115 is located at the circumferential edge position of the first connecting piece 110 and corresponds to the inner side position of the first jaw 112 where the pressing cap 114 is provided, for accommodating the first jaw 112 forming an offset when the pressing cap 114 is pressed.

At this time, the first barb may be tilted by pressing the pressing cap with the position where the first jaw is fixedly connected to the first connecting piece as a fulcrum. Like this, under the condition that first jack catch and first card roof beam form the closure, under the condition that the first barb of first jack catch formed the axial buckle closure with first card roof beam promptly, can drive first barb through pressing down the cap and break away from the contact with first card roof beam to remove the buckle closure of first jack catch and first card roof beam, realize breaking away from fast of aseptic adapter and power end.

In this embodiment, the first claws forming the snap connection between the sterile adapter and the power end are arranged on the sterile adapter, and the corresponding first clamping beams are arranged on the power end, so that the sterile adapter with smaller size and weight can be flexibly moved by taking the power end as a reference, and the installation and the disassembly of the sterile adapter and the power end can be completed. Moreover, through fixing first jack catch in the border position of first connecting piece, the operation is pressed to the pressing cap to the operating personnel of being more convenient for when handheld aseptic adapter, improves manual operation's convenience.

However, in embodiments thereof, if the power end is more convenient to move than the instrument end to which the sterile adapter is connected, the first jaw forming the snap-fit connection between the sterile adapter and the power end can be adjusted to the power end and the first clamp beam can be adjusted to the sterile adapter to facilitate ease and flexibility of the detachable connection between the sterile adapter and the power end.

Referring to fig. 5 and 6, fig. 5 shows a configuration of a first connection tab of a sterile adaptor according to another embodiment of the present invention; fig. 6 shows a cross-sectional structure of a sterile adaptor according to another embodiment of the present invention.

In contrast to the first connecting piece in the embodiment shown in fig. 3 and 4, a deformation hole 111a is provided in the first connecting piece 110a of this embodiment. The deformation hole 111a penetrates the first connecting piece 110a and is located at an edge position of the first connecting piece 110a, and one end of the first jaw 112a is also provided with the first barb 113, but the other end is directly fixed at a hole wall position of the deformation hole 111 a.

At this moment, through carrying out towards pressing of deformation hole direction to the pore wall of first jack catch and deformation jogged joint position department, can make the deformation hole produce deformation to the first barb that drives first jack catch offsets, makes first barb break away from to be connected with the buckle of first card roof beam, removes the buckle closure of first jack catch and first card roof beam, realizes breaking away from fast of aseptic adapter and power end.

Referring to fig. 2 to 4, two second clamping beams 123 are provided on the second connecting piece 120 of the present embodiment, and two corresponding second claws 31 are provided on the instrument end 30, so that the snap connection formed by the second claws 31 and the second clamping beams 123 performs the quick connection between the instrument end 30 and the sterile adaptor 10.

The upper end of the second clamp beam 123 is further provided with a clamp beam guide surface 124 in an inclined state to guide the second claw 31 in the connection process, so that the second claw 31 and the second clamp beam 123 can form quick snap locking. The second jaw 31 is arranged along the axial direction of the instrument end 30, and along the length direction of the second jaw 31, one end of the second jaw 31 is fixedly connected with the body part of the instrument end 30, the other end of the second jaw 31 is provided with a second barb 311 and a jaw guide surface 312, and a movable gap is arranged between one end of the second jaw 31, which is provided with the second barb 311, and the body part of the instrument end 30, so that the second barb 311 can be accommodated when being bent towards the direction close to the axial line of the instrument end.

At the moment, when the connection operation between the instrument end and the second connecting sheet is carried out, under the condition that the second claw and the second clamping beam are kept aligned along the axial direction, the instrument end and the second connecting sheet are moved to be close to each other in the axial direction, so that the claw guide surface is in contact with the clamping beam guide surface, the second claw is bent towards the axial direction of the instrument end under the guide driving of the clamping beam guide surface, the second barb of the second claw smoothly slides over the clamping beam guide surface to form axial buckle locking with the second clamping beam, and the connection operation between the instrument end and the second connecting sheet is finished.

When the disassembly operation between the instrument end and the second connecting piece is carried out, the second clamping jaw is firstly pressed, so that the second barb of the second clamping jaw is bent towards the axis direction of the instrument end and is separated from the buckle connection of the second clamping beam, then the instrument end and the second connecting piece are axially far away from and move, and the disassembly operation between the instrument end and the second connecting piece is completed.

In this embodiment, the second claw forming the snap connection between the sterile adaptor and the instrument end is arranged at the instrument end and the corresponding second clamp beam is arranged at the sterile adaptor, so that the instrument end with smaller size and weight and possibly needing to be replaced repeatedly can be disassembled and assembled by taking the sterile adaptor as a reference, and the flexibility and convenience of the disassembling and assembling operation of the sterile adaptor and the instrument end are improved.

Likewise, in other embodiments, depending on the design and application requirements, the second latch beam forming the snap-fit connection between the sterile adapter and the instrument end can be adjusted to the instrument end and the second latch can be adjusted to the second tab, thereby facilitating ease and flexibility of the detachable connection between the sterile adapter and the power end.

In addition, in the embodiment, under the condition that the connection between the sterile adapter and the power end is adjusted to the first connecting piece and the connection between the sterile adapter and the instrument end is adjusted to the second connecting piece, the first connecting piece and the second connecting piece are designed to be fixedly connected in an open-and-close mode, so that the free combination mode of the first connecting piece, the second connecting piece and the power transmission disc can be completely realized, namely, the first connecting piece, the second connecting piece and the power transmission disc are respectively and independently adjusted according to different instrument ends and different power ends. Like this, not only can be according to the change of the operation scene condition, adjust the structure of aseptic adapter in order to satisfy the connection of different apparatus ends and power end, improve the flexibility of field usage greatly, but also can regard first connection piece, second connection piece and power transmission dish as the standard component to produce the preparation, reduce manufacturing cost and purchase cost.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A sterile adapter, comprising a first connecting piece, a second connecting piece and a power transmission disc; the first connecting piece is provided with a first connecting hole, the second connecting piece is provided with a second connecting hole, the first connecting piece, the power transmission disc and the second connecting piece are sequentially connected along the axial direction, and two ends of the power transmission disc respectively penetrate through the first connecting hole and the second connecting hole; the first connecting piece is further provided with a first clamping jaw or a first clamping beam which is connected with the power end in a clamping mode, and the second connecting piece is further provided with a second clamping jaw or a second clamping beam which is connected with the instrument end in a clamping mode.

2. The sterile adaptor of claim 1, wherein the first connecting tab is provided with a first catch forming a snap-fit connection with the power end, and wherein the first catch is fixed at an edge position of the first connecting tab.

3. An aseptic adaptor as defined in claim 2, wherein the middle part of the first jaw is fixedly connected to the first connecting plate along the length direction of the first jaw, the two ends of the first jaw are respectively provided with a first barb and a pressing cap, and the first barb and the pressing cap are located on two opposite surfaces of the first jaw.

4. The sterile adaptor of claim 3 wherein said first connecting tab is provided with a recess; the groove is located at the circumferential edge position of the first connecting piece and corresponds to the inner side position of the first claw where the pressing cap is arranged.

5. The sterile adaptor of claim 2, wherein the first connecting piece is provided with a deformation hole; the deformation hole penetrates through the first connecting piece and is positioned at the edge position of the first connecting piece; one end of the first clamping jaw is provided with a first barb, and the other end of the first clamping jaw is fixed on the hole wall of the deformation hole.

6. The sterile adaptor of claim 1, wherein the second connecting piece is provided with a second clip beam that forms a snap fit connection with the instrument end.

7. An abdominal robot comprising a power end, an instrument end and the sterile adaptor of any one of claims 1-6, the power end and the instrument end being connected by the sterile adaptor.

8. The laparoscopic robot of claim 7, wherein said power end is provided with a first catch beam forming a snap connection with said first connecting tab, and said instrument end is provided with a second catch forming a snap connection with said second connecting tab.

9. The laparoscopic robot of claim 8, wherein said second jaw has one end connected to said instrument end body portion and the other end provided with a second barb along the length of said second jaw, and wherein a clearance gap is provided between the end of said second jaw provided with the second barb and said instrument end body portion.

10. An abdominal cavity robot is characterized by comprising a sterile adapter, a power end and an instrument end, wherein the sterile adapter comprises a first connecting sheet and a second connecting sheet; the first connecting piece and the second connecting piece are connected along the axial direction; the sterile adaptor is characterized in that a first clamping jaw or a first clamping beam which is connected with the power end in a buckling mode is arranged on the first connecting piece, a second clamping jaw or a second clamping beam which is connected with the instrument end in a buckling mode is arranged on the second connecting piece, and the power end and the instrument end are connected through the sterile adaptor.

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