CN216221692U

CN216221692U - Sterile cover of surgical system and surgical system

Info

Publication number: CN216221692U
Application number: CN202120893539.XU
Authority: CN
Inventors: 林民才
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2022-04-08
Anticipated expiration: 2031-04-27

Abstract

A sterile cover for a surgical system includes a body configured to cover at least one of an instrument manipulator, a manipulator arm, a robotic arm, and a post to form a first surface facing the at least one of the instrument manipulator, the manipulator arm, the robotic arm, and the post, and a second surface opposite the first surface, the first surface being located in a non-sterile field and the second surface being located in a sterile field. The utility model also provides a surgical system comprising a sterile cover as described above. The utility model can ensure the normal work of the slave operation equipment, and can also minimize or eliminate the need of sterilization of the slave operation equipment, thereby prolonging the service life of the slave operation equipment.

Description

Sterile cover of surgical system and surgical system

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a sterile cover of a surgical system and the surgical system.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the technology of the minimally invasive surgery system is gradually mature and widely applied. The minimally invasive surgery system generally comprises a main operating platform and a slave operating device, wherein the main operating platform is used for sending control commands to the slave operating device according to the operation of a doctor so as to control the slave operating device, and the slave operating device is used for responding to the control commands sent by the main operating platform and carrying out corresponding surgery operation.

Since the slave manipulator is close to the surgical area of the patient and is easily contaminated during the operation, it is required to sterilize it. The slave operation device has a structure of a servo motor, a sensor, an encoder, and a motor, which are damaged when sterilized using a conventional method such as steam, heat, pressure, or a chemical method.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a sterile cover of a surgical system and the surgical system, and aims to solve the technical problem that the conventional slave operation equipment is easy to damage in the disinfection process.

To achieve the above object, the present invention provides a sterile cover for a surgical system, the surgical system comprising:

stand, with the arm that the stand is connected, with the manipulator arm that the arm is connected and locate the instrument controller on the manipulator arm, aseptic cover includes:

a body for housing at least one of the instrument manipulator, the manipulator arm, the robotic arm, and the post to form a first surface facing at least one of the instrument manipulator, the manipulator arm, the robotic arm, and the post, and a second surface opposite the first surface, the first surface being located in a non-sterile area and the second surface being located in a sterile area.

Preferably, the surgical system further includes a surgical instrument having a link, the instrument manipulator is concavely provided with a first receiving groove for receiving the link of the surgical instrument, the body has a first avoiding film for being received in the first receiving groove, and the first avoiding film is used for providing an installation space for the link when the instrument manipulator receives the surgical instrument.

Preferably, the first avoiding film is a flexible film, and the flexible film is located outside the first accommodating groove when the body is sleeved on the instrument manipulator, and abuts against the connecting rod to be accommodated in the first accommodating groove when the instrument manipulator receives the surgical instrument; or

The first avoiding film is a flexible film, and the flexible film is positioned in the first accommodating groove when the body is sleeved on the instrument manipulator;

or the first avoiding film is a hard film, and the hard film is positioned in the first containing groove when the body is sleeved on the instrument manipulator.

Preferably, the sterile cover further comprises an adaptor arranged on the body, and a second accommodating groove communicated with the first accommodating groove is correspondingly and concavely arranged on the adaptor; the body is provided with a second avoiding film which is used for being contained in the second containing groove correspondingly at the position of the first containing groove, and the second avoiding film is used for providing an installation space for the connecting rod when the surgical instrument is received by the instrument manipulator.

Preferably, the second avoiding film is a flexible film, and the flexible film is located outside the second accommodating groove when the body is sleeved on the instrument manipulator, and abuts against the connecting rod to be accommodated in the second accommodating groove when the instrument manipulator receives the surgical instrument; or

The second avoiding film is a flexible film, and the flexible film is positioned in the second accommodating groove when the body is sleeved on the instrument manipulator; or

The second avoiding film is a hard film, and the hard film is positioned in the second containing groove when the body is sleeved on the instrument manipulator.

Preferably, the manipulator arm has a slide track for providing the instrument manipulator, and the body has a mobile pocket for nesting over the instrument manipulator, the mobile pocket providing space for the instrument manipulator to move along the slide track while the instrument manipulator remains shielded from non-sterile areas during movement.

Preferably, the sterile cover further comprises an adaptor disposed on the body, and the adaptor is connected with the instrument manipulator after the body is covered on the instrument manipulator to form the mobile bag.

Preferably, the surgical system further comprises a connector for connecting the surgical instrument to the instrument manipulator, the connector being connected to the adaptor and secured to the body.

Preferably, the adaptor comprises a fixing portion fixedly arranged on the body and a connector connected with the fixing portion, the connector being used for transmitting the actuating force of the instrument manipulator to the surgical instrument; or

The adaptor is a connector fixed to the body for transferring an actuation force of the instrument manipulator to the surgical instrument.

Preferably, the mobile bag includes one or more securing tabs for securing to the lever arm to limit movement of the mobile bag on the lever arm.

Preferably, the fixing piece is a magnetic sheet adhered to the movable bag.

Preferably, the magnetic sheet of the movable bag is provided with a film for adhering the magnetic sheet to the movable bag.

Preferably, the film and the magnetic sheet are located on the first surface of the moving bag.

Preferably, the movable bag is provided with a reinforcing sheet at a position corresponding to the magnetic sheet on at least one of the first surface and the second surface.

Preferably, the movable bag is further provided with a first pasting part and a second pasting part which are oppositely arranged, and the first pasting part and the second pasting part are used for pasting after the movable bag covers the control arm.

Preferably, the surgical system further comprises a stab card and a stab card holder provided at a distal end of the manipulator arm remote from the instrument manipulator, the body comprises a shield for covering the stab card holder, the shield has a barrier film for being provided in a holding space of the stab card holder to provide a mounting space for the stab card to be mounted onto the stab card holder and to shield the stab card holder from the non-sterile area.

Preferably, the isolation film is located outside the clamping space and is abutted by the stab card into the clamping space when the stab card is mounted to the clamping space.

Preferably, the isolation cover comprises a base body connected with the body and a cover body protruding from the base body, and the cover body is matched with the poking card clamping part in shape.

Preferably, the isolation cover further comprises a fastening portion attached to the base, and the fastening portion is attached to the body to fix the isolation cover to the body.

Preferably, the body is provided with a through hole, and the fastening part is used for being attached to the body when the cover body penetrates through the through hole.

Preferably, the isolation cover further comprises a surface layer portion wrapped on the substrate, and a fastening portion attached to the surface layer portion, wherein the fastening portion is used for attaching to the body to fix the isolation cover on the body.

Preferably, the isolation film is made of an insulating material.

Preferably, the insulating material is silica gel or polyurethane.

Preferably, the thickness range of the isolation film is 0.2-0.8 mm.

Preferably, the Shore hardness range of the isolation film is 70-110A.

To achieve the above object, the present invention also provides a surgical system comprising a sterile cover as described above.

The sterile cover of the surgical system and the surgical system are provided, a body is arranged to cover at least one of the instrument manipulator, the control arm, the mechanical arm and the upright post, so that a first surface facing at least one of the instrument manipulator, the control arm, the mechanical arm and the upright post and a second surface opposite to the first surface are formed, the first surface is located in a non-sterile area, and the second surface is located in a sterile area. In this way, the need for sterilization of the slave operating device can be minimized or eliminated while ensuring proper operation of the slave operating device, thereby increasing the useful life of the slave operating device.

Drawings

FIG. 1 is a schematic view of a surgical system according to one embodiment of the present invention with a sterile cover of one-piece construction;

FIG. 2 is a schematic structural view of an embodiment of the surgical system of the present invention in a split configuration;

FIG. 3 is a schematic structural diagram of an embodiment of a mobile bag according to the present invention;

FIG. 4 is a schematic structural diagram of an embodiment of a first avoiding film outside a first accommodating groove according to the present invention;

FIG. 5 is a schematic structural view illustrating a first avoiding film abutted by a connecting rod into a first accommodating groove according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a second avoiding film in a second receiving groove according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of an embodiment of a second avoiding film outside a second receiving groove according to the present invention;

FIG. 8 is a schematic structural view illustrating a second avoiding film abutted by a connecting rod into a second accommodating groove according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of a second avoiding film in a second receiving groove according to an embodiment of the present invention;

FIG. 10 is a schematic view of the adapter of the present invention in connection with an instrument manipulator;

FIG. 11 is a schematic illustration of the instrument manipulator of FIG. 10 moving in direction A;

FIG. 12 is a schematic structural view of another embodiment of a mobile bag according to the present invention;

FIG. 13 is a schematic view of the anchor sheet of FIG. 12;

FIG. 14 is a schematic structural view of an embodiment of the present invention in which the shielding case and the movable bag are separated;

FIG. 15 is a schematic structural view of the shield and the body of the present invention before being fixed;

FIG. 16 is a schematic structural view of the shield and the body of the present invention after they are fixed together;

FIG. 17 is a schematic structural view of another embodiment of the shield before being fixed to the body;

FIG. 18 is a schematic structural view of another embodiment of the shield body of the present invention after being fixed to the main body;

FIG. 19-1 is a schematic structural diagram of an embodiment of the present invention in which the isolation diaphragm is located outside the clamping space;

FIG. 19-2 is a schematic structural diagram of another embodiment of the isolating membrane of the present invention outside the clamping space;

FIG. 20-1 is a schematic view of an embodiment of the present invention with the isolation film being engaged by the card into the clamping space;

FIG. 20-2 is a schematic structural view of another embodiment of the present invention, wherein the isolation film is abutted by the stamp card into the clamping space;

FIG. 21-1 is a schematic structural view of an embodiment of the present invention with a separation film disposed in the clamping space;

FIG. 21-2 is a schematic structural view of another embodiment of the present invention with a separation film located in the clamping space;

FIG. 22 is a schematic structural view of a further embodiment of a mobile bag according to the present invention;

FIG. 23 is a schematic structural view of an embodiment of an adapter of the present invention;

FIG. 24 is a schematic structural view of another embodiment of an adapter of the present invention;

FIG. 25 is a schematic structural view of another embodiment of an adapter of the present invention;

FIG. 26 is a schematic view of the connector of the present invention in connection with a power land and a drive land;

FIG. 27 is a schematic structural diagram of an embodiment of the connector of the present invention;

FIG. 28 is a schematic view of the protective membrane of one embodiment of the utility model in the process of being mounted to an endoscope;

FIG. 29 is a schematic view of the protection film of FIG. 28 after the protection film is mounted;

FIG. 30 is a schematic structural diagram of an embodiment of the present invention during the process of mounting the elastic portion to the recess of the driving box;

FIG. 31 is a schematic view of the bungee cord of FIG. 30 after installation;

FIG. 32 is a schematic view of another embodiment of the protective membrane of the present invention during installation on an endoscope;

FIG. 33 is a schematic view of another embodiment of the protective membrane of the present invention during installation on an endoscope;

FIG. 34 is a schematic structural diagram of the protective film according to the previous embodiment of the present invention.

The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; 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 addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes 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 addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1, the present invention provides a surgical system 1000, the surgical system 1000 includes a master console 100 and a slave operation device 200, the master console 100 is used for sending a control command to the slave operation device 200 according to the operation of a doctor to control the slave operation device 200; the slave operation device 200 is used for responding to the control command sent by the master console 100 and performing the corresponding operation. The slave operation device 200 includes a column 21, a robot arm 22 suspended from the column 21, a manipulator arm 23 connected to the robot arm 22, an instrument manipulator (not shown) and a surgical instrument (not shown) provided on the manipulator arm, and an image display 25. Wherein the robot arm 22 further comprises a cantilever 221 and a moving arm 222, and the manipulating arm 23 is connected with the moving arm 222. The manipulating arm 23 has a card holding portion (not shown) at its distal end to hold the card 26.

As shown in fig. 1, the sterile cover includes a body 1, and an adaptor (not shown) disposed on the body 1, wherein the body 1 is configured to cover at least one of the instrument manipulator, the manipulation arm 23, the mechanical arm 22, and the column 21 to form a first surface a facing at least one of the instrument manipulator, the manipulation arm 23, the mechanical arm 22, and the column 21, and a second surface b opposite to the first surface a, the first surface a is located in a non-sterile area, and the second surface b is located in a sterile area. That is, the body 1 may be an integrally formed structure or a split structure (as shown in fig. 1 and 2).

It will be appreciated that the adaptor is not necessarily of a construction. In other embodiments, the sterile cover may not include the adaptor.

As shown in fig. 3, the manipulating arm 23 includes a slide rail 231 disposed along a length direction, and the instrument manipulator 232 is slidably connected to the slide rail 231. The instrument manipulator 232 is configured to receive the surgical instrument and provide an actuation force to the surgical instrument. Under the action of the actuating force of the instrument manipulator 232, the instrument manipulator 232 can move along the slide rail 231, so that the surgical instrument can correspondingly move along the direction of the slide rail 231. The manipulator arm 23 is provided with a stab card holder 233 at the end remote from the instrument manipulator 232 for the insertion of the surgical instrument through the stab card 26 into the body, in particular a link of the surgical instrument through the stab card 26. The surgical instrument may further include a surgical tool and an endoscope. The surgical tool is configured to be driven by the instrument manipulator 232 to extend into the body and perform a surgical procedure with its distally located end effector. The endoscope acquires an in-vivo image by an image acquisition unit located at the distal end thereof. The image display 25 is used for displaying images acquired by the endoscope.

Avoiding film

As shown in fig. 3, the instrument manipulator 232 is recessed with a first receiving groove 235 for receiving a link of the surgical instrument. The body 1 has a first avoiding film 11 for being accommodated in the first accommodating groove 235, and the first avoiding film 11 is used for providing an installation space for the connecting rod when the instrument manipulator 232 receives the surgical instrument. When the instrument manipulator 232 receives the surgical instrument, the link is received in the first receiving slot 235. When the instrument manipulator 232 provides an actuation force to the surgical instrument, the surgical instrument moves along the slide rail 231.

It is understood that, in one embodiment, as shown in fig. 4, the first bypass film 11 may be located outside the first receiving groove 235 when the body 1 is sleeved on the instrument manipulator 232. As shown in fig. 5, when the instrument manipulator 232 receives the surgical instrument, the link 27 is interfered with the first receiving groove 235. In this case, the first bypass film 11 is a flexible film, but the first bypass film 11 may be a deformable hard film. In another embodiment, as shown in fig. 6, the first bypass film 11 may be matched with the shape of the first receiving groove 235 and located in the first receiving groove 235, and in this case, the first bypass film 11 may be a flexible film or a hard film.

As shown in fig. 7, a second receiving groove 120 is correspondingly recessed in the adaptor 12 and is communicated with the first receiving groove 235. The body 1 is provided with a second avoiding film 13 corresponding to the position of the first receiving groove 235 and adapted to be received in the second receiving groove 120, and the second avoiding film 13 is adapted to provide an installation space for the link 27 when the instrument manipulator 232 receives the surgical instrument.

In an embodiment, as shown in fig. 7, the second bypass film 13 may be located outside the second receiving groove 120, and when the instrument manipulator 232 receives the surgical instrument, as shown in fig. 8, the second bypass film 13 is interfered by the link 27 into the second receiving groove 120. In this case, the second avoidance film 13 is a flexible film, but the second avoidance film 13 may be a deformable hard film. In another embodiment, as shown in fig. 9, the second bypass film 13 may be located in the second receiving groove 120 in a shape matching the shape of the second receiving groove 120, and in this case, the second bypass film 13 may be a flexible film or a hard film. It will be appreciated that the adaptor 12 shown in figures 7 to 9 is only intended to aid understanding of the present application and is not intended to be limiting.

The first avoidance film 11 and the second avoidance film 13 may be the same avoidance film or two separate avoidance films. For example, the two may be the same or different in terms of material, thickness, and hardness.

Because the instrument manipulator 232 is in close proximity to the surgical area of the patient, it is susceptible to contamination during surgery. However, the conventional disinfection method is easy to damage the structure, thereby affecting the normal function of the surgical system. In the embodiment, the first receiving groove 235 for receiving the link 27 of the surgical instrument is concavely arranged on the instrument manipulator 232, and the first avoiding film 11 for being received in the first receiving groove 235 is arranged on the body 1, so that when the instrument manipulator 232 receives the surgical instrument, the first avoiding film 11 provides an installation space for the link 27. In this manner, the need to sterilize the slave operating devices may be minimized or eliminated while ensuring proper operation of instrument manipulator 232, thereby increasing the useful life of instrument manipulator 232.

Movable bag

The body 1 has a mobile bag 14 for covering the instrument manipulator 232, and the mobile bag 14 is used for providing a space for the instrument manipulator 232 to move along the slide rail 231, so that the instrument manipulator 232 is still shielded from a non-sterile area during the movement. Further, as shown in fig. 10, the adaptor 12 is connected to the instrument manipulator 232 such that the body 1 forms the mobile bag 14 at the position of the manipulator arm 23. That is, the mobile bag 14 may be a bag shape itself and put on the manipulating arm 23; the mobile bag 14 may also form the mobile bag 14 as a result of the adaptor 12 being connected to the instrument manipulator 232. The mobile bag 14 is used to provide space for the instrument manipulator 232 to move along the slide rail 231, while the instrument manipulator 232 remains shielded from non-sterile areas during movement.

As shown in fig. 10 and 11, the adaptor 12 is connected to the instrument manipulator 232, so that the body 1 forms the mobile bag 14 at the position of the instrument manipulator 232. As shown in fig. 10, when the adaptor 12 is mounted to the instrument manipulator 232, the mobile bag 14 forms a fold over the instrument manipulator 232; as shown in fig. 11, when the instrument manipulator 232 moves in the direction a of the stab card holder 233, the corrugated portion is unfolded. As such, the mobile bag 14 provides space for the instrument manipulator 232 to move along the slide rail 231 through the change in configuration.

As shown in fig. 12, the mobile bag 14 includes one or more fixing pieces 140 for fixing to the manipulating arm 23, and specifically, the fixing pieces 140 may be provided on the mobile bag 14 on the side of the manipulating arm 23 facing away from the instrument manipulator 232, and one or two opposite fixing pieces 14 may be provided at a position where the mobile bag 14 is close to the stab card holding portion. In this manner, the mobile bag 14 may be restricted from moving on the lever arm 23, while the visual bulk of the mobile bag 14 may also be reduced, making the mobile bag 14 appear more conformable. Specifically, the fixing piece 140 may be a magnetic sheet or an adhesive tape attached to the movable bag 14. In other embodiments, if the size of the mobile bag 14 is properly set, the mobile bag 14 can be covered on the control arm 23 more snugly without the need for additional fixing sheet 140. It is understood that the fixing sheet 140 may be located on the first surface a or the second surface b.

If the fixing plate 140 is a magnetic sheet, it may be circular, square, rectangular or other shapes. As shown in fig. 13, the movable bag 14 is provided with a film 141 at the magnetic sheet position for attaching the magnetic sheet to the movable bag 14. In one embodiment, the film 141 and the magnetic sheet are located on the first surface a of the mobile bag 14. Correspondingly, the actuating arm 23 is provided with a metal sheet (not shown in the figures) in a corresponding position. The movable bag 14 is provided with a reinforcing plate 142 at a position corresponding to the magnetic sheet on at least one of the first surface a and the second surface b. Therefore, the magnetic sheet can be prevented from falling off from the movable bag 14, and the phenomenon that the movable bag 14 is torn in the process of multiple adsorption and separation of the magnetic sheet and the metal sheet due to inaccurate alignment or installation and adjustment requirements can also be prevented.

As shown in fig. 12, the movable bag 14 is further provided with a first adhesion portion 151 and a second adhesion portion 152 which are oppositely arranged. The first and second

adhesive portions

151 and 152 are used for adhering to the manipulation arm 23 after covering the manipulation arm 23, thereby shielding the manipulation arm 23 from a non-sterile region. Specifically, the first attaching portion 151 and the second attaching portion 152 may be a round hair attaching surface and a barbed hair attaching surface, respectively, of a hook and loop fastener. The first attaching portion 151 and the second attaching portion 152 may also be a magnet and a metal body, respectively. The first attaching portion 151 and the second attaching portion 152 may also be of a fastener structure. In one embodiment, the first adhesive portion 151 and the second adhesive portion 152 may be attached to the movable bag 14. The first and second attaching

portions

151 and 152 may have a stripe structure. Of course, in other embodiments, the first attaching portion 151 and the second attaching portion 152 may have other shapes, such as a circular shape. It is understood that a plurality of pairs of the first attaching portion 151 and the second attaching portion 152 may be provided on the moving bag 14 along the length direction of the manipulating arm 23. It can be understood that, when the first and

second sticking portions

151 and 152 are of a hook and loop fastener structure, the matching area therebetween can be adjusted, so that the first and

second sticking portions

151 and 152 can fix the mobile bag 14 to the manipulating arm 23 on the one hand, and can reduce the volume of the space occupied by the mobile bag 14 on the other hand, so that the mobile bag 14 is more fitted to the manipulating arm 23.

Since the manipulator arm 23 is adjacent to the surgical area of the patient, it is susceptible to contamination during surgery. However, the conventional disinfection method is easy to damage the structure, thereby affecting the normal function of the surgical system. In the present embodiment, the movement bag 14 is disposed on the instrument manipulator 232 to provide a space for the instrument manipulator 232 to move along the slide rail 231, so that the instrument manipulator 232 is still shielded from non-sterile areas during the movement process. In this way, the need for sterilization of the slave operating device can be minimized or eliminated while ensuring proper operation of the slave operating device, thereby increasing the useful life of the slave operating device.

Isolation cover

As shown in fig. 14, the main body 1 includes a shield case 15 for covering the card holding portion 233, and the shield case 15 has a separation film 150 for being disposed in a holding space 234 of the card holding portion 233 to provide a mounting space for the card 26 to be mounted to the card holding portion 233 and to shield the card holding portion 233 from a non-sterile area. That is, the isolation cover 15 may be an integral structure with the mobile bag 14 (as shown in fig. 12); as shown in fig. 14, the isolation cover 15 may be a separate structure from the mobile bag 14. In other words, the isolation cover 15 may be a part of the mobile bag 14, or may be an independent structure separated from the mobile bag 14, and may be appropriately disposed according to actual needs.

As shown in fig. 15 and 16, in an embodiment, when the isolation cover 15 and the mobile bag 14 are in a split structure, the isolation cover 15 further includes a base 151 connected to the body 1 or the mobile bag 14, and a cover 152 protruding from the base 151. Wherein the cover 152 is matched in shape to the tamper holder 233. The base 151 and the cover 152 may be an integral structure or a split structure. When the isolation cover 15 is of an integrated structure, the isolation cover 15 is of a flexible structure with insulating property; when the shielding case 15 is a split structure, the cover 152 may be a flexible structure having insulating properties.

Further, the isolation cover 15 further includes a fastening portion 153 attached to the base 151, and the fastening portion 153 is used for attaching to the body 1 to fix the isolation cover 15 to the body 1. Correspondingly, a through hole 154 is formed in the body 1, and the fastening portion 153 is used for being attached to the body 1 when the cover 152 passes through the through hole 154. It will be appreciated that in other embodiments, the through-hole 154 may not be provided when the body 1 is sufficiently flexible. In addition, when the size of the through hole 154 is appropriate to the size of the shield 15, the fastening portion 153 is not necessarily required, and therefore, the fastening portion 153 can more firmly fix the shield 15 to the body 1, so that the number of operation steps of an operator can be reduced.

As shown in fig. 17 and 18, in another embodiment, the isolation cover 15 further includes a surface layer portion 156 covering the substrate 151, and a fastening portion 153 attached to the surface layer portion 156. The fastening portion 153 is used to attach to the main body 1 to fix the shield cover 15 to the main body 1. Based on the insulation requirement of the isolation cover 15, the material property of the isolation cover 15 may make the fixing strength between the isolation cover 15 and the body 1 not necessarily high. Therefore, in order to further improve the fixing strength between the isolation cover 15 and the main body 1, compared to the previous embodiment, the present embodiment improves the fixing strength between the isolation cover 15 and the main body 1 by providing the surface layer portion 156 that can be firmly adhered to the fastening portion 153 on the base 151. It is understood that the fastening portion 153 may be a double-sided adhesive tape, or may be a magnetic attraction or a snap.

In one embodiment, as shown in FIGS. 19-1 and 19-2, the isolation diaphragm 150 is located outside the clamping space 234. As shown in fig. 20-1 and 20-2, the separation film 150 is interfered by the poke card 26 into the holding space 234 when the poke card 26 is mounted to the holding space 234. At this time, the separation film 150 is a flexible film. Of course, in other embodiments, the isolation film 150 may be a deformed hard film.

In another embodiment, as shown in FIGS. 21-1 and 21-2, the cage 15 matches the shape of the clip retainer 233 and the isolation diaphragm 150 is located in the retaining space 234. In this case, the separator 15 may be a flexible film or a hard film. Specifically, the isolation film 150 may be a silicone film.

Further, the isolation film 150 may be an integrally formed structure with the isolation cover 15 or the mobile bag 14, or may be a separate structure with the isolation cover 15 or the mobile bag 14.

Further, the isolation film 150 is made of an insulating material, specifically, a material such as polyurethane or polytetrafluoroethylene, so as to insulate the metal structural component on the manipulator arm. The thickness of the isolation film 150 may be 0.2 to 0.8 mm. The Shore hardness range of the isolating membrane 150 is 70-110A. For example, a plastic film with a material of polyurethane, a thickness of 0.2mm and a shore hardness of 80A may be selected as the isolation film 150; the isolating film 150 can be selected from a plastic film which is made of polyurethane, has the thickness of 0.8mm and the Shore hardness of 70A; the isolating film 150 can be selected from a plastic film which is made of polyurethane, has the thickness of 0.5mm and the Shore hardness of 110A; the isolation film 150 can be selected from polyurethane, a plastic film with a thickness of 0.5mm and a shore hardness of 90A. Of course, in other embodiments, the material, thickness and hardness of the isolation cover may be the above parameters.

Since the stab card holder 233 is adjacent to the surgical area of the patient, it is easily contaminated during the surgery. However, the conventional disinfection method is easy to damage the structure, thereby affecting the normal function of the surgical system. In the present embodiment, the isolation cover 15 is disposed on the card holding portion 233, and the isolation cover 15 has the isolation film 150 disposed in the holding space 234 of the card holding portion 233, so as to provide a mounting space for the card 26 to be mounted on the card holding portion 233 and to shield the card holding portion 233 from a non-sterile area. In this way, the need for sterilization of the slave operating device can be minimized or eliminated while ensuring proper operation of the slave operating device, thereby increasing the useful life of the slave operating device.

Adapter

As shown in fig. 23, in one embodiment, the surgical system 1000 further includes a connector 18 for connecting the surgical instrument to the instrument manipulator 232, and the connector 18 is connected to the adaptor 12 and fixed to the body 1, so that the actuating force of the instrument manipulator 232 can be transmitted to the surgical instrument. The connector 18 and the adaptor 12 may be engaged by a snap fit, or by magnetic attraction, adhesion, or thread fastening, and the specific engagement is not limited in the present invention.

In another embodiment, as shown in fig. 24, the adaptor 12 comprises a fixing portion 19 fixed to the body 1 and a connector 18 connected to the fixing portion 19, the connector 18 being used for transmitting the actuating force of the instrument manipulator 232 to the surgical instrument. The present embodiment differs from the embodiment shown in fig. 23 in that: the connector 18 of the present embodiment is part of the adapter 12, whereas the connector 18 of the embodiment shown in fig. 23 is a structure separate from the adapter 12. The embodiment avoids the operation of installing the connector 18 on the body 1 in the preparation process before the operation, reduces the operation steps of the operation, and improves the operation efficiency.

In a further embodiment, as shown in fig. 25, the adaptor 12 is a connector 18 fixed to the body 1, the connector 18 being adapted to transmit the actuating force of the instrument manipulator 232 to the surgical instrument. In this embodiment, the adaptor 12 may be fixed on the body 1 by means of adhesion, hot melting, or the like. The present embodiment differs from the embodiment shown in fig. 23 in that: the connector 18 of this embodiment corresponds to the adapter 12 of the embodiment shown in fig. 23, and no additional adapter 12 structure is required. The embodiment avoids the operation of installing the connector 18 on the body 1 in the preparation process before the operation, reduces the operation steps of the operation, and improves the operation efficiency.

As shown in fig. 26 and 27, in one embodiment, the instrument manipulator 232 has a power interface 221 and the surgical instrument has a drive interface 240. The connector 18 includes a connecting body 181 connected to the fixing portion 19, a first land 182 provided on the connecting body 181, and a second land 186 connected to the first land 182. The first connecting plate 182 is used for abutting against the power connecting plate 221, and the second connecting plate 186 is used for abutting against the driving connecting plate 240, so that the instrument manipulator 232 drives the surgical instrument through the first connecting plate 182 and the second connecting plate 186. In another embodiment, the instrument manipulator 232 has a power interface 221, the surgical instrument has a drive interface 240; the connector 18 includes a connecting body 181 fixed on the body 1, a first connecting plate 182 disposed on the connecting body 181, and a second connecting plate 186 connected to the first connecting plate 182, wherein the first connecting plate 182 is configured to abut against the power connecting plate 221, and the second connecting plate 186 is configured to abut against the driving connecting plate 240, so that the instrument manipulator 232 drives the surgical instrument through the first connecting plate 182 and the second connecting plate 186.

Further, at least two first protruding portions 183 extend from the first connecting disc 182, a first concave region 184 is formed between two adjacent first protruding portions 183, two second protruding portions 187 extend from the second connecting disc 186, a second concave region 188 is formed between two adjacent second protruding portions 187, and the first protruding portions 183 are configured to be received in the second concave regions 188 and abut against two adjacent second protruding portions 187; the second protruding portion 187 is received in the first recessed area 184, and abuts against two adjacent first protruding portions 183. The first connection plate 182 is provided with a first mounting position 185, so that at least one of the power connection plate 221 and the first connection plate 182 is movable relative to the connection body 181 along a first direction limited by the first mounting position 185, wherein the first direction is an extending direction of the first mounting position 185. The second connecting disc 186 is provided with a second mounting position 189, so that at least one of the driving connecting disc 240 and the second connecting disc 186 is movable relative to the connecting body 181 along a second direction limited by the second mounting position 189, wherein the second direction is an extending direction of the second mounting position 189.

The first direction forms an included angle with the rotation axis of the first connecting disc 182, and the second direction forms an included angle with the rotation axis of the second connecting disc 186. For example, the first interface board 182 and the driving interface board 240 are movable relative to the interface board 181 in a direction perpendicular to the rotation axis; the second connection plate 186 and the power connection plate 221 are movable relative to the connection body 181 in a direction perpendicular to the rotation axis. The first connecting plate 182 and the second connecting plate 186 can independently move relative to the connecting body 181.

At least one of the power connection disc 221 and the first connection disc 182 is movable relative to the connection body 181 in a first direction limited by the first mounting position 185, and at least one of the driving connection disc 240 and the second connection disc 186 is movable relative to the connection body 181 in a second direction limited by the second mounting position 189, so that mounting gaps between the connector 18 and the instrument manipulator 232 and the surgical instrument can be reduced.

Further, at least one of the first mounting location 185 and the second mounting location 189 has a tapered hole structure, which may further reduce the mounting gap.

As shown in fig. 22, the movable bag is provided with an elastic portion 145 on a side close to the movable arm 222. When the mobile bag 14 is mounted, the elastic portion 145 is opened from the direction of the instrument manipulator 232, and the mobile bag 14 is opened in a direction away from the instrument manipulator 232, so that the elastic portion 145 is automatically closed at the other side of the manipulating arm 23 away from the card holding portion 233. Next, the adaptor 12 is fixed to the instrument manipulator 232, and after the adaptor 12 is mounted, the spacer 15 is fitted over the stab card holding portion 233, so that the movable bag 14 is covered over the manipulation arm 23.

It is also possible to first sleeve the mobile bag 14 on the actuating arm 23, then fix the fixing plate 140 on the actuating arm 23, fix the adaptor 12 on the instrument manipulator 232, and after the adaptor 12 is completely installed, then unfold the mobile bag 14 in the direction of the mobile arm 222 until the attachment plate 166 is fixed on the robotic arm 22. In this way it is achieved that at least one of the surgical instrument and the moving arm 222 may also shield the instrument manipulator 232 and the manipulator arm 23 etc. from the non-sterile area during movement. It is to be understood that the above-described installation process is only for assisting understanding of the present application scheme, and does not limit the structure and sequence. In other embodiments, some structures or adjustment sequences may be omitted.

Protective film (endoscope)

As shown in fig. 28, the endoscope includes a main control box 241, a drive box 242 detachably connected to the main control box 241, and an endoscope cable 243 connected to the main control box 241. The sterile cover further includes a protective film 50 that covers the main control box 241 and the endoscope cable 243 to shield the main control box 241 and the endoscope cable 243 from non-sterile areas.

Further, as shown in fig. 29, the protective film 50 has an opening end M and a terminal end N which are oppositely arranged, and the protective film 50 is provided with a connecting portion 51 at the terminal end N. The connecting portion 51 is located between the main control box 241 and the drive box 242 when the main control box 241 and the drive box 242 are assembled, so as to shield the main control box 241 from the non-sterile area and to enable the drive box 242 to be located in the sterile area. Specifically, the connecting portion 51 is a hollow structure extending along an edge of the driving box 242 and matching the shape of the driving box 242. The shape of the connecting portion 51 is adapted to the shape of the main control box 241 or the driving box 242, and may be square or circular.

Further, as shown in fig. 28, the drive cassette 242 has a bearing portion 244, and the bearing portion 244 is used for bearing the connecting portion 51, so that the connecting portion 51 is located between the main control cassette 241 and the drive cassette 242 when the main control cassette 241 and the drive cassette 242 are assembled. The terminal N may be an opening end M, and when the protection film 50 is mounted, an operator may first pass his hand through the terminal N, put the protection film 50 in a folded state on the driving box 242, and load the connecting portion 51 on the loading portion 244. Then, the main control box 241 and the drive box 242 are assembled such that the connection portion 51 is positioned between the main control box 241 and the drive box 242, and the protective film 50 is pulled apart in the longitudinal direction of the endoscope cable, thereby shielding the main control box 241 and the endoscope cable 243 from the non-sterile area.

Further, as shown in fig. 30 and 31, the protection film 50 may further be provided with an elastic portion 52 at the opening end M, and the elastic portion 52 is used for being fastened to the driving case 242. Specifically, the driving box 242 is provided with a groove 246, and the groove 246 is used for accommodating the elastic portion 52. When the connecting portion 51 is mounted on the driving box 242, the elastic portion 52 is received in the groove 246, so that the connecting portion 51 is prevented from moving on the driving box 242, and the main control box 241 and the driving box 242 can be accurately positioned without adjusting the position of the connecting portion 51 relative to the main control box 241 or the driving box 242, thereby improving the mounting efficiency.

Further, as shown in fig. 32, the body 1 further includes a bonding portion 247 fixed on the protective film 50, one side of the bonding portion 247 is bonded to the connecting portion 51, and the other side of the bonding portion 247 is used for being bonded to the driving box 242. The joint portion 247 can fix the connecting portion 51 to the driving box 242 very firmly when the connecting portion 51 is mounted on the supporting portion 244, so as to prevent the connecting portion 51 from moving on the driving box 242, and thus, the main control box 241 and the driving box 242 can be precisely positioned. It is understood that one or two of the attaching portion 247 and the elastic portion 52 may be selected according to actual needs.

Further, as shown in fig. 33, an endoscope cable fixing member 53 is provided on the protective film 50 to fix the endoscope cable 243 to the robot arm 22 or the column 21. The endoscope cable fixing member 53 may be a single-sided adhesive structure, a double-sided adhesive structure, a hook and loop structure, a magnetic structure, a nail structure, or the like fixed to the protective film 50, or may be a hook and loop structure fixed to the pillar 21. The present embodiment is not limited to the specific number of the endoscope cable fixing pieces 53. For example, the endoscope cable fixing member 53 is not limited to a single one, and two, three, or more endoscope cable fixing members 53 may be used.

Further, the surgical system 1000 also includes an electrical blade cable (not shown) connected to the surgical instrument. An electric knife cable fixing member (not shown) is provided on the protective film 50 to fix the electric knife cable to the robot arm 22 or the column 21. Similarly, the electric knife cable fixing member may be a single-sided adhesive structure, a double-sided adhesive structure, a hook and loop structure, a magnetic structure, a nail structure, or the like fixed to the protective film 50, or may be a hook and loop structure fixed to the pillar 21.

Further, as shown in fig. 34, a pull mark 55 is provided on the protective film 50 to indicate a direction in which the protective film 50 is unfolded. The protection film 50 is provided with an endoscope flange 56 at a side away from the main control box 241. The endoscope flange 56 may facilitate hand insertion by an operator while avoiding contact with non-sterile areas. In the actual operation process, the unfolding position and the direction of the protective film 50 can be quickly positioned through the lifting mark 55, and when the hand of an operator extends into the endoscope flange 56, the protective film 50 is unfolded towards the direction of the lifting mark 55, so that the endoscope cable 243 is shielded in the protective film 50.

When the protective film 50 is attached, one hand of the operator may extend into the distal end N, the other hand may pick up the endoscope to fix the connecting portion 51 to the drive box 242, and then the main control box 241 and the drive box 242 may be fixed in a fitted manner, and then the other hand may extend into the endoscope flange 56 to unfold the protective film 50 in the direction of the pull mark 55, thereby shielding the endoscope cable 243 from the protective film 50.

It can be understood that the body 1 may be an integrally formed structure or a split structure. When the body 1 is an integrally formed structure, the body may be made of ultra-high molecular weight polyethylene, low density polyethylene, high density polyethylene, nylon, polytetrafluoroethylene, polypropylene, or the like. When the structure is a split structure, different structures can be made of the same or different materials. For example, the pillar film 17 may be made of low density polyethylene or the like.

Furthermore, fillers can be added into the material to influence the friction coefficient, the antistatic property and the like so as to reduce the adhesiveness or the electrostatic influence of the material, so that the installation process of the sterile cover is more convenient and efficient. Correspondingly, the body 1 may be made of a single-layer, double-layer or triple-layer material. For example, when the body 1 is made of three layers, the first and third layers may be antistatic filler layers, and the middle layer may be an anti-puncture filler layer (low density polyethylene).

The sterile cover can be processed into a vacuum state before use no matter in an integrally formed structure or a split structure. In a structure having a small movement width, such as the column 21 and the arm 21, the sterile cover covered by the structure may be in a vacuum state.

The whole thickness of the sterile cover can be 25-40 μm, and the thickness of the sterile cover can be increased appropriately at the position needing to be matched with other structures.

It can be understood that a plurality of colored marks can be arranged on the sterile cover to indicate the disinfection side and the non-disinfection side, so that the sterile cover is convenient for operators to operate and is prevented from being polluted. A plurality of arrow marks may be provided on the sterile cover 101 to indicate the deployment direction, thereby improving the efficiency of the operator.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the technical solutions of the present invention that are made by using the contents of the specification and the drawings or directly/indirectly applied to other related technical fields are included in the scope of the present invention.

Claims

1. A sterile cover for a surgical system, the surgical system including a post, a robotic arm coupled to the post, a manipulator arm coupled to the robotic arm, and an instrument manipulator disposed on the manipulator arm, the sterile cover comprising:

2. The sterile cover of claim 1, wherein the surgical system further comprises a surgical instrument having a link, wherein the instrument manipulator is recessed with a first receiving slot for receiving the link of the surgical instrument, wherein the body has a first avoidance film for being received in the first receiving slot, and wherein the first avoidance film is configured to provide an installation space for the link when the instrument manipulator receives the surgical instrument.

3. The sterile cover of claim 2, wherein the first avoiding membrane is a flexible membrane that is positioned outside the first receiving slot when the body is fitted over the instrument manipulator and that is received in the first receiving slot by abutting against the link when the instrument manipulator receives the surgical instrument; or

4. The sterile cover according to claim 2, further comprising an adaptor disposed on the body, wherein a second receiving groove communicated with the first receiving groove is correspondingly recessed on the adaptor; the body is provided with a second avoiding film which is used for being contained in the second containing groove correspondingly at the position of the first containing groove, and the second avoiding film is used for providing an installation space for the connecting rod when the surgical instrument is received by the instrument manipulator.

5. The sterile cover of claim 4, wherein the second bypass membrane is a flexible membrane that is positioned outside the second receiving slot when the body is received over the instrument manipulator and that is received in the second receiving slot by abutting against the link when the instrument manipulator receives the surgical instrument; or

6. The sterile cover of claim 1, wherein said manipulator arm has a slide track for providing said instrument manipulator, and said body has a travel pocket for nesting over said instrument manipulator, said travel pocket providing space for said instrument manipulator to travel along said slide track while said instrument manipulator remains shielded from non-sterile areas during travel.

7. The sterile cover of claim 6, further comprising an adaptor disposed on the body, the adaptor being coupled to the instrument manipulator to form the mobile bag after the body is overlaid on the instrument manipulator.

8. The sterile cover of claim 7, wherein the surgical system further comprises a surgical instrument, and a connector for connecting the surgical instrument to the instrument manipulator, the connector being connected to the adapter and secured to the body.

9. The sterile cover of claim 7, wherein the surgical system further comprises a surgical instrument for mounting to the instrument manipulator, the adaptor comprising a fixed portion secured to the body and a connector connected to the fixed portion for transmitting an actuation force of the instrument manipulator to the surgical instrument; or

10. The sterile hood of claim 6, wherein the mobile bag includes one or more securing tabs for securing to the lever arm to limit movement of the mobile bag on the lever arm.

11. An aseptic closure as defined in claim 10, wherein said securing tab is a magnetic strip affixed to said removable bag.

12. An aseptic closure as claimed in claim 11, wherein said removable pouch is provided with a film at the location of said magnetic strip for adhering said magnetic strip to said removable pouch.

13. The sterile cover of claim 12, wherein said wafer and said magnetic strip are located on said first surface of said mobile bag.

14. An aseptic closure as defined in claim 11, wherein said mobile bag is provided with a reinforcing tab at a location on at least one of said first and second surfaces corresponding to said magnetic tab.

15. An aseptic closure as defined in claim 10, wherein said mobile bag is further provided with first and second oppositely disposed adhesive portions for engaging after said mobile bag is closed over said manipulator arm.

16. The sterile cover of claim 1, wherein the surgical system further comprises a poke card and a poke card holder disposed at a distal end of the manipulator arm remote from the instrument manipulator, the body including a shield for covering the poke card holder, the shield having a barrier membrane for being disposed within a holding space of the poke card holder to provide a mounting space for the poke card to mount to the poke card holder and to shield the poke card holder from the non-sterile area.

17. The sterile cover of claim 16, wherein said barrier is positioned outside of said holding space and is contacted by said tamp into said holding space when said tamp is mounted to said holding space.

18. The sterile cover of claim 16 wherein said shield includes a base connected to said body and a cover projecting from said base, said cover matching the shape of said poke clip holder.

19. The sterile cover of claim 18, wherein said shield further comprises a fastening portion attached to said base for attaching said shield to said body by attachment to said body.

20. The sterile cover of claim 19, wherein said body is provided with a through hole, and said fastening portion is adapted to engage said body when said cover is inserted through said through hole.

21. The sterile cover of claim 18, wherein said cover further comprises a skin portion surrounding said base, and a fastening portion attached to said skin portion for attaching to said body to secure said cover to said body.

22. The sterile hood of claim 16 wherein said barrier film is an insulating material.

23. The sterile hood of claim 22, wherein the insulating material is silicone or polyurethane.

24. The sterile hood of claim 16 wherein the barrier film has a thickness in the range of 0.2mm to 0.8 mm.

25. The sterile hood of claim 16 wherein said barrier film has a shore hardness ranging from 70A to 110A.

26. A surgical system, characterized in that it comprises a sterile cover according to any one of claims 1 to 25.