CN216702631U

CN216702631U - Guiding and positioning structure for rear ends of sterile adapters and surgical instruments

Info

Publication number: CN216702631U
Application number: CN202121614673.8U
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Konuositeng Technology Co ltd
Current assignee: Shenzhen Konuositeng Technology Co ltd
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2022-06-10
Anticipated expiration: 2031-07-14

Abstract

The utility model discloses a guiding and positioning structure of a sterile adapter and the rear end of a surgical instrument, wherein the sterile adapter comprises a back plate, the back plate is perpendicular to the upper surface of a body structure of the sterile adapter, the back plate is combined with the back of a surgical instrument box, and the back plate is provided with a part for guiding the movement of the surgical instrument box in the X direction and a part for guiding the movement of the surgical instrument box in the Y direction. According to the guiding and positioning structure of the sterile adapter and the surgical instrument box, when the surgical instrument box and the sterile adapter are assembled, the moving range of the surgical instrument box is limited within a smaller width and a smaller amplitude range, so that the moving range of the surgical instrument box is smaller in the whole installation process, the lower end of a surgical instrument is prevented from deflecting or swinging to a larger extent, and the distraction of the attention of an operator during operation is avoided.

Description

Guiding and positioning structure for rear ends of sterile adapters and surgical instruments

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a guide positioning structure of a sterile adapter and a surgical instrument box.

Background

The surgical robot can help doctors to realize accurate positioning of operations, and has the advantages of reducing wounds of patients, shortening postoperative recovery time and the like. And it has stable operation platform, can solve the condition such as doctor's shiver, therefore has a large amount of applications in clinical surgery.

Surgical instruments in surgical robots typically have a rear end actuator in the form of a surgical tool, such as forceps, scissors, clips, etc., at one end of an elongated tube. The conventional motion structure of the rear end actuating mechanism is to adopt a steel wire rope to rotate the rear end actuating mechanism so as to finish pitching, deflecting and clamping actions.

The surgeon controls the instruments on the operation side driver on the console side, and in order to meet the use requirements of different surgical instruments in the operation, the surgical instruments and the instrument driver are usually designed to be detachable, so that the requirements of different surgical instruments can be changed in the operation, and meanwhile, the surgical instruments are usually sterilized and disinfected independently.

The instrument driver end is typically designed to be non-sterilizable, and to ensure sterility during the surgical procedure, a sterile adapter is added between the instrument driver and the instrument during the procedure to isolate the non-sterilizable instrument driver end from the sterilizable instrument end during the procedure.

The back end of the surgical instrument is connected with the upper surface of the sterile adapter, the instrument driver is connected with the lower surface of the sterile adapter, and the instrument driver provides driving force for the actuating mechanism at the back end of the surgical instrument through the sterile adapter, so that the purposes of pitching, deflecting and clamping actions are achieved.

Aseptic adapter lower surface and apparatus driver upper surface connection stably do not break away from after connecting, simultaneously can convenient and fast when needs unblock unlocks the separation from the apparatus driver with aseptic adapter, surgical instruments rear end and aseptic adapter upper surface connection remain stable after connecting and do not break away from, simultaneously can convenient and fast when needs unblock unlocks and unlocks the separation from aseptic adapter with surgical instruments.

Among the current surgical robot, the guide structure of aseptic adapter is a complete arcwall face, when the installation, because the arcwall face can make surgical instruments box deflect around the Z direction, operating personnel need divide more energy like this and pay close attention to the deflection of surgical instruments sleeve pipe lower extreme, slope, whether the accurate sleeve pipe that inserts patient's belly, whether can put up with the sleeve pipe, then the direction of deflection of the angle of adjustment surgical instruments box, further carry out the accuracy and lead again. This approach requires the operator to calibrate back and forth at the upper and lower ends of the surgical instrument during installation, which is more distracting and installation effort.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content of the present invention is not intended to define key features or essential features of the claimed solution, nor is it intended to be used to limit the scope of the claimed solution.

In order to solve the technical problems, the utility model designs a guiding and positioning structure of a sterile adapter and a surgical instrument box, which is realized by adopting the following scheme:

a guiding and positioning structure for a sterile adapter and the rear end of a surgical instrument comprises a back plate, wherein the back plate is perpendicular to the upper surface of a body structure of the sterile adapter and is combined with the back of a surgical instrument box, and the back plate is provided with a part for guiding the surgical instrument box to move in the X direction and a part for guiding the surgical instrument box to move in the Y direction.

According to the guiding and positioning structure of the sterile adapter and the rear end of the surgical instrument, when the rear end of the surgical instrument is assembled with the sterile adapter, the moving range of the surgical instrument box is limited within a smaller width and amplitude range, so that the moving range of the rear end of the surgical instrument box is smaller in the whole installation process, the front end or the lower end of the surgical instrument is prevented from deflecting or swinging to a larger extent, and the attention of operators is prevented from being dispersed during operation.

Preferably, one of the back plate and the rear end of the surgical instrument has a groove formed on the surface thereof, the groove having a portion with a reduced width in the X direction, and the other of the back plate and the rear end of the surgical instrument has a protrusion fitted into the groove on the surface thereof.

More preferably, the slot has a constant width portion, and at least part of the projection engages with the constant width portion of the slot.

More preferably, the groove is located on the back plate, and a width of an upper portion of the groove in the X direction is greater than a width of a lower portion of the groove in the X direction.

More preferably, the lower portion of the groove has a constant-width portion in the X direction.

More preferably, the back plate is provided with two guide grooves, and the width of the upper part of the abutting surface between the two guide grooves in the Y direction is smaller than the width of the lower part of the abutting surface in the Y direction.

More preferably, the lower portion of the abutment surface has a constant width portion in the Y direction.

Preferably, the sterile adapter is clamped with the rear end of the surgical instrument, and the clamping position of the sterile adapter and the rear end of the surgical instrument is provided with a matching surface. In the scheme, the sterile adapter and the clamping position at the rear end of the surgical instrument are adopted for accurate guiding and accurate positioning, on one hand, the sterile adapter and the surgical instrument can be further accurately guided and positioned in a butt joint mode, on the other hand, a plurality of different mechanisms can be mutually cooperated, and the effect is better.

More preferably, the upper surface of the sterile adapter is protruded with a fixing buckle, the lower surface of the rear end of the surgical instrument is provided with a fixing buckle clamping position, and the outer surface of the fixing buckle is matched with the fixing buckle clamping position of the rear end of the surgical instrument in shape.

More preferably, the matching surface where the fixing buckle and the fixing buckle are embedded comprises a combination of a plurality of curved surfaces and/or straight surfaces.

More preferably, the upper end of the holder buckle includes first guide surfaces extending to the left and right sides of the holder buckle.

More preferably, the upper end of the holder buckle includes second guide surfaces extending to the front and rear sides of the holder buckle.

More preferably, the lower end of the fixing buckle comprises a vertical positioning part at the front side of the fixing buckle.

More preferably, the lower end of the fixing buckle comprises a slope surface at the rear side of the fixing buckle.

More preferably, the lower end of the fixing buckle comprises matching parts positioned at the left side and the right side of the fixing buckle.

Drawings

The following drawings of the utility model are included to provide a further understanding of the utility model. The drawings illustrate embodiments of the utility model and, together with the description, serve to explain the principles of the utility model.

In the drawings:

FIG. 1 is a schematic view of the assembled state of the instrument driver, sterile adapter and surgical instrument according to the embodiment of the present invention

FIG. 2 is a schematic view of an exploded view of a surgical instrument, sterile adapter and instrument driver according to an embodiment of the present invention

FIG. 3 is a perspective view of a sterile adapter according to an embodiment of the present invention

FIG. 4 is a perspective view of another perspective view of a sterile adapter according to embodiments of the present invention

FIG. 5 is a perspective view of the back structure of the surgical instrument cassette according to the embodiment of the present invention

FIG. 6 is a front view of a sterile adapter according to an embodiment of the present invention

FIG. 7 is a side view of a sterile adapter according to an embodiment of the present invention

FIG. 8 is an exploded view of a sterile adapter and surgical instrument according to an embodiment of the present invention

FIG. 9 is an exploded view of a removable clasp assembly for a surgical instrument according to an embodiment of the present invention

Description of the reference numerals:

100 instrument driver 101 fitting surface of instrument driver

130 driver drive train 200 sterile adapter

210 upper housing 211 of a sterile adaptor the upper surface of the sterile adaptor

213 fastener 2131 fastener surface

2132 first guide surface 2133 second guide surface

2134 straight matching surface 2135 vertical positioning part

2136 third guide part 230 adapter driver

250 backing plate 2511 guide way

2511a guide groove plane 2511b guide groove wall

2511c guide groove wall 2512 face between two guide grooves

2512a upper part of the face between two guide grooves

2512b lower part of the face between two guide grooves

300 surgical instrument 301 lower surface of surgical instrument

310 surgical instrument box 311 instrument transmission member

312 seat body 3121 guide rod seat

3122 fixing buckle of spacing column 3123

3123A fixing buckle insertion entrance 313 projection

314 fixed buckle 320 sleeve

330 movable buckle component 331 movable piece

3311 movable buckle 33111 movable buckle clamping surface

3312 connecting arm 3313 passive part

332 operating part 3321 operating button

3322 guide part of actuator 3323 operating part

3324 limiting waist hole 332 guide rod

334 guide 3341 guide part of the guide

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the utility model may be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to obscure the embodiments of the utility model.

In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the utility model. It is apparent that the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. It should be noted that ordinal numbers such as "first" and "second" used in this application are merely labels, and do not have any other meanings, such as a specific order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component". The terms "upper", "lower", "front", "rear", "left", "right" and the like as used herein are for purposes of illustration only and are not limiting.

The utility model provides a mechanism for installing and matching a surgical robot surgical instrument with a sterile adapter and an instrument driver. Embodiments of the present invention will be described below with reference to the drawings.

In the present invention, the mechanism of the surgical instrument drive transmission section mainly comprises three major parts, an instrument driver, a sterile adapter and a surgical instrument.

First, in the embodiment, to describe the position relationship of each mechanism component, a plurality of direction terms are defined, and these direction terms are interpreted, the longitudinal direction of the cannula of the surgical instrument is taken as the Z direction, the span direction of the back plate of the sterile adapter is taken as the X direction, and the extending direction from the back plate of the sterile adapter to the cannula of the surgical instrument is taken as the Y direction, where "up" and "down" indicate the visual angles of the instrument driver, the sterile adapter, and the surgical instrument when in use, and "front" and "back" are the back angles of the surgical instrument cannula of the surgical instrument and the surgical instrument box as the basic directions, where the direction of the cannula of the surgical instrument can be "front", the back direction of the surgical instrument box is "back", and "left" and "right" are the left and right directions on both sides of the surgical instrument box which can be seen from the perspective of the cannula of the surgical instrument.

Referring to fig. 1, a schematic diagram of the assembled instrument driver 100, sterile adapter 200, and surgical instrument 300 is shown. Wherein, as shown in fig. 2, the instrument driver 100, the sterile adaptor 200, and the surgical instrument 300, in turn, have adapted structures on the upper and lower surfaces (i.e., XY-plane) such that the upper surface of the instrument driver 100, the upper surface of the sterile adaptor 200, the lower surface, and the lower surface of the surgical instrument cartridge 300 are not visible after assembly.

Among them, 100 instrument drivers are mounted on a slide arm of a surgical robot arm, and can move up and down on the slide arm. The driving motor outputs power outwards through the output shaft and the driver transmission part correspondingly connected with the output shaft. Specifically, the instrument driver 100 has a regularly-shaped housing, and a plurality of driving motors, which may be three, four, or five, are provided inside the instrument, and each driving motor is correspondingly connected to an output shaft, so that the number of output assemblies of the instrument driver corresponds to the number of driving motors. The upper portion of the instrument driver is a mounting surface that can interface with a mounting surface of a sterile adapter. Wherein the mounting surface of the instrument driver defines a driver output assembly mounting hole, in one embodiment, the output component of the instrument driver includes a driver element 130, the driver element 130 is disposed in the driver mounting hole, and the upper end of the driver element can protrude from the mounting surface 101 of the instrument driver.

Sterile adapter 200, which isolates the instrument driver from direct contact with the surgical instrument, is connected to the sterile drape, wraps the mechanical arm and instrument driver of the surgical robot with the sterile drape and sterile adapter, is isolated from the outside, engages the upper end surface of the instrument driver, and is provided with an adapter transmission member for transmitting power. The sterile adaptor 200 has a body structure, a lower surface of which cooperates with the mounting surface of the instrument driver, and an upper surface 211 of which cooperates with the surgical instrument. The body structure is provided with an adapter transmission member mounting hole which is vertically through, the adapter transmission member 230 is positioned in the adapter transmission member mounting hole, so that the lower end part of the adapter transmission member 230 can be matched with the upper end of the instrument transmission member, and the upper end part of the adapter transmission member 230 is matched with the lower end of the instrument transmission member 311.

The surgical instrument 300 includes a surgical instrument box 310 having a rear end and an actuator (not shown) at a front end, and an instrument sleeve 320 connected between the surgical instrument box 310 and the actuator. Surgical instrument cartridge 300 is engaged with sterile adapter 200 and the pitch, yaw, and grip motions of the surgical instrument are driven by the instrument driver through the cooperation of the surgical instrument and the instrument driver thereon with the adapter driver of the sterile adapter.

In an embodiment, the sterile adapter is connected to the instrument driver by a non-transmission part in addition to a transmission part, the fit of which is connected by a snap connection.

The same surgical instrument and sterile adaptor also have a non-geared connection, i.e. the surgical instrument and sterile adaptor are connected by a snap fit.

Guidance in the installation of the surgical instrument with the sterile adapter is required before the surgical instrument can be snapped into engagement with the sterile adapter. The mounting guide structure for the surgical instrument and sterile adapter is described in detail below.

Specifically, sterile adapter 200 includes a back plate 250 that is positioned on the rear side of the body structure 210 of the sterile adapter and perpendicular to the upper surface of the upper housing 210 of the sterile adapter. The back plate 250 has a side surface facing the surgical instrument, i.e., a front side of the back plate, which is abutted against a rear side portion of the surgical instrument cassette 310, and a rear side, which is positioned at the rear side of the back plate, and may be bonded to a sterile cloth along an edge of the back plate, which isolates the sterile cloth from the surgical instrument, or may exist in an isolated state, and the sterile cloth is bonded to the body structure of the sterile adaptor.

This backplate 250, on the one hand, keeps apart surgical instruments 300 and aseptic cloth, avoids the two contact with the aseptic cloth of frictional damage, and on the other hand, when the installation, can play the spacing effect of direction.

Specifically, as shown in fig. 3 and 4, the body of the back plate 250 has a plate-like structure, and guide grooves 2511 are vertically penetrated through the front side surface 251a of the back plate 250. As shown in FIG. 5, the cartridge 310 is positioned at the surgical site with the protrusion 313 that is capable of engaging the guide slot 2511, i.e., the width of the protrusion 313 is no greater than the width of the guide slot. The protrusion 313 may be provided to completely fit the structure of the guide slot 2511, or may be provided to fit only the lower end portion of the guide slot. The structure of the guide slot 2511 that is through from top to bottom allows the surgical instrument to be installed from top to bottom when it is installed.

Wherein guide slot 2511 is configured to have a plane 2511a perpendicular to the upper surface of the sterile adaptor, which is also the XZ plane. The XZ plane restricts the projection 312 from being movable in the Y direction, and when the surgical instrument is attached, the projection directly abuts against a portion of the XZ plane, and the attachment position in the Y direction does not need to be adjusted.

Referring to fig. 5, 4, 6, and 7, the guide slot 2511 further includes portions of two

walls

2511b and 2511c perpendicular to the XY plane. The distance between the two

walls

2511b and 2511c varies from top to bottom along the Z direction, i.e., the width of the guide slot, and varies from large to small along the Z direction, i.e., the width of the slot gradually changes from wide to narrow. The structure of this part can guide the projection to move in the X direction, namely, a certain space in the X direction can enable the projection to adjust the position. And initially no more effort is required to align the protrusion 312 as it is inserted into the guide slot 2511. Meanwhile, the distance between the two

walls

2511b and 2511c has a portion where the distance does not change any more, that is, the width of the guide groove, and is constant in this portion. When the width of the guide slot 2511 tapers to fully engage the protrusion, the width of the guide slot does not change, i.e., the guide slot restricts the protrusion from moving in the X direction, while the protrusion continues to move downward in the Z direction.

In embodiments, one or two guide slots may be provided, such as two guide slots having a portion of the surface 2512 therebetween, and in order to enable fine adjustment of the surgical instrument in the Y direction, the upper portion 2512a of the surface may be provided as a ramp surface that guides the movement of the surgical instrument in the Y direction. At the lower portion 2512b of the face, the face disposed as a vertical face, i.e., a face parallel to the XZ plane, is to restrict the surgical instrument from moving in the Y direction.

Correspondingly, the adjacent two walls of the two guide grooves and the surface connected between the two guide grooves can also complete the guide,

the above is the initial guidance and initial positioning of the surgical instrument in docking with the sterile adapter. In practice, the surgical instrument cassette sterile adapter can also provide precise guidance and precise positioning. In the present invention, a structure for providing accurate guidance and accurate positioning is provided in combination with a sterile adaptor and a connection structure of a non-transmission portion of a surgical instrument cassette.

The sterile adapter is connected with the surgical instrument box through a fixing buckle fixedly arranged on the sterile adapter, and a movable buckle is arranged on the surgical instrument box, so that the movable buckle of the surgical instrument box is connected with the fixing buckle on the sterile adapter in a buckling mode in the vertical direction.

Specifically, as shown in fig. 6 and 7, the upper surface of the sterile adaptor is protruded with fixing buckles 213, and in the embodiment, two sets of fixing buckles 213 are integrally formed with the upper housing 210 of the sterile adaptor. The fixing buckle 213 of the sterile adapter has a buckle surface 2131, and the direction of the buckle surface 2131 is downward, so that the upper end part of the fixing buckle 2131 does not need to be connected with the movable buckle 3311 of the surgical instrument box.

Specifically, the upper end of the fixing buckle 213 has a smooth curved surface structure in both the X and Y directions. In the embodiment, a first guide surface 2132 is provided at the upper end of the fixing buckle 213 and extends to the left and right sides of the fixing buckle. Second guide surfaces 2133 are arranged at the upper end of the fixing buckle and extend towards the front side and the rear side of the fixing buckle.

In the embodiment, the fixing buckle 213 further has engaging portions 2134 that are flat on the YZ plane on both left and right sides.

In the embodiment, the lower end portion of the front side of the holder buckle, that is, the direction on the holder buckle and near the front end of the sterile adapter, has a curvature surface in the Z-axis direction, which is the vertical positioning portion 2135 of the holder buckle.

In the embodiment, the lower end portion of the rear side of the holder buckle, i.e. the portion located on the holder buckle and close to the back plate, has a slope surface, and this portion is the third guide portion 2136 of the holder buckle.

In an embodiment, the first guide surface, the second guide surface, the straight mating surface, the vertical positioning part and the third guide part of the fixing fastener are all in continuous smooth transition.

Accordingly, as shown in fig. 8, the lower surface 301 of the surgical instrument box has a fixing buckle 3123 for the fixing buckle to be embedded, and the movable buckle of the surgical instrument is located in the fixing buckle 3123. The fixing buckle clamping positions are provided with smooth curved surface structures in the X direction and the Y direction and can be perfectly matched with the fixing buckle.

In the embodiment, at the entrance 3123a of the fixing buckle 3123, there is a smooth curved surface structure in both the X direction and the Y direction. Inside the fixing clip fitting portion, there is a curved surface that fits the upper end of the fixing clip 213.

The fixing buckle of the sterile adapter and the fixing buckle clamping position of the surgical instrument in the embodiment can not only be used for connecting the sterile adapter and the surgical instrument, but also play a role in guiding, and simultaneously, because the surfaces of the sterile adapter and the surgical instrument are matched, certain rigidity is provided on the matched surfaces, and accumulated tolerance caused by the movable buckling mode of the movable buckle and the fixing buckle is reduced to a certain extent.

In the embodiments, the snap-fit relationship between the fixed buckle and the movable buckle is further described. Specifically, as shown in fig. 9, two sets of fixing buckles 213 are provided on the upper surface of the sterile adaptor, that is, the two sets of fixing buckles 213 are integrally formed with the upper housing 210 of the sterile adaptor. The surgical instrument box 310 includes a base 312 for mounting a steel wire column, and the lower end of the steel wire column is a transmission connector of the surgical instrument. On the base 312, a movable buckle assembly 330 is disposed. The movable buckle assembly 330 includes a movable buckle 3311, and a clamping surface 33111 of the movable buckle 3311 faces upward, so that the movable buckle 331 and the fixed buckle 213 can be clamped in a vertical direction.

The movable buckle assembly 330 includes a movable member 331, which includes two movable buckles 3311 and a connecting arm 3312 located between the two movable buckles. The connecting arm 3312 has a length such that two movable buckles 3311 are spaced apart. The connecting arms 3312 of the two movable buckle assemblies 331 are disposed on the left and right sides of the base, i.e., on the left and right sides of the surgical instrument box. The extension direction of the connecting arm 3312 is along the front-rear direction of the surgical instrument cassette, i.e., the Y direction. The connecting arm 3312 is fixedly connected to the two movable buckles 3311, so that the three are integrated.

Due to the limitation of the transmission part in the surgical instrument case, the locking position and the unlocking position of the movable buckle 3311 are defined to be located along the length direction of the connecting arm 3312, i.e., the moving direction of the movable buckle 3311 is along the length direction of the connecting arm 3312. Specifically, the movable assembly further includes a guide rod 332, and two ends of the guide rod are fixedly connected to the seat body 312 through two guide rod seats 3121. The connecting arm 3312 is formed with a guide groove (not shown) for the guide rod to pass through, and the guide rod 332 passes through the guide groove of the connecting arm, so that the connecting arm can move only along the guide rod 3312. The distance between the two ends of the guide rod 332 is the maximum distance that the connecting arm 3312 can move. A spring 333 is fitted over one end of the guide rod 332 such that one end of the spring abuts against the connecting arm 3312 and the other end of the spring abuts against the guide rod seat 3121. In a natural state, the connecting arm 3312 and the movable buckle 3311 are in the locked position due to the urging force of the spring. Accordingly, the opening direction of the fixing buckle 213 on the upper surface of the sterile adapter, which enters the clamping surface, is toward the moving direction of the movable buckle 3311. In an embodiment, the guide rod 3312 and the connecting arm 3312 are located within the surgical instrument housing, so that a hole 3123 is opened on the base body 312 to provide a space for the movable button 3311 to move and a position where the movable button 3311 can be engaged with the fixing button 213.

The movable assembly 330 further includes an operation portion 332. In the embodiment, the moving direction of the operating part 332 is different from the moving direction of the connecting arm 3312. That is, the operating portion 332 is not fixedly connected to the mover 331. Specifically, the movable member 331 has a passive portion 3313, the passive portion 3313 is fixedly disposed on the connecting arm 3312, and in some embodiments, the passive portion 3313 and other components of the movable member 331 are integrally formed. The operating part 332 includes an actuating part 3322, the actuating part 3322 having an actuating surface such that the passive part 3313 and the actuating surface can make line contact or surface contact, and the actuating surface of the actuating part 3322 can move the track of the passive part 3313. In some embodiments, the actuating surface may be a ramp or an arcuate surface and the passive portion may be a ramp or an arcuate surface. The actuation surface has a component along the length of the connecting arm of the movable member and a component along the left-right direction of the surgical instrument. In some embodiments, the passive portion 3313 may also be provided as a bearing, which may form a roll on the actuation surface of the actuation portion.

In an embodiment, the operation portion 332 further includes an operation button 3321, the operation button 3321 is fixedly connected to the actuation portion 3322, the operation button 3321 is disposed on two sides of the surgical instrument box, and the operation portion 332 needs to be pressed inward from the two sides of the surgical instrument box when in use, so that the moving direction of the operation portion 332 is along the span direction of the surgical instrument box 310, i.e., the X direction. The inclined actuation surface 3321 allows the passive portion 3313 to be forced to break up the force in the front-to-back direction, i.e., the Y-direction, of the surgical instrument box 310, so that the actuation portion 3322 moves the connecting arm and the movable buckle in the unlocking direction.

In an embodiment, the movable assembly 330 further includes a guide 334 to help guide the movement of the operating part. Specifically, the operating unit 332 further includes a guiding portion 3323, the guiding member 334 has a guiding portion 3341, and the guiding portion 3341 of the guiding member and the guiding portion 3323 of the operating unit have several surfaces in the span direction of the surgical instrument box, that is, the guiding direction of the guiding member and the guiding portion is the X direction. A spring (not shown) is also connected between the guide part and the guide member such that one end of the spring abuts the operating part 332 and the other end of the spring abuts the guide member 334.

In the embodiment, the operation portion 332 further defines a waist-limiting hole 3324, and a limiting post 3122 is fixedly disposed on the seat 312, the limiting post 3122 passes through the waist-limiting hole 3324, and the limiting post passes through the waist-limiting hole, so that the operation portion cannot be separated from the surgical instrument box, and on the other hand, two ends of the waist-limiting hole 3324 are an unlocking position and a locking position of the operation portion.

In an embodiment, the interfacing of the surgical instrument with the sterile adapter may be as follows: the surgical instrument is moved to the upper part of the sterile adapter, and the projection of the surgical instrument is abutted against the plane of the guide groove of the back plate of the sterile adapter, then the surgical instrument moves downwards along the guide groove until the upper part of the guide groove completes coarse guide to the surgical instrument, the bulge on the surgical instrument box ensures that the rear part of the surgical instrument does not swing left and right any more, the lower part of the guide groove of the sterile adapter back plate coarsely positions the surgical instrument, then the surgical instrument continues to move downwards, the entrance of the buckle trap of the surgical instrument box is contacted with the upper end of the fixing buckle of the sterile adapter, then the cooperation of the buckle sunken position and each surface of the fixing buckle guides the surgical instrument to complete the accurate guiding so that the surgical instrument box is accurately aligned with the sterile adapter, and then the surgical instrument box continues to move downwards, so that the movable member and the fixed member are fastened, and then the surgical instrument box and the sterile adapter are installed in place. The whole process is a continuous process, and a user does not need to need much effort to adjust the position of the surgical instrument box, so that the use is more convenient.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. Terms such as "disposed" and the like, appearing herein, may mean either that one element is directly attached to another element, or that one element is attached to another element through intervening elements. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the utility model to the scope of the described embodiments. It will be appreciated by those skilled in the art that many variations and modifications may be made to the teachings of the utility model, which fall within the scope of the utility model as claimed.

Claims

1. A guiding and positioning structure for a sterile adapter and the rear end of a surgical instrument is characterized in that the sterile adapter comprises a back plate, the back plate is perpendicular to the upper surface of a body structure of the sterile adapter and is combined with the rear end of the surgical instrument, and the back plate is provided with a part for guiding the rear end of the surgical instrument to move in an X direction and a part for guiding the rear end of the surgical instrument to move in a Y direction.

2. The guide positioning structure for the rear end of a surgical instrument and a sterile adapter according to claim 1, wherein the back plate has a portion for restricting the rear end of the surgical instrument from moving in the X direction.

3. The guide positioning structure for the sterile adaptor and the back end of the surgical instrument according to claim 1, wherein the back plate has a portion for restricting the back end of the surgical instrument from moving in the Y direction.

4. The guiding and positioning structure for the sterile adaptor and the back end of the surgical instrument as claimed in any one of claims 1 to 3, wherein the surface of one of the back plate and the back end of the surgical instrument, which is abutted against the back plate, is formed with a groove, the groove has a portion with a reduced width in the X direction, and the surface of the other of the back plate and the back end of the surgical instrument, which is abutted against the back plate, has a protrusion which is matched with part of the groove.

5. The sterile adaptor and surgical instrument rear end guide positioning structure of claim 4, wherein the slot has a constant width portion, and at least a portion of the protrusion mates with the constant width portion of the slot.

6. The guide positioning structure for the rear end of a surgical instrument and a sterile adapter according to claim 4, wherein the slot is located on the back plate, and the width of the upper portion of the slot in the X direction is greater than the width of the lower portion of the slot in the X direction.

7. The sterile adaptor and surgical instrument backend guide and positioning structure according to claim 6, wherein the lower portion of the slot has a constant width portion in the X direction.

8. A guide positioning structure for a sterile adaptor and a back end of a surgical instrument according to claim 6, wherein the back plate is provided with two guide grooves, and the width of the upper part of the abutting surface between the two guide grooves in the Y direction is smaller than the width of the lower part of the abutting surface in the Y direction.

9. The guide positioning structure for a sterile adaptor and a surgical instrument according to claim 8, wherein the lower portion of the abutting surface has a constant width portion in the Y direction.

10. The guiding and positioning structure of the sterile adapter and the back end of the surgical instrument as claimed in any one of claims 1 to 3, wherein the sterile adapter is clamped with the back end of the surgical instrument, and a clamping position of the sterile adapter and the back end of the surgical instrument is provided with a matching surface.

11. The guiding and positioning structure of the sterile adapter and the rear end of the surgical instrument as claimed in claim 10, wherein a fixing buckle protrudes from the upper surface of the sterile adapter, a fixing buckle insertion position is formed on the lower surface of the rear end of the surgical instrument, and the outer surface of the fixing buckle is matched with the fixing buckle insertion position of the rear end of the surgical instrument in shape.

12. The guiding and positioning structure for the rear end of a surgical instrument and a sterile adapter according to claim 11, wherein the matching surface where the fixing buckle and the fixing buckle are embedded comprises a combination of a plurality of curved surfaces and/or straight surfaces.

13. The guiding and positioning structure for the rear end of the sterile adapter and the surgical instrument as claimed in claim 11, wherein the upper end of the fixing buckle includes a first guiding surface extending to the left and right sides of the fixing buckle.

14. The arrangement of claim 11, wherein the upper end of the fastener includes a second guide surface extending toward the front and rear sides of the fastener.

15. The sterile adaptor and surgical instrument rear end guide positioning structure according to claim 11, wherein the lower end of the fixing buckle comprises a vertical positioning part at the front side of the fixing buckle.

16. The sterile adaptor and surgical instrument rear end guide and positioning structure of claim 11, wherein the lower end of the retaining buckle comprises a sloped surface on the rear side of the retaining buckle.

17. The guiding and positioning structure for the sterile adapter and the rear end of the surgical instrument according to claim 11, wherein the lower end of the fixing buckle comprises a matching part at the left side and the right side of the fixing buckle.