CN217960294U - Sterile protective sleeve positioned through support and surgical robot system - Google Patents

Abstract

The present disclosure relates to the field of medical devices, and discloses a sterile protective sheath and surgical robotic system through supporting location, wherein the sterile protective sheath includes a protective sheath main body, at least one first fitting piece and at least one support piece. At least one end of the protective sheath body includes a main opening, the protective sheath body for at least partially covering at least one positioning arm of the surgical robot. The at least one first fitting is arranged at the main opening, the at least one supporting piece is arranged on the at least one positioning arm and comprises at least one second fitting, and the first fitting is used for being matched with the second fitting to position the protective sleeve body on the at least one positioning arm. Through laminating first fitting piece and second fitting piece to fix a position protective sheath main part detachably on the location arm, in order to avoid the protective sheath main part slippage, and the installation operation is more simple convenient.

Description

Sterile protective sleeve positioned through support and surgical robot system

Technical Field

The present disclosure relates to the field of medical devices, and more particularly, to a sterile protective sheath and a surgical robotic system for positioning by support.

Background

In a surgical robot system, a surgical instrument is generally disposed on a positioning arm disposed on a surgical robot base. A servo motor provided on the positioning arm can control the movement of the positioning arm and provide input torque and load to the surgical instrument to control the surgical instrument. When in operation, the surgical instrument is inserted into the human body through the sheath, and the surgical operation of different parts is realized by controlling the surgical actuator at the tail end of the surgical instrument.

During the procedure, the positioning arm is in the operating room. However, surgical instruments and positioning arms include electrical and mechanical modules and are generally not sterilizable by conventional methods such as steam, autoclaving, or chemicals. Accordingly, a sterile protective sheath is typically used to isolate the non-sterile positioning arm from the sterile surgical instruments and operating environment.

However, after the operator has covered the sterile drape over the positioning arm, the opening of the sterile drape is tightened or wrapped around the positioning arm to removably secure the sterile drape to the positioning arm. When the opening is tightened, the conventional sterile protective sleeve generally needs to be operated by two hands of an operator or a plurality of operators in cooperation, the installation operation is time-consuming, and bacteria and fiber dust are easy to fall into a sterile area in the installation process. Moreover, during the installation process, the hands of the operator touch the sterile protective sleeve area, which is also easy to cause the contamination of the sterile area. In addition, existing sterile protective sleeves are prone to being rolled in when the positioning arm or surgical instrument is moved, thereby discouraging limiting the movement of the surgical instrument.

SUMMERY OF THE UTILITY MODEL

Based on the above problems, it is an object of the present disclosure to provide a sterile protective sheath including positioning by support, comprising:

a protective sheath body, at least one end of the protective sheath body comprising a main opening, the protective sheath body for at least partially covering at least one positioning arm of a surgical robot;

at least one first mating member disposed at the primary opening;

at least one support member for being disposed on the at least one positioning arm, the support member including at least one second mating member, the first mating member for mating with the second mating member to position the protective sheath body on the at least one positioning arm.

In some embodiments, the first mating member comprises an iron member and the second mating member comprises a magnet.

In some embodiments, the first mating member is provided with at least one protrusion perpendicular to the surface of the first mating member;

and a groove or a through hole matched with the protrusion is formed in the second matching piece.

In some embodiments, the support comprises:

the connecting part is at least partially used for being fixedly arranged on the positioning arm;

the extension part extends from one side of the connecting part to the direction far away from the positioning arm, and the at least one second fitting part is fixedly arranged on the extension part.

In some embodiments, the support comprises:

a first arc having locking rings at both ends;

the two ends of the second arc-shaped part comprise lock hooks matched with the lock rings, and the first arc-shaped part and the second arc-shaped part are detachably clamped and connected to form a ring structure and are rotatably sleeved on the positioning arms; and

the extension part extends from the first arc-shaped part or the second arc-shaped part to the direction far away from the positioning arm, and the at least one second matching part is fixedly arranged on the extension part.

In some embodiments, the support comprises:

the two ends of the first arc-shaped piece comprise clamping reverse buckles;

the two ends of the second arc-shaped piece comprise clamping grooves matched with the clamping reverse buckles, and the first arc-shaped piece and the second arc-shaped piece are detachably clamped and connected to form a ring structure and are rotatably sleeved on the positioning arms; and

the extension part extends from the first arc-shaped part or the second arc-shaped part to the direction far away from the positioning arm, and the at least one second matching part is fixedly arranged on the extension part.

In some embodiments, the at least one first engagement element comprises two first engagement elements spaced apart along a circumference of the main opening, and the at least one second engagement element comprises two second engagement elements disposed on opposite lateral surfaces of the extension.

In some embodiments, the two second fitting pieces are symmetrically arranged on both side surfaces of the extension portion extending in the vertical direction.

In some embodiments, the at least one first mating member is bonded to an inner or outer surface of the protective sheath body at the primary opening; or

The protective sleeve main body is provided with an accommodating space on the inner surface or the outer surface of the main opening end along the circumferential direction, and the at least one first fitting piece is arranged in the accommodating space; or

The protective sleeve main part is in main opening part turns over outwards, forms accommodation space in interior surface handing-over department, at least one first fitting piece sets up in the accommodation space.

In some embodiments, the protective sheath body is a pouch-like structure comprising a cavity having the primary opening at one end, the cavity for receiving the at least one positioning arm.

In some embodiments, at least one strip is disposed on the protective cover body, one end of the at least one strip is adhered to or integrally formed with the outer surface of the protective cover body, and the other end of the at least one strip includes a peel-and-stick sheet.

In some embodiments, further comprising:

the adapter block penetrates through the first auxiliary opening and is in sealing connection with the first auxiliary opening; and/or

The protective sleeve comprises a protective sleeve body and is characterized in that the protective sleeve body comprises a second auxiliary opening, the annular piece is arranged along the circumferential direction of the second auxiliary opening, and the outer circumferential surface of the annular piece is connected with the second auxiliary opening in a sealing mode.

In some embodiments, the collar comprises:

a first snap feature disposed at a proximal end of the ring for detachable connection with a positioning arm of a surgical robot; and/or

A second snap feature disposed at a distal end of the ring for rotatably connecting with an adapter.

In some embodiments, the second snap feature comprises a snap step and a chamfer disposed on an inner circumferential surface of the snap step.

The present disclosure also provides a surgical robotic system, comprising:

at least one positioning arm;

at least one surgical instrument;

at least one adapter for removably securing the at least one surgical instrument disposed at the distal end of the at least one positioning arm; and

at least one sterile protective sheath as described in any of the disclosed embodiments above for partially or fully covering the at least one positioning arm.

Some embodiments of the present disclosure include one or more of the following benefits: 1. the sterile protective sleeve can be detachably positioned and installed on the positioning arm through the matching, such as the attachment, of the first matching piece and the second matching piece, so that the main body of the protective sleeve is prevented from slipping off, and the installation and the operation are simple and convenient; 2. the aseptic protective sleeve is provided with the strip, the end part of the strip is provided with the tearing-sticking sheet, so that the protective sleeve main body is covered on the positioning arm in a more fitting manner through the binding of the strip, the tearing-sticking sheet can quickly realize the fixation of the strip, and the operation is simple and convenient; 3. through set up the ring-shaped member on aseptic protective cover to but make the adapter carry out rotary motion relative to the ring-shaped member, thus do not influence surgical instruments's rotary motion, the relative location arm of ring-shaped member is fixed and not take place rotatoryly, so that the aseptic protective sheath that extends from ring-shaped member circumference also does not take place rotatoryly, thereby can avoid surgical instruments to be drawn into aseptic protective sheath wherein when rotary motion.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments of the present disclosure will be briefly described below. The drawings in the following description illustrate only some embodiments of the disclosure, and other embodiments will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein.

Fig. 1 shows a schematic structural view of a surgical robotic system according to some embodiments of the present disclosure;

fig. 2 shows a schematic structural view of a sterile drape covering a surgical locator arm, according to some embodiments of the present disclosure;

FIG. 3 shows a schematic structural view of an aseptic protective sheath according to some embodiments of the present disclosure;

FIG. 4 shows a schematic structural view of a main opening portion of a protective sheath body according to some embodiments of the present disclosure;

FIG. 5 shows a schematic structural view of a support according to some embodiments of the present disclosure;

FIG. 6 shows a partial top cross-sectional view of the support in FIG. 5;

FIG. 7 shows a schematic structural view of a support according to further embodiments of the present disclosure;

FIG. 8 shows a schematic disassembled structure of the support member of FIG. 7;

FIG. 9 illustrates a schematic structural diagram of an adaptation block according to some embodiments of the present disclosure;

FIG. 10 illustrates a partial schematic view of an adapter and collar mating according to some embodiments of the present disclosure;

FIG. 11 illustrates a partial cross-sectional schematic view of an adapter and collar mating according to some embodiments of the present disclosure;

FIG. 12 illustrates a schematic structural diagram of an adapter according to some embodiments of the present disclosure.

List of reference numerals:

10. a surgical robotic system; 11. an operation trolley; 12. a positioning arm; 13. an adapter; 131. clamping concave

A groove; 1311. a guide slope; 14. a surgical instrument; 15. a terminal device;

100. a sterile protective sleeve;

110. a protective cover body; 111. a main opening; 117. a strip;

120. a first mating member;

130. a support member; 131. a second mating member; 1311. a through hole; 132. a connecting portion; 1321. mounting holes;

133. an extension portion;

230. a support member; 231. a second mating member; 232. a first arc-shaped member; 2321. a locking ring; 233. an extension portion; 234. a second arc-shaped member; 2341. a latch hook;

140. an adaptation block; 141. an upper surface; 142. a lower surface;

150. a ring-shaped member; 151. a first snap feature; 152. clamping the step; 1521. chamfering; 153. an outer peripheral surface.

Detailed Description

In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and operate, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present disclosure, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed and removable connections; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; there may be communication between the interiors of the two elements. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate. In the present disclosure, the end close to the operator (e.g., doctor) is defined as proximal, proximal or posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior. One skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as other non-medical devices.

Fig. 1 shows a schematic structural view of a surgical robotic system 10 according to some embodiments of the present disclosure, fig. 2 shows a schematic structural view of a sterile drape 100 covering a surgical locator arm 12 according to some embodiments of the present disclosure, and fig. 3 shows a schematic structural view of the sterile drape 100 according to some embodiments of the present disclosure. As shown in fig. 1-3, the present embodiment provides a sterile drape 100 that may include a drape body 110. The protective sheath body 110 may be used to drape over the positioning arm 12 of the surgical robotic system 10 such that the outer surface of the sterile protective sheath 100 is adjacent to a sterile field and the inner surface is adjacent to a non-sterile field, such as the positioning arm 12. It should be understood that the sterile protective sheath 100 may be cut into corresponding sheets or bags according to the shape of the positioning arm 12, and the sterile protective sheath 100 may be fully extended to cover the positioning arm 12 (as shown in fig. 2) or partially cover the surface (as shown in fig. 1). In some embodiments, sterile drape 100 may also be draped over the base of surgical trolley 11 of surgical robotic system 10.

It will be appreciated that the covered portion of the positioning arm 12, including at least the drive transmission module and the control module. For example, the drive transmission module may include a motor and a precision transmission instrument, etc. The control module may include a chip and a sensor, etc. Since the drive transmission module and the control module of the positioning arm 12 cannot be cleaned and sterilized in a conventional manner, the sterile protective sleeve 100 covers the drive transmission module and the control module to isolate the non-sterile positioning arm 12 from the sterile surgical instruments and the operating environment, so as to avoid cleaning and sterilizing the drive transmission module and the control module of the positioning arm 12.

Fig. 4 shows a schematic structural view of a main opening portion of the protective sheath body 110 according to some embodiments of the present disclosure, and fig. 5 and 6 show a schematic structural view and a partial top cross-sectional view, respectively, of the support 130 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 4, at least one end of the protective sheath body 110 includes a primary opening 111, and at least one first fitting 120 is disposed at the primary opening 111. As shown in fig. 5 and 6, at least one support 130 may be adapted to be disposed on at least one positioning arm 12. The support 130 includes at least one second mating member 131, and the first mating member 120 is configured to mate (e.g., fit) with the second mating member 131 to position the protective sheath body 110 on the at least one positioning arm 12. For example, an operator (e.g., nurse, physician) aligns, e.g., fits, the first mating member 120 with the second mating member 131 after the protective sheath body 110 is fully extended and covers the positioning arm 12 to position the protective sheath body 110 on the positioning arm 12 to prevent the sterile protective sheath 100 from slipping off. After the procedure is completed, the first fitting member 120 is separated from the second fitting member 131 to remove the sterile drape 100. By matching the first matching element 120 with the second matching element 131, the protective sheath body 110 can be detachably positioned on the positioning arm 12, so that the protective sheath body 110 is prevented from slipping off, and the installation operation is simpler and more convenient.

In some embodiments, the first mating member 120 may include an iron member (e.g., an iron sheet, an iron ring, an iron post, an iron block, etc.), and the second mating member 131 may include a magnet. For example, the first fitting member 120 may be a circular iron piece, and the second fitting member 131 may be a circular magnet that is fitted to the shape of the first fitting member 120. The circular mating member is provided to avoid damage to the protective sheath body 110. It should be understood that the above are merely examples, and the shapes of the first fitting piece 120 and the second fitting piece 131 may also be square, polygonal, irregular, etc.

In some embodiments, the first fitting member 120 may have at least one protrusion perpendicular to the surface of the first fitting member 120, the second fitting member 131 has a groove or through hole 1311 adapted to the protrusion, and when the first fitting member 120 is attached to the second fitting member 131, the protrusion extends into the groove or through hole 1311, so that the first fitting member 120 is attached to the second fitting member 131 more stably, and the sliding is avoided. For example, convex shapes may include, but are not limited to, cylindrical, hemispherical.

In some embodiments, as shown in fig. 5 and 6, the support 130 may include a connection portion 132 and an extension portion 133. At least a portion of the connecting portion 132 may be fixedly disposed on the positioning arm 12. For example, as shown in fig. 5, one or more mounting holes 1321 are provided on the connecting portion 132, and screws are used to fixedly connect the connecting portion 132 to the positioning arm 12 through the mounting holes 1321. The extension 133 extends from a side of the connecting portion 132 to a direction away from the positioning arm 12, and at least one second fitting member 131 is fixedly disposed on the extension 133. It should be understood that the second fitting member 131 may be fixedly disposed at an end of the extension 133 remote from the positioning arm 12. In some embodiments, the surface of the connecting portion 132 for contacting the positioning arm 12 may be adapted to the surface of the positioning arm 12. For example, the positioning arm 12 includes a cylindrical arm body, and the connecting portion 132 includes an arc-shaped face that fits the cylindrical arm body. Alternatively, the positioning arm 12 includes a cubic arm body, and the connecting portion 132 includes a plane that fits a surface of one side of the cubic arm body. The connecting portion 132 is adapted to the contact surface of the positioning arm 12 to make the connection between the two more stable.

Fig. 7 and 8 illustrate a schematic structural view and a schematic disassembled structural view, respectively, of the support member 230 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 7 and 8, the support 230 can include a first arc 232, a second arc 234, and an extension 233. The extension 233 extends from the second arc member 234 in a direction away from the positioning arm 12, and at least one second engagement member 231 is fixedly disposed on the extension 233. Both ends of the first arc 232 may include a locking ring 2321, and both ends of the second arc 234 include a locking hook 2341 fitted with the locking ring 2321. For example, each end of the first arc-shaped member 232 may include a pair of locking rings 2321 disposed oppositely, each end of the second arc-shaped member 234 may be provided with a pair of locking hooks 2341, and the pair of locking rings 2321 are respectively engaged with the pair of locking hooks 2341, so that the first arc-shaped member 232 and the second arc-shaped member 234 are detachably engaged to form a ring structure for rotatably sleeving the positioning arm 12. It should be understood that the extension 233 may also extend from the first arc 232 in a direction away from the positioning arm 12.

In some embodiments, the two ends of the first arc 232 may include a reverse snap fit, and the two ends of the second arc 234 include a snap fit groove adapted to the reverse snap fit, so that the first arc 232 and the second arc 234 are detachably snap fit by the engagement of the reverse snap fit and the snap fit groove. It should be understood that the two ends of the first arc-shaped element 232 respectively extend into the two ends of the second arc-shaped element 234 to achieve the engagement, for example, the first arc-shaped element 232 can be detached from the second arc-shaped element 234 by pressing the engagement undercuts to separate the engagement undercuts from the engagement grooves. By way of example only, it should be appreciated that the ends of the first arc 232 and the second arc 234 may also include other mating removable locking structures.

In some embodiments, the first arc 232 and the second arc 234 may be circular arcs, for example, the first arc 232 may be a two-thirds circular arc, the second arc 234 may be a one-third circular arc, and the first arc 232 and the second arc 234 may be engaged to form a complete circular ring structure. It should be understood that the first arc 232 and the second arc 234 may also have other lengths of arc or arc shapes, by way of example only. The arm body of the positioning arm 12 correspondingly engaged with the supporting frame 230 may be a cylindrical arm body, and the circular ring structure may be rotatably sleeved on the cylindrical arm body.

In some embodiments, the positioning arm 12 can include a stepped arm body to prevent the ring structure formed by the first arc 232 and the second arc 234 from moving axially along the arm body. Alternatively, the positioning arm 12 may include an annular groove in which the ring structure formed by the first and second arc members 232, 234 may be axially rotatably disposed and may not be axially movable. The support member may be other structures that can be detachably fitted on the positioning arm 12, which is only an example.

In some embodiments, the at least one first fitting member 120 may include two first fitting members disposed at intervals along the circumference of the main opening 111, and the at least one second fitting member 120 may include two second fitting members disposed on opposite side surfaces of the extension 133 (or 233). It should be understood that when the protective sheath body 110 is substantially fully extended and covers the positioning arm 12, the two first mating members 120 spaced along the circumference of the main opening 111 can respectively mate with the two second mating members 131 on the extension 133 to position the protective sheath body 110 on the positioning arm 12. In some embodiments, two second fitting members 131 (or 231) may be symmetrically disposed on both side surfaces of the extension 133 (or 233) extending in the vertical direction. In this way, the first mating member 120 and the second mating member 131 can be easily mated to prevent pulling of the protective sleeve body 110. It should be understood that the number of the first fitting members 120 and the second fitting members 131 may be one each.

In some embodiments, the number of the supporting members 130 (or 230) may be two, and one second fitting member 131 (or 231) is provided on each extending portion 133 (or 233). The at least one first fitting member 120 may include two first fitting members spaced apart along a circumferential direction of the main opening 111, and each first fitting member 120 is respectively fitted with the second fitting member 131 on the extension 133. In some embodiments, the number of the supporting members 130 (or 230) may be two, and two second engaging members 131 (or 231) are provided on each extending portion 133 (or 233). The at least one first fitting 120 may include four first fittings spaced apart along a circumference of the main opening 111. It should be understood that the spacing distance of the two or more first fitting members 120 along the circumferential direction of the main opening 111 may be set according to actual installation requirements, so that the plurality of first fitting members 120 can be respectively fitted with the plurality of second fitting members 131.

In some embodiments, as shown in fig. 4, in some embodiments, the at least one first fitting 120 may be bonded to an inner or outer surface of the protective sheath body 110 at the primary opening 111. In some embodiments, the protective sheath body 110 is circumferentially provided with at least one receiving space on the inner surface of the main opening 111, and the at least one first fitting 120 is disposed in the at least one receiving space.

In some embodiments, the inner surface portion of the protective sheath body 110 can be folded circumferentially to form a receiving space by bonding (e.g., glue, heat bonding, etc.). In some embodiments, another sheet-shaped film may be adhered to the inner surface of the main opening 111 of the protective cover main body 110 in the circumferential direction, the sheet-shaped film may be folded and adhered to the inner surface of the protective cover main body 110, and the receiving space may also be formed. In some embodiments, the protective sheath body 110 can be folded outwardly at the major opening 111 to form a receiving space where the inner and outer surfaces meet. It should be understood that the receiving space may also be formed in other ways.

In some embodiments, the protective sleeve body 110 can be in a pouch-like configuration (e.g., a pouch-like plastic film, the shape of which can be designed according to the shape of the positioning arm 12), the pouch-like configuration including the chamber. One end of the chamber includes a main opening 111. The protective sheath body 110 is fitted over the distal end of the positioning arm 12 through the main opening 111 and is deployed proximally from the distal end of the positioning arm 12 such that the chamber is gradually extended to accommodate and cover the positioning arm 12. After the protective sheath body 110 is fully extended, the first and second mating members mate to secure the protective sheath body 110 to the positioning arm 12, thereby preventing the protective sheath body 110 from slipping off. In some embodiments, the protective sheath body 110 can have redundant portions to avoid the positioning arm 12 from pulling on the sterile protective sheath 100 during movement, which can affect its coverage. In some embodiments, the protective sheath body 110 can also be a specially shaped sheet structure, the main opening 111 can be one side edge of the protective sheath body 110, and the edges on both sides of the main opening 111 can be provided with a connector, such as a zipper, a tearing and sticking strip, or a surface coated with glue, which extends along both side edges of the sterile protective sheath 100. The two side edges of the protective sheath body 110 can be connected by a connector to form a chamber for receiving the positioning arm 12, so that the positioning arm 12 can be covered.

In some embodiments, as shown in fig. 3, the protective sheath body 110 can further include at least one strap 117. One end of the strap 117 may be adhered to or integrally formed on the outer surface of the protective sheath body 110. The strip 117 may be located in the middle of the protective sheath body 110 and have a length. The protective cover body 110 is mated by the first mating member 120 and the second mating member 131 (or 231) to be positioned on the positioning arm 12, and the protective cover body 110 is wrapped by the strap 117 to strap the protective cover body 110 over the positioning arm 12. In some embodiments, a tear-and-stick sheet (not shown) is disposed on the other end of the strip 117, and after the strip 117 is wound around the protective sheath body 110, the other end of the strip 117 is fixed on the protective sheath body 110 by the tear-and-stick sheet, so as to prevent the strip 117 from being scattered and affecting the winding positioning effect. It should also be understood that the strap 117 may also be a tether or a flexible, extensible strip. In some embodiments, the strap 117 may be attached to the protective cover body 110 by a connection hole or connection (e.g., hook and loop, snap, etc.). It should be understood that the strap 117 may also be disposed at other locations on the protective sheath body 110, such as the proximal portion, the distal portion, and the like.

In some embodiments, as shown in fig. 3, sterile drape 100 may further include an adapter block 140 and a ring 150. Fig. 7 illustrates a structural schematic diagram of the adaptation block 140 according to some embodiments of the present disclosure. The protective sheath body 110 is provided with a first auxiliary opening, the adapter block 140 passes through the first auxiliary opening, and the adapter block 140 (for example, the upper surface 141 or the lower surface 142 of the adapter block 140) is circumferentially and hermetically connected with the first auxiliary opening (for example, glue or heat bonding). The adapter block 140 is used to fixedly attach the sheath to the end of the positioning arm 12 to facilitate the insertion of the surgical device 14 through the sheath into the patient.

Fig. 8 and 9 illustrate a partial schematic view and a partial cross-sectional schematic view, respectively, of the adapter 13 and the collar 150 mating, according to some embodiments of the present disclosure. In some embodiments, the protective sheath body 110 has a second auxiliary opening, the ring-shaped member 150 is circumferentially disposed along the second auxiliary opening, and an outer peripheral surface (e.g., the outer peripheral surface 153) of the ring-shaped member 150 is hermetically connected with the second auxiliary opening (e.g., by glue or heat bonding). The ring 150 may be coupled to an adapter 13, the adapter 13 coupling the surgical instrument to the positioning arm 12.

In some embodiments, as shown in fig. 8 and 9, one side of the ring 150 is provided with a first snap feature 151 to removably attach the ring 150 to the distal end of the positioning arm 12. In some embodiments, as shown in FIG. 8, the proximal surface of the ring 150 is provided with a first snap feature 151, the distal end of the positioning arm 12 is provided with a positioning arm snap feature, and one of the first snap feature 151 and the positioning arm snap feature may be a protrusion and the other a recess. In some embodiments, the proximal surface of the ring 150 is circumferentially spaced with a plurality of first snap features 151, such as protrusions, each extending circumferentially. The distal end of the positioning arm 12 is provided with positioning arm engaging features, such as grooves, in a shape matching the number of protrusions, so that the ring 150 is detachably and securely disposed at the distal end of the positioning arm 12. It is noted that the first engaging feature 151 can also be a groove, and the positioning arm engaging feature can be a protrusion. It is understood that the first engagement feature 151 and the positioning arm engagement feature can be other engagement structures, such as a snap, as long as the engagement of the two engagement features is achieved without departing from the scope of the present invention.

In some embodiments, the other side of the ring 150 (e.g., the distal end of the ring 150) includes a second snap-fit feature for rotatably connecting with the adapter 13. Fig. 10 illustrates a schematic structural view of an adapter 13 according to some embodiments of the present disclosure. The adapter 13 is used to removably secure the surgical instrument 14 in place at the distal end of the positioning arm 12. The ring 150 is detachably connected to the positioning arm 12 in a fixed manner on one side and to the adapter 13 on the other side, so that the surgical instrument 14 and the adapter 13 are ensured on the sterile side without influencing the rotational movement of the surgical instrument 14. In some embodiments, as shown in fig. 9 and 10, the second engaging feature at the distal end of the ring-shaped member 150 includes a circumferentially disposed engaging step 152, and an inner circumferential surface of the engaging step 152 is provided with a chamfer 1521. The proximal end of the adaptor 13 is provided with a clamping groove 131, the end of the outer peripheral surface of the clamping groove 131 is provided with a guiding inclined surface 1311, and the guiding inclined surface 1311 is matched with a chamfer 1521 of the inner peripheral surface of the clamping step 152, so that the clamping step 152 can smoothly slide into the clamping groove 131 to be clamped with the clamping groove along a single direction and can rotate with each other. The adaptor 13 is capable of rotational movement relative to the ring 150 so as not to interfere with the rotational movement of the surgical instrument 14, without the ring 150 rotating, and thus the sterile protective sheath 100 extending circumferentially from the ring 150, so as to avoid the surgical instrument 14 from rolling up the sterile protective sheath 100 during the rotational movement.

In some embodiments, the present disclosure also provides a surgical robotic system 10 that may include at least one of the sterile protective sheath 100 of the above embodiments. In some embodiments, as shown in fig. 1, the surgical robotic system 10 may further include at least one surgical trolley 11, at least one positioning arm 12, at least one adapter 13, and at least one surgical instrument 14. At least one positioning arm 12 is movably arranged on at least one surgical trolley 11. Alternatively, in some embodiments, the surgical robotic system 10 may not include the surgical trolley 11, and the at least one positioning arm 12 may be movably disposed on a base or support. At least one adapter 13 is used to removably secure at least one surgical instrument 14 disposed at the distal end of the positioning arm 12, and at least one sterile protective sheath 100 is used to partially cover the at least one positioning arm 12. The surgical instrument 14 includes a surgical instrument arm and a tip device 15 disposed at a distal end of the surgical instrument arm. It should be understood that the surgical instrument 14 may include a surgical tool and an endoscope. For surgical tools, the tip device 15 may include an end-effector (e.g., forceps, scissors, electrotome, electrical hook, etc.), while for endoscopes, the tip device 15 may include an imaging device and an illumination device. The sterile protective sheath 100 includes a ring 150, the ring 150 being removably and fixedly connected to the distal end of the positioning arm 12 on one side and rotatably connected to the adapter 13 on the other side. The sterile protective sheath 100 extends from the circumference of the ring 150 and covers the positioning arm 12 such that the outer surface of the sterile protective sheath 100 is adjacent to the surgical instruments 14 and the adapter 13 in the sterile field and the inner surface is adjacent to the non-sterile positioning arm 12. In some embodiments, the surgical robotic system 10 may include a plurality of sterile sleeves 100 and a plurality of positioning arms 12, the plurality of sterile sleeves 100 respectively covering and positioned on the plurality of positioning arms 12 to isolate the non-sterile positioning arms 12 from the sterile surgical instrument 14 to avoid contamination of portions of the positioning arms 12 adjacent to the surgical instrument 14 during or after surgery. In some embodiments, sterile drape 100 may also include a surgical trolley drape for covering all or a portion of the surface of the base of surgical trolley 11.

It is noted that the foregoing is only illustrative of the embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the specific embodiments illustrated herein and that various obvious changes, adaptations, and substitutions are possible, without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in greater detail with reference to the above embodiments, the present disclosure is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims (15)

1. A sterile drape for placement by support, comprising:

a protective sheath body, at least one end of the protective sheath body comprising a main opening, the protective sheath body for at least partially covering at least one positioning arm of a surgical robot;

at least one first mating member disposed at the primary opening;

at least one support member for being disposed on the at least one positioning arm, the support member including at least one second mating member, the first mating member for mating with the second mating member to position the protective sheath body on the at least one positioning arm.

2. An aseptic protective sheath positioned by support as recited in claim 1, wherein the first mating member comprises an iron member and the second mating member comprises a magnet.

3. The sterile protective sheath of claim 2 wherein the first mating member has at least one protrusion perpendicular to the surface of the first mating member;

and the second fitting piece is provided with a groove or a through hole matched with the bulge.

4. An aseptic protective sheath positioned by a support as recited in claim 1, wherein the support comprises:

the connecting part is at least partially used for being fixedly arranged on the positioning arm;

the extension part extends from one side of the connecting part to the direction far away from the positioning arm, and the at least one second fitting part is fixedly arranged on the extension part.

5. An aseptic protective sheath positioned by a support as recited in claim 1, wherein the support comprises:

a first arc having locking rings at both ends;

the two ends of the second arc-shaped part comprise lock hooks matched with the lock rings, and the first arc-shaped part and the second arc-shaped part are detachably clamped and connected to form a ring structure and are rotatably sleeved on the positioning arms; and

the extension part extends from the first arc-shaped part or the second arc-shaped part to the direction far away from the positioning arm, and the at least one second matching part is fixedly arranged on the extension part.

6. An aseptic protective sheath positioned by a support as recited in claim 1, wherein the support comprises:

the two ends of the first arc-shaped piece comprise clamping reverse buckles;

the two ends of the second arc-shaped piece comprise clamping grooves matched with the clamping back-off fasteners, and the first arc-shaped piece and the second arc-shaped piece are detachably clamped and connected to form a ring structure and are rotatably sleeved on the positioning arms; and

the extension part extends from the first arc-shaped part or the second arc-shaped part to the direction far away from the positioning arm, and the at least one second matching part is fixedly arranged on the extension part.

7. An aseptic protective sheath positioned by support as claimed in any of claims 4 to 6, wherein the at least one first fitting comprises two first fittings disposed at intervals along the circumference of the main opening, and the at least one second fitting comprises two second fittings disposed on opposite side surfaces of the extension.

8. An aseptic protective sheath positioned by support as recited in claim 7, wherein the two second mating members are symmetrically disposed on both side surfaces of the extension extending in the vertical direction.

9. The sterile protective sheath of any one of claims 1-6 wherein,

the at least one first mating member is adhered to the inner surface or the outer surface of the protective sleeve body at the main opening; or alternatively

The protective sleeve main body is provided with an accommodating space on the inner surface or the outer surface of the main opening end along the circumferential direction, and the at least one first fitting piece is arranged in the accommodating space; or alternatively

The protective sleeve main part is in main opening part turns over outwards, forms accommodation space in interior surface handing-over department, at least one first fitting piece sets up in the accommodation space.

10. An aseptic protective cover positioned by support according to any of claims 1-6, wherein the protective cover body is in a pouch-like configuration, the pouch-like configuration including a cavity, one end of the cavity including the primary opening, the cavity for housing the at least one positioning arm.

11. An aseptic protective sheath positioned by support according to any of claims 1-6, wherein at least one strip is provided on the protective sheath body, one end of the at least one strip is bonded or integrally formed with the outer surface of the protective sheath body, and the other end of the at least one strip includes a peel-and-stick tab.

12. An aseptic protective sheath positioned by support according to any one of claims 1-6, further comprising:

the adapter block is connected with the first auxiliary opening in a sealing mode; and/or

The protective sleeve comprises a protective sleeve body and is characterized in that the protective sleeve body comprises a second auxiliary opening, the annular piece is arranged along the circumferential direction of the second auxiliary opening, and the outer circumferential surface of the annular piece is connected with the second auxiliary opening in a sealing mode.

13. The sterile protective sheath of claim 12 wherein the collar comprises:

a first snap feature disposed at a proximal end of the ring for detachable connection with a positioning arm of a surgical robot; and/or

A second snap feature disposed at a distal end of the ring for rotatably connecting with an adapter.

14. The sterile protective sheath of claim 13 wherein the second snap feature comprises a snap step and a chamfer disposed on an inner circumference of the snap step.

15. A surgical robotic system, comprising:

at least one positioning arm;

at least one surgical instrument;

at least one adapter for removably securing the at least one surgical instrument disposed at the distal end of the at least one positioning arm; and

at least one sterile protective sheath positioned by support of any one of claims 1-14 for partially covering the at least one positioning arm.

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