CN221285902U

CN221285902U - Sterile adapter and surgical robot

Info

Publication number: CN221285902U
Application number: CN202322296832.XU
Authority: CN
Inventors: 彭程; 徐敏; 林四泽; 请求不公布姓名
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Filing date: 2023-08-25
Publication date: 2024-07-09
Anticipated expiration: 2033-08-25

Abstract

The application belongs to the technical field of medical equipment, and provides a sterile adapter and a surgical robot, wherein the sterile adapter comprises a separation plate assembly and a transmission disc, the transmission disc is rotatably arranged in the separation plate assembly, the transmission disc can move in a range smaller than the height of the transmission disc relative to the separation plate assembly, at least one first limiting part is arranged on one side, contacted with the transmission disc, of the separation plate assembly in a state that the sterile adapter is assembled on a power box, and at least one second limiting part is arranged on one side, contacted with the separation plate assembly, of the transmission disc; at least one of the first limiting part and the second limiting part is provided with a first inclined surface facing the other one along the rotation direction of the transmission disc relative to the isolation plate assembly; when the power output piece rotates relative to the transmission disc, the second limiting part is configured to be abutted with the first limiting part so as to limit the rotation of the transmission disc and the isolation plate assembly; and after the power output piece is clamped with the transmission disc, the transmission disc and the isolation plate assembly rotate relatively.

Description

Sterile adapter and surgical robot

Technical Field

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

Background

The surgical robot is a robot capable of remotely operating and completing a surgery, a surgeon controls surgical instruments on an instrument driver at a control console side, so that the surgical instruments and the instrument driver are usually designed to be detachably connected in order to meet the use requirements of different surgical instruments in the surgery, and the surgical instruments are convenient to replace in the surgery and independently sterilize. To ensure sterility of the surgical procedure, a sterile adapter is typically added between the instrument driver and the instrument to isolate the non-sterilizable instrument driver from the sterilizable instrument.

In a related art, such as chinese patent application 2015180013952. X, there is provided an instrument sterile adapter comprising a top member, a bottom member, and one or more couplers. The connector is positioned through an opening in the bottom member and then the top member is connected to the bottom member. The base member includes a plurality of base member openings, each base member opening being surrounded by a base lip portion, and each base lip including one or more keyways and one or more locking mechanisms; when the sterile adapter is mounted to the instrument driver, the instrument driver rotates the coupler such that the locking mechanism opening on the coupler aligns with the locking mechanism on the bottom lip, rotation of the coupler is locked, and the instrument driver continues to rotate relative to the coupler, thereby achieving an accurate snap-fit of the instrument driver with the coupler.

However, in the related art, when the instrument driver is engaged with the coupler, the motor of the instrument driver may be overloaded, which may easily cause damage to the motor.

Disclosure of utility model

The application provides a sterile adapter and a surgical robot, which can reduce the impact on a motor, protect the motor and prolong the service life of the motor when a power box is clamped with the sterile adapter.

According to a first aspect of embodiments of the present application, there is provided a sterile adapter comprising a partition plate assembly and a transmission plate rotatably provided in the partition plate assembly, the transmission plate being movable relative to the partition plate assembly within a range smaller than its height, the partition plate assembly having at least one first limit portion on a side thereof in contact with the transmission plate and at least one second limit portion on a side thereof in contact with the partition plate assembly in a state in which the sterile adapter is assembled to a power box;

At least one of the first limiting part and the second limiting part is provided with a first inclined surface facing the other one along the rotation direction of the transmission disc relative to the isolation plate assembly;

When the power output piece of the power box rotates relative to the transmission disc, the second limiting part is configured to be abutted with the first limiting part so as to limit the rotation of the transmission disc and the isolation plate assembly;

And after the power output piece is clamped with the transmission disc, the second limiting part and the first limiting part relatively rotate beyond the first inclined plane, so that the transmission disc and the isolation plate assembly relatively rotate.

In an alternative implementation manner, the first limiting portion protrudes from the isolation plate assembly, the second limiting portion protrudes from the transmission disc, and the top of at least one of the first limiting portion and the second limiting portion is provided with an arc transition surface.

In an alternative implementation manner, the radius of the arc transition surface is smaller than or equal to the height of the first limit part protruding out of the isolation plate assembly;

and/or the number of the groups of groups,

The radius of the arc transition surface is smaller than or equal to the height of the second limiting part protruding out of the transmission disc.

In an alternative implementation, the spacer assembly has at least one perforation provided with a lip;

The transmission disc is rotatably penetrated in the perforation, the peripheral wall of the transmission disc is provided with a flange edge, and the flange edge is suitable for being abutted with the lip edge along the axial direction of the perforation;

The first limiting part is arranged on the lip edge, and the second limiting part is arranged on the flange edge.

In an alternative implementation manner, along the rotation direction of the transmission disc, a first sub-inclined plane is arranged on one side of the first limiting part facing the second limiting part, and a second sub-inclined plane is arranged on one side of the second limiting part facing the first limiting part;

the first inclined plane comprises a first sub inclined plane and a second sub inclined plane, and the inclined directions of the first sub inclined plane and the second sub inclined plane are consistent.

In an alternative implementation, the first stop portion protrudes from the lip; the first limiting part is provided with a second inclined plane; the second inclined plane and the first sub-inclined plane are positioned at two opposite sides of the first limiting part along the circumferential direction of the lip;

and/or the number of the groups of groups,

The second limiting part protrudes out of the flange edge and is provided with a third inclined plane; along the circumference of the transmission disc, the third inclined plane and the second sub inclined plane are positioned at two sides of the second limiting part opposite to each other.

In an alternative embodiment, the first bevel has a first inclination with respect to the plane of rotation of the drive disk, and the second bevel or the third bevel has a second inclination with respect to the plane of rotation of the drive disk;

The first inclination angle is smaller than 90 degrees, and the first inclination angle is larger than the second inclination angle.

In an alternative implementation, the first inclination angle is 15 ° to 45 °, and the second inclination angle is 5 ° to 15 °.

In an alternative implementation, the first height of the first limiting portion protruding from the lip is smaller than or equal to the thickness of the lip;

the second height of the second limiting part protruding out of the flange edge is matched with the first height.

In an alternative implementation manner, the number of the first limiting parts is at least three, and the at least three first limiting parts are distributed along the rotation direction of the transmission disc;

and/or the number of the groups of groups,

The second limiting parts are at least three, and the at least three second limiting parts are distributed along the rotation direction of the transmission disc.

In an alternative implementation, the radian of the first limiting portion is 0.3rad to 0.4rad, and the radian of the second limiting portion is matched with the radian of the first limiting portion.

In an alternative implementation manner, the radian of the interval between two adjacent first limiting portions is smaller than that of the first limiting portions, and the interval between two adjacent second limiting portions is matched with that between two adjacent first limiting portions.

According to a second aspect of embodiments of the present application, there is provided a surgical robot comprising:

A power box having a power take-off;

The sterile adapter provided by any optional implementation manner of the first aspect of the embodiment of the application is connected to the power box, and the transmission disc of the sterile adapter is clamped with the power output piece;

And the instrument box is connected to one side of the sterile adapter, which is opposite to the power box, and the power input piece of the instrument box is clamped with the transmission disc.

According to the sterile adapter and the surgical robot provided by the embodiment of the application, at least one first limiting part is arranged on one side of the isolation plate assembly, which is contacted with the transmission disc, in a state that the sterile adapter is assembled on the power box, and at least one second limiting part is arranged on one side of the transmission disc, which is contacted with the isolation plate assembly; a first inclined surface is arranged on one side of at least one of the first limiting part and the second limiting part, which faces the other, and is inclined along the rotation direction of the transmission disc relative to the isolation plate; in this way, in the state that the sterile adapter is assembled on the power box, if the power output piece of the power box is not correctly clamped with the transmission disc, the power output piece can be driven to rotate by the driving piece of the power box, at the moment, the second limiting part is abutted with the first limiting part, so that the transmission disc keeps static relative to the isolation plate assembly, and the power output piece can conveniently rotate relative to the transmission disc and be correctly clamped with the transmission disc; after the power output piece is correctly clamped with the transmission disc, the power output by the driving piece is transmitted to the transmission disc through the power output piece and drives the transmission disc to rotate at the moment; the second limiting part and the first limiting part are in relative rotation beyond the first inclined plane, namely the second limiting part can pass through the first inclined plane to cross the first limiting part, so that the driving part is always kept in a running and rotating state, the output torque of the motor can be ensured to be in a rated torque range, the motor can be protected, and the service life of the motor is prolonged.

Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is a schematic view of the overall structure of a sterile adapter provided in an embodiment of the present application;

FIG. 2 is a schematic view of another overall construction of a sterile adapter provided in accordance with an embodiment of the present application;

FIG. 3 is a schematic view of a partial enlarged structure at A in FIG. 2;

FIG. 4 is a schematic illustration of an exploded view of a spacer assembly and a drive disk in a sterile adapter according to an embodiment of the present application;

FIG. 5 is a schematic view of a partially enlarged structure at B in FIG. 4;

FIG. 6 is a schematic view of a portion of the construction of a spacer assembly in a sterile adapter provided in accordance with an embodiment of the present application;

FIG. 7 is a schematic view of the structure of a drive disk in a sterile adapter provided in an embodiment of the present application;

FIG. 8 is a front view of a drive disk in a sterile adapter provided in an embodiment of the present application;

FIG. 9 is a graph showing the current change of the drive member before and after the drive plate is clamped with the power take-off member after the aseptic adapter is assembled to the power box according to the embodiment of the present application;

fig. 10 is a partially enlarged schematic structural view of fig. 8 at C.

Reference numerals illustrate:

10-a separator assembly; 20-a transmission disc;

100-a first incline; 200-a second inclined plane; 300-a third incline; 400-arc transition surface; 110-a first limit part; 120-perforating; 210-a second limit part; 220-flange edges;

101-a first sub-bevel; 102-a second sub-bevel; 121-lips.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

In this specification, numerous specific details are set forth in some places. It is understood, however, that embodiments of the application may be practiced without these specific details. Such detailed description is not to be taken in a limiting sense, and the scope of the present application is defined only by the appended claims. Well-known structures, circuits, and other details have not been shown in detail in order not to obscure the gist of the present application.

In this specification, the drawings show schematic representations of several embodiments of the application. However, the drawings are merely schematic, and it is to be understood that other embodiments or combinations may be utilized and that mechanical, physical, electrical and step changes may be made without departing from the spirit and scope of the present application.

The terminology used herein below is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. While the device may be otherwise oriented (e.g., rotated 90 deg. or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, "a" and "an" in the singular are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

The term "object" generally refers to a component or group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part" and "piece" are used interchangeably.

The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device, including an end effector, configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, stapling apparatus, imaging apparatus (e.g., endoscope or ultrasound probe), and the like. Some instruments used with embodiments of the present application further provide an articulating support (sometimes referred to as a "wrist") for a surgical tool such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom such as open or closed jaws or knives that translate along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide for one-way or two-way information communication between the instrument and one or more system components.

The term "mated" may be understood in a broad sense as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather, many objects or components may be used to mate two or more objects. For example, objects a and B may be mated by using object C. Furthermore, the terms "detachably coupled," "detachably assembled," or "detachably mated" may be construed to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

The description of the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, the terms "or" and/or "as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been widely used with the advantages of small surgical trauma, short recovery time, less pain of patients and the like. The surgical robot is a robot capable of remotely manipulating a surgical instrument on a surgical instrument driver controlled by a surgeon on a console side; the minimally invasive surgery robot, such as a tertiary endoscope robot, can avoid operation limitation due to the characteristics of high dexterity, high control precision, visual operation images and the like, such as hand vibration and the like during filtering operation, is widely applied to operation areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like, is applicable to other operation areas, and is only exemplified as a few specific examples in the embodiment of the application, but not limited to the application range of the surgery robot.

Summary of Master-slave teleoperated laparoscopic surgical robots

Endoscopic surgical robots typically include a doctor control platform, a patient surgical platform, and an image platform, where a surgeon sits on the doctor control platform, views two-or three-dimensional images of a surgical field transmitted by a scope placed in a patient, and manipulates movements of a robotic arm on the patient surgical platform, as well as surgical instruments or scopes attached to the robotic arm. The mechanical arm is equivalent to an arm simulating a human, the surgical instrument is equivalent to a hand simulating the human, and the mechanical arm and the surgical instrument provide a series of actions simulating the wrist of the human for a surgeon, and meanwhile tremble of the human hand can be filtered.

The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at an end of a support assembly of each robotic arm. A surgical instrument and/or endoscope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and/or a scope that are operated at a surgical site within a patient. Each surgical instrument manipulator may be permitted to provide the associated surgical instrument in a variety of forms that move in one or more mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located where the surgical instrument enters the body and is referred to as a "telecentric point".

The image platform typically includes one or more video displays having video image capturing functionality (typically endoscopes) and for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transfer images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, which in turn transfer the video images to a host computer of an image platform by photoelectric conversion or the like. The processed image is then displayed on a video display for viewing by an assistant through image processing.

The physician control platform may be at a single location in a surgical system consisting of an endoscopic surgical robot or it may be distributed at two or more locations in the system. The remote master/slave operation may be performed according to a predetermined control degree. In some embodiments, the physician control platform includes one or more manually operated input devices, such as a joystick, exo-skeletal glove, power and gravity compensation manipulator, or the like. The input devices collect operation signals of a surgeon, and control signals of the mechanical arm and the surgical instrument manipulator are generated after the operation signals are processed by the control system, so that remote control motors on the surgical instrument manipulator are controlled, and the motors further control the movement of the surgical instrument.

Typically, the force generated by the teleoperated motor is transmitted via a transmission system, transmitting the force from the teleoperated motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device controlling the manipulator may be located remotely from the patient, either in or out of the room in which the patient is located, or even in a different city. The input signal of the input device is then transmitted to the control system. Those familiar with tele-manipulation, tele-control and tele-presentation surgery will appreciate such systems and components thereof.

Fig. 1 is a schematic overall structure of a sterile adapter according to an embodiment of the present application, fig. 2 is a schematic overall structure of another sterile adapter according to an embodiment of the present application, and fig. 3 is a schematic enlarged partial structure at a in fig. 2.

In view of the technical problems in the related art, referring to fig. 1 to 3, an embodiment of the present application provides a sterile adapter, which includes a partition board assembly 10 and a driving board 20, wherein the driving board 20 is drivingly disposed in the partition board assembly 10, and the driving board 20 is movable within a range smaller than its height relative to the partition board assembly 10.

In some examples, referring to fig. 1, perforations 120 may be provided in the spacer plate assembly 10, with the drive disk 20 passing through the perforations 120. In addition, limiting structures may be disposed on the peripheral wall of the driving disk 20 and the through hole 120, so as to limit the movement range of the driving disk 20 in the through hole 120 along the axial direction of the through hole 120. Taking fig. 1 as a specific example, when the sterile adapter is in the placed state shown in fig. 1, drive disk 20 is not in contact with the underside surface of barrier plate assembly 10 (e.g., the surface shown in the negative y-axis direction in fig. 1); of course, it will be appreciated that in the case of fig. 2 as an example, the drive disk 20 is in contact with the underside surface (the surface shown in the positive y-axis direction in fig. 2) of the spacer plate assembly 10.

In some embodiments of the present application, the underside surface of the isolator plate assembly 10 (i.e., the surface of the isolator plate assembly 10 facing the side of the power pack) is in contact with the drive plate 20 when the sterile adapter is assembled to the power pack. It will be appreciated that in some examples, a drive (not shown) is provided within the power pack. The driving member may specifically be a motor (e.g. a servo motor), but the motor may also be another type of motor or a hydraulic or pneumatic driver, etc., and the specific type of motor is only illustrated as a few specific examples and is not limiting to the specific type of motor. The output shaft of the driving piece is connected with a power output piece, namely the output shaft of the driving piece provides torsion for the power output piece, so that the power is output.

Typically, the side of the power take-off facing away from the sterile adapter is provided with a power store, which in some alternative examples may be a compression spring, a rubber rod, or two magnets with like poles facing each other, etc. When the sterile adapter is mounted to the power pack, the drive plate 20 applies a force to the power take-off, which holds the force and provides a reaction force to the power take-off such that the power take-off abuts the drive plate 20 until the drive plate 20 abuts the spacer assembly 10. I.e. the drive plate 20 is in contact with the side of the spacer plate assembly 10 facing the power plate and at least part of the drive plate 20 is in contact with the spacer plate assembly 10.

Fig. 4 is an exploded view of the isolator plate assembly and the drive plate of the aseptic adapter according to an embodiment of the present application, and fig. 5 is an enlarged view of a portion of fig. 4 at B.

Referring to fig. 4 and 5, in the embodiment of the present application, at least one first limiting portion 110 is disposed on a side of the isolation plate assembly 10 contacting the driving plate 20, and at least one second limiting portion 210 is disposed on a side of the driving plate 20 contacting the isolation plate assembly (10).

Referring to fig. 4 and 5, one or more first stopper portions 110 may be provided; in some examples, one or more second limiting portions 210 may also be provided.

In some examples, the first limiting portion 110 may be formed by secondary milling of the partition board assembly 10, and of course, in some examples, when the partition board assembly 10 is made of plastic, for example, when the partition board assembly 10 is injection molded, the first limiting portion 110 may also be formed by injection molding together with the partition board assembly 10. It should be understood that, in some examples, the first limiting portion 110 may be obtained by a processing method such as notching or stamping, and the forming method of the first limiting portion 110 is not limited in the embodiment of the present application.

It is to be understood that the forming manner of the second limiting portion 210 may be the same as or similar to that of the first limiting portion 110, and reference may be made to the detailed description of the first limiting portion 110 in the foregoing embodiment of the present application, which is not repeated herein.

In some examples, referring to fig. 4 and 5, at least one of the first and second limiting portions 110 and 210 has the first inclined surface 100 facing the other along the rotation direction of the driving disk 20 with respect to the partition plate. Referring to fig. 5, in the embodiment of the present application, a specific example is shown in which the first inclined surface 100 is provided on the first limiting portion 110.

It will be appreciated that referring to fig. 4 and 5, the first ramp 100 is inclined in a direction that coincides with the direction of rotation of the drive disk 20 relative to the spacer plate assembly 10. For example, referring to fig. 4 and 5, the first inclined surface 100 may also be inclined in the x-direction when the driving disk 20 rotates relative to the partition plate assembly 10 in the direction indicated by the arrow x in the drawing.

In some examples, it may also be understood that one side wall of the first limiting portion 110 opposite to the rotation direction of the driving disc 20 is a non-vertical wall (i.e., not perpendicular to the surface of the isolation board assembly 10); in the embodiment of the present application, a side wall of the first limiting portion 110 opposite to the rotation direction of the driving disc 20 may be polished or cut to obtain a first inclined plane 100; of course, in some examples, the first chamfer 100 may also be obtained by injection molding.

In other examples, the first inclined surface 100 may be a straight inclined surface; or in some examples, the first ramp 100 may also be an arcuate surface, such as a convex arcuate surface.

In some specific application scenarios of the embodiments of the present application, after the aseptic adapter is mounted on the power box, there may be a situation in which the driving disc 20 and the power output member are not accurately clamped; at this time, the power output member may be driven to rotate (for example, rotate in the direction indicated by the arrow x in fig. 4) by the driving member on the power box, and the second limiting portion 210 on the driving disc 20 abuts against the first limiting portion 110 on the isolation board assembly 10, so as to limit the rotation of the driving disc 20 and the isolation board assembly 10; that is, the second limiting portion 210 is blocked by the first limiting portion 110, and the second limiting portion 210 cooperates with the first limiting portion 110, so that the driving force required by the relative rotation between the driving disc 20 and the isolation board assembly 10 is greater than the driving force required by the relative rotation between the power output member and the driving disc 20, that is, the relative rotation between the power output member and the driving disc 20 occurs at this time, and the driving disc 20 and the isolation board assembly 10 remain relatively stationary; the power output member and the transmission disc 20 can be conveniently rotated to the correct clamping position, and the clamping is realized.

In addition, after the power output member is clamped with the driving disc 20, the power of the driving member is transmitted to the driving disc 20 through the power output member, and at this time, the first limiting portion 110 and the second limiting portion 210 slide relatively through the first inclined plane 100, so that the driving disc 20 rotates relative to the isolation board assembly 10.

That is, in the embodiment of the present application, after the power output member is clamped with the driving disc 20, when the driving member drives the driving disc 20 to rotate, the second limiting portion 210 passes over the first limiting portion 110 through the first inclined surface 100 so as to rotate relative to the partition board assembly 10. Therefore, the driving piece is always in a running and rotating state before and after the power output piece is clamped with the transmission disc 20, the output torque of the driving piece can be ensured to be in a rated torque range, the driving piece can be protected, and the service life of the driving piece is prolonged.

In the aseptic adapter provided by the embodiment of the application, at least one first limiting part 110 is arranged on one side of the isolation board assembly 10 contacted with the transmission disc 20 in a state that the aseptic adapter is assembled on the power box, and at least one second limiting part 210 is arranged on one side of the transmission disc 20 contacted with the isolation board assembly 10; a first inclined surface 100 is arranged on one side of at least one of the first limiting part 110 and the second limiting part 210 facing the other side, and the first inclined surface 100 is inclined along the rotation direction of the transmission disc 20 relative to the isolation plate; thus, after the aseptic adapter is assembled to the power box, if the power output piece of the power box is not correctly clamped with the power output piece of the power box, the power output piece can be driven to rotate by the driving piece of the power box, at this time, the second limiting part 210 is abutted with the first limiting part 110, so that the power output piece is convenient to rotate relative to the power output piece of the power box and is correctly clamped with the power output piece of the power box, and the power output piece of the power box is convenient to rotate relative to the isolation board assembly 10.

After the power output piece is correctly clamped with the transmission disc 20, the power output by the driving piece is transmitted to the transmission disc 20 through the power output piece and drives the transmission disc 20 to rotate at the moment; the second limiting part 210 passes over the first inclined plane 100 and rotates relative to the first limiting part 110, namely, the second limiting part 210 can pass over the first limiting part 110 through the first inclined plane 100, so that the driving piece is always kept in a running and rotating state, the output torque of the motor can be ensured to be in a rated torque range, the motor can be protected, and the service life of the motor is prolonged.

In some examples, the first limiting portion 110 protrudes from the partition board assembly 10, and the second limiting portion 210 protrudes from the driving disc 20, at least one of the first limiting portion 110 and the second limiting portion 210 has an arc transition surface 400 (for example, refer to fig. 8 and 10).

In some alternative examples, the arcuate transition surface 400 may be disposed on top of the first stop 110, or the arcuate transition surface 400 may be disposed on top of the second stop 210. Or in other examples, the arc transition surface 400 may be disposed at the top of the first limiting portion 110 and the top of the second limiting portion 210 at the same time.

In the embodiment of the application, the arc transition surface 400 is arranged on the top of at least one of the first limiting part 110 and the second limiting part 210, so that when the power output member is clamped with the driving disc 20 and the power output member drives the driving disc 20 to rotate relative to the isolation plate assembly 10, the second limiting part 210 can stably pass through the first limiting part 110 when passing through the first limiting part 110 by the first inclined plane 100, the fluctuation and the change of the running current of the driving member can be reduced, the running stability of the driving member is improved, and the impact on the driving member is reduced. In some alternative examples of embodiments of the application, and as shown with reference to fig. 4, the spacer assembly 10 has at least one perforation 120, the perforation 120 being provided with a lip 121. It will be appreciated that with reference to fig. 4, the number of perforations 120 may be a plurality, such as 5 perforations 120 shown by way of example in fig. 4, it being understood that in some examples the number of perforations 120 may be 2, 3, or 4 as well; or in other examples the number of perforations 120 may be 6, 7, etc. It will be appreciated that the number of perforations 120 is shown as a few specific examples only and is not limiting of the specific number of perforations 120.

Referring to fig. 4, in some examples, the drive disk 20 is rotatably disposed within the aperture 120. It will be appreciated that the axis of rotation of the drive disk 20 may be collinear or approximately collinear with the axis of rotation of the power take-off described in the previous examples, that is, in some examples, the drive disk 20 may be rotated relative to the aperture 120 by the power take-off.

In some examples, referring to fig. 4 and 5, to avoid the drive disk 20 from being separated or falling out of the through hole 120 under the pushing of the force accumulating member, in the embodiment of the present application, the peripheral wall of the drive disk 20 has a flange edge 220, and the flange edge 220 is adapted to abut against the lip 121 along the axial direction of the through hole 120.

Wherein the lip 121 may be an annular boss provided on the inner wall of the through hole 120; in some possible examples, lip 121 may also be disposed at the hole edge of perforation 120, and lip 121 forms a smaller aperture than the aperture of perforation 120, thereby forming an annular boss, which may also be referred to as a step or shoulder in some examples; wherein the lip 121 may be provided at the edge of the side of the perforation 120 facing the power pack, in some possible examples the lip 121 may also be provided at the edge of the side of the perforation 120 facing away from the power pack.

In some examples, the lip 121 may be a complete annular structure, and in some examples, the lip 121 may also be an annular structure formed by a plurality of arcuate structures arranged at intervals along the circumference of the perforation 120; the particular type of lip 121 is not limited in embodiments of the present application. It will be appreciated that where the lip 121 is a plurality of arcuate structures spaced circumferentially about the aperture 120, the arcuate length of the flange edge 220 is greater than the gap between adjacent arcuate structures.

In some alternative examples, flange edge 220 may be specifically configured similar to lip 121. It will be appreciated that the flange 220 may be an annular boss extending radially outwardly of the drive disk 20, i.e., the radial dimension of the flange 220 is greater than the radial dimension of the drive disk 20 in the radial direction of the drive disk 20.

In addition, similar to lip 121, flange edge 220 may be a complete annular structure. Alternatively, in some examples, the flange 220 may be an annular structure formed by a plurality of arcuate structures spaced apart along the circumference of the drive disk 20.

In some possible examples, where lip 121 is a complete annular ring-type structure, flange edge 220 may be a complete annular ring-type structure, or flange edge 220 may be a plurality of spaced arcuate structures.

In other general examples, where lip 121 is a plurality of arcuate structures spaced apart, flange edge 220 may be a complete annular structure.

In some alternative examples, flange 220 may abut a side of lip 121 facing the power pack in the axial direction of aperture 120, thereby defining a limited range of axial movement of drive disk 20 within aperture 120, which may define drive disk 20 within aperture 120. That is, in some examples, flange 220 abuts on a side of lip 121 facing the power pack (e.g., flange 220 abuts lip 121 under the force accumulating member of the previous examples, or in some examples, flange 220 abuts lip 121 when the sterile adapter is placed in the direction shown by the y-axis in fig. 4, as shown with reference to fig. 4), and flange 220 moves relative to lip 121 when power take off is engaged with drive disk 20 and drive disk 20 rotates with the power take off, at which time flange 220 is out of contact with lip 121 due to downward abutment of the cartridge. The drive disk 20 transmits power to a power input in the instrument pod and drives the surgical instrument in a desired direction via the power input.

In some examples of embodiments of the application, referring to fig. 4 and 5, the first stop 110 may be provided on the lip 121 and the second stop 210 may be provided on the flange edge 220.

Like this, the division board subassembly 10 of being convenient for is restricted drive disk 20 along axial range of motion to, the setting of the spacing portion of first spacing 110 of being convenient for and the spacing portion of second 210 has reduced the change to division board subassembly 10 and drive disk 20 overall structure, and the shaping of being convenient for has promoted the shaping efficiency.

Fig. 6 is a schematic view of a part of a structure of a partition board assembly in a sterile adapter according to an embodiment of the present application, and fig. 7 is a schematic view of a structure of a driving disc in a sterile adapter according to an embodiment of the present application.

In other optional examples of the embodiment of the present application, a side of the first limiting portion 110 facing the second limiting portion 210 has a first sub-inclined surface 101, and a side of the second limiting portion 210 facing the first limiting portion 110 has a second sub-inclined surface 102; the first inclined plane 100 includes a first sub-inclined plane 101 and a second sub-inclined plane 102, and the inclination directions of the first sub-inclined plane 101 and the second sub-inclined plane 102 are identical.

That is, in the embodiment of the present application, the first inclined surface 100 is disposed on both the first limiting portion 110 and the second limiting portion 210. When specifically arranged, the inclination directions of the first sub-inclined plane 101 and the second sub-inclined plane 102 are kept consistent; in other words, the first sub-inclined plane 101 and the second sub-inclined plane 102 may be parallel or approximately parallel; thus, after the power output member is clamped with the driving disc 20, the power output member drives the driving disc 20 to rotate relative to the lip 121, the first sub-inclined plane 101 and the second sub-inclined plane 102 disperse the blocking force between the first limiting part 110 and the second limiting part 210 along the axial direction of the driving disc 20, so that the second limiting part 210 passes over the first limiting part 110 through the first inclined plane 100, namely, the driving disc 20 is driven to rotate relative to the lip 121 by the driving member in the rated output torque range of the driving member, and the driving member is protected.

In some examples, the first sub-slope 101 may be a straight slope and the second sub-slope 102 may be an arcuate face; or in other examples, the first sub-inclined plane 101 may be an arc-shaped plane, and the second sub-inclined plane 102 may be a straight inclined plane.

In other alternative examples of embodiments of the present application, referring to fig. 5 and 6, the first stopper 110 includes a lip 121 protruding therefrom; the first limiting part 110 has a second inclined plane 200; the second inclined surface 200 and the first sub-inclined surface 101 are located on opposite sides of the first limiting portion 110 along the circumferential direction of the lip 121.

In some examples, the first stop 110 may be provided protruding from the lip 121 by heat staking, welding, spot welding, or the like. Along the axial direction of the lip 121, the first limiting portion 110 generally has two opposite sides, one of which is configured as the first sub-inclined surface 101; in the embodiment of the present application, the other side surface of the first limiting portion 110 is also configured as an inclined surface, i.e. the second inclined surface 200.

Referring to fig. 5 and 6, in some examples, an end of the second inclined surface 200 opposite to the first sub-inclined surface 101 is connected at the top of the first stopper 110. That is, the first sub-inclined plane 101 is inclined in the opposite direction to the second inclined plane 200.

In the embodiment of the application, the other side surface of the first limiting portion 110 along the axial direction of the lip 121 is also provided with an inclined surface (i.e., the second inclined surface 200), so that after the power output member is clamped with the driving disc 20, the power output member drives the driving disc 20 to rotate relative to the lip 121, and after the second limiting portion 210 moves to the top of the first limiting portion 110 (i.e., the end of the first inclined surface 100) through the first inclined surface 100 and passes over the first limiting portion 110, the second limiting portion 210 can smoothly move along the second inclined surface 200, thereby ensuring the linear change of the output torque of the driving member, effectively weakening the impact caused by the abrupt change of the rotation resistance between the driving disc 20 and the lip 121 on the driving member after passing over the first limiting portion 110, and effectively protecting the driving member.

In other alternative examples of the embodiment of the present application, referring to fig. 7, the second limiting portion 210 protrudes from the flange 220, and the second limiting portion 210 has a third inclined surface 300; along the axial direction of the driving disc 20, the third inclined surface 300 and the second sub-inclined surface 102 are located at two opposite sides of the second limiting portion 210.

It can be appreciated that, in the embodiment of the present application, the specific setting manner of the second limiting portion 210 is the same as or similar to that of the first limiting portion 110, and the detailed description of the first limiting portion 110 in the foregoing embodiment of the present application is specifically referred to, which is not repeated in the embodiment of the present application.

Fig. 8 is a front view of a drive disk in a sterile adapter provided by an embodiment of the present application.

In other alternative examples of embodiments of the present application, referring to fig. 8, the first inclined plane 100 (shown in fig. 8 as the second sub-inclined plane 102 by way of example, it is understood that the first sub-inclined plane 101 coincides with the inclination direction of the second sub-inclined plane 102, i.e., the inclination angles of the first sub-inclined plane 101 and the second sub-inclined plane 102 also coincide) has a first inclination angle α with respect to the rotation plane of the driving disk 20, and the second inclined plane 200 (shown in fig. 8 as the third inclined plane 300 by way of example, it is understood that the inclination angle of the third inclined plane 300 coincides with the inclination angle of the second inclined plane 200) has a second inclination angle β with respect to the rotation plane of the driving disk 20, the first inclination angle α being smaller than 90 °, and the first inclination angle α being larger than the second inclination angle β.

In some examples, because the axis of rotation of the drive disk 20 coincides with the axis of the aperture 120 in the spacer plate assembly 10, the plane of rotation of the drive disk 20 may be a plane perpendicular or approximately perpendicular to the axis of the aperture 120, and in some examples, the plane of rotation of the drive disk 20 may be a plane parallel or approximately parallel to the surface of the spacer plate assembly 10 opposite the power or instrument box.

In other words, in some examples of embodiments of the present application, the slope of the first incline 100 is greater than the slope of the second incline 200 or the third incline 300. Thus, in a first aspect, upon relative friction between the power take-off and the drive disk 20 after assembly of the sterile adapter to the power pack, the first ramp 100 may spread out the frictional torque experienced by the drive disk 20, thereby reducing the resultant force experienced by the drive disk 20 in the direction of rotation of the power take-off (in some examples, it may also be appreciated that the first ramp 100 provides some rotational resistance to rotation of the drive disk 20 relative to the lip 121); i.e. to keep the drive disk 20 stationary relative to the lip 121; in the second aspect, after the power output member is correctly clamped with the driving disc 20, the power output member drives the driving disc 20 to overcome the resistance of the first inclined plane 100, and after the second limiting portion 210 passes over the first inclined plane 100, the second inclined plane 200 has relatively smaller gradient, so that smooth transition of the torque required by rotation of the driving disc 20 can be ensured, the situation that the torque required by rotation of the driving disc 20 is greatly reduced is avoided, the impact on the driving member can be effectively weakened, and the driving member can be effectively protected.

In some alternative examples, the angle of the first inclination angle α is 15 ° to 45 °, and the angle of the second inclination angle β is 5 ° to 15 °.

In some examples, the first tilt angle α may be 15 °, 30 °, or 45 °; the second inclination angle β may be 5 °, 10 °, or 15 °.

It will be appreciated that in embodiments of the present application, the angle of the first inclination angle α may be specifically considered in terms of two aspects, the first aspect requiring ensuring that the drive disk 20 is relatively stationary with respect to the lip 121 when the power take-off and drive disk 20 are relatively rotated after the sterile adapter is assembled to the power pack; in the second aspect, after the power output member is correctly clamped with the driving disc 20, in the rated output torque range of the driving member, the power output member can drive the driving disc 20 to rotate relative to the lip 121 (i.e. the second limiting portion 210 can pass over the first limiting portion 110), so as to ensure that the driving member is always in a running and rotating state before and after the power output member is clamped with the driving disc 20, and effectively protect the driving member.

In addition, in the embodiment of the present application, it is required to accurately determine whether the power output member is correctly engaged with the driving disk 20; therefore, the setting of the angle of the first inclination angle also needs to consider that the driving member operation parameter change can be detected before and after the power output member is engaged with the transmission disc 20, that is, needs to consider the resolution of detecting the driving member operation parameter change.

Fig. 9 is a graph showing a current change of a driving member before and after a driving disc is clamped with a power output member after a sterile adapter provided by an embodiment of the present application is assembled to a power box.

In some examples, the operating parameter of the driver may be an operating current, an output power, or an output torque, etc., and in embodiments of the present application, the operating parameter is exemplified by an operating current as a specific example. In some specific examples, the driving member may be a driving motor, and a motor with an operating current of 18mA to 100mA may be selected, for example, an idle operating current of the driving motor may be 18mA, and an operating current when the driving motor drives the power output member to rotate is 20mA; and the maximum rated current of the drive motor may be 100mA. In the embodiment of the application, the running current of the driving motor can be monitored through the current parameter monitoring sensor; the current parameter monitoring sensor can be a current sampling integrated circuit, an isolated optocoupler sensor or a Hall effect sensor.

In some examples, when the sterile adapter is mounted to the power pack, there is a condition of the power take-off being a positive snap-fit with the drive disk 20, when the power take-off is rotated against friction with the drive disk 20; referring to fig. 9, where curve a in fig. 9 is a time-dependent curve of the operating current of the driving member, the operating current of the driving member is smaller; referring to fig. 9, the first protrusion a1 appearing in the curve a when the driving member just starts to operate is the driving member operating current required when the power output member drives the driving disc 20 to overcome the maximum static friction force with the lip 121 (for example, referring to fig. 5, it may be that the third inclined surface 300 on the driving disc 20 contacts the second inclined surface 200 on the lip 121, and there is a certain relative rotation between the driving disc 20 and the lip 121); the driving member operates at a smooth current within 1-2s, and the third inclined surface 300 slides relatively to the second inclined surface 200.

With continued reference to fig. 9, after a period of 2s, the curve a presents a second protrusion a2, and at this time, the second limiting portion 210 abuts against the first limiting portion 110, that is, the second sub-inclined surface 102 contacts the first sub-inclined surface 101, and the transmission disc 20 and the lip 121 remain relatively stationary; the power output part overcomes the maximum static friction force between the power output part and the transmission disc 20 and rotates relative to the transmission disc 20, and the load carried by the driving part is reduced from the power output part and the transmission disc 20 to the power output part, the running current of the driving part at 2-4s is slightly lower than the running current of the driving part at 1-2s, the running current of the driving part is stable and kept at 20mA, and at the moment, the power output part rotates against the sliding friction force between the driving part and the transmission disc 20; it will be appreciated that the operating current of the driving member is related to the specific type of driving member, the rated rotational speed, the coefficient of friction between the power take-off member and the drive disk 20, the force storage characteristics of the force storage member, etc., and the operating current of the driving member of the present embodiment is merely illustrative of one specific example and is not a specific limitation of the operating current of the driving member.

When the power output member rotates until the power output member is aligned and clamped with the driving disc 20 correctly, the running current of the driving member suddenly increases (overcomes the rotation resistance between the first limiting part 110 and the second limiting part 210), the driving member needs to drive the power output member and the driving disc 20 to rotate against the rotation resistance between the driving disc 20 and the lip 121, it can be understood that the rotation resistance between the driving disc 20 and the lip 121 forms a certain resistance to the rotation of the driving disc 20 relative to the lip 121 due to the arrangement of the first inclined surface 100 on the first limiting part 110 and the second limiting part 210, so that the power required by the rotation of the driving disc 20 relative to the lip 121 is greater than the power required by the relative rotation between the power output member and the driving disc 20; i.e. the operating current of the drive member increases at this time (for example, shown by curve a in fig. 9, wherein the third protrusion a3 of curve a is the operating current of the drive member when the rotational resistance between the drive disk 20 and the lip 121 is overcome).

In some examples of embodiments of the present application, a processor (typically an industrial personal computer) such as a central processing unit (Central Processing Unit, abbreviated as CPU), a micro control unit (Microcontroller Unit, abbreviated as MCU), a field programmable gate array (Field Programmable GATE ARRAY, abbreviated as FPGA), and the like may be disposed in the power box. For example, a comparison circuit in the processor may compare the operating parameters monitored by the operating parameter monitoring sensor to determine whether the operating parameters of the driver have changed. For example, in the case where the comparison circuit compares the operation parameters monitored by the operation parameter monitoring sensor at two timings to determine that the operation parameters have not changed, the comparison circuit may output a low-level signal "0"; in some examples, the comparison circuit may output a high level signal "1" in the event that the comparison circuit compares the operating parameters monitored by the operating parameter monitoring sensor at two times to determine that the operating parameters have changed; the processor determines whether the operating parameter is changed according to the low level signal or the high level signal output by the comparison circuit, so as to determine whether the driving disc 20 is correctly clamped with the power output part.

In some examples, the driver may have some fluctuation or instability during specific operation, resulting in a change in operating current, which may cause false triggers. In the embodiment of the present application, when specifically set, it may be determined that the driving disc 20 is clamped with the power output member when the variation value of the operation parameter is greater than or equal to the preset threshold value.

That is, after the comparison circuit compares that the operation parameter is changed, the comparison circuit may further compare the change value of the operation parameter with a preset threshold value, and output a high level signal "1" if the change value is greater than or equal to the preset threshold value.

As some specific examples of the embodiments of the present application, an operation parameter is taken as an operation current for illustration, where the preset threshold may be 40mA, 45mA, 50mA, 55mA, 60mA, or the like. It will be appreciated that the range of the preset threshold is set such that the changed operating parameter does not exceed the nominal operating parameter of the driver and is greater than the resolution of the operating current by the monitoring sensor. The foregoing preset threshold values in the embodiments of the present application are merely illustrated as some specific examples, and in some possible examples, the preset threshold values may also be other values, which are not limited in this embodiment of the present application.

In some examples, the first height of the first stop 110 protruding from the lip 121 is less than the thickness of the lip 121. In some examples, the thickness of the first stop 110 protruding from the lip 121 is 0.48mm to 0.62mm; the thickness of the lip 121 may be 0.9mm to 1.1mm, and in some examples, the thickness of the lip 121 may be 1mm. The first limiting portion 110 protrudes from the first height of the lip 121, which may be a difference between a distance between a top of the first limiting portion 110 and a surface of the lip 121 facing away from the power box and a thickness of the lip 121. In some examples, the first stop 110 may protrude from the lip 121 by a distance of 0.5mm, 0.55mm, or 0.6mm.

It should be noted that, the numerical values and the numerical ranges related to the embodiments of the present application are approximate values, and may have a certain range of errors under the influence of the manufacturing process, and those errors may be considered to be negligible by those skilled in the art.

In addition, in some examples, referring to fig. 8, the second height of the second limiting portion 210 protruding from the flange edge 220 is matched (e.g., similar, equal, or approximate) to the first height. It will be appreciated that, referring to fig. 8, the distance that the second limiting portion 210 protrudes from the flange edge 220 may be a difference between a distance h between the top of the second limiting portion 210 and a side of the flange edge 220 facing the power box and a thickness d of the flange edge 220 along the axial direction.

In the embodiment of the present application, the first height of the first limiting portion 110 protruding from the lip 121 is set to be smaller than or equal to the thickness of the lip 121, so that when the power output member rotates relative to the driving disc 20, the first limiting portion 110 and the second limiting portion 210 can provide rotation resistance for rotation of the driving disc 20 through the first inclined plane 100, so as to keep the driving disc 20 in a static state, and facilitate correct clamping connection between the power output member and the driving disc 20; after the power output piece is correctly clamped with the driving disc 20, the power output piece drives the driving disc 20 to overcome the resistance between the first limiting part 110 and the second limiting part 210, so that the second limiting part 210 passes over the first limiting part 110 through the first inclined plane 100 and rotates relative to the lip 121; the driving piece can be kept in an operation rotation state all the time, and the impact on the motor is reduced.

In addition, the first height of the first limiting portion 110 protruding from the lip 121 is set to be smaller than or equal to the thickness of the lip 121, so that the running current of the driving member meets the detection resolution of the current monitoring sensor, and the accuracy of confirming whether the driving disc 20 and the power output member are correctly clamped is improved, namely, the safety of a subsequent operation is improved.

In some examples, the first height of the first limiting portion 110 protruding from the lip 121 is set to be less than or equal to the thickness of the lip 121, which may also reduce the difficulty of machining the first limiting portion 110.

In some examples, flange edge 220 may have a thickness of 1.1mm to 1.3mm. In some alternative examples, flange edge 220 may have a thickness of 1.1mm, 1.2mm, or 1.3mm.

Fig. 10 is a partially enlarged schematic structural view of fig. 8 at C.

In some alternative examples of embodiments of the present application, referring to fig. 8 and 10, the top of at least one of the first and second stopper portions 110 and 210 has a rounded transition surface 400. While the top of the second limiting portion 210 is shown in fig. 8 as a specific example, it is understood that in the embodiment of the present application, the structures of the first limiting portion 110 and the second limiting portion 210 may be the same or similar.

In some examples, the arcuate transition surface 400 may be disposed on top of the first limiting portion 110, where the arcuate transition surface 400 is connected between the first sub-inclined surface 101 and the second inclined surface 200, and in some alternative examples, the arcuate transition surface 400 may be tangent or approximately tangent to the first sub-inclined surface 101, and in addition, the arcuate transition surface 400 may be tangent or approximately tangent to the second inclined surface 200, so that an end of the first sub-inclined surface 101 connected to the second inclined surface 200 transitions smoothly.

In other examples, the arcuate transition surface 400 may also be disposed on top of the second stop portion 210.

In the embodiment of the application, the arc transition surface 400 is arranged on the top of at least one of the first limiting part 110 and the second limiting part 210, so that when the power output member is clamped with the driving disk 20 and the power output member drives the driving disk 20 to rotate relative to the lip 121, the second limiting part 210 can stably pass over the first limiting part 110 through the first inclined plane 100 when passing over the first limiting part 110, the fluctuation and the change of the running current of the driving member can be reduced, the running stability of the driving member is improved, and the impact on the driving member is reduced.

In some alternative examples, the radius of the arcuate transition surface 400 is 0.15mm to 0.3mm. In some examples, the radius of the arcuate transition surface 400 may be 0.15mm, 0.25mm, or 0.3mm.

It is to be understood that, in the embodiment of the present application, the radius of the arc-shaped transition surface 400 may be set according to the first height of the first limiting portion 110 protruding from the lip 121, for example, when the first height is higher, the radius of the arc-shaped transition surface 400 may be set to be larger, and when the first height is relatively lower, the radius of the arc-shaped transition surface 400 may be set to be smaller.

Or in some examples, the radius of the arc transition surface 400 may be set according to the second height of the second limiting portion 210 protruding from the flange edge 220.

In other alternative examples of the embodiment of the present application, referring to fig. 6, the number of the first limiting parts 110 is at least three, and the at least three first limiting parts 110 are arranged along the circumferential direction of the lip 121. In some examples, the number of first limit portions 110 may be three, four, five, or more; in some examples, the plurality of first limiting portions 110 may be uniformly arranged in the circumferential direction of the lip 121, so that after the power output member is clamped with the driving disc 20, the power output member drives the driving disc 20 to rotate relative to the lip 121, so that uniformity of resistance of the first limiting portions 110 received by the driving disc 20, that is, uniformity of power output of the driving member, can be ensured, impact on the driving member can be reduced, and the driving member is effectively protected.

In other examples, the number of the second limiting parts 210 may be at least three, and the at least three second limiting parts 210 are arranged along the circumferential direction of the flange edge 220. It can be appreciated that in the embodiment of the present application, the arrangement manner of the second limiting portion 210 and the first limiting portion 110 may be the same or similar, and the detailed description of the first limiting portion 110 with reference to the foregoing embodiment of the present application will not be repeated.

In some examples, in a case where the number of the first limiting parts 110 is greater than or equal to three, the second limiting parts 210 may be one; or in other examples, in the case where the number of the second stopper portions 210 is greater than or equal to three, the number of the first stopper portions 110 may be one.

In the embodiment of the present application, at least three first limiting portions 110 are disposed along the circumferential direction of the lip 121, or at least three second limiting portions 210 are disposed along the circumferential direction of the flange edge 220; thus, after the aseptic adapter is assembled to the power box, the first limiting portion 110 and the second limiting portion 210 can be quickly abutted (the maximum angle between the driving disc 20 and the lip 121 is only the angle range between the two adjacent first limiting portions 110 or the two adjacent second limiting portions 210, which is generally 0.15rad to 0.2 rad), that is, the maximum angle range between the power output piece and the driving disc 20 is the sum of the maximum angle (generally 10 °) between the power output piece and the driving disc 20 and the lip 121, compared with the prior art that when the power output piece and the driving disc are clamped, the driving disc needs to rotate by a certain angle (even approximately 180 ° in some cases) relative to the isolation plate assembly, and then the power output piece still needs to rotate by a certain angle (even approximately 180 ° in some cases) relative to the driving disc, that is, the power output piece and the driving disc need to be clamped in the related art. In the embodiment of the application, taking an example that the angle between two adjacent first locking parts is 10 degrees, the power output piece is clamped with the transmission disc, the required maximum angle is smaller than 190 degrees, the required rotation angle of the power output piece relative to the transmission disc 20 is reduced by nearly one half, namely, the clamping time between the power output piece and the transmission disc 20 is shortened by nearly one half, the clamping efficiency of the power output piece and the transmission disc 20 is improved, and the operation preparation time is shortened.

Illustratively, the arc of the first stop 110 may be 0.3rad to 0.4rad; in some examples, the arc r of the ratchet may be 0.3rad, 0.35rad, or 0.4rad. The radian of the second limiting part 210 is matched with that of the first limiting part 110. For example, the curvature of the second stop portion 210 may be the same as, similar to, or similar to the curvature of the first stop portion 110.

In the embodiment of the application, the radian of the first limiting part is set to be between 0.3rad and 0.4rad, so that the strength of the first limiting part 110 can be improved, the reliability of the abutting connection of the first limiting part 110 and the second limiting part 210 is ensured, the relative rest of the transmission disc 20 and the isolation plate assembly 10 is ensured when the power output part and the transmission disc 20 relatively rotate, and the time required for the mutual clamping connection of the power output part and the transmission disc 20 is shortened.

In some examples, two adjacent first limiting portions 110 may be arranged continuously in the rotation direction of the driving disk 20, that is, the second inclined surface 200 of one of the limiting portions 110 is connected to the first inclined surface 100 of one of the first limiting portions located at the rear side in the rotation direction of the driving disk 20.

To ensure a smooth transition of the second limiting portion 210 between two adjacent first limiting portions 110, in some examples, two adjacent first limiting portions 110 may also be arranged at intervals. And the radian of the interval between two adjacent first limiting portions 110 is smaller than that of the first limiting portions 110 (for example, may be 0.15rad to 0.2rad, that is, the included angle between two adjacent first limiting portions 110 is generally 10 °).

The embodiment of the application provides a surgical robot, which comprises:

A power box having a power take-off;

The aseptic adapter provided by any optional example of the foregoing embodiments of the present application, the aseptic adapter is connected to the power box, and the driving disc 20 of the aseptic adapter is clamped with the power output member;

And the instrument box is connected to one side of the sterile adapter, which is opposite to the power box, and the power input part of the instrument box is clamped with the transmission disc 20.

After the aseptic robot provided by the embodiment of the present application adopts the aseptic adapter provided by the foregoing embodiment of the present application, at least one first limiting portion 110 is disposed on a side of the isolation board assembly 10 contacting the driving board 20, and at least one second limiting portion 210 is disposed on a side of the driving board 20 contacting the isolation board assembly 10 when the aseptic adapter is assembled on the power box; a first inclined surface 100 is arranged on one side of at least one of the first limiting part 110 and the second limiting part 210 facing the other side, and the first inclined surface 100 is inclined along the rotation direction of the transmission disc 20 relative to the isolation plate; thus, when the sterile adapter is assembled to the power box, if the power output piece of the power box is not correctly clamped with the driving piece of the power box, the driving piece of the power box can drive the power output piece to rotate, and at this time, the second limiting part 210 is abutted with the first limiting part 110, so that the power output piece is convenient for relatively rotating with the power output piece of the power box and is correctly clamped with the power output piece of the power box, and the power output piece of the power box is convenient for relatively rotating with the power output piece of the power box and is correctly clamped with the power output piece of the power box.

After the power output piece is correctly clamped with the transmission disc 20, the power output by the driving piece is transmitted to the transmission disc 20 through the power output piece and drives the transmission disc 20 to rotate at the moment; the second limiting part 210 and the first limiting part 110 relatively rotate through the first inclined plane 100, namely, the second limiting part 210 can pass through the first inclined plane 100 and pass through the first limiting part 110, so that the driving piece is always kept in a running and rotating state, the output torque of the motor can be ensured to be in a rated torque range, the motor can be protected, and the service life of the motor is prolonged. The service life of the surgical robot is prolonged.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A sterile adapter comprising a partition plate assembly and a drive plate, the drive plate being rotatably arranged in the partition plate assembly and being movable relative to the partition plate assembly within a range smaller than the height of the drive plate assembly, characterized in that in a state in which the sterile adapter is assembled to a power box, the partition plate assembly has at least one first limit portion on the side in contact with the drive plate, and the drive plate has at least one second limit portion on the side in contact with the partition plate assembly;

The second limiting part is configured to abut against the first limiting part when the power output part of the power box rotates relative to the transmission disc so as to limit the rotation of the transmission disc and the isolation plate assembly;

2. The sterile adapter of claim 1, wherein the first stop portion protrudes from the barrier plate assembly and the second stop portion protrudes from the drive plate, the top of at least one of the first stop portion and the second stop portion having a rounded transition surface.

3. The sterile adapter of claim 2, wherein the radius of the arcuate transition surface is less than or equal to the height of the first stop protruding from the spacer assembly;

and/or the number of the groups of groups,

4. A sterile adapter according to claim 1 wherein the barrier plate assembly has at least one perforation provided with a lip;

The transmission disc is rotatably arranged in the perforation, the peripheral wall of the transmission disc is provided with a flange edge, and the flange edge is suitable for being abutted with the lip edge along the axial direction of the perforation;

5. The sterile adapter according to claim 4, wherein along the direction of rotation of the drive disk, the side of the first limit portion facing the second limit portion has a first sub-bevel, and the side of the second limit portion facing the first limit portion has a second sub-bevel;

The first inclined plane comprises the first sub inclined plane and the second sub inclined plane, and the inclined directions of the first sub inclined plane and the second sub inclined plane are consistent.

6. The sterile adapter of claim 5, wherein the first stop protrudes from the lip; the first limiting part is provided with a second inclined plane; the second inclined surface and the first sub-inclined surface are positioned on two opposite sides of the first limiting part along the circumferential direction of the lip;

and/or the number of the groups of groups,

The second limiting part protrudes out of the flange edge, and is provided with a third inclined plane; and the third inclined plane and the second sub inclined plane are positioned at two sides of the second limiting part opposite to each other along the circumferential direction of the transmission disc.

7. The sterile adapter of claim 6 wherein the first bevel has a first angle of inclination relative to the plane of rotation of the drive disk and the second or third bevel has a second angle of inclination relative to the plane of rotation of the drive disk;

the first tilt angle is less than 90 °, and the first tilt angle is greater than the second tilt angle.

8. The sterile adapter of claim 7, wherein the first angle of inclination is 15 ° to 45 ° and the second angle of inclination is 5 ° to 15 °.

9. The sterile adapter of claim 6, wherein a first height of the first stop protruding from the lip is less than or equal to a thickness of the lip;

the second limiting part protrudes out of the flange edge, and the second height of the second limiting part is matched with the first height of the flange edge.

10. The sterile adapter according to any one of claims 1-9, wherein the first limit parts are at least three, the at least three first limit parts being arranged in the direction of rotation of the drive disc;

and/or the number of the groups of groups,

The number of the second limiting parts is at least three, and the at least three second limiting parts are distributed along the rotation direction of the transmission disc.

11. The sterile adapter of claim 10 wherein the first stop has an arc of 0.3rad to 0.4rad and the second stop has an arc that matches the arc of the first stop.

12. The sterile adapter of claim 11, wherein the arc of spacing between adjacent ones of the first limiting portions is less than the arc of the first limiting portions, and wherein the spacing between adjacent ones of the second limiting portions matches the spacing between adjacent ones of the first limiting portions.

13. A surgical robot, comprising:

a power box having a power take-off;

the sterile adapter of any one of claims 1-12, connected to the power pack, with a drive disk of the sterile adapter snapped into engagement with the power take-off;