WO2022237592A1

WO2022237592A1 - Aseptic plate assembly, surgical instrument, power box and surgical robot system

Info

Publication number: WO2022237592A1
Application number: PCT/CN2022/090395
Authority: WO
Inventors: 何裕源; 常新朝; 何超; 蒋友坤
Original assignee: 上海微创医疗机器人（集团）股份有限公司
Priority date: 2021-05-13
Filing date: 2022-04-29
Publication date: 2022-11-17
Also published as: CN113288430A; CN113288430B

Abstract

An aseptic plate assembly, a surgical instrument, a power box and a surgical robot system. The aseptic plate assembly (15) comprises a first base plate (150), and a first locking device (151) arranged on the first base plate (150). The first locking device (151) is movably arranged between a first locking position and a first unlocking position relative to the first base plate (150) in a first direction. The first locking device (151) comprises a first pressing portion (152) and a first clamping portion (153) which are connected to each other; when the first locking device (151) is located at the first locking position, the first clamping portion (153) is used for locking a component corresponding to a first target object; when the first locking device (151) is located at the first unlocking position, the first clamping portion (153) is used for unlocking the component corresponding to the first target object; and the first pressing portion (152) is configured in such a way that the movement thereof in the first direction is limited by a second target object after the aseptic plate assembly (15) is used for being assembled and connected to the second target object, thereby limiting the first locking device (151) in the first locking position.

Description

Sterile plate components, surgical instruments, power boxes and surgical robot systems

technical field

The invention relates to the technical field of robot-assisted surgery, in particular to a sterile plate assembly, a surgical instrument, a power box and a surgical robot system.

Background technique

In recent years, with the application and development of robot-related technologies, especially the development of computing technology, the role of medical surgical robots in clinical practice has attracted more and more attention. Among them, the minimally invasive surgical robot system can reduce the physical labor of doctors during the operation through interventional therapy, and at the same time achieve the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery.

The minimally invasive surgical robot system enables the doctor to remotely control the mechanical arm and surgical tools on the slave operating robot at the main console to complete the operation. The development of robotic devices for minimally invasive surgery not only enables doctors to complete operations with less trauma, but with the same perspective and operating experience as traditional open surgery. More importantly, it enables doctors to perform surgery away from the patient, or perform surgery next to the patient in the ward, or remotely control the remote receiving device through the operation input device, so as to complete the operation.

In telesurgery, the surgeon uses some form of remote control, such as a servo mechanism, to manipulate the movement of surgical instruments, rather than holding and moving the instruments directly. In the telesurgery system, the surgeon controls the surgical workstation by operating the main control device to perform surgery on the patient, and the main control device controls the movement of the servo-mechanism surgical instruments.

However, if this surgical method is to be realized, there must be a system/device to support and drive the surgical instrument to move, and the above-mentioned system/device is usually realized by a robotic arm. Surgical instruments will come into contact with the patient's lesions during the operation and will be contaminated. Usually, it needs to be sterilized multiple times to achieve reuse. The robotic arm of the surgical robot usually needs to be used repeatedly, but due to its large size and many internal Sterilized and sterilized parts such as electronic devices, encoders or sensors, etc., so in order to avoid further contamination of the robotic arm by contaminated surgical instruments during the operation, a sterile plate is required to isolate the surgical instrument and the robotic arm. In addition, different surgical instruments need to be replaced repeatedly during the operation. Surgical instruments are used to complete operations such as cutting, suturing or electrocoagulation. During the operation, according to different operations, the surgical instruments will be subjected to forces in multiple directions. When the current surgical instruments or sterile plates are subjected to external forces, the surgical instruments will Or the aseptic plate often shakes to different degrees relative to the mechanical arm. The shaking is not good for the precise control of surgical instruments, and may cause safety hazards. On the other hand, the current locking structure of surgical instruments or sterile plates has tripping risks of.

Contents of the invention

The purpose of the present invention is to provide an aseptic plate assembly, a surgical instrument, a power box and a surgical robot system, so as to solve the problem that the existing surgical instruments or aseptic plates are easy to shake or trip.

In order to solve the above technical problems, according to the first aspect of the present invention, a sterile plate assembly is provided, which includes: a first base plate and a first locking device arranged on the first base plate;

The first locking device is movably disposed between a first locking position and a first unlocking position relative to the first base plate along a first direction;

The first locking device includes a connected first pressing part and a first clamping part, when the first locking device is in the first locking position, the first clamping part is used to engage with the first target The corresponding parts of the object are locked; when the first locking device is in the first unlocking position, the first clamping part is used to unlock the corresponding parts of the first target object;

The first pressing part is configured to be restricted by the second target object from moving in the first direction after the sterile plate assembly is used for assembly and connection with the second target object, so that the first The locking device is constrained in said first locked position.

Optionally, the sterile plate assembly also includes a first potential energy component;

The first potential energy component is respectively connected to the first substrate and the first locking device; the first potential energy component is configured to move from the first locking position to the first locking device when the first locking device is subjected to an external force. Potential energy is stored during the movement of the first unlocking position; when the first locking device is not subjected to external force or the external force is less than the driving force of the potential energy stored in the first potential energy component on the first locking device , the first potential energy component releases potential energy to drive the first locking device to move to the first locking position.

Optionally, the first potential energy component includes a first elastic member or two first magnetic members oppositely arranged with the same poles.

Optionally, the first clamping portion has a first guiding slope facing toward the power box, and the first guiding slope is inclined toward the first unlocking position.

Optionally, the first pressing portion has a second guiding slope facing the direction of the surgical instrument, and the second guiding slope is inclined toward the first locking position.

Optionally, the sterile plate assembly includes at least two first locking devices, and at least two first locking devices are arranged opposite to each other.

Optionally, the first substrate has a first limiting cavity, and the first limiting cavity is used to limit the freedom of movement of the first locking device only along the first direction.

Optionally, the first direction is parallel to the extending direction of the first substrate.

Optionally, the first base plate has a first locking platform, and the first locking platform is used to lock with the corresponding locking device of the surgical instrument, so that the surgical instrument and the sterile plate assembly Implement locking.

Optionally, the first base plate has a first power transmission hole through which the power transmission member passes.

In order to solve the above technical problems, according to the second aspect of the present invention, a surgical instrument is also provided, including: a second base plate and a second locking device arranged on the second base plate; the surgical instrument is used for The above-mentioned sterile plate assembly is assembled and connected; the second base plate is used for abutting connection with the first base plate of the sterile plate assembly; the second locking device is used for corresponding to the sterile plate assembly The components are locked;

The second base plate has a first locking channel for accommodating the first pressing part of the sterile plate assembly and for restricting the first pressing part from moving along the first direction. movement, so that the first locking device is restricted in the first locking position.

Optionally, the second locking device includes a connected second pressing portion and a second locking portion;

The second pressing part is rotatably arranged around the first axis between an initial position and a pressed position; the second clamping part moves with the rotation of the second pressing part;

The second clamping part is configured such that when the second pressing part is at the initial position, the second clamping part is used to lock with the corresponding part of the sterile plate assembly; When the two pressing parts are in the pressed position, the second clamping part is used for unlocking the corresponding parts of the aseptic plate assembly.

Optionally, the second locking device further includes a second potential energy component, and the second potential energy component is configured to rotate from the initial position to the pressed position when the second pressing part is pressed by an external force. Store potential energy in the process; when the second pressing part is not subjected to external force or the external force received is less than the driving force of the potential energy stored in the second potential energy part on the second pressing part, the second potential energy part The potential energy is released to drive the second pressing part to rotate to the initial position.

Optionally, the second potential energy component includes an elastic section through which the second pressing part is fixedly connected to the second substrate; the elastic section stores and releases potential energy through elastic deformation.

Optionally, the second pressing part is hinged to the second substrate, the second potential component includes a second elastic member or two second magnetic members arranged opposite to each other with the same pole, and the two second magnetic members of the second elastic member The ends are respectively connected with the second pressing part and the second substrate; or among the two second magnetic parts, one of the second magnetic parts is connected with the second pressing part, and the other is the second magnetic part. The magnetic part is connected with the second substrate.

Optionally, the second substrate has a raised base, the second pressing portion is connected to the raised end of the base, and the first axis is located at the raised end of the base.

Optionally, the first axis is parallel to the extension direction of the second substrate.

Optionally, the second clamping portion has a third guiding slope facing the direction of the sterile plate assembly, and the third guiding slope is inclined toward the pressed position.

Optionally, the first locking channel has a fourth guiding slope facing the direction of the sterile plate assembly, and the fourth guiding slope is inclined toward the first unlocking position.

Optionally, the surgical instrument includes two second locking devices arranged oppositely.

Optionally, the second base plate has a through second power transmission hole, the second power transmission hole corresponds to the first power transmission hole of the sterile plate assembly, and is used for the power transmission member to pass through.

In order to solve the above technical problems, according to the third aspect of the present invention, a power box is also provided, which is used to assemble and connect with the above-mentioned sterile plate assembly; the power box includes: a third base plate;

The third substrate is used for abutting connection with the first substrate of the sterile plate assembly;

The third base plate has a second locking platform, and the second locking platform is used to lock with the first locking part of the first locking device of the sterile plate assembly, so that the sterile plate assembly and The power box is locked.

Optionally, the power box further includes a drive assembly and a power transmission member, the drive assembly is coupled to the power transmission member, and the power transmission member is used to pass through the sterile plate assembly to provide surgical instruments with power.

Optionally, the third base plate has a through third power transmission hole, the third power transmission hole is used to correspond to the first power transmission hole of the first base plate, and is used for the power transmission member through.

In order to solve the above technical problems, according to the fourth aspect of the present invention, a surgical robot system is also provided, including a mechanical arm, the above-mentioned sterile plate assembly, the above-mentioned surgical instruments, and the above-mentioned power box ; The surgical instrument, the sterile plate assembly and the power box are detachably connected and connected with the mechanical arm.

To sum up, in the sterile plate assembly, surgical instrument, power box and surgical robot system provided by the present invention, the sterile plate assembly includes: a first base plate and a first lock set on the first base plate device; the first locking device is movably arranged between a first locking position and a first unlocking position relative to the first substrate along a first direction; the first locking device includes a first pressing part connected with The first locking part, when the first locking device is in the first locking position, the first locking part is used to lock with the corresponding part of the first target object; when the first locking device When in the first unlocking position, the first clamping part is used to unlock the corresponding part of the first target object; the first pressing part is configured to be used in the sterile plate assembly After being assembled and connected with the second target object, the movement along the first direction is restricted by the second target object, so that the first locking device is restricted in the first locking position.

So configured, after the aseptic board assembly, the surgical instrument and the power box are assembled and connected, the first pressing part of the aseptic board assembly will be restricted by the surgical instrument, so that the first locking device is in the first locking position and is in contact with the power box. Reliable locking can avoid the risk of accidental unlocking of the sterile plate assembly and the power box due to misoperation during the operation, and improves the reliability of the connection, thereby ensuring the safety and reliability of the operation.

Description of drawings

Those of ordinary skill in the art will understand that the provided drawings are for better understanding of the present invention, but do not constitute any limitation to the scope of the present invention. in:

Fig. 1 is a schematic diagram of a surgical scene of the surgical robot system involved in the present invention;

Fig. 2 is a schematic diagram of the tool arm supporting and mounting the surgical instrument involved in the present invention;

Figure 3 is a schematic diagram of the assembly of the surgical instrument, the sterile plate assembly and the power box involved in the present invention;

Fig. 4 is the schematic diagram of the aseptic plate assembly of embodiment one of the present invention;

Fig. 5 is an exploded view of the sterile plate assembly of Embodiment 1 of the present invention;

Fig. 6 is a partial schematic diagram of a sterile plate assembly according to Embodiment 1 of the present invention;

Figure 7 is an exploded view of the sterile plate assembly shown in Figure 6;

Fig. 8 is a schematic diagram of a first elastic member according to Embodiment 1 of the present invention;

9 is a schematic diagram of the first locking device in the first locking position according to Embodiment 1 of the present invention;

Fig. 10 is a schematic diagram of the first locking device in the first unlocking position according to Embodiment 1 of the present invention;

Fig. 11 is a schematic diagram of a surgical instrument according to Embodiment 1 of the present invention;

Fig. 12 is a partial schematic diagram of a surgical instrument according to Embodiment 1 of the present invention;

Figure 13 is a side view of the surgical instrument shown in Figure 12;

Fig. 14 is a transverse sectional view of the surgical instrument shown in Fig. 12;

Fig. 15 is a schematic view before the assembly of the surgical instrument and the sterile plate assembly according to Embodiment 1 of the present invention;

Fig. 16 is a transverse cross-sectional view of the surgical instrument shown in Fig. 15 and the sterile plate assembly before assembly;

Fig. 17 is a schematic diagram of the assembled surgical instrument and sterile plate assembly according to Embodiment 1 of the present invention;

Fig. 18 is a transverse cross-sectional view of the surgical instrument shown in Fig. 17 after being assembled with the sterile plate assembly;

Fig. 19 is a transverse sectional view of the surgical instrument, the sterile plate assembly and the power box according to Embodiment 1 of the present invention before they are assembled;

Fig. 20 is a transverse cross-sectional view of the assembled surgical instrument, sterile plate assembly and power box in Embodiment 1 of the present invention;

Fig. 21 is a partial schematic diagram of a surgical instrument according to Embodiment 2 of the present invention;

Fig. 22 is an exploded schematic view of the surgical instrument shown in Fig. 21;

Figure 23 is a side view of the surgical instrument shown in Figure 21;

Fig. 24 is a transverse sectional view of the surgical instrument according to the second embodiment of the present invention;

Fig. 25 is a schematic diagram of the assembled surgical instrument and the sterile plate assembly according to the second embodiment of the present invention;

Fig. 26 is a transverse sectional view of the assembled surgical instrument and the sterile plate assembly according to the second embodiment of the present invention;

Fig. 27 is a schematic diagram of the first elastic member according to the second embodiment of the present invention;

Fig. 28 is a partial schematic view of the sterile plate assembly of the second embodiment of the present invention.

In the attached picture:

1-patient-side robot; 11-column; 12-support mechanism; 13-tool arm; 104-image trolley; 105-tool cart; 106-doctor console; 107-main operator;

14-surgical instrument; 140-second base plate; 1401-second power transmission hole; 1402-pin shaft; 1403-limit hole; 141-second locking device; 142-first locking channel; 143-fourth guiding slope 144-the second pressing part; 145-the second clamping part; 146-the upper cover of the instrument; 147-the abutment; 148-the third guiding slope; 1491-the elastic section;

15-sterile plate assembly; 150-the first substrate; 1501-the upper cover of the first substrate; 1502-the lower cover of the first substrate; 1503-the first power transmission hole; 1504-the positioning part; 151-the first locking device ; 152-the first pressing part; 153-the first clamping part; 154-the first elastic member; A limiting cavity; 158-the second guiding slope;

16-power box; 160-third base plate; 1601-third power transmission hole; 161-second locking platform; 166-power box shell.

Detailed ways

In order to make the purpose, advantages and features of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in very simplified form and not drawn to scale, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. In addition, the structures shown in the drawings are often a part of the actual structure. In particular, each drawing needs to display different emphases, and sometimes uses different scales.

As used in this specification, the singular forms "a", "an" and "the" include plural objects, the term "or" is usually used in the sense of including "and/or", and the term "several" Usually, the term "at least one" is used in the meaning of "at least one", and the term "at least two" is usually used in the meaning of "two or more". In addition, the terms "first", "second "Two" and "third" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of these features, the term "proximal end" is usually the end close to the operator, the term The "distal end" is usually the end close to the patient, that is, the end close to the lesion. "One end" and "the other end" as well as "proximal end" and "distal end" usually refer to the corresponding two parts, which not only include the end point, the term "installation" , "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integration; it can be directly connected or indirectly connected through an intermediary, and it can be an internal connection between two components. connectivity or interaction between two elements. In addition, as used in this specification, an element is arranged on another element, usually only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements can be direct or indirect through an intermediate element. connection, coupling, fit or transmission, but should not be understood as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of another element, unless the content Also clearly point out. Those of ordinary skill in the art can understand the specific meanings of the above terms in this specification according to specific situations.

Description is made below with reference to the accompanying drawings.

Please refer to Figures 1 to 3, wherein, Figure 1 is a schematic diagram of the surgical scene of the surgical robot system involved in the present invention; Figure 2 is a schematic diagram of the tool arm supporting and mounting surgical instruments involved in the present invention; Schematic diagram of the assembly of the surgical instruments, sterile plate assembly, and power box.

An embodiment of the present invention provides a surgical robot system. FIG. 1 shows the surgical robot system and its surgical application scenarios. In an exemplary embodiment, the surgical robot system is a master-slave teleoperated surgical robot, namely The surgical robot system includes an execution end and a control end, wherein the control end includes a doctor's console 106 and a main operator 107 movably arranged on the doctor's console 106 . With further reference to FIG. 1 , the execution end includes a patient-side robot 1, and the patient-side robot 1 includes a column 11 and a mechanical arm, which includes a support mechanism 12 and a tool arm 13, and surgical instruments 14 (including operating instruments and endoscopes, etc.) Mounted or connected to the tool arm 13. The main operating principle of the surgical robot system is: the doctor performs minimally invasive surgical treatment on the patient on the hospital bed 101 through the remote operation of the doctor console 106 and the main operator 107 . Wherein, the master operating hand 107 forms a master-slave control relationship with the tool arm 13 and the surgical instrument 14 . Specifically, the tool arm 13 and the surgical instrument 14 move according to the movement of the main operating hand 107 during the operation, that is, they move correspondingly according to the operation of the main operating hand 107 by the doctor's hand. Furthermore, the master operator 107 also receives the force information of human tissues and organs on the surgical instrument and feeds it back to the doctor's hand, so that the doctor can experience the surgical operation more intuitively. The end of the tool arm 13 is used to mount or connect the surgical instrument 14, so that the surgical instrument 14 can perform surgical operations, such as rotating around a fixed point in a space; the support mechanism 12 can be connected with a plurality of tool arms 13 The rotatable connection is used to adjust the spatial position of the fixed point. In some embodiments, it may further include a plurality of support structures 12, and the plurality of support structures 12 are respectively rotatably connected with a plurality of tool arms 13; the column 11 is connected with the support mechanism 12 and is used to determine the spatial positions of the support mechanism 12 and the tool arm 13 . Optionally, the surgical robot system further includes an image trolley 104 and a tool trolley 105, and the image trolley 104 is used to provide and display surgical operation information for an auxiliary operator (such as a nurse) in real time. The tool trolley 105 is used to place the surgical instrument 14 or other tools, so as to take and place the surgical instrument 14 or other tools during the operation.

The patient-side robot 1 is a specific implementation platform of the teleoperation surgical robot system. Please refer to FIG. 2 and FIG. 3 , which show a schematic diagram of a tool arm 13 of the patient-side robot 1 supporting and mounting a surgical instrument 14 . As mentioned in the background art, since the surgical instrument 14 needs to be replaced continuously during the operation, in order to avoid contamination of the tool arm 13 , the surgical instrument 14 is connected to the tool arm 13 through the sterile plate assembly 15 . Further, in the example shown in FIGS. 2 and 3 , one side of the sterile plate assembly 15 is detachably connected to the surgical instrument 14 , and the other side of the sterile plate assembly 15 is detachably connected to the power box 16 . The power box 16 is used to provide power for the surgical instrument 14 to drive the distal end of the surgical instrument 14 to perform surgical operations, such as clamping, cutting, scissoring and other operations. Of course, in other embodiments, the surgical instrument 14 can also be a component that does not require power input such as an endoscope, then the power box 16 can not be provided, and only the surgical instrument 14 is connected to the tool arm 13 through the sterile plate assembly 15 That's it. It can be understood that the surgical robot system shown in FIG. 1 is only an example of the surgical robot system rather than a limitation on the surgical robot system, such as the surgical robot system includes non-master-slave teleoperated surgical robots, etc.; the same The example shown in FIG. 2 is only a partial example of the patient-side robot 1 and not a limitation to the patient-side robot 1. Those skilled in the art can improve and configure the specific structure of the patient-side robot 1 according to the prior art. The present invention is not limited thereto.

[Example 1]

Please refer to Figure 4 to Figure 20, wherein, Figure 4 is a schematic diagram of the sterile plate assembly of Embodiment 1 of the present invention; Figure 5 is an exploded view of the sterile plate assembly of Embodiment 1 of the present invention; Figure 6 is an embodiment of the present invention Figure 7 is an exploded view of the sterile plate assembly shown in Figure 6; Figure 8 is a schematic diagram of the first elastic member of the first embodiment of the present invention; Figure 9 is a first embodiment of the present invention Fig. 10 is a schematic diagram of the first locking device in the first unlocked position according to Embodiment 1 of the present invention; Fig. 11 is a schematic diagram of the surgical instrument according to Embodiment 1 of the present invention; Fig. 12 Fig. 13 is a side view of the surgical instrument shown in Fig. 12; Fig. 14 is a transverse sectional view of the surgical instrument shown in Fig. 12; Fig. 15 is a first embodiment of the present invention Figure 16 is a cross-sectional view of the surgical instrument shown in Figure 15 and the sterile plate assembly before assembly; Figure 17 is a surgical instrument and a sterile plate according to Embodiment 1 of the present invention Schematic diagram of assembled components; Figure 18 is a transverse cross-sectional view of the surgical instrument and sterile plate assembly shown in Figure 17 after assembly; Figure 19 is the surgical instrument, sterile plate assembly and power box of Embodiment 1 of the present invention before assembly Fig. 20 is a transverse sectional view of the assembled surgical instrument, sterile plate assembly and power box according to Embodiment 1 of the present invention.

In order to realize the fast and reliable loading and unloading among the above-mentioned surgical instrument 14, sterile plate assembly 15 and power box 16, this embodiment provides a sterile plate assembly 15, as shown in Figures 4 to 10, the sterile The board assembly 15 includes: a first base plate 150 and a first locking device 151 disposed on the first base plate 150; the first locking device 151 is at a first locking position and The first unlocking position is movably set; in the example shown in FIG. 4 , the first direction is parallel to the first substrate 150 and extends from the bottom left to the top right in the figure. The first locking device 151 includes a first pressing part 152 and a first clamping part 153 connected to each other. When the first locking device 151 is in the first locking position, the first clamping part 153 uses Lock with the corresponding parts of the power box 16 (i.e. the first target object) (such as the second locking platform 161 of the power box 16, see the description of the power box 16 below for details); when the first locking device 151 is in In the first unlocked position, the first clamping part 153 is used to unlock the corresponding parts of the power box 16; the first pressing part 152 is configured to be used in the sterile plate assembly 15 After being assembled and connected with the surgical instrument 14 (ie, the second target object), the movement along the first direction is restricted by the surgical instrument 14, so that the first locking device 151 is restricted to be in the first locking position. Thus, after the surgical instrument 14, the sterile plate assembly 15 and the power box 16 are assembled and connected, the first pressing portion 152 of the sterile plate assembly 15 will be restricted by the surgical instrument 14, so that the first locking device 151 is in the first position. In the locked position, the first locking part 153 and the power box 16 are reliably locked, which can avoid the risk of accidental unlocking of the sterile plate assembly 15 and the power box 16 due to misoperation during the operation, and improve the reliability of the connection, thereby The safety and reliability of the operation are guaranteed.

Please refer to FIG. 11 to FIG. 14 , in order to achieve assembly and connection with the aforementioned sterile plate assembly 15 , the surgical instrument 14 provided in this embodiment includes: a second base plate 140 and a second locking device disposed on the second base plate 140 141; the second base plate 140 is used to abut against the first base plate 150 of the sterile plate assembly 15; the second locking device 141 is used for the corresponding parts of the sterile plate assembly 15 (such as The first locking stage 155 of the sterile plate assembly 15, see the description of the sterile plate assembly 15 below for details); the second base plate 140 has a first locking channel 142, and the first locking channel 142 is used to accommodate The first pressing part 152 of the sterile plate assembly 15 is placed, and is used to restrict the movement of the first pressing part 152 along the first direction, so that the first locking device 151 is restricted in the first position. A locked position.

Further, please refer to FIG. 19 and FIG. 20 , the power box 16 provided in this embodiment is used to assemble and connect with the above-mentioned sterile plate assembly 15; the power box 16 includes: a third base plate 160; The base plate 160 is used to abut against the first base plate 150 of the sterile plate assembly 15; The first locking part 153 of the first locking device 151 of 15 is locked, so that the sterile plate assembly 15 and the power box 16 are locked.

Optionally, the first base plate 150 has a first locking platform 155, and the first locking platform 155 is used to lock with the corresponding locking device (ie, the second locking device 141) of the surgical instrument 14, so as to The surgical instrument 14 is locked with the sterile plate assembly 15 . In practice, when the surgical instrument 14 , the sterile plate assembly 15 and the power box 16 are assembled and connected, the sterile plate assembly 15 is locked by the second locking portion 153 of the first locking device 151 and the third base plate 160 . The platform 161 is engaged and locked, and then the surgical instrument 14 is engaged and locked with the first locking platform 155 of the first base plate 150 through the second locking device 141 , so as to realize the assembly and connection of the three.

In an exemplary embodiment, the first substrate 150 , the second substrate 140 and the third substrate 160 are substantially plate-like members, and opposite sides thereof along respective extending directions are planes parallel to each other. The first direction is also parallel to the extending direction of the first substrate 150 . Of course, in other embodiments, the shapes of the first substrate 150 , the second substrate 140 and the third substrate 160 are not limited to plates with two parallel surfaces, and the first direction is not limited to being parallel to the extending direction of the first substrate 150 , for example, the first direction may form a certain angle with the extending direction of the first substrate 150 . Those skilled in the art can make reasonable configurations according to actual conditions, and the present invention is not limited thereto.

Optionally, the first pressing portion 152 of the sterile plate assembly 15 protrudes on the first base plate 150 toward the side connected to the surgical instrument 14, and the height of the protrusion is greater than or equal to the thickness of the second base plate 140; Yes, the first locking channel 142 runs through the second substrate 140 . With such a configuration, when assembled, the first pressing portion 152 passes through the second substrate 140 through the first locking channel 142 . Optionally, the first locking channel 142 can restrict the first locking device 151 at the first locking position by abutting at least limiting the position of the first pressing portion 152 along the first direction toward the first unlocking position. In a specific example, the first pressing portion 152 can be limited by the side wall 1421 of the first locking channel 142 . Preferably, the inner contour of the first locking passage 142 is adapted to the outer contour shape of the first pressing part 152, the first locking passage 142 can not only limit the displacement of the first pressing part 152 along the first direction by abutting, but also can Limit the displacement of the first pressing part 152 in other directions in the extension direction of the second substrate 140, that is, the first pressing part 152 can only pass in and out along the axial direction of the first locking channel 142, without other degrees of freedom . With such a configuration, when the surgical instrument 14 is assembled and connected with the sterile plate assembly 15 , the first pressing portion 152 and the first locking channel 142 can also serve as a positioning post and a positioning channel to form a positioning for the assembly and connection of the two. Of course, in some other embodiments, the height of the first pressing portion 152 protruding from the first substrate 150 is not necessarily greater than or equal to the thickness of the second substrate 140, and the height of the protrusion of the first pressing portion 152 can also be less than The thickness of the second substrate 140 does not need to be opened through the first locking channel 142 at this time, and it may be a blind hole matching the height of the protrusion of the first pressing portion 152 . Those skilled in the art can make reasonable configurations based on actual conditions.

Optionally, in the example shown in FIG. 4 and FIG. 12, the sterile plate assembly 15 includes at least two of the first locking devices 151, and at least two of the first locking devices 151 are arranged oppositely; The surgical instrument 14 includes two second locking devices 141 arranged oppositely. Of course, in other embodiments, the sterile plate assembly 15 may include more first locking devices 151 , and the surgical instrument 14 may include more second locking devices 141 . The relative arrangement here, for the two first locking devices 151 , may be symmetrically arranged back-to-back with respect to an axis perpendicular to the first base plate 150 , as shown in FIG. 4 . But in other embodiments, it is not limited to the symmetrical arrangement, and the two can be distributed at a certain angle around the axis perpendicular to the first base plate 150; and for multiple first locking devices 151, there can be multiple The first locking devices 151 are arranged around the axis perpendicular to the first base plate 150 , and it is sufficient that the first locking devices 151 form a certain angle, which is not limited in the present invention. Similarly, the two second locking devices 141 are arranged opposite to each other, and reference may be made to the above description of the first locking device 151, which may refer to the symmetrical arrangement of the two second locking devices 141 back-to-back with respect to an axis perpendicular to the second base plate 140 , as shown in Figure 14.

Correspondingly, the number of the first locking stations 155 of the sterile plate assembly 15 can be adapted to the number of the second locking devices 141 of the surgical instrument 14 or greater than the number of the second locking devices 141; The number of locking stations 161 can be adapted to the number of first locking devices 151 of the sterile plate assembly 15 or greater than the number of first locking devices 151 . It should be understood that when the sterile plate assembly 15 includes more than two first locking devices 151, each first locking device 151 has its own first direction, and the first direction of each first locking device 151 can be parallel to each other, or at an angle to each other. Preferably, the first direction of each first locking device 151 is parallel to the extending direction of the first substrate 150 .

Please refer to FIG. 6 and FIG. 7, optionally, the sterile plate assembly 15 further includes a first potential energy component; the first potential energy component is respectively connected to the first base plate 150 and the first locking device 151; The first potential energy component is configured to store potential energy when the first locking device 151 is subjected to an external force and moves from the first locking position to the first unlocking position; When there is no external force or the received external force is less than the driving force of the potential energy stored in the first potential energy component on the first locking device 151, the first potential energy component releases the potential energy and drives the first locking device 151 to The first locked position moves. Here, the situation that the external force suffered by the first locking device 151 is less than the driving force of the first locking device 151 by the potential energy stored in the first potential energy component is described, and the first locking device 151 may be subjected to an external force, but If the external force is small and less than the driving force of the first locking device 151 by the potential energy stored in the first potential energy component, then the first locking device 151 will drive to the first locking device 151 under the drive of the potential energy released by the first potential energy component. A locked position moves.

19 and 20, the first locking device 151 can be locked with the power box 16 when it is in the first locking position, and during assembly, the sterile plate assembly 15 and the surgical instrument 14 can be sequentially assembled on the power box 16 , when the aseptic plate assembly 15 is assembled and connected with the power box 16 and the surgical instrument 14 is not assembled, the setting of the first potential energy component can keep the first locking device 151 at the first locking position when no external force is applied, ensuring Assembly stability of both the sterile plate assembly 15 and the power box 16 .

Optionally, the first potential energy component includes a first elastic member 154 or two first magnetic members oppositely arranged with the same pole. The following is an example of the first potential energy component including the first elastic member 154. The first elastic member 154 can be a common elastic member such as a spring, a shrapnel or a leaf spring. Please refer to FIGS. 6 to 8. In an alternative In the embodiment, the first elastic member 154 is a shrapnel, which has a positioning area 1541 and an elastic area 1542. Correspondingly, the first substrate 150 has a positioning portion 1504 for engaging and fixing the positioning area 1541. The positioning area 1541 can Engage with the positioning part 1504 to achieve fixation. The shape of the shrapnel can be, for example, V-shape, N-shape, W-shape, etc., and the present invention does not specifically limit the shape of the shrapnel. One end of the elastic region 1542 is connected to the positioning region 1541 , and the other end is connected to the first locking device 151 . The elastic region 1542 is capable of storing or releasing potential energy through elastic deformation. In another alternative embodiment, for example, the first potential energy component may include first magnetic parts arranged oppositely with the same pole, one of which is connected to the first locking device 151, and the other can be fixed on the first substrate 150 . When the first locking device 151 moves toward the first unlocking position, the two first magnetic parts approach each other, generating repulsive force and storing potential energy; when the external force applied to the first locking device 151 is removed, the two first magnetic parts are Repel each other to release potential energy, pushing the first locking device 151 to move towards the first locking position.

Please refer to FIG. 16 and FIG. 18 , optionally, the first clamping portion 153 has a first guide slope 156 facing the direction of the power box 16 , and the first guide slope 156 faces the direction of the power box 16 Gradually incline toward the first unlocking position, that is, the first guiding slope 156 faces toward the power box 16 and the first unlocking position. In the example shown in Figure 16 and Figure 18, the first direction is the horizontal direction in the figure, the first unlocking position is the position where the two first locking devices 151 are close to the center of the first substrate 150, and the first locking position is The left and right ends of the two first locking devices 151 are away from the center of the first base plate 150. For the first clamping portion 153 on the left side of the figure, the first guide slope 156 faces the direction of the power box 16 ( That is, the lower part in the figure) gradually inclines toward the center of the first substrate 150 (that is, the right side in the figure), and for the first clamping part 153 on the right side in the figure, the first guiding slope 156 is inclined toward the lower left of. It can be understood that the inclination direction of the first guiding slope 156 is only related to the first locking position and the first unlocking position. When the sterile plate assembly 15 is assembled with the power box 16, in some embodiments, the first locking device 151 can be driven to move to the first unlocking position by pressing the first pressing part 152, while in some other embodiments In this case, the abutment between the first inclined guide surface 156 and the power box 16 can be directly used, and the component force along the first direction generated by the power box 16 on the first guide inclined surface 156 can be used to push the first locking device 151 to the first unlocking position. move. This method is especially suitable for setting multiple first locking devices 151. The operator does not need to perform special operations on the first locking devices 151, and only needs to fasten the sterile plate assembly 15 on the power box 16. Complete the assembly. It should be noted that the first guiding slope 156 is not limited to being a plane, and it can also be a smooth curved surface.

Preferably, as shown in FIG. 5 , the first substrate 150 has a first limiting cavity 157, and the first limiting cavity 157 is used to limit the first locking device 151 to only have the freedom of movement along the first direction. Spend. Please refer to FIG. 5, in one example, the first substrate 150 may include a first substrate upper cover 1501 and a first substrate lower cover 1502, both of the first substrate upper cover 1501 and the first substrate lower cover 1502 Can be assembled and split, the first limiting cavity 157 is formed between the first substrate upper cover 1501 and the first substrate lower cover 1502, the first limiting cavity 157 can extend along the first direction, and the corresponding first locking Part of the contour shape of the device 151 is adapted to the inner contour of the first limiting cavity 157, the first locking device 151 can be engaged in the first limiting cavity 157 and can move along the first direction, while the first limiting cavity The cavity 157 restricts the other degrees of freedom of the first locking device 151 except for movement in the first direction. The arrangement of the first limiting cavity 157 can prevent the first locking device 151 from falling out, overturning or twisting from the first base plate 150 , which improves the reliability of the movement of the first locking device 151 .

Optionally, please refer to FIG. 15 to FIG. 18 , the first pressing part 152 has a second guiding slope 158 facing the direction of the surgical instrument 14 , and the second guiding slope 158 gradually moves toward the direction of the surgical instrument 14 . tilted towards the first locked position. For the inclination direction of the second guiding slope 158 , it can be understood by referring to the above description about the inclination direction of the first guiding slope 156 , and the description will not be repeated here. After the aseptic plate assembly 15 and the power box 16 are assembled, when the surgical instrument 14 is installed, the second guiding slope 158 guides the first pressing part 152 to penetrate the first locking passage 142, so that the first pressing part 152 can Easily slides into first locking channel 142 . It should be noted that the second guiding slope 158 is not limited to being a plane, it may also be a smooth curved surface, which can also play a certain guiding role.

Optionally, please continue to refer to FIG. 15 to FIG. 18 , the first locking channel 142 has a fourth guide slope 143 facing the direction of the sterile plate assembly 15, and the fourth guide slope 143 faces toward the sterile plate assembly. The orientation of assembly 15 is gradually inclined towards said first unlocked position. Likewise, the inclination direction of the fourth guide slope 143 can be understood by referring to the above description about the inclination direction of the first guide slope 156 , which will not be repeated here. The setting of the fourth guiding slope 143 can also guide the first pressing part 152 to penetrate into the first locking channel 142 , so that the first pressing part 152 can slide into the first locking channel 142 conveniently. Likewise, the fourth guiding slope 143 is not limited to being a plane, and it can also be a smooth curved surface, which can also play a certain guiding role.

The surgical instrument 14 provided in this embodiment will be described below with reference to FIGS. 11 to 14 . In the example shown in FIGS. 11 to 14, the surgical instrument 14 includes a second base plate 140 and two second locking devices 141, and the two second locking devices 141 are arranged on the second base plate 140 at intervals. , the surgical instrument 14 is used to realize locking or unlocking through the two second locking devices 141 and the corresponding sterile plate assembly 15 . Further, the surgical instrument 14 also includes an upper instrument cover 146 , which is used to assemble with the second base plate 140 to form an inner cavity for accommodating other components of the surgical instrument 14 . In this embodiment, other components inside the surgical instrument 14 are not described, and those skilled in the art can configure them according to the prior art. Of course, in some other embodiments, the surgical instrument 14 can also include more second locking devices 141, and the arrangement of the second locking devices 141 is not limited to a relatively parallel arrangement. For example, the surgical instrument 14 can include three second locking devices 141. The locking device 141 and the three second locking devices 141 are arranged in a U shape, etc., and the present invention is not limited thereto. More than two second locking devices 141 can reduce the shaking of the surgical instrument 14 during the operation, improve stability and safety, and improve operation accuracy. It should be further noted that the number of the second locking devices 141 may be the same as or different from the number of the first locking devices 151 , which is not limited in the present invention.

Please refer to FIG. 12 to FIG. 14 , in an example, the second locking device 141 includes a connected second pressing portion 144 and a second holding portion 145; The lower position is rotatably arranged around the first axis A; the second clamping part 145 moves with the rotation of the second pressing part 144; the second clamping part 145 is configured to, when When the second pressing part 144 is in the initial position, the second clamping part 145 is used to lock with the corresponding parts (such as the first locking platform 155) of the sterile plate assembly 15; When the pressing portion 144 is in the pressed position, the second clamping portion 145 is used for unlocking the corresponding component (such as the first locking platform 155 ) of the sterile plate assembly 15 .

Preferably, the second locking device 141 further includes a second potential energy component, and the second potential energy component is configured to move from the initial position to the pressed position when the second pressing portion 144 is pressed by an external force. Potential energy is stored in the process of rotation; when the second pressing part 144 is not subjected to external force or the external force received is less than the driving force of the potential energy stored in the second potential energy component on the second pressing part 144, the second pressing part 144 The two potential components release potential energy to drive the second pressing part 144 to rotate to the initial position. For the case where the external force on the second pressing part 144 is less than the driving force of the second pressing part 144 by the potential energy stored in the second potential energy component, reference may be made to the previous description of the first potential energy component, which will not be repeated here. . The arrangement of the second potential energy component can keep the second pressing portion 144 at the initial position when no external force is applied, so as to ensure the assembly stability of the surgical instrument 14 and the sterile plate assembly 15 .

Optionally, the second clamping portion 145 has a third guiding slope 148 facing the direction of the sterile plate assembly, and the third guiding slope 148 gradually faces toward the direction of the sterile plate assembly 15 The lower position is tilted. Regarding the inclination direction of the third guide slope 148 , it can be understood by referring to the above description about the inclination direction of the first guide slope 156 , which will not be repeated here.

Please refer to FIG. 13. Optionally, in order to ensure the stability of the second clamping portion 145, the width d of the second clamping portion 145 along the direction parallel to the first axis A, and the width d of the second substrate along the direction parallel to the first axis A The length L in the direction of the axis A satisfies d≥0.1L. Such a configuration can reduce the shaking of the surgical instrument 14 during the operation, improve stability and safety, and improve operation accuracy.

In some embodiments, when the surgical instrument 14 is used to assemble the sterile plate assembly 15, the operator can press the second pressing part 144 to unlock the second clamping part 145 and the first locking platform 155, and in another In some embodiments, the abutment between the third guiding slope 148 and the sterile plate assembly 15 can be directly used, and the component force generated by the sterile plate assembly 15 on the third guiding slope 148 towards the pressed position can be used to push the second pressing The portion 144 moves to the pressed position. This method is especially suitable for setting multiple second locking devices 141. The operator does not need to perform special operations on the second pressing part 144, and only needs to fasten the surgical instrument 14 on the sterile plate assembly 15. Complete the assembly. It should be noted that the third guiding slope 148 is not limited to being a plane, and it can also be a smooth curved surface.

Optionally, the second substrate 140 has a raised base 147, the second pressing portion 144 is connected to the raised end of the base 147, and the first axis A is located at the base 147. The protruding end (ie, the end away from the main body of the second substrate 140 ).

Preferably, the first axis A is parallel to the extending direction of the second substrate 140 .

Optionally, please refer to FIG. 12 to FIG. 15 , the second potential energy component includes an elastic section 1491, and the second pressing part 144 is fixedly connected to the second substrate 140 through the elastic section 1491; the elastic section 1491 stores and releases potential energy through elastic deformation. The material of the elastic section 1491 has a certain degree of elasticity, such as a polymer material; preferably, the shape and size of the cross-section of the elastic section 1491 is adapted to its modulus of elasticity, so that the second pressing part 144 is pressed by a predetermined pressure , the elastic section 1491 can generate elastic deformation and store potential energy. Of course, those skilled in the art can set the predetermined pressure according to actual needs, and then configure the shape, dimension and elastic modulus of the cross section of the elastic section 1491 . Optionally, the elastic section 1491 can be integrally formed with the second pressing portion 144 . Further, the elastic section 1491 can also be integrally formed with the base 147 and the second substrate 140 .

Optionally, the power box 16 also includes a drive assembly (not shown) and a power transmission member (not shown), the drive assembly is coupled to the power transmission member, and the power transmission member is used to pass through The sterile plate assembly 15 provides power for the surgical instrument 14 .

Further, the first base plate 150 of the sterile plate assembly 15 has a through first power transmission hole 1503, the second base plate 140 of the surgical instrument 14 has a through second power transmission hole 1401, and the third base plate 160 of the power box 16 has a The through third power transmission hole 1601 ; the second power transmission hole 1401 and the third power transmission hole 1601 respectively correspond to the first power transmission hole 1503 , for example, the three are arranged coaxially through. The first power transmission hole 1503 , the second power transmission hole 1401 and the third power transmission hole 1601 are used for passing the power transmission member. The drive assembly includes, for example, a motor commonly used in the field, and the power transmission member, for example, may be a drive shaft of the motor or other transmission components. Optionally, the power box 16 also includes a power box housing 166, which is used to assemble and connect with the third base plate 160 to form an inner cavity to accommodate and protect components such as drive components and power transmission parts. .

Further, the surgical robot system provided in this embodiment includes the above-mentioned sterile plate assembly 15, the above-mentioned surgical instrument 14, and the above-mentioned power box 16; the surgical instrument 14, the sterile plate The assembly 15 and the power box 16 are detachably connected in sequence. For the structural principles and other components of the surgical robot system, please refer to the previous description, and will not repeat them here. Of course, those skilled in the art can also reasonably configure other components of the surgical robot system according to existing technologies and technologies, and the present invention is not limited thereto.

[Example 2]

The aseptic plate assembly, surgical instrument, power box and surgical robot system of the second embodiment of the present invention are basically the same as those of the first embodiment, the same parts will not be described, and only the differences will be described below.

Please refer to Fig. 21 to Fig. 28, wherein Fig. 21 is a partial schematic view of the surgical instrument of Embodiment 2 of the present invention; Fig. 22 is an exploded schematic view of the surgical instrument shown in Fig. 21; Fig. 23 is a schematic diagram of the surgical instrument shown in Fig. 21 Side view; Figure 24 is a transverse cross-sectional view of the surgical instrument of the second embodiment of the present invention; Figure 25 is a schematic diagram of the assembled surgical instrument and the sterile plate assembly of the second embodiment of the present invention; Figure 26 is a surgical instrument of the second embodiment of the present invention Transverse sectional view of the assembled instrument and sterile plate assembly; FIG. 27 is a schematic diagram of the first elastic member in Embodiment 2 of the present invention; FIG. 28 is a partial schematic diagram of the sterile plate assembly in Embodiment 2 of the present invention.

In the second embodiment, the specific structure of the surgical instrument 14 is different from that in the first embodiment. Specifically, as shown in FIGS. 21 to 26 , in the surgical instrument 14 provided by Embodiment 2, the second pressing portion 144 is hinged to the second base plate 140 , and the second potential energy component includes a second elastic member 1492 Or two second magnetic parts arranged opposite to each other with the same polarity, the two ends of the second elastic part 1492 are respectively connected to the second pressing part 144 and the second substrate 140; or two second magnetic parts respectively connected to the second pressing part 144 and the second substrate 140, specifically, among the two second magnetic parts, one of the second magnetic parts is connected to the second pressing part 144, and the other The second magnetic element is connected to the second substrate 140 .

In one example, the second substrate 140 has a protruding base 147 , and the second pressing portion 144 is rotatably disposed on the protruding end of the base 147 via a pin shaft 1402 . The first axis A is the axis of the pin shaft 1402 . Further, the second substrate 140 has a limit hole 1403, which is used for the second clamping portion 145 to pass through, and can limit the rotation range of the second clamping portion 145, thereby also limiting the second pressing portion The rotation range of 144 is between the initial position and the depressed position.

The following description will be made by taking the second potential energy component including the second elastic member 1492 as an example. The second elastic member 1492 can be an elastic structure such as a spring or a shrapnel. One end of the second elastic member 1492 is connected to the base 147 , and the other end is connected to the second pressing portion 144 . When no external force is applied, the second elastic member 1492 pushes the second pressing portion 144 toward the initial position by its own elastic force, and at the same time, under the abutment of the second clamping portion 145 and the limiting hole 1403, the second pressing portion 144 is kept at the initial position, as shown by the second locking device 141 on the right side of FIG. 24 and FIG. 26 . When the second pressing part 144 is pressed by an external force and overcomes the elastic force of the second elastic member 1492, the second pressing part 144 moves to the pressed position until the second clamping part 145 abuts against the other side of the limiting hole 1403. , the second pressing part 144 reaches the pressed position, as shown by the second locking device 141 on the left side of FIG. 24 . In some other embodiments, the above-mentioned second elastic member 1492 can be replaced by two second magnetic members arranged opposite to each other with the same pole, which can also achieve a similar effect.

In the sterile plate assembly 15 provided in the second embodiment, the specific structure of the first elastic member 154 is different from that in the first embodiment. Please refer to FIG. 27 and FIG. 28. Optionally, the first elastic member 154 can be an elastic folding part integrally formed with the first locking device 151, and the shape of the elastic folding part can be V-shaped, N-shaped, W-shaped, etc. , and its material can be a material with certain elasticity such as a polymer material. Those skilled in the art can configure the shape, size and elastic modulus of the cross-section of the first elastic member 154 according to actual needs. Further, the first elastic member 154 can also be folded to form a positioning area 1541 for engaging and fixing with the positioning portion 1504 of the first substrate 150 .

To sum up, in the sterile plate assembly, surgical instrument, power box and surgical robot system provided by the present invention, the sterile plate assembly includes: a first base plate and a first lock set on the first base plate device; the first locking device is movably arranged between a first locking position and a first unlocking position relative to the first substrate along a first direction; the first locking device includes a first pressing part connected with The first locking part, when the first locking device is in the first locking position, the first locking part is used to lock with the corresponding part of the first target object; when the first locking device When in the first unlocking position, the first clamping part is used to unlock the corresponding part of the first target object; the first pressing part is configured to be used in the sterile plate assembly After being assembled and connected with the second target object, the movement along the first direction is restricted by the second target object, so that the first locking device is restricted in the first locking position. So configured, after the aseptic board assembly, the surgical instrument and the power box are assembled and connected, the first pressing part of the aseptic board assembly will be restricted by the surgical instrument, so that the first locking device is in the first locking position and is in contact with the power box. Reliable locking can avoid the risk of accidental unlocking of the sterile plate assembly with the power box due to misoperation during the operation, and improves the reliability of the connection, thereby ensuring the safety and reliability of the operation.

It should be noted that the above embodiments are not limited to being used alone, but can be combined with each other, and the present invention is not limited thereto. The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosures shall fall within the protection scope of the claims.

Claims

A sterile plate assembly, characterized by comprising: a first base plate and a first locking device arranged on the first base plate;

The first locking device is movably disposed between a first locking position and a first unlocking position relative to the first base plate along a first direction;

The first locking device includes a connected first pressing part and a first clamping part, when the first locking device is in the first locking position, the first clamping part is used to engage with the first target The corresponding parts of the object are locked; when the first locking device is in the first unlocking position, the first clamping part is used to unlock the corresponding parts of the first target object;

The first pressing part is configured to be restricted by the second target object from moving in the first direction after the sterile plate assembly is used for assembly and connection with the second target object, so that the first The locking device is constrained in said first locked position.
The aseptic plate assembly according to claim 1, wherein the aseptic plate assembly further comprises a first potential energy component;

The first potential energy component is respectively connected to the first substrate and the first locking device; the first potential energy component is configured to move from the first locking position to the first locking device when the first locking device is subjected to an external force. Potential energy is stored during the movement of the first unlocking position; when the first locking device is not subjected to external force or the external force is less than the driving force of the potential energy stored in the first potential energy component on the first locking device , the first potential energy component releases potential energy to drive the first locking device to move to the first locking position.
The aseptic plate assembly according to claim 2, wherein the first potential energy component comprises a first elastic component or two first magnetic components oppositely arranged with the same pole.
The aseptic plate assembly according to claim 1, wherein the first clamping portion has a first guiding slope facing the direction of the power box, and the first guiding slope is inclined toward the first unlocking position .
The sterile plate assembly according to claim 1, wherein the first pressing portion has a second guiding slope facing the direction of the surgical instrument, and the second guiding slope is inclined toward the first locking position.
The aseptic board assembly according to claim 1, characterized in that, the aseptic board assembly includes at least two first locking devices, and at least two of the first locking devices are arranged opposite to each other.
The aseptic plate assembly according to claim 1, wherein the first base plate has a first limiting cavity, and the first limiting cavity is used to limit the first locking device to only move along the first direction. degrees of freedom of movement.
The aseptic plate assembly according to claim 1, wherein the first direction is parallel to the extending direction of the first substrate.
The aseptic plate assembly according to claim 1, wherein the first base plate has a first locking platform, and the first locking platform is used to lock with the corresponding locking device of the surgical instrument, so as to The surgical instrument is locked with the sterile plate assembly.
The aseptic plate assembly according to claim 1, wherein the first base plate has a first power transmission hole through which the power transmission member passes.
A surgical instrument, characterized in that it comprises: a second base plate and a second locking device arranged on the second base plate; The bacterium plate assembly is assembled and connected; the second base plate is used for abutting connection with the first base plate of the sterilized plate assembly; the second locking device is used for locking with the corresponding parts of the sterilized plate assembly;

The second base plate has a first locking channel for accommodating the first pressing part of the sterile plate assembly and for restricting the first pressing part from moving along the first direction. movement, so that the first locking device is restricted in the first locking position.
The surgical instrument according to claim 11, wherein the second locking device comprises a connected second pressing portion and a second holding portion;

The second pressing part is rotatably arranged around the first axis between an initial position and a pressed position; the second clamping part moves with the rotation of the second pressing part;

The second clamping part is configured such that when the second pressing part is at the initial position, the second clamping part is used to lock with the corresponding part of the sterile plate assembly; When the two pressing parts are in the pressed position, the second clamping part is used for unlocking the corresponding parts of the aseptic plate assembly.
The surgical instrument according to claim 12, characterized in that, the second locking device further includes a second potential energy component, and the second potential energy component is configured to be pressed by an external force at the second pressing part to release from the second pressing part. Store potential energy during the process of turning the initial position to the pressed position; when the second pressing part is not subjected to external force or is subjected to an external force smaller than the potential energy stored in the second potential energy component on the second pressing part When the driving force is applied, the second potential energy component releases potential energy to drive the second pressing part to rotate to the initial position.
The surgical instrument according to claim 13, wherein the second potential energy component includes an elastic section, and the second pressing part is fixedly connected to the second substrate through the elastic section; the elastic section is elastically Deformation stores and releases potential energy.
The surgical instrument according to claim 13, wherein the second pressing part is hinged to the second base plate, and the second potential energy component includes a second elastic member or two second magnetic poles arranged opposite to each other. part, the two ends of the second elastic part are respectively connected with the second pressing part and the second substrate; or among the two second magnetic parts, one of the second magnetic part is connected with the second The pressing part is connected, and the other second magnetic part is connected to the second substrate.
The surgical instrument according to claim 12, wherein the second base plate has a raised base, the second pressing portion is connected to the raised end of the base, and the first axis is located at the The raised end of the abutment described above.
The surgical instrument according to claim 12, wherein the first axis is parallel to the extension direction of the second base plate.
The surgical instrument according to claim 12, wherein the second clamping portion has a third guiding slope facing the direction of the sterile plate assembly, and the third guiding slope is inclined toward the pressed position.
The surgical instrument according to claim 11, wherein the first locking channel has a fourth guiding slope facing the direction of the sterile plate assembly, and the fourth guiding slope is inclined toward the first unlocking position.
The surgical instrument according to claim 11, wherein the surgical instrument comprises two second locking devices arranged oppositely.
The surgical instrument according to claim 11, wherein the second base plate has a through second power transmission hole, and the second power transmission hole corresponds to the first power transmission hole of the sterile plate assembly , for the power transmission member to pass through.
A power box, characterized in that it is used to assemble and connect with the sterile plate assembly according to any one of claims 1-10; the power box includes: a third substrate;

The third substrate is used for abutting connection with the first substrate of the sterile plate assembly;

The third base plate has a second locking platform, and the second locking platform is used to lock with the first locking part of the first locking device of the sterile plate assembly, so that the sterile plate assembly and The power box is locked.
The power box according to claim 22, wherein the power box further comprises a drive assembly and a power transmission member, the drive assembly is coupled to the power transmission member, and the power transmission member is used to pass through the The sterile plate assembly described above provides power for surgical instruments.
The power box according to claim 23, wherein the third base plate has a third power transmission hole through it, and the third power transmission hole is used to communicate with the first power transmission hole of the first base plate. Correspondingly, it is used for the power transmission member to pass through.
A surgical robot system, characterized by comprising a robotic arm, the sterile plate assembly according to any one of claims 1-10, the surgical instrument according to any one of claims 11-21, and the The power box described in any one of claims 22-24; the surgical instrument, the sterile plate assembly, and the power box are detachably connected and connected to the mechanical arm.