WO2023066321A1

WO2023066321A1 - Sterile adapter, sterile barrier, and medical system

Info

Publication number: WO2023066321A1
Application number: PCT/CN2022/126300
Authority: WO
Inventors: 黄文景; 毛颖; 李佳桂; 布洛姆·迈克尔; 杰克逊·汤姆; 诺曼·亚历克斯; 杨哲辉; 孙晓文; 马超
Original assignee: 瑞龙诺赋(上海)医疗科技有限公司
Priority date: 2021-10-21
Filing date: 2022-10-20
Publication date: 2023-04-27
Also published as: CN115998438A

Abstract

The present application discloses a sterile adapter, a sterile barrier, and a medical system. The sterile adapter comprises a housing, a coupling disc, and a braking member. A through mounting hole is formed on the housing. The housing is configured to be mountable on a driving device. The coupling disc is rotatably arranged in the mounting hole, and the coupling disc can be transmittingly connected to the output end of the driving device. The braking member is connected to the housing and can be switched between an unlocking position and a locking position; and the braking member is configured to lock the coupling disc and the housing in the locking position, and when the housing is mounted on the driving device, can be driven by the driving device to move from the locking position to the unlocking position so as to release the locked state of the coupling disc and the housing.

Description

Sterile Adapters, Sterile Barriers, and Medical Systems

This application claims priority to a Chinese patent application with application number 202111226052.7 filed with the China Patent Office on October 21, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of medical equipment, for example, to a sterile adapter, a sterile barrier and a medical system.

Background technique

A robotic surgical system is a complex system that includes an electronic display system, a robotic arm with one or more motors that, based on commands from One or more degrees of freedom to move the surgical instrument. The robotic arm is close to the patient, and its sterility is very important to the success of the operation, however the robotic arm contains multiple components (eg motors, encoders, sensors, etc.) that make it practically impossible to use conventional sterilization methods such as steam or heat disinfect. One solution to maintain sterility is to provide a sterile barrier between the robotic arm and the surgical instrument, isolating the robotic arm (non-sterile) from the surgical instrument (sterile) without interfering with the robotic arm actuating the surgical instrument and enabling Transmit simple signals such as disassembly and assembly signals between the robotic arm and surgical instruments.

The main body of the current sterile barrier is a flexible film, on which a sterile adapter adapted to the drive unit and the surgical instrument is connected. Sterile adapters need to be able to transmit actuation forces as well as signals. The sterile adapter includes a coupling plate and a plate assembly, the coupling plate is rotationally connected with the plate assembly, and is used to precisely transmit the actuating torque of the manipulator to the surgical instrument, which results in the angle of the coupling plate when it is installed with the manipulator or surgical instrument. Uncertainty, it is necessary to adjust the coupling plate to the required angle for jointing, which increases the difficulty of assembly and docking.

Contents of the invention

The present application provides an aseptic adapter, which avoids the need to adjust the angle of the coupling plate for docking in the related art, resulting in great difficulty in assembly and docking.

This application adopts the following technical solutions:

A sterile adapter comprising:

a casing, the casing is provided with a through mounting hole, and the casing is configured to be mountable on the driving device;

The coupling plate is rotatably arranged in the installation hole, and the coupling plate can be connected to the output end of the driving device in transmission;

a brake, connected to the housing and switchable between an unlocked position and a locked position, the brake is configured to lock the coupling plate and the housing in the locked position, and can be used in the locked position When the housing is installed on the driving device, it is driven by the driving device to move from the locking position to the unlocking position, so as to release the locking state of the coupling plate and the housing.

The present application provides a sterile barrier, which avoids the difficulty in assembly and docking of the sterile barrier in the related art.

This application adopts the following technical solutions:

A sterile barrier, including a sterile drape and the above-mentioned sterile adapter, the housing is connected to the sterile drape, and the axial first end of the installation hole communicates with the inside of the sterile drape , the second axial end of the installation hole communicates with the outside of the sterile drape.

The present application provides a medical system, which avoids the difficulty in assembling and docking the sterile barrier and the driving device in the related art.

This application adopts the following technical solutions:

A medical system, comprising a driving device, a surgical instrument and the above-mentioned sterile barrier, the driving device is arranged inside the sterile barrier, the surgical instrument is arranged outside the sterile barrier, the first coupling plate One end is in transmission connection with the output end of the driving device, and the second end of the coupling plate is in transmission connection with the surgical instrument.

Description of drawings

Fig. 1 is the structural representation of the medical system provided by the present application;

Fig. 2 is the structural representation of the sterile barrier provided by the present application;

Fig. 3 is a structural schematic view of the assembled drive unit, sterile adapter and surgical instrument provided by the present application;

Fig. 4 is a schematic structural view of the drive unit, the sterile adapter and the surgical instrument provided by the present application before assembly;

Figure 5 is a schematic structural view of the sterile adapter provided by the present application;

Figure 6 is an exploded view of the sterile adapter provided by the present application;

Fig. 7 is a schematic structural view of the aseptic adapter provided by the present application when the top plate is not assembled;

Fig. 8 is the first cross-sectional view of the aseptic adapter provided by the present application when the brake part locks the housing and the coupling disc;

Fig. 9 is the second cross-sectional view of the aseptic adapter provided by the present application when the brake part locks the housing and the coupling disc;

Fig. 10 is the first cross-sectional view of the aseptic adapter provided by the present application when the brake part unlocks the housing and the coupling disc;

Fig. 11 is the second cross-sectional view of the aseptic adapter provided by the present application when the brake part unlocks the housing and the coupling disc;

Fig. 12 is the front view of the surgical instrument provided by the application;

Fig. 13 is a structural schematic diagram 1 of the assembled sterile adapter and surgical instrument provided by the present application;

Fig. 14 is a structural schematic diagram II of the assembled sterile adapter and surgical instrument provided by the present application;

Fig. 15 is a schematic structural view of the sterile adapter provided by the present application and the drive unit when they are not assembled;

Fig. 16 is a schematic structural view of the bottom plate provided by the present application;

Fig. 17 is a partial structural schematic diagram of the assembly of the sterile adapter and the drive unit provided by the present application.

In the picture:

100. Driving device; 110. Mechanical arm; 120. Driving unit; 1201. Card hole; 1202. First installation surface; 1203. First coupling part; 1204. Inductor; 200. Surgical instrument; ; 2002, claw; 2003, second coupling part; 2004, second slot; 2005, latch; 300, sterile barrier; 310, sterile drape; 320, sterile adapter; Top plate; 111, first slot; 112, protrusion; 12, bottom plate; 121, arm; 1211, buckle; 122, depression; 2, coupling disc; 21, coupling structure; 31. Groove; 32. Pushing part; 33. Elastic arm; 34. Avoidance hole; 4. Indicating pin; 41. Pin shaft; 42. Limiting flange.

Detailed ways

In the description of this application, unless otherwise clearly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.

In this application, unless otherwise expressly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this embodiment, the terms "up", "down", "right", and other orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operations, rather than indicating Or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the application. In addition, the terms "first" and "second" are only used to distinguish in description, and have no special meaning.

This embodiment provides a medical system that can be used in surgical operations. As shown in FIG. 1 , the medical system includes a driving device 100 , a display device and a surgical instrument 200 . The driving device 100 is configured to drive the end of the surgical instrument 200 to achieve one or more degrees of freedom, so that the surgical instrument 200 performs surgical operations. The display device is configured to display the image of the site to be operated and a plurality of operation parameters so that the medical staff can use the medical system.

In order to avoid infection of the surgical site, both the driving device 100 and the surgical instrument 200 should be in a sterile state, and because the driving device 100 is provided with electrical components such as motors, encoders, sensors, etc., the driving device 100 cannot use conventional disinfection methods (such as steam sterilized or heat sterilized). For this reason, the medical system in this embodiment also includes a sterile barrier 300, the driving device 100 is arranged inside the sterile barrier 300, and the surgical instrument 200 is arranged outside the sterile barrier 300, thereby separating the driving device 100 from the medical device, To separate the non-sterile module and the sterile module, to ensure that the modules that are in contact with the site to be operated are all sterile modules, so as to ensure a sterile operating environment.

For example, the driving device 100 includes a robot arm 110 and a driving unit 120 . The drive unit 120 is arranged at the end of the mechanical arm 110, and the drive unit 120 is driven to rotate by the mechanical arm 110. As shown in FIG. The robot arm 110 moves so that the surgical instrument 200 can flexibly perform surgical actions.

As shown in FIG. 2 , the sterile barrier 300 includes a sterile drape 310 and a sterile adapter 320 , and the sterile adapter 320 is connected to the sterile drape 310 . The sterile adapter 320 has a first fitting surface located inside the sterile drape 310 and a second fitting surface positioned outside the sterile drape 310, the first fitting surface is configured to fit with the drive device 100, and the second fitting surface The surface is assembled with the surgical instrument 200 so that the driving device 100 transmits the actuating torque to the surgical instrument 200 through the sterile adapter 320 to drive the surgical instrument 200 to move. The first axial end of the through installation hole provided on the housing of the sterile adapter 320 communicates with the inner side of the sterile drape 310 , and the second axial end of the installation hole communicates with the outer side of the sterile drape 310 .

As shown in FIG. 3 , the opposite sides of the sterile adapter 320 can be docked with the drive unit 120 and the surgical instrument 200 respectively, and the drive unit 120 and the surgical instrument 200 are connected by transmission, so that the drive unit 100 is separated from the surgical instrument 200 On the basis of this, normal transmission is realized. As shown in Figure 4, the driving unit 120 and the surgical instrument 200 are provided with coupling parts, for the convenience of introduction, the coupling part on the driving unit 120 is the first coupling part 1203, and the coupling part on the surgical instrument 200 is the second coupling part 2003 , both the first coupling part 1203 and the second coupling part 2003 are in drive fit with the sterile adapter 320 .

As shown in FIG. 5 , the sterile adapter 320 includes a housing 1 and a coupling disk 2 . Both ends of the coupling disc 2 in the axial direction are configured to be in transmission connection with the driving device 100 and the surgical instrument 200 respectively. The casing 1 has a first fitting surface and a second fitting surface oppositely arranged, and a mounting hole penetrating through the first fitting surface and the second fitting surface is arranged on the casing 1, and the coupling disc 2 is rotatably arranged in the mounting hole The two ends of the coupling disc 2 along the axial direction are respectively exposed outside the housing 1 through the two ends of the mounting holes, and the coupling structures 21 are arranged on both ends of the coupling disc 2 along the axial direction, and the coupling structures 21 can be matched with the corresponding The first coupling part 1203 or the second coupling part 2003 on the side is docked to realize the transmission of the actuating torque, so that the surgical instrument 200 is driven to move by the driving unit 120 .

Because the coupling disc 2 needs to rotate relative to the housing 1 to transmit torque, this causes the angle of the coupling disc 2 to be unstable when the sterile adapter 320 is installed with the drive unit 120, and it is necessary to adjust the coupling disc 2 to the required angle for engagement, which increases the Assembly docking difficulty.

As shown in Figure 6, the sterile adapter 320 also includes a brake 3, which is connected to the housing 1, and the brake 3 can lock the coupling disc 2 and the housing 1, preventing the coupling disc 2 from facing the housing. 1, so that the coupling disc 2 is always at an initial angle when the sterile adapter 320 is not assembled with the drive unit 120, so that the coupling disc 2 is docked with the drive unit 120 conveniently. When the housing 1 of the sterile adapter 320 is installed on the driving device 100, the brake member 3 can release the locking state of the coupling disc 2 and the housing 1 under the action of the driving device 100, so that after the sterile adapter 320 is installed with the driving device 100 , the coupling disc 2 can rotate relative to the housing 1, thereby transmitting the actuating torque.

In order to facilitate the assembly of the brake part 3 and the housing 1, the housing 1 includes a top plate 11 and a bottom plate 12 that are detachably connected. between. For example, the top board 11 and the bottom board 12 are connected by screws to facilitate disassembly and assembly. The top plate 11 is provided with a first mounting hole, and the base plate 12 is provided with a second mounting hole corresponding to the first mounting hole. The first mounting hole and the directly opposite second mounting hole form a mounting hole for mounting the coupling disc 2 .

For example, as shown in FIG. 7 , the brake member 3 is disposed between the top plate 11 and the bottom plate 12 , and can be switched between a locked position and an unlocked position. Protrusions 22 protrude along the radial direction of the outer peripheral surface of the coupling disc 2 , and grooves 31 cooperating with the protrusions 22 are disposed on the braking member 3 . When the sterile adapter 320 is not assembled with the drive unit 120 , the stopper 3 is in the locked position, and at this moment, the protrusion 22 is located in the groove 31 to prevent the coupling disc 2 from rotating, thereby locking the housing 1 and the coupling disc 2 . When the sterile adapter 320 is installed on the drive unit 120, the drive unit 120 will move the drive brake 3 from the locked position to the unlocked position, so that the protrusion 22 is separated from the groove 31, thereby decoupling the disc 2 from the housing 1 Locking, so that the coupling disc 2 can rotate relative to the housing 1.

In some embodiments, a groove 31 is provided on the outer peripheral surface of the coupling disc 2 , and a protrusion 22 is provided on the brake member 3 to cooperate with the groove 31 , which can also lock the coupling disc 2 and the housing 1 .

For example, the sterile adapter 320 includes a plurality of coupling discs 2, and the stopper 3 can cooperate with the plurality of coupling discs 2 to simultaneously lock or unlock the plurality of coupling discs 2 and the housing 1. For example, a plurality of coupling discs 2 are arranged in at least two rows, and a brake member 3 is arranged between each two adjacent rows of coupling discs 2 , and the brake member 3 cooperates with the two adjacent rows of coupling discs 2 respectively. By adopting the above-mentioned arrangement of the coupling discs 2, one braking member 3 can be used to cooperate with multiple coupling discs 2, thereby reducing the number of braking members 3, making the structure of the sterile adapter 320 simpler, and helping to reduce the size of the sterile adapter 320. the cost of.

In this embodiment, the number of coupling discs 2 is six, and the six coupling discs 2 are arranged in two rows. The brake parts 3 are elongated and arranged between the two rows of coupling discs 2. The brake parts 3 correspond to Each coupling disc 2 is provided with a groove 31 .

In order to enable the brake part 3 to move in the housing 1, an installation cavity for accommodating the brake part 3 is formed between the top plate 11 and the bottom plate 12, and the brake part 3 is movably arranged in the installation cavity, as shown in FIG. A pushing part 32 is configured on the moving part 3 , and the pushing part 32 can extend out of the housing 1 and abut against the driving device 100 to drive the braking part 3 to move relative to the housing 1 . When the aseptic adapter 320 is assembled with the driving unit 120, the driving unit 120 can abut against the pushing part 32, and push the pushing part 32 to move relative to the housing 1 to drive the brake part 3 to move relative to the housing 1, thereby making the protrusion 22 out of groove 31.

In order to ensure that the brake part 3 can move in the housing 1, the dimension of the mounting cavity along the pushing direction of the pushing part 32 is greater than the dimension of the braking part 3 along the pushing direction of the pushing part 32, so that there is a brake in the mounting cavity. Part 3 of the activity space.

For example, the bottom surface of the top board 11 and/or the top surface of the bottom board 12 is provided with a protrusion, and the protrusion can abut against the bottom board 12 or the top board 11 to separate the top board 11 and the bottom board 12 to form an installation cavity. Wherein, the protruding part may be a boss or a rib.

In this embodiment, the groove 31 is a through groove extending along the arrangement direction of the top plate 11 and the bottom plate 12. As shown in FIG. . When the sterile adapter 320 is not installed with the driving unit 120 , as shown in FIG. 9 , the protrusion 22 is located in the groove 31 , and the pushing part 32 can protrude out of the housing 1 . When the aseptic adapter 320 is assembled with the drive unit 120, as shown in FIG. The part 3 moves toward the direction close to the top plate 11, and when the brake part 3 abuts against the top plate 11, the protrusion 22 and the groove 31 are completely disengaged as shown in FIG. 11 .

In order to make it easier for the brake member 3 to switch from the locked position to the unlocked position, the brake member 3 is provided with an avoidance hole 34 , and the avoidance hole 34 is arranged adjacent to the push portion 32 . When the pushing part 32 is stressed, the brake part 3 is more likely to move, and the brake part 3 is more easily deformed under the action of the pushing part 32, so as to further ensure that the protrusion 22 can be disengaged from the groove 31.

For example, an elastic arm 33 is configured on the braking member 3, and the elastic arm 33 is located in the avoidance hole 34. The fixed end of the elastic arm 33 is connected with the inner sidewall of the escape hole 34, and the free end of the elastic arm 33 is always connected with the bottom surface inner wall of the top plate 11. Abut. When the aseptic adapter 320 is mounted on the drive unit 120, when the pushing part 32 pushes the brake member 3 to move toward the top plate 11, the abutment force between the free end of the elastic arm 33 and the top plate 11 increases, so that the elastic arm 33 is fixed. The end can exert elastic force toward the top plate 11 on the brake piece, so as to further ensure that the brake piece 3 can move to the unlocked position.

For example, the elastic arm 33 includes a first connecting arm and a second connecting arm arranged at an angle. When the aseptic adapter 320 is not assembled with the drive unit 120, the first connecting arm is approximately parallel to the top plate 11, the second connecting arm extends approximately along the arrangement direction of the top plate 11 and the bottom plate 12, and one end of the second connecting arm is against the top plate 11. catch. When the aseptic adapter 320 is assembled with the drive unit 120, the drive unit 120 pushes the pushing portion 32 close to the top plate 11, during which the contact force between the second connecting arm and the top plate 11 increases, causing the first connecting arm to deform to In the state shown in FIG. 10 , the end of the first connecting arm far away from the second connecting arm will drive the brake member 3 close to the top plate 11 , so that the protrusion 22 is completely disengaged from the groove 31 .

For example, one end of the first connecting arm is connected to the inner side wall of the escape hole 34, and the two ends of the second connecting arm abut against the top plate 11 and the bottom plate 12 respectively, so that the first connecting arm can be smoothly deformed to drive the brake plate Move towards the direction close to the top plate 11.

For example, the elastic arm 33 and the brake part 3 are integrally formed to improve the linkage effect between the first connecting arm and the brake part 3 .

As shown in FIG. 12 , the surgical instrument 200 has a second mounting surface 2001 matched with the second matching surface, and the second mounting surface 2001 is provided with a second coupling part 2003 matched with the coupling disc 2, and the coupling disc 2 can drive the second coupling part 2003. The two coupling parts 2003 rotate synchronously. In order to facilitate smooth cooperation between the coupling plate 2 and the second coupling portion 2003 and for users to know the current rotation angle of the coupling plate 2 , the coupling structure 21 is a non-rotating structure so as to prevent the relative rotation between the coupling structure 21 and the second coupling portion 2003 . For example, the outer contours of at least opposite sides of the coupling structure 21 are different to form a fool-proof structure, and the shape and size of the second coupling portion 2003 are adapted to the coupling structure 21 . By forming the fool-proof structure, on the one hand, it is convenient for the coupling disc 2 to dock with the second coupling part 2003 , and on the other hand, it is convenient for medical personnel to distinguish the rotation angle of the coupling structure 21 .

In this embodiment, the coupling structure 21 is a concave structure, and correspondingly, the second coupling portion 2003 is a protruding structure, so as to realize the coupling and cooperation between the coupling disc 2 and the surgical instrument 200 .

In some embodiments, the coupling structure 21 can be a protruding structure or a combined structure of a recess and a protrusion 22, and correspondingly, the second coupling part 2003 is a recessed structure, or a combined structure of a protrusion 22 and a recess, both of which can realize a coupling plate 2 cooperate with the coupling of the surgical instrument 200.

In order to prevent the coupling disc 2 from detaching from the second coupling portion 2003, the housing 1 is detachably connected to the surgical instrument 200, so as to improve the stability of assembly. In this embodiment, the housing 1 is clamped with the surgical instrument 200 to facilitate assembly and disassembly.

As shown in FIG. 13 , the casing 1 is provided with a locking slot, and the second installation surface 2001 of the surgical instrument 200 is provided with a claw 2002 , which can snap fit with the first locking groove 111 . As shown in FIG. 14 , a protrusion 112 is provided on the side of the housing 1 opposite to the first protrusion 111 , and a second protrusion 2004 is provided on the surgical instrument 200 corresponding to the protrusion 112 . The protrusion 112 can be aligned with the first protrusion 112 The two card slots 2004 are snapped together. The aseptic adapter 320 and the surgical instrument 200 are connected by snap-fit structures on opposite sides, which can improve the fixing effect of the sterile adapter 320 and the surgical instrument 200, making the two fix more firmly.

In some embodiments, the claw 2002 can be set on the housing 1, and correspondingly, the first slot 111 is set on the surgical instrument 200; the protrusion 112 can be set on the surgical instrument 200, and correspondingly, the second slot 2004 Being arranged on the sterile adapter 320 , the detachable connection between the sterile adapter 320 and the surgical instrument 200 can also be realized.

As shown in FIG. 17 , the drive unit 120 is provided with a first mounting surface 1202 that cooperates with the first matching surface, and the first mounting surface 1202 is provided with a first coupling part 1203 that cooperates with the coupling disc 2 . The first coupling part 1203 can drive the coupling disc 2 to rotate synchronously. In this embodiment, the coupling structure 21 of the coupling plate 2 that cooperates with the first coupling portion 1203 is also a non-rotating structure, and the outer contours of at least opposite sides of the coupling structure 21 are different to form a fool-proof structure. The shape and size of the first coupling part 1203 are adapted to the coupling structure 21 , so that the coupling plate 2 is docked with the first coupling part 1203 , and it is convenient for the medical personnel to distinguish the rotation angle of the coupling structure 21 .

The matching structure of the coupling plate 2 and the first coupling portion 1203 may be the same as that of the coupling plate 2 and the second coupling portion 2003 , which will not be repeated here.

In order to prevent the coupling plate 2 from detaching from the first coupling part 1203, the sterile adapter 320 is detachably connected to the driving unit 120, so as to improve the stability of assembly. In this embodiment, the casing 1 is engaged with the drive unit 120 for easy disassembly.

As shown in FIG. 15 , the bottom plate 12 is configured with a snap arm 121 , the snap arm 121 extends along the arrangement direction of the top plate 11 and the bottom plate 12 , and one end (hereinafter referred to as the top end) of the snap arm 121 extends upward from the top surface of the bottom plate 12 . Extending through the top plate 11 , the other end (hereinafter referred to as the bottom end) of the engaging arm 121 extends downward from the bottom surface of the bottom plate 12 and can be engaged with the driving device 100 . When the sterile adapter 320 is assembled with the driving unit 120 , the top end of the clamping arm 121 can be pulled to drive the bottom end of the clamping arm 121 to move so as to be clamped with the driving unit 120 . For example, a buckle 1211 is provided at the bottom of the clamping arm 121 , and a clamping hole 1201 is disposed on the driving unit 120 . The buckle 1211 can be clamped with the clamping hole 1201 to fix the driving unit 120 and the sterile adapter 320 .

In order to improve the clamping stability of the drive unit 120 and the sterile adapter 320, at least one set of clamping arms 121 is provided on the bottom plate 12, and each set of clamping arms 121 includes two clamping arms 121 oppositely arranged, each clamping The arm 121 is configured with a buckle 1211 facing the direction of the other snapping arm 121 of the same group, and the driving unit 120 is snapped and fixed between the two snapping arms 121 of the same group, so that the snapping effect is stronger. When assembling the drive unit 120 and the sterile adapter 320, press the tops of the two clamping arms 121 of the same group, so that the tops of the two clamping arms 121 of the same group are close to each other, and can drive the tops of the two clamping arms 121 of the same group. The bottom ends are away from each other, so as to increase the distance between the two buckles 1211 in the same group, so as to facilitate the clamping of the sterile adapter 320 and the drive unit 120 .

In order to make the clamping arm 121 more easily deformable, as shown in FIG. 16 , the connecting position of the bottom plate 12 and the clamping arm 121 is configured as a flexible structure, so that when the top of the clamping arm 121 is subjected to an external force, the clamping arm 121 is more likely to be relative to the bottom plate. 12 rotates, so that the bottom end of the locking arm 121 moves.

In this embodiment, a recessed portion 122 is provided at a position where the bottom plate 12 is connected to the locking arm 121 to form a flexible structure. For example, the concave portion 122 may be the groove 31 . The groove 31 may be elongated and extend around the circumferential direction of the locking arm 121 . The number of grooves 31 can be one, and the number of grooves 31 can also be discontinuously arranged in multiple sections.

For example, the recessed portion 122 is a pit, and there are multiple pits arranged along the circumferential direction of the locking arm 121 .

In some embodiments, the flexible structure can also be a thin-walled structure, which can also make it easier for the locking arm 121 to rotate relative to the bottom plate 12 .

As shown in Figure 17, the sterile adapter 320 also includes an indicator pin 4, which is movably connected to the housing 1, and the indicator pin 4 can trigger the induction element 1204 on the driving device 100 under the push of the surgical instrument 200, so that the medical system The assembly condition of the sterile adapter 320 and the surgical instrument 200 is acquired.

For example, the casing 1 is provided with a sliding through hole, the indicating pin 4 is slidably disposed in the sliding through hole, one end of the indicating pin 4 can abut against the surgical instrument 200 , and the other end of the indicating pin 4 can trigger the sensor 1204 . After the aseptic adapter 320 is assembled with the surgical instrument 200 , the surgical instrument 200 will push the indicator pin 4 to slide in the sliding through hole, so that the indicator pin 4 moves and triggers the sensor 1204 .

In this embodiment, the sliding through hole runs through the top plate 11 and the bottom plate 12 , and the indicator pin 4 is disposed in the sliding through hole and can slide along the arrangement direction of the top plate 11 and the bottom plate 12 . After the aseptic adapter 320 is assembled with the surgical instrument 200 , the surgical instrument 200 pushes the indicator pin 4 to move towards the bottom plate 12 to trigger the sensor 1204 . When the sensing element 1204 is triggered, the sensing element 1204 will send a signal to the control device of the medical system, and the control device will obtain that the surgical instrument 200 has been assembled with the sterile adapter 320 according to the received signal.

For example, the sensing element 1204 can be a micro switch or a proximity switch. When the inductive element 1204 is a microswitch, the microswitch can be pressed when the indicating pin 4 moves toward the direction close to the bottom plate 12, so as to trigger the microswitch. When the sensing element 1204 is a proximity switch, the proximity switch can be triggered when the distance between the indicating pin 4 and the proximity switch is less than a specified distance.

In order to prevent the indicator pin 4 from breaking away from the housing 1, the indicator pin 4 includes a pin shaft 41 and a limiting flange 42 protruding radially along the pin shaft 41, and the sliding through hole includes a first aperture section, a second aperture section, and section and the third aperture section, the apertures of the first aperture section and the second aperture section are smaller than the aperture of the second aperture section, and the apertures of the first aperture section and the second aperture section are larger than the diameter of the pin shaft 41 and smaller than the limit The diameter of the flange 42, the diameter of the limiting flange 42 is smaller than the diameter of the second aperture section, the limiting flange 42 is located in the second aperture section, and the axial dimension of the second aperture section is greater than the axial dimension of the limiting flange 42 size. The limiting flange 42 is limited in the second aperture section, which can prevent the indicating pin 4 from being separated from the housing 1 , and can also limit the limit position of the indicating pin 4 , preventing the indicating pin 4 from excessively moving and damaging the sensing element 1204 .

To facilitate the assembly of the indicating pin 4 and the housing 1 , the first and second aperture sections are arranged on the bottom plate 12 , and the third aperture section is arranged on the top plate 11 .

For example, the indicator pin 4 can be elastically connected to the housing 1 through an elastic member. The elastic member can drive the indicator pin 4 to move towards the direction close to the top plate 11, so that after the sterile adapter 320 is separated from the surgical instrument 200, it can automatically reset and no longer trigger the sensor 1204, so that the control device of the medical system can operate according to the sensor. The signal change at 1204 is in time to know that surgical instrument 200 is not assembled with sterile adapter 320 .

For example, the surgical instrument 200 is provided with a pin 2005 , and the pin 2005 can push the indicator pin 4 so that the indicator pin 4 triggers the sensor 1204 .

In some embodiments, the sterile adapter 320 may not be provided with the indicator pin 4 , and by extending the length of the pin 2005 , the sensor 1204 is triggered after the housing 1 is driven by the pin 2005 .

In the sterile adapter provided by the present application, before the sterile adapter is assembled with the driving device, the brake can lock the position of the coupling disc and the housing, so that the coupling disc is at an initial angle, which is convenient for the coupling disc, the driving device and the surgical instrument Assembly, which reduces the difficulty of assembly; when the aseptic adapter is assembled with the drive device, the brake part can release the locking state of the coupling disc and the housing under the action of the drive device, so that the coupling disc can transmit the actuating torque of the drive device, In order to enable the driving device to be connected in transmission with the surgical instrument.

The aseptic barrier and the medical system can reduce the difficulty of assembling the aseptic barrier, the driving device and the surgical instrument by using the above-mentioned aseptic adapter, and facilitate the assembly.

Claims

A sterile adapter comprising:

A casing (1), the casing (1) is provided with a through installation hole, and the casing (1) is configured to be mountable on the driving device (100);

The coupling disc (2) is rotatably arranged in the installation hole, and the coupling disc (2) can be connected to the output end of the driving device (100) by transmission;

a brake piece (3), connected to the housing (1) and switchable between an unlocked position and a locked position, the brake piece (3) is configured to hold the coupling disc in the locked position (2) is locked with the housing (1), and can be driven by the driving device (100) to move from the locked position to the The above unlocked position is used to release the locked state of the coupling disc (2) and the housing (1).
The aseptic adapter according to claim 1, wherein a protrusion (22) is provided on the coupling disc (2), and a protrusion (22) is provided on the brake member (3) to cooperate with the protrusion (22). a groove (31); or a protrusion (22) is provided on the braking member (3), and a groove (31) matching the protrusion (22) is provided on the coupling disc (2);

When the brake part (3) is in the unlocking position, the protrusion (22) and the groove (31) are disengaged.
The aseptic adapter according to claim 2, wherein the housing (1) comprises a top plate (11) and a bottom plate (12) fixedly connected, and the bottom plate (12) can be installed on the driving device (100) Above, an installation cavity for accommodating the brake piece (3) is formed between the top plate (11) and the bottom plate (12), and the brake piece (3) is movably arranged in the installation cavity, A pushing part (32) is configured on the brake part (3), and the pushing part (32) can protrude from the housing (1) and abut against the driving device (100) to drive The braking member (3) moves relative to the casing (1).
The aseptic adapter according to claim 3, wherein an avoidance hole (34) is provided on the braking member (3), and an elastic arm (33) is arranged in the avoidance hole (34), and the elastic arm The first end of (33) is connected to the inner side wall of the avoidance hole (34), and the second end of the elastic arm (33) is in contact with the top plate (11);

The elastic arm (33) includes a first connecting arm and a second connecting arm arranged at an angle, one end of the first connecting arm is connected to the inner side wall of the escape hole (34), and the second connecting arm The two ends of each abut against the top plate (11) and the bottom plate (12) respectively.
The aseptic adapter according to claim 3, wherein, the snap arm (121) is configured on the bottom plate (12), and the snap arm (121) is arranged along the top plate (11) and the bottom plate (12). ), the first end of the clamping arm (121) extends upward from the top surface of the bottom plate (12) and passes through the top plate (11), the first end of the clamping arm (121) The two ends extend downward from the bottom surface of the bottom plate (12) and can be engaged with the driving device (100).
The aseptic adapter according to claim 5, wherein the connecting position between the bottom plate (12) and the clamping arm (121) is configured as a flexible structure, so that the clamping arm (121) can be relatively The base plate (12) rotates;

The bottom plate (12) is configured with at least one set of snap-fit arms (121), each set of snap-fit arms (121) includes two snap-fit arms (121) oppositely arranged, and the snap-fit arms ( 121) A buckle (1211) is configured on a side of the bottom end facing the other snapping arm (121) of the same group.
The aseptic adapter according to any one of claims 1-6, wherein the number of the coupling discs (2) is multiple, and the braking member (3) can be combined with a plurality of the coupling discs (2) ) to simultaneously lock or unlock multiple coupling discs (2) and the housing (1).
The aseptic adapter according to any one of claims 1-6, wherein the two axial ends of the coupling disc (2) are configured to drive with the driving device (100) and the surgical instrument (200) respectively connection, the sterile adapter also includes an indicator pin (4), the housing (1) is provided with a sliding through hole, the indicator pin (4) is slidably arranged in the sliding through hole, and the indicator pin (4) configured to be able to trigger the induction element (1204) on the driving device (100) under the push of the surgical instrument (200).
The aseptic adapter according to claim 8, wherein the indicator pin (4) comprises a pin shaft (41) and a limiting flange (42) protruding radially along the pin shaft (41), the The sliding through hole includes a first aperture section, a second aperture section and a third aperture section connected in sequence, the apertures of the first aperture section and the second aperture section are respectively smaller than the aperture of the second aperture section, and The apertures of the first aperture section and the second aperture section are respectively larger than the diameter of the pin shaft (41) and smaller than the diameter of the limiting flange (42), and the diameter of the limiting flange (42) The diameter is smaller than the diameter of the second aperture section, the limiting flange (42) is located in the second aperture section, and the axial dimension of the second aperture section is larger than that of the limiting flange (42). Axial dimension.
A sterile barrier, comprising a sterile drape (310) and the sterile adapter according to any one of claims 1-9, the housing (1) is connected to the sterile drape (310), installed The first axial end of the hole communicates with the inner side of the sterile drape (310), and the second axial end of the installation hole communicates with the outer side of the sterile drape (310).
A medical system, comprising a driving device (100), a surgical instrument (200) and the sterile barrier according to claim 10, the driving device (100) is arranged in the sterile barrier, and the surgical instrument ( 200) is arranged outside the sterile barrier, the first end of the coupling disc (2) is in transmission connection with the output end of the drive device (100), and the second end of the coupling disc (2) is connected to the surgical instrument (200) transmission connection.