WO2023284515A1 - 一种手术机器人的器械驱动传动机构及装配机构 - Google Patents
一种手术机器人的器械驱动传动机构及装配机构 Download PDFInfo
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- WO2023284515A1 WO2023284515A1 PCT/CN2022/100859 CN2022100859W WO2023284515A1 WO 2023284515 A1 WO2023284515 A1 WO 2023284515A1 CN 2022100859 W CN2022100859 W CN 2022100859W WO 2023284515 A1 WO2023284515 A1 WO 2023284515A1
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- instrument
- adapter
- transmission
- buckle
- sterile adapter
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 246
- 230000007246 mechanism Effects 0.000 title claims abstract description 34
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
- A61B2017/00486—Adaptors for coupling parts with incompatible geometries
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
- A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
Definitions
- the present application relates to the technical field of medical instruments, in particular to an instrument drive transmission mechanism and assembly mechanism of a surgical robot.
- Surgical robots can help doctors achieve precise positioning of surgery, and have the advantages of reducing patient wounds and shortening postoperative recovery time. And it has a stable operating platform, which can solve the doctor's trembling and other situations, so it has a large number of applications in clinical surgery.
- Surgical instruments in surgical robots usually have a rear end actuator in the form of a surgical tool at one end of an elongated tube, such as forceps, scissors, clips, etc.
- the conventional motion structure of the rear-end actuator is to use a steel wire rope to rotate the rear-end actuator to complete the actions of pitching, deflection and gripping.
- the surgeon controls the instruments on the surgical side driver on the console side.
- the surgical instruments and the instrument drivers are usually designed to be detachable, which is used to replace different surgical instruments during the operation.
- the surgical instruments Usually can be independently sterilized.
- the instrument driver end is usually designed to be non-sterilizable. In order to ensure the sterility during the operation, a sterile adapter needs to be added between the instrument driver and the instrument during the operation to isolate the non-sterilizable instrument driver end and the sterilizable Sterilized instrument ends.
- the rear end of the surgical instrument is connected to the upper surface of the sterile adapter, and the instrument driver is connected to the lower surface of the sterile adapter.
- the instrument driver provides driving force to the actuator at the rear end of the surgical instrument through the sterile adapter to complete the actions of pitching, deflection and gripping Purpose.
- the lower surface of the sterile adapter is connected to the upper surface of the instrument driver, and it is stable after connection. At the same time, the sterile adapter can be easily and quickly unlocked and separated from the instrument driver when it needs to be unlocked.
- the rear end of the surgical instrument is connected to the upper surface of the sterile adapter. After the connection, it remains stable and does not disengage, and the notification can conveniently and quickly unlock and separate the surgical instrument from the sterile adapter when it needs to be unlocked.
- the connection between the current instrument driver and the transmission part of the sterile adapter is to arrange two buckles symmetrically on the transmission plate of the instrument driver, and to set the buckles of the two buckles on the transmission part of the sterile adapter.
- the docking position of the two buckles of the disk and the buckle of the transmission part of the sterile adapter will cause some problems.
- the surface of the shell of the sterile adapter is successfully docked with the surface of the instrument driver, but the surface of the sterile adapter Before the transmission part is successfully docked, because the installation hole of the transmission part in the sterile adapter is larger than the diameter of the transmission part of the sterile adapter, the transmission part of the sterile adapter will have a certain inclination angle, and its axis is not necessarily in the instrument. The rotation axis of the driver transmission disc, so the buckle position of the sterile adapter will not be very accurate on the rotation curve of the two buckles.
- the instrument driver When docking, the instrument driver needs to drive the instrument driver transmission disc to rotate several times for blind Then, after the instrument driver transmission disc and the sterile adapter transmission part are successfully docked, it is necessary to carry out a number of rotations with a certain number of turns to test to determine whether the docking is really in place. Moreover, after the driver transmission plate is docked with the aseptic adapter transmission part, the connection between the two buckles and the buckle positions transmits torque only at the two buckles, which easily causes the problem of excessive wear and tear.
- An embodiment of the present application provides an instrument drive transmission mechanism of a surgical robot, including an instrument driver, a sterile adapter, and a surgical instrument.
- the instrument driver includes a driver transmission part exposed on the upper surface of the instrument driver; the lower surface of the sterile adapter is matched with the upper surface of the instrument driver, and the sterile adapter includes an adapter transmission part penetrating through the body of the sterile adapter.
- the lower part of the transmission part cooperates with the transmission part of the instrument driver; the rear end of the surgical instrument cooperates with the upper surface of the sterile adapter.
- Cooperate; the adapter transmission part and the driver transmission part mesh and cooperate through a number of teeth evenly arranged on the surface of the adapter transmission part and the instrument driver transmission part, and the adapter transmission part and the instrument transmission part are matched through a transmission buckle.
- the adapter transmission part and the instrument driver transmission part mesh and cooperate through a number of teeth evenly arranged on the adapter transmission part. Fast and accurate docking can be achieved. At the same time, the meshing of multiple teeth is better than the matching method of single or two transmission buckles, and the performance of torque transmission is stronger, and it is more durable.
- the embodiment of the present application also provides a surgical instrument drive assembly mechanism for a surgical robot, including an instrument driver, a sterile adapter, and a surgical instrument box.
- the instrument driver includes a mating surface connected to the sterile adapter; the lower surface of the sterile adapter mates with the mating surface of the instrument driver; the lower surface of the surgical instrument case mates with the upper surface of the sterile adapter; the lower surface of the sterile adapter mates with the instrument driver
- the fitting surface of the sterile adapter is connected with the surgical instrument and the lower surface of the sterile adapter through at least two movable buckles arranged across a span.
- the connection between the instrument driver and the sterile adapter is connected through multiple connection points, the sterile adapter and the surgical instrument box are connected through multiple connection points, and the connection mode of multi-connection point connection , can make the structure of the mechanism stronger and reduce vibration during use.
- the instrument driver and the sterile adapter are rigidly connected to a certain degree, so that the connection between the instrument driver and the sterile adapter is not easy to produce structural activities or deformations .
- Fig. 1 is a schematic diagram of the assembled structure of the instrument driver, the sterile adapter and the surgical instrument in the specific embodiment of the present application;
- Fig. 2 is a schematic diagram of an exploded state of an instrument driver, a sterile adapter and a surgical instrument in a specific embodiment of the present application;
- Fig. 3 is the top view of the instrument driver in the specific embodiment of the present application.
- Fig. 4 is a schematic diagram of the internal structure of the device driver in the specific embodiment of the present application.
- Fig. 5 is a schematic diagram of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present application;
- Fig. 6 is a schematic structural diagram of the transmission part of the instrument driver in the specific embodiment of the present application.
- Fig. 7 is a schematic diagram of the decomposed structure of the sterile adapter in the specific embodiment of the present application.
- Fig. 8 is a schematic structural view of the lower part of the sterile adapter transmission part of the sterile adapter in the specific embodiment of the present application;
- Fig. 9 is an exploded schematic diagram of the transmission connection structure between the sterile adapter and the surgical instrument in the specific embodiment of the present application.
- Fig. 10 is a schematic structural diagram of the assembled state of the instrument driver and the sterile adapter in the specific embodiment of the present application;
- Fig. 11 is a schematic diagram of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present application;
- Fig. 12 is a schematic diagram of an exploded structure of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present application;
- Fig. 13 is another view of the exploded structure of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present application;
- Fig. 14 is a schematic diagram of the partial structure of the connection structure between the instrument driver and the sterile adapter in the specific embodiment of the present application;
- Fig. 15 is a detailed enlarged view of the first fixing buckle of the instrument driver in the specific embodiment of the present application.
- Fig. 16 is an exploded schematic diagram of the connection structure between the sterile adapter and the device driver in the specific embodiment of the present application;
- Fig. 17 is a schematic diagram of the exploded structure of the second connection site between the sterile adapter and the device driver in the specific embodiment of the present application;
- Fig. 18 is a schematic diagram of the exploded structure of the surgical instrument box in the specific embodiment of the present application.
- Fig. 19 is a schematic diagram of the structure of the guide backboard of the sterile adapter in the specific embodiment of the present application.
- Figure 20 is a schematic diagram of the back structure of the surgical instrument box in the specific embodiment of the present application.
- Figure 21 is an enlarged view of the details of the second fixing buckle of the sterile adapter in the specific embodiment of the present application.
- Fig. 22 is an enlarged view of the details of the second fixing buckle of the aseptic adapter in the specific embodiment of the present application.
- Embodiments of the present application provide a mechanism for driving a transmission part and an assembly part of a surgical instrument of a surgical robot. Embodiments of the present application will be described below in conjunction with the accompanying drawings.
- the mechanism of the driving transmission part of the surgical instrument mainly includes three parts, the instrument driver, the sterile adapter and the surgical instrument.
- the instrument driver is installed on the end sliding arm of the surgical robot and can move up and down on the sliding arm.
- There are several driving motors in the instrument driver which can be three, four or five, etc., and each motor corresponds to an output shaft.
- the output shaft transmits power to the actuator of the surgical instrument through the transmission structure on the surface of the instrument driver, the transmission structure of the sterile adapter, and the transmission structure of the surgical instrument to drive the pitching, deflection and gripping actions of the jaws of the surgical instrument.
- the sterile adapter isolates the direct contact between the instrument driver and the surgical instrument, and is connected to the sterile curtain.
- the sterile curtain and the sterile adapter wrap the mechanical arm and the instrument driver of the surgical robot, so that the mechanical arm and the instrument driver are in contact with each other.
- the outside is isolated, and the sterile adapter is engaged on the upper surface of the instrument driver, and the sterile adapter is provided with an adapter transmission part to transmit power.
- the surgical instrument is engaged with the sterile adapter, the surgical instrument is provided with an instrument transmission part, and through cooperation with the adapter transmission part of the sterile adapter, the pitching, deflection and gripping actions of the surgical instrument are driven by the instrument driver.
- the longitudinal direction of the sleeve of the surgical instrument is the Z direction or the vertical direction
- the surgical instrument box or The span direction of both sides of the instrument driver or sterile adapter is the X direction
- the extension direction from the back of the surgical instrument to the surgical instrument sleeve is the Y direction.
- FIG. 1 it is a structural schematic view after the assembly of the instrument driver 100 , the sterile adapter 200 and the surgical instrument 300 is completed.
- the instrument driver 100, the sterile adapter 200, and the surgical instrument 300 have an adapted structure on the upper and lower surfaces (that is, the XY plane) in turn, as shown in Figure 2, so that the upper surface of the instrument driver 100, the upper surface, the lower surface and the lower surface of the sterile adapter The lower surface of the surgical instrument case is not visible after assembly.
- the instrument driver 100 has a regular-shaped housing with several drive motors 110 inside, and each drive is connected to an output shaft 120 correspondingly, so that the output parts of the instrument driver 100 correspond to the number of drive motors.
- the upper part of the instrument driver 100 is a fitting surface, which can be connected with the fitting surface of the sterile adapter 200 .
- the assembly surface 101 of instrument driver offers the installation hole of driver output part (there is assembly member in the figure, not shown), in the embodiment, the output part of instrument driver 100 comprises driver transmission member 130, and instrument The installation hole on the assembly surface of the driver is the installation hole of the transmission part of the driver.
- the driver transmission part 130 is located in the driver transmission part installation hole, and the upper end of the driver transmission part 130 can protrude from the assembly surface 101 of the instrument driver.
- the output part of the instrument driver also includes an elastic assembly 140 located below the driver transmission member.
- the second spring seat 142, and the spring 143 located between the first spring seat 141 and the instrument driver transmission member 130.
- the first spring seat 141 and the second spring seat 142 seal the spring in the cavity formed by the first spring seat 141 , the second spring seat 142 and the instrument driver transmission member 130 by means of clamping.
- the edge positions of the first spring seat 141 and the second spring seat 142 can be engaged, and the instrument driver transmission member 130 can be pushed up and protruded out of the Mounting surface 101 of the instrument driver.
- the driver transmission part 130 has a roughly cylindrical structure with a circular cross section, and its rotation axis is located at the center of the circular structure.
- the upper end of the driver transmission part 130 is a closed structure, and the upper end or top end of the closed structure has a
- the first toothed portion 131 is as shown in FIG. 6 .
- the first toothed portion includes a plurality of first teeth 1310 uniformly distributed along the radial direction of the driver transmission member 130 , that is, the distribution structure of the first teeth 1310 is radial.
- the number of the first teeth 1310 can be an odd number or an even number.
- the top of the first tooth 1310 may optionally have a sharp corner or a rounded corner, and try to avoid a platform at the tooth peak.
- On both sides of the lower end of each first tooth 1310 there is an engaging surface 1312, which may be a plane in the vertical direction, or a slightly inclined surface relative to the vertical direction.
- Each first tooth 1310 can be arranged as a symmetrical structure with respect to its own midline, or can be asymmetrical, but the first toothed portion 131 is center-symmetrical on the driver transmission member 130 .
- a guiding and positioning structure such as a disk portion 132 at the top of the driver transmission member.
- the disk portion 132 can be provided with a slope portion 1321 for guidance along the circumferential direction, or in some embodiments, there is no disk portion at the top of the driver transmission part, and a cylindrical structure is arranged at the axial center position, using the same
- a slope guide (not shown in the figure) is set circumferentially on the top of the cylinder.
- the sterile adapter 200 mainly includes three parts: an upper housing 210 , a lower housing 220 and an adapter transmission member 230 .
- the lower surface 221 of the lower housing 220 can cooperate with the assembly surface 101 of the instrument driver, and the upper surface of the upper housing 210 can cooperate with the lower surface 301 of the surgical instrument case 310 .
- an adapter transmission member installation hole 201 is opened up and down, and the adapter transmission member 230 is located in the adapter transmission member installation hole 201, so that the adapter transmission member 230
- the lower end portion 231 is capable of mating with the upper end of the driver transmission member 130 and the upper end portion 232 of the adapter transmission member 230 is matable with the lower end of the instrument transmission member 311 .
- the body structure of the adapter transmission part 230 is a cylindrical structure with a circular or annular cross-section, and its rotation axis is located at the center of the circular structure, that is, after the adapter transmission part and the driver transmission part are docked, the adapter transmission part and the driver transmission part
- the adapter drive is concentric.
- the structure of the adapter may be a structure with one end closed to form a partition between the driver transmission part and the instrument transmission part in space.
- the lower end portion 231 of the adapter transmission member 230 has a second toothed portion 233, which is similar to the first toothed portion.
- the tooth 2330 has a radial distribution structure. At the crest 2331 of the second tooth 2330, sharp corners or rounded corners can be selected.
- On both sides of each second tooth 2330 there is an engaging surface 2332, and the engaging surfaces on both sides of the second tooth 2330 can be engaged with the opposite engaging surfaces 1312 of two adjacent first teeth 1310, that is, the second The tooth 2330 can be inserted into the first slot 1313 formed between two adjacent first teeth 1310 , and the meshing surface of the second tooth forms a clearance fit with the meshing surface of the first tooth.
- the second toothed portion is located on the inner periphery of the adapter transmission member 230 body
- the first toothed portion is located on the outer periphery of the driver transmission member 130 body
- the second toothed portion 233 and the first toothed portion 131 The combined state is as if the second toothed portion forms a clasp on the first toothed portion.
- the second tooth-shaped part is located on the outer periphery of the adapter body
- the first tooth-shaped part is located on the inner periphery of the driver transmission part body, so that the combined state of the second tooth-shaped part and the first tooth-shaped part is as The second toothing is inserted into the first toothing.
- the shapes of the first tooth-shaped part and the second tooth-shaped part are exactly the same, and the tooth-shaped parts are all exposed structures, and the two are combined to form a complete cylinder, and the tooth-shaped meshing of the same principle is adopted.
- the transmission structures are all equivalent solutions in this embodiment.
- the upper end portion 232 of the adapter transmission part 230 is a part for connecting with the instrument transmission part. As shown in FIG. 7 , the upper end of the adapter transmission part 230 has an end surface 2320 which can be closely attached to the end surface of the instrument transmission part 3110 . On the adapter transmission part, there is also a transmission buckle 2321 protruding from the end surface. In an embodiment, one or more transmission buckles on the same adapter transmission part can be provided with one or more than two transmission buckles, and an eccentric structure is formed on the adapter transmission part, that is, one or more than two transmission buckles The transmission buckle has a non-axisymmetric or planar symmetric or centrosymmetric structure.
- the transmission buckle 2321 can be regarded as a larger transmission buckle 2321 which passes through the center of the adapter transmission member 230, but its two ends The distance from this center location is inconsistent. In other words, the length/size of the transmission parts of the two transmission buckles 2321a and 2321b are inconsistent.
- the transmission buckles located at both ends of the central position can balance the transmission of torque as much as possible. Align the position.
- the surgical instrument 300 includes a surgical instrument box 310 at the rear end, a surgical instrument (not shown) at the front end, a sleeve 320 connected to the surgical instrument box and the surgical instrument, and a transmission mechanism such as a steel wire inside the sleeve.
- the lower surface 301 of the surgical instrument box 310 cooperates with the upper surface 211 of the sterile adapter 200, and the lower end of the surgical instrument box is a mounting seat, and the cylindrical structure for connecting steel wires and other transmission mechanisms is installed on the mounting seat. , the lower end of the cylinder structure is fixedly connected with the instrument transmission part 311 .
- the structure of the instrument transmission part is adapted to the adapter transmission part, which has a transmission buckle 3111 for matching with the transmission buckle 2321, and the transmission buckle 3111 forms an embedded structure on the instrument transmission part 311, that is,
- the transmission buckle 3111 is formed by inwardly recessing the end surface of the instrument transmission part 311 .
- the structure of the transmission buckle 3111 is adapted to the shape of the transmission buckle 2321, so that the transmission buckle and the transmission buckle are in a clearance fit, or at least in the direction of power transmission, such as in the direction of rotation of the adapter transmission part 230 and the instrument transmission part 311
- the contact points and contact surfaces that form the torque are compatible.
- the depth of the transmission buckle 3111 may not be strictly required.
- a cylindrical buckle 2322 protrudes from the end face 2320 of the adapter transmission part 230, and the cylindrical buckle 2322 is coaxial with the rotation axis of the adapter transmission part 230, that is, the cylindrical buckle is positioned at the center of the adapter transmission center position of the item.
- the height of the cylindrical buckle 2322 is higher than that of the transmission buckle 2321, that is, the distance between the end surface of the cylindrical buckle and the end surface of the adapter transmission part is greater than the distance between the end surface of the transmission buckle and the end surface of the adapter transmission part.
- a cylindrical buckle 3112 for cooperating with the cylindrical buckle 2322 is provided on the instrument transmission part 311.
- the end surface 3110 forms a depression, and the depth of the cylindrical buckle 3122 can not only ensure the insertion of the cylindrical buckle, but will not hinder the cooperation between the transmission buckle 2321 and the transmission buckle 3111. In this way, before the assembly of the transmission part at the rear end of the instrument is completed, the rear end of the instrument is pre-docked with the column structure.
- the cylindrical buckle and the transmission buckle are integrally structured without any void space
- the diameter width of the cylindrical buckle should be larger than that of the transmission buckle
- the diameter width of the cylindrical buckle used to cooperate with the cylindrical buckle in the transmission buckle part of the rear end transmission part of the instrument should be greater than the width of the transmission buckle, that is, in the figure, between the two torque surfaces of the transmission buckle 2321
- the width is smaller than the diameter width of the cylindrical buckle 2322, so that the pre-butting is effective.
- the transmission part of the sterile adapter in order to calibrate the absolute position of the instrument, as shown in Figure 7, also has a positioning part 2323, which is located on the outer periphery of the sterile adapter, and the transmission part mounting hole of the sterile adapter has The stop part 212, the stop part 212 is roughly located at the position close to the upper surface 211 of the sterile adapter on the upper housing 210 of the sterile adapter, when the stop part 212 and the positioning part 2323 are roughly at the same level, the transmission of the sterile adapter The part rotates, so that the positioning part 232 rotates to the stop part 212, and the stop part 212 stops the positioning part 2323. At this time, the transmission part of the sterile adapter cannot continue to rotate, and this position can be used as the origin position of the sterile adapter .
- the transmission part of the sterile adapter also has a stopper 2324, one or more than two stoppers 2324, located on the outer periphery of the sterile adapter, which form a stop with the bottom engagement protrusion 227 on the mounting hole of the sterile adapter transmission part.
- the positioning part is higher than the stopper part, the positioning part stops with the stop part on the upper part of the installation hole of the transmission part of the sterile adapter, and the stopper part is in contact with the transmission part of the sterile adapter.
- the clamping protrusion 227 at the bottom of the mounting hole stops.
- one of the stopper parts 2324 and the positioning part 2323 may form an integral structure.
- the connection structure between the instrument driver and the sterile adapter is in a snap-fit manner.
- the instrument driver and the sterile adapter are provided with two sets of buckling positions along both sides of the instrument driver.
- Each group of fastening positions includes at least two fastening positions.
- One group is to rigidly fit the assembly surface of the instrument driver with the assembly surface of the sterile adapter. That is, the upper cover of the instrument driver is integrally formed with a part of the fastening surface integrally formed with the lower housing of the sterile adapter, and the two fastening surfaces cooperate to form a snap connection.
- the other group is buckled in the way of movable buckle connection.
- the assembly surface 101 of the instrument driver and the assembly surface of the aseptic adapter are structures that are matched in size and shape.
- the instrument driver has a hook-shaped recess 103 forming a depression, and the surface of the hook-shaped recess 103 is in an integral structure with the assembly surface 101 of the instrument driver, that is, the components forming the hook-shaped surface are connected to the upper housing of the instrument driver.
- the hook-shaped recess 103 is located near the front end of the instrument driver.
- the hook-shaped recess 103 has a certain width along the left and right span direction of the instrument driver, and the hook-shaped recess is along the front and rear direction of the instrument driver, starting from the hook-shaped recess. It has a combination of multiple continuous curved surfaces and/or straight surfaces from one end to the other.
- the lower surface 221 of the aseptic adapter has a protruding hook member 222, and the surface of the hook member 222 and the lower surface 221 of the aseptic adapter are integrally structured, that is, the hooks constituting the aseptic adapter
- the component with the shaped surface is integrally formed with the lower housing of the sterile adapter.
- the hook member The hook member 222 is located at the front end of the sterile adapter.
- hook members 222 there are two hook members 222, which are respectively located on two sides of the aseptic adapter.
- the hook-shaped member 222 has a certain width along the left and right span direction of the aseptic adapter, and this width is approximately the same as the width of the hook-shaped recess, and the hook-shaped member is along the front-to-back direction of the aseptic adapter. It has a combination of continuous curved surfaces and straight surfaces from one end to the other. Hook traps and hook members are visually complementary in shape.
- the hook-shaped receptacle 103 mainly includes a front portion 103a near the front side of the instrument driver and a rear portion 103b near the back side of the instrument.
- Above the front part 103a is the solid structure of the upper casing of the instrument driver, and the front part 103a is an accommodating space for accommodating the front end of the hook member. That is to say, the surface 103a1 constituting the front portion 103a is substantially the solid structure of the upper casing of the instrument driver, and has a substantially "S"-shaped surface in the left-right spanning direction of the instrument driver.
- the face constituting the rear portion 103b has a portion of a flat face 103b1 continuing to the face 103a1 constituting the front portion, and a portion of a flat arcuate face 103b2 and an inclined face 103b3 adjoining the assembly surface 101 of the instrument driver.
- the hook member mainly includes a front portion 222a located at the front side of the sterile adapter and a rear portion 222b near the rear side of the sterile adapter.
- the front part 222a of the hook-shaped member is a solid structure, and the surface 222a1 formed by the solid structure is roughly "S"-shaped on the surface of the aseptic adapter in the left and right spanning direction.
- the front part 222b of the hook member is also a solid structure, and its solid structure has a straight surface 222b1, a curved surface 222b2, and a slope 222b3 connected to the lower surface 221 of the sterile adapter in the left and right span direction.
- the hook-shaped member 222 of the sterile adapter When installing, insert the hook-shaped member 222 of the sterile adapter into the hook-shaped recess 103 of the instrument driver, and the hook-shaped surface of the hook-shaped member 222 is connected to the hook-shaped recess 103 of the instrument driver by wedging.
- the cooperation between the sterile adapter and the instrument driver does not require the use of external components, and more importantly, the cooperation between the sterile adapter and the instrument driver has a certain degree of rigidity , To a certain extent, it avoids the high cumulative tolerance caused by too many external components, too many movable components, elastic components, complex components, etc.
- the hook-shaped recess 103 of the instrument driver can have one or two straight sides 1031, and the side 1031 can be a vertical surface or an inclined surface.
- On the upper part of the side 1031 there is A part of smooth arc surface or curved surface, this part of smooth arc surface or curved surface is the guide part 1032 of the hook-shaped recess, corresponding to the hook-shaped member 222 of the sterile adapter, it also has a straight side 2221 that can be aligned with the hook-shaped
- the side portion 1031 of the recess fits, and the lower end 2222 of the side of the hook-shaped member is also a smooth curved surface or arc-shaped surface structure.
- the side portion 1031 of the hook-shaped recess and the side portion 2221 of the hook-shaped member can be Forming a close fit can restrict the hook-shaped member 222 from moving in the left and right direction, that is, the X direction when the hook-shaped member is inserted into the hook-shaped recess, thereby restricting the aseptic adapter 200 from moving in the X-direction, while the hook
- the guide portion 1032 of the recess and the curved or arc-shaped surface of the lower end 2222 of the hook member have a guiding effect, and it is more smooth and natural when the hook member of the sterile adapter is inserted into the hook recess of the instrument driver.
- a relief portion 223 on the front side of the lower end of the sterile adapter that is, in front of the upper end of the hook member, and the structure of the relief portion 223 is an inclined surface or a smooth arc surface.
- the inclined surface or smooth arc surface of the abdication part 223 transitions smoothly with the hook-shaped surface of the hook-shaped member, that is, the hook-shaped surface and the inclined surface of the hook-shaped member are roughly in a ⁇ -shaped structure when viewed from the left, and the upper wing of the ⁇ -shape is to allow
- the inclined surface or smooth arc surface of the bit portion, the lower wing of the ⁇ shape is a part of the hook surface of the hook member 222 .
- the part of the above sterile adapter that cooperates with the hook-shaped surface of the instrument driver is the first connection point of the two.
- the sterile adapter and the instrument driver further have a second connection site, which is connected by a movable buckle.
- the second connection point is located across from the first connection point, ie on the mating surface of the sterile adapter and the instrument driver and has a span in the front-to-back direction, ie in the Y-direction.
- the instrument driver is provided with a first fixed buckle 104
- the sterile adapter includes a first movable buckle 241
- the first movable buckle 241 and the first fixed buckle 104 can be snapped together in the up and down direction.
- the first fixed buckle 104 has a downward engaging surface 1041
- the movable buckle 241 has an upward engaging surface 2411 .
- the first fixing buckle 104 protrudes from the upper surface 101 of the instrument driver, and is integrally formed with the upper casing of the instrument driver.
- the first fixing 104 buckle is in a convex shape, and has a buckle space approximately in the middle of it.
- the buckle space can accommodate the first movable buckle.
- the movable buckle and the first fixed buckle form a clamp connection in the up and down direction.
- the aseptic adapter is provided with a first movable part 240, as shown in Figure 16, the first movable buckle 241 is located at the bottom of the movable part 240, the top of the first movable part 240 is the first operating part 242, the first operating part is connected with the first Operation button 243 .
- the first movable member 240 also includes a guiding portion 244 .
- a guide slot 224 for accommodating the guide part is opened on the aseptic adapter, and the guide part 244 can be inserted into the guide slot 224 and move along the direction of the guide slot.
- the opening direction of the guide groove 224 is along the left and right spanning direction of the aseptic adapter, that is, the X direction.
- the moving direction of the guide part 244 is also along the left and right spanning direction of the sterile adapter.
- the guide part 244 is located in the guide groove 224 and abuts against the spring 225 in the guide groove.
- the spring 225 provides a thrust to drive the guide part 244 or the first movable part 240 to the left and right sides of the aseptic adapter, that is, away from the aseptic adapter.
- the direction of the transmission part moves.
- the sterile adapter has two parts, the upper housing 210 and the lower housing 220, the guide groove 224 is opened on the lower body 220, and the two ends of the guide groove 224 are closed, so that the movable range of the guide part 244 can only be within Inside the guide groove 224.
- the upper shell of the sterile adapter is provided with an opening 214, which is generally located above the guide groove 224, and the opening 214 is used to provide a moving space for the operating part.
- the locking position of the movable part 240 is the position when the movable part abuts against the guide groove and is away from the transmission part of the sterile adapter.
- the unlocked position of the movable part is an artificial mobile operation part, making the movable part close to the sterile adapter The position when the state of the transmission part of the bacteria adapter.
- the two movable parts of the aseptic adapter do not produce linkage, each of which is connected with a spring.
- the guide grooves for accommodating the two guide parts can be arranged in communication, and a spring is connected between the two guide parts, so that the two guide parts or the two movable parts can be linked.
- the lower end of the first movable buckle 241 also has a wedge surface 2412, as shown in Figure 17, that is, it is located directly below the clamping surface 2411 of the movable buckle, which is a rising slope, and it is not necessary to pinch the first movable buckle during installation.
- the first operating portion 242 of the first movable member 240 protrudes from the upper surface 211 of the sterile adapter, that is, the first operating button 243 is located above the upper surface 211 of the sterile adapter
- the first operating part of the first movable part can be arranged on both sides of the sterile adapter, so that the operating part or the operating button of the sterile adapter is exposed.
- the first fixing buckle 104 of the instrument driver also cooperates with the lower surface of the sterile adapter in a specific structure, so that this part of the movable buckle not only has the function of buckling, but also has the function of guiding and tight fitting.
- the upper end portion of the first fixing buckle 104 of the instrument driver has a smooth curved surface structure 1042 on the front and rear sides, left and right sides, and at the same time, on both sides of the first fixing buckle, there is a vertical
- the mating surface 1043 is straight in the vertical direction
- the lower end portion of the first fixing buckle 104 which is close to the rear end of the aseptic adapter, has a smooth arc surface 1044 in the direction around the Z axis.
- connection between the sterile adapter and the instrument driver is installed from the front end of the instrument driver to the rear end of the instrument driver, so the front end of the first fixing buckle 104 has a slope surface 1045 for guidance, and its rear end is a Z-axis curved surface.
- the lower housing 220 of the aseptic adapter has a recessed structure 226 for embedding the first fixed buckle 104
- the first movable buckle 241 is located in the first recessed structure 226
- the recessed structure 226 is in the X direction
- Both have a smooth curved surface structure in the Y and Y directions, which can be perfectly matched with the first fixing buckle 104 .
- the second connection point is similar to the aforementioned hook-shaped mating surface, and it can also make the cooperation between the fixed buckle and the concave structure for the fixed buckle embedded in the aseptic adapter have a certain rigidity, which reduces to a certain extent the The cumulative tolerance brought about by the movable fastening method of the fixed buckle.
- the hook surface of the sterile adapter can be obliquely inserted into the hook-shaped depression of the instrument driver, and then the rear end of the sterile adapter is pressed down so that the fixing buckle of the instrument driver is inserted into the sterile
- the component force in the X direction is generated by the vamp at the lower end of the movable buckle of the sterile adapter and the inclined plane at the upper end of the fixed buckle of the instrument driver, so that the movable part of the sterile adapter squeezes the spring as a whole, and Move to the direction of the transmission part of the sterile adapter, and then the sterile adapter drives the movable part to continue to press down, and then press the first movable buckle until the clamping surface of the first movable buckle is lower than the clamping surface of the first fixed buckle, By the pushing force of the spring, the first movable buckle is inserted into the first fixed buckle to form a
- the connection between the sterile adapter and the surgical instrument is also in the form of a movable buckle.
- the surgical instrument box 310 as shown in Fig. 18, includes a base 312 for installing a wire rope column, and the lower end of the wire rope is the transmission connector of the surgical instrument.
- a second movable buckle assembly 330 is disposed on the seat body 312.
- the second movable buckle assembly 330 includes a second movable buckle 3311 , and the second movable buckle 331 can be engaged with the second fixed buckle 213 in a vertical direction.
- the second movable buckle assembly 330 includes a second movable member 331 , and the second movable member includes two second movable buckles 3311 and a connecting arm 3312 between the two second movable buckles.
- the connecting arm 3312 has a certain length, so that the span between the two second movable buckles 3311 is set.
- the connecting arms 3312 of the two second movable buckle assemblies 331 are located on the left and right sides of the seat body, that is, on the left and right sides of the surgical instrument box.
- the extending direction of the connecting arm 3312 is along the front-back direction of the surgical instrument box, that is, the Y direction.
- the connecting arm 3312 is fixedly connected with the two second movable buckles 3311, so that the three become one.
- the locking position and unlocking position of the second movable buckle 3311 are limited to the length direction of the connecting arm 3312, that is, the moving direction of the second movable buckle 3311 is along the connecting arm 3312 in the length direction.
- the second movable assembly further includes a guide rod 332 , and both ends of the guide rod are fixedly connected to the seat body 312 through two guide rod seats 3121 .
- the connecting arm 3312 is provided with a guide groove (assembled components, not shown) for the guide rod to pass through, and the guide rod 332 passes through the guide groove on the connecting arm, so that the connecting arm can only move along the guide rod 3312.
- the distance between the two ends of the guide rod 332 is the maximum distance that the connecting arm 3312 can move.
- a spring 333 is sheathed on one end of the guide rod 332 , so that one end of the spring 333 abuts against the connecting arm 3312 , and the other end of the spring 333 abuts against the guide rod seat 3121 .
- the connecting arm 3312 and the second movable buckle 3311 are in the locked position.
- the opening direction of the second fixed buckle 213 located on the upper surface of the aseptic adapter, which enters into the clamping surface should be towards the moving direction of the second movable buckle 3311 .
- the guide rod 3312 and the connecting arm 3312 are located in the surgical instrument box, so a hole 3123 is opened on the seat body 312 to provide a space for the second movable buckle 3311 to move, and can be buckled with the second fixed buckle 213 snap-in position.
- the second movable component 330 also includes a second operating part 332 .
- the moving direction of the operation part 332 is different from the moving direction of the connecting arm 3312 . That is, the second operating part 332 is not fixedly connected to the second movable part 331 .
- the second movable part 331 has a passive part 3313, and the passive part 3313 is fixedly disposed on the connecting arm 3312. In some embodiments, the passive part 3313 and other parts of the second movable part 331 are integrally formed.
- the second operating part 332 includes an actuating part 3322.
- the actuating part 3322 has an actuating surface, so that the passive part 3313 and the actuating surface can form line contact or surface contact, and the actuating surface of the actuating part 3322 can move the passive part 3313. track.
- the actuating surface may be an inclined or arc-shaped surface
- the passive portion may be an inclined or arc-shaped surface.
- the passive part 3313 can also be set as a bearing, and the passive part can form a rolling motion on the actuating surface of the actuating part.
- the second operation part 332 also includes a second operation button 3321, the second operation button 3321 is fixedly connected with the actuating part 3322, the second operation button 3321 is arranged on both sides of the surgical instrument box, the second operation part 332 needs to be pressed inwardly from both sides of the surgical instrument to the instrument box during use, so the moving direction of the second operating part 332 is along the span direction of the surgical instrument box 310 , that is, the X direction.
- the oblique actuation surface 3321 enables the force of the passive part 3313 to decompose the force along the front and back direction of the surgical instrument box 310, that is, the force in the Y direction, so that the actuation part 3322 drives the connecting arm and the second movable buckle toward Move in the unlocked direction.
- the second movable assembly 330 further includes a guide 334 that helps guide the movement of the second operating part.
- the second operating part 332 also includes a second guide part 3323, and the guide part 334 and the second guide part 3323 have several surfaces to cooperate with in the span direction of the surgical instrument box, that is, the guide part and the second guide part
- the guiding direction is the X direction.
- a spring (not shown) is also connected between the second guide portion and the guide member, so that one end of the spring abuts against the second operating portion 332 , and the other end of the spring abuts against the guide member 334 .
- the second operating part 332 is also provided with a limit waist hole 3324, and a limit post 3122 is fixedly arranged on the seat body 312, the limit post passes through the limit waist hole, and the limit post passes through the limit waist hole , so that on the one hand the second operating part will not escape from the surgical instrument box, on the other hand, the two ends of the limiting waist hole are the unlocking and locking positions of the second operating part.
- the sterile adapter 200 includes a back plate 250 , which is located at the rear side of the body structure 210 of the sterile adapter and is perpendicular to the upper surface of the upper shell 210 of the sterile adapter.
- the backboard 250 has a side surface facing the surgical instrument, that is, the front side 250a of the backboard, the front side is docked with the rear side of the surgical instrument box 310, and the backboard also has a rear side 252b, Located on the rear side 252b of the backboard, the sterile cloth can be bonded along the edge of the backboard to isolate the sterile cloth from the surgical instrument, or exist in an isolated state, while the sterile cloth and the sterile adapter Body structure bonding.
- the back plate 250 isolates the surgical instrument 300 from the sterile cloth, avoiding contact between the two and damaging the sterile cloth due to friction; on the other hand, it can play the role of guiding and limiting during installation.
- the body of the backboard 250 is a plate-shaped structure, and guide grooves 2511 penetrate up and down on the front side 251 a of the backboard 250 .
- the instrument box 310 located in the operation has a protrusion 312 that can cooperate with the guide groove 2511 , that is, the width of the protrusion 312 is not greater than the width of the guide groove.
- the penetrating structure of the guide groove 2511 from top to bottom enables the surgical instrument to be installed from top to bottom during installation.
- the structure of the guide groove 2511 has a plane 2511a perpendicular to the upper surface of the sterile adapter, which is also the XZ plane.
- the XZ plane restricts the protrusion 312 from moving in the Y direction. When the surgical instrument is installed, the protrusion directly abuts against the part of the XZ plane, and there is no need to adjust the installation position in the Y direction.
- the guide groove 2511 also includes a portion having two walls 2511b and 2511c perpendicular to the XY plane. Along the Z direction from top to bottom, the distance between the two walls 2511b and 2511c has a part of the distance change, that is, the width of the guide groove, along the Z direction from top to bottom, there is a distance from large to small The change of , that is, the width of the groove, gradually changes from wider to narrower.
- the structure of this part can guide the protrusion to move in the X direction, that is, there is a certain space in the X direction to allow the protrusion to adjust its position. And when the protrusion 312 is inserted into the guide groove 2511 at first, no more effort is needed to align it.
- the distance between the two walls 2511b and 2511c has a portion where the distance no longer changes, that is, the width of the guide groove is constant at this portion.
- the width of the guide groove 2511 gradually shrinks until it fully fits with the protrusion, the width of the guide groove no longer changes, that is, the guide groove restricts the protrusion from moving in the X direction, while the protrusion continues to move downward in the Z direction move.
- one guide groove can be provided, or more than two guide grooves can be provided.
- the part with the surface 2512 between the two guide grooves is located at The upper portion 2512a of the surface may be configured as a slope to guide the movement of the surgical instrument in the Y direction.
- the lower part 2512b of the surface is set as a vertical surface, that is, a surface parallel to the XZ plane, which restricts the surgical instrument from moving in the Y direction.
- the sterile adapter for the surgical instrument case can also be provided with precise guidance and precise positioning.
- a precise guiding and precise positioning structure is provided in conjunction with the connecting structure of the sterile adapter and the non-transmission part of the surgical instrument case.
- second fixing buckles 213 protrude from the upper surface of the sterile adapter.
- two sets of second fixing buckles 213 are integrally formed with the upper shell 210 of the sterile adapter.
- the second fixing buckle 213 of the sterile adapter has a clamping surface 2131, and the direction of the clamping surface 2131 of the second fixing buckle is downward, so that the upper end of the fixing buckle does not need to be connected with the movable buckle of the surgical instrument box.
- the upper end of the second fixing buckle 213 has a smooth curved surface structure in both the X direction and the Y direction.
- a first guide surface 2132 is located on the upper end of the second fixing buckle 213 and extends to the left and right sides of the fixing buckle.
- second guide surfaces 2133 Located on the upper end of the fixing buckle, there are second guide surfaces 2133 extending to the front and rear sides of the fixing buckle.
- the lower end portion of the front side of the second fixing buckle that is, the direction on the second fixing buckle and close to the front end of the sterile adapter, has a curved surface around the Z-axis direction, and this part is the second fixing buckle.
- Vertical positioning portion 2135 of the buckle In one embodiment, the lower end portion of the rear side of the second fixing buckle, that is, located on the second fixing buckle and close to the direction of the backboard, has a slope surface, and this part is the third guide portion 2136 of the fixing buckle.
- the first guide surface, the second guide surface, the straight mating surface, the vertical positioning part and the third guide part of the second fixing buckle all have continuous and smooth transitions.
- the lower surface 301 of the surgical instrument box has a second fixed buckle insert 314 for the second fixed buckle to be embedded, and the second movable buckle of the surgical instrument is located in the fixed buckle insert 314 .
- the embedding of the second fixing buckle has a smooth curved surface structure in both the X direction and the Y direction, and can be perfectly matched with the second fixing buckle.
- the entrance 314 a of the second fixing buckle insert 314 has a smooth curved surface structure in both the X direction and the Y direction. There is a curved surface matched with the upper end of the second fixing buckle 213 inside the fixing buckle embedding.
- the second fixing buckle of the sterile adapter and the recessed structure of the surgical instrument in the embodiment can not only be used for the connection of the two, but also play a guiding role.
- due to the cooperation of the surfaces of the two there are special features on the mating surface.
- a certain degree of rigidity reduces the cumulative tolerance caused by the movable buckle and the fixed buckle to a certain extent.
- the assembly process is a complete The coherent, installed in the order of installing the sterile adapter on the instrument driver first, and then installing the surgical instrument on the sterile adapter, the instrument driver part is complete, the sterile adapter is also complete, and the surgical instrument is also complete , when installing, you can install it in the following way:
- the installation process of the sterile adapter and the instrument is as follows: the front end of the sterile adapter is tilted downward, the hook-shaped member is first inserted into the hook-shaped insert of the instrument driver, and the guide part of the hook-shaped insert and the hook-shaped The lower end of the component is guided, adjust the left and right direction of the front end of the sterile adapter, that is, the small movement in the X direction, and then press the rear end of the sterile adapter downward, and the fixed buckle of the instrument driver is located on the left and right sides of the curved surface structure and aseptic
- the concave structure of the adapter cooperates to form a micro-adjustment of the rear end of the sterile adapter in the X direction, and then until the side of the hook-shaped embedding fits with the side of the hook-shaped member, and the mating surface on the left and right sides of the fixed buckle Fitting with the vertical surface of the concave structure, at this time, the side of the hook-shaped embedding
- the rear end of the sterile adapter continues to press down, and the curved surface structure at the rear end of the first fixing buckle of the instrument driver cooperates with the concave structure of the sterile adapter to form a guide in the Y direction, which can adjust the small movement of the sterile adapter in the Y direction, and at the same time , due to the concave structure of the sterile adapter and the guiding effect of the fixed buckle, the hook member at the front end of the sterile adapter continues to push forward, while the rear end of the sterile adapter is further pressed down, and the lower end of the first movable buckle of the sterile adapter It abuts against the upper end of the first fixed buckle of the instrument driver.
- the first movable part moves to the transmission area of the sterile adapter, and then the rear end of the sterile adapter
- the first movable buckle resets due to the driving force of the spring, and at the same time, the hook member at the front end of the sterile adapter pushes forward Until the hook-shaped member is fully inserted into the hook-shaped inlay, the hook-shaped surface of the hook-shaped member is fully matched with the hook-shaped surface of the hook-shaped inlay, and at this time, the Z-axis surface on the rear side of the fixing buckle is in contact with the concave structure of the sterile adapter Also fit perfectly.
- the transmission part of the sterile adapter and the transmission part of the instrument driver are installed in place through any direction of the toothed part, and the output shaft of the instrument driver lifts the transmission part of the instrument driver and the transmission part of the sterile adapter, so that the transmission part of the sterile adapter
- the stop part of the aseptic adapter and the upper positioning part of the sterile adapter are approximately horizontal, and then the motor of the instrument driver rotates to drive the transmission part of the instrument driver and the transmission part of the sterile adapter to rotate, so that the positioning part and the stop part abut against each other. From this position, the initial position of the sterile adapter drive can be calibrated.
- the installation process of the surgical instrument and the sterile adapter is to install the rear end of the surgical instrument from top to bottom, move the surgical instrument to the top of the sterile adapter, and align the protrusion of the surgical instrument with the guide groove on the back plate of the sterile adapter. Then the surgical instrument moves down along the guide groove until the upper part of the guide groove completes a rough guide for the surgical instrument.
- the protrusion on the surgical instrument box prevents the rear part of the surgical instrument from swinging left and right.
- the lower part of the guide groove of the adapter back plate roughly positions the surgical instrument, and then the surgical instrument continues to move downward.
- the cooperation between the position and each surface of the fixed buckle guides the surgical instrument to complete the precise guidance, so that the surgical instrument box and the sterile adapter are precisely aligned, and then the surgical instrument box continues to move downward, so that the fastening of the movable part and the fixed part is completed.
- the operation The transmission part of the instrument is aligned with the sterile adapter, and the cylindrical structure of the transmission part of the sterile adapter is inserted into the cylindrical buckle of the transmission part of the surgical instrument to produce a pre-docking.
- the inlay of the transmission buckle of the sterile adapter transmission part is not aligned, so that the transmission buckle on the transmission part of the sterile adapter is in contact with the surface of the transmission part of the surgical instrument, and the transmission buckle on the transmission part of the sterile adapter is pressed down, so that the positioning part Detach from the stopper.
- the motor of the instrument driver rotates to drive the transmission part of the sterile adapter to rotate until the transmission buckle on the transmission part of the sterile adapter is aligned and combined with the transmission buckle of the transmission part of the surgical instrument to complete the docking installation.
- the angle of rotation of the adapter transmission member relative to the initial position is the absolute position of the surgical instrument, and each action angle of the surgical instrument is determined based on the absolute position.
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Abstract
一种手术机器人的器械驱动传动机构和手术机器人的器械驱动装配机构,其中器械驱动传动机构包括:器械驱动器(100)、无菌适配器(200)和手术器械(300)。无菌适配器(200)的适配器传动件(230)与器械驱动器(100)的驱动器传动件(130)通过均匀排布于适配器传动件(230)与驱动器传动件(130)表面的若干齿(131,233)啮合配合,无菌适配器(200)的适配器传动件(230)与手术器械(300)的器械传动件(311)通过传动扣(2321,2321a,2321b)配合。
Description
相关申请的交叉引用
本申请要求享有于2021年07月14日提交的名称为“一种手术机器人的器械驱动传动机构及装配机构”的中国专利申请CN202110797198.0的优先权,该申请的全部内容通过引用并入本文中。
本申请涉及医疗器械技术领域,具体而言涉及一种手术机器人的器械驱动传动机构及装配机构。
手术机器人能够帮助医生实现手术的精确定位,具有减少病人伤口从而缩短术后恢复时间等优势。并且其具有稳定的操作平台,能够解决医生的颤抖等情况,因而在临床外科手术中有大量的应用。
手术机器人中的手术器械,通常在细长管的一端处具有手术工具形式的后端执行机构,例如钳子、剪刀、夹子等。所述后端执行机构的常规运动结构是采用钢丝绳来转动后端执行机构,以完成俯仰、偏转和夹握的动作。
外科医生在控制台侧控制手术侧驱动器上的器械,为满足手术中不同手术器械使用需求,手术器械与器械驱动器通常设计为可拆卸性,用于在手术中更换不同手术器械需求,同时手术器械通常为可以独立的消毒灭菌。
器械驱动器端通常设计为不可消毒性,为保证手术过程中的无菌性,在手术时,需要在器械驱动器与器械间加入一个无菌适配器,用于隔离手术时不可消毒的器械驱动器端以及可消毒的器械端。
手术器械后端与无菌适配器上表面连接,器械驱动器与无菌适配器下表面进行连接,器械驱动器通过无菌适配器对手术器械后端执行机构提供驱动力,达到完成俯仰、偏转和夹握的动作目的。
无菌适配器下表面与器械驱动器上表面连接,连接后稳定不脱离,同时在需要解锁时能够方便快捷的将无菌适配器从器械驱动器上解锁分离,手术器械后端与无菌适配器上表面连接,连接后保持稳定不脱离,通知在需要解锁时能后方便快捷的将手术器械从无菌适配器上解锁分离。
目前的器械驱动器与无菌适配器的传动部分的连接,是在器械驱动器传动盘上对称设置两个卡扣,在无菌适配器的传动件上设置两个卡扣的扣位,在安装时,需要先将无菌适配器的壳体与器械驱动器的壳体对接,然后通过传感器识别无菌适配器在位,然后需要器械驱动器的电机带动器械驱动器的传动盘转动,进行多次调整角度,寻找器械驱动器传动盘的两个卡扣与无菌适配器传动件的扣位的对接位置,这种方法会产生一些问题,在无菌适配器的壳体表面与器械驱动器的壳体表面对接成功,但是无菌适配器的传动件在未对接成功之前,由于无菌适配器内传动件的安装孔比无菌适配器传动件的的直径要大,因此无菌适配器传动件会有一定倾斜角度,其轴心并不一定在器械驱动器传动盘的转动轴线上,因此无菌适配器的扣位也不会很准确的就在两个卡扣的旋转曲线上,在对接时,器械驱动器需要带动器械驱动器传动盘转动几圈来进行 盲接,并且在器械驱动器传动盘与无菌适配器传动件对接成功后,还需要进行多次、若干圈数的转动来进行试验,判断对接是否真正到位。而且,驱动器传动盘与无菌适配器传动件对接后两个卡扣和扣位的连接,其传递扭力仅在两个卡扣处,容易造成损耗过快的问题。
发明内容
在发明内容部分中引入了一系列简化形式的概念,这将在具体实施方式部分中进一步详细说明。本申请的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征,更不意味着试图确定所要求保护的技术方案的保护范围。
本申请的实施例提供了一种手术机器人的器械驱动传动机构,包括器械驱动器、无菌适配器和手术器械。器械驱动器包括有外露于器械驱动器上表面的驱动器传动件;无菌适配器无菌适配器的下表面与器械驱动器的上表面配合,无菌适配器包括有贯通于无菌适配器的本体的适配器传动件,适配器传动件的下部与器械驱动器传动件配合;手术器械手术器械的后端与无菌适配器上表面配合,手术器械包括有外露于手术器械的后端的器械传动件,器械传动件与适配器传动件的上部配合;适配器传动件与驱动器传动件通过均匀排布于适配器传动件与器械驱动器传动件表面的若干齿啮合配合,适配器传动件与器械传动件通过传动扣配合。
本申请的手术机器人的器械驱动传动机构中,适配器传动件与器械驱动器传动件通过均匀排布于适配器传动件上的若干齿啮合配合,在安装时,适配器传动件和器械驱动器传动件可以任意角度的配合,可以做到快速精准的对接,同时多个齿的啮合比单个或者两个传动扣的配合方式,传递扭力的性能更强,而且更耐用。
本申请的实施例还提供了一种手术机器人的手术器械驱动装配机构,包括器械驱动器、无菌适配器和手术器械盒。器械驱动器包括与无菌适配器连接的装配表面;无菌适配器的下表面与器械驱动器的装配表面配合;手术器械盒的下表面与无菌适配器的上表面配合;无菌适配器的下表面与器械驱动器的装配表面通过钩形配合表面的连接部分和活动卡扣的连接部分,无菌适配器的上表面与手术器械和的下表面通过跨距设置的至少两个活动卡扣连接。
本申请的手术机器人的手术器械驱动装配机构,器械驱动器与无菌适配器的连接是通过多连接位点连接,无菌适配器与手术器械盒通过多连接位点连接,多连接位点连接的连接方式,能够使机构的结构更加结实,在使用时减少震动,另一方面,器械驱动器与无菌适配器通过一定程度的刚性连接,使得器械驱动器与无菌适配器的连接不容易产生结构上的活动或形变。
本申请的下列附图在此作为本申请的一部分用于理解本申请。附图中示出了本申请的实施例及其描述,用来解释本申请的原理。附图中:
图1本申请具体实施方式中器械驱动器、无菌适配器和手术器械的装配完成结构示意图;
图2本申请具体实施方式中器械驱动器、无菌适配器和手术器械的分解状态示意图;
图3本申请具体实施方式中器械驱动器的俯视图;
图4本申请具体实施方式中器械驱动器内部结构示意图;
图5本申请具体实施方式中器械驱动器与无菌适配器的连接结构示意图;
图6本申请具体实施方式中器械驱动器传动件的结构示意图;
图7本申请具体实施方式中无菌适配器的分解结构示意图;
图8本申请具体实施方式中无菌适配器的无菌适配器传动件的下端部分的结构示意图;
图9本申请具体实施方式中无菌适配器与手术器械传动连接结构的分解示意图;
图10本申请具体实施方式中器械驱动器与无菌适配器的装配状态结构示意图;
图11本申请具体实施方式中器械驱动器与无菌适配器的连接结构示意图;
图12本申请具体实施方式中器械驱动器与无菌适配器的连接结构分解结构示意图;
图13本申请具体实施方式中器械驱动器与无菌适配器的连接结构分解结构另一视图;
图14本申请具体实施方式中器械驱动器与无菌适配器的连接结构局部结构示意图;
图15本申请具体实施方式中器械驱动器的第一固定扣细节放大图;
图16本申请具体实施方式中无菌适配器与器械驱动器的连接结构分解示意图;
图17本申请具体实施方式中无菌适配器与器械驱动器的第二连接位点的分解结构示意图;
图18本申请具体实施方式中手术器械盒的分解结构示意图;
图19本申请具体实施方式中无菌适配器的导向背板结构示意图;
图20本申请具体实施方式中手术器械盒的背部结构示意图;
图21本申请具体实施方式中无菌适配器的第二固定扣细节放大图;
图22本申请具体实施方式中无菌适配器的第二固定扣细节放大图。
在下文的描述中,给出了大量具体的细节以便提供对本申请更为彻底的理解。然而,对于本领域技术人员来说显而易见的是,本申请实施方式可以无需一个或多个这些细节而得以实施。在其他的例子中,为了避免与本申请实施方式发生混淆,对于本领域公知的一些技术特征未进行描述。
为了彻底了解本申请实施方式,将在下列的描述中提出详细的结构。显然,本申请实施方式的施行并不限定于本领域的技术人员所熟习的特殊细节。本申请中所引用的诸如“第一”和“第二”的序数词仅仅是标识,而不具有任何其他含义,例如特定的顺序等。而且,例如,术语“第一部件”其本身不暗示“第二部件”的存在,术语“第二部件”本身不暗示“第一部件”的存在。本申请中所使用的术语“上”、“下”、“前”、“后”、“左”、“右”以及类似的表述只是为了说明的目的,并非限制。
本申请的实施例提供了一种手术机器人手术器械驱动传动部分以及装配部分的机构。以下结合附图对本申请的实施方式进行说明。在本申请中,手术器械驱动传动部分的机构主要包括三大部分,器械驱动器、无菌适配器和手术器械。
器械驱动器安装于手术机器人的末端滑动臂上,可以在滑动臂上上下移动。器械驱动器中有若干个驱动电机,可以是三个、四个或五个等,每个电机对应有一输出轴,驱动电机通过输出轴以及与输出轴对应连接的驱动器传动件,器械驱动器的电机连接输出轴通过器械驱动器表面的传动结构、无菌适配器的传动结构以及手术器械的传动结构向手术器械的执行机构传递动力,以驱动手术器械夹爪的俯仰、偏转和夹握的动作。
无菌适配器隔绝器械驱动器与手术器械的直接接触,其连接在无菌围帘上,无菌围帘和无菌适配器将手术机器人的机械臂和器械驱动器进行包裹起来,使得机械臂和器械驱动器与外部隔绝,无菌适配器则接合在器械驱动器的上端表面,无菌适配器上设置有适配器传动件,以传递动力。
手术器械与无菌适配器接合,手术器械设置有器械传动件,并通过与无菌适配器的适配器传动件配合,由器械驱动器驱动手术器械的俯仰、偏转和夹握的动作。
在实施例中,为描述各个机构组件的位置关系,定义多个方向名词,这些方向名词的解释,以手术器械的套管的的纵长方向为Z方向或竖直方向,以手术器械盒或器械驱动器或无菌适配器的两侧的跨度方向为X方向,以手术器械背部至手术器械套管的延伸方向为Y方向,“上”、“下”指示的是手术器械、无菌适配器、器械驱动器三者在使用时的视觉角度,“前”、“后”是以手术器械的手术器械套管与手术器械盒的背部角度为基本方向,朝向手术器械套管的方向可为“前”,朝向手术器械盒的背部方向为“后”,“左”“右”则是以正视手术器械套管的视角能看到的手术器械盒两侧的左右方向。
具体的以下结合具体实施例和附图,来阐述本申请的具体实施方式。
如图1,是器械驱动器100、无菌适配器200和手术器械300的装配完成后的结构示意图。器械驱动器100、无菌适配器200、手术器械300依次在上下表面(也即XY面)具有适配的结构,如图2,使得器械驱动器100的上表面,无菌适配器的上表面、下表面和手术器械盒的下表面在装配后不可见。
首先,实施例中对器械驱动器100、无菌适配器200和手术器械300的传动部分的连接进行详细阐述。
器械驱动器100,如图2,具有形状规则的壳体,内部具有若干个驱动电机110,每个驱动电对应连接有一输出轴120,使得器械驱动器100的输出部件与驱动电机的个数相对应。器械驱动器100的上部是装配表面,能够与无菌适配器200的装配表面连接。图3,器械驱动器的装配表面101,开设有驱动器输出部件的安装孔(图中有装配构件,未示出),在实施例中,器械驱动器100的输出部件包括有驱动器传动件130,而器械驱动器的装配表面的安装孔,即为驱动器传动件安装孔。驱动器传动件130位于驱动器传动件安装孔内,并且驱动器传动件130的上端可凸出于器械驱动器的装配表面101。
器械驱动器的输出部件,如图3和图4,还包括有位于驱动器传动件下方的弹性组件140,该弹性组件140,包括与输出轴固定的第一弹簧座141、与器械驱动器传动件130固定的第二弹簧座142,以及位于第一弹簧座141和器械驱动器传动件130之间的弹簧143。第一弹簧座141和第二弹簧座142通过卡接的方式,将弹簧封闭在第一弹簧座141和第二弹簧座142以及器械驱动器传动件130形成的空腔内。在自然状态时,由于弹簧143的向两侧弹簧座的推力作用,可以使得第一弹簧座141和第二弹簧座142的边缘位置卡接,并且将器械驱动器传动件130顶起并凸出于器械驱动器的装配表面101。
驱动器传动件130,结构大致呈柱形结构,其截面为圆形,其转动轴线位于圆形结构的中心部位,驱动器传动件130的上端,呈封闭结构,并且位于其封闭结构的上端或顶端具有第一齿状部分131,如图6。第一齿状部分包括有若干个沿驱动器传动件130径向方向均匀分布的第一齿1310,也即,第一齿1310的分布结构呈辐射状。第一齿1310的个数,可以是奇数个,也可以是偶数个。第一齿1310的顶端,也即齿峰1311处,可选地是尖角或者圆角,尽量避免齿峰处具有平台。在每个第一齿1310的下端的两侧,具有啮合面1312,啮合面可以是在竖直方向上的平面,或者相对于竖直方 向的微倾面。每个第一齿1310可以设置为相对于自身中线对称的结构,也可以不对称,但是第一齿状部分131,在驱动器传动件130上是中心对称的。相邻的两个第一齿1310之间具有第一齿槽1313。在驱动器传动件130的上端,可以具有一导向定位的结构,如驱动器传动件顶端具有一盘面部分132,该盘面部分132可以与多个第一齿1310的齿峰1311所在的平面齐平或超出于齿峰所在的平面,该盘面部分132沿周向可以设置斜面部分1321以导向,或者在一些实施例中,驱动器传动件顶端没有盘面部分,在其轴心位置设置一圆柱体结构,采用相同的导向原理,在圆柱体的顶端周向设置斜面导向(图中未示出)。
无菌适配器200,如图7,主要包括上部壳体210、下部壳体220和适配器传动件230三部分。下部壳体220的下表面221能够与器械驱动器的装配表面101配合,上部壳体210的上表面能够与手术器械盒310的下表面301配合。在上部壳体210和下部壳体220组成的完整的壳体结构里,上下贯通的开设有适配器传动件安装孔201,适配器传动件230位于适配器传动件安装孔201内,使得适配器传动件230的下端部分231能够与驱动器传动件130的上端配合,适配器传动件230的上端部分232与器械传动件311的下端配合。
适配器传动件230的本体结构,呈柱形结构,截面为圆形或圆环形,其转动轴线位于圆形结构的中心部位,也即,适配器传动件与驱动器传动件对接后,适配器传动件与适配器传动件是同轴心的。适配器的结构可以是具有一端封闭的结构,在空间上形成驱动器传动件和器械传动件的隔断。
适配器传动件230的下端部分231,如图8,具有第二齿状部分233,与第一齿状部分相似的,第二齿状部分233包括有若干个沿适配器径向方向均匀分布的第二齿2330,齿的分布结构呈辐射状。第二齿2330的齿峰2331处,可选尖角或圆角。在每个第二齿2330的两侧,具有啮合面2332,第二齿2330两侧的啮合面,与两个相邻的第一齿1310的其相对的啮合面1312可啮合,也即第二齿2330可插入两个相邻第一齿1310之间形成的第一齿槽1313内,第二齿的啮合面与第一齿的啮合面形成间隙配合。在图示的实施例中,第二齿状部位于适配器传动件230本体的内周,第一齿状部位于驱动器传动件130本体的外周,第二齿状部233与第一齿状部分131结合的状态如同第二齿状部分在第一齿状部分上形成了扣盖。在一些实施例中,也可以是第二齿状部位于适配器本体的外周,第一齿状部位于驱动器传动件本体的内周,使得第二齿状部与第一齿状部的结合状态如同第二齿状部嵌入到第一齿状部内。当然,在一些实施例中,第一齿状部和第二齿状部的形状完全相同,齿状部均为外露结构,两者结合形成一个完整的柱体,采用相同原理的齿状啮合的传动结构都算是在本实施例的等同方案。
适配器传动件230的上端部分232,是用于与器械传动件连接的部分。如图7,适配器传动件230的上端具有一端面2320,能够与器械传动件3110的端面紧密贴合,适配器传动件上,凸出于该端面还具有传动扣2321。在实施例中,同一个适配器传动件上的传动扣可以设置有一个或两个以上,一个传动扣或两个以上的传动扣,在适配器传动件上呈偏心结构,也即一个或两个以上的传动扣,具有非轴对称或平面对称或中心对称的结构,在图示的实施例中,可以视为是一个较大的传动扣2321其通过适配器传动件230的中心位置,但是其两端距离该中心位置的距离不一致。或者说,两个传动扣2321a和传动扣2321b,其传动件的长度/大小不一致。在该实施例中的传动扣,其位于中心位置两端的传动扣能够尽量均衡扭矩的传递,同时其非对称的结构,又能使得适配器传动件与器械后端传动件在配合时,只有唯一的对准位置。
手术器械300包括有位于后端的手术器械盒310和位于前端的手术器械(未图示),以及在连接在手术器械盒和手术器械的套管320及位于套管内的钢丝等传动机构。
如前所述,手术器械盒310的下表面301与无菌适配器200的上表面211配合,手术器械盒的下端即为一安装座,安装座上安装有用于连接钢丝等传动机构的柱体结构,柱体结构的下端,即固定连接有器械传动件311。
器械传动件的结构,如图9,与适配器传动件适配,其具有用于与传动扣2321配合的传动扣位3111,传动扣位3111在器械传动件311上形成内嵌入式结构,也即传动扣位3111在器械传动件311的端面向内凹陷而成。传动扣位3111的结构,与传动扣2321形状适配,使得传动扣与传动扣位呈间隙配合,或至少在传递动力方向适配,如在适配器传动件230和器械传动件311的转动方向上形成扭矩的接触点、接触面是适配的,在传动扣2321与传动扣位3111能够在能有一定的嵌入深度的前提下,可以对传动扣位3111的深度可以不做严格要求。
在实施例中,如图7,适配器传动件230的端面2320上还凸出有一圆柱扣2322,该圆柱扣2322与适配器传动件230的转动轴心同轴,也即,该圆柱扣位于适配器传动件的中心位置。在实施例中,该圆柱扣2322的高度高于传动扣的2321高度,也即,该圆柱扣的端面与适配器传动件的端面之间的距离,大于传动扣端面与适配器传动件端面的距离。同样的,如图9,在器械传动件311上设置有以及用于与圆柱扣2322配合的圆柱扣位3112,圆柱扣位3112与圆柱口呈间隙配合,圆柱扣位3112在器械传动件311的端面3110形成凹陷,同时圆柱扣位3122的深度既能保证圆柱扣的插入,由不会对传动扣2321和传动扣位3111的配合产生阻碍。这样,当器械后端传动件配装完成之前,器械后端与该柱体结构先进行预对接。
在一些实施例中,如圆柱扣与传动扣具有物理上的连接时,也即如图示中,圆柱扣与传动扣结构呈一体,不具有空隙空间,圆柱扣的径宽应大于传动扣的宽度,同时器械后端传动件的传动扣位部分中用于与圆柱扣配合的圆柱扣位的径宽应大于传动扣的宽度,也即图示中,传动扣2321的两个扭矩面之间的宽度,小于圆柱扣2322的直径宽度,使得预对接有效。
在实施例中,为了对器械的绝对位置的标定,如图7,无菌适配器传动件还具有定位部2323,该定位部2323位于无菌适配器的外周,无菌适配器的传动件安装孔上具有止位部212,止位部212大致位于无菌适配器上部壳体210的靠近无菌适配器的上表面211的位置,当止位部212与定位部2323大致位于同一水平时,无菌适配器的传动件转动,使得定位部232转动至止位部212处,止位部212对定位部2323进行止挡,此时无菌适配器的传动件不能继续转动,以此位置可以作为无菌适配器的原点位。
无菌适配器的传动件还具有止挡部2324,一个或两个以上的止挡部2324,位于无菌适配器的外周,其与无菌适配器传动件安装孔上的底部卡接凸起227形成止挡,在无菌适配器未安装时,其结构完整,传动件不容易掉落。
在一个实施例中,在无菌适配器传动件上,定位部高于止挡部,定位部与无菌适配器传动件安装孔上部的止位部止挡,止挡部则与无菌适配器传动件安装孔下部的卡接凸起227止挡。
在一个实施例中,其中的一个止挡部2324与定位部2323可以呈一体结构。
器械驱动器、无菌适配器与手术器械的非传动部分的装配
器械驱动器与无菌适配器的连接结构,以扣接的方式。器械驱动器与无菌适配器沿着器械驱动器两侧设置有两组的扣接位。每组扣接位至少包括有两处扣接位置。一组是以器械驱动器的装配表面与无菌适配器的装配表面进行刚性配合。也即,器械驱动器的上盖上一体成型具有一部分扣接表面与无菌适配器的下部壳体一体成型的扣接表面,两个扣接表面配合后形成的卡接。另外一组是以活动卡扣连接的方式进行扣接。
具体的,器械驱动器的装配表面101与无菌适配器的装配表面呈大小、形状均配 合的结构。器械驱动器具有形成凹陷的钩形陷位103,该钩形陷位103的表面与器械驱动器的装配表面101呈一体结构,也即,构成该钩形表面的构件,与器械驱动器的上部壳体为一体成型。该钩形陷位103位于器械驱动器靠近前端的位置。
实施例中,如图10,图11和图12钩形陷位103,在沿器械驱动器的左右跨度方向上具有一定的宽度,钩形陷位沿器械驱动器的前后方向上,从钩形陷位的一端至另一端具有多段连续的曲面和/或直面的组合。
相应的,无菌适配器的下表面221,具有凸起的钩形构件222,该钩形构件222的表面与无菌适配器的下表面221呈一体式结构,也即,构成该无菌适配器的钩形表面的构件与无菌适配器的下部壳体一体成型。该钩形构件该钩形构件222位于无菌适配器前端的位置。
实施例中,钩形构件222具有两个,分别位于无菌适配器的两侧。钩形构件222,在沿无菌适配器的左右跨度方向上具有一定的宽度,这个宽度与钩形陷位的宽度大致相同,且钩形构件沿无菌适配器的前后方向上,从钩形构件的一端至另一端具有多段连续的曲面和直面的组合。钩形陷位和钩形构件,从视觉上形状是互补的。
在实施例中,如图13和图14,钩形陷位103主要包括靠近器械驱动器前侧的前部103a和靠近器械后侧的后部103b。前部103a的上方是器械驱动器的上部壳体的实体结构,前部103a是用于容纳钩形构件前端的容纳空间。也即构成前部103a的面103a1,实质上为器械驱动器的上部壳体的实体结构在器械驱动器的左右跨度方向上具有大致呈“S”形的表面。构成后部103b的面,具有一部分平直面103b1续接构成前部的面103a1,还具有一部分平弧度面103b2及斜面103b3续接器械驱动器的装配表面101。
相应的,钩形构件主要包括位于无菌适配器前侧的前部222a和靠近无菌适配器后侧的后部222b。钩形构件的前部222a是实体结构,其实体结构形成的面222a1在无菌适配器的左右跨度方向的表面大致呈“S”形。钩形构件的前部222b也为实体结构,其实体结构在左右跨度方向上具有续接面222a1的平直面222b1、弧度面222b2及续接无菌适配器下表面221的斜面222b3。
在安装时,将无菌适配器的钩形构件222嵌入到器械驱动器的钩形陷位内103,钩形构件222的钩形面,其与器械驱动器的钩形陷位103,通过楔紧的方式,其在竖直方向上具有分力,同时使得无菌适配器与器械驱动器在该部分的配合不需要采用外部构件,更重要的是,在此处无菌适配器与器械驱动器的配合具有一定的刚性,在一定程度上避免了由于外部构件过多、可活动构件过多、弹性构件、复杂构件等产生的较高的累积公差。
在实施例中,如图12,器械驱动器的钩形陷位103可以有一个或两个平直的侧部1031,侧部1031可以是竖直面或倾斜面,在侧部1031的上部,具有一部分平滑弧形面或曲面,该部分平滑弧形面或曲面是钩形陷位的导向部1032,无菌适配器的钩形构件222相应的,其也具有平直的侧部2221可以与钩形陷位的侧部1031配合,且钩形构件的侧面的下端2222也为平滑的曲面或弧形面结构,这部分结构中,钩形陷位的侧部1031与钩形构件的侧部2221能够形成紧密配合,可以在钩形构件在插入钩形陷位时,限制钩形构件222在左右方向上也即X方向上不移动,进而限制无菌适配器200在X方向上的不移动,而钩形陷位的导向部1032以及钩形构件的下端2222的曲面或弧形面则具有导向的作用,在无菌适配器的钩形构件嵌入至器械驱动器的钩形陷位时更为顺滑自然。
在实施例中,如图12,在无菌适配器的下端的前侧,也即位于钩形构件上端的前方,具有一让位部223,让位部223的结构为斜面或平滑弧面,该让位部223的斜面 或平滑弧面与钩形构件的钩形面平滑过渡,也即钩形构件的钩形面与斜面在左侧视角度大致呈<形结构,<形的上部翼是让位部的斜面或平滑弧面,<形的下部翼是钩形构件222的钩形面的一部分。
以上无菌适配器与器械驱动器钩形表面配合的部分,是二者的第一连接位点。无菌适配器与器械驱动器进一步还具有第二连接位点,第二连接位点为活动卡扣的连接方式。第二连接位点与第一连接位点跨距设置,也即在无菌适配器和器械驱动器的配合表面上并且在前后方向也即在Y方向上具有跨度。
具体的,如图12和图15在器械驱动器设置有第一固定扣104,无菌适配器包括有第一活动扣241,第一活动扣241与第一固定扣104可在上下方向上形成卡接,也即,第一固定扣104具有方向向下的卡接面1041,活动扣241具有方向向上的卡接面2411。
第一固定扣104凸出于器械驱动器的上表面101,并与器械驱动器的上部壳体一体成型。第一固定104扣呈凸起形状,在其大致中间位置具有卡扣空间,该卡扣空间可以容纳第一活动扣,该空间的顶部即为第一固定扣的卡接面1041,使得第一活动扣和第一固定扣在上下方向形成卡接。
无菌适配器上设置有第一活动件240,如图16,第一活动扣241位于活动件240的下部,第一活动件240的上部为第一操作部242,第一操作部连接有第一操作按钮243。第一活动件240还包括有一导向部244。在无菌适配器上开设有用于容纳导向部的导槽224,导向部244可以插入至导槽224内,并沿着导向槽的方向移动。导槽224的开设方向,是沿无菌适配器的左右跨度方向,也即X方向。同样的,导向部244的移动方向也是沿无菌适配器的左右跨度方向。导向部244位于导槽224内,并与导槽内的弹簧225抵接,弹簧225提供推力驱使导向部244或第一活动件240向无菌适配器的左右两侧方向,也即远离无菌适配器传动部分的方向移动。在实施例中,无菌适配器具有上部壳体210和下部壳体220两部分,导槽224开设于下部体220上,且导槽224的两端封闭,使得导向部244的活动范围只能在导槽224内。无菌适配器的上部壳体开设有开口214,大致位于导槽224的上方,开口214用于提供操作部的移动空间。活动件240由于弹簧的驱使力,其锁定位置是活动件抵接导槽远离无菌适配器传动部分的状态时的位置,活动件的解锁位置,则是人为的移动操作部,使得活动件靠近无菌适配器传动部分的状态时的位置。在图示的实施例中,无菌适配器的两个活动件不产生联动,其各自连接有弹簧,在操作时,分别捏住两个活动件操作按钮,使力,使得两个活动件向互相靠近的方向移动,也即朝着靠近无菌适配器传动部分的方向移动,从而完成活动扣从锁定位置到解锁位置的移动。在一些实施例中,用于容纳两个导向部的导向槽可以连通设置,并且两个导向部之间连接一个弹簧,能够使得两个导向部或两个活动件产生联动。
在实施例中,第一活动扣241的下端还具有斜楔面2412,如图17,也即位于活动扣的卡接面2411的正下方,呈上升斜面,在安装时可以不用紧捏第一操作按钮243,只需要对无菌适配器向下使力,即可由第一活动扣241的斜楔面2412与第一固定扣104的顶端产生挤压,即可使得第一活动件241由锁定位置到解锁位置的移动。
在实施例中,如图9和图16,第一活动件240的第一操作部242凸出于无菌适配器的上表面211,也即第一操作按钮243位于无菌适配器上表面211的上方,同时在手术器械盒内具有用于容纳第一操作按钮243的第一操作部插入位315,在装配时,由手术器械盒将第一操作部242和第一操作按钮243隐藏。在一些实施例中,第一活动件的第一操作部可以设置在无菌适配器的两侧,使得无菌适配器的操作部或操作按钮外露。
器械驱动器的第一固定扣104,还以特定的结构形式与无菌适配器的下表面配合, 使得这部分活动扣接的部分,不仅具有扣合的功能,还兼具导向及紧密配合的功能。具体的,如图15,器械驱动器的第一固定扣104的上端部分,其在前后两侧、左右两侧,均具有平滑的曲面结构1042,同时在第一固定扣的两侧,在具有竖直方向上平直的配合面1043,并且第一固定扣104的下端部分,其靠近无菌适配器后端的方向,在沿绕Z轴方向上具有平滑弧面1044。无菌适配器与器械驱动器的连接,是从器械驱动器的前端向器械驱动器的后端进行安装,因此在第一固定扣104的前端具有坡度面1045进行导向,而其后端为Z轴曲面。
相应的,如图12,在无菌适配器的下壳体220,具有用于第一固定扣104嵌入的凹陷结构226,第一活动扣241位于第一凹陷结构226内,凹陷结构226在X方向、Y方向上均具有平滑的曲面结构,能与第一固定扣104完美配合。
此处第二连接位点与前述的钩形配合表面相似的,还能使得固定扣和无菌适配器的用于固定扣嵌入的凹陷结构配合具有一定的刚性,在一定程度上减少了由于活动扣和固定扣的活动扣接方式带来的累积公差。
无菌适配器与器械驱动器在安装时,可以将无菌适配器的钩形表面先斜插入器械驱动器的钩形凹陷内,然后将无菌适配器的后端下压,使得器械驱动器的固定扣插入无菌适配器的凹陷结构内,然后借助无菌适配器活动扣下端的鞋面与器械驱动器的固定扣上端的斜面挤压产生在X方向上的分力,使得无菌适配器的活动件整体挤压弹簧,并向无菌适配器传动部分的方向移动,然后无菌适配器带动活动件继续下压,然后将第一活动扣压至其第一活动扣的卡接面低于与第一固定扣的卡接面时,由弹簧的推力,将第一活动扣插入第一固定扣内,形成扣接。
无菌适配器与手术器械的连接,也是以活动扣卡接的方式。具体的,如图9,在无菌适配器的上表面211,具有两组第二固定扣213,也即两组第二固定扣213与无菌适配器的上部壳体210一体成型。手术器械盒310,如图18,包括有一座体312,用于安装钢丝绳柱,钢丝绳的下端,即为手术器械的传动连接件。在该座体312上,设置有第二活动扣组件330。第二活动扣组件330,包括第二活动扣3311,第二活动扣331可与第二固定213扣在竖直方向上形成卡接,。
如图18第二活动扣组件330包括有第二活动件331,第二活动件包括有两个第二活动扣3311和位于两个第二活动扣之间的连接臂3312。连接臂3312具有一定的长度,使得两个第二活动扣3311之间跨距设置。两个第二活动扣组件331的连接臂3312的设置,位于座体的左右两侧,也即位于手术器械盒内的左右两侧。连接臂3312的延伸方向,沿着手术器械盒的前后方向,也即Y方向。连接臂3312与两个第二活动扣3311固定连接,使得三者成为一体。
由于手术器械盒内传动部分的限制,限定第二活动扣3311的锁定位置和解锁位置,均位于连接臂3312的长度方向上,也即第二活动扣3311的移动方向,是沿着连接臂3312的长度方向的。具体的,第二活动组件还包括有导向杆332,导向杆的两端通过两个导向杆座3121与座体312固定连接。连接臂3312上开设有用于导向杆穿过的导向槽(图中装配有构件,未示出),导向杆332穿过连接臂上的导向槽,使得连接臂只能沿着导向杆3312移动。导向杆332的两端之间的距离,是连接臂3312能移动的最大距离。在导向杆332的一端套设有弹簧333,使得弹簧333的一端与连接臂3312抵接,弹簧333的另一端与导向杆座3121抵接。在自然状态下,由于弹簧的驱使力,使得连接臂3312和第二活动扣3311处于锁定位置。相应的,位于无菌适配器上表面的第二固定扣213,其进入卡接面的开口方向,应朝着第二活动扣3311的移动方向。在实施例中,导向杆3312和连接臂3312位于手术器械盒内,因此在座体312上开设有孔3123,提供用于第二活动扣3311活动的空间,以及能够与第二固定扣213扣合卡 接的位置。
第二活动组件330还包括有第二操作部332。在实施例中,操作部332的移动方向与连接臂3312的移动方向不同。也即,第二操作部332与第二活动件331非固定连接。具体的,第二活动件331具有一被动部3313,被动部3313固定设置于连接臂3312上,在一些实施例中,被动部3313和第二活动件331的其他部件一体成型。第二操作部332包括有致动部3322,致动部3322具有致动面,使得被动部3313与致动面能够形成线接触或面接触,致动部3322的致动面能够被动部3313的移动轨迹。在一些实施例中,致动面可以是斜面或弧形面,被动部可以是斜面或弧形面。在一些实施例中,被动部3313也可以设置为轴承,被动部可以在致动部的致动面上形成滚动。
在实施例中,第二操作部332还包括有第二操作按钮3321,第二操作按钮3321与致动部3322固定连接,第二操作按钮3321设置于手术器械盒的两侧,第二操作部332使用时需要在从手术器械的两侧向器械盒向内按压,因此第二操作部332的移动方向是沿手术器械盒310的跨度方向,也即X方向。斜向的致动面3321,使得被动部3313的受力能够分解出沿手术器械盒310前后方向的力,也即Y方向的力,从而使得致动部3322带动连接臂以及第二活动扣向着解锁的方向移动。
在实施例中,第二活动组件330还包括有帮助第二操作部的移动导向的导向件334。具体的,第二操作部332还包括有第二导向部3323,导向件334与第二导向部3323在手术器械盒的跨度方向上具有若干面配合,也即,导向件与第二导向部的导向方向为X方向。第二导向部与导向件之间还连接有弹簧(图未示出),使得弹簧的一端与第二操作部332抵接,弹簧的另一端与导向件334抵接。
在实施例中第二操作部332还开设有与限位腰孔3324,并在座体312上固定设置有限位柱3122,限位柱穿过限位腰孔,限位柱穿过限位腰孔,以一方面使得第二操作部不会从手术器械盒脱出,另一方面,限位腰孔的两端,是第二操作部的解锁位和锁定位。
在手术器械与无菌适配器进行卡接之前,需要对手术器械与无菌适配器的安装进行导向。以下对手术器械和无菌适配器的安装导向结构进行详细说明。
具体的,如图19无菌适配器200包括有一背板250,该背板位于无菌适配器的本体结构210的后侧,并垂直于无菌适配器的上部壳体210的上表面。该背板250有具朝向手术器械的一侧表面,也即是背板的的前部侧面250a,该前部侧面与手术器械盒310的后侧部分对接,背板还有后部侧面252b,位于该背板的后部侧面252b,沿该背板的边缘可以与无菌布粘接,将无菌布与手术器械隔离开,也可以孤立的状态存在,而无菌布与无菌适配器的本体结构粘接。
该背板250,一方面,隔离手术器械300与无菌布,避免二者接触以摩擦损坏无菌布,另一方面,在安装时,可以起到导向限位的作用。
具体的,背板250本体为一板状结构,在背板250的前部侧面251a,上下贯通有导向槽2511。如图20,位于手术其器械盒310具有能够与导向槽2511配合的凸起312,也即凸起312的宽度不大于导向槽的宽度。导向槽2511的由上至下贯通的结构,使得手术器械的在安装时,由上至下的安装。
导向槽2511的结构,其具有一与无菌适配器上表面垂直的平面2511a,该平面也是XZ平面。该XZ平面,限制了凸起312在Y方向不能够移动,手术器械在安装时,凸起直接与XZ平面的部分抵接,不需要调整Y方向的安装位置。
导向槽2511还包括有垂直于XY平面的两个壁2511b和2511c的部分。沿着Z方向由上至下,两个壁2511b和2511c之间的距离,具有一段距离变化的部分,也即导向槽的宽度,沿Z方向由上至下,有一段距离呈由大到小的变化,也即槽的宽度, 是由较宽渐变为较狭窄。这部分的结构,能够引导凸起在X方向移动,也即,在X方向上具有一定的空间能够使得凸起进行调整位置。而且起初在凸起312插入导向槽2511的时候,不需要更多的精力去对准。同时,两个壁2511b和2511c之间的距离,具有一段距离不再变化的部分,也即导向槽的宽度,在该部分恒宽。当导向槽2511的宽度逐渐缩小至于与凸起完全配合的时候,导向槽的宽度不再变化,也即导向槽在X方向上限制了凸起不能移动,而凸起继续在Z方向上向下移动。
在实施例中,导向槽可以设置有一个,或者两个以上,如设置两个导向槽时,两个导向槽之间具有面2512的部分,为了能够使得手术器械在Y方向上微调整,位于面的上部分2512a,可以设置为斜面,引导手术器械在Y方向上移动。在面的下部分2512b,设置为竖直面,也即平行于XZ面的面,是限制手术器械在Y方向上不移动。
以上是对手术器械与无菌适配器对接的初步导向和初步定位。在实施中,手术器械盒无菌适配器还可以设置精确导向和精确定位。在实施例中,是结合无菌适配器和手术器械盒的非传动部分的连接结构设置精确导向和精确定位的结构。
具体的,无菌适配器的上表面凸出有第二固定扣213,实施例中,两组第二固定扣213与无菌适配器的上部壳体210一体成型。无菌适配器的第二固定扣213具有卡接面2131,第二固定扣的卡接面2131的方向朝下,使得固定扣的上端部分不需要与手术器械盒的活动扣产生连接。
具体的,如图21和图22,在第二固定扣213的上端,其在X方向、Y方向上均具有平滑的曲面结构。在实施例中,位于第二固定扣213的上端,向固定扣左右两侧延伸有第一导向面2132。位于固定扣的上端,向固定扣前后两侧延伸有第二导向面2133。
在一实施例中,在第二固定扣213的左右两侧,还具有在YZ面上平直的配合部2134。在一实施例中,第二固定扣的前侧的下端部分,也即位于第二固定扣上并靠近无菌适配器前端的方向,具有绕Z轴方向上的弧度面,该部分为第二固定扣的竖直定位部2135。在一实施例中,第二固定扣的后侧的下端部分,也即位于第二固定扣上并靠近背板方向,具有坡度面,这部分为固定扣的第三导向部2136。
在一实施例中,第二固定扣第一导向面、第二导向面、平直的配合面、竖直定位部和第三导向部的,均为连续平滑过渡。
相应的,如图9在手术器械盒的下表面301具有用于第二固定扣嵌入的第二固定扣嵌位314,而手术器械的第二活动扣则位于固定扣嵌位314内。第二固定扣嵌位在X方向、Y方向上均具有平滑的曲面结构,能与第二固定扣完美配合。
在实施例中,在第二固定扣嵌位314的入口314a处,在X方向、Y方向均具有平滑的曲面结构。在固定扣嵌位的内部,具有与第二固定扣213的上端配合的曲面。
实施例中的无菌适配器的第二固定扣和手术器械的凹陷结构不仅能用于二者的连接,还能起到导向作用,同时因二者的表面的配合,在配合的面上有具有一定的刚性,在一定程度上减少了由于活动扣和固定扣的活动扣接方式带来的累积公差。
在本实施例中,为了方便介绍器械驱动器、无菌适配器和手术器械的安装,将传动部分的装配和非传动部分的装配进行了分别的说明,然而,在实际操作中,装配过程是一个完整的连贯的,以先在器械驱动器上安装无菌适配器,然后在无菌适配器上安装手术器械的顺序进行安装的,器械驱动器的部分是完整的,无菌适配器也是完整的,手术器械也是完整的,在安装时,可以采用如下方式进行安装:
在实施例中,无菌适配器与器械的安装过程为,将无菌适配器的前端向下倾斜,将钩形构件先插入器械驱动器的钩形嵌位,由钩形嵌位的导向部及钩形构件的下端导向,调整无菌适配器前端位置的左右方向也即X方向的微小移动,然后将无菌适配器 的后端位置向下压,器械驱动器的固定扣位于左右两侧的曲面结构与无菌适配器的凹陷结构配合,形成无菌适配器后端在X方向的微调整,然后直到位于钩形嵌位的侧部与钩形构件的侧部产生贴合、以及固定扣的左右两侧的配合面与凹陷结构的竖直面形成贴合,此时钩形嵌位的侧部与钩形构件的侧部、固定扣的左右两侧的配合面,形成了X方向的限位,使得无菌适配器不再调整X方向的位置。无菌适配器的后端继续向下压,器械驱动器的第一固定扣位于后端的曲面结构与无菌适配器的凹陷结构配合,形成Y方向的导向,能够调整无菌适配器Y方向的微小移动,同时,由于无菌适配器的凹陷结构与固定扣的导向作用,使得无菌适配器前端的钩形构件继续向前推,而无菌适配器的后端进一步下压,无菌适配器的第一活动扣的下端与器械驱动器的第一固定扣的上端形成抵接,由于第一活动扣下端斜面与固定扣上端斜面的作用,使得第一活动件向无菌适配器的传动区域移动,然后无菌适配器的后端继续下压,第一活动扣的卡接面移动移动至第一固定扣的卡接面处时,第一活动扣由于弹簧的驱使力复位,同时,无菌适配器前端的钩形构件向前推直至钩形构件完全插入钩形嵌位内,钩形构件的钩形面与钩形嵌位的钩形面完全配合,而此时位于固定扣后侧的Z轴面与无菌适配器的凹陷结构也完全配合。而在这个过程中,无菌适配器传动件与器械驱动器传动件通过齿状部分的任意方向安装到位,器械驱动器的输出轴将器械驱动器传动件和无菌适配器传动件顶起,使得无菌适配器上的止位部和无菌适配器上定位部处于大致水平,然后器械驱动器的电机转动,带动器械驱动器传动件和无菌适配器传动件转动,使得定位部和止位部抵接。以此位置,可以标定无菌适配器传动件初始位置。
手术器械和无菌适配器的安装过程为,将手术器械后端由上至下的安装,将手术器械移动至无菌适配器的上方,并将手术器械的凸起与无菌适配器背板的导向槽的平面抵接,然后手术器械沿着导向槽向下移动,直至导向槽的上部对手术器械完成粗导向,手术器械盒上的凸起使得手术器械的后侧部分不再左右摆动,由无菌适配器背板的导向槽的下部对手术器械粗定位,然后由手术器械继续向下移动,手术器械盒的卡扣陷位的入口处与无菌适配器的固定扣的上端接触,然后由卡扣陷位与固定扣的各个面的配合引导手术器械完成精确导向使得手术器械盒和无菌适配器精确对准,之后手术器械盒继续向下移动,使得活动件与固定件扣接完成,而此时手术器械的传动件与无菌适配器对准,无菌适配器传动件的柱体结构插入手术器械传动件的圆柱扣位,产生预对接,此时,无菌适配器传动件上的传动扣与手术器械传动件的传动扣嵌位并未对准,使得无菌适配器传动件上的传动扣与手术器械传动件的表面产生抵接,并且将无菌适配器传动件上的传动扣向下压,使得定位部与止位部脱离。然后,器械驱动器的电机转动,带动无菌适配器传动件转动,直至无菌适配器传动件上的传动扣与手术器械传动件的传动扣嵌位对准并结合,完成对接安装,此时,无菌适配器传动件相对于初始位置转动的角度,就是手术器械的绝对位置,以此绝对位置,来确定手术器械的各个动作角度。
除非另有定义,本文中所使用的技术和科学术语与本申请的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的,不是旨在限制本申请。本文中出现的诸如“设置”等术语既可以表示一个部件直接附接至另一个部件,也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施方式中描述的特征可以单独地或与其它特征结合地应用于另一个实施方式,除非该特征在该另一个实施方式中不适用或是另有说明。本申请已经通过上述实施方式进行了说明,上述实施方式只是用于举例和说明的目的,而非意在将本申请限制于所描述的实施方式范围内。根据本申请的教导还可以做出更多种的变型和修改,这些变型和修改均落在本申请所要求保护的范围以内。
Claims (15)
- 一种手术机器人的器械驱动传动机构,包括:器械驱动器,包括有外露于所述器械驱动器上表面的驱动器传动件;无菌适配器,所述无菌适配器的下表面与所述器械驱动器的上表面配合,所述无菌适配器包括有贯通于所述无菌适配器的本体的适配器传动件,所述适配器传动件的下部与所述器械驱动器传动件配合;手术器械,所述手术器械的后端与无菌适配器上表面配合,所述手术器械包括有外露于所述手术器械的后端的器械传动件,所述器械传动件与所述适配器传动件的上部配合;其中,所述适配器传动件与所述驱动器传动件通过均匀排布于所述适配器传动件与所述器械驱动器传动件表面的若干齿啮合配合,所述适配器传动件与所述器械传动件通过传动扣配合。
- 根据权利要求1所述的手术机器人的器械驱动传动机构,其中,所述适配器传动件的下端上包括有第一齿状部,所述第一齿状部均匀分布有若干齿,所述第一齿状部上的齿呈辐射状排列,所述器械驱动器的上端包括有第二齿状部,所述第二齿状部均匀分布有若干齿,所述第二齿状部上的齿呈辐射状排列。
- 根据权利要求2所述的手术机器人的器械驱动传动机构,其中,所述第一齿状部的齿的齿峰为尖角或圆角,和/或所述第二齿状部的齿峰尖角或圆角。
- 根据权利要求2或3所述的手术机器人的器械驱动传动机构,其中,所述第一齿状部的齿的齿峰两侧具有啮合面,所述第二齿状部的齿的齿峰两侧具有啮合面,所述第一齿状部的齿的啮合面与所述第二齿状部的齿的啮合面间隙配合。
- 根据权利要求1至4中任一项所述的手术机器人的器械驱动传动机构,其中,所述适配器传动件的上表面凸出有至少一个传动扣,至少一个所述传动扣相对于所述适配器传动件的转动轴心偏心设置,所述器械传动件的表面具有至少一个传动扣位,至少一个所述传动扣位相对于所述器械传动件的转动轴心偏心设置,所述传动扣可以与所述传动扣位间隙配合。
- 根据权利要求5所述的手术机器人的器械驱动传动机构,其中,所述适配器传动件的上表面还凸出有圆柱扣,所述圆柱扣的高度大于所述传动扣的高度,所述圆柱扣与所述适配器传动件的转动轴同轴心,所述器械传动件表面还有圆柱扣位,所述圆柱扣位与所述器械传动件同轴心,所述圆柱扣可与所述圆柱扣位间隙配合。
- 根据权利要求6所述的手术机器人的器械传动机构,其中,两个所述传动扣与所述圆柱扣呈一体结构,所述圆柱扣的径宽大于所述传动扣的宽度,所述器械传动件上的两个传动扣位之间的柱形面与所述圆柱扣适配。
- 根据权利要求1至7中任一项所述的手术机器人的器械驱动传动机构,其中,所述无菌适配器包括有适配器本体,所述适配器本体开设有适配器传动件安装孔,所述适配器传动件可在所述适配器传动件安装孔内转动,所述适配器本体位于所述适配器 传动件安装孔内设置有止位部,所述适配器传动件的上部还包括有定位部,所述止位部可与所述定位部水平止挡。
- 根据权利要求1至8中任一项所述的手术机器人的器械驱动传动机构,其中,所述适配器本体上还包括有背板,所述背板垂直于所述适配器的上表面,所述背板朝向所述手术器械的一侧的表面由上至下设置有导向槽,所述导向槽的上部宽度大于所述导向槽的下部宽度,所述手术器械与所述该背板配合的一面具有与所述导向槽下部配合的凸起。
- 根据权利要求9所述的手术机器人的器械驱动传动机构,其中,所述无菌适配器和所述手术器械的配合表面还具有配合定位表面。
- 根据权利要求10所述的手术机器人的器械驱动传动机构,其中,所述无菌适配器的上表面凸出有固定扣,所述固定扣的表面由上至下具有多个导向面,所述手术器械的下表面具有固定扣嵌位,所述固定扣嵌位的形状与所述固定扣的形状适配。
- 一种手术机器人的器械驱动装配机构,包括:器械驱动器,包括与所述无菌适配器连接的装配表面;无菌适配器,所述无菌适配器的下表面与所述器械驱动器的装配表面配合;手术器械盒,所述手术器械盒的下表面与所述无菌适配器的上表面配合;其中,所述无菌适配器的下表面与所述器械驱动器的装配表面通过钩形配合表面的连接部分和活动卡扣的连接部分,所述无菌适配器的上表面与所述手术器械和的下表面通过跨距设置的至少两个活动卡扣连接。
- 根据权利要求12所述的器械驱动装配机构,其中,所述器械驱动器的装配表面具有固定扣,所述固定扣具有导向配合表面和卡接面,所述无菌适配器包括有活动扣,所述活动扣可与所述固定扣卡接,所述无菌适配器的下表面还包括有凹陷结构,所述凹陷结构的与所述固定扣的导向配合表面形状适配。
- 根据权利要求12或13所述的器械驱动装配机构,其中,所述无菌适配器的下表面凸出有钩形表面,所述器械驱动器的装配表面具有用于与所述无菌适配器的钩形表面配合的勾形陷位。
- 根据权利要求12至14中任一项所述的器械驱动装配机构,其中,所述无菌适配器与所述器械驱动器的活动卡扣的连接部分连接有操作部,所述操作部凸出于所述无菌适配器的上表面,且手术器械具有用于容纳所述操作部的空间。
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