CN110025337A - A kind of locking mechanism that sterile adapter component is fixed to actuator - Google Patents
A kind of locking mechanism that sterile adapter component is fixed to actuator Download PDFInfo
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- CN110025337A CN110025337A CN201910026040.6A CN201910026040A CN110025337A CN 110025337 A CN110025337 A CN 110025337A CN 201910026040 A CN201910026040 A CN 201910026040A CN 110025337 A CN110025337 A CN 110025337A
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- actuator
- sterile adapter
- adapter component
- sterile
- guide part
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/20—Holders specially adapted for surgical or diagnostic appliances or instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- 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
- A61B2217/00—General characteristics of surgical instruments
- A61B2217/002—Auxiliary appliance
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a kind of in robotic surgical system by the mechanism of sterile adapter and actuator locking.Locking mechanism includes at least one the engagement lug and at least one concave guide part being separated from each other on sterile adapter component；At least one combines lug to have the cylindrical profile including groove, at least one concave guide part has guide groove.Locking mechanism further includes at least one recess and at least one convex guide part being separated from each other on the actuator assembly；At least one recess, which limits a recess and at least one convex guide part, has profile outstanding；At least one recess on actuator receives at least one engagement lug of sterile adapter component, and at least one concave guide part on sterile adapter component receives at least one convex guide part of actuator, so that sterile adapter component and actuator be made to interlock.
Description
Technical field
The present invention relates generally to the robotic surgical systems for Minimally Invasive Surgery.More particularly it relates to which one kind changes
Into locking mechanism, in robotic surgical system by sterile adapter component be fixed to actuator on.
Background technique
This part intends to is introduced to reader may relate to the in the prior art each of various aspects disclosed by the invention
Aspect will hereinafter be described.It is believed that content of this disclosure helps to provide background information to reader to make reader more
Various aspects disclosed by the invention are understood well.It is understood, therefore, that these statements should go to understand from this angle,
Rather than just admission of prior art.
Robot perceptual system is widely adopted to replace traditional surgical procedures all over the world, subtracts
Lack the quantity that external organization may be damaged during surgical operation or diagnosis, so that the convalescence of patient is reduced, patient's
Sense of discomfort, the lasting hospital stays, and especially reduce harmful side effect.In assisted surgery for robots, surgery
Doctor operates master controller usually at a surgeon console seamlessly to capture and transmit by surgeon's execution
Compound action, to give the feeling that surgeon is directly performed the operation using Surigical tool.It is controlled in surgeon
At a certain distance from the surgeon operated on platform can be located at away from operative site, or the hand that patient carries out operation can be located at
In art room.
Assisted surgery for robots makes medical domain that revolutionary variation have occurred, and becomes medical device industry and increases most
One of fast subregion.However, main in assisted surgery for robots challenge the safety and essence being to ensure that in surgical procedure
True property.The key area of assisted surgery for robots first is that be used for Minimally Invasive Surgery surgical machine man-based development.In the past
Two during the decade, the exponential development of surgical operation robot, and become the main neck of innovation in medical device industry
Domain.
Assisted surgery for robots system includes the mechanical arm of multiple auxiliary robot operations.Robot assisted surgery hand
The non-sterile portion of mechanical arm is attached to the mandatory sterile of mechanical arm in operation end using sterile barrier by art system
Surgical instrument separates.Sterile barrier may include that the aseptic plastic valance for encapsulating mechanical arm and sterile adapter, sterile adapter exist
It is operatively engaged in aseptic area with sterile surgical instrument.Sterile barrier can also include flexible drape interface, by valance
Region is kept therebetween, so that torque and other force feedbacks are taken as the input from sterile surgical instrument and mechanical arm and connect
It receives.Sterile barrier is maintained between sterile surgical instrument and non-sterile robot system.Sterile adapter removably with actuating
Device assembly engagement, actuator drive in aseptic area and control sterile surgical instrument.
Operation, which is carried out, using surgical operating instrument in robotic surgical produces new challenge.Challenge first is that need
The region for remaining adjacent to patient is in gnotobasis.However, the electric components in actuator, such as motor, sensing
Electrical fitting necessary to device, encoder, and control and mobile sterile surgical instrument generally can not use conventional method
Sterilizing, such as steam, heating and pressure or chemicals, because these electric components can be damaged in corresponding sterilization process
Or it is destroyed.
Therefore, it is easier there is an urgent need to one kind and more efficient way makes sterile surgical instrument engage sterile barrier or from nothing
Bacterium barrier is disengaged, and so that sterile barrier is engaged and is detached from actuator, while preventing the pollution of actuator
And a series of sterile surgical instruments and sterile barrier are allowed rapidly and reliably to be attached, sterile barrier is tieed up around surgical instrument
Hold a sterile region.
Another challenge in assisted surgery for robots system be need sterile adapter can easily with actuating
Device assembly engagement and disengaging, so that sterile barrier is not destroyed.However, the connection between sterile adapter and actuator
Lock is related to complicated assembly, thus keep assembly cost high, it is cumbersome and time-consuming.
In view of challenge mentioned above, a kind of robotic surgical system with improved locking mechanism is needed, to ensure
Sterile adapter component is fixed on the actuator assembly, and this system allows the sterile adaptation during the operation of robotic surgery
Device assembly can be dismantled easily with actuator, and not destroy sterile barrier.
Summary of the invention
Disclosed herein is a kind of in robotic surgical system by the machine of sterile adapter component and actuator locking
Structure.The locking mechanism includes at least one the engagement lug being separated from each other on sterile adapter component and at least one is recessed
Type guide part, wherein at least one, which engages lug, has the cylindrical profile including groove, and at least one concave guide part has
There is guide groove.Locking mechanism further comprises at least one recess being separated from each other on the actuator assembly and convex guiding
Part, wherein at least one recess limits recess, and at least one convex guide part has profile outstanding.On actuator
At least one recess receive sterile adapter component at least one engagement lug and sterile adapter component at least
One concave guide part receives at least one convex guide part of actuator, to make sterile adapter component and actuator
Component interlocking.
Detailed description of the invention
For the advantages of the present invention is furture elucidated and feature, with reference to the accompanying drawings shown in specific embodiment the present invention is carried out
More specifically description.It should be appreciated that these attached drawings depict only exemplary embodiments of the invention, therefore it is not construed as limiting this hair
Bright range.Will in conjunction with the following drawings with additional features and details present invention is described and explain, in the accompanying drawings:
Fig. 1 (a) shows the schematic diagram of multiple mechanical arms of robotic surgical system according to an embodiment of the present invention；
Fig. 1 (b) shows the schematic diagram of the surgeon console of robotic surgical system according to an embodiment of the present invention；
Fig. 1 (c) shows the schematic diagram of the image trolley of robotic surgical system according to an embodiment of the present invention；
Fig. 2 shows the perspective views of the tool interface component of installation according to an embodiment of the present invention on the robotic arm；
Fig. 3 (a) shows the perspective view of tool interface component according to an embodiment of the present invention；
Fig. 3 (b) shows the exploded view of tool interface component according to an embodiment of the present invention；
Fig. 4 (a) shows actuator according to an embodiment of the present invention and sterile adapter component is in disengaged position
Front view；
Fig. 4 (b) shows actuator according to an embodiment of the present invention and sterile adapter component is in disengaged position
Rearview；
Fig. 4 (c) shows actuator according to an embodiment of the present invention and sterile adapter component is in the locked position
View；
Fig. 5 (a) shows the top view of sterile adapter component according to an embodiment of the present invention；
Fig. 5 (b) shows the lower view of sterile adapter component according to an embodiment of the present invention；
Fig. 6 (a) shows the front view of the float plate of sterile adapter component according to an embodiment of the present invention；
Fig. 6 (b) shows the dorsal view of the float plate of sterile adapter component according to an embodiment of the present invention；
Fig. 7 shows the perspective view of the float plate of not rotary body according to an embodiment of the present invention；
Fig. 8 (a) shows the rotary body according to an embodiment of the present invention with spring；And
Fig. 8 (b) shows the independent view of the spring as shown in Fig. 8 (a) of embodiment according to the present invention.
Specific embodiment
In order to promote the understanding to the principle of the invention, let us now refer to the figures shown in embodiment, and use specific language
Speech is to describe embodiment.It will be appreciated, however, that this is not intended to limit the scope of the present invention, such in shown system is changed
Become and further modification and such further application of the principle of the invention as shown here all should be considered as and the present invention
What the technical staff in relevant field usually will recognize that.
It will be understood by those skilled in the art that above-mentioned general description and the following detailed description be it is of the invention exemplary and
Illustrative description, it is not intended that the limitation present invention.In entire patent specification, the convention of use be in the accompanying drawings, it is identical
The identical component of digital representation.
To " embodiment ", " another embodiment ", " implementation ", " another implementation " or the class in this specification
Like the reference of language, it is meant that described special characteristic related with the embodiment, structure or feature are included in the present invention extremely
In few one embodiment.Therefore, " in embodiment " in this specification, " in another embodiment ", " one realize
In mode ", " in another implementation " phrase and similar language can be, but be not necessarily all referring to identical reality
Apply example.
Term " includes " or any other variation, be intended to cover non-exclusive formula include so that include a series of steps
Rapid process or method not only includes the steps that those are listed, but also may include not expressly listed or this class process or method
The other steps natively having.Similarly, by " including ... one " continuing deployment of one or more devices or subsystem or
Element or structure, in the case where more multiple constraint, however not excluded that other devices or other subsystems or other elements or other
The presence of structure or attachment device or add-on subsystem or add ons or additional structure.
Unless otherwise defined, all technical and scientific terms as used herein all have with it is of the art common
The identical meaning that technical staff is commonly understood by.Equipment, system and example provided herein are merely illustrative, it is therefore intended that
Limit the present invention.
Wherein term " one " is not offered as the limitation of quantity, but indicates the presence of at least one reference items.In addition, term
Sterile barrier and sterile adapter indicate identical meaning, and can be used interchangeably throughout the specification.
Detailed description of the present invention embodiment below with reference to accompanying drawings.
The present invention relates to a kind of robotic surgical systems for Minimally Invasive Surgery.Robotic surgical system is usually directed to multiple
The use of mechanical arm.One or more of mechanical arm usually by support can be hinged operation tool (such as pliers, scissors,
Grasper, needle holder, microdissection device, nail applicator, nail, suction/irrigation tool, Clip Applier etc.) or non-articulated formula
Operation tool (such as cutting blade, burn probe, flusher, conduit, suction hole etc.).One or more of mechanical arm is usual
One or more operative image acquisition equipments are used to support, such as (it can be any one of various structures, example to endoscope
Such as laparoscope, arthroscope, hysteroscope etc.), or optionally, some other imaging pattern (such as ultrasonic, fluorescope, magnetic resonance
Imaging etc.).
Fig. 1 (a) shows the schematic diagram of multiple mechanical arms of robotic surgical system according to an embodiment of the present invention.Specifically
Ground, Fig. 1 (a) show robotic surgical system 100, have four mechanical arms installed around mechanical arm car 101 by bed
103a, 103b, 103c, 103d.Four mechanical arms 103a, 103b, 103c, 103d described in Fig. 1 (a) be in order to illustrate mesh
, and the quantity of mechanical arm changes according to type of surgery or the difference of robotic surgical system.This four mechanical arm 103a,
103b, 103c, 103d are installed along mechanical arm car 101 by implantation, and can be arranged in different ways, but be not limited to machinery
Arm 103a, 103b, 103c, 103d are that setting in mechanical arm car 101 or is arranged on moveable device by the bed, or mechanical
Arm 103a, 103b, 103c, 103d are mechanically and/or to be operationally connected with each other or mechanical arm 103a, 103b, 103c,
One centerbody of 103d connection, so that mechanical arm 103a, 103b, 103c, 103d are branched off (as shown in the figure) from centerbody.
Fig. 1 (b) shows the schematic diagram of the surgeon console of robotic surgical system according to an embodiment of the present invention.
Surgeon console 117 is located at mechanical arm 103a, 103b, 103c, the 103d of patient's body by control, assists surgeon
Remote operation lies in the patient by bed in mechanical arm car 101.Surgeon console 117 is configured to be located at patient when surgical instrument
The movement (as shown in Figure 2) of surgical instrument is controlled when in vivo.Surgeon console 117 also may include that at least one is adjustable
Observation device 107, but be not limited to the monitor of 2D/3D, can threading observation device (not shown) and combinations thereof.Surgery
Surgeon console 117 can also be equipped with multiple displays, these displays are not merely displayed in by bed Surgery in mechanical arm car 101
3D high definition (HD) endoscopic images of position, but also during may be displayed on robotic surgery surgeon can be used it is each
The additional information of kind Medical Devices.In addition, observation device 107 can provide the various modes of robotic surgical system 100, it is unlimited
In the identification and quantity of the mechanical arm of attachment, the current tool type of attachment, current tool point position, collision information and
The medical datas such as ECG, ultrasonic display, fluorescent image, CT, MRI.Surgeon console 117, which still further comprises, to be used for
The mechanism of mechanical arm is controlled, but is not limited to one or more hand controls 109, one or more foot controllers 113, clutch machine
Structure (not shown) and its combination between them.Hand controls 109 on surgeon console 117 require seamlessly to capture and
Compound action performed by surgeon is transmitted, the feeling that surgeon is directly operating Surigical tool is given.?
During surgical operation, different controllers may need for different purposes.In some embodiments, hand controls 109 can
To be one or more manual operation input equipments, such as operating stick, skeleton-type gloves, power and gravity compensation manipulator etc..
These hand controls 109 control telemotor, then, the movement of the surgical instruments of telemotor control attachment on the robotic arm.
Surgeon can be sitting on such as rest device of chair 111, as shown in Fig. 1 (b), while control surgeon console
117.Chair 111 can adjust height, handrail etc. by device, while can also be in chair according to surgical comfort level
Various control devices are set on 111.As long as in addition, surgeon console 117 keep with the connection of robot arm, can be with
Positioned at indoor independent position of performing the operation, or any other position within the hospital can be distributed.
Fig. 1 (c) shows the schematic diagram of the image trolley of robotic surgical system according to an embodiment of the present invention.Image platform
Vehicle 119 is configured to show the 2D and/or 3D rendering of the operation by endoscope capture.Image trolley 119 can side according to the observation
Just degree is adjusted with different angle and height.Image trolley 119 can have various functions, but be not limited to provide touch screen
It has been shown that, preview/recording/playback regulation, various input/output devices, 2D to 3D converter etc..Image trolley 119 may include
Image system part (not shown), the image system part can enable onlooker or other No operations surgeon from patient
Observation in vitro operative site.One of mechanical arm usually connects the surgical instruments with video-image capturing function (that is, phase
Machine instrument), for showing captured image on image trolley 119.In the configuration of some robotic surgical systems, camera instrument
Device includes optical device, which is transmitted to image from camera instrument tip portion that one or more to be located at patient external
Imaging sensor (for example, CCD or cmos sensor).Alternatively, imaging sensor can be located at the terminal part of camera instrument, with
And the signal that sensor generates can be along conducting wire transmitting or wireless transmission, to be processed and displayed in image trolley 119.
Fig. 2 shows the perspective views of the tool interface component of installation according to an embodiment of the present invention on the robotic arm.Tool
Interface module 200 is mounted on the mechanical arm 201 of robotic surgical system 100.Tool interface component 200 is for holding to patient
The main component of row robotic surgery.Mechanical arm 201 as shown in Figure 2 is shown for illustration purposes only, and can be used
Other mechanical arms with different configurations, freedom degree (DOF) and shape.
Fig. 3 (a) shows the perspective view of tool interface component according to an embodiment of the present invention and Fig. 3 (b) shows root
According to the exploded view of the tool interface component of the embodiment of the present invention.Tool interface component 200, such as any one institute of Fig. 3 (a) or Fig. 3 (b)
Show, including ATI (arm and tool interface) connector 315 (shown in such as Fig. 3 (b)), ATI connector 315 is convenient for tool interface component
200 operably connect with mechanical arm (as shown in Figure 2).Further, tool interface component 200 further includes being mounted on guiding
Actuator 305 in mechanism, actuator 305 can be along guiding mechanism linear movements.Such as Fig. 3 (a) and 3 (b) institutes
The guiding mechanism shown is guide rail 321.Surgeon is in the controller being located on Surgicul console 117 (shown in such as Fig. 1 (b))
With the help of, control actuator 305 is moved along guide rail 321.Sterile adapter component 303 is releasably attached to activate
In device assembly 305, the non-sterile portion of mechanical arm and aseptic operation tool assembly 301 are separated.A kind of locking piece machine is provided
Structure (as shown in Figure 4) is used for sterile adapter component 303 and actuator 305 releasedly locking and unlocking.Sterile adaptation
303 component of device assembly is removably engaged with actuator 305, and actuator 305 drives and control nothing in aseptic area
Bacterium surgical instrument.In another embodiment, operation tool component 301 can also pass through button 319 and sterile adapter component 303
Removably lock locking/unlocking or connection/disengaging.
Referring now to Fig. 3 (b), operation tool component 301 includes axis 311 and end portion actuator 313.End portion actuator
313 may include surgical instrument or can be configured to be attached with surgical instrument.End portion actuator 313 can be and one or more
A associated surgical instrument of surgical tasks, such as tweezers, needle drivers, scissors, bipolar cautery device, tissue stabilizer or lead
Open device, Clip Applier, stapling apparatus, imaging device (for example, endoscope or ultrasonic probe) etc..Some surgical instruments are further hand
Art tool assembly 301 provides radial type support (sometimes referred to as " wrist "), so that the position and direction of surgical tool component 301 can be with
One or more mechanical freedoms of axis 311 about instrument manipulate.Further, end portion actuator 313 includes function
Property mechanical freedom, such as the jaw opened or closed, or the knife along path shift.Operation tool component 301 can be with
(for example, on the semiconductor memory being located inside instrument) information comprising storage, these information can be it is permanent, can also be with
It is renewable by robotic surgical system 100.
Ferrule holder 309 is arranged on tool interface component 200, and be configured to can be with retaining sleeve for ferrule holder 309
Pipe 307, casing 307 pass through opening (not shown) receiving axis 311.Casing 307 includes ducted body, and ducted body includes in multiple be located at
The slot (not shown) of surface (not shown).These slots provide locking mechanism, which can be by casing 307 with desired
Angle is fixed on axis 311, and prevents axis 311 from moving, reversing and any axial after the reception of sleeve 307 in axis 311
Movement.Ferrule holder 309 removably attaches to the one end of tool interface component 200, and including receiving casing 307
Rosette.Alternatively, ferrule holder 309 can have a round for receiving casing 307, and including by casing 307
It is clamped in the slot of fixed position.
Ferrule holder 309 can be fixed in the main body of tool interface component 200, and can be structured as clamping or solid
Casing 307 is determined, so that casing 307 is stable when executing surgical procedure.It can be connect by one group of groove on erector 323
Ferrule holder 309 is fixed on the installation part 323 of tool interface component 200 by ferrule holder 309.
Fig. 4 (a) shows actuator according to an embodiment of the present invention and sterile adapter component is in disengaged position
Front view.Sterile adapter component 303 be constructed to be permeable to by various locking mechanisms (but it is unlimited system be clasped, button latch
Determine mechanism etc.) disassembly property be mounted on actuator 305.
One embodiment of the present of invention discloses a kind of sterile barrier component 303, which may include tool
There are the shell 401 of upper surface 421 and lower surface 419 and 423 (such as Fig. 4 of at least one float plate on upper surface 421
(b) shown in).At least one float plate (shown in such as Fig. 5 (a)) has at least one rotary body (shown in such as Fig. 5 (a)).In attached drawing
Description in provide the detailed description of the float plate with rotary body.Sterile barrier component 303 may further include compression
Mechanism (as shown in Figure 7), and the detailed description to compression mechanism is provided in the description of the figures.
Sterile barrier component 303 may include at least one locking tab 403 and at least one concave guide part 415.At least
One locking tab 403 is arranged on the one end of the lower surface 419 of sterile barrier component 303 and at least one concave is led
The side opposite with one or more locking tabs 403 of lower surface 419 of sterile barrier component 303 is set to part 415.
At least one described locking tab 403 may include having reeded cylindrical profile on its excircle.It is cylindrical
Profile can be equipped with notch on its excircle.At least one described concave guide part 415 may include guide groove, and especially rectangle is led
To slot.According to specific embodiment, sterile barrier component 303 includes two to be separated from each other on the one end of lower surface 419
A locking tab 403,425 and on lower surface 419 with locking tab 403, be separated from each other on 425 opposite one ends
Concave guide part 415,427.
Sterile barrier component 303 can be made of any suitable elastic material, such as metal or alloy.For sterile screen
The material of barrier component 303 can be selected from aluminium, steel, iron, nickel, copper, zinc, tin or any combination thereof.According to a particular embodiment of the invention,
Sterile barrier component 303 is made of aluminum.Sterile barrier component 303 can coat or can have protective coating, such as alloy layer.
According to embodiment, anode oxidation process can be used for coating sterile barrier component 303, thus on the surface of sterile barrier component 303
Form the protective coating of aluminium oxide.Sterile barrier component 303 can be any suitable size, is attached to actuating with can be convenient
Without the convenience of influence surgical operation in device assembly 305.Sterile barrier component 303, which can have, provides the appropriate thickness of sufficient intensity
Degree.
Sterile barrier component 303 can be any suitable shape, to keep being easy to admittedly for sterile barrier component 303
It is fixed.According to an embodiment of the invention, sterile barrier component 303 is generally rectangular shaped plate, the wherein lower end of sterile barrier component 303
Including the bigger protrusion in the upper end than sterile barrier component 303.It is provided in the description of the figures to sterile barrier component 303
Detailed description.
Actuator 305 may include shell 417, at least one convex guide part 429 with profile outstanding, be used for
Limit at least one locking recess 409, one or more lockplates 407 and one or more driving elements of recess 405
413.One or more locking recess 409 are arranged on the one end of upper surface 421 of actuator 305, one or more
Convex guide part 429 is arranged in end (one or more locking recess 409 of the upper surface 421 of actuator 305) phase
Opposite side.Actuator 305 may include various mechanical motors and electrical connection, so that during surgery, working as surgeon
When control surgical operating instrument is removed in operation on surgeon console 117, convenient for the movement of driving element 413.
According to specific embodiment, actuator 305 includes two to be separated from each other on the one end of upper surface 421
Convex guide part 411,429, and including on upper surface 421 on the opposed end end of convex guide part 411,429 that
This two locking recess 409,431 spaced apart.Two locking recess 409, each of 431 are for limiting recess 405,433.
Actuator 305 can be made of any suitable elastic material, such as metal or alloy.For actuator group
The material of part 305 can be selected from aluminium, steel, iron, nickel, copper, zinc, tin or any combination thereof.According to a particular embodiment of the invention, it activates
Device assembly 305 is made of aluminum.Actuator 305 is coatable or can have protective coating, such as alloy layer.According to implementation
Example, anode oxidation process can be used for coating actuator 305, to form aluminium oxide on the surface of actuator 305
Protective coating.Actuator 305 can be any suitable size, be attached to can be convenient on tool interface component 200
Convenience without influencing surgical operation.Actuator 305, which can have, provides the suitable thickness of sufficient intensity.
Actuator 305 can be any suitable shape, so that remain actuated device assembly 305 is easy to fixed.Root
According to the embodiment of the present invention, the substantially rectangle of actuator 305, wherein the main body of actuator 305 is towards actuator
The upper end of component 305 is generally tapered.The detailed description to actuator 305 is provided in the description of the figures.
In a specific embodiment of the present invention, by being located at the locking recess 409,431 of actuator 305 and sterile suitable
411,429 He of convex guide part of interlocking and actuator 305 between locking tab 403,425 with device assembly 303
Interlocking between the concave guide part 415,427 of sterile adapter component 303 makes sterile adapter component 303 and actuator
305 are releasably attached.In this locking mechanism, the locking tab 403,425 of sterile adapter component 303 is respectively by corresponding
Locking recess 409,431 corresponding to recess 405 receive, at the same time, one or more convexs of actuator 305 are led
In the guide groove of concave guide part 427,415 for being assembled to sterile adapter component 303 to part 411,429, thus by sterile suitable
It is locked on actuator 305 with device assembly 303.When unlocking sterile adapter component 303 from actuator 305,
The locking tab 403,425 that recess 409,431 discharges sterile adapter component 303 is pressure-locked, thus by sterile adapter group
Part 303 separates easily from actuator 305.Above-mentioned locking mechanism has spy that is quick, reliable, meeting ergonomics
Point, this is extremely important during robotic assisted surgery tool changing.
Fig. 4 (b) shows actuator according to an embodiment of the present invention and sterile adapter component is in disengaged position
Dorsal view.Fig. 4 (b) clearly show respectively to sterile adapter component 303 and two relevant with actuator 305
Concave guide part 415,427 and one or more driving elements 413.
Fig. 4 (c) shows actuator according to an embodiment of the present invention and sterile adapter component is in the locked position
View.
In embodiment, it is at least one of the actuator 305 of the first non-locked position (shown in such as Fig. 4 (a))
Locking recess 409 receives at least one engagement lug 403 of sterile adapter component 303, with mobile from the first non-locked position
To the first latched position (A), and the sterile adapter component 303 in the second non-locked position (shown in such as Fig. 4 (a)) is at least
One concave guide part 415 receives at least one convex guide part 429 of actuator 305, with from the second non-locked position
It is moved to the second latched position (B), so that sterile adapter component 303 and actuator 305 be interlocked.
Fig. 5 (a) shows the top view of sterile adapter component according to an embodiment of the present invention.Sterile adapter component
303 include the shell 401 with upper surface 421 and lower surface 419, storage device 507, at least one float plate 423, wherein floating
Movable plate 423 may include the one or more rotary bodies 505 being elastically mounted in each float plate 423.In embodiment, four
A rotary body 505a, 505b, 505c, 505d are mounted in a float plate 423 and are separated from each other, so that each rotary body
The rotation of 505a, 505b, 505c, 505d are not influenced by adjacent rotating bodies rotation.According to specific embodiment, rotary body 505a,
505b, 505c, 505d have circular profile.
In another embodiment, each rotary body 505a, 505b, 505c, 505d may include compression mechanism 700, compressor
Structure 700 is enclosed in the shell of rotary body 505a, 505b, 505c, 505d.The thin of compression mechanism 700 is discussed by the description of Fig. 7
Section.
In another embodiment, each rotary body 505a, 505b, 505c, 505d can be by any suitable elastic materials
It is made, such as metal or alloy.The material of rotary body 505a, 505b, 505c, 505d can be selected from aluminium, steel, iron, nickel, copper, zinc, tin
Or any combination thereof.According to a particular embodiment of the invention, each rotary body 505a, 505b, 505c, 505d are made of aluminum.Rotation
Swivel 505a, 505b, 505c, 505d can coat or can have protective coating, such as alloy layer.According to embodiment, anode
Oxidation technology can be used for coating rotary body 505a, 505b, 505c, 505d, in the table of rotary body 505a, 505b, 505c, 505d
Face forms aluminium oxide protective coating.Rotary body 505a, 505b, 505c, 505d can be any suitable size, can be convenient ground
Fixed to float plate 423 without influencing mechanically operated convenience.Rotary body 505a, 505b, 505c, 505d can have offer foot
The suitable thickness of enough intensity.
In another embodiment, at least float plate 423 may include opening, and rotary body 505a, 505b, 505c, 505d can
It fixes in the opening.Rotary body 505a, 505b, 505c, 505d can be adhered in float plate 423 with glue, can also pass through rotation
Turn ground one of fix, be bolted, rivet, be threadedly coupled and combinations thereof and setting in float plate 423.
Storage device 507 can be any readable memory device, such as flash memory, EEPROM etc..Storage device 507 can
Store various data, but be not limited to surgical instrument type, cardability information etc..Each rotary body 505a, 505b, 505c, 505d
It can be coupled with surgical instrument/tool electromechanical.
Fig. 5 (b) shows the lower view of sterile adapter component according to an embodiment of the present invention.Sterile adapter component
303 lower view shows the lower surface of float plate 423 and rotary body 505a, 505b, the 505c being mounted in float plate 423,
The lower surface of 505d.Each rotary body 505a, 505b, 505c, 505d can couple (such as Fig. 4 with 413 electromechanical of driving element
(b) shown in).
Sterile adapter component 303 further include two locking tabs 403,425 on 419 one end of lower surface and
Two concave guide parts 415,427 on the opposed end of lower surface 419.
In a specific embodiment of the present invention, by two locking recess (409,431) of actuator 305 and sterile
Two convexs of interlocking and actuator 305 between two (locking tabs 403,425) of adapter assembly 303 are oriented to
Interlocking between part 411,429 and two concave guide parts 415,427 of sterile adapter component 303 and make sterile adapter group
Part 303 is releasably attached with actuator 305.
With reference to Fig. 6 (a) and 6 (b), show embodiment according to the present invention have rotary body 505a, 505b, 505c,
The upper lateral part of the float plate 423 of 505d and following side.As shown in Fig. 6 (a), each rotary body 505a, 505b, 505c, 505d can
One or more hollow opens including passing through its circumferential surface.In a particular embodiment, each rotary body 505a, 505b,
505c, 505d include two hollow opens 601a, 601b.Each rotary body 505a, 505b, 505c, 505d in float plate 423
It can further comprise the recess portion 603 for being clipped in opening 601a between the 601b that is open.Be open 601a, the distance between 601b with
And it can be changed according to the construction of each rotary body 505 with the distance between recess portion 603.Float plate 423 is (such as Fig. 6 (b) institute
Show) show the lower view of each rotary body 505a, 505b, 505c, 505d.In addition, each float plate 423 can be in sterile screen
It is moved up and down in barrier component 303.
The one or more that opening 601a, 601b are configured to the driving element 413 for receiving and engaging actuator 305 is drawn
Foot.One or more pin structures of driving element 413 at be clasped rotary body 505a, 505b, 505c, 505d opening
601a,601b.The opening 601a of the construction of the circumferential surface of driving element 413 and rotary body 505a, 505b, 505c, 505d,
The circumference of 601b is substantially similar.
In another embodiment, float plate 423 is fixed in shell 401 so that float plate 423 and upper surface 421 and under
Surface 419 engages.
Fig. 7 shows the float plate of not rotary body according to an embodiment of the present invention.Compression mechanism 700 is located in groove
In (not shown), which is arranged on the position that rotary body should be positioned.According to specific embodiment, compression mechanism is spring
701.Spring 701 can be structure as a whole design with rotary body 505a, 505b, 505c, 505d, and can facilitate rotary body 505a,
505b, 505c, 505d are along its axis compression and expansion.
Referring now to Fig. 8 (a) and 8 (b), individual rotary body 800 according to an embodiment of the present invention is shown.Rotary body
800 include the upper body 801 being operably connected by guide rod 805 and lower body 803.In addition, spring 701 is clipped in 801 He of upper body
Between lower body 803, and coiled around guide rod 805.Spring 701 and 805 mechanism of guide rod the upper body of rotary body 800 801 and under
Additional flexibility is provided between body 803.Such setting provides 305 orders from surgeon console to actuator
Effectively transmitting, to control the movement of surgical instrument.
In a particular embodiment, when sterile adapter component 303 is engaged with actuator 305, spring 701 is convenient for will
Sterile adapter component 303 and actuator 305 lock.More specifically, working as sterile adapter component 303 and actuator
When 305 engagement, one or more pins of driving element 413 and the opening 601a of rotary body 505,601b is unjustified, and more
Often, it is not engaged each other between them.In this case, the spring 701 between rotary body 505 allows sterile adapter
Component 303 and actuator 305 lock, without one or more pins of driving element 413 and opening for rotary body 505
Mouth 601a, 601b actual engagement.After sterile adapter component 303 and actuator 305 are locked, driving element 413
One or more pins and rotary body 505 opening 601a, 601b actual engagement, and (by means of tension force of spring) complete return
Position.
In another embodiment, 303 integrated setting of sterile adapter component has sterile drape (not shown) for machine
Covering part (especially mechanical arm 103a, 103b, 103c, 103d) structure of people's surgery systems, in aseptic operation region and
Sterile barrier is maintained between non-sterile robot system, while interface being also provided, which is used for surgical instrument and robot
Mechanical energy, electric energy and signal are transmitted between art system.In one embodiment, sterile adapter component 303 can be by a kind of thin
The method of film jointing material is permanently attached on sterile drape, and the method for film jointing material makes sterile adapter component 303
It is heated seal by pulse and/or is attached on sterile drape using adhesive film.
In another embodiment, sterile adapter component 303 further includes a pair of of supporting element (not shown), which is used for
The surgical instrument of 303 upper end of sterile adapter component is suitably aligned, positions and remains in, to connect with instrumentation device
It closes.Rotary body 505a, 505b, 505c, 505d help instrument operator that surgical instrument is aligned in sterile adapter component 303
On.
For the purpose of illustration and description, the foregoing description of exemplary embodiment of the present invention is had been presented for.They are simultaneously
It is not intended to exhaustive or limits the invention to disclosed exact form, and it is obviously easy to see that, being according to the above instruction can
It can be carried out many modifications and variations.Selected and described exemplary embodiment is to best explain original of the invention
Reason and its actual application, to enable others skilled in the art best using the present invention and carrying out various modifications
Various embodiments, various modifications modify according to expected specific use is suitable for.It should be understood that not departing from this
In the case where the spirit or scope of the claim of invention, optionally it is various omit, equivalent replacement be according to circumstances depending on be
It is expected that, it is intended that covering the application or the present invention are implemented.
The beneficial effect, other advantages and the skill solved the problems, such as that specific examples describe the present invention are had been combined above
Art scheme.However, beneficial effect, advantage, the technical solution solved the problems, such as and it is any can cause beneficial effect, advantage or
Solution occur or become more significant ingredient, be not construed as be the key that any or all claim,
Necessary and necessary technical characteristic or ingredient.
Although describing this explanation is used for specific language, any restrictions due to caused by this explanation are not
It is intentional.It will be apparent to one skilled in the art that in order to realize above-mentioned instructed inventive concept, it can be to this
Device carries out various feasible modifications.
Claims (7)
1. the locking machine of sterile adapter component (303) and actuator (305) in a kind of robotic surgical system (100)
Structure, comprising:
At least one being separated from each other on the sterile adapter component (303) engages lug (403) and at least one is recessed
Type guide part (415)；At least one described engagement lug (403) has the cylindrical profile and described at least one including groove
A concave guide part (415) has guide groove；And
At least one recess (409) being separated from each other on the actuator (305) and at least one convex guide part
(429)；At least one described recess (409) limits a recess (405) and at least one described convex guide part (411) has
There is profile outstanding；
Wherein, at least one recess (409) of the actuator (305) receives the sterile adapter component (303)
At least one engagement lug (403), and at least one concave guide part (415) of the sterile adapter component (303) connects
At least one convex guide part (429) of the actuator (305) is received, to make the sterile adapter component (303)
It is interlocked with the actuator (305).
2. locking mechanism according to claim 1, wherein at least one described recess (409) includes release device, so as to
The sterile adapter component (303) is separated from the actuator (305).
3. locking mechanism according to claim 2, wherein the release device is button.
4. locking mechanism according to claim 1, wherein the actuator (305) in the first non-locked position
At least one recess (409) receives at least one engagement lug (403) of the sterile adapter component (303), with from described
First non-locked position is moved to the first latched position, and the sterile adapter component in the second non-locked position
(303) at least one concave guide part (415) receives at least one convex guide part (429) of the actuator (305),
To be moved to the second latched position from second non-locked position, thus by the sterile adapter component (303) with it is described
Actuator (305) interlocking.
5. locking mechanism according to claim 1, wherein the recess (405) of at least one recess (409) has circle
Cylindrical groove so as to it is described at least one engagement lug (403) match.
6. locking mechanism according to claim 1, wherein the sterile adapter component (303) and the actuator group
Part (305) is made of aluminum.
7. locking mechanism according to claim 1, wherein at least one described engagement lug (403) and described at least one
A concave guide part (415) is arranged relative to each other on the lower surface (419) of the sterile adapter component (303).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IN201811001409 | 2018-01-12 | ||
| IN201811001409 | 2018-01-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110025337A true CN110025337A (en) | 2019-07-19 |
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ID=67235496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910026040.6A Pending CN110025337A (en) | 2018-01-12 | 2019-01-11 | A kind of locking mechanism that sterile adapter component is fixed to actuator |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2019122769A (en) |
| KR (1) | KR102300156B1 (en) |
| CN (1) | CN110025337A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110338912A (en) * | 2019-08-26 | 2019-10-18 | 苏州康多机器人有限公司 | One kind is every bacterium structure, surgical instrument more exchange device and operating robot |
| CN113476061A (en) * | 2021-05-21 | 2021-10-08 | 上海微创医疗机器人（集团）股份有限公司 | Membrane body installation mechanism |
| CN113796965A (en) * | 2021-09-28 | 2021-12-17 | 深圳市爱博医疗机器人有限公司 | Detachable slave end intervention operation robot driving device |
| WO2022237592A1 (en) * | 2021-05-13 | 2022-11-17 | 上海微创医疗机器人（集团）股份有限公司 | Aseptic plate assembly, surgical instrument, power box and surgical robot system |
| CN116557445A (en) * | 2023-07-10 | 2023-08-08 | 科弛医疗科技(北京)有限公司 | Adapter, instrument driving assembly and driving connection method |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113349936A (en) * | 2021-07-14 | 2021-09-07 | 深圳康诺思腾科技有限公司 | Guiding and positioning structure for rear ends of sterile adapters and surgical instruments |
| CN113520606B (en) * | 2021-08-11 | 2023-03-24 | 上海微创医疗机器人（集团）股份有限公司 | Aseptic plate component, surgical robot and surgical robot system |
| CN117398198B (en) * | 2023-12-13 | 2024-02-13 | 真健康(广东横琴)医疗科技有限公司 | Surgical robot fast-assembling structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110338912A (en) * | 2019-08-26 | 2019-10-18 | 苏州康多机器人有限公司 | One kind is every bacterium structure, surgical instrument more exchange device and operating robot |
| WO2022237592A1 (en) * | 2021-05-13 | 2022-11-17 | 上海微创医疗机器人（集团）股份有限公司 | Aseptic plate assembly, surgical instrument, power box and surgical robot system |
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| CN113476061B (en) * | 2021-05-21 | 2024-02-27 | 上海微创医疗机器人（集团）股份有限公司 | Membrane body mounting mechanism |
| CN113796965A (en) * | 2021-09-28 | 2021-12-17 | 深圳市爱博医疗机器人有限公司 | Detachable slave end intervention operation robot driving device |
| WO2023050821A1 (en) * | 2021-09-28 | 2023-04-06 | 深圳市爱博医疗机器人有限公司 | Detachable slave interventional surgical robot driving device |
| CN113796965B (en) * | 2021-09-28 | 2023-07-18 | 深圳市爱博医疗机器人有限公司 | Detachable slave-end intervention operation robot driving device |
| CN116557445A (en) * | 2023-07-10 | 2023-08-08 | 科弛医疗科技(北京)有限公司 | Adapter, instrument driving assembly and driving connection method |
| CN116557445B (en) * | 2023-07-10 | 2023-09-22 | 科弛医疗科技(北京)有限公司 | Adapter, instrument driving assembly and driving connection method |
Also Published As
| Publication number | Publication date |
|---|---|
| KR102300156B1 (en) | 2021-09-08 |
| KR20190086400A (en) | 2019-07-22 |
| JP2019122769A (en) | 2019-07-25 |
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