CONNECTING STRUCTURES AND SURGICAL ROBOT

The present disclosure discloses a structure for connecting an instrument drive to a sterile adapter and a surgical robot. First engaging members are provided on the instrument drive and are configured to connect the sterile adapter to the instrument drive. The sterile adapter includes an adapter body and a connecting assembly provided on the adapter body and configured to fix the adapter body to instrument drive. The first engaging members at least partially extend into the adapter body. The connecting assembly includes second engaging members operably engaged with the first engaging members, each second engaging member is moveable between an engagement position where the second engaging member is engaged with a respective first engaging member and a detachment position where the second engaging member is detached from the respective first engaging member, and each second engaging member has a movement path parallel to a surface of the instrument drive.

TECHNICAL FIELD

The present disclosure relates to the field of medical instrument technology, and in particular to a structure for connecting an instrument drive to a sterile adapter, a structure for connecting a sterile adapter to a surgical instrument, and a surgical robot.

BACKGROUND

A surgical robot can assist doctors in precise positioning during surgery, and has advantages of reducing wounds of a patient and shortening postoperative recovery time. Moreover, the surgical robot has a stable operating platform that can reduce or prevent trembling of doctors. Thus, surgical robots are widely used in clinical surgical operations.

A surgical robot at the patient end performs surgical operations through a surgical instrument equipped with at least one end effector. In order to meet the usage requirements of various surgical instruments during surgery, surgical instruments and instrument drives are usually designed to be detachable to facilitate replacement of various surgical instruments during surgery. Moreover, surgical instruments are usually designed to be capable of independent sterilization.

The instrument drive end is usually designed to be not capable of sterilization. To ensure sterility during surgery, a sterile adapter is added between the instrument drive and the surgical instruments to isolate the non-sterile instrument drive end and the sterile surgical instrument end during surgery.

At present, a sterile adapter and an instrument drive, as well as a sterile adapter and a surgical instrument, are connected by engaging member. For example, engagement of two engaging members as shown inFIG.1is realized by a relative rotation between the two engaging members due to the elasticity of the two engaging members, and the dashed line inFIG.1schematically shows a movement path of an engaging member.

However, a gap between the joint surfaces of the engaging members is likely to result in uneven force, unstable engagement, vibration, or the like, which adversely affect stability of the system. Moreover, the existing engagement of the engaging members is also prone to tipping of the surgical instrument.

SUMMARY

A first aspect of embodiments of the present disclosure provides a structure for connecting an instrument drive to a sterile adapter. The instrument drive has a surface on which a plurality of drive fixed engaging members are provided, and the sterile adapter is connected to the instrument drive. The sterile adapter includes: an adapter body, and an adapter connecting assembly provided at the adapter body and configured to fix the adapter body to instrument drive. The adapter connecting assembly includes a plurality of moveable engaging members cooperating with the plurality of drive fixed engaging members, each of the plurality of moveable engaging members is moveable between an engagement position where the moveable engaging member is engaged with a respective one of the plurality of drive fixed engaging members and a detachment position where the moveable engaging member is detached from the respective drive fixed engaging member, and each of the plurality of moveable engaging members has a movement path parallel to a matching surface of the instrument drive matching the sterile adapter.

In the structure for connecting an instrument drive to a sterile adapter provided by the first aspect of embodiments of the present disclosure, engagement can be achieved by relative horizontal movement between the plurality of drive fixed engaging members and the plurality of moveable engaging members. In this way, gaps between the engaging members can be prevented, thereby improving the tightness and stability of the engagement.

In some embodiments, two sets of drive fixed engaging members are provided at the instrument drive and are separated by a drive transmission portion. The adapter connecting assembly includes: two moveable components and one or more resilient components. Each moveable component of the two moveable components includes one set of moveable engaging members corresponding to one respective set of drive fixed engaging members, and each moveable component is moveable relative to the adapter body to move the one set of moveable engaging members between the engagement position and the detachment position. The one or more resilient components is connected with the two moveable components to provide the two moveable components with forces for driving each set of moveable engaging members towards the engagement position.

In some embodiments, the two moveable components are arranged to move together or move separately.

In some embodiments, each set of the two sets of drive fixed engaging members includes at least two drive fixed engaging members spaced from each other, and each moveable engaging member of the one set of moveable engaging members of each moveable component is provided at a position corresponding to a position of a respective drive fixed engaging member of the at least two drive fixed engaging members of each set of the two sets of drive fixed engaging members.

In some embodiments, each moveable component includes an engaging portion and a connecting portion. The one set of moveable engaging members is provided at the engaging portion, and the connecting portion is connected to the one or more resilient components. The one or more resilient components are configured to provide the forces for driving each set of moveable engaging members towards the engagement position, and an extension direction of the engaging portion is perpendicular to a direction of the forces provided by the one or more resilient components.

In some embodiments, the engaging portion extends from one side or two opposing sides of the connecting portion, and moveable engaging members of the one set of moveable engaging members are spaced from each other along the extension direction of the engaging portion.

In some embodiments, each moveable component further includes an operation button provided at the engaging portion or the connecting portion.

In some embodiments, each drive fixed engaging member of the two sets of drive fixed engaging members has a top surface configured as an inclined surface or a curved surface, and inclined surfaces or curved surfaces of one set of the two sets of drive fixed engaging members face towards inclined surfaces or curved surfaces of the other set of the two sets of drive fixed engaging members.

In some embodiments, each moveable engaging member of two sets of moveable engaging members has a bottom surface configured as an inclined surface or a curved surface, and inclined surfaces or curved surfaces of one set of the two sets of moveable engaging members face away from inclined surfaces or curved surfaces of the other set of the two sets of moveable engaging members.

In some embodiments, the adapter connecting assembly includes one resilient component, and the two moveable components include a first moveable component and a second moveable component. The first moveable component includes a first engaging portion and a first connecting portion connected to the first engaging portion, and one set of two sets of moveable engaging members is provided at the first engaging portion. The second moveable component includes a second engaging portion and a second connecting portion connected to the second engaging portion, and the other set of the two sets of moveable engaging members is provided at the second engaging portion. The one resilient component is connected to the first connecting portion and the second connecting portion, to enable a relative movement between the first moveable component and the second moveable component.

In some embodiments, the first connecting portion defines a cavity, the second connecting portion includes a protrusion at least partially extends into the cavity. The protrusion is moveable along the cavity.

In some embodiments, the one resilient component is arranged in the cavity, the one resilient component has one end abutting against a side wall defining the cavity, and an other end abutting against the protrusion.

In some embodiments, the one resilient component is a spring. The first connecting portion has a first fixing column protruding from a side wall of the cavity towards the second connecting portion, and the second connecting portion has a second fixing column protruding from an end of the protrusion towards the first connecting portion. One end of the spring is sleeved on the first fixing column, and an other end of the spring is sleeved on the second fixing column.

In some embodiments, the adapter body includes a partition board, the adapter connecting assembly includes two resilient components provided at two opposing sides of the partition board, respectively, and the two resilient components are connected to the partition board. Each moveable component of the two moveable components is connected to a respective resilient component of the two resilient components, and the two moveable components are symmetrical about the partition board.

In some embodiments, one drive fixed engaging member of the two sets of drive fixed engaging members includes an extension portion and an abutment portion, the abutment portion has an abutment surface configured as a bottom surface of the abutment portion, and a top surface of the abutment portion forms a top surface of the one drive fixed engaging member. One moveable engaging member of two sets of moveable engaging members defines a groove opening outwards, the one moveable engaging member includes a bottom wall defining the groove and having a fitting surface facing the groove, and the abutment surface abuts on the fitting surface in an engagement of the one drive fixed engaging member with the one moveable engaging member.

A second aspect of embodiments of the present disclosure provides a structure for connecting a sterile adapter to a surgical instrument. The sterile adapter has a top surface on which a plurality of adapter fixed engaging members are provided, and the surgical instrument is connected to the sterile adapter. The surgical instrument includes: a base and at least one instrument fixing assembly provided at the base and configured to fix the base to the sterile adapter. Each of the at least one instrument fixing assembly includes an instrument moveable component provided with a plurality of moveable engaging members cooperating with the plurality of adapter fixed engaging members. The instrument moveable component is moveable between a locked position where the plurality of moveable engaging members are engaged with the plurality of adapter fixed engaging members and an unlocked position where the plurality of moveable engaging members are detached from the plurality of adapter fixed engaging members, and the instrument moveable component has a movement path parallel to a surface of the sterile adapter.

In the structure for connecting a sterile adapter to a surgical instrument provided by the second aspect of embodiments of the present disclosure, engagement can be achieved by relative horizontal movement between the plurality of adapter fixed engaging members and the plurality of moveable engaging members. In this way, gaps between the engaging members can be prevented, thereby improving the tightness and stability of the engagement, and preventing tipping of the surgical instrument.

In some embodiments, two sets of adapter fixed engaging members are provided at the top surface of the sterile adapter, and the two sets of adapter fixed engaging members are provided at two side edges of the sterile adapter opposite to each other, respectively. The surgical instrument includes two instrument fixing assemblies provided at two side edges of the base corresponding to the two side edges of the sterile adapter, respectively, and each instrument fixing assembly of the two instrument fixing assemblies corresponds to a respective set of adapter fixed engaging members. Each instrument moveable component has a set of moveable engaging members arranged along an extension direction of a respective side edge of the two side edges of the sterile adapter.

In some embodiments, each set of the two sets of adapter fixed engaging members includes at least two adapter fixed engaging members spaced from each other, and each instrument moveable component has at least two moveable engaging members spaced from each other.

In some embodiments, each instrument moveable component moves along an arrangement direction of the set of moveable engaging members.

In some embodiments, each instrument fixing assembly of the two instrument fixing assemblies further includes a guide portion and a first resilient component. The guide portion extends along a direction parallel to the two side edges of the base, the instrument moveable component is provided at the guide portion defining a movement path for the instrument moveable component, and the instrument moveable component is movable along the direction parallel to the two side edges of the base. The first resilient component is provided at the guide portion and connected with the instrument moveable component, and a resilient force provided by the first resilient component causes the instrument moveable component to tend to move towards the locked position.

In some embodiments, each instrument fixing assembly of the two instrument fixing assemblies further includes a first connecting seat provided at the base and a second connecting seat provided at the base and separated from the first connecting seat. The guide portion is arranged between the first connecting seat and the second connecting seat, to enable the instrument moveable component to move between the first connecting seat and the second connecting seat.

In some embodiments, the guide portion includes a sliding rod at least partially extending into the instrument moveable component, the sliding rod is connected to one or more of the first connecting seat and the second connecting seat, and the instrument moveable component is moveable along the sliding rod.

In some embodiments, the instrument moveable component includes a moveable component body having a first end close to the first connecting seat and a second end close to the second connecting seat, and the moveable component body defines a channel passing through the moveable component body from the first end to the second end. The sliding rod runs through the channel and is limited by the guide portion.

In some embodiments, the first resilient component is sleeved on the sliding rod and is arranged between the second end of the moveable component body and the second connecting seat, a distance between the first end and the first connecting seat is changeable; or the first resilient component is arranged between the first end of the moveable component body and the first connecting seat, to make the distance between the first end and the first connecting seat changeable.

In some embodiments, the surgical instrument further includes an unlocking assembly including a baffle and an operation button. The baffle is fixedly connected to the base, and at least one through hole is defined in the baffle. The operation button includes: a button body having a side facing towards the baffle, at least one limiting clasp connected to the button body, and an actuating portion formed on a bottom of the button body and protruding downwards the button body. One respective limiting clasp of the at least one limiting clasp includes a body portion and a hook portion formed on an end of the body portion, the body portion extends through a respective through hole of the at least one through hole to enable the operation button to move towards or away from the baffle, and the hook portion is configured to hook on an edge of the respective through hole to prevent the one respective limiting clasp from coming out of the respective through hole. An actuated portion protruding from the moveable component body is formed on the moveable component body. The actuating portion interferes with the actuated portion in response to the button body getting close to the baffle, to enable the moveable component body to move towards the unlocked position, and the actuating portion detaches from the actuated portion in response to the button body getting far away the baffle, to enable the moveable component body to move towards the locked position.

In some embodiments, the actuating portion has an actuating surface, the actuated portion has an actuated surface, the actuating surface and the actuated surface are in sliding fitting, and both the actuating surface and the actuated surface are configured as inclined surfaces; or

the actuating portion is configured as a rolling part, the actuated portion has the actuated surface, the rolling part and the actuated surface are in rolling fitting, and the actuated surface is configured as an inclined surface.

In some embodiments, each instrument fixing assembly of the two instrument fixing assemblies further includes a second resilient component arranged between and connected to the button body and the baffle, and a resilient force provided by the second resilient component causes the button body to tend to move away from the baffle.

A third aspect of embodiments of the present disclosure provides a surgical robot, including one or more of the structure for connecting an instrument drive to a sterile adapter as illustrated in the first aspect and the structure for connecting a sterile adapter to a surgical instrument as illustrated in the second aspect. The surgical robot provided by the present disclosure has technical effects similar to those of the above-mentioned first aspect and/or second aspect.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The features and exemplary embodiments according to aspects of the present disclosure will be illustrated in detail below. In order to make the purposes, technical solutions, and advantages of the present disclosure more apparent, the following will refer to the accompanying drawings and exemplary embodiments to illustrate the present disclosure in further detail. It should be understood that the illustrated embodiments herein are only for the purpose of explaining the present disclosure, rather than limiting the present disclosure. For those skilled in the art, the present disclosure can be implemented without some of the specific details. The illustration of the embodiments below is only intended to provide a better understanding of the present disclosure by showing examples of the present disclosure.

It should be noted that relational terms such as first and second herein are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The terms “comprising”, “including”, or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, item, or device that includes a series of elements not only includes those elements, but also other elements that are not explicitly listed, or further includes elements inherent in such a process, method, item, or device. Without further limitations, the elements limited by the statement “including . . . ” do not exclude the existence of other identical elements in the process, method, item, or device that includes the elements.

Exemplary embodiments of the present disclosure will be illustrated in detail referring toFIGS.2to13.

Referring toFIGS.2,3and13, a surgical robot100according to the present disclosure may include a surgical instrument110, a sterile adapter140and an instrument drive180. The sterile adapter140is connected to the instrument drive180, and the surgical instrument110is connected to the sterile adapter140. In some embodiments, a bottom surface of the sterile adapter140is fitted and connected to a top surface of the instrument drive180.

A front end of the surgical instrument110is configured as surgical tools such as pliers, scissors, clip lights, or the like, and a back end of the surgical instrument110is connected to a top surface of the sterile adapter140. The instrument drive180provides driving forces to an instrument actuator131at back end of the surgical instrument110through the sterile adapter140, such that the aforementioned surgical tools can perform pitching, yawing, and gripping through a traction assembly (such as wire ropes or the like) in the sleeve132. Both of a structure for connecting the instrument drive180to the sterile adapter140and a structure for connecting the sterile adapter140to the surgical instrument110are implemented by engaging member connection.

The structure for connecting the instrument drive180to the sterile adapter140is shown inFIGS.4,5,6and7. The instrument drive180has a surface on which a plurality of drive fixed engaging members181are provided (as shown inFIG.6). There may be one or more sets of drive fixed engaging members. In some embodiments, a set of drive fixed engaging members refers to two drive fixed engaging members. It should be understood that a set of drive fixed engaging members may also refer to 3, 4, 5, 6 drive fixed engaging members or the like.

The sterile adapter140includes an adapter body141, an adapter cover142and an adapter connecting assembly150. A bottom of the adapter body141is connected to a top surface of the instrument drive180, so that the plurality of drive fixed engaging members181at least partially extend into the adapter body141. The adapter cover142is fixedly connected to the adapter body141.

The adapter connecting assembly150is at least partially arranged in the adapter body141. The adapter connecting assembly150includes a plurality of moveable engaging members cooperating with the plurality of drive fixed engaging members181, such that the adapter connecting assembly150can fix the adapter body141to the instrument drive180. Each moveable engaging member of the plurality of moveable engaging members is moveable between an engagement position where the moveable engaging member is engaged with a respective one of the plurality of drive fixed engaging members181and a detachment position where the moveable engaging member is detached from the respective drive fixed engaging member181, and each of the plurality of moveable engaging members has a movement path parallel to a matching surface of the instrument drive180matching the sterile adapter140.

In some embodiments, each drive fixed engaging member181has a top surface configured as an inclined surface or a curved surface, each moveable engaging member also has a bottom surface configured as an inclined surface or a curved surface, and the top surface of each drive fixed engaging member181is configured to be able to cooperate with the bottom surface of each moveable engaging member. In this way, during assembly, when the adapter connecting assembly moves downwards, the bottom surface of each moveable engaging member presses on the top surface of a respective drive fixed engaging member181, such that each moveable engaging member moves transversely and inwards under the action of pressing. As the adapter connecting assembly150continues to move downwards, pressing interference between the bottom surface of each moveable engaging member and the top surface of the respective drive fixed engaging member181ends, and the moveable engaging member rebounds under the action of the resilient component161(will be described in detail below), thereby implementing the engagement.

In some embodiments, one drive fixed engaging member181includes an extension portion and an abutment portion, and the abutment portion has an abutment surface configured as a bottom surface of the abutment portion. One moveable engaging member includes a bottom wall defining a groove and having a fitting surface facing upwards. When the one moveable engaging member engages with the one drive fixed engaging member181by relative horizontal movement, the abutment surface abuts on the fitting surface. In this way, engagement without any gap can be achieved by contact fitting between surfaces.

In the surgical robot provided by the embodiments of the present disclosure, engagement can be achieved by relative horizontal movement between the plurality of drive fixed engaging members181and the plurality of moveable engaging members. In this way, gaps between the engaging members can be prevented, thereby improving the tightness and stability of the engagement.

In some embodiments, two sets of drive fixed engaging members181are provided at the instrument drive180, and these two sets of drive fixed engaging members181are arranged to separate from and be opposite to each other. In some embodiments, the two sets of drive fixed engaging members181are formed near two side edges of the instrument drive180opposite to each other, respectively, and drive fixed engaging members of each set of the two sets of drive fixed engaging members181are spaced from each other and are arranged at a respective side edge. The abutment portions of one set of drive fixed engaging members181face towards the abutment portions of the other set of drive fixed engaging members181.

Accordingly, two sets of moveable engaging members are provided at the adapter connecting assembly150, and positions and numbers of the two sets of moveable engaging members correspond to those of the above-mentioned drive fixed engaging members181. In other words, the plurality of moveable engaging members and the plurality of drive fixed engaging members181have the same arrangement. The two sets of moveable engaging members may move together or move separately. To this end, the adapter connecting assembly150may include two moveable components.

Each moveable component includes one set of moveable engaging members, and each moveable component may be moveable relative to the adapter body141to move the one set of moveable engaging members between the engagement position and the detachment position. In some embodiments, each moveable component may be configured to have a roughly “T” shape, and the one set of moveable engaging members may be provided at intervals at the head (i.e., a transverse portion) of the “T” shape. A tail (i.e., a vertical portion) of the “T” shape of one moveable component faces towards that of the “T” shape of the other moveable component. In this way, a plurality of drive fixed engaging members181can be arranged on the instrument drive180and spaced from each other (or arranged in a scattered manner). Accordingly, a plurality of moveable engaging members also may be spaced from each other (or arranged in a scattered manner). The two moveable component may move separately or move together by linkage therebetween. With the above configuration, multi-points engagement between the instrument drive180and the sterile adapter140can be achieved by the cooperation of the two sets of moveable engaging members with the two sets of drive fixed engaging members181. Moreover, linkage can be achieved upon engagement of the one set of moveable engaging members of each moveable component, facilitating detachment. In some embodiments, each moveable engaging member is configured as a groove opening outwards.

In some embodiments, the two moveable components may have a same configuration, and the adapter body141may include a partition board (not shown) arranged in the middle of the adapter body141.

The abovementioned two moveable components are provided at two opposing sides of the partition board and are connected to the partition board, and the two moveable components are symmetrical about the partition board. The adapter connecting assembly150includes two resilient components161. Each moveable component is connected to the partition board via one resilient component161, and a resilient force provided by the one resilient component161causes the set of moveable engaging members to tend to move towards the engagement position.

In the embodiments as shown inFIGS.5to7, the two moveable components include a first moveable component151and a second moveable component155. The first moveable component151includes a first engaging portion152and a first connecting portion153connected to the first engaging portion152. One set of moveable engaging members, referring to as first moveable engaging members154, is provided at the first engaging portion152. The second moveable component155includes a second engaging portion156and a second connecting portion157connected to the second engaging portion156. One set of moveable engaging members, referring to as second moveable engaging members158, is provided at the second engaging portion156.

The first connecting portion153and the second connecting portion157is connected by one resilient component161, to enable a relative movement between the first moveable component151and the second moveable component155. Similar to the above-mentioned embodiments that are not shown, the resilient component161provides resilient forces to the first moveable component151and the second moveable component155which cause the plurality of moveable engaging members to tend to move towards the engagement position.

Thus, when the plurality of moveable engaging members are in the engagement position, the first moveable component151and/or the second moveable component155may move towards each other under pushing of the user (pushing on an operation button, which will be described in detail hereinafter), to move the plurality of moveable engaging members into the detachment position. When the plurality of moveable engaging members are in the detachment position, the first moveable component151and/or the second moveable component155may move far away from each other under pushing of the resilient component161, to move the plurality of moveable engaging members into the engagement position. Extension directions of the first engaging portion152and the second engaging portion156are perpendicular to a direction of the forces provided by the resilient component161.

The structure of the adapter connecting assembly150will be more specifically introduced in conjunction withFIG.7below. The first engaging portion152extends from the first connecting portion153towards two opposing sides, and one set of moveable engaging members are provided at intervals along the extension direction of the first connecting portion153. The second engaging portion156extends from the second connecting portion157towards two opposing sides, and the other set of moveable engaging members are provided at intervals along the extension direction of the second connecting portion157. That is to say, the first engaging portion152and the second engaging portion156forms heads of the “T” shapes, and the first connecting portion153and the second connecting portion157forms tails of the “T” shapes.

In some embodiments, each moveable component may be configured to have a roughly “L” shape, i.e. the engaging portion extends from the connecting portion towards one side. Specifically, the first engaging portion152extends from the first connecting portion153towards one side, the second engaging portion156also extends from the second connecting portion157towards one side, and the first connecting portion153and/or the second connecting portion157are arranged to be close to a guide back board (not shown).

A cavity159is defined at an end of the first connecting portion153away from the first engaging portion152, and a protrusion160is formed at an end of the second connecting portion157away from the second engaging portion156. The protrusion160at least partially extends into the cavity159, such that the protrusion160can move back and forth along the cavity159. A circumferential size of the protrusion160is smaller than a circumferential size of the cavity159, making the first connecting portion153and the second connecting portion157self-steering.

In some embodiments, the resilient component161is a spring arranged in the cavity159and abutting between the first connecting portion153and the second connecting portion157. Specifically, the resilient component161has one end abutting against a side wall defining the cavity159, and the other end of the resilient component is connected to the protrusion160. The protrusion160may be configured to have a shape similar to that of the cavity159, i.e. a square or rectangular shape.

In order to ensure that the resilient component161is stably mounted in the cavity159, a first fixing column162protruding towards the second connecting portion157is formed on an end of the first connecting portion153, the first fixing column is formed at a closed end of the cavity159; and a second fixing column163protruding towards the first connecting portion153is formed on an end of the second connecting portion157. One end of the spring is sleeved on the first fixing column162, and the other end of the spring is sleeved on the second fixing column163, in order to form stable supports.

In some embodiments not shown, the protrusion160may be configured as a cylinder at least partially extending into the spring. Thus, the protrusion also may form a support for the spring.

In some embodiments, each of the first connecting portion153and the second connecting portion157may have a limiting part for preventing the first connecting portion153from detaching from the second connecting portion157. The limiting parts may be formed at an end of the first connecting portion153and an end of the second connecting portion157close to each other, respectively, and the two limiting parts may clamp or engage with each other, such that the first moveable component151does not easily detach from the second moveable component155after assembly.

Referring toFIGS.4to7, the first moveable component151further includes a first operation button164provided at the first engaging portion152or the first connecting portion153. In some embodiments, the first operation button164is provided at a junction of the first connecting portion153and the first engaging portion. The second moveable component155further includes a second operation button165having a structure and a mounting position similar to those of the first operation button164, which will not be repeated here. The user may push the first operation button164and/or the second operation button165to unlock.

A first opening143and a second opening144spaced apart from each other is defined on the adapter cover142. The positions of the first opening143and the second opening144correspond to the positions of the first operation button164and the second operation button165, respectively, so that the first operation button164and the second operation button165can extend through the first opening143and the second opening144, respectively, to protrude from a top surface of the adapter cover142. Moreover, the cross-sectional dimensions of the first opening143and the second opening144are larger than those of the first operation button164and the second operation button165, respectively, to reserve the moving space for the first operation button164and the second operation button165.

In some embodiments, the two operation buttons may be provided at two side surfaces of the sterile adapter140, respectively, i.e. may be provided at two side portions of the adapter body141. For example, a hole may be defined on a side portion of the adapter body141, and a respective operation button transversely extends out of the hole to prevent the case in which the respective operation button protrudes upwards and interferes with other components.

One or more screw receiving portions145are formed on the adapter body141, and the adapter cover142may be connected to the adapter body141using screws. The one or more screw receiving portions145are formed near the first operation button164and the second operation button165. In order to avoid the screw receiving portions145, recesses146that are recessed away from the screw receiving portions145are formed at the connection between the first connecting portion153and the first engaging portion152, and at the connection between the second connecting portion157and the second engaging portion156, respectively.

The instrument drive180includes a plurality of drive connecting parts182forming a drive transmission portion, the sterile adapter140further includes a plurality of adapter connecting parts136, and each adapter connecting part136is configured to cooperate with a respective drive connecting part182. In other words, each adapter connecting part136is sleeved on a respective drive connecting part182. A plurality of recesses147that are recessed away from the plurality of drive connecting parts182are formed on lateral surfaces of the first engaging portion152and the second engaging portion156facing towards the plurality of drive connecting parts182, and a shape of each recess147is similar to a shape of a contour of a respective drive connecting part182, in order to avoid the respective drive connecting part182.

Moreover, mounting surfaces of the plurality of drive connecting parts182may form limits with the above-mentioned plurality of recesses147. The plurality of drive connecting parts182can cooperate with an outer frame of the adapter body141to jointly limit the adapter connecting assembly150within the adapter body141.

Referring toFIGS.8,9,10,11,12and13, in which a structure for connecting the sterile adapter140to the surgical instrument110is shown. The surgical instrument110includes a base111connected to the sterile adapter140, and the base111may be attached to the top surface of the adapter cover142. A first hole135and a second hole (not shown) are defined at positions corresponding to the first operation button164and the second operation button165on the base111, and the first operation button164and the second operation button165on the adapter connecting assembly150extend through the first hole135and the second hole, respectively, thereby protruding from a top surface of the base111. In this way, smooth installation between the surgical instrument110and the sterile adapter140can be achieved.

Limiting blocks137are provided at edges of the first hole135and the second hole close to each other, respectively. The two limiting blocks137are arranged to be close to the first hole135and the second hole, respectively, in order to limit the movements of the first operation button164and the second operation button165when the surgical instrument110is connected to the sterile adapter140. In some embodiments, the two limiting blocks137may be edges of the first hole135and the second hole close to the first operation button164and the second operation button165, respectively.

The sterile adapter140has a top surface on which a plurality of adapter fixed engaging members148are provided. There may be one or more sets of adapter fixed engaging members, and each set of adapter fixed engaging members148includes at least two adapter fixed engaging members148spaced from each other. In some embodiments, the plurality of adapter fixed engaging members148are provided at the surface of the adapter cover142and at least partially extend into the base111.

The surgical instrument110includes the above-mentioned instrument actuator131and at least one instrument fixing assembly113. The instrument actuator131is provided at the base111, and the at least one instrument fixing assembly113is also provided at the base111and is provided at a side of the instrument actuator131. In some embodiments, the surgical instrument110includes two instrument fixing assemblies113provided at two opposing sides of the instrument actuator131and corresponding to the plurality of adapter fixed engaging members148provided at the two opposing sides of the instrument actuator. The two instrument fixing assemblies113are configured to fix the base111to the sterile adapter140.

Each instrument fixing assembly113includes an instrument moveable component114provided with a set of moveable engaging members115corresponding to the plurality of adapter fixed engaging members148, and the set of moveable engaging members115includes two or more moveable engaging members115spaced from each other. The set of moveable engaging members115also extend at least partially into the base111to cooperate with the plurality of adapter fixed engaging members148. In this way, the multi-points engagement is conducive to preventing the occurrence of tipping.

The instrument moveable component114is moveable between a locked position where the plurality of moveable engaging members115are engaged with the plurality of adapter fixed engaging members148and an unlocked position where the plurality of moveable engaging members115are detached from the plurality of adapter fixed engaging members148, and the instrument moveable component114has a movement path parallel to a surface of the sterile adapter. In other words, each instrument moveable component114can move along the arrangement direction of the set of moveable engaging members115.

In some embodiments, through holes112are defined in the base111, and each moveable engaging member115and the respective adapter fixed engaging member148both extend at least partially into a respective through hole of the through holes112, in order to engage with or detach from each other, thereby fixing the base111to the sterile adapter140.

In some shown embodiments, the through holes112are configured as T-shaped grooves. Each adapter fixed engaging member148extends from the adapter cover142into a head of a respective T-shaped groove, and each moveable engaging member115extends from the instrument moveable component114into a tail of the respective T-shaped groove and is moveable in the tail.

In some embodiments, each moveable engaging member115includes an extension portion and an abutment portion, and the abutment portion has an abutment surface configured as a top surface of the abutment portion. When there are more than one set of moveable engaging members115, the abutment portions of a same set of moveable engaging members115have the same orientation. Each adapter fixed engaging member148defines a groove having a fitting surface facing downwards. When there are more than one set of adapter fixed engaging members148, the openings of a same set of adapter fixed engaging members148have the same orientation. When a moveable engaging member115engages with a respective adapter fixed engaging member148by relative horizontal movement, the abutment portion extends into the groove, and the abutment surface abuts on the fitting surface. In this way, contact fitting between surfaces can be achieved, and a more stable engagement can be obtained.

In the surgical robot100provided by the embodiments of the present disclosure, engagement can be achieved by relative horizontal movement between the plurality of adapter fixed engaging members148and the plurality of moveable engaging members115. In this way, gaps between the engaging members can be prevented or reduced, thereby improving the tightness and stability of the engagement.

In some embodiments, two sets of adapter fixed engaging members148are provided at the top surface of the adapter cover142, the two sets of adapter fixed engaging members148space apart from each other, and each set of adapter fixed engaging members148has a same orientation. Specifically, the two sets of adapter fixed engaging members148are provided at two side edges of the sterile adapter140opposite to each other, respectively.

Accordingly, the surgical instrument110may include two instrument fixing assemblies113provided at two side edges of the base111corresponding to the two side edges of the sterile adapter140, respectively. That is to say, the two instrument fixing assemblies are provided at two side edges of the above-mentioned instrument actuator131, in other words, at the two side edges of the base111.

Each instrument fixing assembly113corresponds to a respective set of adapter fixed engaging members148. In other words, each instrument moveable component114has a set of moveable engaging members115arranged along a length direction of the instrument moveable component114. In this way, the set of moveable engaging members115can move together with the instrument moveable component114, thereby achieving linkage and facilitating engagement and detachment.

Each instrument fixing assembly113further includes a guide portion and a first resilient component121. The guide portions are provided at two side edges of the instrument actuator131and extend along a direction parallel to the side edges of the base111. The instrument moveable component114is provided at the guide portion defining a movement path for the instrument moveable component, and the instrument moveable component114is movable along the direction parallel to the side edges of the base.

The first resilient component121may be provided at the guide portion and connected with the instrument moveable component114, in order to provide a resilient force to the instrument moveable component114. The resilient force provided by the first resilient component121causes the instrument moveable component114to tend to move towards the locked position.

In some embodiments, the moving direction of the instrument moveable component114may be parallel to the moving directions of the first moveable component151and the second moveable component155, or the moving direction of the instrument moveable component114may be perpendicular to the moving direction of the first moveable component151and the second moveable component155.

In some embodiments, the guide portion may be a sliding groove formed in the base111(not shown) or a guide rail protruding from the base111(not shown). In some shown embodiments, the guide portion may be configured as a sliding rod120. The sliding rod120may be configured as an integral-type sliding rod or a split-type sliding rod.

Referring toFIGS.9and10, each instrument fixing assembly113further includes a first connecting seat116and a second connecting seat117. The first connecting seat and the second connecting seat are both provided at the base111and are separated from each other. Specifically, the first connecting seat116and the second connecting seat117are both provided at a side of the instrument actuator131and at a side edge of the base111. Each instrument moveable component114includes a moveable component body118having a first end133close to the first connecting seat116and a second end134close to the second connecting seat117.

The guide portion may be arranged between the first connecting seat116and the second connecting seat117, to enable the instrument moveable component114to move between the first connecting seat116and the second connecting seat117.

In some embodiments, the guide portion includes a sliding rod120connected between the first connecting portion153and the second connecting portion157, in other words, the sliding rod120is limited by the guide portion. The sliding rod120may extend through the whole moveable component body118by running through a channel119passing through the moveable component body118from the first end133to the second end134of the moveable component body118, thereby limiting the movement of the moveable component body118. The moveable component body118may defines the channel119except for both ends, or may be partially or completely exposed from the moveable component body.

In some embodiments, channels119are defined at the first end133and the second end134of the moveable component body, respectively, and the two channels119do not communicate with each other. In this case, the sliding rod120is configured as a split-type sliding rod extending into the two channels119, respectively.

Referring toFIGS.9and10, the first resilient component121is sleeved on the sliding rod120and is arranged between the second end134of the moveable component body118and the second connecting seat117, a distance between the first end133and the first connecting seat116is changeable.

It is easily understandable that the first resilient component121may be arranged between the first end133of the moveable component body118and the first connecting seat116, to make the distance between the first end133and the first connecting seat116changeable.

Thus, when the plurality of moveable engaging members115are in the locked position, the user may push the instrument moveable component114using the operation button124(which will be described in detail hereinafter), in order to move the instrument moveable component along a direction of getting close to the second connecting seat117and to move the plurality of moveable engaging members115into the unlocked position.

When the plurality of moveable engaging members115are in the unlocked position, the instrument moveable component114may move along a direction of getting far away from the second connecting seat117under driving of the first resilient component121, in order to move the plurality of moveable engaging members115into the locked position.

Referring toFIGS.9,10,11and12, the surgical instrument110further includes an unlocking assembly including a baffle122and an operation button124. The baffle122is fixedly connected to the base111, and at least one through hole123is defined in the baffle122.

The operation button124is connected to the baffle and can perform reciprocating movement relative to the baffle122. The operation button124includes a button body125and at least one limiting clasp130connected to the button body125. A side of the button body125on which the at least one limiting clasp130is arranged faces towards the baffle122. Each limiting clasp130extends through a respective through hole of the at least one through hole112to enable the operation button124to perform reciprocating movement and move towards or away from the baffle122. The reciprocating movement may be achieved by a second resilient component129connected between the button body125and the baffle122. The second resilient component129applies a resilient force to the button body125to causes the button body125to tend to move away from the baffle122.

Each limiting clasp130includes a body portion126connected to the button body125and a hook portion166formed on an end of the body portion126far away from the button body125. The body portion126extends through a respective through hole of the at least one through hole123and plays a role of guide track. The hook portion166is configured to hook on an edge of the respective through hole123to prevent the limiting clasp130from coming out of the respective through hole123, thereby keeping the button body125on a side of the baffle122.

The operation button124may have four limiting clasps130distributed at four corners of the button body125, respectively. Accordingly, four through holes123are defined in the baffle122.

In order to achieve the locking and unlocking control on the instrument moveable component114by the operation button124, the operation button124further includes an actuating portion127. Accordingly, the instrument moveable component114has an actuated portion128. When the button body125gets close to the baffle122, the actuating portion127interferes with the actuated portion128to enable the moveable component body118to move towards the unlocked position, and when the button body125gets far away the baffle122, the actuating portion127detaches from the actuated portion128, to enable the moveable component body118to move towards the locked position.

The actuating portion127is formed on a bottom of the button body125and protrudes downwards the button body125. The actuated portion128protrudes from the moveable component body118. The actuating portion127has an actuating surface138, the actuated portion128has an actuated surface139, both the actuating surface and the actuated surface may be configured as inclined surfaces, such that the actuating surface138and the actuated surface139are in sliding fitting.

In some embodiments, the actuating portion127may be configured as a rolling part, such as a bearing or a roller, the actuated portion128may have the actuated surface139configured as an inclined surface, such that the rolling part and the actuated surface139are in rolling fitting.

Thus, when the user presses on the operation button124, the button body125gets close to the baffle122, and the actuating surface138of the actuating portion127interferes with the actuated surface139of the actuated portion128. With the cooperation of the actuating portion and the actuated portion, a longitudinal movement of the operation button124is converted into a transverse movement of the instrument moveable component114, such that the instrument moveable component114moves towards the unlocked position. When the user releases the operation button124, the button body125gets away from the baffle122under the action of the second resilient component129, and the actuating surface138does not interfere with the actuated surface128any longer, such that the instrument moveable component114moves towards the locked position under the action of the first resilient component121.

The embodiments of the present disclosure as illustrated hereinbefore do not fully describe all details, nor do they limit the present disclosure to only the illustrated embodiments. Obviously, based on the above description, many modifications and changes may be made. The present disclosure selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present disclosure, so that those skilled in the art can make good use of the present disclosure and modifications based on the present disclosure. The present disclosure is only limited by the claims and their full scopes and equivalents thereof.