Patent Description:
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 in <FIG> is realized by a relative rotation between the two engaging members due to the elasticity of the two engaging members, and the dashed line in <FIG> schematically 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.

<CIT> discloses an instrument equipment and a mounting buckle thereof, the mounting buckle includes a guide base, a button and an elastic part. The button is provided with a first clamping part, the button is slidable relative to the guide base, and the elastic part is arranged between the guide base and the button.

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.

In order to illustrate the technical solutions in the embodiments of the present disclosure more clearly, the drawings involved in the embodiments of the present disclosure will be briefly described below. For those of ordinary skill in the art, other drawings may be obtained in accordance with these drawings without any inventive effort.

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 to <FIG>.

Referring to <FIG>, <FIG> and <FIG>, a surgical robot <NUM> according to the present disclosure may include a surgical instrument <NUM>, a sterile adapter <NUM> and an instrument drive <NUM>. The sterile adapter <NUM> is connected to the instrument drive <NUM>, and the surgical instrument <NUM> is connected to the sterile adapter <NUM>. In some embodiments, a bottom surface of the sterile adapter <NUM> is fitted and connected to a top surface of the instrument drive <NUM>.

A front end of the surgical instrument <NUM> is configured as surgical tools such as pliers, scissors, clip lights, or the like, and a back end of the surgical instrument <NUM> is connected to a top surface of the sterile adapter <NUM>. The instrument drive <NUM> provides driving forces to an instrument actuator <NUM> at back end of the surgical instrument <NUM> through the sterile adapter <NUM>, 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 sleeve <NUM>. Both of the structure for connecting the instrument drive <NUM> to the sterile adapter <NUM> and the structure for connecting the sterile adapter <NUM> to the surgical instrument <NUM> are implemented by engaging member connection.

The structure for connecting the instrument drive <NUM> to the sterile adapter <NUM> is shown in <FIG>, <FIG>, <FIG> and <FIG>. The instrument drive <NUM> has a surface on which a plurality of drive fixed engaging members <NUM> are provided (as shown in <FIG>). 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 <NUM>, <NUM>, <NUM>, <NUM> drive fixed engaging members or the like.

The sterile adapter <NUM> includes an adapter body <NUM>, an adapter cover <NUM> and an adapter connecting assembly <NUM>. A bottom of the adapter body <NUM> is connected to a top surface of the instrument drive <NUM>, so that the plurality of drive fixed engaging members <NUM> at least partially extend into the adapter body <NUM>. The adapter cover <NUM> is fixedly connected to the adapter body <NUM>.

The adapter connecting assembly <NUM> is at least partially arranged in the adapter body <NUM>. The adapter connecting assembly <NUM> includes a plurality of moveable engaging members cooperating with the plurality of drive fixed engaging members <NUM>, such that the adapter connecting assembly <NUM> can fix the adapter body <NUM> to the instrument drive <NUM>. 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 members <NUM> and a detachment position where the moveable engaging member is detached from the respective drive fixed engaging member <NUM>, and each of the plurality of moveable engaging members has a movement path parallel to a matching surface of the instrument drive <NUM> matching the sterile adapter <NUM>.

In some embodiments, each drive fixed engaging member <NUM> has 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 member <NUM> is 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 member <NUM>, such that each moveable engaging member moves transversely and inwards under the action of pressing. As the adapter connecting assembly <NUM> continues to move downwards, pressing interference between the bottom surface of each moveable engaging member and the top surface of the respective drive fixed engaging member <NUM> ends, and the moveable engaging member rebounds under the action of the resilient component <NUM> (will be described in detail below), thereby implementing the engagement.

In some embodiments, one drive fixed engaging member <NUM> includes 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 member <NUM> by 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 members <NUM> 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 <NUM> are provided at the instrument drive <NUM>, and these two sets of drive fixed engaging members <NUM> are arranged to separate from and be opposite to each other. In some embodiments, the two sets of drive fixed engaging members <NUM> are formed near two side edges of the instrument drive <NUM> opposite to each other, respectively, and drive fixed engaging members of each set of the two sets of drive fixed engaging members <NUM> are spaced from each other and are arranged at a respective side edge. The abutment portions of one set of drive fixed engaging members <NUM> face towards the abutment portions of the other set of drive fixed engaging members <NUM>.

Accordingly, two sets of moveable engaging members are provided at the adapter connecting assembly <NUM>, and positions and numbers of the two sets of moveable engaging members correspond to those of the above-mentioned drive fixed engaging members <NUM>. In other words, the plurality of moveable engaging members and the plurality of drive fixed engaging members <NUM> have the same arrangement. The two sets of moveable engaging members may move together or move separately. To this end, the adapter connecting assembly <NUM> may 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 body <NUM> to 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 members <NUM> can be arranged on the instrument drive <NUM> and 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 drive <NUM> and the sterile adapter <NUM> can be achieved by the cooperation of the two sets of moveable engaging members with the two sets of drive fixed engaging members <NUM>. 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 body <NUM> may include a partition board (not shown) arranged in the middle of the adapter body <NUM>.

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 assembly <NUM> includes two resilient components <NUM>. Each moveable component is connected to the partition board via one resilient component <NUM>, and a resilient force provided by the one resilient component <NUM> causes the set of moveable engaging members to tend to move towards the engagement position.

In the embodiments as shown in <FIG>, the two moveable components include a first moveable component <NUM> and a second moveable component <NUM>. The first moveable component <NUM> includes a first engaging portion <NUM> and a first connecting portion <NUM> connected to the first engaging portion <NUM>. One set of moveable engaging members, referring to as first moveable engaging members154, is provided at the first engaging portion <NUM>. The second moveable component <NUM> includes a second engaging portion <NUM> and a second connecting portion <NUM> connected to the second engaging portion <NUM>. One set of moveable engaging members, referring to as second moveable engaging members158, is provided at the second engaging portion <NUM>.

The first connecting portion <NUM> and the second connecting portion <NUM> is connected by one resilient component <NUM>, to enable a relative movement between the first moveable component <NUM> and the second moveable component <NUM>. Similar to the above-mentioned embodiments that are not shown, the resilient component <NUM> provides resilient forces to the first moveable component <NUM> and the second moveable component <NUM> which 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 component <NUM> and/or the second moveable component <NUM> may 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 component <NUM> and/or the second moveable component <NUM> may move far away from each other under pushing of the resilient component <NUM>, to move the plurality of moveable engaging members into the engagement position. Extension directions of the first engaging portion <NUM> and the second engaging portion <NUM> are perpendicular to a direction of the forces provided by the resilient component <NUM>.

The structure of the adapter connecting assembly <NUM> will be more specifically introduced in conjunction with <FIG> below. The first engaging portion <NUM> extends from the first connecting portion <NUM> towards two opposing sides, and one set of moveable engaging members are provided at intervals along the extension direction of the first connecting portion <NUM>. The second engaging portion <NUM> extends from the second connecting portion <NUM> towards two opposing sides, and the other set of moveable engaging members are provided at intervals along the extension direction of the second connecting portion <NUM>. That is to say, the first engaging portion <NUM> and the second engaging portion <NUM> forms heads of the "T" shapes, and the first connecting portion <NUM> and the second connecting portion <NUM> forms 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 portion <NUM> extends from the first connecting portion <NUM> towards one side, the second engaging portion <NUM> also extends from the second connecting portion <NUM> towards one side, and the first connecting portion <NUM> and/or the second connecting portion <NUM> are arranged to be close to a guide back board (not shown).

A cavity <NUM> is defined at an end of the first connecting portion <NUM> away from the first engaging portion <NUM>, and a protrusion <NUM> is formed at an end of the second connecting portion <NUM> away from the second engaging portion <NUM>. The protrusion <NUM> at least partially extends into the cavity <NUM>, such that the protrusion <NUM> can move back and forth along the cavity <NUM>. A circumferential size of the protrusion <NUM> is smaller than a circumferential size of the cavity <NUM>, making the first connecting portion <NUM> and the second connecting portion <NUM> self-steering.

In some embodiments, the resilient component <NUM> is a spring arranged in the cavity <NUM> and abutting between the first connecting portion <NUM> and the second connecting portion <NUM>. Specifically, the resilient component <NUM> has one end abutting against a side wall defining the cavity <NUM>, and the other end of the resilient component is connected to the protrusion <NUM>. The protrusion <NUM> may be configured to have a shape similar to that of the cavity <NUM>, i.e. a square or rectangular shape.

In order to ensure that the resilient component <NUM> is stably mounted in the cavity <NUM>, a first fixing column <NUM> protruding towards the second connecting portion <NUM> is formed on an end of the first connecting portion <NUM>, the first fixing column is formed at a closed end of the cavity <NUM>; and a second fixing column <NUM> protruding towards the first connecting portion <NUM> is formed on an end of the second connecting portion <NUM>. One end of the spring is sleeved on the first fixing column <NUM>, and the other end of the spring is sleeved on the second fixing column <NUM>, in order to form stable supports.

In some embodiments not shown, the protrusion <NUM> may 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 portion <NUM> and the second connecting portion <NUM> may have a limiting part for preventing the first connecting portion <NUM> from detaching from the second connecting portion <NUM>. The limiting parts may be formed at an end of the first connecting portion <NUM> and an end of the second connecting portion <NUM> close to each other, respectively, and the two limiting parts may clamp or engage with each other, such that the first moveable component <NUM> does not easily detach from the second moveable component <NUM> after assembly.

Referring to <FIG>, the first moveable component <NUM> further includes a first operation button <NUM> provided at the first engaging portion <NUM> or the first connecting portion <NUM>. In some embodiments, the first operation button <NUM> is provided at a junction of the first connecting portion <NUM> and the first engaging portion. The second moveable component <NUM> further includes a second operation button <NUM> having a structure and a mounting position similar to those of the first operation button <NUM>, which will not be repeated here. The user may push the first operation button <NUM> and/or the second operation button <NUM> to unlock.

A first opening <NUM> and a second opening <NUM> spaced apart from each other is defined on the adapter cover <NUM>. The positions of the first opening <NUM> and the second opening <NUM> correspond to the positions of the first operation button <NUM> and the second operation button <NUM>, respectively, so that the first operation button <NUM> and the second operation button <NUM> can extend through the first opening <NUM> and the second opening <NUM>, respectively, to protrude from a top surface of the adapter cover <NUM>. Moreover, the cross-sectional dimensions of the first opening <NUM> and the second opening <NUM> are larger than those of the first operation button <NUM> and the second operation button <NUM>, respectively, to reserve the moving space for the first operation button <NUM> and the second operation button <NUM>.

In some embodiments, the two operation buttons may be provided at two side surfaces of the sterile adapter <NUM>, respectively, i.e. may be provided at two side portions of the adapter body <NUM>. For example, a hole may be defined on a side portion of the adapter body <NUM>, 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 portions <NUM> are formed on the adapter body <NUM>, and the adapter cover <NUM> may be connected to the adapter body <NUM> using screws. The one or more screw receiving portions <NUM> are formed near the first operation button <NUM> and the second operation button <NUM>. In order to avoid the screw receiving portions <NUM>, recesses <NUM> that are recessed away from the screw receiving portions <NUM> are formed at the connection between the first connecting portion <NUM> and the first engaging portion <NUM>, and at the connection between the second connecting portion <NUM> and the second engaging portion <NUM>, respectively.

The instrument drive <NUM> includes a plurality of drive connecting parts <NUM> forming a drive transmission portion, the sterile adapter <NUM> further includes a plurality of adapter connecting parts <NUM>, and each adapter connecting part <NUM> is configured to cooperate with a respective drive connecting part <NUM>. In other words, each adapter connecting part <NUM> is sleeved on a respective drive connecting part <NUM>. A plurality of recesses <NUM> that are recessed away from the plurality of drive connecting parts <NUM> are formed on lateral surfaces of the first engaging portion <NUM> and the second engaging portion <NUM> facing towards the plurality of drive connecting parts <NUM>, and a shape of each recess <NUM> is similar to a shape of a contour of a respective drive connecting part <NUM>, in order to avoid the respective drive connecting part <NUM>.

Moreover, mounting surfaces of the plurality of drive connecting parts <NUM> may form limits with the above-mentioned plurality of recesses <NUM>. The plurality of drive connecting parts <NUM> can cooperate with an outer frame of the adapter body <NUM> to jointly limit the adapter connecting assembly <NUM> within the adapter body <NUM>.

Referring to <FIG>, <FIG>, <FIG>, <FIG>, <FIG> and <FIG>, in which a structure for connecting the sterile adapter <NUM> to the surgical instrument <NUM> is shown. The surgical instrument <NUM> includes a base <NUM> connected to the sterile adapter <NUM>, and the base <NUM> may be attached to the top surface of the adapter cover <NUM>. A first hole <NUM> and a second hole (not shown) are defined at positions corresponding to the first operation button <NUM> and the second operation button <NUM> on the base <NUM>, and the first operation button <NUM> and the second operation button <NUM> on the adapter connecting assembly <NUM> extend through the first hole <NUM> and the second hole, respectively, thereby protruding from a top surface of the base <NUM>. In this way, smooth installation between the surgical instrument <NUM> and the sterile adapter <NUM> can be achieved.

Limiting blocks <NUM> are provided at edges of the first hole <NUM> and the second hole close to each other, respectively. The two limiting blocks <NUM> are arranged to be close to the first hole <NUM> and the second hole, respectively, in order to limit the movements of the first operation button <NUM> and the second operation button <NUM> when the surgical instrument <NUM> is connected to the sterile adapter <NUM>. In some embodiments, the two limiting blocks <NUM> may be edges of the first hole <NUM> and the second hole close to the first operation button <NUM> and the second operation button <NUM>, respectively.

The sterile adapter <NUM> has a top surface on which a plurality of adapter fixed engaging members <NUM> are provided. There may be one or more sets of adapter fixed engaging members, and each set of adapter fixed engaging members <NUM> includes at least two adapter fixed engaging members <NUM> spaced from each other. In some embodiments, the plurality of adapter fixed engaging members <NUM> are provided at the surface of the adapter cover <NUM> and at least partially extend into the base <NUM>.

The surgical instrument <NUM> includes the above-mentioned instrument actuator <NUM> and at least one instrument fixing assembly <NUM>. The instrument actuator <NUM> is provided at the base <NUM>, and the at least one instrument fixing assembly <NUM> is also provided at the base <NUM> and is provided at a side of the instrument actuator <NUM>. In some embodiments, the surgical instrument <NUM> includes two instrument fixing assemblies <NUM> provided at two opposing sides of the instrument actuator <NUM> and corresponding to the plurality of adapter fixed engaging members <NUM> provided at the two opposing sides of the instrument actuator. The two instrument fixing assemblies <NUM> are configured to fix the base <NUM> to the sterile adapter <NUM>.

Each instrument fixing assembly <NUM> includes an instrument moveable component <NUM> provided with a set of moveable engaging members <NUM> corresponding to the plurality of adapter fixed engaging members <NUM>, and the set of moveable engaging members <NUM> includes two or more moveable engaging members <NUM> spaced from each other. The set of moveable engaging members <NUM> also extend at least partially into the base <NUM> to cooperate with the plurality of adapter fixed engaging members <NUM>. In this way, the multi-points engagement is conducive to preventing the occurrence of tipping.

The instrument moveable component <NUM> is moveable between a locked position where the plurality of moveable engaging members <NUM> are engaged with the plurality of adapter fixed engaging members <NUM> and an unlocked position where the plurality of moveable engaging members <NUM> are detached from the plurality of adapter fixed engaging members <NUM>, and the instrument moveable component <NUM> has a movement path parallel to a surface of the sterile adapter. In other words, each instrument moveable component <NUM> can move along the arrangement direction of the set of moveable engaging members <NUM>.

In some embodiments, through holes <NUM> are defined in the base <NUM>, and each moveable engaging member <NUM> and the respective adapter fixed engaging member <NUM> both extend at least partially into a respective through hole of the through holes <NUM>, in order to engage with or detach from each other, thereby fixing the base <NUM> to the sterile adapter <NUM>.

In some shown embodiments, the through holes <NUM> are configured as T-shaped grooves. Each adapter fixed engaging member <NUM> extends from the adapter cover <NUM> into a head of a respective T-shaped groove, and each moveable engaging member <NUM> extends from the instrument moveable component <NUM> into a tail of the respective T-shaped groove and is moveable in the tail.

In some embodiments, each moveable engaging member <NUM> includes 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 members <NUM>, the abutment portions of a same set of moveable engaging members <NUM> have the same orientation. Each adapter fixed engaging member <NUM> defines a groove having a fitting surface facing downwards. When there are more than one set of adapter fixed engaging members <NUM>, the openings of a same set of adapter fixed engaging members <NUM> have the same orientation. When a moveable engaging member <NUM> engages with a respective adapter fixed engaging member <NUM> by 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 robot <NUM> provided by the embodiments of the present disclosure, engagement can be achieved by relative horizontal movement between the plurality of adapter fixed engaging members <NUM> and the plurality of moveable engaging members <NUM>. 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 members <NUM> are provided at the top surface of the adapter cover <NUM>, the two sets of adapter fixed engaging members <NUM> space apart from each other, and each set of adapter fixed engaging members <NUM> has a same orientation. Specifically, the two sets of adapter fixed engaging members <NUM> are provided at two side edges of the sterile adapter <NUM> opposite to each other, respectively.

Accordingly, the surgical instrument <NUM> may include two instrument fixing assemblies <NUM> provided at two side edges of the base <NUM> corresponding to the two side edges of the sterile adapter <NUM>, respectively. That is to say, the two instrument fixing assemblies are provided at two side edges of the above-mentioned instrument actuator <NUM>, in other words, at the two side edges of the base <NUM>.

Each instrument fixing assembly <NUM> corresponds to a respective set of adapter fixed engaging members <NUM>. In other words, each instrument moveable component <NUM> has a set of moveable engaging members <NUM> arranged along a length direction of the instrument moveable component <NUM>. In this way, the set of moveable engaging members <NUM> can move together with the instrument moveable component <NUM>, thereby achieving linkage and facilitating engagement and detachment.

Each instrument fixing assembly <NUM> further includes a guide portion and a first resilient component <NUM>. The guide portions are provided at two side edges of the instrument actuator <NUM> and extend along a direction parallel to the side edges of the base <NUM>. The instrument moveable component <NUM> is provided at the guide portion defining a movement path for the instrument moveable component, and the instrument moveable component <NUM> is movable along the direction parallel to the side edges of the base.

The first resilient component <NUM> may be provided at the guide portion and connected with the instrument moveable component <NUM>, in order to provide a resilient force to the instrument moveable component <NUM>. The resilient force provided by the first resilient component <NUM> causes the instrument moveable component <NUM> to tend to move towards the locked position.

In some embodiments, the moving direction of the instrument moveable component <NUM> may be parallel to the moving directions of the first moveable component <NUM> and the second moveable component <NUM>, or the moving direction of the instrument moveable component <NUM> may be perpendicular to the moving direction of the first moveable component <NUM> and the second moveable component <NUM>.

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

Referring to <FIG> and <FIG>, each instrument fixing assembly <NUM> further includes a first connecting seat <NUM> and a second connecting seat <NUM>. The first connecting seat and the second connecting seat are both provided at the base <NUM> and are separated from each other. Specifically, the first connecting seat <NUM> and the second connecting seat <NUM> are both provided at a side of the instrument actuator <NUM> and at a side edge of the base <NUM>. Each instrument moveable component <NUM> includes a moveable component body <NUM> having a first end <NUM> close to the first connecting seat <NUM> and a second end <NUM> close to the second connecting seat <NUM>.

The guide portion may be arranged between the first connecting seat <NUM> and the second connecting seat <NUM>, to enable the instrument moveable component <NUM> to move between the first connecting seat <NUM> and the second connecting seat <NUM>.

In some embodiments, the guide portion includes a sliding rod <NUM> connected between the first connecting portion <NUM> and the second connecting portion <NUM>, in other words, the sliding rod <NUM> is limited by the guide portion. The sliding rod <NUM> may extend through the whole moveable component body <NUM> by running through a channel <NUM> passing through the moveable component body <NUM> from the first end <NUM> to the second end <NUM> of the moveable component body <NUM>, thereby limiting the movement of the moveable component body <NUM>. The moveable component body <NUM> may defines the channel <NUM> except for both ends, or may be partially or completely exposed from the moveable component body.

In some embodiments, channels <NUM> are defined at the first end <NUM> and the second end <NUM> of the moveable component body, respectively, and the two channels <NUM> do not communicate with each other. In this case, the sliding rod <NUM> is configured as a split-type sliding rod extending into the two channels <NUM>, respectively.

Referring to <FIG> and <FIG>, the first resilient component <NUM> is sleeved on the sliding rod <NUM> and is arranged between the second end <NUM> of the moveable component body <NUM> and the second connecting seat <NUM>, a distance between the first end <NUM> and the first connecting seat <NUM> is changeable.

It is easily understandable that the first resilient component <NUM> may be arranged between the first end <NUM> of the moveable component body <NUM> and the first connecting seat <NUM>, to make the distance between the first end <NUM> and the first connecting seat <NUM> changeable.

Thus, when the plurality of moveable engaging members <NUM> are in the locked position, the user may push the instrument moveable component <NUM> using the operation button <NUM> (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 seat <NUM> and to move the plurality of moveable engaging members <NUM> into the unlocked position.

When the plurality of moveable engaging members <NUM> are in the unlocked position, the instrument moveable component <NUM> may move along a direction of getting far away from the second connecting seat <NUM> under driving of the first resilient component <NUM>, in order to move the plurality of moveable engaging members <NUM> into the locked position.

Referring to <FIG>, <FIG>, <FIG>, the surgical instrument <NUM> further includes an unlocking assembly including a baffle <NUM> and an operation button <NUM>. The baffle <NUM> is fixedly connected to the base <NUM>, and at least one through hole <NUM> is defined in the baffle <NUM>.

The operation button <NUM> is connected to the baffle and can perform reciprocating movement relative to the baffle <NUM>. The operation button <NUM> includes a button body <NUM> and at least one limiting clasp <NUM> connected to the button body <NUM>. A side of the button body <NUM> on which the at least one limiting clasp <NUM> is arranged faces towards the baffle <NUM>. Each limiting clasp <NUM> extends through a respective through hole of the at least one through hole <NUM> to enable the operation button <NUM> to perform reciprocating movement and move towards or away from the baffle <NUM>. The reciprocating movement may be achieved by a second resilient component <NUM> connected between the button body <NUM> and the baffle <NUM>. The second resilient component <NUM> applies a resilient force to the button body <NUM> to causes the button body <NUM> to tend to move away from the baffle <NUM>.

Each limiting clasp <NUM> includes a body portion <NUM> connected to the button body <NUM> and a hook portion <NUM> formed on an end of the body portion <NUM> far away from the button body <NUM>. The body portion <NUM> extends through a respective through hole of the at least one through hole <NUM> and plays a role of guide track. The hook portion <NUM> is configured to hook on an edge of the respective through hole <NUM> to prevent the limiting clasp <NUM> from coming out of the respective through hole <NUM>, thereby keeping the button body <NUM> on a side of the baffle <NUM>.

The operation button <NUM> may have four limiting clasps <NUM> distributed at four corners of the button body <NUM>, respectively. Accordingly, four through holes <NUM> are defined in the baffle <NUM>.

In order to achieve the locking and unlocking control on the instrument moveable component <NUM> by the operation button <NUM>, the operation button <NUM> further includes an actuating portion <NUM>. Accordingly, the instrument moveable component <NUM> has an actuated portion <NUM>. When the button body <NUM> gets close to the baffle <NUM>, the actuating portion <NUM> interferes with the actuated portion <NUM> to enable the moveable component body <NUM> to move towards the unlocked position, and when the button body <NUM> gets far away the baffle <NUM>, the actuating portion <NUM> detaches from the actuated portion <NUM>, to enable the moveable component body <NUM> to move towards the locked position.

The actuating portion <NUM> is formed on a bottom of the button body <NUM> and protrudes downwards the button body <NUM>. The actuated portion <NUM> protrudes from the moveable component body <NUM>. The actuating portion <NUM> has an actuating surface <NUM>, the actuated portion <NUM> has an actuated surface <NUM>, both the actuating surface and the actuated surface may be configured as inclined surfaces, such that the actuating surface <NUM> and the actuated surface <NUM> are in sliding fitting.

In some embodiments, the actuating portion <NUM> may be configured as a rolling part, such as a bearing or a roller, the actuated portion <NUM> may have the actuated surface <NUM> configured as an inclined surface, such that the rolling part and the actuated surface <NUM> are in rolling fitting.

Thus, when the user presses on the operation button <NUM>, the button body <NUM> gets close to the baffle <NUM>, and the actuating surface <NUM> of the actuating portion <NUM> interferes with the actuated surface <NUM> of the actuated portion <NUM>. With the cooperation of the actuating portion and the actuated portion, a longitudinal movement of the operation button <NUM> is converted into a transverse movement of the instrument moveable component <NUM>, such that the instrument moveable component <NUM> moves towards the unlocked position. When the user releases the operation button <NUM>, the button body <NUM> gets away from the baffle <NUM> under the action of the second resilient component <NUM>, and the actuating surface <NUM> does not interfere with the actuated surface <NUM> any longer, such that the instrument moveable component <NUM> moves towards the locked position under the action of the first resilient component <NUM>.

Claim 1:
A structure for connecting a sterile adapter (<NUM>) to a surgical instrument (<NUM>), wherein the sterile adapter (<NUM>) has a top surface on which a plurality of adapter fixed engaging members (<NUM>) are provided, and the surgical instrument (<NUM>) is connected to the sterile adapter (<NUM>), the surgical instrument (<NUM>) includes:
a base (<NUM>); and
at least one instrument fixing assembly (<NUM>) provided at the base (<NUM>) and configured to fix the base (<NUM>) to the sterile adapter (<NUM>), wherein each of the at least one instrument fixing assembly (<NUM>) includes an instrument moveable component (<NUM>) provided with a plurality of moveable engaging members (<NUM>) cooperating with the plurality of adapter fixed engaging members (<NUM>), and the plurality of moveable engaging members (<NUM>) are moveable together with the instrument moveable component (<NUM>), and wherein the instrument moveable component (<NUM>) is moveable between a locked position where the plurality of moveable engaging members (<NUM>) are engaged with the plurality of adapter fixed engaging members (<NUM>) and an unlocked position where the plurality of moveable engaging members (<NUM>) are detached from the plurality of adapter fixed engaging members (<NUM>), and the instrument moveable component (<NUM>) has a movement path parallel to a surface of the sterile adapter (<NUM>).