CN114271942B - Sterile curtain accessory and surgical robot system - Google Patents
Sterile curtain accessory and surgical robot systemInfo
- Publication number
- CN114271942B CN114271942B CN202011039672.5A CN202011039672A CN114271942B CN 114271942 B CN114271942 B CN 114271942B CN 202011039672 A CN202011039672 A CN 202011039672A CN 114271942 B CN114271942 B CN 114271942B
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- surgical instrument
- sterile drape
- instrument manipulator
- sterile
- surgical
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Abstract
The invention relates to the field of medical equipment, and discloses a sterile curtain accessory and a surgical robot system, wherein the sterile curtain accessory comprises the following components: at least one sterile drape configured to be overlaid on a surgical instrument manipulator of a surgical robot, the sterile drape including an outer surface configured to be adjacent a sterile field and an inner surface configured to be adjacent a non-sterile surgical instrument manipulator. The inner surface is provided with a close fitting section, a part of the surgical instrument manipulator is provided with a surface for fixing the close fitting section, and the unfolded length of the surface is equal to the length of the close fitting section. The sterile drape is simple and easy to install and allows the excess drape to be folded back sufficiently to closely conform to the contours of the instrument while allowing maximum freedom of movement during the surgical procedure when the surgical instrument manipulator is in motion.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a sterile drape accessory and a surgical robot system.
Background
Minimally invasive surgery has the characteristics of small wound area, quick recovery and the like, and has been widely used in clinical surgery. The surgeon typically manipulates the master manipulator from a location remote from the patient to remotely control the motion of the surgical tool at the surgical site at the slave end to achieve a more stable and accurate surgical procedure.
In the surgical robot system, generally, a surgical tool is disposed on a surgical instrument manipulator, which is disposed on a surgical robot base, and the surgical tool is inserted into a human body through a stab card during a surgery, and surgical operations of different positions are realized by controlling a surgical actuator at the end of the surgical tool. While the motion of the surgical implement needs to be controlled based on the input torque and load, the servo motor providing the input torque and load may be provided on a surgical instrument manipulator coupled to the surgical tool.
During surgery, because portions of the surgical instrument manipulator will directly contact the surgical tool, are susceptible to contamination during surgery due to proximity to the surgical site, and the drive module of the surgical instrument manipulator portion is generally not sterilized by conventional means such as steam, heat and pressure or chemicals, non-sterile surgical instrument manipulator is typically isolated from the sterile surgical tool from the operating environment by a sterile barrier, which includes a plastic sterile drape. Often, a doctor needs to replace different surgical tools according to different wizard, so that the surgical tools are detachably arranged on the surgical instrument manipulator, and a connecting adapter cylinder is arranged between the surgical instrument manipulator and the surgical tools to accurately transmit torque and load in real time. To further ensure isolation between the surgical instrument manipulator and the surgical tool, portions of the sterile drape also need to effectively protect the adapter so that unexposed portions of the adapter remain sterile.
However, existing sterile drapes are difficult and time consuming to install while covering a surgical instrument manipulator, and tend to limit movement of the surgical tool, e.g., if the drape interface is not properly aligned or registered over the surgical instrument manipulator or adapter, it may become involved and frustrate limiting movement of the surgical tool. And during the operation, the surgical instrument manipulator or the surgical tool frequently moves, so that redundant drapes are easily wound or sagged, and the movement of the surgical instrument manipulator or the surgical tool is influenced.
Disclosure of Invention
Based on the above problems, it is an object of the present invention to provide a sterile drape attachment and surgical robotic system, which is simple and convenient to install, and which is capable of folding the excess drape sufficiently to closely conform to the contours of the instrument while allowing maximum freedom of movement during the surgical procedure.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A sterile drape accessory comprising at least one sterile drape configured to be overlaid on a surgical instrument manipulator of a surgical robot, the sterile drape comprising an outer surface configured to be adjacent a sterile field and an inner surface configured to be adjacent the surgical instrument manipulator that is not sterile;
the inner surface is provided with a close fitting section, a part of the surgical instrument manipulator is provided with a surface for fixing the close fitting section, and the length of the surface developed is equal to that of the close fitting section.
As a preferred embodiment of the present invention, the closely fitting sections are provided continuously or intermittently.
As a preferred embodiment of the present invention, the close fitting section is provided so that surfaces to which the surgical instrument manipulator fixes the close fitting section can be attached to each other by magnet attraction or by glue adhesion.
As a preferred embodiment of the present invention, the close fitting section includes a plurality of patches arranged at intervals;
The part of the surgical instrument manipulator, which is used for fixing the close fitting section, is provided with a plurality of spaced fitting blocks;
The length of the patch distribution is equal to that of the patch distribution, and the patch are correspondingly attached to each other.
As a preferred scheme of the invention, each patch is provided with at least one bulge vertical to the surface of the patch;
The sticking block is provided with a groove matched with the protrusion.
As a preferred aspect of the invention, the sterile drape is in the form of a sheet and/or bag-like structure.
As a preferred aspect of the present invention, the sterile drape attachment further comprises a sheath connecting the base and the loop;
the sterile curtain is provided with a first opening, the sheath connecting base passes through the first opening, and the surface of the sheath connecting base is adhered with the first opening;
The sterile drape is provided with a second opening, the annular piece is circumferentially arranged along the second opening, and the outer circumferential surface of the annular piece is adhered with the second opening.
As a preferred aspect of the invention, one side of the collar is provided with a first snap feature to detachably connect the collar to the surgical instrument manipulator.
As a preferable mode of the invention, the annular member is provided with an engaging step along the axial direction, and the inner peripheral surface of the engaging step is provided with a chamfer.
As a preferred embodiment of the present invention, the inner surface is further provided with a plurality of struts disposed at intervals.
As a preferred aspect of the invention, the sterile drape is further provided with a first connection feature configured to enable the sterile drape to be closed over the surgical instrument manipulator.
As a preferred aspect of the present invention, a first fastener is also provided on the inner surface, the first fastener being configured to enable the open end inner surface of the sterile drape to be in secure engagement with the surgical instrument manipulator.
As a preferred aspect of the present invention, a second fastener is provided on the outer surface of the open end of the sterile drape;
the second fastener is a tether or a tie or a sheet-like extendable strip.
A surgical robotic system comprising at least one sterile drape as described above;
At least one surgical instrument manipulator;
A support frame which is arranged around the periphery of the surgical instrument manipulator and is arranged to be capable of linearly moving along the extending direction of the surgical instrument manipulator;
The portion of the support frame above the surgical instrument manipulator is provided with a surface for securing the conformable segment, a portion of the surgical instrument manipulator extending distally from the surface of the support frame is provided with a surface for securing the conformable segment, the surface of the surgical instrument manipulator is expanded to a length equal to the length of the conformable segment, and the sterile drape extends from the conformable segment and is configured to cover the surgical instrument manipulator.
As a preferred embodiment of the invention, the support frame has a U-like structure, and the bottom of the support frame is positioned above the surgical instrument manipulator with a gap therebetween.
The beneficial effects of the invention are as follows:
1. According to the sterile curtain accessory and the surgical robot system, the inner surface of the sterile curtain accessory is provided with the close fitting section with the same length as the part which corresponds to the surgical instrument manipulator and is received, and the patches on the sterile curtain and the patches on the surgical instrument manipulator are used for realizing the fastening and fitting of the sterile curtain accessory and the surgical robot system, so that the sterile curtain is always kept in fit in the movement process of the surgical instrument manipulator, and the movement of the surgical instrument manipulator or the surgical tool is not influenced by winding sagging. 2. The sheath on the sterile drape is detachably connected with the annular piece and the surgical instrument manipulator, so that the surgical accessory and the surgical instrument manipulator can be conveniently installed and detached, and the annular piece and the adapter are rotatably connected, thereby ensuring that the surgical tool and the adapter are on the sterile side and not influencing the rotary motion of the surgical tool. 3. By arranging a support frame capable of linearly moving along the extending direction of the surgical instrument manipulator, the sterile drape is driven to be unfolded along the surgical instrument manipulator or the redundant drape is fully folded back to closely adapt to the appearance of the instrument when the support frame moves, so that the redundant drape is prevented from being wound or drooped, and meanwhile, the maximum freedom of movement in the surgical process is allowed. 4. The sterile curtain is supported by the support rods, so that redundant curtain winding or sagging in the movement process is further avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
FIG. 1 is a schematic view of a surgical robotic system according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a first sterile drape covering a surgical instrument manipulator provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of a first drape portion provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of an adapter according to an embodiment of the present invention;
FIG. 5 is a partial schematic view of an adapter and collar engagement provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic partial cross-sectional view of an adapter and collar engagement provided in accordance with an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a sheath connection base according to an embodiment of the present invention.
List of reference numerals:
1. A base;
2. Surgical instrument manipulator, 21, support frame, 22, linear module assembly, 23, drive module, 24, arc segment portion;
3. a surgical tool;
4. Adapter, 412, snap groove, 4121, guide ramp;
5. Sterile drape, 51, sheath connection base, 52, loop, 521, protrusion, 522, snap-fit step, 5221, chamfer, 53, tight-fitting section, 531, patch, 54, first sterile drape, 541, first drape portion, 542, second drape portion, 55, second sterile drape, 56, strut, 57, first fastener.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected or detachably connected, mechanically connected or electrically connected, directly connected or indirectly connected through intermediaries, or may be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The end near the operator or the base is defined as the proximal end or the rear end, and the end near the patient is the distal end or the front end.
As shown in fig. 1, the present embodiment provides a sterile drape attachment comprising at least one sterile drape 5, the sterile drape 5 being overlaid on a surgical instrument manipulator 2 of a surgical robot such that an outer surface of the sterile drape 5 is adjacent a sterile field and an inner surface is adjacent a non-sterile surgical instrument manipulator 2. Specifically, the surgical instrument manipulator 2 is movably disposed on the base 1, and the surgical instrument manipulator 2 may include a plurality of movable joints, so that the horizontal direction, the vertical direction, and the lateral swing position of the surgical instrument manipulator 2 can be adjusted by each movable joint, thereby meeting the position adjustment requirement of the surgical machine before or during the operation, so that the surgical tool 3 mounted at the distal end of the surgical instrument manipulator 2 is adjusted to a preferred pose, and further, the surgical executor at the distal end of the surgical tool 3, such as a grasper, a separation forceps, a pair of bending shears, an electric hook, and the like, reaches the target position, thereby performing the corresponding surgical action. It will be appreciated that the sterile drape 5 may be cut into a corresponding sheet or pouch according to the shape of the surgical instrument manipulator 2, and that the sterile drape 5, after being fully extended, may fully cover the surgical instrument manipulator 2.
In the above embodiment, the inner surface of the sterile drape 5 is provided with a close-fitting section 53 composed of a plurality of patches, and a portion of the surgical instrument manipulator 2 is provided with a surface for fixing the close-fitting section 53, which is spread out to have the same length as the close-fitting section 53. As shown in fig. 3, the plurality of patches 531 form a plurality of patch pairs, each patch pair is arranged in parallel, the plurality of patch 531 pairs are distributed at intervals along the same straight line, a part of the surface of the surgical instrument manipulator 2, which fixes the close fitting section 53, is provided with patches arranged at intervals at the same interval as the patches 531, the distribution length of the patches is equal to or substantially equal to the distribution length of the patches 531, and the patches 531 and the patches can be correspondingly fitted to each other. The patch 531 and the patch block have the same shape and size and are rectangular. Preferably, the patch 531 may be an iron sheet, and the patch is a magnet block, and the two are fixedly attached and connected through magnet adsorption. It should be appreciated that the surfaces of the patch 531 and the patch may be provided with glue, and the two are bonded by glue. It should also be appreciated that the shape of the patch 531 and patch is not limited to rectangular, but may be circular, square, irregular polygonal, or the like. The plurality of patches 531 may be arranged in other shapes or in other manners, for example, all patches 531 or patches may be arranged along a straight line or along three straight lines, as long as the arrangement of the patches is the same as that of the patches 531, without departing from the scope of the present invention. It should be noted that the close fitting section 53 may be continuous or intermittent, for example, the close fitting section 53 may also be directly composed of a continuous patch section or a continuous or intermittent surface coated with glue, and the portion of the surgical instrument manipulator 2 where the close fitting section 53 is fixed is provided with a surface corresponding to the close fitting section 53. By ensuring that the deployed lengths of the conforming section 53 and the surgical instrument manipulator 2 corresponding to the portion received by the fixed conforming section 53 are equal, the sterile drape 5 remains conforming throughout the movement of the surgical instrument manipulator 2 without entanglement sagging affecting the movement of the surgical instrument manipulator 2 or surgical tool 3.
In the above preferred embodiment, each patch 531 is provided with at least one protrusion perpendicular to the surface of the patch 531, and the patch block is provided with a groove adapted to the protrusion. Specifically, the two ends of the patch 531 are symmetrically provided with protrusions, which may be cylindrical or solid geometric, preferably cylindrical protrusions, and the ends of the protrusions are pointed, so that the protrusions extend into the corresponding grooves.
As shown in fig. 1-3, in the preferred embodiment described above, sterile drape 5 includes a first sterile drape 54 that receives surgical instrument manipulator 2 and a second sterile drape 55 that receives at least a portion of base 1. In particular, first sterile drape 54 and second sterile drape 55 each include an inner surface disposed adjacent to sterile surgical tool 3 and an outer surface disposed adjacent to non-sterile surgical instrument manipulator 2 or base 1, and first sterile drape 54 and second sterile drape 55 may be sheet-like structures, pouch-like structures, or a combination of sheet-like and pouch-like structures. First sterile drape 54 includes a first drape portion 541 that receives a distal portion of surgical instrument manipulator 2 and a second drape portion 542 that receives a proximal portion of surgical instrument manipulator 2. The first drape portion 541 has a conforming section 53 on an inner surface thereof and a portion of the surgical instrument manipulator 2 has a surface securing the conforming section 53 that is spread apart to a length equal to the length of the conforming section 53. It should be appreciated that the base 1 includes a column and a cross beam, the surgical instrument manipulator 2 is movably disposed at the bottom of the cross beam, the second drape portion 542 is covered on the outer circumference of the surgical instrument manipulator 2 from below the cross beam, the first drape portion 541 is covered on the outer circumference of the surgical instrument manipulator 2 from a portion of the surgical instrument manipulator 2 remote from the base 1, and the first drape portion 541 and the second drape portion 542 have partial areas overlapping, so that the surgical instrument manipulator 2 can be completely covered. More preferably, second drape portion 542 includes two portions spaced apart from one another, one of which is configured to receive a proximal-most portion of surgical instrument manipulator 2 and the other of which is configured to receive a medial portion of surgical instrument manipulator 2. The installation coverage of the drape is facilitated and the influence of the movement of the surgical instrument manipulator 2 or the surgical tool 3 is avoided by arranging the sterile drape 5 as a multipart separate drape. It should be noted that first drape portion 541 and second drape portion 542 may also be integrally formed. A second sterile drape 55 covers the side of the column adjacent to the surgical instrument manipulator 2 to further protect the column from contamination during surgery. It should be understood that the second sterile drape 55 may be unitary or composed of several separate pieces.
As shown in FIGS. 3 and 7, in this embodiment, the sterile drape 5 further includes a sheath connection base 51 and a loop 52. The sterile drape 5 is provided with a first opening, the sheath connecting base 51 passes through the first opening, and the lower surface of the sheath connecting base 51 is connected with the first opening in the circumferential direction through glue adhesion. The sterile drape 5 is provided with a second annular opening, the outer diameter of the annular piece 52 is equal to the diameter of the second opening, the annular piece 52 is circumferentially arranged along the second opening, and the outer peripheral surface of the annular piece 52 is connected with the second opening through glue adhesion. More specifically, the sheath connection mount 51 and loop 52 are disposed on a first drape portion 541 of the first sterile drape 54.
In a preferred embodiment, one side of the collar 52 is provided with a first snap feature to removably couple the collar 52 to the surgical instrument manipulator 2. More preferably, the top surface of the collar 52 is provided with a first snap feature and the distal end of the surgical instrument manipulator 2 is provided with a second snap feature, one of which may be a protrusion and the other a recess. As shown in fig. 5 and 6, the top surface of the ring 52 is circumferentially spaced with a plurality of projections 521, each projection 521 extending circumferentially. The distal end of the surgical instrument manipulator 2 is provided with recesses of the same number as the protrusions 521 and adapted in shape, the protrusions 521 being engaged with the recesses so that the ring 52 is detachably fastened to the distal end of the surgical instrument manipulator 2, and the adapter 4 releasably fastens the surgical tool 3 to the distal end of the surgical instrument manipulator 2. It should be appreciated that to ensure that the collar 52 fits snugly into the distal end of the surgical instrument manipulator 2, the protrusions 521 may be configured to move circumferentially with a small extent within the recess in the distal end of the surgical instrument manipulator 2. The bottom of the ring 52 is provided with an engagement step 522 in the axial direction, and the inner peripheral surface of the engagement step 522 is provided with a chamfer 5221. The proximal end of the adapter 4 is provided with a locking groove 412, the end of the inner circumferential surface of the locking groove 412 is provided with a guiding inclined surface 4121, and the guiding inclined surface 4121 is matched with a chamfer 5221 of the inner circumferential surface of the locking step 522, so that the locking step 522 can smoothly slide into the locking groove 412 to be locked in a single direction and can rotate relative to each other. The adapter 4 is rotated with respect to the ring 52 so as not to affect the rotational movement of the surgical tool 3, and the ring 52 is not rotated, and the sterile drape 5 extending circumferentially from the ring 52 is not rotated, so that the surgical tool 3 can be prevented from being caught in the sterile drape 5 during the rotational movement. It should be noted that the first engaging feature may also be a groove, and the second engaging feature may be a protrusion. It should be understood that the first engaging feature and the second engaging feature may be other engaging structures, such as a buckle, so long as the structures capable of achieving the engaging fastening therebetween do not depart from the scope of the present invention.
In the above preferred embodiment, as shown in fig. 3, a plurality of spaced apart struts 56 are also provided on the inner surface of the sterile drape 5. Specifically, the struts 56 are flexible struts 56 having a strip-like sheet structure, and for example, the struts 56 may be provided with aluminum strips inside so as to be flexible or made directly of flexible plastic in a strip shape, and the struts 56 may be provided at intervals along the movement direction of the surgical instrument manipulator 2. More preferably, the strut 56 is disposed on an inner surface of the first drape portion 541 of the first sterile drape 54. Due to the supporting action of the struts 56, unwanted sagging of the sterile drape 5 is avoided, which affects the movement of the surgical instrument manipulator 2 or the surgical tool 3.
In the above embodiment, the sterile drape 5 is further provided with a first connection feature (not shown), specifically, the sterile drape 5 is a sheet-shaped plastic film with a specific shape or a plastic film with a partially bag-shaped structure, the first connection feature may be a zipper extending along a part of the edge of the sterile drape 5, and after the sterile drape 5 is unfolded and extended along the surgical instrument manipulator 2, the zipper on the sterile drape 5 is pulled up, so that the sterile drape 5 is covered on the surgical instrument manipulator 2 in a sealing manner, and the surgical instrument manipulator 2 is prevented from being partially exposed to affect the isolation effect. It should be understood that the first attachment feature may also be a peel-and-stick strip, a glue-coated surface, or the like.
Preferably, as shown in fig. 3, a first fastening member 57 is further provided on the inner surface of the sterile drape 5, and specifically, the first fastening member 57 may be a patch, and a patch for fixing the patch is provided on the surgical instrument manipulator 2. More preferably, the patch may be a sheet of iron and the patch may be a block of magnet, the two being fixedly attached by magnet attraction to position the sterile drape 5 over the surgical instrument manipulator 2. It should be appreciated that the first fastener 57 may be a glue coated surface that is glued to both the surgical instrument manipulator 2. Further preferably, the number of first fasteners 57 may be plural, one at each end of the sterile drape 5. The inner surface of the open end of the sterile drape 5 is fastened to fit the surgical instrument manipulator 2 by the first fastener 57, thereby positioning the sterile drape 5 on the surgical instrument manipulator 2, preventing the sterile drape 5 from slipping off, affecting the covering effect.
In the above embodiment, the outer surface of the open end of the sterile drape 5 is provided with a second fastening member (not shown), in particular a sheet-like band, which extends for a certain length and which may be integrally formed with the sterile drape 5 or glued thereto. It will be appreciated that after the open end of sterile drape 5 is positioned over surgical instrument manipulator 2 by first fastener 57, the open end of sterile drape 5 is wrapped around by a tie such that the open end of sterile drape 5 is securely closed over surgical instrument manipulator 2. It should also be appreciated that the second fastener may also be a tether or a flexible, extensible strip.
In the above preferred embodiment, the end of the second fastening member is provided with a peel-and-stick sheet (not shown), and when the second fastening member is wound around the open end of the sterile drape 5, the winding of the second fastening member is more fixed by the peel-and-stick sheet, preventing the second fastening member from being scattered and affecting the winding closing effect.
The embodiment of the present invention also provides a surgical robot system including the sterile drape, at least one surgical instrument manipulator 2, and a support frame 21 of the above embodiment, the support frame 21 being disposed around the outer circumference of the surgical instrument manipulator 2, the support frame 21 being provided to be linearly movable in a direction in which the surgical instrument manipulator 2 extends.
Specifically, as shown in fig. 1 and 2, the distal end of the surgical instrument manipulator 2 is provided with a linear module assembly 22, and the linear module assembly 22 is linearly movable in the extending direction of the surgical instrument manipulator 2, and a drive module 23 is rotatably provided on the linear module assembly 22 and is linearly movable with the linear module assembly 22. The communication connection circuit pipeline of the driving module 23 is connected with a part of the surgical instrument manipulator 2 extending along the distal end to form an arc-shaped section part 24, a supporting hinge (not shown in the figure) is sleeved on the periphery of the arc-shaped section part 24, the supporting hinge can move along with the arc-shaped section part 24, a patch is arranged on the outer surface of the supporting hinge at intervals, a patch is arranged on the outer surface of the bottom of the supporting frame 21, the patch is tightly attached to a patch 531 on the inner surface of the tightly attached section 53, the surgical instrument manipulator 2 is unfolded from the bottom of the supporting frame 21 to the arc-shaped section part 24 to be equal to the tightly attached section 53 in length, and the distribution length of the patch is equal to the distribution length of the patches on the tightly attached section 53.
It should be understood that the support frame 21 has a structure similar to a U-shape, the opening end portion of the support frame is fixedly disposed on the linear module assembly 22, the U-shaped bottom portion is disposed above the surgical instrument manipulator 2 in a surrounding manner, a gap is formed between the U-shaped bottom portion and the surgical instrument manipulator 2, and a patch is disposed on the outer surface of the U-shaped bottom portion. It should be noted that the support 21 may also be L-like or otherwise shaped, so long as its bottom is located above the surgical instrument manipulator. The patch at one end of the close fitting section 53 is fixedly and closely fitted to the patch at the bottom surface of the support frame 21 and fitted along the arc-shaped section 24, and the patch at the other end is fixedly and closely fitted to the end patch of the arc-shaped section 24, and the sterile drape 5 is continued from the close fitting section 53 and is provided so as to cover the surgical instrument manipulator 2. More specifically, the patch 531 is provided with a columnar protrusion, and the patch is provided with a groove, and the protrusion is fitted with the groove, so that the sterile drape 5 is more stably fixed to cover the outer circumference of the surgical instrument manipulator 2. Illustratively, the length of the sterile drape 5 between the bottom of the cradle 21 and the arcuate section 24 is greater than or equal to the maximum displacement that the cradle 21 can move. Preferably, sterile drape 5 has a redundant portion at the proximal end of support stand 21 that is fully extended and deployed when support stand 21 is moved to the distal-most end. The redundant parts are provided so as to avoid that the surgical instrument manipulator 2 pulls the sterile drape 5 during the movement, which affects the covering effect thereof, and simultaneously due to the design of the support frame 21, the sagging and winding of the redundant drape parts, which affects the movement of the surgical instrument manipulator or the surgical tool, can be avoided. It will be appreciated that when the carriage 21 moves distally with the linear module assembly 22, the carriage 21 brings the sterile drape 5 to extend and spread along the surface of the surgical instrument manipulator 2, at which time the sterile drape 5 between the carriage 21 and the arcuate segment 24 is folded along the gap between the carriage 21 and the surgical instrument manipulator 2, and when the carriage 21 moves proximally with the linear module assembly 22, the carriage 21 brings the sterile drape 5 to fold and retract at the proximal end of the carriage 21, at which time the sterile drape 5 between the carriage 21 and the arcuate segment 24 extends and spreads along the surface of the surgical instrument manipulator 2, thereby preventing unwanted drape sagging and wrapping during movement, affecting the movement of the surgical instrument manipulator 2 and surgical tools.
In the above preferred embodiment, the number of the surgical instrument manipulators 2 of the surgical robot may be plural, and the surgical instrument manipulators 2 may be movable independently of each other. The number of sterile drapes 5 is equal to the number of surgical instrument manipulators 2, each sterile drape 5 being respectively overlaid on each surgical instrument manipulator 2 to space the non-sterile surgical instrument manipulator 2 from the sterile surgical tool 3 and thereby avoid contamination of the portion of the surgical instrument manipulator 2 close to the surgical tool 3 during or after surgery.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (13)
1. A sterile drape attachment comprising at least one sterile drape (5), the sterile drape (5) being arranged to be capable of being overlaid on a surgical instrument manipulator (2) of a surgical robot, the sterile drape (5) comprising an outer surface arranged adjacent to a sterile field and an inner surface arranged adjacent to the surgical instrument manipulator (2) which is not sterile;
the inner surface is provided with a close fitting section (53), a part of the surgical instrument manipulator (2) is provided with a surface for fixing the close fitting section (53), and the unfolded length of the surface is equal to the length of the close fitting section (53);
The sterile drape attachment further includes a collar (52);
The sterile drape (5) is provided with a second opening, the annular piece (52) is circumferentially arranged along the second opening, and the outer peripheral surface of the annular piece (52) is adhered with the second opening;
A top surface of the collar (52) is provided with a first snap feature to detachably connect the collar (52) with the surgical instrument manipulator (2);
The ring-shaped piece (52) is arranged to be clamped with the proximal end of the adapter (4) of the surgical robot at the bottom so that the adapter (4) and the ring-shaped piece (52) can rotate, wherein a clamping step (522) is arranged at the bottom of the ring-shaped piece (52) along the axial direction, a chamfer (5221) is arranged on the inner circumferential surface of the clamping step (522), a clamping groove (412) is arranged at the proximal end of the adapter (4), a guide inclined surface (4121) is arranged at the end part of the outer circumferential surface of the clamping groove (412), and the chamfer (5221) of the clamping step (522) is matched with the guide inclined surface (4121) of the clamping groove (412) so that the clamping step (522) can slide into the clamping groove (412) along a single direction to be clamped with the clamping groove and can rotate relative to each other.
2. Sterile drape attachment according to claim 1, characterized in that the close fitting section (53) is provided continuously or intermittently.
3. Sterile drape attachment according to claim 2, characterized in that the close fitting section (53) is arranged so that the surfaces of the close fitting section (53) to which the surgical instrument manipulator (2) is secured are attached to each other by magnet attraction or by glue.
4. Sterile drape attachment according to claim 1, characterized in that the close fitting section (53) comprises a plurality of spaced patches (531);
the part of the surgical instrument manipulator (2) for fixing the close fitting section (53) is provided with a plurality of spaced fitting blocks;
The length of the patch distribution is equal to that of the patch (531), and the patch (531) and the patch are correspondingly attached to each other.
5. Sterile drape attachment according to claim 4, characterized in that each of said patches (531) is provided with at least one protrusion perpendicular to the surface of said patch;
The sticking block is provided with a groove matched with the protrusion.
6. Sterile drape accessory according to claim 1, characterized in that the sterile drape (5) is in a sheet-like and/or bag-like structure.
7. The sterile drape attachment of claim 1, further comprising a sheath attachment base (51);
The sterile drape (5) is provided with a first opening, the sheath connecting base (51) passes through the first opening, and the surface of the sheath connecting base (51) is adhered with the first opening.
8. Sterile drape attachment according to claim 1, characterized in that the inner surface is further provided with a plurality of spaced apart struts (56).
9. Sterile drape accessory according to any of claims 1-8, characterized in that the sterile drape (5) is further provided with a first connection feature arranged to enable a closed covering of the sterile drape (5) over the surgical instrument manipulator (2).
10. Sterile drape attachment according to any of claims 1-8, characterized in that the inner surface is further provided with a first fastening means (57), which first fastening means (57) are arranged to enable a secure fitting of the open end inner surface of the sterile drape (5) with the surgical instrument manipulator (2).
11. Sterile drape attachment according to claim 10, characterized in that the sterile drape (5) is provided with a second fastening on the outer surface of the open end;
the second fastener is a tether or a tie or a sheet-like extendable strip.
12. A surgical robotic system, comprising:
At least one sterile drape (5) as claimed in any one of claims 1 to 11;
At least one surgical instrument manipulator (2);
A support frame (21), the support frame (21) being arranged around the outer periphery of the surgical instrument manipulator (2), the support frame (21) being arranged to be linearly movable in a direction in which the surgical instrument manipulator (2) extends;
The portion of the support (21) above the surgical instrument manipulator (2) is provided with a surface for securing the close-fitting section (53), and the sterile drape (5) continues from the close-fitting section (53) and is arranged so as to cover the surgical instrument manipulator (2).
13. Surgical robotic system according to claim 12, characterized in that the support frame (21) has a U-like structure, the bottom of the support frame (21) being located above the surgical instrument manipulator (2) with a gap between each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011039672.5A CN114271942B (en) | 2020-09-28 | 2020-09-28 | Sterile curtain accessory and surgical robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011039672.5A CN114271942B (en) | 2020-09-28 | 2020-09-28 | Sterile curtain accessory and surgical robot system |
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| Publication Number | Publication Date |
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| CN114271942A CN114271942A (en) | 2022-04-05 |
| CN114271942B true CN114271942B (en) | 2025-10-31 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110036452A (en) * | 2009-10-01 | 2011-04-07 | 주식회사 이턴 | Surgical robots and sterile drape covering them |
| CN106170266A (en) * | 2013-10-07 | 2016-11-30 | 萨迪哈·普瑞·斯里瓦斯塔瓦 | Modular interface for robotic systems |
| CN109998459A (en) * | 2017-12-04 | 2019-07-12 | 普美康股份有限公司 | Connector for endoscopic camera |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015110542A1 (en) * | 2014-01-22 | 2015-07-30 | KB Medical SA | Sterile drape and adapter for covering a robotic surgical arm and preventing contamination of a sterile field |
-
2020
- 2020-09-28 CN CN202011039672.5A patent/CN114271942B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110036452A (en) * | 2009-10-01 | 2011-04-07 | 주식회사 이턴 | Surgical robots and sterile drape covering them |
| CN106170266A (en) * | 2013-10-07 | 2016-11-30 | 萨迪哈·普瑞·斯里瓦斯塔瓦 | Modular interface for robotic systems |
| CN109998459A (en) * | 2017-12-04 | 2019-07-12 | 普美康股份有限公司 | Connector for endoscopic camera |
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| CN114271942A (en) | 2022-04-05 |
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