CN117357265A - Sterile adapter, sterile adapter clamping detection method and surgical robot - Google Patents

Abstract

The application provides a sterile adapter, sterile adapter joint detection method and surgical robot, wherein, sterile adapter includes: the transmission disc can move along the axial direction relative to the isolation plate assembly in a range smaller than the height of the transmission disc, the contact surface between the transmission disc and the isolation plate assembly has a first friction coefficient in a state that the sterile adapter is assembled on the power box, the contact surface between the transmission disc and the power output piece of the power box has a second friction coefficient, the first friction coefficient is larger than the second friction coefficient, so that the power output piece rotates relative to the transmission disc, the transmission disc is stationary relative to the isolation plate assembly, and after the transmission disc is clamped with the power output piece, the transmission disc can continuously and freely rotate relative to the isolation plate assembly along with the power output piece, or the power output piece immediately stops rotating relative to the transmission disc and the isolation plate assembly. The scheme shortens the operation preparation time of the clamping connection.

Description

Sterile adapter, sterile adapter clamping detection method and surgical robot

Technical Field

The application relates to the technical field of medical equipment, in particular to a sterile adapter, a sterile adapter clamping detection method and a surgical robot.

Background

The surgical robot is a robot capable of remotely operating and completing surgery and comprises a console, a surgical side instrument driver and surgical instruments; the surgeon controls the surgical instruments on the surgical side instrument driver at the console side, so as to meet the use requirements of different surgical instruments in the operation, the surgical instruments and the instrument driver are usually designed to be detachably connected, thereby being convenient for replacing different surgical instruments in the operation and independently sterilizing the surgical instruments. To ensure sterility of the surgical procedure, a sterile adapter is typically added between the instrument driver and the instrument to isolate the non-sterilizable instrument driver from the sterilizable instrument.

In a related art, such as chinese patent application 2015180013952. X, there is provided an instrument sterile adapter comprising a top member, a bottom member, and one or more couplers. The connector is positioned through an opening in the bottom member and then the top member is connected to the bottom member. The base member includes a plurality of base member openings, each base member opening being surrounded by a base lip portion, and each base lip including one or more keyways and one or more locking mechanisms; when the sterile adapter is mounted to the instrument driver, the instrument driver rotates the coupler such that the locking mechanism opening on the coupler aligns with the locking mechanism on the bottom lip, rotation of the coupler is locked, and the instrument driver continues to rotate relative to the coupler, thereby achieving an accurate snap-fit of the instrument driver with the coupler.

However, in the related art, the time required for the engagement of the instrument driver with the coupler is long, resulting in a long operation preparation time.

Disclosure of Invention

The application provides a sterile adapter, a sterile adapter clamping detection method and a surgical robot, which can shorten the clamping time of a power output piece of a power box and a transmission disc of the sterile adapter, and shorten the operation preparation time.

According to a first aspect of embodiments of the present application, there is provided a sterile adapter comprising: the power output device comprises a separation plate assembly and a transmission plate, wherein the transmission plate is rotatably arranged in the separation plate assembly, the transmission plate can move along the axial direction relative to the separation plate assembly in a range smaller than the height of the transmission plate, a contact surface between the transmission plate and the separation plate assembly has a first friction coefficient in a state that a sterile adapter is assembled on a power box, a contact surface between the transmission plate and a power output piece of the power box has a second friction coefficient, the first friction coefficient is larger than the second friction coefficient, so that the power output piece rotates relative to the transmission plate, the transmission plate is stationary relative to the separation plate assembly, and after the transmission plate is clamped with the power output piece, the transmission plate can continuously and freely rotate relative to the separation plate assembly or the power output piece stops rotating relative to the transmission plate and the separation plate assembly immediately.

In an alternative implementation, the first coefficient of friction is 1.5-4 times the second coefficient of friction.

In an alternative implementation, the first coefficient of friction is 0.2-0.6 and the second coefficient of friction is 0.05-0.15.

In an alternative implementation, the spacer assembly has at least one perforation provided with a lip;

the transmission disc is rotatably penetrated in the perforation, the peripheral wall of the transmission disc is provided with a first flange edge, when the sterile adapter is assembled on the power box, the axial direction of the perforation of the first flange edge is abutted with the lip edge, and the transmission disc is suitable for transmitting power to the instrument box when the power output piece of the power box is clamped; wherein a first coefficient of friction is provided between the first flange edge and the lip.

In an alternative implementation, the surface of the lip facing the first flange side is a first surface, and the surface of the first flange side facing the lip side is a second surface;

at least one of the first surface and the second surface is configured as a roughened surface;

the surface of the driving disk facing one side of the power output piece is a third surface, and the surface of the power output piece facing one side of the driving disk is a fourth surface; one of the first surface and the second surface configured as a roughened surface has a first roughness and the other has a second roughness;

The first roughness is greater than the roughness of any one of the third surface and the fourth surface, and the second roughness is greater than or equal to the roughness of any one of the third surface and the fourth surface.

In an alternative implementation manner, the first surface is provided with a plurality of damping convex points/convex strips, and the damping convex points/convex strips are distributed at intervals along the circumferential direction of the lip;

and/or the first surface is provided with a plurality of grooves which are arranged at intervals along the circumferential direction of the lip, and the grooves extend along the radial direction of the perforation.

In an alternative implementation manner, the second surface is provided with a plurality of grooves, the plurality of grooves are distributed at intervals along the circumferential direction of the first flange edge, and the grooves extend along the radial direction of the transmission disc;

and/or, the second surface is provided with a plurality of damping convex points/convex strips, and the damping convex points/convex strips are distributed at intervals along the circumferential direction of the first flange edge.

In an alternative implementation, a damping shim is provided between the lip and the first flange edge, with a first coefficient of friction therebetween; or the damping shim and the lip have a first coefficient of friction therebetween.

In an alternative implementation, the damping shim includes a friction plate.

In an alternative implementation, the damping shim includes: rubber gaskets or silicone gaskets.

In an alternative implementation, an adhesive layer is provided between the lip and the first flange edge.

In an alternative implementation, the lip includes a first sub-lip and a second sub-lip, the first sub-lip having an arc length greater than an arc length of the second sub-lip, the first flange edge having a first coefficient of friction with the first sub-lip.

According to a second aspect of the embodiments of the present application, there is provided a method for detecting a snap-on of a sterile adapter, the sterile adapter being connected to a power box, the power box being provided with a driving member and a power output member, the driving member being configured to drive the power output member; the method comprises the following steps:

monitoring an operating parameter of the drive member with the sterile adapter connected to the power pack;

and under the condition that the variation value of the operation parameter is larger than or equal to a preset threshold value, determining that the transmission disc of the sterile adapter is clamped with the power output piece.

In an alternative embodiment, the operating parameters include: at least one of operating current, output power, or output torque.

According to a third aspect of embodiments of the present application, there is provided a surgical robot comprising:

a power box having a power take-off;

the sterile adapter provided by any optional implementation manner of the first aspect of the embodiments of the present application, wherein the sterile adapter is detachably connected to the power box, and a transmission disc of the sterile adapter is clamped with the power output piece;

And the instrument box is detachably connected to one side of the sterile adapter, which is opposite to the power box, and the power input piece of the instrument box is clamped with the transmission disc.

According to the sterile adapter, the sterile adapter clamping detection method and the surgical robot, the transmission disc is rotatably arranged in the isolation plate assembly and can axially move in a range smaller than the height of the transmission disc relative to the isolation plate assembly, when the sterile adapter is mounted on the power box, the contact surface between the transmission disc and the isolation plate assembly has a first friction coefficient, and the contact surface between the transmission disc and the power output piece has a second friction coefficient; in the embodiment of the application, the first friction coefficient is set to be larger than the second friction coefficient. Thus, when the sterile adapter is mounted to the instrument driver (power pack), the power take-off of the power pack (e.g., an output disc or power take-off connected to the motor) contacts the drive disc and generates a positive pressure, which rubs against the drive disc as the power take-off rotates; at this time, because the first friction coefficient is greater than the second friction coefficient, the friction force between the driving disc and the isolation plate assembly is greater than the friction force between the driving disc and the power take-off member, the driving disc and the isolation plate assembly are in a relatively static state, namely the power take-off member and the driving disc rotate relatively, after the driving disc is clamped with the power take-off member, the driving disc can rotate continuously and freely relative to the isolation plate assembly along with the power take-off member, or the power take-off member stops rotating relative to the driving disc and the isolation plate assembly immediately; therefore, before the driving piece drives the power output piece until the power output piece is clamped with the driving disc, the driving disc is always kept in a static state, compared with the prior art, the angle (the angle when the driving disc rotates) through which the power output piece needs to rotate is reduced, namely, the time for clamping the power output piece with the driving disc is shortened, and the preparation time of an operation is shortened.

In addition, in the scheme provided by the embodiment of the application, after the transmission disc is clamped with the power output part, the torque force of the power output part is transmitted to the transmission disc and drives the transmission disc to rotate relative to the isolation plate assembly, namely the transmission disc overcomes the friction force between the transmission disc and the isolation plate assembly and rotates (the transmission disc can continuously and freely rotate relative to the isolation plate assembly); therefore, compared with the locked-rotor mode of the related art, the driving piece (such as a motor) of the power box is always kept in a rotating running state, and the output torque of the motor can be ensured to be in a rated torque range, so that the motor can be protected, and the service life of the motor is prolonged.

Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.

FIG. 1 is a simplified schematic illustration of a power pack, sterile adapter and instrument pack arrangement in a surgical robot provided in the related art;

FIG. 2 is a simplified schematic illustration of the explosive construction of a power pack, sterile adapter and instrument pack in a surgical robot provided in the related art;

fig. 3 is a schematic structural view of a power box in the surgical robot provided in the related art;

fig. 4 is a schematic structural view of a power take-off in the surgical robot provided in the related art;

FIG. 5 is a schematic view of the overall structure of a sterile adapter in a surgical robot provided in the related art;

FIG. 6 is a schematic view of a structure of a driving disk in the surgical robot provided in the related art;

fig. 7 is a schematic view of the overall structure of a sterile adapter provided in an embodiment of the present application;

FIG. 8 is a schematic view of a partial enlarged structure at A in FIG. 7;

fig. 9 is a schematic view of an exploded view of a spacer assembly and a drive disk in a sterile adapter provided in an embodiment of the present application;

FIG. 10 is a schematic view of a partially enlarged structure at B in FIG. 9;

FIG. 11 is a schematic illustration of another configuration of a drive disk in a sterile adapter provided in an embodiment of the present application;

FIG. 12 is a schematic view of a first spacer in a sterile adapter provided in an embodiment of the present application;

FIG. 13 is another schematic view of the first barrier in the sterile adapter provided in an embodiment of the present application;

FIG. 14 is a flowchart of one implementation of a method for detecting a sterile adapter snap provided in an embodiment of the present application;

fig. 15 is a graph of current variation of a driver in a surgical robot provided in an embodiment of the present application.

Reference numerals illustrate:

10-surgical robot;

110-a sterile adapter; 120-a power box; 130-instrument box;

a 111-separator assembly; 112-a drive disk; 121-a power take-off;

1111-perforating; 1112-lips; 1113-a first surface; 1114—a first separator; 1115-a second separator; 1116-a first sub-lip; 1117-a first escape port; 1118-a second sub-lip; 1121—a first flange edge; 1122-a second surface; 1123-a second flange edge; 1124-second avoidance port; 1125-a first clamping mechanism; 1126-a second positioning mechanism; 1127-a second clamping mechanism; 1211-a third snap-in mechanism; 1212-first positioning mechanism.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

In this specification, numerous specific details are set forth in some places. However, it is understood that embodiments of the present application may be practiced without these specific technical details. Such detailed description should not be taken in a limiting sense, and the scope of the present application is defined only by the appended claims. Well-known structures, circuits, and other details have not been shown in detail in order not to obscure the gist of the present application.

In this specification, the drawings show schematic views of several embodiments of the present application. However, the drawings are merely schematic, and it is to be understood that other embodiments or combinations may be utilized and that mechanical, physical, electrical and step changes may be made without departing from the spirit and scope of the present application.

The terminology used herein below is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. While the device may be otherwise oriented (e.g., rotated 90 deg. or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, "a" and "an" in the singular are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

The term "object" generally refers to a component or group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part" and "piece" are used interchangeably.

The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device, including an end effector, configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, stapling apparatus, imaging apparatus (e.g., endoscope or ultrasound probe), and the like. Some instruments used in embodiments of the present application further provide an articulating support (sometimes referred to as a "wrist") for the surgical tool such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom such as open or closed jaws or knives that translate along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide for one-way or two-way information communication between the instrument and one or more system components.

The term "mated" may be understood in a broad sense as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather, many objects or components may be used to mate two or more objects. For example, objects a and B may be mated by using object C. Furthermore, the terms "detachably coupled," "detachably assembled," or "detachably mated" may be construed to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

The description of the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, the terms "or" and/or "as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been widely used with the advantages of small surgical trauma, short recovery time, less pain of patients and the like. The surgical robot is a robot capable of remotely manipulating a surgical instrument on a surgical instrument driver controlled by a surgeon on a console side; the minimally invasive surgery robot, such as a tertiary endoscope robot, can avoid operation limitation due to the characteristics of high dexterity, high control precision, visual operation images and the like, such as hand vibration and the like during filtering operation, is widely applied to operation areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like, is applicable to other operation areas, and is only exemplified as specific examples in the embodiment of the application, but not limited to the application range of the surgery robot.

Summary of Master-slave teleoperated laparoscopic surgical robots

Endoscopic surgical robots typically include a doctor control platform, a patient surgical platform, and an image platform, where a surgeon sits on the doctor control platform, views two-or three-dimensional images of a surgical field transmitted by a scope placed in a patient, and manipulates movements of a robotic arm on the patient surgical platform, as well as surgical instruments or scopes attached to the robotic arm. The mechanical arm is equivalent to an arm simulating a human, the surgical instrument is equivalent to a hand simulating the human, and the mechanical arm and the surgical instrument provide a series of actions simulating the wrist of the human for a surgeon, and meanwhile tremble of the human hand can be filtered.

The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at an end of a support assembly of each robotic arm. A surgical instrument and/or endoscope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and/or a scope that are operated at a surgical site within a patient. Each surgical instrument manipulator may be permitted to provide the associated surgical instrument in a variety of forms that move in one or more mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located where the surgical instrument enters the body and is referred to as a "telecentric point".

The image platform typically includes one or more video displays having video image capturing functionality (typically endoscopes) and for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transfer images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, which in turn transfer the video images to a host computer of an image platform by photoelectric conversion or the like. The processed image is then displayed on a video display for viewing by an assistant through image processing.

The physician control platform may be at a single location in a surgical system consisting of an endoscopic surgical robot or it may be distributed at two or more locations in the system. The remote master/slave operation may be performed according to a predetermined control degree. In some embodiments, the physician control platform includes one or more manually operated input devices, such as a joystick, exo-skeletal glove, power and gravity compensation manipulator, or the like. The input devices collect operation signals of a surgeon, and control signals of the mechanical arm and the surgical instrument manipulator are generated after the operation signals are processed by the control system, so that remote control motors on the surgical instrument manipulator are controlled, and the motors further control the movement of the surgical instrument.

Typically, the force generated by the teleoperated motor is transmitted via a transmission system, transmitting the force from the teleoperated motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device controlling the manipulator may be located remotely from the patient, either in or out of the room in which the patient is located, or even in a different city. The input signal of the input device is then transmitted to the control system. Those familiar with tele-manipulation, tele-control and tele-presentation surgery will appreciate such systems and components thereof.

Fig. 1 is a simplified schematic view of a power box, a sterile adapter, and an instrument box in a surgical robot provided in the related art, and fig. 2 is a simplified schematic view of an explosive structure of the power box, the sterile adapter, and the instrument box in the surgical robot provided in the related art.

To meet the needs of different surgical instruments (not shown) during surgery, referring to fig. 1 and 2, a surgical instrument driver (i.e., an instrument box 130) is generally designed to be detachably connected to the power box 120, so that the different surgical instruments can be conveniently replaced during surgery and independently sterilized. To ensure sterility of the surgical procedure, a sterile adapter 110 (also referred to as a barrier in some examples, with a sterile protective sheath attached thereto, which encases the sterile parts of the surgical robot, such as the power box 120, the slave manipulator arm, etc., to meet the sterility requirements of the surgical instrument, the surgical environment, etc.), i.e., the instrument box 130 is mounted on the power box 120, and power is transmitted through the sterile adapter 110 sandwiched between the power box 120 and the instrument box 130; wherein the power pack 120 transmits power to the sterile adapter 110, and the sterile adapter 110 transmits power to the instrument pack 130, thereby driving the surgical instrument; therefore, the power take-off 121 in the power box 120 is required to be engaged with the drive disk 112 of the sterile adapter 110 in assembly, and the drive disk 112 of the sterile adapter 110 is engaged with the power input (not shown) of the instrument box 130.

Fig. 3 is a schematic structural view of a power box in the surgical robot provided in the related art, and fig. 4 is a schematic structural view of a power output member in the surgical robot provided in the related art.

The structure of the power box 120 in the surgical robot 10 will be described in detail with reference to fig. 3 and 4.

Referring to fig. 3 and 4, in some examples, a drive member (not shown) is provided in the power box 120. It will be appreciated that the drive member may be in particular a motor (e.g. a servo motor), and that the motor may be of other types as well, or a hydraulic or pneumatic drive, etc., the particular type of motor being illustrated by way of some specific example only and not limiting of the particular type of motor. The output shaft of the driving member is connected with a power output member 121, that is, the output shaft of the driving member provides torsion to the power output member 121, so that power is output.

In some examples, referring to fig. 3, 5 power take-offs 121 may be provided within the power box 120; of course, 2, 3 or 4 power take-offs 121 may be provided; alternatively, in some examples, power take-offs 121 may be provided in greater numbers, such as 6, 7, etc. That is, the specific number of the power output members 121 is not limited, and may be set according to actual needs.

Referring to fig. 4, in some examples, a third engagement mechanism 1211 is provided on the power take-off 121. In some alternative examples, third snap-fit mechanism 1211 may be a groove or recess provided on a side of power take-off 121 facing away from power pack 120; it will be appreciated that in other alternative examples, the third engagement mechanism 1211 may also be a boss, a bump, a protrusion, or the like disposed on a side of the power take-off 121 facing away from the power case 120. The third clamping mechanism 1211 is used to clamp with the sterile adapter 110 in the surgical robot 10, for example, with the drive plate 112 of the sterile adapter 110.

In some examples, a plurality of third clamping mechanisms 1211 on the power output member 121 may be provided, and the plurality of third clamping mechanisms 1211 are arranged at intervals along the circumferential direction of the power output member 121, wherein 2 third clamping mechanisms 1211 are shown as specific examples in fig. 4; it will be appreciated that when the number of the third clamping mechanisms 1211 is plural, the plurality of third clamping mechanisms 1211 may be arranged at regular intervals in the circumferential direction of the power output member 121, so that the balance and stability of the rotation of the power output member 121 driven by the driving member can be ensured.

In some examples, referring to fig. 4, a first positioning mechanism 1212 (also referred to as a positioning shaft in some examples) may also be provided on the power take-off 121; the first positioning mechanism 1212 may be coaxial with the rotational axis of the power take-off 121. Wherein, the first positioning mechanism 1212 may be a boss provided on the power take-off 121; in other alternative examples, the first positioning mechanism 1212 may also be a recess provided on the power take-off 121. It is appreciated that in some examples, the first positioning mechanism 1212 may be frustoconical or conical.

Fig. 5 is a schematic view of an overall structure of a sterile adapter in a surgical robot provided in the related art, and fig. 6 is a schematic view of a drive disk in a surgical robot in the related art.

The sterile adapter 110 in the surgical robot 10 is described in detail below in conjunction with fig. 5 and 6.

Referring to fig. 5, in some examples, sterile adapter 110 comprises: a spacer assembly 111 and a drive plate 112. The driving disc 112 is rotatably disposed in the isolation plate assembly 111, and the driving disc 112 can move axially within a range smaller than the height of the isolation plate assembly 111.

Referring to fig. 5, in some examples, at least one perforation 1111 may be provided on the separator plate assembly 111; the driving disc 112 is disposed through the hole 1111 and rotates relative to the hole 1111. Alternatively, in some examples, two half holes that cooperate to form the complete through hole 1111 may be provided on the partition board assembly 111, and the driving disk 112 is snapped into the two half holes.

That is, a blocking portion may be provided on at least one of the partition plate assembly 111 or the driving disk 112 to block and define a movable range of the driving disk 112 in the axial direction.

In some examples, referring to fig. 5, the number of perforations 1111 may be multiple, such as 5 perforations 1111 shown as an example in fig. 5, it being understood that in some examples, the number of perforations 1111 may also be 2, 3, or 4; alternatively, in other examples, the number of perforations 1111 may be 6, 7, etc. It is understood that the number of perforations 1111 is shown as a few specific examples only and is not limiting of the specific number of perforations 1111.

Referring to fig. 6, in some examples, a first clamping mechanism 1125 may be provided at one end of the drive disc 112 in the axial direction (e.g., the end of the drive disc 112 facing or toward the power take-off 121), the first clamping mechanism 1125 being clamped with the power take-off 121, e.g., in some examples, the first clamping mechanism 1125 being clamped with a third clamping mechanism 1211 on the power take-off 121.

In some examples, the specific structure of the first clamping mechanism 1125 may be the same as or similar to the third clamping mechanism 1211 in the foregoing embodiments of the present application, and the detailed description of the third clamping mechanism 1211 may be specifically referred to in the foregoing examples, which will not be repeated herein.

It will be appreciated that in some examples, where third clamping mechanism 1211 is a protrusion, first clamping mechanism 1125 may be a recess; in some possible examples, where third snap-fit mechanism 1211 is a groove, first snap-fit mechanism 1125 may be a protrusion. That is, the first clamping mechanism 1125 and the third clamping mechanism 1211 may be in a mutually embedded clamping relationship, so as to transmit the torque force on the power output member 121 to the driving disc 112 and drive the driving disc 112 to rotate.

In order to facilitate the coaxial positioning of the power output member 121 and the driving disc 112, referring to fig. 6, in this embodiment of the present application, a second positioning mechanism 1126 coaxial with the rotation axis of the driving disc 112 is disposed on the driving disc 112, and the second positioning mechanism 1126 cooperates with the first positioning mechanism 1212 disposed on the power output member 121 described in the foregoing example, so as to position the driving disc 112 and the rotation axis of the power output member 121, so as to improve the assembly efficiency of the driving disc 112 and the power output member 121.

Fig. 7 is a schematic view of the overall structure of the sterile adapter provided in the embodiment of the present application, and fig. 8 is a schematic view of the enlarged partial structure at a in fig. 7.

In view of the technical problems in the related art, referring to fig. 7 and 8, in the embodiment of the present application, in a state in which the aseptic adapter 110 is assembled to the power box 120, the contact surface between the driving disc 112 and the partition plate assembly 111 has a first friction coefficient, and the contact surface between the driving disc 112 and the power output member 121 of the power box 120 has a second friction coefficient. The first friction coefficient is greater than the second friction coefficient, so that when the driving disc 112 rotates relative to the power output member 121, the driving disc 112 is stationary relative to the isolation plate assembly 111, and after the driving disc 112 is clamped with the power output member 121, the driving disc 112 can still rotate relative to the isolation plate assembly 111.

To facilitate the engagement of the third engagement mechanism 1211 with the first engagement mechanism 1125, a force storage member (not shown) is provided on a side of the power output member 121 facing away from the driving disk 112. In some alternative examples, the force accumulating member may be a compression spring, a rubber rod, or two magnets with the same poles opposite each other, or the like. When the sterile adapter 110 is mounted to the power box 120, the drive plate 112 applies a force to the power take-off 121, which accumulates the force and provides a reaction force to the power take-off 121 such that the power take-off 121 abuts the drive plate 112 until the drive plate 112 contacts the spacer assembly 111, after which the power take-off 121 is rotated by the drive of the drive member.

It will be appreciated that in the embodiment of the present application, the power output member 121 is in contact with the driving disc 112, and the driving disc 112 is in contact with the partition plate assembly 111 due to the abutment of the power output member 121 by the power storage member. The abutment of the power take-off 121 by the accumulator provides a second positive pressure between the power take-off 121 and the drive plate 112, and a first positive pressure between the drive plate 112 and the separator plate assembly 111.

In some examples, the second positive pressure is the difference between the force of the force accumulator providing the against and the weight of the power take-off 121, and the first positive pressure is the difference between the force of the force accumulator providing the against and the weight of the power take-off 121 and the weight of the drive disk 112; typically, the weight of the actuator disk 112 is 0.03 newtons (N) to 0.07 newtons, and in some examples, the weight of the actuator disk 112 is 0.05 newtons.

That is, the weight of the drive plate 112 is negligible; the second positive pressure may be approximately equal or identical to the first positive pressure; there is a second friction between the drive plate 112 and the power take-off 121 (which may be a sliding friction between the drive plate 112 and the power take-off 121, or in some examples a maximum static friction between the drive plate 112 and the power take-off 121), and there is a first friction between the drive plate 112 and the spacer plate assembly 111 (which may be a sliding friction between the drive plate 112 and the spacer plate assembly 111, or in some examples a maximum static friction between the drive plate 112 and the spacer plate assembly 111). That is, the magnitude relation of the first friction force and the second friction force depends on the magnitude relation of the first friction coefficient and the second friction coefficient.

In the embodiment of the application, the first friction coefficient is set to be larger than the second friction coefficient, so that the first friction force is larger than the second friction force; thus, when the driving member drives the power output member 121 to rotate, the first friction force between the driving disc 112 and the partition plate assembly 111 is greater than the second friction force between the power output member 121 and the driving disc 112; so that the power take-off 121 cannot drive the driving disc 112 to rotate relative to the isolation plate assembly 111 by the second friction force, i.e. the driving disc 112 is stationary relative to the isolation plate assembly 111, and the power take-off 121 rotates relative to the driving disc 112.

In this embodiment, when the third clamping mechanism 1211 rotates to a position corresponding to the first clamping mechanism 1125, the third clamping mechanism 1211 and the first clamping mechanism 1125 are mutually embedded and clamped, the power output member 121 moves axially under the pushing of the power storage member, the position of the power output member 121 rises, and the driving disc 112 and the power output member 121 finish clamping.

At this time, the power output member 121 is engaged with the first engaging mechanism 1125 through the third engaging mechanism 1211, and transmits the torque force to the driving disc 112, so that the driving disc 112 overcomes the first friction force with the isolation plate assembly 111 and rotates relative to the isolation plate assembly 111. I.e. after the engagement between the power take-off 121 and the driving disc 112 is completed, the driving member can still be kept in a rotating operation state. In other words, the drive plate 112 is continuously free to rotate with respect to the spacer plate assembly 111 following the power take-off 121; "continuous" means that the stop is not immediate and the rotation can be programmed for a preset length of time, for example, 0.5s, 1s, or 2s; "free" means that it can be rotated either clockwise or counterclockwise without limitation in direction.

In other alternative examples of the embodiment of the present application, the first friction force may also be greater than the maximum output torque force of the driving member (for example, the maximum static friction force between the driving disc 112 and the isolation board assembly 111), where after the power output member 121 is clamped with the driving disc 112, the first friction force is greater than the maximum output torque force of the driving member, so that the driving member cannot drive the power output member 121 to rotate with the driving disc 112, that is, the power output member 121 stops rotating immediately relative to the driving disc 112 and the isolation board assembly 111, and the corresponding driving member stops rotating. By "immediately stopped" is meant that after the engagement between the power take-off 121 and the drive disk 112 is completed, no further relative rotation of the two occurs.

In some examples, there may be certain requirements on the clamping force of the surgical instrument (which may also be referred to as the instrument tip in some examples), such as the clamping force on the surgical site, for example, the need to cut open tissue or clamp wound tissue together, etc. In the embodiment of the application, the driving member may be a motor with a maximum output torque force capable of meeting the clamping force requirement of the surgical instrument (for example, in some examples, a motor with a maximum running current of 100mA, 150mA or 200mA may be selected).

It will be appreciated that in embodiments of the present application, each power take-off 121 may correspond to one driving member, such as shown in fig. 2, and in some examples, 5 driving members may be provided. In the embodiment of the present application, any one of the driving members is taken as an example for illustration.

In some examples of embodiments of the present application, the first friction force may be greater than the output torque force when the driving member operates at the maximum operating current, so that the driving member also stops rotating after the power output member 121 is engaged with the driving disc 112. In some examples, the first coefficient of friction at the interface between the drive plate 112 and the spacer plate assembly 111 is typically less than 1 (i.e., the coefficient of friction is not too great), and in some examples the first friction may be increased by increasing the first positive pressure between the drive plate 112 and the spacer plate assembly 111 by increasing the force storage member such that the first friction is greater than the maximum output torque of the drive member.

In some examples, to promote smoothness when sterile adapter 110 is mounted to power box 120, the first positive pressure provided by each accumulator should be the same or similar.

To facilitate mounting of sterile adapter 110 to power box 120, the first positive pressure is not desirably excessive, that is, in some examples, the positive pressure output by the power pack may be increased appropriately (e.g., the stiffness coefficient of the spring may be increased when the power pack is a spring) when the clamping force requirements on the surgical instrument are low or there is no requirement on the clamping force of the surgical instrument (at which point the maximum output torque of the drive member may be relatively reduced); thereby increasing the first friction force between the driving disc 112 and the isolation plate assembly 111 (which may also be understood as the maximum static friction force between the driving disc 112 and the isolation plate assembly 111), so that the driving member and the power output member 121 stop rotating immediately after the driving disc 112 is clamped with the power output member 121.

The aseptic adapter 110 provided in the embodiment of the present application is rotatably disposed in the isolation board assembly 111 through the driving disc 112, and the driving disc 112 is movable in the axial direction within a range smaller than the height of the isolation board assembly 111, when the aseptic adapter 110 is mounted on the power box 120, the contact surface between the driving disc 112 and the isolation board assembly 111 has a first friction coefficient, and the contact surface between the driving disc 112 and the power output member 121 of the power box 120 has a second friction coefficient; in the embodiment of the present application, the first friction coefficient is set to be larger than the second friction coefficient. As such, upon mounting the sterile adapter 110 to an instrument driver (e.g., power pack 120), the power take-off 121 (e.g., power take-off 121) of the power pack 120 contacts the drive plate 112 and generates a positive pressure that rubs against the drive member as the power take-off rotates; at this time, since the first friction coefficient is greater than the second friction coefficient, the friction force between the driving disc 112 and the isolation plate assembly 111 is greater than the friction force between the driving disc 112 and the power output member 121, the driving disc 112 is in a static state relative to the isolation plate assembly 111, that is, the power output member 121 and the driving disc 112 rotate relatively, after the driving disc 112 is clamped with the power output member 121, the driving disc 112 can rotate freely and continuously relative to the isolation plate assembly 111 along with the power output member 121, or the power output member 121 stops rotating relative to the driving disc 112 and the isolation plate assembly 111 immediately; in this way, the drive plate 112 is kept still until the driving member drives the power output member 121 until the power output member 121 is engaged with the drive plate 112, and compared with the related art, the angle through which the power output member 121 needs to be rotated (the angle at which the drive plate 112 rotates) is reduced, that is, the time for the power output member 121 to be engaged with the drive plate 112 is shortened, and the preparation time for the operation is shortened.

In addition, in some examples of the embodiments of the present application, after the driving disc 112 is clamped with the power output member 121, the torque force of the power output member 121 is transmitted to the driving disc 112 and drives the driving disc 112 to rotate relative to the isolation plate assembly 111, that is, the driving disc 112 rotates against the friction force with the isolation plate assembly 111 (the driving disc 112 can continuously and freely rotate relative to the isolation plate assembly 111); therefore, the motor (i.e. the driving piece) is always kept in a rotating running state before and after clamping, the output torque of the motor can be ensured to be in a rated torque range, the motor can be protected, and the service life of the motor is prolonged.

In some alternative examples of embodiments of the present application, the first coefficient of friction may be 1.5-4 times the second coefficient of friction. In some examples, the first coefficient of friction may be 1.5 times, 2.5 times, 3.5 times, 4 times, or the like the second coefficient of friction.

It will be appreciated that in some examples, there is a first maximum static friction between the drive plate 112 and the lip 1112 and a second maximum static friction between the drive plate 112 and the pto element 121. In some examples, the first coefficient of friction may be related to the second coefficient of friction such that the first maximum static friction is greater than the second static friction. In general, to enhance safety, the sliding friction between the drive plate 112 and the lip 1112 may be set to be greater than the second maximum static friction between the drive plate 112 and the power take-off 121.

In some examples, since the magnitude of the friction force is related to the positive pressure and the coefficient of friction, to ensure that the sliding friction force between the drive plate 112 and the separator plate assembly 111 is greater than the second maximum static friction force, while ensuring that the operating parameters of the drive member are within the rated parameters (i.e., the drive plate 112 is guaranteed to rotate relative to the lip 1112 when the power take-off member 121 is engaged with the drive plate 112), in some alternative examples, the first coefficient of friction may be set within a certain range when the power storage characteristics of the power storage member are certain (i.e., positive pressure is certain).

That is, in setting the first coefficient of friction of the interface between the drive disk 112 and the spacer plate assembly 111, a determination may be made taking into account the factor of influence of positive pressure on friction, as well as taking into account the operating parameters of the drive; in other words, on the one hand, the first friction coefficient needs to consider that when the power output piece is clamped with the transmission disc, the first maximum static friction force is smaller than the torsion force of the driving piece for driving the transmission disc to rotate within the rated operation parameter range; on the other hand, in order to ensure reliable identification of the operating parameters of the drive, it is necessary to make the first maximum static friction force differ greatly from the second maximum static friction force, and the larger criterion is that the motor outputs a rotational force to the contact surface when the difference in friction force is greater than the current corresponding to the resolution of the operating parameters.

In some examples, the operation parameter may be output power, operation current or output torque, and in this embodiment, the operation current is taken as a specific example for illustration, in some cases, when the power output member 121 and the driving disc 112 rotate relatively, the output current of the driving member is 18mA, in this embodiment, the output current change of the driving member can be accurately detected when 20mA-50mA, and then the operation current of the driving member is required to be greater than 40mA-70mA corresponding to the torque corresponding to the first maximum static friction force, that is, the first friction coefficient can be set according to the first maximum static friction force at this time.

In some alternative examples, the first coefficient of friction at the interface between the drive plate 112 and the spacer plate assembly 111 is greater than the second coefficient of friction at the interface between the power take-off 121 and the drive plate 112 (typically 0.05-0.15), in some examples, the power take-off 121 may be made of stainless steel, and the drive plate 112 may be made of poly (ether-ether-ketone), abbreviated as peek, i.e., in some examples, the second coefficient of friction may be 0.08; accordingly, the first coefficient of friction of the interface between the drive plate 112 and the spacer plate assembly 111 may be set to be greater than 0.2, and in some specific examples, the first coefficient of friction of the interface between the drive plate 112 and the spacer plate assembly 111 may be 0.2, 0.3, 0.4, 0.5, or 0.6, etc. That is, in some alternative examples, the first coefficient of friction between the drive disk 112 and the spacer plate assembly 111 may be 0.2-0.6.

In some examples, to prevent false measurement of motor current, the first coefficient of friction of the interface between the drive disk 112 and the spacer plate assembly 111 may be 0.3-0.6. It will be appreciated that in the embodiments of the present application, specific values of the first coefficient of friction between the first surface 1113 and the second surface 1122 are merely illustrated as some specific examples, and not as specific limitations on the first coefficient of friction in the embodiments of the present application.

It should be noted that, the numerical values and the numerical ranges referred to in the embodiments of the present application are approximate values, and may have a certain range of errors under the influence of the manufacturing process, and those errors may be considered to be negligible by those skilled in the art.

In some examples, referring to fig. 6-8, a lip 1112 may be disposed at the perforation 1111, and in order to avoid the drive plate 112 from disengaging from or falling out of the perforation 1111 under the urging of the force accumulator, in the embodiment of the present application, the peripheral wall of the drive plate 112 has a first flange 1121, and the first flange 1121 is adapted to abut the lip 1112 along the axial direction of the perforation 1111.

Wherein the lip 1112 may be an annular boss disposed on the inner wall of the perforation 1111; in some possible examples, lip 1112 may also be disposed at the edge of aperture 1111, and lip 1112 forms a smaller aperture than aperture of aperture 1111, thereby forming an annular boss, in some examples lip 1112 may also be referred to as a step or shoulder; wherein lip 1112 may be disposed at the edge of the aperture 1111 on the side facing the power pack 120, in some possible examples lip 1112 may also be disposed at the edge of the aperture 1111 on the side facing away from the power pack 120.

In some examples, the lip 1112 may be a complete annular structure, and in some examples, the lip 1112 may also be an annular structure formed by a plurality of arcuate structures spaced apart along the circumference of the perforation 1111; the particular type of lip 1112 is not limited in this embodiment of the application. It will be appreciated that where the lip 1112 is a plurality of arcuate formations spaced circumferentially about the aperture 1111, the arcuate extent of the first flange edge 1121 is greater than the gap between adjacent arcuate formations.

In some alternative examples, the first flange edge 1121 may be specifically configured in a similar manner to the lip 1112. It will be appreciated that the first flange 1121 may be an annular boss extending radially outwardly of the drive plate 112, that is, the radial dimension of the first flange 1121 is greater than the radial dimension of the drive plate 112 in the radial direction of the drive plate 112.

In addition, similar to lip 1112, first flange edge 1121 may be a complete annular structure. Alternatively, in some examples, the first flange 1121 may be an annular structure formed by a plurality of arc structures arranged at intervals along the circumferential direction of the driving disk 112.

In some possible examples, where the lip 1112 is a complete annular structure, the first flange edge 1121 may be a complete annular structure, or the first flange edge 1121 may be a plurality of arcuate structures arranged at intervals.

In other general examples, where the lip 1112 is a plurality of arcuate structures arranged in a spaced apart relationship, the first flange edge 1121 may be a complete annular ring-shaped structure.

In some alternative examples, the first flange edge 1121 may abut a side of the lip 1112 facing the power pack 120 in an axial direction of the aperture 1111, thereby defining a limited range of axial movement of the drive disk 112 within the aperture 1111, which may define the drive disk 112 within the aperture 1111. That is, in some examples, the first flange 1121 abuts against a side of the lip 1112 facing the power pack 120 (e.g., the first flange 1121 abuts against the lip 1112 under the force of the accumulator in the previous examples, or, in some examples, with reference to fig. 5, the first flange 1121 abuts against the lip 1112 when the sterile adapter is placed in the reverse direction of the direction shown in the y-axis of fig. 5), and after the power output member 121 is snapped onto the drive plate 112, the first flange 1121 moves relative to the lip 1112 as the drive plate 112 rotates with the power output member 121, at which time the first flange 1121 is out of contact with the lip 1112 due to the downward abutment of the instrument cartridge 130. The drive plate 112 transmits power to a power input in the instrument pod 130 and drives the surgical instrument in a desired direction via the power input.

That is, in some examples of embodiments of the present application, the first coefficient of friction may be the coefficient of friction of the interface between the first flange edge 1121 and the lip 1112.

In this embodiment, first flange 1121 may or may not contact lip 1112 prior to mounting sterile adapter 110 to power pack 120 (e.g., first flange 1121 may contact lip 1112 when sterile adapter 110 is placed in the state or orientation shown in fig. 7, as shown in fig. 7, and drive disk 112 may not contact lip 1112 under the force of gravity when sterile adapter 1110 is placed in the opposite orientation as shown in fig. 7).

After mounting sterile adapter 110 to power pack 120, drive plate 112 applies pressure to power take-off 121 and the power storage member applies a biasing force to drive plate 112 through power take-off 121, with first flange 1121 in contact with lip 1112.

It should be noted that, in the embodiment of the present application, the first friction coefficient between the first flange edge 1121 and the lip 1112 may refer to: the friction coefficient between the first flange 1121 and the lip 1112 is increased when the drive plate 112 is rotated relative to the lip 1112 by the power take-off 121.

In particular arrangements, it may be possible to increase the surface roughness of at least one of the first flange edge 1121 and the lip 1112, or it may also be understood to increase the coefficient of friction between the first flange edge 1121 and the lip 1112, thereby increasing the sliding friction between the first flange edge 1121 and the lip 1112.

In some examples, it may be to increase the surface roughness of the first flange edge 1121; alternatively, in other examples, it may be to increase the surface roughness of lip 1112. Alternatively, in other alternative examples of embodiments of the present application, it may also be possible to increase the surface roughness of the first flange edge 1121 and to increase the surface roughness of the lip 1112, thereby increasing the coefficient of friction between the first flange edge 1121 and the lip 1112. I.e. such that the interface between the first flange edge 1121 and the lip 1112 has a first coefficient of friction.

In some possible examples, the driver drives the power take-off 121 to rotate when the first snap-in mechanism 1125 is not aligned with the third snap-in mechanism 1211 on the power take-off 121; at this time, since the first friction coefficient is larger than the second friction coefficient and the two positive pressures differ by no more than a few (the difference in positive pressure is negligible), the friction force between the power take-off 121 and the drive disk 112 is smaller than the friction force between the first flange 1121 and the lip 1112; that is, the drive plate 112 is in a stationary state relative to the lip 1112 and the power take-off 121 rotates relative to the drive plate 112.

When the third clamping mechanism 1211 rotates to align with the first clamping mechanism 1125, the power output member 121 is pushed by the power storage member, and the third clamping mechanism 1211 is clamped with the first clamping mechanism 1125; at this time, the relative degrees of freedom of the power output member 121 and the transmission disc 112 in the circumferential direction are defined, that is, the driving member rotates the transmission disc 112 relative to the lip 1112 through the power output member 121. Since the first coefficient of friction of the first flange 1121 and lip 1112 of the drive disk 112 along the aperture 1111 is greater than the second coefficient of friction, the operating parameters of the drive member are changed, such as increased output power, increased operating current or increased output torque; accordingly, the accurate alignment and clamping between the power output piece 121 and the transmission disc 112 can be accurately judged, the driving piece is always in a rotating state before and after the clamping, the impact on the driving piece can be reduced, the driving piece can be effectively protected, and the service life of the driving piece is prolonged.

Fig. 9 is an exploded view of a spacer assembly and a driving disk in a sterile adapter according to an embodiment of the present application, fig. 10 is a partially enlarged view of fig. 9B, and fig. 11 is another view of a driving disk in a sterile adapter according to an embodiment of the present application.

In some alternative examples of embodiments of the present application, as shown with reference to fig. 9 and 10, the surface of the lip 1112 facing the side of the first flange edge 1121 is a first surface 1113. Alternatively, in some examples, it may also be understood that the surface of lip 1112 facing the side of power pack 120 or power take-off 121 is first surface 1113.

In the embodiment of the present application, the first surface 1113 may be set to be a rough surface. In some alternative examples, first surface 1113 may be embossed, sandblasted; alternatively, in other alternative examples, first surface 1113 may be grooved and hollowed out, so as to increase the roughness of first surface 1113, so that first surface 1113 is a rough surface. Of course, if the lip 1112 is injection molded, a particular mold may be designed to ensure the roughness of the first surface 1113. In this way, the roughness of the first surface 1113 is increased, i.e. the coefficient of friction of the interface between the first flange edge 1121 and the lip 1112 is increased.

In other alternative examples of embodiments of the present application, referring to FIG. 11, the surface of the first flange 1121 facing the side of the lip 1112 is the second surface 1122; alternatively, it is also understood that the surface of the first flange 1121 facing away from the power box 120 or the power take-off 121 is the second surface 1122.

In the embodiment of the present application, the second surface 1122 may be a rough surface. It is to be understood that the specific arrangement manner of the second surface 1122 as the rough surface may be the same as or similar to the treatment manner of the first surface 1113 in the foregoing embodiment of the present application, and the detailed description of the foregoing embodiment of the present application may be referred to, which is not repeated herein.

It can be understood that, in the embodiment of the present application, the surface of the driving disk 112 facing the power output member 121 is the third surface, and the surface of the power output member 121 facing the driving disk 112 is the fourth surface; in the present embodiment, the roughness of the surface configured as the roughened surface (for example, the first surface 1113 of the foregoing embodiment) is larger than the roughness of any one of the third surface and the fourth surface. Also, in the present embodiment, the roughness of the other surface (e.g., the second surface 1122 in the subsequent embodiment) that is not configured as a rough surface is at least equal to or similar to any one of the third surface and the fourth surface.

In this way, it may be ensured that the first coefficient of friction between the first surface 1113 and the second surface 1122 is greater than the second coefficient of friction between the third surface and the fourth surface.

In conjunction with the description of the foregoing embodiments of the present application, in some alternative examples of embodiments of the present application, the first surface 1113 may be provided as a roughened surface, the second surface 1122 may be provided as a roughened surface, and both the first surface 1113 and the second surface 1122 may be provided as roughened surfaces. In other words, at least one of the first surface 1113 and the second surface 1122 is roughened, thereby increasing the coefficient of friction between the first surface 1113 and the second surface 1122.

In setting the roughness of the first surface 1113 and the second surface 1122, reference may be made to the consideration of the first friction coefficient in the foregoing embodiments of the present application, which will not be described in detail in the embodiments of the present application.

In the present embodiment, by setting at least one of the first surface 1113 and the second surface 1122 as a roughened surface, and one of the first surface 1113 and the second surface 1122 configured as a roughened surface has a first roughness and the other has a second roughness; the first roughness is greater than the roughness of any one of the third surface and the fourth surface, and the second roughness is greater than or equal to the roughness of any one of the third surface and the fourth surface, such that the first coefficient of friction is greater than the second coefficient of friction; when the third clamping mechanism is not aligned with the first clamping mechanism, the power output piece 121 rotates relative to the driving disc 112, the driving disc 112 is static relative to the lip 1112, the angle range of rotation required by the clamping of the power output piece 121 and the driving disc 112 can be reduced, the clamping efficiency of the clamping of the power output piece 121 and the driving disc 112 is improved, and the operation preparation time is shortened; when the power output piece 121 is clamped with the transmission disc 112, the driving piece can drive the transmission disc 112 to rotate relative to the lip 1112 through the power output piece 121, namely, the driving piece is always kept in a rotating running state, the output torque of the driving piece can be ensured to be in a rated torque range, so that the driving piece can be protected, and the service life of the driving piece is prolonged.

With continued reference to fig. 10, in alternative examples of embodiments of the present application, a plurality of damping bumps/ribs (not numbered) may be provided on the first surface 1113, the plurality of damping bumps/ribs being spaced apart along the axial direction of the lip 1112.

In the embodiment of the present application, the damping bump/protrusion may be integrally formed with the lip 1112. In some examples, the damping bump/bead may also be formed by secondary processing on the first surface 1113 by secondary injection molding, secondary casting, welding, spot welding, or the like after the lip 1112 is formed. The manner of forming the multi-damping bump in the embodiments of the present application is not limited, and depends on the material of the lip 1112.

In some alternative examples, the damping bump may be a dot or dome bump; alternatively, in other examples, the damping bump may also be a spherical or hemispherical bump. In this way, on the one hand, the roughness of the first surface 1113 can be increased; on the other hand, the convex points are in arc transition, so that the resistance of the damping convex points to the first flange 1121 can be controlled within a certain range, the output torque of the driving piece can be ensured to be within the rated torque range, the driving piece can be effectively protected, and the service life of the driving piece is prolonged.

It will be appreciated that in alternative examples of embodiments of the present application, a plurality of grooves may be provided in the first surface 1113, the plurality of grooves being spaced axially along the lip 1112 and the grooves extending radially of the perforation 1111.

In some examples of embodiments of the present application, the radial extension of the groove along the perforation 1111 may be understood as: the direction of extension of the groove is not coincident with the circumferential direction of the lip 1112, i.e., the groove has a tendency to extend at least in the radial direction of the perforation 1111, or, where the groove is an annular groove, the axis of the annular groove is not collinear with the axis of the perforation 1111 or lip 1112; i.e. the axis of the annular groove is not collinear with the axis of rotation of the drive disc 112, thereby providing a certain damping of the rotation of the drive disc 112.

It will be appreciated that in some alternative examples of embodiments of the present application, the grooves may be linear grooves along the radial direction of the perforations 1111; alternatively, in alternative examples of embodiments of the present application, the grooves may be arcuate grooves or annular grooves on the first surface 1113, with the understanding that the arcuate grooves or annular grooves have at least an extension component along the radial direction of the perforations 1111 or parallel to the radial direction of the perforations 1111.

In the embodiment of the present application, the roughness of the first surface 1113 is increased by providing damping bumps circumferentially spaced along the lip 1112 and/or providing a plurality of grooves extending radially along the perforation 1111 on the first surface 1113; in this way, the first flange edge 1121 is brought into damping contact with the lip 1112 along the circumference of the perforation 1111; when the power output piece 121 is clamped with the transmission disc 112, the driving piece can drive the transmission disc 112 to rotate relative to the lip 1112 through the power output piece 121, namely, the driving piece is always kept in a rotating running state, the output torque of the driving piece can be ensured to be in a rated torque range, so that the driving piece can be protected, and the service life of the driving piece is prolonged.

In addition, in the embodiment of the present application, by providing damping bumps arranged at intervals along the circumferential direction and/or providing a plurality of grooves extending along the radial direction of the through holes 1111 on the first surface 1113, when the power output member 121 rubs against the driving disk 112, the driving disk 112 will only rotate by a small angle or the driving disk 112 will not rotate until the power output member 121 is correctly engaged with the driving disk 112; that is, only the power output member 121 rotates under the driving of the driving member, so that the maximum rotation amplitude of the power output member 121 can achieve the correct alignment and clamping with the driving disc 112 when the power output member is one half circumference, compared with the related art, the power output member 121 drives the driving disc 112 to rotate first until the driving disc 112 is clamped with the lip 1112, and the power output member 121 continues to rotate relative to the driving disc 112, so that the angle or the number of turns required for the correct alignment and clamping of the power output member 121 and the driving disc 112 (the minimum required rotation is one turn or even is close to two turns in the related art), the maximum rotation amplitude of the power output member in the embodiment of the present application is one half circumference, i.e. half turn), the efficiency of the clamping of the power output member 121 and the driving disc 112 is improved, the operation preparation time is shortened to at least half of the related art, even to one fourth of the related art, and the operation efficiency is improved.

It will be appreciated that in alternative examples of embodiments of the present application, a plurality of grooves may be provided in the second surface 1122, the plurality of grooves being spaced circumferentially along the first flange edge 1121 and the grooves extending radially of the perforation 1111.

In this embodiment, the specific arrangement manner of the grooves on the second surface 1122 and the grooves on the first surface 1113 is the same or similar, and the detailed description of the grooves on the first surface 1113 may be referred to in the foregoing embodiment of the present application, which is not repeated herein.

In other examples of the embodiments of the present application, a plurality of damping bumps may be disposed on the second surface 1122, where the plurality of damping bumps are spaced apart along the circumferential direction of the first flange 1121. It can be appreciated that the specific arrangement manner of the damping bump can refer to the detailed description of the damping bump on the first surface 1113 in the foregoing embodiments of the present application, which is not repeated herein.

It will be appreciated that in alternative examples of embodiments of the present application, a damping shim may be provided between the lip 1112 and the first flange edge 1121, that is, a first coefficient of friction between the first flange edge 1121 and the damping shim, or a first coefficient of friction between the damping shim and the lip 1112.

In embodiments of the present application, the damping shim may be provided fixedly attached to the lip 1112, such as to the first surface 1113. In some alternative examples, the damping shim may be secured to the lip 1112 by way of a snap fit; alternatively, the damping washer can be fixed by a connecting component such as a bolt, a screw or a screw rod; of course, in other possible examples, the damping shim may be fixed to the first surface 1113 by riveting, heat-staking, or adhesive.

It will be appreciated that in other possible examples of embodiments of the present application, the damping shim may also be secured to the first flange edge 1121.

In the embodiment of the application, the damping pad may be a friction plate, for example, the damping pad may be any one of a rubber pad or a silica gel pad.

That is, in some examples of the embodiments of the present application, a damping spacer with a larger friction coefficient may be disposed between the first flange edge 1121 and the lip 1112, so that the first flange edge 1121 and the lip 1112 have a first friction coefficient, when the power output element 121 is clamped with the driving disc 112, the driving element may drive the driving disc 112 to rotate relative to the lip 1112 through the power output element 121, that is, the driving element is always kept in a rotation running state, so that the output torque of the driving element is ensured to be within the rated torque range, thereby protecting the driving element and prolonging the service life of the driving element.

In other alternative examples of embodiments of the present application, an adhesive layer may also be provided between the lip 1112 and the first flange edge 1121.

It will be appreciated that in the embodiments of the present application, an adhesive (e.g., a thermosetting adhesive, having fluidity at normal temperature, so as to ensure rotatability between the first flange 1121 and the lip 1112) having fluidity may be applied to at least one of the first surface 1113 and the second surface 1122, thereby forming an adhesive layer.

In other alternative examples of embodiments of the present application, the adhesive layer may also be made of natural protein fibers (e.g., spider silk) and attached to at least one of the first surface 1113 and the second surface 1122 such that the first flange 1121 and the lip 1112 have a first coefficient of friction therebetween.

In the embodiment of the application, by disposing an adhesive layer between the lip 1112 and the first flange edge 1121, the first flange edge 1121 has a first coefficient of friction with the lip 1112 through the adhesive layer; thus, upon mounting the sterile adapter 110 to the power box 120, the power take-off 121 of the power box 120 is in contact with the drive plate 112 and generates a positive pressure; at this time, since the adhesive layer is disposed between the first flange 1121 of the driving disc 112 and the lip 1112, the friction force between the driving disc 112 and the lip 1112 is greater than the friction force between the driving disc 112 and the power output member 121, and the driving disc 112 is in a static state, that is, the power output member 121 and the driving disc 112 rotate relatively, so that the driving disc 112 and the power output member 121 can be fast clamped; after the driving disc 112 is clamped with the power output part 121, the torque force of the power output part 121 is transmitted to the driving disc 112 and drives the driving disc 112 to rotate relative to the lip 1112 against the viscosity of the viscous layer; therefore, the driving piece is kept in a rotating running state, the output torque of the driving piece can be ensured to be in a rated torque range, the driving piece can be protected, and the service life of the driving piece is prolonged.

In further alternative examples of embodiments of the present application, referring to fig. 5 and 9, the spacer plate assembly 111 includes: a first isolation plate 1114 and a second isolation plate 1115.

Fig. 12 is a schematic structural view of a first partition board in the aseptic adapter provided in the embodiment of the present application, and fig. 13 is a schematic structural view of another first partition board in the aseptic adapter provided in the embodiment of the present application.

Referring to fig. 9, in an embodiment of the present application, the perforation 1111 may sequentially penetrate the first and second isolation plates 1114 and 1115. In a specific arrangement, referring to fig. 12 and 13, the first separator 1114 is provided with first sub-lips 1116, and the first sub-lips 1116 are arranged at intervals along the axial direction of the through hole 1111 so as to form first relief openings 1117 in adjacent two first sub-lips 1116.

As a specific example of the embodiment of the present application, two first sub-lips 1116 may be provided by injection molding, two first sub-lips 1116 are oppositely disposed in the perforation 1111, and two ends of the two first sub-lips 1116 have first avoiding openings 1117.

In some examples, a complete annular lip 1112 may be formed in the inner wall of the perforation 1111 and then a portion of the annular lip 1112 may be removed by digging or grooving to form a first sub-lip 1116 and a first relief 1117.

In other alternative examples of the embodiment of the present application, the first sub-lips 1116 may be directly fixedly connected to the inner wall of the through hole 1111, and a gap is reserved between two adjacent first sub-lips 1116, so as to form the first avoiding opening 1117.

It will be appreciated that in the embodiment of the present application, the structure of the second isolation plate 1115 is the same as or similar to that of the first isolation plate 1114, and a second sub-lip 1118 is provided on the second isolation plate 1115, as shown in fig. 9, after the second isolation plate 1115 and the first isolation plate 1114 are assembled and matched, the second sub-lip 1118 is inserted into the first avoiding opening 1117, so that the second sub-lip 1118 is connected with the first sub-lip 1116 to form an annular lip 1112.

Referring to fig. 9 and 10, in some examples of embodiments of the present application, the peripheral wall of the driving disk 112 further has a second flange edge 1123, and the second flange edge 1123 and the first flange edge 1121 are arranged at intervals along the circumferential direction of the driving disk 112. That is, in the embodiment of the present application, there is a certain gap between the second flange edge 1123 and the first flange edge 1121. In some alternative examples of embodiments of the present application, the gap between the second flange edge 1123 and the first flange edge 1121 may be greater than the thickness of the lip 1112. When specifically configured, the arc length of the second flange edge 1123 is less than or equal to the arc length of the first relief opening 1117. Thus, when the driving disk 112 is inserted into the through hole 1111, the second flange 1123 may pass through the through hole 1111 along the first avoiding opening 1117, so that the lip 1112 is limited between the first flange 1121 and the second flange 1123, that is, the lip 1112 defines a movement range of the driving disk 112 along the axial direction of the through hole 1111.

It will be appreciated that, with reference to fig. 9 and 10, in particular installation of the sterile adapter 110 provided in embodiments of the present application, the second flange 1123 may be first aligned with the first relief port 1117 and the drive disk 112 moved in the axial direction of the perforation 1111 (e.g., the z-direction in fig. 9 and 10) and such that the second flange 1123 passes over the lip 1112 from the first relief port 1117; thereafter, the drive disk 112 is rotated in the circumferential direction of the through hole 1111 (for example, in the x direction in fig. 9 and 10) such that the second flange side 1123 is offset in the circumferential direction from the first escape opening 1117 Zhou Chuankong 1111; finally, the second spacer 1115 is mounted to the first spacer 1114, maintaining the second sub-lip 1118 threaded within the first relief 1117. Thus, the first flange 1121 and the second flange 1123 are located on both sides of the lip 1112 in the axial direction, i.e., the lip 1112 limits the freedom of the drive disk 112 in the axial direction of the through hole 1111.

In other examples of embodiments of the present application, as shown with reference to fig. 10 and 11, the arc length of the first flange edge 1121 may be greater than or equal to the arc length of the second flange edge 1123. Thus, after the second flange 1123 passes through the first relief opening 1117, the first sub-lip 1116 may form a barrier to the first flange 1121, which may improve the installation efficiency of the driving disk 112.

It is understood that in the embodiment of the present application, the first isolation plate 1114 and the second isolation plate 1115 may be connected by a heat stake; in some possible examples, the first and second isolation plates 1114 and 1115 may also be connected by a connection member such as a bolt, screw, or screw.

With continued reference to FIG. 11, in alternative examples of embodiments of the present application, the first flange edge 1121 and the second flange edge 1123 may be offset along the circumference of the drive disk 112.

In the embodiment of the application, the isolation plate assembly 111 is divided into the first isolation plate 1114 and the second isolation plate 1115, and the first sub-lips 1116 are arranged on the first isolation plate 1114, and the first avoiding openings 1117 are formed between the first sub-lips 1116, so that the installation and the positioning of the transmission disc 112 are facilitated; a second sub-lip 1118 is provided on the second partition 1115, the second sub-lip 1118 being provided to penetrate into the first escape opening 1117; thus, after the second spacer 1115 is mounted to the first spacer 1114, the second sub-lip 1118 may fill the first relief opening 1117, so that the axial degree of freedom of the driving disk 112 along the through hole 1111 may be limited, and the stability and effectiveness of the limitation of the driving disk 112 may be improved.

In further alternative examples of embodiments of the present application, as shown with reference to fig. 12 and 13, the first flange edge 1121 is adapted to have a first coefficient of friction with at least one of the first sub-lip 1116 and the second sub-lip 1118.

In some examples, the first flange edge 1121 may be in damping contact with the first sub-lip 1116; alternatively, in other examples, the first flange edge 1121 may have a first coefficient of friction with the second sub-lip 1118; alternatively, in yet other alternative examples of embodiments of the present application, the first flange edge 1121 may have a first coefficient of friction with both the first sub-lip 1116 and the second sub-lip 1118.

As an example of an embodiment of the present application, referring to fig. 12 and 13, the arc length of the first sub-lip 1116 is greater than or equal to the arc length of the first relief opening 1117, and the first flange edge 1121 may be in damping contact with the first sub-lip 1116. In this way, the area of the first surface 1113 that needs to be machined can be reduced, thereby improving the machining efficiency of the aseptic adapter 110.

In further alternative examples of embodiments of the present application, referring to FIG. 11, the first flange edge 1121 is provided with a second relief opening 1124, the arc length of the second relief opening 1124 being greater than or equal to the arc length of the second sub-lip 1118, the second relief opening 1124 being configured as a mounting channel for the second sub-lip 1118.

That is, in the embodiment of the application, after the driving disk 112 is mounted on the first isolation plate 1114, the second sub-lip 1118 on the second isolation plate 1115 may pass through the first flange 1121 through the second avoidance hole 1124, and the second sub-lip 1118 is disposed inside the first avoidance hole 1117. In this way, the first and second isolation plates 1114, 1115 can be conveniently assembled, and the assembly efficiency of the aseptic adapter 110 is improved.

In yet other alternative examples of embodiments of the present application, with continued reference to FIG. 11, the second relief opening 1124 is disposed axially opposite the second flange edge 1123 of the drive disk 112. That is, in the present embodiment, the first flange 1121 and the second flange 1123 are offset in the circumferential direction of the driving disk 112. Thus, after the drive plate 112 is mounted to the first spacer 1114, the first flange edge 1121 is blocked by the first sub-lip 1116, and at this time, the second relief opening 1124 is opposite to the first relief opening 1117, so that the second spacer 1115 can be directly mounted, thereby improving the mounting and assembly efficiency of the aseptic adapter 110.

In other alternative examples of embodiments of the present application, referring to fig. 11, a second engagement mechanism 1127 is provided at the other end of the drive plate 112 in the axial direction (e.g., the end facing away from the power pack 120 or the instrument driver), and the second engagement mechanism 1127 is adapted to engage a power input member (not shown) in the instrument cartridge 130 (e.g., shown in fig. 1 and 2).

It can be appreciated that the arrangement manner of the second clamping mechanism 1127 may be the same as or similar to the arrangement manner of the first clamping mechanism 1125 in the foregoing embodiments of the present application, and specific reference may be made to the detailed description of the first clamping mechanism 1125 in the foregoing embodiments of the present application, which is not repeated herein.

It can be appreciated that in the embodiment of the present application, when the device box 130 is assembled and clamped, the device box 130 and the driving disc 112 may be clamped first, and then the sterile adapter 110 is assembled to the power box 120, so as to realize the clamping of the power output member 121 and the driving disc 112, and transmit the power to the power input member in the device box 130. Of course, in some possible examples, the sterile adapter 110 may be mounted on the power box 120, and the power transmission disc 112 and the power output member 121 may be clamped, and then the power input member in the instrument box 130 and the second clamping mechanism 1127 of the power transmission disc 112 may be clamped.

Fig. 14 is a flowchart for implementing the method for detecting the locking of the sterile adapter according to the embodiment of the present application, and fig. 15 is a graph of current variation of the driving element in the surgical robot according to the embodiment of the present application.

Based on any one of the foregoing embodiments of the present application, referring to fig. 14, the embodiment of the present application further provides a method for determining a connection state of the sterile adapter 110, where the sterile adapter 110 is connected to the power box 120, and the power box 120 is provided with a driving member and a power output member 121, and the driving member is used for driving the power output member 121; in some examples, drive plate 112 of sterile adapter 110 is connected to power take-off 121. The method may comprise the steps of:

Step 1401, with sterile adapter 110 connected to power pack 120, monitors an operating parameter of the drive member.

It is to be appreciated that in embodiments of the present application, surgical robot 10 may be provided with an operating parameter monitoring sensor, for example, an operating parameter sensor may be provided within power pack 120. As described in detail in the foregoing embodiments of the present application, the driving member may be a driving motor such as a servo motor, a stepping motor, or a synchronous motor; thus, in the embodiment of the present application, the operation parameter may be a parameter such as an operation current, an output power, or an output torque of the motor, and in the embodiment of the present application, the operation parameter is exemplified by the operation current as a specific example. In some specific examples, the driving motor may be a motor with an operating current of 18mA-100mA, for example, the no-load operating current of the driving motor may be 18mA, and the operating current of the driving motor when driving the power output member 121 to rotate is 20mA; and the maximum rated current of the drive motor may be 100mA. The current parameter monitoring sensor can be a current sampling integrated circuit, an isolated optocoupler sensor or a Hall effect sensor.

It will also be appreciated that upon mounting sterile adapter 110 to power pack 120, there is misalignment of first snap-fit mechanism 1125 and third snap-fit mechanism 1211, at which point power take-off 121 rotates against friction with drive disk 112; referring to fig. 15, a curve a in fig. 15 is a time-dependent curve of the operating current of the driving member, and the operating current of the driving member is smaller; referring to fig. 15, the first protrusion a1 of the curve a, which appears when the driving member just starts to operate, is the driving member output current required by the power output member 121 to overcome the maximum static friction force (second maximum static friction force) with the driving disc 112, and the driving member operation current is stable and maintained at 20mA for a period of 1-2s, at this time, the power output member 121 rotates against the sliding friction force with the driving disc 112; it will be appreciated that the operating current of the driving member is related to the specific type of driving member, the rated rotational speed, the coefficient of friction between the power take-off member 121 and the drive plate 112, the power storage characteristics of the power storage member, etc., and the operating current of the driving member of the present embodiment is merely illustrated as a specific example and is not a specific limitation of the operating current of the driving member.

When the third clamping mechanism 1211 and the first clamping mechanism 1125 are clamped in correct alignment along with the rotation of the power output member 121 (referring to the recess a2 of the current curve in fig. 15, the third clamping mechanism 1211 and the first clamping mechanism 1125 are clamped and embedded with each other, the sliding friction force is reduced, and at this time, the running current of the driving member is reduced to a certain extent), then the output current of the driving member suddenly increases (overcomes the maximum static friction force between the first flange 1121 and the lip, i.e. the first maximum static friction force), and the driving member needs to drive the power output member 121 and the driving disc 112 to rotate while overcoming the friction force between the driving disc 112 and the lip 1112, as can be understood, the friction force between the driving disc 112 and the lip 1112 is greater than the friction force between the power output member 121 and the driving disc 112; i.e. the operating current of the drive member increases at this time (for example, shown by curve a in fig. 15, wherein the second protrusion a3 of curve a is the output current of the drive member when the first maximum static friction is overcome). That is, the method for detecting the locking of the sterile adapter 110 provided in the embodiment of the present application further includes:

step 1402, in the event of a change in the operating parameters, determines that the drive disk 112 of the sterile adapter 110 is engaged with the power take-off 121.

In some alternative examples of embodiments of the present application, the surgical robot 10 may be provided with a processor (typically an industrial personal computer), such as a central processing unit (Central Processing Unit, CPU for short), a micro control unit (Microcontroller Unit, MCU for short), a field programmable gate array (Field Programmable Gate Array, FPGA for short), or the like. For example, a comparison circuit in the processor may compare the operating parameters monitored by the operating parameter monitoring sensor to determine whether the operating parameters of the driver have changed. For example, in the case where the comparison circuit compares the operation parameters monitored by the operation parameter monitoring sensor at two timings to determine that the operation parameters have not changed, the comparison circuit may output a low-level signal "0"; in some examples, the comparison circuit may output a high level signal "1" in the event that the comparison circuit compares the operating parameters monitored by the operating parameter monitoring sensor at two times to determine that the operating parameters have changed; the processor determines whether the operating parameter changes according to the low level signal or the high level signal output by the comparison circuit.

It will be appreciated that in some examples, the driver may be subject to certain fluctuations or instabilities in the particular operation, resulting in a change in the operating current, which may cause false triggers. In this embodiment, when specifically set, it may be determined that the driving disc 112 is clamped to the power output member 121 when the variation value of the operation parameter is greater than or equal to the preset threshold.

That is, after the comparison circuit compares that the operation parameter is changed, the comparison circuit may further compare the change value of the operation parameter with a preset threshold value, and output a high level signal "1" if the change value is greater than or equal to the preset threshold value.

As some specific examples of the embodiments of the present application, taking the operating parameter as the operating current as an example, the preset threshold may be 40mA, 45mA, 50mA, 55mA, 60mA, or the like. It will be appreciated that the range of the preset threshold is set such that the changed operating parameter does not exceed the nominal operating parameter of the driver and is greater than the resolution of the operating current by the monitoring sensor. The foregoing preset threshold values in the embodiments of the present application are merely illustrated as some specific examples, and in some possible examples, the preset threshold values may also be other values, which are not limited in this embodiment of the present application.

Referring to fig. 15, it can be seen from fig. 15 that, with the aseptic adapter provided in the embodiment of the present application, the power output element 121 and the driving disc 112 can be clamped within 3s, so as to shorten the required clamping time of the power output element 121 and the driving disc 112.

It can be understood that the method embodiment of the present application has the same or corresponding technical features as the device embodiment described in the present application, so that the method embodiment of the present application has the same or similar technical effects as the device embodiment described in the foregoing application, and specific reference may be made to the detailed description of the foregoing embodiment of the present application, which is not repeated herein.

It may be further understood that in the embodiment of the present application, the method for determining the engagement between the power input member and the driving disc 112 in the instrument box 130 may also be adopted for determination provided in the foregoing embodiment of the present application, which is not described herein again.

In addition, in the embodiment of the present application, after the surgical instrument is mounted and clamped to the instrument box 130, the surgical instrument applies pressure to the driving disc 112, so that the first flange 1121 is not contacted with the lip 1112 any more, and the driving member is convenient for driving the surgical instrument.

Embodiments of the present application also provide a surgical robot comprising a sterile adapter 110 provided by any of the optional examples of the previous embodiments of the present application.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (15)

1. A sterile adapter comprising a spacer plate assembly and a drive plate, the drive plate being rotatably arranged in the spacer plate assembly and being axially movable relative to the spacer plate assembly in a range less than its own height, characterized in that in a state in which the sterile adapter is assembled to a power pack, the interface between the drive plate and the spacer plate assembly has a first coefficient of friction, the interface between the drive plate and a power take-off of the power pack has a second coefficient of friction, the first coefficient of friction being greater than the second coefficient of friction so that the power take-off rotates relative to the drive plate and the drive plate is stationary relative to the spacer plate assembly, and that, after the drive plate and the power take-off are clamped, the drive plate follows the power take-off to rotate freely relative to the spacer plate assembly, or the power take-off stops rotating immediately relative to the drive plate and the spacer plate assembly.

2. The sterile adapter of claim 1 wherein the first coefficient of friction is 1.5-4 times the second coefficient of friction.

3. The sterile adapter according to claim 1 or 2, wherein the first coefficient of friction is 0.2-0.6 and the second coefficient of friction is 0.05-0.15.

4. A sterile adapter according to claim 1 wherein the barrier plate assembly has at least one perforation provided with a lip;

the transmission disc is rotatably penetrated in the perforation, the peripheral wall of the transmission disc is provided with a first flange edge, when the sterile adapter is assembled on the power box, the first flange edge is abutted with the lip edge along the axial direction of the perforation, and the transmission disc is suitable for transmitting power to the instrument box after being clamped with a power output part of the power box; wherein the interface between the first flange edge and the lip has the first coefficient of friction.

5. The sterile adapter of claim 4 wherein the surface of the lip facing the first flange side is a first surface and the surface of the first flange side facing the lip side is a second surface;

at least one of the first surface and the second surface is configured as a roughened surface;

the surface of the transmission disc facing one side of the power output piece is a third surface, and the surface of the power output piece facing one side of the transmission disc is a fourth surface; one of the first surface and the second surface configured as the roughened surface has a first roughness and the other has a second roughness;

The first roughness is greater than a roughness of any one of the third surface and the fourth surface, and the second roughness is greater than or equal to a roughness of any one of the third surface and the fourth surface.

6. The sterile adapter of claim 5 wherein said first surface is provided with a plurality of damper bumps/ribs spaced circumferentially about said lip;

and/or, the first surface is provided with a plurality of grooves, the grooves are arranged at intervals along the circumferential direction of the lip, and the grooves extend along the radial direction of the perforation.

7. A sterile adapter according to claim 5 or 6 wherein the second surface is provided with a plurality of grooves spaced circumferentially about the first flange edge and extending radially from the drive disk;

and/or, the second surface is provided with a plurality of damping convex points/convex strips, and the damping convex points/convex strips are distributed at intervals along the circumferential direction of the first flange edge.

8. The sterile adapter of claim 4 wherein a damping shim is disposed between the lip or the first flange edge such that the first coefficient of friction is provided between the first flange edge and the damping shim; alternatively, the damping shim has the first coefficient of friction with the lip.

9. The sterile adapter of claim 8, wherein the damping shim comprises a friction plate.

10. The sterile adapter of claim 8, wherein the damping shim comprises: rubber gaskets or silicone gaskets.

11. The sterile adapter of claim 4 wherein an adhesive layer is provided between the lip and the first flange edge.

12. The sterile adapter of claim 4 wherein the lip comprises a first sub-lip and a second sub-lip, the first sub-lip having an arc length greater than an arc length of the second sub-lip, the first flange edge having the first coefficient of friction with the first sub-lip.

13. The method for detecting the clamping of the sterile adapter is characterized in that the sterile adapter is connected to a power box, the power box is provided with a driving piece and a power output piece, and the driving piece is used for driving the power output piece; the method comprises the following steps:

monitoring an operating parameter of the drive member with the sterile adapter connected to the power pack;

and under the condition that the variation value of the operation parameter is larger than or equal to a preset threshold value, determining that the transmission disc of the sterile adapter is clamped with the power output piece.

14. The sterile adapter card inspection method according to claim 13, wherein the operating parameters include: at least one of operating current, output power, or output torque.

15. A surgical robot, comprising:

a power box having a power take-off;

the sterile adapter of any one of claims 1-12, detachably connected to the power pack, and a drive disk of the sterile adapter snapped into engagement with the power take-off;

and the instrument box is detachably connected to one side of the sterile adapter, which is opposite to the power box, and the power input piece of the instrument box is clamped with the transmission disc.