WO2023016465A1 - Sterile plate assembly, surgical robot, and surgical robot system - Google Patents

Abstract

A sterile plate assembly (300), a surgical robot (104), and a surgical robot system (10). The sterile plate assembly (300) comprises an upper sterile plate cover plate (320) and a lower sterile plate cover plate (330); a clearance connector area (340) is formed by an area enclosed by first fixing portions (322) and second fixing portions (323) that are provided on the lower sterile plate cover plate (330); an opening (311) is fixedly mounted on the first fixing portions (322) and the second fixing portions (323) after being opened by means of tension, so as to form a connector channel (350) and an instrument channel (360). Mounting can be completed only by expanding a sterile bag (310) by means of tension and then fixedly mounting the sterile bag on the lower sterile plate cover plate (330), such that convenience and rapidness are achieved, the situation that a transmission component and other connector components are affected by means of wrinkles formed by the sterile bag (310) is avoided, the joint transmission resistance can be reduced, potential safety hazards caused by accidental winding of the wrinkles by a moving component are avoided, and positioning and mounting of a surgical instrument (203) can be assisted.

Description

Sterile plate assembly, surgical robot and surgical robot system technical field

The present application relates to the technical field of medical devices, in particular to a sterile plate assembly, a surgical robot and a surgical robot system.

Background technique

The minimally invasive surgical robot system can reduce the physical labor of doctors during the operation through interventional therapy, and at the same time achieve the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery. The minimally invasive surgical robot system enables the doctor to observe the tissue characteristics in the patient's body through a two-dimensional or three-dimensional display device at the main console, and to remotely control the tool arm and surgical instruments on the surgical robot to complete the surgical operation.

Surgical instruments will come into direct contact with the patient's lesions during the operation to cause contamination, and usually need to be sterilized multiple times to achieve reuse. The tool arm also needs to be used repeatedly, but because the tool arm is bulky and contains many components that are not conducive to sterilization (such as electronic devices, encoders, sensors, etc.), in order to avoid contamination of the tool arm by contaminated surgical instruments, A sterile barrier needs to be constructed to insulate the tool arms and surgical instruments.

However, on the one hand, due to the irregular shape of the interface of the tool arm and surgical instruments, it is not conducive to the installation of the aseptic bag; on the other hand, after the aseptic bag is installed, it is easy to form wrinkles in the joint movement area, which may lead to increased joint resistance and The wrinkled part may be entangled by the transmission parts and cause a safety hazard.

application content

Based on this, it is necessary to address the above technical problems and provide an aseptic panel assembly, a surgical robot and a surgical robot system that can facilitate the installation of aseptic bags and are not prone to wrinkles to avoid potential safety hazards.

An aseptic board assembly, the aseptic board assembly includes a sterile board cover and a sterile board lower cover matched with the sterile board cover, one side of the sterile board lower cover There is a docking part on the side, and at least one first fixing part is arranged on the lower cover of the sterile board adjacent to the docking part, and at least two second fixing parts are also arranged on the lower cover of the sterile board. The area enclosed between each of the first fixing parts and the second fixing parts forms a clear interface area, and each of the first fixing parts and the second fixing parts is used to fix the aseptic bag to form an interface A channel and an instrument channel, the interface channel communicates with the clear interface area, and the instrument channel communicates with the docking portion and is located outside the clear interface area.

In one of the embodiments, the lower cover of the aseptic board further includes a first flange, the first flange is arranged on the top end of the first fixing part, and the first flange is close to the headroom interface. The direction in which the region extends.

In one of the embodiments, the number of the first fixing part is one, the abutting part is a notch, and the first fixing part is adjacent to the bottom of the notch.

In one of the embodiments, the first fixing part has a first hanging wall facing the clearance interface area, the notch is U-shaped, and the shape of the first hanging wall is corresponding to the shape of the bottom of the notch. U-shaped arc.

In one embodiment, the number of the first fixing parts is at least two, the abutting part is a notch, and each of the first fixing parts is arranged along the edge of the notch.

In one of the embodiments, the top surface of the first fixing part is further provided with a reinforcement pin.

In one embodiment, the second fixing part has a second hanging wall facing away from the clearance interface area, and the second hanging wall is an arc-shaped surface convex relative to the clearance interface area.

In one of the embodiments, a second flange is further included, the second flange is disposed on the top end of the second fixing part, and the second flange extends in a direction away from the clearance interface area.

In one embodiment, each of the second fixing parts is distributed at intervals along the outer edge of the lower cover of the sterile plate.

In one of the embodiments, the shape of the outer contour of the lower cover of the sterile plate is waist-shaped, the butt joint is located on one long side of the lower cover of the sterile plate, and the second fixing portion The number is two, and the two second fixing parts are respectively located on the two sides of the lower cover of the sterile plate adjacent to the docking part; or

The shape of the outer contour of the lower cover of the sterile plate is circular, and the number of the second fixing parts is at least three; or

The shape of the outer contour of the lower cover of the sterile plate is polygonal, the number of the second fixing parts is at least three, and each of the second fixing parts is located at each corner of the lower cover of the sterile plate.

In one of the embodiments, the perimeter of the clearance interface area is larger than the perimeter of the opening of the aseptic bag.

In one of the embodiments, the lower surface of the sterile plate cover is provided with a positioning portion, and the upper surface of the sterile plate lower cover is provided with a matching portion that matches the positioning portion; or

The upper surface of the lower cover of the sterile plate is provided with a positioning portion, and the upper surface of the upper cover of the sterile plate is provided with a matching portion that cooperates with the positioning portion.

In one embodiment, the positioning portion is a pin, and the matching portion is a socket; or the positioning portion and the matching portion are tooth-shaped structures that engage with each other.

In one of the embodiments, the aseptic plate assembly further includes a reinforcing fixture, and the reinforcing fixture is sheathed on the second fixing part and the first fixing part.

In one of the embodiments, the reinforcing fixing member is an elastic rubber ring or an annular spring.

In one of the embodiments, the cover plate on the sterile plate is connected to the lower cover plate of the sterile plate through buckles; or

The upper cover of the sterile plate is connected with the lower cover of the sterile plate through screw connection.

A surgical robot, comprising a tool arm, a drive assembly and the sterile plate assembly as described in any one of the above, the drive assembly is arranged at the end of the tool arm, and the sterile plate assembly is located between the drive assembly and the surgical between instruments.

In one of the embodiments, the lower cover of the sterile board is arranged on the housing of the drive assembly, the lower cover of the sterile board is arranged on the lower cover of the sterile board, and the surgical instrument Set on the sterile board cover, the surgical instrument and the drive assembly are isolated by the aseptic bag, the sterile board cover and the sterile board lower cover, the drive assembly The transmission assembly is connected with the power assembly in the instrument box of the surgical instrument through the interface channel, and one end of the instrument rod of the surgical instrument passes through the instrument channel.

A surgical robot system includes a control end and an execution end, the control end includes a main operator and a console, and the execution end includes the surgical robot described in any one of the above items.

Description of drawings

The drawings constituting a part of the application are used to provide further understanding of the application, and the schematic embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation to the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a structural schematic diagram of a surgical robot system in an embodiment;

Fig. 2 is a structural schematic diagram of a sterile plate assembly assembled outside the tool arm in one embodiment;

Fig. 3 is a schematic diagram of the assembly of the surgical instrument and the sterile plate assembly in one embodiment;

Fig. 4 is a schematic structural view of the sterile plate assembly in Fig. 3;

Figure 5 is a partially enlarged view of Figure 4;

Fig. 6 is an exploded schematic diagram of Fig. 5;

Fig. 7 is a schematic structural view of the cover plate on the sterile plate in Fig. 6;

Fig. 8 is a schematic structural view of the lower cover of the aseptic plate in Fig. 6;

Fig. 9 is a schematic diagram of the opening of the aseptic bag in an initial state in one embodiment;

Fig. 10 is a schematic diagram after the opening of the aseptic bag shown in Fig. 9 is stretched;

Figure 11 is a schematic diagram of the shape of the opening of the aseptic bag in its initial state, wherein diagrams a to f sequentially show that the opening in the initial state is circular, waist-circular, triangular, quadrangular, pentagonal, and hexagonal ;

Figure 12 is a schematic diagram of the shape of the opening of the aseptic bag after it has been stretched, wherein Figures a to f sequentially show that the stretched opening is a circle with a V shape, a waist circle, a triangle, a quadrangle, and a pentagon , for the hexagonal case;

Fig. 13 is a schematic structural view of a cover plate on a sterile plate in another embodiment;

Fig. 14 is a schematic structural view of the lower cover of the aseptic plate matched with Fig. 13;

Fig. 15 is a partially exploded schematic diagram of a sterile plate assembly provided with an elastic rubber ring;

Fig. 16 is a partially exploded schematic view of the sterile plate assembly provided with the ring spring.

Explanation of reference signs:

10. Surgical robot system; 101. Main operator; 102. Console; 103. Image vehicle; 104. Surgical robot; 105. Hospital bed; 106. Tool cart; 201. Tool arm; 202. Drive component; 203. Surgical instrument ; 300, aseptic plate assembly; 107, endoscope; 310, sterile bag; 320, cover plate of sterile plate; 330, lower cover plate of sterile plate; 301, hook; 321, gap; 204, instrument Rod; 322, first fixing part; 323, second fixing part; 340, clearance interface area; 311, opening; 350, interface channel; 360, instrument channel; 325, first hanging wall; 326, first flange; 327, reinforcement pin; 312, through hole; 329, second wall; 331, second flange; 370, buckle; 381, pin; 382, jack; 383, upper meshing tooth structure; 384, lower Engaging tooth structure; 391, elastic rubber ring; 392, annular spring.

Detailed ways

In order to make the above-mentioned purpose, features and advantages of the present application more obvious and understandable, the specific implementation manners of the present application will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, the present application can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

As shown in Figure 1, it is a surgical robot system 10 in an embodiment, including a control end and an execution end, the control end includes a main operator 101 and a console 102, and the execution end includes an image car 103, a surgical robot 104, a hospital bed 105 and The tool cart 106, the surgical robot 104 includes a tool arm 201, a drive assembly 202, a surgical instrument 203 and a sterile plate assembly 300, please refer to FIG. 2, the drive assembly 202 is arranged at the end of the tool arm 201. The bacteria plate assembly 300 is assembled between the driving assembly 202 and the surgical instrument 203, so as to isolate the surgical instrument 203 from the driving assembly 202, the tool arm 201, etc., and prevent the polluted surgical instrument 203 from continuing to pollute the driving assembly 202 and the tool arm 201 wait. The main purpose of the surgical robot system 10 is for the doctor to perform minimally invasive surgical treatment on patients on the hospital bed 105 through the operation of the console 102 and the main operator 101 .

Wherein, the master operating hand 101 forms a master-slave control relationship with the tool arm 201 and the surgical instrument 203 . Specifically, the tool arm 201 and the surgical instrument 203 move according to the movement of the main operating hand 101 during the operation, that is, according to the operation of the doctor's hand. Furthermore, the main operating hand 101 also receives the force information of human tissues and organs on the surgical instrument 203 and feeds it back to the doctor's hand, so that the doctor can experience the surgical operation more intuitively.

Further, the tool arm 201 includes at least one mounted endoscope 107, and the endoscope 107 is used to obtain surgical environment information such as human tissues and organs, surgical instruments 203, blood vessels, and body fluids. The surgical robot 104 also includes other tool arms 201 , and each tool arm 201 is respectively mounted with a surgical instrument 203 . The endoscope 107 and the surgical instrument 203 respectively enter the patient's position through the wound on the patient's body.

Please refer to Fig. 2 to Fig. 8, the aseptic plate assembly 300 in one embodiment, comprises the aseptic plate cover plate 320 and the aseptic plate lower cover plate 330 that cooperates with the aseptic plate cover plate 320, the aseptic plate The lower cover 330 is disposed on the casing of the driving assembly 202 . The upper cover plate 320 of the sterile plate is arranged on the lower cover plate 330 of the sterile plate. Specifically, the lower cover plate 330 of the sterile plate can be installed on the casing of the driving assembly 202 through the hook 301 . The surgical instrument 203 is arranged on the cover plate 320 of the sterile plate, and the surgical instrument 203 and the driving assembly 202 are isolated by the sterile plate assembly 300 .

One side of the lower cover plate 330 of the sterile plate is provided with a docking portion corresponding to the instrument rod 204 on the housing of the drive assembly 202 to allow the instrument rod 204 to pass through. Further, a corresponding docking portion is also provided on the cover plate 320 of the sterile plate. Specifically, the docking portion is a notch 321 .

At least one first fixing part 322 is arranged on the lower cover plate 330 of the sterile plate adjacent to the docking part, and at least two second fixing parts 323 are also arranged on the lower cover plate 330 of the sterile plate, each of the first fixing parts 322 The area surrounded by the second fixing portion 323 forms a clearance interface area 340 (approximately the area surrounded by the dotted circle in FIG. 8 ). The aseptic bag 310 has an opening 311 . Please refer to FIG. 9 , the perimeter of the opening of the aseptic bag is smaller than the perimeter of the empty interface area. That is, the shape boundary of the opening 311 does not exceed the boundary of the clearance interface area 340 . If the shape boundary of the opening 311 exceeds the clearance interface area 340 , the aseptic bag 310 cannot completely isolate the tool arm 201 and the driving assembly 202 from the surgical instrument 203 , resulting in contamination of the tool arm 201 and the driving assembly 202 . Therefore, the shape boundary of the opening 311 is set to not exceed the boundary of the clearance interface area 340. The sterile bag 310 is made of a material with certain elasticity. Opening 311 . The clearance interface area 340 is the maximum size that the opening 311 of the aseptic bag 310 can expand, and the transmission assembly of the driving assembly 202 can pass through the clearance interface area 340 smoothly. Please refer to Fig. 5, Fig. 6 and Fig. 10, the opening 311 of the sterile bag 310 is fixedly installed on each of the first fixing part 322 and the second fixing part 323 after being stretched by tension to form the interface channel 350 and the instrument channel 360, the interface The channel 350 communicates with the clear interface area 340 , and the instrument channel 360 communicates with the docking portion and is located outside the clear interface area 340 .

When it is necessary to isolate the tool arm 201 and the driving assembly 202 from the surgical instrument 203, the aseptic bag 310 is placed on the tool arm 201 and the driving assembly 202, and the tool arm 201 and the driving assembly 202 are covered by the sterile bag 310 to prevent them from being exposed pollute. There is an opening 311 on the aseptic bag 310, and the aseptic bag 310 is sleeved on the lower cover plate 330 of the sterile plate through the opening 311, and the lower cover plate 330 of the sterile plate is provided with at least one first fixing part 322 and at least two second fixing parts. The fixed part 323, the area surrounded between each first fixed part 322 and the second fixed part 323 forms a clear interface area 340, and the opening 311 of the aseptic bag 310 is stretched by tension and fixedly installed on each first fixed part 322 and An interface channel 350 and an instrument channel 360 are formed on the second fixing part 323 , the interface channel 350 communicates with the clear interface area 340 , and the instrument channel 360 communicates with the docking part and is located outside the clear interface area 340 . The transmission assembly of the drive assembly 202 is connected with the power assembly in the instrument box of the surgical instrument 203 through the interface channel 350, and the drive assembly 202 drives the power assembly in the instrument box of the surgical instrument 203 to act through the transmission assembly. Therefore, only the aseptic bag 310 needs to be stretched by tension and fixedly installed on the lower cover plate 330 of the aseptic plate to complete the installation, which is convenient and quick, and the aseptic bag 310 is fixed by each first fixing part 322 and each second fixing part 323 The interface channel 350 formed after stretching prevents the aseptic bag 310 from forming wrinkles and affecting the transmission parts and other interface parts, which can reduce joint transmission resistance and avoid safety hazards caused by wrinkles being accidentally entangled by moving parts; the docking part and the drive assembly 202 shell Corresponding to the instrument rod 204 on the body, so that the elastic sterile bag 310 is sleeved thereon to form an instrument channel 360, and one end of the instrument bar 204 of the surgical instrument 203 passes through the instrument channel 360, assisting the positioning and installation of the surgical instrument 203.

Please refer to Figure 11, which is a schematic diagram of the shape of the opening 311 of the aseptic bag 310 in its initial state (that is, without being stretched by external force). , triangle, quadrilateral, pentagon, or hexagon. Of course, the opening 311 can also be in other shapes without specific limitation. When the opening 311 of the aseptic bag 310 is in the initial state, the opening 311 is relatively small, and the circumference of the opening 311 is L. Please refer to Figures a to f of Figure 12, which are schematic diagrams of the shape of the opening 311 of the aseptic bag 310 after being stretched by an external force. Any one of circle, triangle, quadrilateral, pentagon, or hexagon. Of course, in other embodiments, the aseptic bag 310 can also be surrounded by any one of a U-shaped circle, waist circle, triangle, quadrilateral, pentagon or hexagon after stretching. The aseptic bag 310 is in a stretched state, the opening 311 is relatively large, and the perimeter of the opening 311 is L', wherein L'>L.

Please refer to FIG. 8 , the first fixing portion 322 has a first hanging wall 325 facing the clearance interface area 340 . The aseptic bag 310 is generally elastic. After the opening 311 of the aseptic bag 310 is stretched by tension, the opening 311 of the aseptic bag 310 is placed on the first fixing part 322 and the second fixing part 323, and the opening 311 is hung by the first hanging part. The wall 325 prevents it from bouncing back to the initial state.

Further, the lower cover plate 330 of the sterile plate also includes a first flange 326 , the first flange 326 is disposed on the top end of the first fixing portion 322 , and the first flange 326 extends in a direction close to the clearance interface area 340 . The first flange 326 is mainly used to prevent the aseptic bag 310 from falling off from the lower cover 330 of the aseptic plate, and enhance the firmness between the aseptic bag 310 and the lower cover 330 of the aseptic plate.

Further, the top surface of the first fixing part 322 is also provided with a reinforcement pin 327 (as shown in FIG. 8 ), and the reinforcement pin 327 can punch out a through hole 312 (as shown in FIG. 10 ) on the aseptic bag 310, so that The aseptic bag 310 is better fixed on the lower cover plate 330 of the aseptic plate.

Please continue to refer to FIG. 8 , the second fixing portion 323 has a second hanging wall 329 facing away from the clearance interface area 340 . The aseptic bag 310 is generally elastic, and after the opening 311 of the aseptic bag 310 is stretched by tension, the opening 311 is blocked by the second hanging wall 329 and cannot rebound to the original state. That is, after the opening 311 of the aseptic bag 310 is stretched by tension, the opening 311 is blocked by the first hanging wall 325 and the second hanging wall 329 and cannot rebound to the original state. The opening 311 is jointly blocked by the first hanging wall 325 and the second hanging wall 329 to form an interface channel 350 and an instrument channel 360 .

Further, the lower cover plate 330 of the sterile plate further includes a second flange 331 , the second flange 331 is disposed on the top of the second fixing portion 323 , and the second flange 331 extends away from the clearance interface area 340 . The second flange 331 is mainly used to prevent the aseptic bag 310 from falling off from the lower cover 330 of the aseptic plate, and enhance the firmness between the aseptic bag 310 and the lower cover 330 of the aseptic plate.

Further, the second hanging wall 329 is a convex arc surface relative to the clearance interface area 340, which increases the contact area between the second hanging wall 329 and the opening 311 of the aseptic bag 310. Therefore, the aseptic bag 310 can be The opening 311 plays a certain protective role, preventing the second hanging wall 329 from being too sharp and causing cracks or even splitting at the opening 311 .

The number of the first fixing part 322 is one, and the abutting part is a notch 321 , and the first fixing part 322 is adjacent to the bottom of the U-shaped notch 321 .

Please refer to FIG. 8 and FIG. 10 , in this embodiment, the notch is U-shaped, and the number of the first fixing part 322 is one. The bottommost positions of 321 (as indicated by A in FIG. 7 ) are adjacent. In this case, the first hanging wall 325 of the first fixing part 322 may be in a plane shape or in an arc shape. Of course, in other embodiments, the notch 321 is U-shaped, the number of the first fixing part 322 is one, the first fixing part 322 is adjacent to the bottom of the U-shaped notch 321, and the shape of the first hanging wall 325 is U-shaped arc surface with the same shape as the bottom of the notch 321, so the shape of the instrument channel formed by the opening of the aseptic bag 310 stretched by the first fixing part 322 is the same as the shape of the notch 321, which is beneficial to provide an avoidance space for the instrument rod , to prevent the instrument rod from piercing the sterile bag 310. It should be pointed out that the bottom position of the U-shaped notch 321 refers to the position corresponding to the U-shaped wall of the U-shaped notch 321, and the bottommost position of the U-shaped notch 321 refers to the position at the bottom of the U-shaped wall. .

Alternatively, the notch 321 is U-shaped, the number of the first fixing parts 322 is at least two, and each first fixing part 322 is arranged along the edge of the notch 321 . In this case, the number of the first fixing portion 322 can be two, three or more, and they are all arranged adjacent to the U-shaped notch 321, and the shape of the first hanging wall 325 can be a plane shape, or can be It is in the shape of an arc, and the first hanging walls 325 jointly expand the opening 311 of the aseptic bag 310 .

The shape of the outer contour of the lower cover plate 330 of the sterile plate is polygonal, and the number of the second fixing parts 323 is at least three, and each of the second fixing parts 323 is located on the lower cover plate 330 of the sterile plate. every corner.

Each second fixing portion 323 is distributed at intervals along the outer edge of the lower cover plate 330 of the sterile plate. Please continue to refer to Fig. 8 and Fig. 10, the shape of the lower cover plate 330 of the sterile plate is quadrilateral, and the number of the second fixing parts 323 is four, and the four second fixing parts 323 are located on the four sides of the lower cover plate 330 of the sterile plate. In the corner, the second hanging wall 329 of the second fixing portion 323 is an arc-shaped surface protruding outward relative to the clearance interface area 340 . That is, after the four second fixing parts 323 and one first fixing part 322 stretch the opening 311 of the aseptic bag 310, a V-shaped quadrilateral opening 311 is formed (corresponding to diagram d in FIG. 12 ).

Certainly, in other embodiments, the shape of the lower cover plate 330 of the sterile plate is waist-shaped, the butt joint portion is located on a long side of the lower cover plate 330 of the sterile plate, and the number of the second fixing portions 323 is Two, two second fixing parts 323 are respectively located on the two sides adjacent to the docking part of the lower cover plate 330 of the sterile plate, and the second hanging wall 329 of the second fixing part 323 is relative to the outside of the clearance interface area 340 Convex curved surface. That is, after two second fixing parts 323 and one first fixing part 322 stretch the opening 311 of the aseptic bag 310, a waist-shaped opening 311 with a V shape is formed (corresponding to diagram b in FIG. 12 ).

Or, in other embodiments, the shape of the lower cover plate 330 of the sterile plate is triangular, the number of the second fixing parts 323 is three, and the three second fixing parts 323 are located on the three sides of the lower cover plate 330 of the sterile plate. In the corner, the second hanging wall 329 of the second fixing portion 323 is an arc-shaped surface protruding outward relative to the clearance interface area 340 . That is, three second fixing parts 323 and one first fixing part 322 expand the opening 311 of the aseptic bag 310 to form a V-shaped triangular opening 311 (corresponding to c in FIG. 12 ).

Or, in other embodiments, the shape of the lower cover plate 330 of the sterile plate is circular, and the number of the second fixing parts 323 is at least three, and the second fixing parts 323 are located at the outer contour of the lower cover plate 330 of the sterile plate. The arc-shaped edge, the second hanging wall 329 of the second fixing portion 323 is an arc-shaped surface that protrudes outward relative to the clearance interface area 340 . That is, after the second fixing part 323 and one first fixing part 322 stretch the opening 311 of the aseptic bag 310, a V-shaped circular opening 311 is formed (corresponding to diagram a in FIG. 12 ).

Or, the shape of the lower cover plate 330 of the sterile plate is a polygon more than quadrilateral, and the quantity of the second fixing parts 323 is more than four, and each second fixing part 323 is positioned at each corner of the lower cover plate 330 of the sterile plate, and the second fixed parts 323 are positioned at each corner of the lower cover plate 330 of the sterile plate. The second hanging wall 329 of the portion 323 is an arc-shaped surface protruding outward relative to the clearance interface area 340 . For example, the shape of the lower cover plate 330 of the aseptic plate is pentagonal, and the number of the second fixing parts 323 is five, and the opening 311 of the aseptic bag 310 is supported by five second fixing parts 323 and one first fixing part 322. After opening, a V-shaped pentagonal opening 311 (corresponding to diagram e in FIG. 12 ) is formed. The shape of the lower cover plate 330 of the sterile plate is hexagonal, and the number of the second fixing parts 323 is six. , forming a V-shaped hexagonal opening 311 (corresponding to diagram f in FIG. 12 ).

Further, the cover plate 320 on the sterile plate is connected to the lower cover plate 330 of the sterile plate through buckles 370 . Or the upper cover plate 320 of the sterile plate is connected with the lower cover plate 330 of the sterile plate by means of screws. After the aseptic bag 310 is assembled to the lower cover plate 330 of the sterile plate, the cover plate 320 of the sterile plate is connected to the lower cover plate 330 of the sterile plate, and the part of the sterile bag 310 close to the opening 311 is pressed against the sterile plate Between the upper cover plate 320 and the lower cover plate 330 of the sterile plate.

Further, the lower surface of the sterile upper cover 320 is provided with a positioning portion, and the upper surface of the lower cover 330 of the sterile upper is provided with a matching portion matched with the positioning portion. Alternatively, the upper surface of the lower cover plate 330 of the sterile plate is provided with a positioning portion, and the upper surface of the cover plate 320 of the sterile plate is provided with a matching portion matched with the positioning portion. Please refer to FIG. 7 and FIG. 8 , the positioning part is a pin 381 , and the matching part is a socket 382 . When the cover plate 320 on the aseptic plate is matched with the lower cover plate 330 of the aseptic plate, the pins 381 and the sockets 382 can better fix the aseptic bag 310 on the cover plate 320 on the aseptic plate and under the aseptic plate between the cover plates 330 . Of course, please refer to Figures 13 and 14, in other embodiments, the positioning portion and the matching portion are tooth-shaped structures that engage with each other. For example, an upper meshing tooth structure 383 is provided on the cover plate 320 of the sterile plate, and a lower meshing tooth structure 384 is provided on the lower cover plate 330 of the sterile plate, and the upper meshing tooth structure 383 and the lower meshing tooth structure 384 mutually After engaging, the aseptic bag 310 can be better fixed between the cover plate 320 of the sterile plate and the lower cover plate 330 of the sterile plate.

Further, the aseptic plate assembly 300 also includes a reinforcing fixture, which is sheathed on the second fixing part 323 and the first fixing part 322, and the reinforcing fixing part is used to strengthen and fix the aseptic bag 310 to improve the aseptic The firmness of the bag 310 on the second fixing part 323 and the first fixing part 322 . Specifically, please refer to Fig. 15, the reinforcing fixing part is an elastic rubber ring 391, after the aseptic bag 310 is assembled on the lower cover plate 330 of the aseptic plate, the elastic rubber ring 391 is set on the first fixing part 322 and the second fixing part 322 outside the fixing portion 323 to improve the firmness of the aseptic bag 310 . Please refer to FIG. 16 , in other implementation manners, the reinforcing fixing member can also be an annular spring 392 .

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and thus should not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the present application, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiment.

Claims (19)

A kind of aseptic plate assembly, it is characterized in that, described aseptic plate assembly comprises aseptic plate cover plate and the aseptic plate lower cover plate that cooperates with described aseptic plate cover plate; Described aseptic plate lower cover One side of the board is provided with a docking part; the lower cover of the sterile board is provided with at least one first fixing part adjacent to the docking part, and the lower cover of the sterile board is also provided with at least two Each of the first fixing parts and the second fixing parts is surrounded by a clear interface area; each of the first fixing parts and the second fixing parts is used to fix the aseptic The bag is used to form an interface channel and an instrument channel, the interface channel communicates with the clear interface area, and the instrument channel communicates with the docking portion and is located outside the clear interface area. The aseptic board assembly according to claim 1, wherein the lower cover of the aseptic board further includes a first flange, the first flange is arranged on the top of the first fixing part, and the The first flange extends in a direction close to the clearance interface area. The aseptic plate assembly according to claim 1, wherein the number of the first fixing part is one, the abutting part is a notch, and the first fixing part is adjacent to the bottom of the notch. The aseptic plate assembly according to claim 3, wherein the first fixing part has a first hanging wall facing the clearance interface area, the notch is U-shaped, and the shape of the first hanging wall is It is a U-shaped arc surface corresponding to the position and shape of the bottom of the notch. The aseptic plate assembly according to claim 1, wherein the number of the first fixing parts is at least two, the abutting part is a notch, and each of the first fixing parts is arranged along the edge of the notch . The aseptic plate assembly according to claim 1, characterized in that, the top surface of the first fixing part is further provided with a reinforcement pin. The aseptic plate assembly according to claim 1, wherein the second fixing part has a second hanging wall facing away from the headroom interface area, and the second hanging wall is opposite to the headroom interface area. A curved face that is convex outside the region. The aseptic plate assembly according to claim 7, further comprising a second flange, the second flange is arranged on the top end of the second fixing part, and the second flange is away from the headroom along the The direction of the interface area extends. The aseptic panel assembly according to claim 7, wherein each of the second fixing parts is distributed at intervals along the outer edge of the lower cover of the aseptic panel. The aseptic plate assembly according to claim 9, wherein the shape of the outer contour of the lower cover of the aseptic plate is waist-circular, and the butt joint is located on a long side of the lower cover of the aseptic plate. side, the number of the second fixing part is two, and the two second fixing parts are respectively located on the two sides of the lower cover of the sterile plate adjacent to the docking part; or The shape of the outer contour of the lower cover of the sterile plate is circular, and the number of the second fixing parts is at least three; or The shape of the outer contour of the lower cover of the sterile plate is polygonal, the number of the second fixing parts is at least three, and each of the second fixing parts is located at each corner of the lower cover of the sterile plate. The aseptic panel assembly according to claim 1, wherein the perimeter of the clearance interface area is larger than the perimeter of the opening of the aseptic bag. According to the aseptic plate assembly according to any one of claims 1 to 11, it is characterized in that, the lower surface of the cover plate of the aseptic plate is provided with a positioning part, and the upper surface of the lower cover plate of the aseptic plate is provided with a a mating portion to which the positioning portion cooperates; or The upper surface of the lower cover of the sterile plate is provided with a positioning portion, and the upper surface of the upper cover of the sterile plate is provided with a matching portion that cooperates with the positioning portion. The aseptic plate assembly according to claim 12, wherein the positioning part is a pin, and the matching part is a socket; or the positioning part and the matching part are tooth-shaped structures that engage with each other. According to the aseptic board assembly according to any one of claims 1 to 11, characterized in that, the aseptic board assembly further includes a reinforcing fixture, and the reinforcing fixture is sheathed between the second fixing part and the first fixing part. on a fixed part. The aseptic plate assembly according to claim 14, wherein the reinforcing and fixing member is an elastic rubber ring or an annular spring. The aseptic plate assembly according to any one of claims 1 to 11, wherein the cover plate of the sterile plate is connected to the lower cover plate of the sterile plate through buckles; or The upper cover of the sterile plate is connected with the lower cover of the sterile plate through screw connection. A surgical robot, characterized in that it comprises a tool arm, a drive assembly and the sterile plate assembly according to any one of claims 1 to 16, the drive assembly is arranged at the end of the tool arm, the sterile A plate assembly is located between the drive assembly and the surgical instrument. The surgical robot according to claim 17, wherein the lower cover of the sterile board is arranged on the housing of the drive assembly, and the lower cover of the sterile board is arranged on the lower cover of the sterile board On the board, the surgical instrument is arranged on the cover plate of the sterile plate, and the surgical instrument and the driving assembly are isolated by the aseptic bag, the cover plate of the sterile plate and the lower cover plate of the sterile plate First, the transmission assembly of the driving assembly is connected with the power assembly in the instrument box of the surgical instrument through the interface channel, and one end of the instrument rod of the surgical instrument passes through the instrument channel. A surgical robot system, characterized by comprising a control end and an execution end, the control end includes a main operator and a console, and the execution end includes the surgical robot according to claim 17 or 18.

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