CN113288430B - Sterile plate assembly, surgical instrument, power box and surgical robot system - Google Patents

Abstract

The invention provides a sterile plate assembly, a surgical instrument, a power box and a surgical robot system, wherein the sterile plate assembly comprises: the first substrate and a first locking device arranged on the first substrate; the first locking device is movably arranged between a first locking position and a first unlocking position relative to the first base plate along a first direction; the first locking device comprises a first pressing part and a first clamping part which are connected, and when the first locking device is at a first locking position, the first clamping part is used for locking a part corresponding to a first target object; when the first locking device is located at the first unlocking position, the first clamping part is used for unlocking the corresponding part of the first target object; the first pressing portion is configured to be restricted from moving in the first direction by the second target object after the aseptic board assembly is used for being assembled and connected with the second target object, so that the first locking device is restricted to be in the first locking position.

Description

Sterile plate assembly, surgical instrument, power box and surgical robot system

Technical Field

The invention relates to the technical field of robot-assisted surgery, in particular to an aseptic plate assembly, a surgical instrument, a power box and a surgical robot system.

Background

In recent years, with the application and development of related technologies of robots, especially the development of computing technologies, the role of medical surgical robots in clinical practice is more and more emphasized. The minimally invasive surgery robot system can reduce the physical labor of a doctor in the surgery process in an interventional therapy mode, and meanwhile achieves the purpose of accurate surgery, so that the patient has small wound, less blood loss, less postoperative infection and quick postoperative recovery.

The minimally invasive surgical robot system enables a doctor to remotely control mechanical arms and surgical tool instruments on the slave operation robot at the master control console to complete operation of a surgery. The development of minimally invasive surgical robotic devices has not only enabled physicians to complete surgery with less invasive, but the same viewing angle and operational feel as traditional open surgery. More importantly, the medical instrument enables a doctor to carry out operation at a place far away from a patient, or to carry out operation beside the patient in a ward, or can remotely control a remote receiving device through an operation input device, so as to complete the operation of the operation.

In telesurgery, the surgeon uses some form of remote control, such as a servo, to manipulate the movement of the surgical instruments, rather than directly holding and moving the instruments. In telesurgical systems, a surgeon controls a surgical workstation by operating a master control device, which in turn controls the movement of servo-mechanical surgical instruments, to perform a surgical procedure on a patient.

However, if this type of operation is to be performed, a system/device must be provided to support and move the surgical instruments, which is typically accomplished by a robotic arm. Surgical instruments can be contacted with focuses of patients to cause pollution in the surgical process, multiple times of disinfection and sterilization are usually required to realize multiplexing, mechanical arms of a surgical robot are usually required to be repeatedly used, but the surgical instruments and the mechanical arms are required to be isolated by a sterile plate because the surgical instruments are large in size and contain a plurality of parts which are not beneficial to disinfection and sterilization, such as electronic devices, encoders or sensors, and the like, so that the surgical instruments can be subjected to acting forces in a plurality of directions according to different operation conditions in the surgical process in order to avoid further pollution of the mechanical arms by the contaminated surgical instruments in the surgical process, the surgical instruments and the mechanical arms are required to be isolated by the sterile plate, in addition, different surgical instruments are required to be repeatedly replaced in the surgical process to finish operations such as shearing, suturing or electrocoagulation, and the like, and the surgical instruments or the sterile plate can often shake to different degrees relative to the mechanical arms when the conventional surgical instruments or the sterile plate are subjected to the action of external force, and the accurate control of the surgical instruments is not beneficial, meanwhile, potential safety hazards can be caused, and on the other hand, the locking structure of the current surgical instrument or sterile plate has the risk of tripping.

Disclosure of Invention

The invention aims to provide a sterile plate assembly, a surgical instrument, a power box and a surgical robot system, which aim to solve the problem that the conventional surgical instrument or sterile plate is easy to shake or release.

To solve the above technical problem, according to a first aspect of the present invention, there is provided an aseptic plate assembly including: the locking device comprises a first substrate and a first locking device arranged on the first substrate;

the first locking device is movably arranged between a first locking position and a first unlocking position relative to the first base plate along a first direction;

the first locking device comprises a first pressing part and a first clamping part which are connected, and when the first locking device is located at the first locking position, the first clamping part is used for being locked with a part corresponding to a first target object; when the first locking device is located at the first unlocking position, the first clamping part is used for unlocking a part corresponding to the first target object;

the first pressing part is configured to be restricted by a second target object from moving in the first direction after the aseptic board assembly is used for being assembled and connected with the second target object, so that the first locking device is restricted to be in the first locking position.

Optionally, the aseptic plate assembly further comprises a first potential energy component;

the first potential energy component is respectively connected with the first base plate and the first locking device; the first potential energy component is configured to store potential energy during movement of the first locking device from the first locking position to the first unlocking position under an external force; when the first locking device is not subjected to external force or the external force is smaller than the driving force of the potential energy stored in the first potential energy part on the first locking device, the first potential energy part releases the potential energy to drive the first locking device to move to the first locking position.

Optionally, the first potential energy component includes a first elastic element or two first magnetic elements arranged in opposite polar arrangement.

Optionally, the first clamping part has a first guiding inclined plane facing the direction of the power box, and the first guiding inclined plane gradually inclines towards the first unlocking position in the direction of the power box.

Optionally, the first pressing portion has a second guiding inclined plane facing the surgical instrument, and the second guiding inclined plane is gradually inclined toward the first locking position in the direction of the surgical instrument.

Optionally, the aseptic plate assembly comprises at least two first locking devices, and the at least two first locking devices are oppositely arranged.

Optionally, the first substrate has a first limiting cavity, and the first limiting cavity is used for limiting the first locking device to have only a moving degree of freedom along the first direction.

Optionally, the first direction is parallel to an extending direction of the first substrate.

Optionally, the first base plate has a first locking stage, and the first locking stage is used for being locked with a corresponding locking device of the surgical instrument, so that the surgical instrument and the sterile plate assembly are locked.

Optionally, the first substrate has a first power transmission hole therethrough for passing the power transmission member therethrough.

In order to solve the above technical problem, according to a second aspect of the present invention, there is also provided a surgical instrument, including: the second substrate and a second locking device arranged on the second substrate; the surgical instrument is used for being assembled and connected with the sterile plate component; the second base plate is used for being connected with the first base plate of the sterile plate assembly in an abutting mode; the second locking device is used for locking with a corresponding part of the sterile plate assembly;

The second base plate is provided with a first locking channel, and the first locking channel is used for accommodating the first pressing part of the sterile plate assembly and limiting the movement of the first pressing part along the first direction, so that the first locking device is limited to be at the first locking position.

Optionally, the second locking device includes a second pressing portion and a second clamping portion connected to each other;

the second pressing part is rotatably arranged around the first axis between an initial position and a pressing position; the second clamping part moves along with the rotation of the second pressing part;

the second clamping part is configured to be locked with a corresponding part of the sterile plate assembly when the second pressing part is at the initial position; when the second pressing part is at the pressing position, the second clamping part is used for unlocking with the corresponding part of the sterile plate component.

Optionally, the second locking device further includes a second potential energy component, and the second potential energy component is configured to store potential energy in a process that the second pressing portion is pressed by an external force and rotates from the initial position to the pressing position; when the second pressing part is not subjected to external force or the external force is smaller than the driving force of the potential energy stored in the second potential energy part on the second pressing part, the second potential energy part releases the potential energy to drive the second pressing part to rotate to the initial position.

Optionally, the second potential energy component includes an elastic segment, and the second pressing portion is fixedly connected to the second substrate through the elastic segment; the elastic section stores and releases potential energy through elastic deformation.

Optionally, the second pressing portion is hinged to the second substrate, the second potential energy component includes a second elastic component or two second magnetic components arranged in opposite homopolar directions, and two ends of the second elastic component are respectively connected to the second pressing portion and the second substrate; or the two second magnetic pieces are respectively connected with the second pressing part and the second substrate.

Optionally, the second substrate has a convex base, the second pressing portion is connected to the convex end of the base, and the first axis is located at the convex end of the base.

Optionally, the first axis is parallel to an extending direction of the second substrate.

Optionally, the second clamping portion has a third guiding inclined surface facing the direction of the sterile plate assembly, and the third guiding inclined surface gradually inclines towards the pressing position in the direction of the sterile plate assembly.

Optionally, the first locking channel has a fourth guiding slope facing the direction of the aseptic plate assembly, and the fourth guiding slope gradually inclines towards the first unlocking position in the direction of the aseptic plate assembly.

Optionally, the surgical instrument comprises two second locking devices arranged oppositely.

Optionally, the second substrate has a second power transmission hole therethrough, and the second power transmission hole corresponds to the first power transmission hole and is used for allowing a power transmission member to pass through.

In order to solve the technical problem, according to a third aspect of the present invention, there is also provided a power box for assembling and connecting with the aseptic board assembly as described above; the power cartridge includes: a third substrate;

the third base plate is used for abutting connection with the first base plate of the sterile plate assembly;

the third base plate is provided with a second locking platform which is used for being locked with the first clamping part of the first locking device of the sterile plate assembly so as to lock the sterile plate assembly and the power box.

Optionally, the power box further includes a driving assembly and a power transmission member, the driving assembly is coupled to the power transmission member, and the power transmission member is used for passing through the sterile plate assembly and providing power for the surgical instrument.

Optionally, the third substrate has a third power transmission hole therethrough, and the third power transmission hole is used to correspond to the first power transmission hole of the first substrate, and is used for the power transmission member to pass through.

In order to solve the technical problem, according to a fourth aspect of the present invention, there is also provided a surgical robot system, including a robot arm, the aseptic board assembly as described above, a surgical instrument as described above, and the power cartridge as described above; the surgical instrument, the sterile plate assembly and the power box are detachably connected and are used for being mounted or connected on the mechanical arm.

In summary, in the aseptic plate assembly, the surgical instrument, the power cartridge and the surgical robot system provided by the present invention, the aseptic plate assembly includes: the locking device comprises a first substrate and a first locking device arranged on the first substrate; the first locking device is movably arranged between a first locking position and a first unlocking position relative to the first base plate along a first direction; the first locking device comprises a first pressing part and a first clamping part which are connected, and when the first locking device is located at the first locking position, the first clamping part is used for being locked with a part corresponding to a first target object; when the first locking device is located at the first unlocking position, the first clamping part is used for unlocking a part corresponding to the first target object; the first pressing part is configured to be restricted by a second target object from moving in the first direction after the aseptic board assembly is used for being assembled and connected with the second target object, so that the first locking device is restricted to be in the first locking position.

By the arrangement, after the sterile plate assembly, the surgical instrument and the power box are assembled and connected, the first pressing part of the sterile plate assembly is limited by the surgical instrument, so that the first locking device is in the first locking position and reliably locked with the power box, the risk of accidental unlocking of the sterile plate assembly and the power box due to misoperation in an operation can be avoided, the connection reliability is improved, and the safety and the reliability of the operation are ensured.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of a surgical scene of a surgical robotic system to which the present invention relates;

FIG. 2 is a schematic view of a tool arm supporting and mounting a surgical instrument in accordance with the present invention;

FIG. 3 is an assembled schematic view of a surgical instrument, a sterile plate assembly, and a power pack according to the present invention;

FIG. 4 is a schematic view of a sterility plate assembly in accordance with a first embodiment of the present invention;

FIG. 5 is an exploded view of a sterility plate assembly in accordance with a first embodiment of the present invention;

FIG. 6 is a partial schematic view of a sterile plate assembly according to a first embodiment of the invention;

FIG. 7 is an exploded view of the sterility plate assembly shown in FIG. 6;

FIG. 8 is a schematic view of a first resilient member according to a first embodiment of the present invention;

fig. 9 is a schematic view of a first locking device of the first embodiment of the present invention in a first locking position;

FIG. 10 is a schematic illustration of a first locking device in a first unlocked position in accordance with a first embodiment of the present invention;

FIG. 11 is a schematic view of a surgical instrument according to a first embodiment of the present invention;

FIG. 12 is a partially schematic illustration of a surgical instrument according to a first embodiment of the present invention;

FIG. 13 is a side view of the surgical instrument illustrated in FIG. 12;

FIG. 14 is a transverse cross-sectional view of the surgical instrument illustrated in FIG. 12;

FIG. 15 is a schematic view of a surgical instrument according to a first embodiment of the present invention prior to assembly with a sterile plate assembly;

FIG. 16 is a transverse cross-sectional view of the surgical instrument of FIG. 15 shown assembled with the sterile plate assembly;

FIG. 17 is a schematic view of a surgical instrument according to a first embodiment of the present invention assembled with a sterile plate assembly;

FIG. 18 is a transverse cross-sectional view of the surgical instrument of FIG. 17 assembled with the sterile plate assembly;

FIG. 19 is a transverse cross-sectional view of a surgical instrument, a sterile plate assembly, and a power cartridge, according to a first embodiment of the present invention, prior to assembly;

FIG. 20 is a transverse cross-sectional view of the surgical instrument, sterile plate assembly and power pack of the first embodiment of the present invention, as assembled;

FIG. 21 is a partial schematic view of a surgical instrument according to a second embodiment of the present invention;

FIG. 22 is an exploded view of the surgical device illustrated in FIG. 21;

FIG. 23 is a side elevational view of the surgical instrument illustrated in FIG. 21;

FIG. 24 is a transverse cross-sectional view of a surgical instrument according to a second embodiment of the present invention;

FIG. 25 is a schematic view of a second embodiment of the present invention, after assembly of the surgical instrument with a sterile plate assembly;

FIG. 26 is a transverse cross-sectional view of a second surgical instrument of the second embodiment of the present invention assembled with a sterile plate assembly;

fig. 27 is a schematic view of a first elastic member according to a second embodiment of the present invention;

fig. 28 is a partial schematic view of a sterility plate assembly in accordance with a second embodiment of the present invention.

In the drawings:

1-a patient-end robot; 11-upright post; 12-a support mechanism; 13-a tool arm; 104-image trolley; 105-a tool car; 106-physician console; 107-main manipulator;

14-a surgical instrument; 140-a second substrate; 1401-a second power transfer aperture; 1402-pin shaft; 1403-limiting hole; 141-second locking means; 142-a first locking channel; 143-a fourth guiding ramp; 144-a second pressing part; 145-a second catch; 146-instrument upper cover; 147-a base station; 148-third guide slope; 1491-the elastomeric section; 1492-a second resilient member;

15-aseptic plate assembly; 150-a first substrate; 1501-a first substrate upper cover plate; 1502-a first substrate lower cover plate; 1503-first power transmission aperture; 1504 — a positioning section; 151-first locking means; 152-a first pressing part; 153-a first catch; 154-a first resilient member; 1541-a locating region; 1542-elastic region; 155-a first locking stage; 156-a first guiding ramp; 157-a first spacing chamber; 158-a second guide ramp;

16-a power pack; 160-a third substrate; 1601-a third power transmission bore; 161-a second locking stage; 166-power cartridge housing.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this specification, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in its sense including "and/or," the terms "a" and "an" are generally employed in their sense including "at least one," the terms "at least two" are generally employed in their sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or at least two of such features, the term "proximal" generally being the end near the operator, the term "distal" generally being the end near the patient, i.e. near the lesion, the terms "end" and "proximal" and "distal" generally referring to the corresponding two parts, which include not only the end points, the terms "mounted", "connected" and "connected" being to be understood in a broad sense, e.g. as being fixedly connected, as well as detachably connected, or as an integral part; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in this specification, an element being disposed on another element generally only means that there is a connection, coupling, fit, or drive relationship between the two elements, and the connection, coupling, fit, or drive between the two elements may be direct or indirect through intermediate elements, and should not be understood as indicating or implying any spatial relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below, or to one side of another element, unless the content clearly dictates otherwise. The specific meanings of the above terms in the present specification can be understood by those of ordinary skill in the art as appropriate.

The invention aims to provide an aseptic plate assembly, a surgical instrument, a power box and a surgical robot system, and aims to solve the problem that the conventional surgical instrument or aseptic plate is easy to shake or trip.

The following description refers to the accompanying drawings.

Referring to fig. 1 to 3, fig. 1 is a schematic view of a surgical scene of a surgical robot system according to the present invention; FIG. 2 is a schematic view of a tool arm supporting and mounting a surgical instrument in accordance with the present invention; fig. 3 is an assembly schematic of a surgical instrument, a sterile plate assembly, and a power pack according to the present invention.

The embodiment of the present invention provides a surgical robot system, and fig. 1 shows the surgical robot system and a surgical application scenario thereof, in an exemplary embodiment, the surgical robot system is a master-slave teleoperation surgical robot, that is, the surgical robot system includes an execution end and a control end, where the control end includes adoctor console 106 and amaster manipulator 107 movably disposed on thedoctor console 106. With further reference to fig. 1, the execution end includes a patient-end robot 1, the patient-end robot 1 includes acolumn 11 and a robot arm including asupport mechanism 12 and atool arm 13, and a surgical instrument 14 (including a manipulator, an endoscope, and the like) is mounted on or connected to thetool arm 13. The main operation principle of the surgical robot system is as follows: the doctor realizes the minimally invasive surgery treatment on the patient on thesickbed 101 through the remote operation of thedoctor console 106 and themain manipulator 107. Themain manipulator 107, thetool arm 13 and thesurgical instrument 14 form a master-slave control relationship. Specifically, thetool arm 13 and thesurgical instrument 14 move according to the movement of themain operating hand 107 during the surgical operation, i.e., themain operating hand 107 is operated by the doctor's hand to move accordingly. Further, themain operating hand 107 receives the information of the acting force of the human tissue and organ on the surgical instrument and feeds the information back to the hand of the doctor, so that the doctor can feel the surgical operation more intuitively. The distal end of thetool arm 13 is used to mount or attach asurgical instrument 14 so that thesurgical instrument 14 can perform a surgical operation, such as rotating about a fixed point in space; thesupport mechanism 12 may be rotatably connected to a plurality oftool arms 13 for adjusting the spatial position of the fixed point, and in some embodiments, may further include a plurality ofsupport structures 12, wherein the plurality ofsupport structures 12 are rotatably connected to the plurality oftool arms 13, respectively; theupright 11 is connected to the support means 12 for determining the spatial position of the support means 12 and thetool arm 13. Optionally, the surgical robot system further comprises animage trolley 104 and atool trolley 105, wherein theimage trolley 104 is used for providing the display surgical operation information for an assistant operator (such as a nurse) in real time. Thetool cart 105 is used to placesurgical instruments 14 or other tools for intraoperative access and placement ofsurgical instruments 14 or other tools.

The patient-end robot 1 is a specific implementation platform of the teleoperated surgical robot system, and referring to fig. 2 and 3, a schematic diagram of atool arm 13 of the patient-end robot 1 supporting and mounting asurgical instrument 14 is shown. As described in the background, since thesurgical instrument 14 is continuously replaced during the operation, thesurgical instrument 14 is connected to thetool arm 13 via thesterile plate assembly 15 in order to avoid contamination of thetool arm 13. Further, in the example shown in fig. 2 and 3, one side of thesterile plate assembly 15 is detachably coupled to thesurgical instrument 14, and the other side of thesterile plate assembly 15 is detachably coupled to thepower pack 16. Thepower cartridge 16 is configured to power thesurgical device 14 to drive the distal end of thesurgical device 14 to perform a surgical procedure, such as a clamping, cutting, shearing, or the like. Of course, in other embodiments, thesurgical instrument 14 may be a component such as an endoscope that does not require power input, and thepower box 16 may not be provided, and thesurgical instrument 14 may be connected to thetool arm 13 only through thesterile plate assembly 15. It is to be understood that the surgical robotic system shown in fig. 1 is only one example of a surgical robotic system and is not a limitation of a surgical robotic system, such as a surgical robotic system including a non-master-slave teleoperated surgical robot; the same exemplary embodiment shown in fig. 2 is only a partial example of the patient-side robot 1 and is not limited to the patient-side robot 1, and a person skilled in the art may modify and configure the specific structure of the patient-side robot 1 according to the prior art, and the present invention is not limited to this.

[ EXAMPLES ] A method for producing a semiconductor device

Please refer to fig. 4 to 20, wherein fig. 4 is a schematic diagram of a sterile plate assembly according to a first embodiment of the present invention;

FIG. 5 is an exploded view of a sterility plate assembly in accordance with a first embodiment of the present invention; FIG. 6 is a partial schematic view of a sterile plate assembly according to a first embodiment of the invention; FIG. 7 is an exploded view of the sterility plate assembly shown in FIG. 6; FIG. 8 is a schematic view of a first resilient member according to a first embodiment of the present invention; fig. 9 is a schematic view of a first locking device of the first embodiment of the present invention in a first locking position; FIG. 10 is a schematic illustration of a first locking device in a first unlocked position in accordance with a first embodiment of the present invention; FIG. 11 is a schematic view of a surgical instrument according to a first embodiment of the present invention; FIG. 12 is a partially schematic illustration of a surgical instrument according to a first embodiment of the present invention; FIG. 13 is a side view of the surgical instrument illustrated in FIG. 12;

FIG. 14 is a transverse cross-sectional view of the surgical instrument illustrated in FIG. 12; FIG. 15 is a schematic view of a surgical instrument according to a first embodiment of the present invention prior to assembly with a sterile plate assembly; FIG. 16 is a transverse cross-sectional view of the surgical instrument of FIG. 15 shown assembled with the sterile plate assembly; FIG. 17 is a schematic view of a surgical instrument according to a first embodiment of the present invention assembled with a sterile plate assembly; FIG. 18 is a transverse cross-sectional view of the surgical instrument of FIG. 17 assembled with the sterile plate assembly;

FIG. 19 is a transverse cross-sectional view of a surgical instrument, a sterile plate assembly, and a power cartridge according to a first embodiment of the present invention, prior to assembly;

fig. 20 is a transverse cross-sectional view of a surgical instrument, a sterile plate assembly, and a power pack of a first embodiment of the present invention, as assembled.

In order to achieve the above-mentioned fast and reliable attachment and detachment among thesurgical instrument 14, thesterile plate assembly 15 and thepower pack 16, the present embodiment provides asterile plate assembly 15, as shown in fig. 4 to 10, wherein thesterile plate assembly 15 includes: afirst substrate 150 and afirst locking device 151 disposed on thefirst substrate 150; thefirst locking device 151 is movably disposed along a first direction relative to thefirst substrate 150 between a first locking position and a first unlocking position; in the example shown in fig. 4, the first direction is a direction extending from the lower left to the upper right in the figure, parallel to thefirst substrate 150. Thefirst locking device 151 comprises a firstpressing portion 152 and afirst holding portion 153 connected with each other, and when thefirst locking device 151 is in the first locking position, thefirst holding portion 153 is used for locking a corresponding component (such as asecond locking stage 161 of thepower box 16, as described in detail below with respect to the power box 16) of the power box 16 (i.e. a first target object); when thefirst locking device 151 is in the first unlocking position, thefirst catch 153 is used for unlocking the corresponding component of thepower cartridge 16; the firstpressing part 152 is configured to be limited in movement in the first direction by thesurgical instrument 14 after thesterile plate assembly 15 is used for being assembled and connected with the surgical instrument 14 (i.e., a second target object), so that thefirst locking device 151 is limited to be at the first locking position. Therefore, after thesurgical instrument 14, thesterile board assembly 15 and thepower box 16 are assembled and connected, the firstpressing portion 152 of thesterile board assembly 15 is limited by thesurgical instrument 14, so that thefirst locking device 151 is located at the first locking position, thefirst clamping portion 153 and thepower box 16 are reliably locked, the risk that thesterile board assembly 15 is accidentally unlocked with thepower box 16 due to misoperation in an operation can be avoided, the connection reliability is improved, and the safety and the reliability of the operation are ensured.

Referring to fig. 11 to 14, in order to achieve the assembling connection with thesterile plate assembly 15, thesurgical instrument 14 provided in this embodiment includes: asecond substrate 140 and asecond locking device 141 disposed on thesecond substrate 140; thesecond base plate 140 is used for abutting connection with thefirst base plate 150 of thesterile plate assembly 15; thesecond locking device 141 is used for locking with a corresponding component of the aseptic plate assembly 15 (such as thefirst locking stage 155 of theaseptic plate assembly 15, described in detail below with respect to the aseptic plate assembly 15); thesecond base plate 140 has afirst locking channel 142, and thefirst locking channel 142 is configured to receive the firstpressing portion 152 of thesterile plate assembly 15 and limit the movement of the firstpressing portion 152 along the first direction, so that thefirst locking device 151 is limited to be in the first locking position.

Further, referring to fig. 19 and 20, thepower box 16 of the present embodiment is provided for assembling and connecting with theaseptic board assembly 15; thepower cartridge 16 includes: athird substrate 160; thethird base plate 160 is for abutting connection with thefirst base plate 150 of theaseptic plate assembly 15; thethird base plate 160 has asecond locking stage 161, and thesecond locking stage 161 is used for being locked with thefirst catch 153 of thefirst locking device 151 of thesterile plate assembly 15, so as to lock thesterile plate assembly 15 and thepower box 16.

Optionally, thefirst base plate 150 has afirst locking stage 155, and thefirst locking stage 155 is used for locking with a corresponding locking device (i.e., the second locking device 141) of thesurgical instrument 14, so as to lock thesurgical instrument 14 and thesterile plate assembly 15. In practice, when thesurgical instrument 14, thesterile board assembly 15 and thepower box 16 are assembled and connected, thesterile board assembly 15 is locked by thefirst locking portion 153 of thefirst locking device 151 and thesecond locking stage 161 of thethird base plate 160, and thesurgical instrument 14 is locked by thesecond locking device 141 and thefirst locking stage 155 of thefirst base plate 150, so as to achieve the assembly and connection of the three.

In an exemplary embodiment, each of thefirst substrate 150, thesecond substrate 140, and thethird substrate 160 is a substantially plate-shaped member, and opposite surfaces thereof along respective extending directions are planes parallel to each other. The first direction is also parallel to the extending direction of thefirst substrate 150. Of course, in other embodiments, the shapes of thefirst substrate 150, thesecond substrate 140 and thethird substrate 160 are not limited to a plate-shaped member with two parallel surfaces, and the first direction is not limited to be parallel to the extending direction of thefirst substrate 150, for example, the first direction may form an angle with the extending direction of thefirst substrate 150. Those skilled in the art can reasonably configure the device according to practical applications, and the invention is not limited to this.

Optionally, the firstpressing part 152 of thesterile plate assembly 15 protrudes from thefirst base plate 150 towards the side connected with thesurgical instrument 14, and the height of the protrusion is greater than or equal to the thickness of thesecond base plate 140; correspondingly, thefirst locking channel 142 is opened on thesecond substrate 140. With such a configuration, during assembly, the firstpressing portion 152 passes through thesecond substrate 140 via thefirst locking channel 142. Alternatively, thefirst locking channel 142 can restrict thefirst locking device 151 at the first locking position by abutting against at least a position restricting the firstpressing part 152 in the first direction toward the first unlocking position direction. In a specific exemplary embodiment, the firstpressing portion 152 can be limited, for example, by a sidewall 1421 of thefirst locking channel 142. Preferably, the inner contour of thefirst locking channel 142 is adapted to the outer contour shape of the firstpressing portion 152, and thefirst locking channel 142 can not only limit the position of the firstpressing portion 152 along the first direction by abutting against, but also limit the displacement of the firstpressing portion 152 in other directions in the extending direction of thesecond substrate 140, that is, the firstpressing portion 152 can only penetrate and exit along the axial direction of thefirst locking channel 142, and has no other degree of freedom. With such a configuration, when thesurgical instrument 14 is assembled and connected with thesterile plate assembly 15, the firstpressing portion 152 and thefirst locking channel 142 can also serve as a positioning column and a positioning channel for positioning the assembly and connection of the two. Of course, in some other embodiments, the height of the firstpressing portion 152 protruding from thefirst substrate 150 is not limited to be greater than or equal to the thickness of thesecond substrate 140, and the protruding height of the firstpressing portion 152 may also be less than the thickness of thesecond substrate 140, and thefirst locking channel 142 does not need to be opened through, and may be a blind hole matching the protruding height of the firstpressing portion 152. This can be reasonably arranged by those skilled in the art according to the practice.

Optionally, in the example shown in fig. 4 and 12, thesterile plate assembly 15 includes at least twofirst locking devices 151, at least twofirst locking devices 151 being disposed oppositely; thesurgical instrument 14 includes twosecond locking devices 141 arranged oppositely. Of course, in other embodiments, thesterile plate assembly 15 may include a greater number offirst locking devices 151 and thesurgical instrument 14 may include a greater number ofsecond locking devices 141. The relative arrangement here, for two first locking means 151, can be arranged back-to-back symmetrically about an axis perpendicular to thefirst base plate 150, as shown in fig. 4. But in other embodiments, not limited to a symmetrical arrangement, both may be distributed at an angle about the axis perpendicular to thefirst substrate 150; for the plurality offirst locking devices 151, the plurality offirst locking devices 151 may be arranged around the axis perpendicular to thefirst base plate 150, and thefirst locking devices 151 may be arranged at a certain angle therebetween, which is not limited in the present invention. Similarly, the twosecond locking devices 141 are oppositely disposed, which can refer to the above description of thefirst locking device 151, which can mean that the twosecond locking devices 141 are symmetrically disposed back to back about an axis perpendicular to thesecond substrate 140, as shown in fig. 14.

Correspondingly, the number of first locking stages 155 of thesterile plate assembly 15 may be adapted to the number ofsecond locking devices 141 of thesurgical instrument 14 or greater than the number ofsecond locking devices 141; the number of the second locking stages 161 of thethird base plate 160 may be matched to the number of thefirst locking devices 151 of theaseptic plate assembly 15 or greater than the number of thefirst locking devices 151. It is to be understood that when thesterile plate assembly 15 comprises more than twofirst locking devices 151, eachfirst locking device 151 has its own first direction, and the first directions of eachfirst locking device 151 may be parallel to each other or may be angled to each other. Preferably, the first direction of eachfirst locking device 151 is parallel to the extending direction of thefirst base plate 150.

Referring to fig. 6 and 7, optionally, thesterile plate assembly 15 further includes a first potential energy component; the first potential energy component is respectively connected with thefirst base plate 150 and thefirst locking device 151; the first potential energy component is configured to store potential energy during the process that thefirst locking device 151 moves from the first locking position to the first unlocking position by an external force; when thefirst locking device 151 is not subjected to external force or the external force is smaller than the driving force of the potential energy stored in the first potential energy component to thefirst locking device 151, the first potential energy component releases the potential energy to drive thefirst locking device 151 to move to the first locking position. Here, the case where the external force applied to thefirst locking device 151 is smaller than the potential energy stored in the first potential energy component to the driving force of thefirst locking device 151 is described, but if the external force is smaller than the driving force of thefirst locking device 151 by the potential energy stored in the first potential energy component, thefirst locking device 151 will move to the first locking position by the potential energy released by the first potential energy component.

Referring to fig. 19 and 20, thefirst locking device 151 can be locked with thepower box 16 when in the first locking position, and in the assembly, thesterile plate assembly 15 and thesurgical instrument 14 can be sequentially assembled on thepower box 16, and when thesterile plate assembly 15 is assembled with thepower box 16 and thesurgical instrument 14 is not assembled yet, the first potential energy component is arranged to keep thefirst locking device 151 in the first locking position when no external force is applied, so that the assembly stability of thesterile plate assembly 15 and thepower box 16 is ensured.

Optionally, the first potential energy component comprises a firstelastic member 154 or two first magnetic members arranged opposite to each other in the same pole. Taking the first potential energy component including the firstelastic element 154 as an example, the firstelastic element 154 may be a common elastic element such as a spring, a spring sheet or a plate spring, please refer to fig. 6 to 8, in an alternative embodiment, the firstelastic element 154 is a spring sheet, which has apositioning region 1541 and anelastic region 1542, correspondingly, thefirst substrate 150 has apositioning portion 1504 for engaging and fixing thepositioning region 1541, and thepositioning region 1541 can be engaged and fixed on thepositioning portion 1504. The shape of the elastic sheet can be V-shaped, N-shaped, W-shaped, etc., and the invention is not limited to the shape of the elastic sheet.Elastic region 1542 is connected at one end to locatingregion 1541 and at the other end tofirst locking device 151.Elastic region 1542 is capable of storing or releasing potential energy through elastic deformation. In another alternative embodiment, the first potential energy component may comprise a first magnetic element arranged opposite to each other in the same polarity, one of which is connected to thefirst locking device 151, and the other of which is fixed to thefirst substrate 150. When thefirst locking device 151 moves toward the first unlocking position, the two first magnetic members approach each other, generate a repulsive force, and store potential energy; when the external force applied to thefirst locking device 151 is removed, the two first magnetic members release potential energy due to repulsion, and thefirst locking device 151 is pushed to move toward the first locking position.

Referring to fig. 16 and 18, optionally, thefirst catch 153 has a first guidinginclined plane 156 facing the direction of thepower box 16, and the first guidinginclined plane 156 gradually inclines towards the first unlocking position in the direction of thepower box 16. In the example shown in fig. 16 and 18, the first direction is a horizontal direction in the drawing, the first unlocking position is a position where the twofirst locking devices 151 are close to the center of thefirst base plate 150, the first locking position is a position where the twofirst locking devices 151 are far from the center of thefirst base plate 150 toward both left and right ends, thefirst guide slope 156 of thefirst retaining portion 153 on the left side in the drawing is gradually inclined toward the center of the first base plate 150 (i.e., the right side in the drawing) toward the direction of the power cartridge 16 (i.e., the lower side in the drawing), and thefirst guide slope 156 of thefirst retaining portion 153 on the right side in the drawing is inclined toward the lower left side. It is understood that the inclination direction of the first guide slopes 156 is only related to the first locked position and the first unlocked position. When thesterile board assembly 15 is assembled with thepower box 16, in some embodiments, thefirst locking device 151 may be driven to move to the first unlocking position by pressing the firstpressing portion 152, while in other embodiments, thefirst locking device 151 may be pushed to move to the first unlocking position by a component force in the first direction generated by thepower box 16 on the first guidinginclined surface 156 by directly utilizing the abutment of the first guidinginclined surface 156 with thepower box 16. This is particularly suitable in the case where a plurality of first locking means 151 are provided, and the operator can complete the assembly by simply snap-fitting thesterile plate assembly 15 to thepower pack 16 without having to perform any special operation on the first locking means 151. Note that thefirst guide slope 156 is not limited to a flat surface, and may be a smoothly curved surface.

Preferably, as shown in fig. 5, thefirst substrate 150 has a first limitingcavity 157, and the first limitingcavity 157 is used for limiting thefirst locking device 151 to have only a freedom of movement in the first direction. Referring to fig. 5, in an exemplary embodiment, thefirst substrate 150 may include a first substrateupper cover plate 1501 and a first substratelower cover plate 1502, both of the first substrateupper cover plate 1501 and the first substratelower cover plate 1502 may be assembled and spliced, the first position-limitingcavity 157 is formed between the first substrateupper cover plate 1501 and the first substratelower cover plate 1502, the first position-limitingcavity 157 may extend along a first direction, a part of a profile shape of the correspondingfirst locking device 151 is matched with an inner profile of the first position-limitingcavity 157, thefirst locking device 151 may be engaged in the first position-limitingcavity 157 and may move along the first direction, and the first position-limitingcavity 157 limits other degrees of freedom of thefirst locking device 151 except for movement along the first direction. The first limitingcavity 157 can prevent thefirst locking device 151 from falling off, overturning or twisting from thefirst base plate 150, thereby improving the reliability of the movement of thefirst locking device 151.

Alternatively, referring to fig. 15 to 18, the firstpressing portion 152 has a second guidinginclined plane 158 facing the direction of thesurgical device 14, and the second guidinginclined plane 158 gradually inclines towards the first locking position in the direction of thesurgical device 14. As for the inclination direction of thesecond guide slope 158, it can be understood with reference to the above description about the inclination direction of thefirst guide slope 156, and the description will not be repeated here. When thesurgical instrument 14 is installed after thesterile plate assembly 15 and thepower cartridge 16 are assembled, the second guiding inclinedsurface 158 guides the firstpressing portion 152 to penetrate into thefirst locking channel 142, so that the firstpressing portion 152 can be conveniently slid into thefirst locking channel 142. It should be noted that the second guiding inclinedsurface 158 is not limited to be a plane surface, and may be a smooth curved surface, which can also play a certain guiding role.

Alternatively, with continued reference to fig. 15 to 18, thefirst locking channel 142 has a fourth guiding inclinedsurface 143 facing the direction of thesterile plate assembly 15, and the fourth guidinginclined surface 143 is gradually inclined toward the first unlocking position in the direction of thesterile plate assembly 15. Also, as for the inclination direction of thefourth guide slope 143, it can be understood with reference to the above description about the inclination direction of thefirst guide slope 156, and the description will not be repeated here. The fourth guiding inclinedsurface 143 can also guide the firstpressing portion 152 to penetrate into thefirst locking channel 142, so that the firstpressing portion 152 can conveniently slide into thefirst locking channel 142. Similarly, the fourth guidinginclined surface 143 is not limited to a plane, but may be a smooth curved surface, which can also play a certain guiding role.

The following describes thesurgical instrument 14 provided in the present embodiment with reference to fig. 11 to 14. In the example shown in fig. 11 to 14, thesurgical instrument 14 includes asecond base plate 140 and twosecond locking devices 141, the twosecond locking devices 141 are disposed on thesecond base plate 140 at intervals, and thesurgical instrument 14 is configured to be locked or unlocked by the twosecond locking devices 141 and the correspondingsterile plate assembly 15. Further, thesurgical device 14 includes adevice cover 146, and thedevice cover 146 is configured to be assembled with thesecond base plate 140 to form an inner cavity to accommodate other components of thesurgical device 14. The present embodiment is not intended to be illustrative of other components within thesurgical device 14, which may be configured by one skilled in the art. Of course, in other embodiments, thesurgical instrument 14 may further include a greater number ofsecond locking devices 141, and the arrangement of thesecond locking devices 141 is not limited to the relatively parallel arrangement, for example, thesurgical instrument 14 may include threesecond locking devices 141, the threesecond locking devices 141 are arranged in an Contraband shape, and the like, which is not limited by the present invention. The two or moresecond locking devices 141 can reduce the shaking of thesurgical instrument 14 during the operation, improve the stability and safety, and improve the operation precision. It should be further noted that the number of thesecond locking devices 141 may be the same as or different from that of thefirst locking devices 151, and the present invention is not limited thereto.

Referring to fig. 12 to 14, in an exemplary embodiment, thesecond locking device 141 includes a secondpressing portion 144 and asecond retaining portion 145 connected to each other; the secondpressing portion 144 is rotatably disposed around the first axis a between an initial position and a pressing position; the second catchingportion 145 moves along with the rotation of the secondpressing portion 144; thesecond catch 145 is configured to lock with a corresponding component (e.g., the first locking stage 155) of thesterile plate assembly 15 when the secondpressing portion 144 is at the initial position; when the secondpressing portion 144 is at the pressed position, thesecond catch 145 is used to unlock with a corresponding component (e.g., the first locking stage 155) of thesterile plate assembly 15.

Preferably, thesecond locking device 141 further comprises a second potential energy component configured to store potential energy during the process that the secondpressing portion 144 is pressed by the external force and rotates from the initial position to the pressing position; when the secondpressing portion 144 is not subjected to external force or the external force is smaller than the driving force of the potential energy stored in the second potential energy component to the secondpressing portion 144, the second potential energy component releases the potential energy to drive the secondpressing portion 144 to rotate to the initial position. For the case that the external force applied to the secondpressing portion 144 is smaller than the driving force of the secondpressing portion 144 by the stored potential energy of the second potential energy component, reference may be made to the foregoing description of the first potential energy component, and this description is not repeated here. The second potential energy component can keep the secondpressing part 144 at the initial position when no external force is applied, and the assembling stability of thesurgical instrument 14 and thesterile plate assembly 15 is ensured.

Optionally, thesecond holding portion 145 has a third guiding inclinedsurface 148 facing the direction of the sterile plate assembly, and the third guiding inclinedsurface 148 is gradually inclined toward the pressing position in the direction of thesterile plate assembly 15. As for the inclination direction of thethird guide slope 148, it can be understood with reference to the above description about the inclination direction of thefirst guide slope 156, and the description will not be repeated here.

Referring to fig. 13, optionally, in order to ensure the stability of thesecond clamping portion 145, a width d of thesecond clamping portion 145 in a direction parallel to the first axis a and a length L of the second substrate in the direction parallel to the first axis a satisfy d ≧ 0.1L. With such a configuration, the shaking of thesurgical instrument 14 in the surgical process can be reduced, the stability and the safety are improved, and the surgical precision is improved.

In some embodiments, when thesurgical device 14 is assembled with thesterile sheet assembly 15, the operator can unlock thesecond catch 145 from thefirst locking platform 155 by pressing the secondpressing portion 144, and in other embodiments, the operator can directly use the abutting of the third guiding inclinedsurface 148 and thesterile sheet assembly 15 to push the secondpressing portion 144 to move to the pressing position by using the component force of thesterile sheet assembly 15 on the third guiding inclinedsurface 148 toward the pressing position. This is particularly suitable for the case where a plurality ofsecond locking devices 141 are provided, and the operator can complete the assembly by merely snapping thesurgical instrument 14 onto thesterile plate assembly 15 without performing any special operation on the secondpressing portion 144. It should be noted that thethird guiding slope 148 is not limited to a plane, and may be a smooth curved surface.

Optionally, thesecond substrate 140 has aconvex base 147, the secondpressing portion 144 is connected to the convex end of thebase 147, and the first axis a is located at the convex end of the base 147 (i.e. the end away from the main body of the second substrate 140).

Preferably, the first axis a is parallel to the extending direction of thesecond substrate 140.

Optionally, referring to fig. 12 to fig. 15, the second potential energy component includes anelastic section 1491, and the secondpressing portion 144 is fixedly connected to thesecond substrate 140 through theelastic section 1491; theresilient section 1491 stores and releases potential energy through elastic deformation. The material of theelastic section 1491 has certain elasticity, and can be selected from high molecular materials; preferably, the cross-section of theelastic section 1491 has a shape and a size adapted to its elastic modulus, so that when the secondpressing portion 144 is pressed by a predetermined pressure, theelastic section 1491 can be elastically deformed to store potential energy. Of course, the skilled person can set the predetermined pressure according to the actual requirement, and further configure the shape and size of the cross section of theelastic section 1491 and the elastic modulus thereof. Alternatively, theelastic section 1491 may be integrally formed with the secondpressing portion 144. Further, theflexible section 1491 can be integrally formed with thebase 147 and thesecond substrate 140.

Optionally, thepower cartridge 16 further includes a drive assembly (not shown) coupled to the power transmission member (not shown) for passing through thesterile plate assembly 15 to power thesurgical instrument 14.

Further, thefirst base plate 150 of thesterile plate assembly 15 has a firstpower transmission hole 1503 therethrough, thesecond base plate 140 of thesurgical device 14 has a secondpower transmission hole 1401 therethrough, and thethird base plate 160 of thepower pack 16 has a thirdpower transmission hole 1601 therethrough; the secondpower transmission hole 1401 and the thirdpower transmission hole 1601 correspond to the firstpower transmission hole 1503, respectively, and are arranged to be coaxial therewith. The firstpower transmission hole 1503, the secondpower transmission hole 1401, and the thirdpower transmission hole 1601 are for the power transmission member to pass through. The driving component includes a motor and other drivers commonly used in the art, and the power transmission member may be a driving shaft of the motor or other transmission components. Optionally, thepower cartridge 16 further includes apower cartridge housing 166, and thepower cartridge housing 166 is used for being assembled and connected with thethird substrate 160 to form an inner cavity, so as to accommodate and protect components such as the driving assembly and the power transmission member.

Further, the present embodiment provides a surgical robotic system, which includes thesterile plate assembly 15 as described above, thesurgical instrument 14 as described above, and thepower pack 16 as described above; thesurgical instrument 14, thesterile plate assembly 15 and thepower box 16 are detachably connected in sequence. The structural principles and other components of the surgical robotic system are described with reference to the foregoing description and will not be repeated here. Of course, other components of the surgical robotic system may be reasonably configured by those skilled in the art according to the present invention and the technology, and the invention is not limited thereto.

[ example two ]

The sterile plate assembly, the surgical instrument, the power box and the surgical robot system according to the second embodiment of the present invention are basically the same as those of the first embodiment, and the same portions will not be described again, and only different points will be described below.

Referring to fig. 21 to 28, fig. 21 is a partial schematic view of a surgical instrument according to a second embodiment of the present invention; FIG. 22 is an exploded view of the surgical device illustrated in FIG. 21; FIG. 23 is a side view of the surgical instrument illustrated in FIG. 21; FIG. 24 is a transverse cross-sectional view of a surgical instrument according to a second embodiment of the present invention; FIG. 25 is a schematic view of a second embodiment of the present invention, after assembly of the surgical instrument with a sterile plate assembly; FIG. 26 is a transverse cross-sectional view of a second surgical instrument of the second embodiment of the present invention assembled with a sterile plate assembly; fig. 27 is a schematic view of a first elastic member according to a second embodiment of the present invention; fig. 28 is a partial schematic view of a sterility plate assembly in accordance with a second embodiment of the present invention.

In the second embodiment, the specific structure of thesurgical device 14 is different from that of the first embodiment. Specifically, as shown in fig. 21 to fig. 26, in thesurgical device 14 according to the second embodiment, the secondpressing portion 144 is hinged to thesecond base plate 140, the second potential energy component includes a secondelastic member 1492 or two second magnetic members arranged in opposite manner with the same polarity, and two ends of the secondelastic member 1492 are respectively connected to the secondpressing portion 144 and thesecond base plate 140; or the two second magnetic members are respectively connected to the secondpressing portion 144 and thesecond substrate 140.

In an example, thesecond substrate 140 has aconvex base 147, and the secondpressing portion 144 is rotatably disposed at the convex end of the base 147 by apin 1402. The first axis a is the axis of thepin 1402. Further, thesecond substrate 140 has a limitinghole 1403, and the limitinghole 1403 is used for thesecond holding portion 145 to penetrate through and can limit the rotation range of thesecond holding portion 145, so that the rotation range of the secondpressing portion 144 is also limited between the initial position and the pressing position.

The second potential energy component including the secondelastic member 1492 will be described as an example. The secondelastic member 1492 can be a spring or a resilient piece, and one end of the secondelastic member 1492 is connected to thebase 147, and the other end is connected to the secondpressing portion 144. When no external force is applied, the secondelastic member 1492 pushes the secondpressing part 144 toward the initial position by its own elastic force, and the secondpressing part 144 is held at the initial position by the abutting of thesecond holding part 145 and thestopper hole 1403, as shown in thesecond locking device 141 on the right side of fig. 24 and 26. When the secondpressing portion 144 is pressed by an external force and overcomes the elastic force of the secondelastic member 1492, the secondpressing portion 144 moves to the pressing position until thesecond holding portion 145 abuts against the other side of the position-limitinghole 1403, and the secondpressing portion 144 reaches the pressing position, as shown in thesecond locking device 141 on the left side of fig. 24. In other embodiments, the secondelastic member 1492 can be replaced by two second magnetic members with opposite poles, which can achieve similar effect.

In theaseptic board assembly 15 provided in the second embodiment, the specific structure of the firstelastic member 154 is different from that of the first embodiment. Referring to fig. 27 and 28, alternatively, the firstelastic element 154 may be an elastic folded part integrally formed with thefirst locking device 151, and the shape of the elastic folded part may be V-shaped, N-shaped, W-shaped, etc., and the material thereof may be a material with certain elasticity, such as a polymer material. Those skilled in the art can configure the cross-sectional shape and size and the elastic modulus of the firstelastic member 154 according to actual needs. Further, the firstelastic member 154 may also be folded to form apositioning region 1541 for snap-fastening with thepositioning portion 1504 of thefirst substrate 150.

In summary, in the aseptic plate assembly, the surgical instrument, the power cartridge and the surgical robot system provided by the present invention, the aseptic plate assembly includes: the locking device comprises a first substrate and a first locking device arranged on the first substrate; the first locking device is movably arranged between a first locking position and a first unlocking position relative to the first base plate along a first direction; the first locking device comprises a first pressing part and a first clamping part which are connected, and when the first locking device is located at the first locking position, the first clamping part is used for being locked with a part corresponding to a first target object; when the first locking device is located at the first unlocking position, the first clamping part is used for unlocking a part corresponding to the first target object; the first pressing part is configured to be restricted by a second target object from moving in the first direction after the aseptic board assembly is used for being assembled and connected with the second target object, so that the first locking device is restricted to be in the first locking position. According to the configuration, after the sterile plate assembly, the surgical instrument and the power box are assembled and connected, the first pressing part of the sterile plate assembly is limited by the surgical instrument, so that the first locking device is located at the first locking position and reliably locked with the power box, the risk that the sterile plate assembly is accidentally unlocked with the power box due to misoperation in an operation can be avoided, the connection reliability is improved, and the safety and the reliability of the operation are ensured.

It should be noted that, the above embodiments are not limited to be used alone, and can be combined with each other, and the present invention is not limited to this. The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims (25)

1. A sterile sheet assembly, comprising: the locking device comprises a first substrate and a first locking device arranged on the first substrate;

the first locking device is movably arranged between a first locking position and a first unlocking position relative to the first base plate along a first direction;

the first locking device comprises a first pressing part and a first clamping part which are connected, and when the first locking device is located at the first locking position, the first clamping part is used for being locked with a part corresponding to a first target object; when the first locking device is located at the first unlocking position, the first clamping part is used for unlocking a part corresponding to the first target object;

the first pressing part is configured to be restricted by a second target object from moving in the first direction after the aseptic board assembly is used for being assembled and connected with the second target object, so that the first locking device is restricted to be in the first locking position.

2. The sterilized plate assembly of claim 1, further comprising a first potential energy component;

the first potential energy component is respectively connected with the first base plate and the first locking device; the first potential energy component is configured to store potential energy during movement of the first locking device from the first locking position to the first unlocking position under an external force; when the first locking device is not subjected to external force or the external force is smaller than the driving force of the potential energy stored in the first potential energy part on the first locking device, the first potential energy part releases the potential energy to drive the first locking device to move to the first locking position.

3. The aseptic plate assembly of claim 2, wherein the first potential energy component comprises a first elastic member or two first magnetic members arranged in a homopolar opposition arrangement.

4. The sterility plate assembly of claim 1, wherein the first catch has a first guide ramp toward the power cartridge, the first guide ramp gradually sloping toward the first unlocked position toward the power cartridge.

5. The sterility plate assembly of claim 1, wherein the first press section has a second guide ramp toward a surgical instrument, the second guide ramp gradually sloping toward the first locked position toward the surgical instrument.

6. A sterile plate assembly according to claim 1, comprising at least two of said first locking means, said at least two first locking means being oppositely disposed.

7. The aseptic plate assembly of claim 1, wherein the first base plate has a first restraint cavity for limiting the first locking device to have only a freedom of movement in a first direction.

8. A sterile plate assembly according to claim 1, wherein said first direction is parallel to the extension direction of said first base plate.

9. The sterility plate assembly of claim 1, wherein the first base plate has a first locking station for locking with a corresponding locking device of a surgical instrument to lock the surgical instrument to the sterility plate assembly.

10. The aseptic plate assembly of claim 1, wherein the first base plate has a first power transmission hole therethrough for passing a power transmission member therethrough.

11. A surgical instrument, comprising: the second substrate and a second locking device arranged on the second substrate; the surgical instrument is used for assembling and connecting with the sterile plate component according to any one of claims 1-10; the second base plate is used for being connected with the first base plate of the sterile plate assembly in an abutting mode; the second locking device is used for locking with a corresponding part of the sterile plate component;

The second base plate is provided with a first locking channel, and the first locking channel is used for accommodating the first pressing part of the sterile plate assembly and limiting the movement of the first pressing part along the first direction, so that the first locking device is limited to be at the first locking position.

12. A surgical instrument as recited in claim 11, wherein the second locking device includes a second pressing portion and a second catch portion connected;

the second pressing part is rotatably arranged around a first axis between an initial position and a pressing position; the second clamping part moves along with the rotation of the second pressing part;

the second clamping part is configured to be locked with a corresponding part of the sterile plate assembly when the second pressing part is at the initial position; when the second pressing part is at the pressing position, the second clamping part is used for unlocking with the corresponding part of the sterile plate component.

13. The surgical instrument according to claim 12, wherein the second locking device further comprises a second potential energy component configured to store potential energy during rotation of the second pressing portion from the initial position to the depressed position upon being pressed by an external force; when the second pressing part is not subjected to external force or the external force is smaller than the driving force of the potential energy stored in the second potential energy part on the second pressing part, the second potential energy part releases the potential energy to drive the second pressing part to rotate to the initial position.

14. A surgical instrument as recited in claim 13, wherein the second potential energy component includes an elastic segment by which the second pressing portion is fixedly coupled to the second base plate; the elastic section stores and releases potential energy through elastic deformation.

15. The surgical instrument according to claim 13, wherein the second pressing portion is hinged to the second base plate, the second potential energy component includes a second elastic member or two second magnetic members arranged in opposite homopolar directions, and two ends of the second elastic member are respectively connected to the second pressing portion and the second base plate; or the two second magnetic pieces are respectively connected with the second pressing part and the second substrate.

16. The surgical instrument of claim 12, wherein the second base plate has a raised abutment, the second pressing portion being coupled to a raised end of the abutment, the first axis being located at the raised end of the abutment.

17. A surgical instrument as recited in claim 12, wherein the first axis is parallel to a direction of extension of the second substrate.

18. The surgical instrument of claim 12, wherein the second catch has a third guide ramp oriented toward the sterility plate assembly, the third guide ramp tapering toward the depressed position in a direction toward the sterility plate assembly.

19. A surgical instrument as recited in claim 11, wherein the first locking channel has a fourth guide ramp oriented toward the sterility plate assembly, the fourth guide ramp tapering toward the first unlocked position toward the sterility plate assembly.

20. A surgical instrument as recited in claim 11, wherein the surgical instrument includes two second locking devices disposed in opposition.

21. A surgical instrument as recited in claim 11, wherein the second base plate has a second power transmission aperture therethrough corresponding to the first power transmission aperture of the sterility plate assembly for passage of a power transmission member therethrough.

22. A power pack for assembly connection with an aseptic board assembly according to any of claims 1 to 10; the power cartridge includes: a third substrate;

the third base plate is used for abutting connection with the first base plate of the sterile plate assembly;

the third base plate is provided with a second locking platform which is used for being locked with the first clamping part of the first locking device of the sterile plate assembly so as to lock the sterile plate assembly and the power box.

23. The power cartridge of claim 22, further comprising a drive assembly coupled to the power transmission member and a power transmission member for passing through the sterile plate assembly to power a surgical instrument.

24. The power cartridge as claimed in claim 23, wherein the third base plate has a third power transmission hole therethrough for corresponding to the first power transmission hole of the first base plate for the power transmission member to pass through.

25. A surgical robotic system comprising a robotic arm, a sterile plate assembly according to any one of claims 1-10, a surgical instrument according to any one of claims 11-21, and a power pack according to any one of claims 22-24; the surgical instrument, the sterile plate assembly and the power box are detachably connected and are used for being mounted or connected on the mechanical arm.

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