CN102630154A - Sterile adapter, fastening structure of wheels, and fastening structure of surgical instrument - Google Patents

Abstract

Disclosed is a sterile adapter. The sterile adapter is interposed between an instrument holder formed at a surgical robot arm and a surgical instrument mounted on the instrument holder, wherein the sterile adapter comprises: a body portion comprising a first surface facing the instrument holder, and a second surface facing the surgical instrument; a first wheel which is elastically supported in the body portion, is exposed to the first surface, and is fitted to a first drive wheel formed at the instrument holder; and a second wheel which is elastically supported in the body portion, is exposed to the second surface, and is fitted to a second drive wheel formed at the instrument.; An elastic structure is applied to the sterile adapter to allow the wheels formed in the sterile adapter to be pushed in both directions, thereby enabling the easy and convenient mounting of a surgical instrument on a robot arm without applying a separate elastic structure to the instrument holder or the instrument.

Description

The draw bail of sterile adapter, runner draw bail and surgery instrument

Technical field

The present invention relates to the draw bail of sterile adapter, runner draw bail and surgery instrument.

Background technology

Operation medically is meant the behavior of using medical apparatus and instruments that skin, mucosa or other tissue are cut, cut or operate and curing disease.Particularly, cutting operation position skin and its internal waited is treated, the laparotomy ventrotomy of shaping or excision etc., because problems such as hemorrhage, side effect, patient suffering, cicatrix use the operation of robot (robot) to enjoy great popularity recently.

The operating robot that is used for robotic surgery; Constitute by main robot (master) portion with from portion of robot (slave); This main robot portion generates signal and transmission according to doctor's operation; Should receive the signal of autonomous robot and to patient's required operation that undergos surgery from robot, main robot portion and can realize with a comprehensive robot form from portion of robot perhaps constitutes with self-contained unit respectively and is configured in the operating room.

Operating robot has the robotic arm of the exercises that are used to carry out operation, is formed with the devices hold that is used to install surgery instrument (instrument) at the leading section of robotic arm.For surgery instrument is installed on robotic arm, through combining sterile adapter (sterile adapter), and the shell of surgery instrument is embedded on the sterile adapter, thereby surgery instrument is installed on the robotic arm at devices hold.

On devices hold, be formed with the driving wheel that is used for the driving force that robot generates is passed to surgery instrument; And on surgery instrument, also be formed with the driving wheel that is used to receive driving force, be formed with on the sterile adapter respectively and runner in driving wheel that forms on the devices hold and the driving wheel coupling that on surgery instrument, forms.

These rotaring wheel structures are installed sterile adapter with matching each other on devices hold; And surgery instrument is installed on sterile adapter; Then the driving force of robot generation passes to surgery instrument through sterile adapter; And the steel wire that is connected with the driving wheel of surgery instrument passes to driving force and the bonded executor of the terminal part of surgery instrument (Effector), thus executor's operation, to realize the various operations of operation.

Like this, between operating robot and the surgery instrument installed on it, getting involved has sterile adapter, on sterile adapter, has realized connection (coupling) structure of robotic arm and surgery instrument.

But; The rotaring wheel structure that is formed on the existing sterile adapter is no any elastic structure; Therefore there is following limitation,, need on the driving wheel that forms on the devices hold, uses spring-loaded formula elastic construction for sterile adapter is installed on the robotic arm.

In addition; The rotaring wheel structure that on existing robotic arm, sterile adapter and surgery instrument, forms; It is imperfect to be used to detect its structure of whether aliging for accurate alignment runner, and is used for detecting through the whole bag of tricks and transmits the structure that operates required power after whether aliging and align limitation is also arranged.

Above-mentioned background technology is the technical information that the inventor holds in order to derive the present invention or in deriving process of the present invention, acquires, and is not necessarily application of the present invention before by the disclosed known technology of general public.

Summary of the invention

Technical problem

The present invention provide a kind of can be on robotic arm the sterile adapter of easy mounting surgery instrument.

Whether the object of the invention is to provide a kind of utilization electricity, magnetic, mechanical property to detect runner to align, and is used for the runner draw bail of accurately alignment and utilizes this draw bail to detect the whether draw bail of bonded armarium of armarium.

Technical problem except the problem that the present invention proposes can be through following explanation easy to understand.

Problem-solving approach

According to an embodiment of the present invention; A kind of sterile adapter (sterile adapter) is provided; Be arranged at be formed on operation on the robotic arm devices hold and be installed between the surgery instrument on the devices hold; It comprises: main part has with devices hold opposed first and with surgery instrument opposed second; First runner, elastic bearing and are showed out from first on main part, and with first driving wheel coupling that is formed on the devices hold; Second runner, elastic bearing and are showed out from second on main part, and with second driving wheel coupling that is formed on the surgery instrument.

On first driving wheel, be equipped with first projection (perhaps cave in and form first groove); On first runner, be formed with and corresponding first groove of first projection (perhaps being equipped with and corresponding first projection of first groove); When sterile adapter is installed on the devices hold and first projection when not being inserted in first groove, thereby first runner is sunk from first by the pushing of first projection.At this moment, along with the rotation of first driving wheel, first projection is inserted in first groove and first runner arrives original position through spring return, thereby makes first runner and first driving wheel coupling.

On second runner, be equipped with second projection (perhaps cave in and form second groove); On second driving wheel, be formed with and corresponding second groove of second projection (perhaps being equipped with and corresponding second projection of second groove); When surgery instrument being installed on the sterile adapter and second projection when not being inserted in second groove, thereby second runner is sunk from second by the pushing of second projection.At this moment, along with the rotation of second runner, second projection is inserted in second groove and second runner arrives original position through spring return, thereby makes second runner and second driving wheel coupling.

Main part can comprise: first sheet material, corresponding to first; Second sheet material, corresponding to second, and being incorporated into first sheet material from separation of first sheet material or approaching mode.

Can on the both sides of second sheet material, be equipped with guide rail (guide rail), be used for the mobile route of regulation surgery instrument, so that surgery instrument is installed with sliding type.Can on the end of surgery instrument, be formed with aligned recesses with caving in, and on an end of second sheet material, be equipped with alignment protrusion, thereby so that make surgery instrument be aligned in assigned position with the aligned recesses coupling.Can on the other end of second sheet material, be equipped with block (stopper), so that the surgery instrument that restriction is mounted moves to the opposite direction of its installation direction.

Second sheet material is installed down surgery instrument from the isolating state of first sheet material, make second sheet material approach first sheet material afterwards and make second runner outstanding, thereby second runner and second driving wheel are mated from second sheet material.

On second sheet material, be equipped with towards first fixed projection, on first sheet material, be equipped with the through hole that is used to accommodate fixed projection, closer to each other along with first sheet material and second sheet material, fixed projection can connect through hole and outstanding from first.

The operation robotic arm is covered by aseptic curtain (sterile drape), on aseptic curtain, can be equipped with opening, and this opening is corresponding to the position that is installed in the sterile adapter on the devices hold.Through sterile adapter is installed on the devices hold, but exert pressure, thereby make aseptic curtain be close to devices hold from the peripheral part of first outstanding fixed projection pairs of openings.Peripheral part with opening on the periphery of devices hold is attached with encapsulant accordingly, and encapsulant can be exerted pressure and deform by outstanding fixed projection.

Can on the peripheral part of opening, be formed with the adhesive portion that is used to adhere to sterile adapter, can also indicate the labelling of the attachment position of expression sterile adapter.

In addition; According to another embodiment of the present invention; A kind of sterile adapter is provided; Be arranged at devices hold and be installed on the devices hold and have between the surgery instrument of first contact that is used to carry out electrosurgical (Electrosurgery), it comprises: main part is used to install surgery instrument; Second contact is connected so that to surgery instrument power supply is provided with first contact.

Surgery instrument is installed on the main part with sliding type, and on the end of the surgery instrument installation direction of main part, can be equipped with the protuberance that is used to install surgery instrument.First contact can be formed on surgery instrument with opposed of protuberance on, and second contact is formed on the protuberance.

According to another embodiment of the present invention; A kind of runner draw bail is provided; Be used to be connected in the devices hold that forms on the robotic arm of operating robot and be installed in the surgery instrument on the devices hold, it comprises: driving wheel, and receive driving force and drive from operation machine knee-joint; Driven pulley matees with driving wheel; Matching detection portion combines with driving wheel or driven pulley, through detecting the electric change-detection match condition that takes place when driving wheel and driven pulley mate.

At this, matching detection portion can comprise: light source; Change the unit, the light that penetrates from light source is changed; Optical detecting unit, the light that changes through the change unit when detecting driving wheel and driven pulley coupling.

At this; Driving wheel can have a plurality of first contacts; And driven pulley has when mating with driving wheel a plurality of second contacts that are connected and are connected with regulation resistance with first contact therebetween; Matching detection portion can be connected with first contact, and the resistance value when mating through measuring driving wheel and driven pulley detects match condition.

In addition, driven pulley can comprise: first driven pulley, have a plurality of second contacts, and this second contact is connected with first contact when mating on one side with driving wheel and is connected with first resistance therebetween; Second driven pulley combines with the another side of first driven pulley, has a plurality of the 3rd contacts that are connected with second contact; The 3rd driven pulley has a plurality of the 4th contacts, and the 4th contact is connected with the 3rd contact when mating on one side with second driven pulley and is connected with second resistance therebetween.

At this; Match condition can detect through the combined resistance value that detects first resistance and second resistance in matching detection portion, on driving wheel, can be equipped with projection, and on driven pulley, be formed with and the corresponding groove of projection; First contact is formed on the projection, and second contact is formed in the groove.

In addition, driving wheel is formed by conductor, and projection can comprise: first projection is connected with conductor; Second projection is with conductor insulation.

In addition, can on driving wheel, be formed with groove, and on driven pulley, be equipped with the projection corresponding to groove, first contact is formed in the groove, and second contact is formed on the projection.

At this, driven pulley is formed by conductor, and projection can comprise: first projection is connected with conductor; Second projection is with conductor insulation.

According to another embodiment of the present invention; A kind of runner draw bail is provided; Be used to be connected in the devices hold that forms on the robotic arm of operating robot and be installed in the surgery instrument on the devices hold; It also comprises: driving wheel, and receive driving force and drive from operation machine knee-joint, on one side, be formed with a plurality of first concavo-convex; Driven pulley, have a plurality of second concavo-convex, when mating with driving wheel this second concavo-convex be incorporated into accordingly first concavo-convex; Magnet combines with a side of driven pulley, and arranges by prescribed direction; Magnetic sensor, thus the alignment situation detected through the orientation that detects Magnet.

Can also comprise memory element in the present embodiment; Combine with a side of driven pulley; Be used to store the arrangement error information of Magnet, memory element can be RFID (radio frequency recognizing electronic label), in addition; Can also comprise the rfid interrogator of reception from the magnet array control information of RFID in the present embodiment, operating robot can be with reference to arrangement error information round-off error during with apparatus at operation.

At this; First concavo-convex and second concavo-convex can be the concavo-convex of fan-shaped, perhaps first concavo-convex and second concavo-convex can be arbitrary shape in cone, oval cone and the pyramid, at this moment; The first concavo-convex and second concavo-convex bottom surface is connected to the concavo-convex bottom surface of adjacency; When driving wheel and driven pulley coupling, driving wheel or driven pulley serve as the axle rotation with the normal of one side, so as first concavo-convex be inserted into second concavo-convex in.

In addition, magnetic sensor can lay respectively at and the first concavo-convex adjoining position, and the quantity of magnetic sensor is identical with the first concavo-convex concavo-convex quantity or differ smaller or equal to 2, Magnet be positioned at second concavo-convex on, the quantity of Magnet is less than the quantity of magnetic sensor.

According to another embodiment of the present invention, a kind of runner draw bail is provided, be used to be connected in the devices hold that forms on the robotic arm of operating robot and be installed in the surgery instrument on the devices hold, it comprises: body; Driving wheel, elastic bearing and are formed with the groove that extends to a direction on one side on body; Driven pulley is formed with when mating with driving wheel the projection corresponding to groove; Guidance unit is formed on the body, aligns along a direction when driven pulley is used to make projection when a direction moves.

At this, guidance unit can be formed on the body that exposes driving wheel highlightedly, and has the funnel shaped that the moving direction of width and driven pulley narrows down accordingly.

In addition, projection can extend to form on the part of driven pulley, when driven pulley when a direction moves, projection receives the eccentric revolving force from guidance unit.

In addition, can also comprise in the present embodiment: Magnet, arrange by prescribed direction, and on the face of driven pulley and driving wheel coupling, combine with protrusions abut; Magnetic sensor through the orientation of detection Magnet, thereby detects the alignment situation.

At this; On another side as the face that is different from driven pulley and driving wheel coupling; The bearing of trend that can be formed with projection is second groove that predetermined angular extends, can also be included on the another side of driven pulley with second groove in abutting connection with combining and along second Magnet of prescribed direction arrangement.

According to another embodiment of the present invention; Guidance unit can be to expose the outstanding a plurality of pin shapes that form on the body of driving wheel; Projection extends to form on the part of driven pulley; When driven pulley when a direction moves, projection can receive the eccentric revolving force from guidance unit, so that projection is through the guidance unit of a plurality of pin shapes.

According to another embodiment of the present invention, the devices hold that comprises driving wheel can be provided, be suitable for said runner draw bail, and be formed on the operation robotic arm; The surgery instrument that comprises driven pulley can be provided, be suitable for said runner draw bail, and be installed on the devices hold.

In addition, according to another embodiment of the present invention, a kind of sterile adapter is provided, is suitable for said runner draw bail, it comprises: main part has with devices hold opposed first and with surgery instrument opposed second; First runner, elastic bearing and are showed out from first on main part, and with the driving wheel coupling that is formed on the devices hold; Second runner, elastic bearing and are showed out from second on main part, and with the driven pulley coupling that is formed on the surgery instrument.

According to another embodiment of the present invention; A kind of draw bail of armarium is provided; It comprises the combination test section; The electricity that takes place when combining with surgery instrument through test adaptor changes, and detects the combination situation, and this adapter is arranged at the devices hold that forms on the said robotic arm and is installed between the surgery instrument on the devices hold.

Can comprise in conjunction with test section: light source; Change the unit, the light that penetrates from light source is changed; Optical detecting unit, when being used for test adaptor and combining with surgery instrument through changing the light that the unit changes.

In addition, adapter can have a plurality of the 3rd contacts, and surgery instrument has a plurality of the 4th contacts, and the 4th contact is connected with the 3rd contact with adapter combination the time and is connected with regulation resistance therebetween.

At this, be connected with the 3rd contact in conjunction with test section, the resistance value in the time of can combining with surgery instrument through the measurement adapter detects the combination situation.

In addition; On devices hold, can be formed with and a plurality of first contacts that combine test section to be connected; On the one side of adapter, be formed with a plurality of second contacts; This second contact is connected with first contact when combining with devices hold and is connected with first resistance therebetween; And with the another side of the bonded adapter of surgery instrument on be formed with a plurality of the 3rd contacts that are connected with second contact, and on the one side of surgery instrument, be formed with a plurality of the 4th contacts, the 4th contact is connected with the 3rd contact when combining with the another side of adapter and is connected with second resistance therebetween.

In addition, combine with devices hold, and be connected with the 3rd contact, can detect the combination situation through the combined resistance value that detects first resistance and second resistance in conjunction with test section through first contact and second contact in conjunction with test section.

In addition, on adapter, be equipped with projection, and on surgery instrument, be formed with and the projection corresponding groove; The 3rd contact can be formed on the projection, and the 4th contact is formed in the groove, and this moment, adapter was formed by conductor; Projection can comprise: first projection is connected with conductor; With second projection, with conductor insulation.

In addition, on adapter, be formed with groove, and on surgery instrument, be equipped with projection corresponding to groove; The 3rd contact can be formed in the groove, and the 4th contact is formed on the projection, and this moment, surgery instrument was formed by conductor; Projection can comprise: first projection is connected with conductor; With second projection, with conductor insulation.

In addition, according to another embodiment of the present invention, a kind of runner draw bail is provided, is used to be connected in the devices hold that forms on the robotic arm of operating robot and is installed in the surgery instrument on the devices hold, it comprises: body; Driving wheel, elastic bearing and are formed with the groove that extends to a direction on one side on said body; Driven pulley, when being formed with said driving wheel coupling corresponding to the projection of groove; The apparatus guide portion combines with said body, and is accommodated in the guide protrusion that forms on the said surgery instrument, is used to guide said surgery instrument to move to specific direct of travel; First Flexible element is combined between said body and the said apparatus guide portion.

Can also comprise guidance unit in the present embodiment, be formed on the said body, when said driven pulley when a said direction moves, said projection is alignd along a said direction; Also comprise block, combine, be used to make said surgery instrument to stop to move to said direct of travel avoiding with said body; When said surgery instrument overcomes the elastic force of said first Flexible element and when the direction different with said direct of travel moved, said surgery instrument possibly break away from said block.

In addition; Can also comprise second Flexible element in the present embodiment; Be combined between said block and the said body, when making said surgery instrument when said direct of travel moves in order to make said driven pulley and said driving wheel coupling, said block is in the state of being pushed by said surgery instrument; And when said driven pulley and said driving wheel coupling, the position of said block can reset through said second Flexible element.

According to another embodiment of the present invention, a kind of runner draw bail is provided, be used to connect the devices hold on the robotic arm that is formed on operating robot and be installed in the surgery instrument on the devices hold, it comprises: body; Driving wheel, elastic bearing and are formed with the groove that extends to a direction on one side on said body; Driven pulley, when being formed with said driving wheel coupling corresponding to the projection of said groove; The apparatus guide portion combines with said body, and is accommodated in the guide protrusion that forms on the said surgery instrument, is used to guide said surgery instrument to move to specific direct of travel; Release lever combines with said surgery instrument, is used to promote said apparatus guide portion so that said surgery instrument is broken away from from said apparatus guide portion.

At this, said apparatus guide portion rotatably is combined on the said body.

In addition, also comprise in the present embodiment: block, combine with said body, be used to make said surgery instrument to stop to move to said direct of travel avoiding; Second Flexible element is combined between said block and the said body; When making said surgery instrument when said direct of travel moves in order to make said driven pulley and said driving wheel coupling; Said block is in the state of being pushed by said surgery instrument; And when said driven pulley and said driving wheel coupling, the position of said block can reset through said second Flexible element.

Other embodiment except above-mentioned, characteristic, advantage are clearer and more definite through the scope and the detailed description of the invention meeting of following accompanying drawing, claim.

Beneficial effect

According to embodiments of the invention; Owing to be suitable for elastic construction in sterile adapter; The runner that is formed on the sterile adapter is pressed two-way; Therefore needn't on devices hold or surgery instrument, use independent elastic construction, also can surgery instrument be installed on the robotic arm convenient and simplely.

In addition; The runner draw bail that embodiments of the invention relate to and the draw bail of surgery instrument can be utilized electricity, magnetic, mechanical property etc. to detect the alignment and the combination situation of runner and each equipment, thereby can accurately align and mate runner; Can proofread and correct the error that the runner rotation causes during connection; And utilize the alignment situation of a plurality of runners of sensor, thus have the effect that reduces volume and cost, have the effect that can improve accuracy of detection.

Description of drawings

Fig. 1 is the exploded perspective view of the sterile adapter that relates to of expression embodiments of the invention.

Fig. 2 is the sketch map that the sterile adapter that relates to of expression embodiments of the invention is installed in the state on the devices hold.

Fig. 3 is the cutaway view of Fig. 2 ' A '.

Fig. 4 is the sketch map that the surgery instrument that relates to of expression embodiments of the invention is installed in the state on the sterile adapter.

Fig. 5 is the cutaway view of Fig. 4 ' B '.

Fig. 6 is the axonometric chart of the sterile adapter that relates to of expression embodiments of the invention.

Fig. 7 is illustrated in the front view that the state of surgery instrument is installed on the sterile adapter that embodiments of the invention relate to.

Fig. 8 is the cutaway view of the C-C ' of Fig. 7.

Fig. 9 is illustrated in the cutaway view that the state of surgery instrument is installed on the sterile adapter that embodiments of the invention relate to.

Figure 10 is the cutaway view of the sterile adapter that relates to of expression embodiments of the invention.

Figure 11 is the sterile adapter that relates to of expression embodiments of the invention is installed in the state on the devices hold through opening a side view.

Figure 12 is the sketch map that the sterile adapter that relates to of expression embodiments of the invention is attached the state on aseptic curtain.

Figure 13 is illustrated in the axonometric chart that the state of surgery instrument is installed on the sterile adapter that embodiments of the invention relate to.

Figure 14 is the exploded perspective view of the sterile adapter that relates to of expression embodiments of the invention.

Figure 15 is the sketch map that the sterile adapter that relates to of expression embodiments of the invention is installed in the state on the devices hold.

Figure 16 is the cutaway view of Figure 15 ' A '.

Figure 17 is the sketch map that the surgery instrument that relates to of expression embodiments of the invention is installed in the state on the sterile adapter.

Figure 18 is the cutaway view of Figure 17 ' B '.

Figure 19 be illustrate that the first embodiment of the present invention relates to detect the sketch map of the runner draw bail of alignment situation according to electrical characteristics.

Figure 20 be illustrate that the first embodiment of the present invention relates to detect the sketch map of the runner state of insulation of alignment situation according to electrical characteristics.

Figure 21 be illustrate that the second embodiment of the present invention relates to detect the sketch map of the runner draw bail of alignment situation according to magnetic characteristic.

Figure 22 and Figure 23 be illustrate that the third embodiment of the present invention relates to detect the sketch map of the runner draw bail of alignment situation according to magnetic characteristic.

Figure 24 is the axonometric chart according to the runner draw bail of mechanical property alignment runner that illustrates that the fourth embodiment of the present invention relates to.

Figure 25 is the front view according to the runner draw bail of mechanical property alignment runner that illustrates that the fourth embodiment of the present invention relates to.

Figure 26 is used to explain that the fourth embodiment of the present invention relates to according to the sketch map of the principle of mechanical property alignment runner.

Figure 27 be illustrate that the fifth embodiment of the present invention relates to detect the sketch map of the runner draw bail of alignment according to magnetic characteristic.

Figure 28 be illustrate that the fifth embodiment of the present invention relates to detect the axonometric chart of the runner draw bail of alignment according to magnetic characteristic.

Figure 29 is the side view according to the runner draw bail of mechanical property alignment runner that illustrates that the sixth embodiment of the present invention relates to.

Figure 30 is the vertical view according to the runner draw bail of mechanical property alignment runner that illustrates that the sixth embodiment of the present invention relates to.

Figure 31 is the cutaway view according to the runner draw bail of mechanical property alignment runner that illustrates that the sixth embodiment of the present invention relates to.

Figure 32 be illustrate that the seventh embodiment of the present invention relates to detect the sketch map of draw bail of the armarium of combination situation according to electrical characteristics.

Figure 33 to Figure 37 is the sketch map that the draw bail of the armarium that the eighth embodiment of the present invention relates to is shown.

Figure 38 to Figure 41 is the sketch map that the draw bail of the armarium that the nineth embodiment of the present invention relates to is shown.

The specific embodiment

The present invention can carry out multiple variation, can have various embodiments, illustrates specific embodiment and is elaborated.But this is not that the present invention is defined in concrete embodiment, and is to be understood that to be to comprise all conversion, equivalent and the substitute that is contained in thought of the present invention and the technical scope.The detailed description of relevant known technology possibly obscured under the situation of order of the present invention when explanation is of the present invention, omits and should specify.

Can use such as terms such as " first ", " second " and describe various elements, but said element is not limited by said term.Said term only is used for an element and another element are divided into purpose.

The term that uses among the application only is used to describe specific embodiment, and is not intended to restriction the present invention.Odd number representes to comprise complex representation, only if clearly expression in the article.Among the application; Be intended to represent to exist characteristic, sequence number, step, operation, element, assembly or its combination of being adopted in the description of description such as " comprising " and terms such as " having ", and do not get rid of the probability that exists or increase one or more different character, numbering, step, operation, element, assembly or its combination.

Below, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to accompanying drawing, identical or corresponding element has been given same-sign, omits the repeat specification to it.

Fig. 1 is the exploded perspective view of the sterile adapter that relates to of expression embodiments of the invention.With reference to Fig. 1, show robotic arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first 14, second 17, first driving wheels 30, first runner 20, second runner 24, second driving wheel 50.

Present embodiment for to be installed on the sterile adapter runner to two-way, promptly to the bonded direction of devices hold and with the bonded direction elastic bearing of surgery instrument; And increased elastomer, so devices hold or surgery instrument needn't use independent elastic construction also can surgery instrument be installed on the devices hold.

That is, wait with the existing spring that on devices hold, is provided with that to give elastic structure to driving wheel different, on the sterile adapter that is used for surgery instrument is combined on the devices hold, given elasticity.

The sterile adapter 10 that the present invention relates to is installed in the process of surgery instrument 5 on devices hold 3, and it is arranged between devices hold 3 and the surgery instrument 5, utilizes sterile adapter 10 that surgery instrument 5 is combined in devices hold 3.

The sterile adapter 10 that present embodiment relates to is by being that benchmark constitutes to the first two-face exposed runner 20 and second runner 24 with main part 12, and first runner 20 and second runner 24 are respectively by main part 12 elastic bearings.Promptly; With main part 12 with 3 opposed of devices holds as first 14; And with 5 opposed of surgery instruments as second 17 o'clock, first runner 20 exposes from first 14, second runner 24 exposes from second 17; Thus, first, second runner 20,24 autonomous bodies 12 is two-face exposed.

On the other hand, first runner 20 and second runner 24 combine with main part 12 through elastomers (Fig. 1 ' E ') such as springs respectively, and therefore, first, second runner 20,24 caves in through external force, when removing external force, arrive original position through spring return.That is, first runner 20 and second runner 24 are connected to each other and rotation time together, combine with main part 12 through spring etc., thereby apply elastic force to the direction of exert pressure respectively first runner 20 and second runner 24.

The sterile adapter 10 that present embodiment is related to is installed in 3 last times of devices hold, and first 14 is connected to devices hold 3, and from first 14 first runner 20 that exposes and first driving wheel, 30 couplings that form at devices hold 3.

In addition, when on sterile adapter 10, surgery instrument 5 being installed, second 17 is connected to surgery instrument 5, and matees with second driving wheel 50 that forms at surgery instrument 5 from second 17 second runner 24 that exposes.Below, specify sterile adapter 10 and devices hold 3 and surgery instrument 5 bonded modes that present embodiment relates to.

Fig. 2 is the sketch map that the sterile adapter that relates to of expression embodiments of the invention is installed in the state on the devices hold; Fig. 3 is the cutaway view of Fig. 2 ' A '; Fig. 4 is the sketch map that the surgery instrument that relates to of expression embodiments of the invention is installed in the state on the sterile adapter, and Fig. 5 is the cutaway view of Fig. 4 ' B '.With reference to Fig. 2 to Fig. 5, show devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first 14, second 17, first driving wheels 30, projection 32,33, first runner 20, groove 22,23, second runner 24, second driving wheel 50.

At first, observe the combination between sterile adapter 10 and the devices hold 3, then on first driving wheel 30 of formation on the devices hold 3, be equipped with projection 32, and with first driving wheel, 30 opposed first runners 20 on be formed with the groove 22 that can insert projection 32.

Through sterile adapter 10 is installed on the devices hold 3; First driving wheel 30 and first runner 20 are against each other, when this moment, projection 32 was inserted in the groove 22, and first driving wheel 30 and first runner, 20 couplings; When but projection 32 is not inserted in the groove 22, projection 32 pushings first runner 20.As stated, because first runner, 20 elastic bearings are on sterile adapter 10, so when projection 32 pushings first runner 20, shown in a of Fig. 3, first runner 20 is depressed from the surface (first 14) of sterile adapter 10.

Like this because of projection 32 first runners 20 by under the states that cave in, left rotation and right rotation first driving wheel 30, then projection 32 is inserted in the groove 22 somewhere, removes the pressurized state of 32 pairs first runners 20 of projection thus.Like this, along with the external force from projection 32 is removed, shown in the b of Fig. 3, first runner 20 is because spring return arrives original position, thus first runner 20 and first driving wheel, 30 couplings.

Like this, when rotating first driving wheel 30 under the state of first runner, 20 couplings on first driving wheel 30, first runner 20 rotates with its interlock, thereby through first driving wheel 30 driving force that robot generates is passed to first runner 20.

Secondly, observe sterile adapter 10 and perform the operation, on second runner 24, be equipped with projection 33 with the combination between the surgery instrument 5, and with second runner, 24 opposed second driving wheels 50 on be formed with the groove 23 that can insert projection 33.

Through surgery instrument 5 is installed on the sterile adapter 10; Second driving wheel 50 and second runner 24 are against each other; If this moment, projection 33 was when being inserted in the groove 23, second driving wheel 50 and second runner 24 match each other, if when still projection 33 is not inserted in the groove 23; Second driving wheel, 50 pushes protrusion 33, second runner 24 also is urged thus.As stated, because second runner, 24 elastic bearings are on sterile adapter 10, so when projection 33 pushings second runner 24, shown in a of Fig. 5, second runner 24 is depressed from the surface (second 17) of sterile adapter 10.

Under second runner, the 24 quilt states that cave in; Left rotation and right rotation first driving wheel 30; Then with first runner 20 of first driving wheel, 30 couplings and second runner, the 24 interlock rotations that are connected with first runner 20; Projection 33 taking place thus be inserted into the situation in the groove 22, thereby removes the state that second runner 24 is exerted pressure.Like this, along with the releasing of external force, shown in the b of Fig. 5, second runner 24 is because spring return arrives original position, thus second runner 24 and second driving wheel, 50 couplings.

Like this; When the state of second driving wheel 50 and second runner, 24 couplings rotates first driving wheel 30 down; First runner 20, second runner 24 and second driving wheel 50 be with its interlock rotation, thereby through first driving wheel 30, first runner 20 and second runner 24 driving force that robot generates is passed to second driving wheel 50.

Second driving wheel 50 can be connected with the bonded executor of surgery instrument 5 terminal parts through steel wire; As stated; Along with driving force is delivered to second driving wheel 50 and 50 rotations of second driving wheel, through steel wire driving force is passed to the executor, thereby the executor is moved.

At this; The situation that on first runner 20 and second driving wheel 50, forms groove 22,23 on first driving wheel 30 and second runner 24, forming projection 32,33 and match each other is illustrated; But projection and groove might not aforesaidly form; Also can on arbitrary side of pair of turning wheels, form projection and on the opposing party, form groove, thereby mate each other.

Further, might not on any runner, form projection and the mode that on another runner, forms groove is mated, certainly be suitable for the multiple frame for movement that pair of turning wheels is matched each other.

Fig. 6 is the axonometric chart of the sterile adapter that relates to of expression embodiments of the invention; Fig. 7 is the front view that is illustrated in the state of installing apparatus on the sterile adapter that embodiments of the invention relate to; Fig. 8 is the cutaway view of the C-C ' of Fig. 7, and Fig. 9 is the cutaway view that is illustrated in the state of installing apparatus on the sterile adapter that embodiments of the invention relate to.With reference to Fig. 6 to Fig. 9, show surgery instrument 5, sterile adapter 10, main part 12, first sheet material 15, second sheet material 18, second runner 24, groove 23, guide rail 126, aligned recesses 27, alignment protrusion 28, block 29, projection 33, second driving wheel 50.

The main part 12 of the sterile adapter 10 that present embodiment relates to can constitute by being combined into separable from one another or approaching a pair of sheet material 15,18.That is, main part 12 is made up of first sheet material 15 of and butt devices hold 3 corresponding with first 14 and second sheet material 18 of and butt surgery instrument 5 corresponding with second 17, and first sheet material 15 and second sheet material 18 can be combined into separated from one another or approaching.

At this moment, as shown in Figure 6, guide rail 126 can be set in the both sides of second sheet material 18, the guide rail 126 that present embodiment relates to plays provides mobile route to make surgery instrument 5 be installed in the effect on the sterile adapter 10 with sliding type.

In order to make surgery instrument 5 along guide rail 126 slippages and be installed on the sterile adapter 10, as shown in Figure 8, can on the end face of surgery instrument 5, form and guide rail 126 corresponding rail structures (with reference to ' R ' of Fig. 8).

On the other hand; When surgery instrument 5 being installed in 10 last times of sterile adapter with sliding type; In order to make surgery instrument 5 be installed in the tram on the sterile adapter 10, on the surgery instrument 5 that present embodiment relates to, can be formed with alignment (align) unit.That is, as shown in Figure 7, when being formed with aligned recesses 27, on an end of second sheet material 18, also can be equipped with alignment protrusion 28, so that mate with aligned recesses 27 in the end of surgery instrument 5 with caving in.

Surgery instrument 5 is installed in 10 last times of sterile adapter through slippage shown in Fig. 7 a, surgery instrument 5 is moved until alignment protrusion 28 with aligned recesses 27 couplings and be mounted, thereby can surgery instrument 5 be aligned on the tram.

Aligned recesses 27 that present embodiment relates to and alignment protrusion 28 are to play the structure of alignment effect; So that make surgery instrument 5 be installed in preassigned position on the sterile adapter 10, therefore need accurate the manufacturing to prevent that unnecessary interval takes place between aligned recesses 27 and the alignment protrusion 28.

On the other hand; Aforesaidly be installed in 10 last times of sterile adapter to a direction (installation direction) slip surgery instrument 5; In order to prevent that surgery instrument 5 from coming off to keep its installment state from sterile adapter 10; That is,, can be equipped with block 29 for the surgery instrument 5 that limits installation moves to the opposite direction of installation direction.

That is, block 29 is set on the other end of second sheet material 18, and shown in Fig. 7 a, moves surgery instrument 5 and be mounted to, make that block 29 is outstanding, thereby prevent that surgery instrument 5 from coming off to opposite direction as after Fig. 7 b.

For this reason, the block 29 that present embodiment relates to can be by supportings such as elastomers so that outstanding in the process that surgery instrument 5 is installed from second sheet material 18, and install after the surgery instrument 5 outstanding, thereby can fixing operation with apparatus 5.Be described below, also can make block 29 along with second sheet material 18 is outstanding from second sheet material 18 near first sheet material 15.

On the other hand; As stated; Thereby can on second runner 24, dash forward and establish projection 33 and on second driving wheel 50, form groove 23 second driving wheel 50 and second runner 24 are mated; But surgery instrument 5 is installed in 10 last times of sterile adapter through slippage, but from the moving of second outstanding projection, 33 interfere surgery instruments 5, brings difficulty thereby install to sliding type.

At this moment, as shown in Figure 9, main part 12 constitutes with separated from one another, approaching a pair of sheet material 15,18, so projection 33 also can be installed surgery instrument 5 with sliding type under state outstanding on second runner 24.

That is, shown in a of Fig. 9, second sheet material 18 is separated from first sheet material 15; And under the state that the projection 33 of second runner 24 is not given prominence to from the surface of second sheet material 18, surgery instrument 5 is installed, install after the surgery instrument 5, shown in the b of Fig. 9; Push second sheet material 18; That is, make second sheet material 18, thereby can make projection 33 outstanding from the surface of second sheet material 18 near first sheet material 15.Thus, surgery instrument 5 is installed on the sterile adapter 10, and second runner 24 can mate with second driving wheel 50.

On the other hand, push second sheet material 18 and make projection 33 from second sheet material 18 when outstanding, if when projection 33 accurately is not inserted in the groove 23; With reference to of Fig. 5; Because second runner, 24 elastic bearings are on sterile adapter 10, so second driving wheel, 50 pushes protrusion, 33, the second runners 24 are in the state of can not be outstanding from second sheet material 18 and being urged; But as stated, can be under this state left rotation and right rotation second runner 24 and make projection 33 and groove 23 couplings.

Figure 10 is the cutaway view of the sterile adapter that relates to of expression embodiments of the invention; To be the sterile adapter that relates to of expression embodiments of the invention be installed in the side view of the state on the devices hold 3 through opening to Figure 11, and Figure 12 is the sketch map that sterile adapter that the expression embodiments of the invention relate to is attached the state on aseptic curtain.With reference to Figure 10 to Figure 12, show robotic arm 1, devices hold 3, surgery instrument 5, aseptic curtain 7, sterile adapter 10, main part 12, first 14, first sheet material 15, through hole 116, second 17, second sheet material 18, fixed projection 119, first driving wheel 30, encapsulant 34, first runner 20, second runner 24, second driving wheel 50, opening 72, adhesive portion 74, labelling 76.

As stated; The main part 12 of the sterile adapter 10 that present embodiment relates to can be by constituting by a pair of sheet material 15,18 separated from one another or closely bonded; At this moment; On second sheet material 18, can be formed with to first the 14 prominent fixed projection of establishing 119, and on first sheet material 15, be equipped with the through hole 116 that is used to take in fixed projection 119.

Promptly; On a pair of sheet material 15,18, be formed with fixed projection 119 and through hole 116 respectively, shown in Figure 10 a, under a pair of sheet material 15,18 state separated from one another; Fixed projection 119 is in the state that is housed in the through hole 116; Shown in the b of Figure 10, when a pair of sheet material 15,18 was closer to each other, fixed projection 119 can connect through hole 116 and outstanding from the surface (first 14) of main part 12.

Like this; Main part 12 is made up of a pair of sheet material 15,18; Make fixed projection 119 from the surface (first 14) of main part 12 when outstanding along with a pair of sheet material 15,18 is closer to each other, sterile adapter is installed on the devices hold 3, and along with a pair of sheet material 15,18 is closer to each other; Fixed projection 119 is outstanding from the surface of sterile adapter 10, thereby the assigned position of 119 pairs of devices holds 3 of fixed projection is exerted pressure.Outstanding like this fixed projection 119 play be described below aseptic curtain 7 is fixed on the effect on the devices hold 3.

In the robotic surgery process, operation is covered by aseptic curtain (sterile drape) with robotic arm, but can be equipped with opening 72 on the aseptic curtain 7 that present embodiment relates to.Opening 72 can be located in the position of dismounting surgery instrument 5 external device (ED)s such as grade on the robotic arm, and the opening 72 that present embodiment relates to can be located in devices hold 3 parts, promptly be used for sterile adapter 10 is installed in the position on the devices hold 3.

Be installed on the devices hold 3 through the sterile adapter 10 that present embodiment is related to; (first 14) gives prominence to fixed projection 119 from its surface; And the state that robotic arm 1 is covered by aseptic curtain 7 is when installing sterile adapter 10 down; The peripheral part of the opening 72 of 119 pairs of aseptic curtains 7 of fixed projection of projection is exerted pressure, thereby aseptic curtain 7 closely is fixed on the devices hold 3.

In addition, with fixed projection 119 outstanding on sterile adapter 10 accordingly, at the periphery of devices hold 3 encapsulants 34 such as rubber seal are set, then only just can aseptic curtain 7 be fixed on the robotic arm 1 through sterile adapter 10 is installed.

Promptly; With the peripheral part of opening 72 accordingly when devices hold 3 and/or its periphery are pasted the encapsulant 34 that elastomeric material processes; Through being installed, sterile adapter 10 makes fixed projection 119 projections; And the peripheral part of the opening 72 of 119 pairs of aseptic curtains 7 of fixed projection reaches and the encapsulant 34 of its relative set pressurizes, thereby encapsulant 34 is pressurizeed by outstanding fixed projection 119 and sink.

So the opening 72 of aseptic curtain 7 is in be fixed projection 119 of peripheral part to be clamped and fixed state with encapsulant 34, through sterile adapter 10 is installed, aseptic curtain 7 is fixed on the robotic arm 1.

On the other hand; The sterile adapter 10 that present embodiment is related to is installed in before the devices hold 3, can be earlier with on the assigned position of sterile adapter 10 attached to aseptic curtain 7, and for example above-mentioned opening 72 parts; For this reason; Can form paster adhesive portion 74 such as (sticker) in the part (peripheral part of opening 72) that needs adhere to sterile adapter 10, and around it, mark labelling 76 such as tetragon, thereby express the position that is used to adhere to sterile adapter 10 in advance.

When on aseptic curtain 7, forming adhesive portion 74 and labelling 76 so in advance; Tear the paster protecting film of aseptic curtain 7; With sterile adapter 10 alignment tetragon labellings attached on the aseptic curtain 7, thereby can be with sterile adapter 10 accurately attached to preassigned position, promptly be equipped with the position of opening 72.

In addition, under the state of sterile adapter 10, sterile adapter 10 is installed on the devices hold 3, thereby can aseptic curtain 7 be fixed in robotic arm 1 attached to the assigned address of aseptic curtain 7.

Figure 13 is the axonometric chart that is illustrated in the state of installing apparatus on the sterile adapter that embodiments of the invention relate to.With reference to Figure 13, show surgery instrument 5, sterile adapter 10, main part 12, protuberance 113, contact 133,134.

The apparatus of electrosurgical (Electrosurgery) usefulness or the apparatus with electrosurgical function can be installed on the sterile adapter 10 of present embodiment, at this moment, need be provided for the power supply of electrosurgical to surgery instrument 5.

Promptly; With the surgery instrument that is formed with contact 133 in order to carry out electrosurgical 5 accordingly; On sterile adapter 10, be formed with the contact 134 of power supply usefulness, in the process that surgery instrument 5 is installed, contact 133,134 be connected to each other, thus can be to surgery instrument 5 power supplies.

For example, surgery instrument 5 can be installed on the sterile adapter 10 that present embodiment relates to, at this moment with sliding type; Be mounted the end of direction at main part with surgery instrument 5; Shown in figure 13, be formed with protuberance 113, thereby surgery instrument 5 can be installed.

At this moment, on the protuberance 113 that present embodiment relates to, can be formed with the contact 134 that is used for to surgery instrument 5 power supplies, in this correspondingly, on surgery instrument 5, also can be formed with contact 133.

Promptly; So that the power supply that is provided with robot by operation is connected under the state of the contact 133 that forms on the protuberance 113 of sterile adapter 10; Make contact 133, connect between 134 thereby surgery instrument 5 is installed, only can provide electrosurgical required power supply through surgery instrument 5 is installed so needn't connect power supply separately.

The quantity of contact can be made multiple according to electrosurgical with the type of apparatus, for example, the situation of one pole (monopolar) pattern can form a contact, and the situation of twin-stage (bipolar) pattern can form two contacts.

Figure 14 is the exploded perspective view of the sterile adapter that relates to of expression embodiments of the invention.With reference to Figure 14, show robotic arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first 14, second 17, first driving wheels 30, first runner 20, second runner 24, second driving wheel 50.

The sterile adapter 10 that present embodiment relates to is arranged at therebetween in the process of installation surgery instrument 5 on devices hold 3, and surgery instrument 5 utilizes sterile adapter 10 to combine with devices hold 3.

The sterile adapter 10 that present embodiment relates to is by being that benchmark constitutes to the first two-face exposed runner 20 and second runner 24 with main part 12, and first, second runner 20,24 respectively elastic bearings on main part 12.Promptly; With main part 12 with 3 opposed of devices holds as first 14, with 5 opposed of surgery instruments as second 17 o'clock, first runner 20 is showed out from first; Second runner 24 exposes from second 17, thus first, second runner 20,24 two-face exposed from main part 12.

On the other hand; First runner 20 and second runner 24 combine with main part 12 through elastomers (Figure 14 ' E ') such as springs respectively; Therefore, first, second runner 20,24 is because external force and being caved in, when removing external force since spring return to original position.That is, first runner 20 and second runner 24 are connected to each other and together rotation, and combine with main part 12 through spring etc., so the direction that first runner 20 and second runner constitute to mutual pushing receives elastic force.

The sterile adapter 10 that present embodiment is related to is installed on the devices hold 3, and then first 14 butt devices hold 3 matees with first driving wheel 30 that is formed on the devices hold 3 from first 14 first runner 20 that exposes.

In addition, surgery instrument 5 is installed on sterile adapter 10, then second 17 butt surgery instrument 5 matees with second driving wheel 50 that is formed on the surgery instrument 5 from second 17 second runner 24 that exposes.Below, specify sterile adapter 10 and devices hold 3 and surgery instrument 5 bonded modes that present embodiment relates to.

Figure 15 is the sketch map that the sterile adapter that relates to of expression embodiments of the invention is installed in the state on the devices hold; Figure 16 is the cutaway view of Figure 15 ' A '; Figure 17 is the sketch map that the surgery instrument that relates to of expression embodiments of the invention is installed in the state on the sterile adapter, and Figure 18 is the cutaway view of Figure 17 ' B '.With reference to Figure 15 to Figure 18, show devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first 14, second 17, first driving wheels 30, projection 32,33, first runner 20, groove 22,23, second runner 24, second driving wheel 50.

Observe the combination between sterile adapter 10 and the devices hold 3, on first driving wheel 30 of formation on the devices hold 3, be equipped with projection 32, and with first driving wheel, 30 opposed first runners 20 on be formed with the groove 22 that can insert projection 32.

Through sterile adapter 10 is installed on the devices hold 3; First driving wheel 30 and first runner 20 are against each other, and this moment, projection 32 was inserted in the groove 22, then first driving wheel 30 and first runner, 20 couplings; But when projection 32 is not inserted in the groove 22, projection 32 pushings first runner 20.Because first runner, 20 elastic bearings are on sterile adapter 10, so during projection 32 pushings first runner 20, shown in Figure 16 a, (first 14) is pressed into first runner 20 from sterile adapter 10 surfaces.

Like this, first runner 20 because of projection 32 by under the states that cave in, left rotation and right rotation first driving wheel 30, then projection 32 is inserted in the groove 22, the pressurized state of 32 pairs first runners 20 of projection is disengaged thus.Along with releasing from the external force of projection 32, shown in the b of Figure 16, first runner 20 since spring return to original position, thereby first runner 20 and first driving wheel 30 are mated.

When rotating first driving wheel 30 under the state that first runner 20 is mated on first driving wheel 30, first runner 20 rotates with its interlock, thereby through first driving wheel 30 driving force that robot generates is passed to first runner 20.

Secondly, observe the combination between sterile adapter 10 and the surgery instrument 5, on second runner 24, be equipped with projection 33, and with second runner, 24 opposed second driving wheels 50 on be formed with the groove 23 that can insert projection 33.

Through surgery instrument 5 is installed on the sterile adapter 10; Second driving wheel 50 and second runner 24 are against each other; When this moment, projection 33 was inserted in the groove 23, second driving wheel 50 and second runner 24 matched each other, but when projection 33 is not inserted in the groove 23; Second driving wheel, 50 pushes protrusion 33 cause second runner 24 to be urged.As stated, because second runner, 24 elastic bearings are on sterile adapter 10, so when projection 33 pushings second runner 24, shown in a of Fig. 5, second runner 24 is pressed into from the surface (second 17) of sterile adapter 10.

Under second runner, the 24 quilt states that cave in; Left rotation and right rotation first driving wheel 30; Then rotate, thereby projection 33 is inserted in the groove 22, remove the state that second runner 24 is exerted pressure thus with first runner 20 of first driving wheel, 30 couplings and second runner, 24 interlocks that are connected with first runner 20.Like this, along with the releasing of external force, shown in the b of Figure 18, second runner 24 is because spring return arrives original position, thereby second runner 24 and second driving wheel 50 match each other.

Rotated first driving wheel 30 under the state that matees at second driving wheel 50 and second runner 24; Then first runner 20, second runner 24 and the 50 interlock rotations of second driving wheel, thus through first driving wheel 30, first runner 20 and second runner 24 driving force that robot generates is passed to second driving wheel 50.

Second driving wheel 50 can be connected through the executor of steel wire with the terminal part that is combined in surgery instrument 5; Aforesaid along with driving force is delivered to second driving wheel 50 and 50 rotations of second driving wheel; Through steel wire driving force is passed to the executor, thereby the executor is moved.

At this; The situation that on first runner 20 and second driving wheel 50, forms groove 22,23 on first driving wheel 30 and second runner 24, forming projection 32,33 and match each other is illustrated; But projection and groove might not be wanted aforesaid formation, also can on arbitrary side of pair of turning wheels, form projection and the mode that on the opposing party, forms groove matches each other.

Further, might not on any runner, form projection and the mode that on another runner, forms groove is mated, certainly be suitable for the multiple frame for movement that pair of turning wheels is matched each other.

Also have, after the draw bail of the runner stated be the structure that first runner 20, second runner 24, first driving wheel 30, second driving wheel 50 are coupled to each other, be not to be only applicable to specific rotaring wheel structure.Certainly, the runner draw bail that present embodiment relates to has more than and is used for armarium, and in the bonded structure of a plurality of runners, so long as can be suitable for the structure that the structure of the technology that detects the alignment situation maybe can be transmitted specified force, present embodiment is all applicable.

In addition, after body among the embodiment that states be that expression is used for the bonded body of runner, can be devices hold 3, surgery instrument 5, main part 12 etc.In addition, driving wheel and driven pulley are the general designations that is used to distinguish runner, can be respectively first runner 20, second runner 24, first driving wheel 30, second driving wheel 50 etc.That is, driving wheel and driven pulley are relative concepies, can censure identical runner.For example, second driving wheel 50 that is had on the surgery instrument 5, when driving said executor as driving wheel, and when driving along with the driving of first driving wheel 30 that on devices hold 3, is had as driven pulley.The power source that is used to drive driving wheel and driven pulley can be provided with robotic arm 1 by operation.

In addition; Foregoing has mainly been explained the situation that first runner 20 and second runner 24 are made up of independent member; But after the embodiment that states be not limited in these structures; Certainly realize, on the two sides, form said projection and groove respectively, thereby combine with first driving wheel 30 and second driving wheel 50 by same structure.In addition, the embodiment that states after mainly explains and the difference of illustrated example formerly.

Figure 19 be illustrate that the first embodiment of the present invention relates to detect the sketch map of the runner draw bail of alignment according to electrical characteristics.With reference to Figure 19, show first runner 20, groove 22,23, second runner 24, first driving wheel 30, projection 32,33, matching detection portion 35, contact 43,44, second driving wheel 50.After the explanation of structure and function of relevant each runner of stating also applicable to runner with different titles.

Whether the runner draw bail that present embodiment relates to is characterized in that, utilize electrical characteristics to detect runner and align.That is, when a plurality of runners were coupled to each other, the contact was connected to each other and switches on, and, was connected thereby can detect runner to the electrical characteristics that change through energising by sensor.

Aforesaid first runner 20, second runner 24, first driving wheel 30, second driving wheel 50 can be respectively to the different directions rotations, and the projection 32,33 that on each runner, forms when being coupled to each other possibly not be inserted in the groove 22,23.Therefore, need be inserted in the groove 22,23 according to each projection 32,33 and detect the technology whether runner aligns each other.Present embodiment is to utilize electrical characteristics to detect the technology whether runner aligns.

Present embodiment is judged its match condition through detecting the electricity variation that takes place when each runner matees.At this, the method that the electricity that takes place when detecting coupling changes has multiple.According to one embodiment of the invention; Can comprise that match condition can detect through detecting electricity variations such as the signal of telecommunication, resistance value, current value, magnitude of voltage in matching detection portion through detecting the matching detection portion of the electric change-detection match condition that takes place when each runner matees.

For example, matching detection portion can comprise: light source is located on the one side of a runner; Optical detecting unit, the light that is used for detection light source changes; Change the unit, be located on the one side of said runner or another runner corresponding the light characteristic of change light source with it.The light characteristic of light source can change along with reflection, refraction, diffraction, interference, and the light characteristic that changes can be the direct of travel, color, brightness, chromaticity coordinates, colour temperature, diffraction pattern, interference pattern of light etc.For example; Change the unit for being used for catoptrical unitary situation; When runner on these structures does not mate and when separating prescribed distance, optical detecting unit detects the light less than light source each other, and runner is when matching each other; The be reflected unit reflection of the light of light source matches each other so optical detecting unit can detect runner through detection of reflected light.At this, optical detecting unit can be a photodiode etc., and reflector element can be a reflecting mirror etc.

Below main explanation combine resistance and the variation through detection resistance value to detect the situation of whether mating at runner; Aforesaidly detect match condition but the present invention is applicable, or utilize the several different methods of the change-detection match condition of other electromagnetic property through detecting the electromagnetic change that detects according to light.For example, present embodiment also can utilize electromagnetic change or other active (active) element testing match condition of utilizing passive (passive) element like resistance (resistance) variation, electric capacity (capacitance) variation, inductance (inductance) variation etc.

The marriage relation of first runner 20 and first driving wheel 30 at first, is described.Because outstanding projection 32 is inserted in the groove 22 that on first runner 20, forms, so first driving wheel 30 and first runner 20 are coupled to each other on first driving wheel 30.The quantity of projection 32 and groove 22 can be one or more, and is not particularly limited its formation position, and explanation has two situation respectively among Figure 19.

On an end of projection 32, be formed with contact 43, and on the medial surface of groove 22, be formed with contact 44, when projection 32 was inserted in the groove 22, two contacts 43,44 were electrically connected to each other.The position that contact 43,44 forms on projection 32 or groove 22 is not so long as special qualification is done in the position that can connect each other, for example, can be the diverse location such as terminal part, middle part of projection 32.

The contact 43 of each projection 32 is connected with matching detection portion 35, and whether the contact 43 that matching detection portion 35 is used to detect projection 32 contacts with the contact 44 of groove 22.Thereby matching detection portion 35 can be the device that receives the signal of telecommunication and analyze output current state information.

For example, matching detection portion 35 can and analyze the contact situation that the resistance value that is detected is judged contact 43,44 through detection resistance value.That is, under state shown in Figure 19, the contact 43 of projection 32 separates each other, so the resistance value that matching detection portion 35 measures is infinitely great (∞).But when projection 32 is inserted in the groove 22 and contact 43,44 when contacting with each other, matching detection portion 35 measured resistance value are equivalent to be connected the resistance value of first resistance R 1 between the contact 44 that forms on the groove 22.

Therefore, the resistance value that matching detection portion 35 can be more measured each other or compare with the resistance value of contact condition not, thus judge the contact situation of contact 43,44.At this, explained that matching detection portion 35 judges whether situation about contacting through detection resistance value, but the present invention also can for example current value, magnitude of voltage etc. be judged the contact situation through measuring other electrical characteristics.So matching detection portion 35 can be more than any in resistance measuring instrument and current measuring instrument and the pressure measuring instrument.Judged result can be through regulation for example outputs such as sound, light, vibration of unit, or also can be used as the information of the arm 1 normal operation that is used to start the machine and use.

Secondly, the marriage relation of second runner 24 and second driving wheel 50 is described.Be inserted in the groove 23 that on second driving wheel 50, forms in projection 33 outstanding on second runner 24, thereby second runner 24 and second driving wheel 50 are coupled to each other.Be formed with contact 43 on one end of projection 33, and on the medial surface of groove 23, be formed with contact 44, when projection 33 was inserted in the groove 23, projection 33 was electrically connected to each other with two contacts 43,44 of groove 23.

At this moment, projection 32 contacts with each other with two contacts 43,44 of groove 22 and two contacts 43,44 of projection 33 and groove 23, thereby forms the circuit with new combined resistance.That is, be connected first resistance R 1 between two contacts 43 of groove 22 and second resistance R 2 that is connected between two contacts 43 of groove 23 is connected in parallel to each other, so the computing formula of new combined resistance value R is following.

Formula 1

$R=\frac{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HDA00001604666000172.png,HDA00001604666000181.png"\; state="\{\{state\}\}">R</figure-callout>}1\&times;R2}{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="HDA00001604666000172.png,HDA00001604666000181.png"\; state="\{\{state\}\}">R</figure-callout>}1+R2}$

At this moment, matching detection portion 35 can detect the normally connection each other of devices hold 3, sterile adapter 10 and surgery instrument 5 through detecting combined resistance value R.

In addition, this moment since resistance value R1 when having only projection 32 to be inserted in the groove 22 and the projection 33 resistance value R when also being inserted in the groove 23 simultaneously differ from one another, so matching detection portion 35 can utilize it to measure the coupled situation of each runner.For example, R1 is 100 Ω, and when R2 was 0 Ω, when having only projection 32 to contact with two contacts 43,44 of groove 22, the resistance value that matching detection portion 35 measures was 100 Ω.But under this state, when two contacts 43,44 of projection 33 and groove 23 also contacted with each other, the resistance value that matching detection portion 35 measures was 0 Ω.Therefore, utilize this electrical characteristics, can detect each runner coupled situation more accurately.

At this, first driving wheel 30, first runner 20, second runner 24 and second driving wheel 50 are illustrated with its title, but also can be called drivewheel, first driven pulley, second driven pulley and the 3rd driven pulley respectively successively and describe.

Figure 20 be illustrate that the first embodiment of the present invention relates to detect the sketch map of the runner state of insulation of alignment situation according to electrical characteristics.With reference to Figure 20, show first driving wheel 30, projection 32,32 ', contact 43,43 ', matching detection portion 35.

Present embodiment is the technology that is exclusively used in the structure that makes projection 32,32 ' insulated from each other when first driving wheel 30 is formed by conductors such as ferrum.The outer surface integral body of the opening of first driving wheel 30 is formed by conductor, on one side, be formed with outstanding projection 32 '.On the outer surface of the opening of first driving wheel 30, correspondingly wear porosely with projection 32, projection 32 is inserted in this hole and exposes contact 43.Therefore, even if first driving wheel 30 is formed by conductor, contact 43,43 ' also can keep state insulated from each other.

Figure 21 be illustrate that the second embodiment of the present invention relates to detect the sketch map of the runner draw bail of alignment according to magnetic characteristic.With reference to Figure 21, show devices hold 3, surgery instrument 5, first driving wheel 30, magnetic sensor 37, second driving wheel 50, Magnet 56, memory element 58.

The runner draw bail that present embodiment relates to has the characteristic that the magnetic characteristic utilized detects the alignment situation of runner.That is, when a plurality of runners are coupled to each other, detect the aligned condition of runner through detecting, thereby can detect the connection situation and the normal alignment situation of runner attached to the orientation of specifying the Magnet on the runner.

On each face that first driving wheel 30 and second driving wheel 50 are bonded to each other, be formed with the concavo-convex of regulation, these are concavo-convex can censure respectively is first concavo-convex and second concavo-convex.Be formed on the face of first driving wheel 30 first concavo-convex be formed on second driving wheel 50 on second concavo-convexly carry out concavo-convex the combination, thereby first driving wheel 30 and second driving wheel 50 are coupled to each other.

At this, first concavo-convex and second concavo-convex can be the concavo-convex of fan-shaped.As shown in the figure, fan-shaped concavo-convex is radial extension from central division and constitutes recessed and protruding alternately form concavo-convex.First driving wheel 30 and second driving wheel 50 irrespectively can be bonded to each other through this fan-shaped is concavo-convex with its rotation degree.That is and since fan-shaped concavo-convex alternately be formed with a plurality of recessed and protruding, so even the runner of a side with the maintenance predetermined angular state under be bonded to each other, also can carry out concavo-convex combination.

On the one side of second driving wheel 50, be attached with the Magnet of arranging by prescribed direction 56.The magnetic sensor 37 that is had in first driving wheel, 30 sides detects its ordered state through the magnetic characteristic that detects Magnet 56.At this; Show the situation that Magnet 56 and magnetic sensor 37 are positioned at each face centre of second driving wheel 50 and first driving wheel 30; But the present invention is not limited to these ad-hoc locations, so long as magnetic sensor 37 can detect the position of arrangement of Magnet 56 all applicable to the present invention.

When connecting with second driving wheel 50, magnetic sensor 37 can be judged its rotation degree through the polarity (the N utmost point and the S utmost point) that detects Magnet 56.For example; Under the initial setting state of second driving wheel 50; Magnet 56 is arranged in the N utmost point and the S utmost point is horizontal or vertical with respect to the stipulated standard line; And as stated, even also can combine under the state of second driving wheel, 50 rotation predetermined angulars, so magnetic sensor 37 can detect the rotation degree of second driving wheel 50 through the anglec of rotation of measuring Magnet 56 with first driving wheel 30.

Can be during robotic arm 1 operation with reference to the anglec of rotation of detected second driving wheel 50, thus the operation of proofreading and correct second driving wheel 50.For example; Suppose a pair of jaw that the executor has each other the state of interlock be the initial setting state; And be in not rotation status through bonded second driving wheel 50 of the executor of steel wire and this state; And when Magnet 56 is arranged in the corner of surgery instrument 5 with parastate; When second driving wheel 50 is connected in 30 last times of first driving wheel when being connected with the state of rotation predetermined angular, magnetic sensor 37 can be understood executor's status information through detecting its anglec of rotation, can accurately control the executor through proofreading and correct this status information.

On the other hand; At the beginning Magnet 56 attached to 50 last times of second driving wheel as under the situation of adhering to free from error normal condition; As stated; The mode that derives the rotation information of second driving wheel 50 through the anglec of rotation of measuring Magnet 56 seems rationally, and when Magnet 56 had the predetermined arrangement error attached to 50 last times of second driving wheel, these rotation information derivation programs became meaningless when still making.So, need to measure Magnet 56 and whether adhere to, and store the information of measuring, and when reality is used, apply flexibly these metrical informations with the normal condition arrangement attached to back polarity on second driving wheel 50.

Memory element 58 is used to store the control information that these Magnet 56 are arranged.That is, when making surgery instrument 5, on the one side of second driving wheel 50, adhere to or form after the Magnet 56, measure its polar ordered state, thus generated error information, and this information is stored in memory element 58.Memory element 58 can be used as attachment magnets 56 on the side that is used to be stored in surgery instrument 5 and the medium of the intrinsic information of each surgery instrument of making and applying flexibly.At this, memory element 58 can be as RFID etc. can stored information medium.

The read write line that has memory element 58 in devices hold 3 sides, for example rfid interrogator (not shown).Rfid interrogator receives the arrangement error information of Magnet 56 from memory element 58; And this information sent to the control part of robotic arm 1 or be stored in the regulation storage part; The control part of robotic arm 1 comes round-off error with reference to arrangement error information at operation during with apparatus 5, thereby corrective surgery is with the action of apparatus 5.For example, when storing the arrangement error information that Magnet 56 rotation 5 degree adhere in the memory element 58, the control part of robotic arm 1 can be with reference to this arrangement error information, and proofread and correct the action that-5 degree are controlled surgery instrument 5.

Figure 22 and Figure 23 be illustrate that the third embodiment of the present invention relates to detect the sketch map of the runner draw bail of alignment situation according to magnetic characteristic.With reference to Figure 22 and Figure 23, show devices hold 3, surgery instrument 5, groove 23, first driving wheel 30, projection 32, magnetic sensor 37, second driving wheel 50, Magnet 56.Main explanation and above-mentioned difference.

The runner draw bail that present embodiment relates to utilizes aforesaid magnetic characteristic to detect the alignment situation of runner, it is characterized in that, and the anglec of rotation when limiting 50 connections of second driving wheel through the quantity of confirming projection 32, thus can reduce the error that runner aligns.

On the open surface of first driving wheel 30, be formed with a plurality of projections 32, and on the open surface of second driving wheel 50, be formed with the groove 23 that can insert projection 32.At this, projection 32 can be said first concavo-convex, and groove 23 can be said second concavo-convex.

The projection 32 that is formed on first driving wheel 30 can be that the vertical section is the cone of circle, oval (comprising oval part curve), polygon etc., oval cone, pyramid (multiple-angle pyramid) etc.Be connected to the bottom surface of the projection 32 of adjacency with each projection 32 of realizations such as cone, oval cone, pyramid, therefore the rotation degree with runner irrespectively can be inserted in the groove 23 of second driving wheel 50.

For example; As shown in the figure; It is against each other under abutment lug 32 and the situation near the projection 32 of the open surface frame of first driving wheel 30 to form four shapes and the identical and bottom surface of size; During with first driving wheel 32 coupling, the maximum error angle of rotation is 45 degree (45 degree are to+45 degree) under the initial setting state of second driving wheel 50.That is, when the most advanced sensing groove 23 of projection 32 and the point that groove 23 intersects each other, second driving wheel 50 is rotation 45 degree backs and first driving wheel, 30 couplings at most.

Therefore, according to present embodiment, can the rotation error scope of second driving wheel 50 be limited in the particular range.These range of error can be according to the quantity decision of projection 32.For example, when the quantity of projection 32 was 5, error angle was 36 degree (36 degree to+36 degree), and when the quantity of projection 32 was N, error angle was 180/n degree (a 180/n degree extremely+180/n degree).Though the situation of projection 32 that hypothesis has identical size and a shape in above-mentioned is illustrated, present embodiment is not limited to these structures, and the size of projection 32 and shape also can differ from one another.

On second driving wheel 50, be attached with the Magnet of arranging by prescribed direction 56, and first driving wheel 30 has the magnetic sensor 37 that is used to detect Magnet 56.The quantity of magnetic sensor 37 and binding site can be according to the binding site decisions of Magnet 56.For example, as shown in the figure, when Magnet 56 was located in the groove 23 of second driving wheel 50, magnetic sensor 37 can be located at respectively on four projections 32 that form on first driving wheel 30.In addition, Magnet 56 also can be located on the second outside driving wheel 50 of groove 23, magnetic sensor 37 can the outside of projection 32 attached to first driving wheel 30 on, or be located at a side of devices hold 3 respectively, for example on four corners (with reference to Figure 23).

At this, the quantity of magnetic sensor 37 can be identical with the quantity of projection 32, or the difference of its quantity is smaller or equal to 2, and the quantity of Magnet 56 can be less than the quantity of magnetic sensor.When first driving wheel 30 and second driving wheel 50 matched each other, magnetic sensor 37 can detect position, its orientation and the match condition of Magnet 56 through the magnetic field of detecting Magnet 56.

Figure 24 and Figure 25 are axonometric chart and the front views according to the runner draw bail of mechanical property alignment runner that illustrates that the fourth embodiment of the present invention relates to, and Figure 26 is used to explain that the fourth embodiment of the present invention relates to according to the sketch map of the principle of mechanical property alignment runner.With reference to Figure 24 to Figure 26, show surgery instrument 5, sterile adapter 10, main part 12, first sheet material 15, second sheet material 18, groove 23, second runner 24, guidance unit 25, aligned recesses 27, alignment protrusion 28, projection 33, second driving wheel 50.

The runner draw bail that present embodiment relates to has the characteristic of the runner of the mechanical property utilized alignment needs connection.That is,, say the projection that forms on the runner that needs to connect along the direction alignment that is formed with the groove that will insert, thereby can align runner according to present embodiment.

With reference to Figure 24, on said sterile adapter 10, be formed with funnelform guidance unit 25 highlightedly.At this, sterile adapter 10 mainly is described, but the structure that aforesaid present embodiment relates to can realize on devices hold 3 and surgery instrument 5 also, can these be referred to as body.

Guidance unit 25 is formed on the side of surgery instrument 5 with the sterile adapter 10 of sliding type insertion, can have the shape near second runner, 24 its narrowed width.Projection 33 is formed extended at both sides to a direction with groove 23, groove 23 be shaped as can with the shape of projection 33 couplings.

With reference to Figure 25 and Figure 26, when surgery instrument 5 inserted with sliding type, the projection 33 that on second driving wheel 50, forms received eccentric revolving force from guidance unit 25, thereby correspondingly alignd with the direction of the groove 23 that on second runner 24, forms.

At this, surgery instrument 5 is installed in 10 last times of sterile adapter with sliding type, is installed on the tram of sterile adapter 10 in order to make surgery instrument 5, on the surgery instrument 5 that present embodiment relates to, can be formed with alignment (align) unit.That is, shown in figure 25, when forming aligned recesses 27 in the end of surgery instrument 5 with caving in, on an end of second sheet material 18, also can be equipped with can with the alignment protrusion 27 of aligned recesses 27 coupling.

Shown in figure 25, surgery instrument 5 slippages are installed in 10 last times of sterile adapter, till alignment protrusion 28 and aligned recesses 27 couplings, move surgery instrument 5 and install, thereby can apparatus be aligned on the tram.Aligned recesses 27 and alignment protrusion 28 that present embodiment relates to can play the alignment effect; So that surgery instrument 5 is installed in the preassigned position on the sterile adapter 10, therefore need to make meticulously to avoid producing unnecessary interval between aligned recesses 27 and the alignment protrusion 28.

With reference to Figure 26, in the projection 33 that forms on second driving wheel 50 with eccentric manner on the tab-like part that is formed in second driving wheel 50.Off-centre is that a side is partial to and the state of ragged center in the center of certain object, and when projection 33 was passed through guidance unit 25 under rotation status, projection 33 was owing to the resistance of the arbitrary assistant in two assistants of guidance unit 25 rotates.

To the narrow width of the other end of second runner, 24 directions, so said resistance becomes the eccentric revolving force to projection 33, thereby projection 33 rotates to the state that can be inserted in the groove 23 because the width of an end of guidance unit 25 is wide.At this, the inboard width of guidance unit 25 other ends can be identical with the width of groove 23 or much at one.According to present embodiment, projection 33 is rotated according to the eccentric revolving force that guidance unit 25 provides, and with its correspondingly, the rotation of second driving wheel 50, thus second driving wheel 50 can mate with the initial set condition and second runner 24.

Figure 27 be illustrate that the fifth embodiment of the present invention relates to detect the sketch map of the runner draw bail of alignment situation according to magnetic characteristic, Figure 28 be illustrate that the fifth embodiment of the present invention relates to detect the axonometric chart of the runner draw bail of alignment situation according to magnetic characteristic.With reference to Figure 27 and Figure 28, show robotic arm 1, devices hold 3, surgery instrument 5, sterile adapter 10, main part 12, first 14, second 17, first runners 20, groove 22,23, second runner 24, first driving wheel 30, projection 32,33, magnetic sensor 37, Magnet 41,42,56, second driving wheel 50.

The runner draw bail that present embodiment relates to utilizes magnetic characteristic to detect the alignment situation of runner, can utilize a magnetic sensor 37 to detect the alignment situation of a plurality of runners.Promptly; The projection that on first runner 20, two faces not relative each other with second runner 24, forms 32 is revolved with groove 23 and is turn 90 degrees, thereby can use a magnetic sensor 37 that is located at first driving wheel, 30 sides to detect the alignment situation of first driving wheel 30, first runner 20, second runner 24 and second driving wheel 50.The angle that the bearing of trend of projection 32 and groove 23 forms can be 90 degree, 180 degree or other specified angles, below the situation of main explanation 90 degree.

In addition; At this, the situation that first runner 20 and second runner 24 differ from one another mainly is described, but present embodiment is not limited to these structures; For example; On the one side of a runner, form projection 32 and Magnet 41, and when on another side, forming groove 23, can move according to illustrated principle too with Magnet 42.

Observe the connection operation and the alignment detection operation of runner, at first, first driving wheel 30 matees and connects with first runner 20, and whether normally magnetic sensor 37 judges the alignment of first runner 20 through detecting Magnet 41.Secondly; First driving wheel 30 revolves and turn 90 degrees second runner 24 that makes first runner 20 and connect with it and revolve and turn 90 degrees; Magnetic sensor 37 can detect the above-mentioned Magnet 42 that on second runner 24, adheres to respect to Magnet 41 rotation specified angles thus, thereby detects rotation degree and degree of registration.Afterwards, second driving wheel 50 and second runner, 24 couplings, and magnetic sensor 37 can be through detecting the aligned condition of judging second driving wheel 50 attached to the Magnet on second driving wheel 50 56.At this, the Magnet 42 that can save on second runner 24 reaches attached to the arbitrary Magnet in the Magnet 56 on second driving wheel 50, and at this moment, magnetic sensor 37 can only detect the aligned condition that the arbitrary Magnet that adheres to is measured second driving wheel 50.

According to this structure, can utilize a magnetic sensor 37 to detect the aligned condition of a plurality of runners, thereby have the effect that reduces volume and cost, in addition, make hour when the width of sterile adapter 10, have the advantage that can improve accuracy of detection.

Figure 29 to Figure 31 is side view, vertical view and the cutaway view according to the runner draw bail of mechanical property alignment runner that illustrates that the sixth embodiment of the present invention relates to.With reference to Figure 29 to Figure 31, show surgery instrument 5, sterile adapter 10, groove 23, second runner 24, projection 33, second driving wheel 50, pulley (pulley) 55, pilot pin 61.Below main explanation and above-mentioned difference.

The runner draw bail utilization that present embodiment relates to and the above-mentioned different mechanical property runner that needs connect that aligns.That is, according to present embodiment, said guidance unit utilization pin shape pilot pin makes the projection that forms on the runner that is used for connecting be useful on the direction alignment of the groove of insertion to formation, thereby can align runner.

Figure 31 of the cutaway view of Figure 30 that watches with reference to Figure 29, in the A of Figure 29 direction and the B of Figure 29; With the one side of second driving wheel, 50 opposed second runners 24 on or on sterile adapter 10, be formed with pilot pin 61, this pilot pin 61 is used for making projection 33 rotations of second driving wheel 50 and is inserted into the groove 23 of second runner 24 and forms alignment.Can form a plurality of pilot pins 61 in both sides, so that the projection 33 of second driving wheel 50 can be from passing through between them, the width between the pilot pin 61 is roughly the same or greater than the width of projection 33, has to make the width of projection 33 from passing through between them.Pulley (pulley) 55 rotates along with the rotation of second driving wheel 50, thus the motion of the axle of control surgery instrument 5, executor etc.

With reference to the amplifier section C among Figure 30, the projection 33 that on second driving wheel 50, forms is formed on the part of second driving wheel 50 with eccentric manner highlightedly.As stated, off-centre is that a side is partial to and the unjustified each other state in center in the center of certain object, so when projection 33 was passed through pilot pin 61 under the state of rotation, projection 33 was rotated because of bumping against the resistance that produces with pilot pin 61.Identical or much at one the time, projection 33 rotates to the state that can insert groove 23 when the width of the width between the pilot pin 61 and projection 33.

According to present embodiment, projection 33 is rotated according to the eccentric revolving force that pilot pin 61 provides, and with its correspondingly, the rotation of second driving wheel 50, thus second driving wheel 50 can mate with the initial set condition and second runner 24.

Figure 32 be illustrate that the seventh embodiment of the present invention relates to detect the sketch map of the draw bail of bonded medical apparatus and instruments according to electrical characteristics.With reference to Figure 32, show devices hold 3, surgery instrument 5, sterile adapter 10, first runner 20, second runner 24, first driving wheel 30, second driving wheel 50, contact 63,64, combine test section 65.

The draw bail of the medical apparatus and instruments that present embodiment relates to utilizes electrical characteristics to detect the combination situation of medical apparatus and instruments.That is, the electricity that said runner draw bail produced in the time of identically can detecting a plurality of medical apparatus and instruments and be coupled to each other changes, thereby judges its combination situation.

Present embodiment can utilize the connection situation that detects medical apparatus and instruments through the technology of the alignment situation that detects said electric change-detection runner.So the content of said embodiment can be applied mechanically in the present embodiment, can difference according to the different concrete draw bail of each structure and function.That is, the explanation of relevant runner and matching detection portion etc. in said embodiment can be useful in the medical apparatus and instruments of present embodiment respectively and combines on the test section etc.Below main explanation and above-mentioned difference.

The medical apparatus and instruments that present embodiment relates to can be devices hold 3, surgery instrument 5, sterile adapter 10 etc.In addition, present embodiment also can be useful on the integrated structure of other various medical apparatus and instruments that are bonded to each other and move.

With reference to Figure 32, with the order combination of devices hold 3, sterile adapter 10, surgery instrument 5.Because three kinds of medical apparatus and instruments combine,, these are called one side and the another side of one side, the sterile adapter 10 of devices hold 3, the one side of surgery instrument 5 so faying face has 4.

On the one side of devices hold 3, be formed with a plurality of first contacts 63; Be formed with a plurality of second contacts 64 on the one side of the bonded sterile adapter 10 of the one side of devices hold 3; On the another side of sterile adapter 10, be formed with a plurality of the 3rd contacts 63, and be formed with a plurality of the 4th contacts 64 on the one side of the bonded surgery instrument 5 of the another side of sterile adapter 10.Be not particularly limited each formation position on each face, contact 63,64, can be formed on the position that can be electrically connected each other.

As stated; Each contact 63,64 is connected when devices hold 3 combines with sterile adapter 10; And sterile adapter 10 and surgery instrument 5 is connected each contact 63,64 when combining; According to combining object to constitute the circuit that differs from one another, also different according to each resistance R 3, R4 total resistance value, the combination test section 65 that therefore is located at devices hold 3 sides can be through measuring the combination situation that these resistance values detect each medical apparatus and instruments.Utilize aforesaid way not only can detect the connection situation of devices hold 3, sterile adapter 10 and surgery instrument 5, also can detect the situation that connects of said each driving wheel and driven pulley.

Figure 33 to Figure 37 is the sketch map that the draw bail of the medical apparatus and instruments that the eighth embodiment of the present invention relates to is shown.Be specially; Figure 33 is the axonometric chart of surgery instrument 5; Figure 34 is the axonometric chart of sterile adapter 10; Figure 35 is the side view of surgery instrument 5 and sterile adapter 10 bonding states, and Figure 36 is the front view of surgery instrument 5 and sterile adapter 10 bonding states, and Figure 37 is the cutaway view of the C-C line of Figure 36.With reference to Figure 33 to Figure 37, show surgery instrument 5, sterile adapter 10, first Flexible element 11, guiding groove 16, apparatus guide portion 19, block 29, guide protrusion 59, pilot pin 61.The difference of main explanation and said embodiment.

Present embodiment provides firmly to combine runner and the user structure of dismounting runner easily in the runner draw bail.That is, present embodiment has following characteristics,, guiding device and block is set on the direct of travel of the medical apparatus and instruments that is attached with runner that is, moves and combines runner thereby can make things convenient for stably, thereby utilize Flexible element can realize multiple dismounting direction during dismounting.At this, surgery instrument 5 and sterile adapter 10 bonded states have been described, but present embodiment also goes for sterile adapter 10 and devices hold 3 bonded situation and/or surgery instrument 5 and devices hold 3 bonded situation.

The pilot pin 59 of surgery instrument 5 moves along the guiding groove 16 that the inboard in apparatus guide portion 19 forms, thereby runner is bonded to each other.With reference to Figure 35, surgery instrument 5 is housed under opposite direction from the state of guiding groove 16 to B and moves and combine with sterile adapter 10 with pilot pin 59.At this moment, during the runner of the runner of surgery instrument 5 and sterile adapter 10 coupling, block 29 plays the barrier effect that stops surgery instrument 5 to move to the B direction.

During dismounting surgery instrument 5, user can utilize two step disassembly and assembly structures, that is, surgery instrument 5 is moved again after the A direction moves to the B direction.Promptly; Pilot pin 59 with surgery instrument 5 is housed under the state of guiding groove 16; Move surgery instrument 5 to the A direction; Thereby make surgery instrument 5 break away from blocks 29, afterwards to moving with the opposite direction of direct of travel of pilot pin 59 when guiding groove 16 combines, thus can be with surgery instrument 5 from sterile adapter 10 separation.

With reference to Figure 37, apparatus guide portion 19 combines with the body of sterile adapter 10 through first Flexible element 11, and apparatus guide portion 19 can receive elastic force to move to the opposite direction of A direction once more from first Flexible element 11 when the A direction moves.At this, first Flexible element 11 can be a spring.

In addition, according to present embodiment, block 29 can combine with the body of sterile adapter 10 through second Flexible element.When block 29 was pressed when block 29 is applied elastic force, second Flexible element was given and is made it return to the power of original state.That is, when surgery instrument 5 moved to the opposite direction of B direction, block 29 was pressed, and surgery instrument 5 is when arriving the runner matched positions, and block 29 resets to prevent that surgery instrument 5 from moving to the B direction.In addition, user can be pinned block 29 and surgery instrument 5 is moved to the B direction under this state, thereby surgery instrument 5 is separated from sterile adapter 10.

Figure 38 to Figure 41 is the sketch map that the draw bail of the medical apparatus and instruments that the nineth embodiment of the present invention relates to is shown.Be specially, Figure 38 is the axonometric chart of the bonding state of surgery instrument 5 and sterile adapter 10, and Figure 39 is the axonometric chart of surgery instrument 5, and Figure 40 is the front view of sterile adapter 10, and Figure 41 is the cutaway view of the C-C line of Figure 40.With reference to Figure 38 to Figure 41, show surgery instrument 5, sterile adapter 10, release lever 13, apparatus guide portion 19, second runner 24, pushing unit 26, block 29, projection 33, second driving wheel 50, pilot pin 61, contact 63.Below the difference of main explanation and said embodiment.

Present embodiment provides user to utilize the bar structure of dismounting runner easily in the runner draw bail.That is, present embodiment release lever 13 capable of using when the dismounting runner promotes apparatus guide portion 19 so that pilot pin 59 breaks away from guiding groove 16, thereby surgery instrument 5 is broken away from from sterile adapter 10 easily.

With reference to Figure 39, release lever 13 is attached on the surgery instrument 5, and the other end was outstanding when user was pushed.At this, the other end of release lever 13 can be called pushing unit 26.With reference to Figure 38, pushing unit 26 can promote apparatus guide portion 19 when pushing release lever 13, and making apparatus guide portion 19 is the center rotation with the A axle.When apparatus guide portion 19 rotation, said pilot pin 59 breaks away from guiding grooves 16, so user can make surgery instrument 5 move to the direction with the formation orientation independent of guiding groove 16, thereby it is separated from sterile adapter 10.

With reference to Figure 41, said contact 63 and resistance R 3 are formed on the distolateral of sterile adapter 10, when surgery instrument 5 is connected in 10 last times of sterile adapter with movable state, can be used for detecting its connection situation.That is, when surgery instrument 5 was connected in sterile adapter 10, contact 63 combined with said contact 64 electricity, can be through measuring the combination situation that the resistance value that changes detects each medical apparatus and instruments in conjunction with test section 65.

At this moment, as stated, also can utilize the block 29 and the second Flexible element operation separating and combine with apparatus 5 and sterile adapter 10.Promptly; As stated, when surgery instrument 5 moved to the opposite direction of B direction, block 29 was pressed; And surgery instrument 5 is when arriving the matched position of runners; Block 29 resets to prevent that surgery instrument 5 from moving to the B direction, and user is pinned block 29 and moved surgery instrument 5 to the B direction under this state, thereby surgery instrument 5 is separated from sterile adapter 10.

Be illustrated with reference to the preferred embodiments of the present invention in the above; But be to be understood that into; For the those of ordinary skill of technical field under the present invention, in the scope that does not exceed the thought of the present invention put down in writing in claims and field, the present invention can carry out numerous variations and distortion.

Claims (10)

1. sterile adapter is arranged at and is formed on the devices hold on the operation robotic arm and is installed between the surgery instrument on the said devices hold, and it comprises:

Main part has with said devices hold opposed first and with said surgery instrument opposed second;

First runner, elastic bearing and are showed out from said first on said main part, and with first driving wheel coupling that is formed on the said devices hold;

Second runner, elastic bearing and are showed out from said second on said main part, and with second driving wheel coupling that is formed on the said surgery instrument.

2. sterile adapter according to claim 1 is characterized in that,

On said first driving wheel, be equipped with first projection; On said first runner, be formed with and corresponding first groove of said first projection; When said sterile adapter being installed on the said devices hold and said first projection when not being inserted in said first groove, said first runner sink by said first projection pushing and from said first.

3. sterile adapter according to claim 1 is characterized in that,

On said first runner, be equipped with first projection; On said first driving wheel, be formed with and corresponding first groove of said first projection; When said sterile adapter being installed on the said devices hold and said first projection when not being inserted in said first groove, said first runner sink by said first projection pushing and from said first.

4. according to claim 2 or 3 described sterile adapter, it is characterized in that,

Along with the rotation of said first driving wheel, said first projection is inserted in said first groove, and said first runner arrives original position through spring return, thereby makes said first runner and said first driving wheel coupling.

5. sterile adapter according to claim 1 is characterized in that,

On said second runner, be equipped with second projection; On said second driving wheel, be formed with and corresponding second groove of said second projection; When said surgery instrument being installed on the said sterile adapter and said second projection when not being inserted in said second groove, said second runner sink by said second projection pushing and from said second.

6. sterile adapter according to claim 1 is characterized in that,

On said second driving wheel, be equipped with second projection; On said second runner, be formed with and corresponding second groove of said second projection; When said surgery instrument being installed on the said sterile adapter and said second projection when not being inserted in said second groove, said second runner sink by said second projection pushing and from said second.

7. according to claim 5 or 6 described sterile adapter, it is characterized in that,

Along with the rotation of said second runner, said second projection is inserted in said second groove, and said second runner arrives original position through spring return, thereby makes said second runner and said second driving wheel coupling.

8. sterile adapter according to claim 1 is characterized in that, said main part comprises:

First sheet material is corresponding to said first;

Second sheet material, corresponding to said second, and being incorporated into said first sheet material from said first sheet material separation or approaching mode.

9. sterile adapter according to claim 8 is characterized in that,

On the both sides of said second sheet material, be equipped with guide rail, this guide rail is used to stipulate the mobile route of said surgery instrument, so that with sliding type said surgery instrument is installed.

10. sterile adapter according to claim 9 is characterized in that,

On the end of said surgery instrument, be formed with aligned recesses with caving in, and on an end of said second sheet material, be equipped with alignment protrusion, thereby this alignment protrusion and said aligned recesses coupling make said surgery instrument be aligned in assigned position.

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