CN217566312U

CN217566312U - Surgical system and sterile barrier assembly

Info

Publication number: CN217566312U
Application number: CN202220684164.0U
Authority: CN
Inventors: 连洋; 林民才; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2022-03-26
Filing date: 2022-03-26
Publication date: 2022-10-14
Anticipated expiration: 2032-03-26

Abstract

The utility model provides a surgical system and aseptic isolation assembly thereof, aseptic isolation assembly includes: the film body is configured to at least wrap the power mechanism, the film body comprises a first surface facing the power mechanism and a second surface positioned on the back of the first surface, the first surface is positioned in the non-sterilization area, and the second surface is positioned in the sterilization area; the fixing structure comprises an elastic partition plate and an elastic tensioning belt connected with the partition plate; the partition is configured to be elastically clamped in the instrument channel and press the first part of the membrane main body on the surface of the instrument channel; the tension band is configured to be secured at a free end to a second surface of a second portion of the membrane body different from the first portion to tighten the membrane body. Through holding elastic baffle card in the apparatus passageway to utilize the tensioning band on the baffle to tighten up its film on every side, avoided the inside and outside sterile film of apparatus passageway to pile up, guarantee surgical instruments normal installation and action, also can avoid causing aseptic barrier to become invalid.

Description

Surgical system and sterile barrier assembly

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to an operation system and aseptic isolation assembly.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the development of minimally invasive surgery and artificial intelligence, robot-assisted minimally invasive surgery is becoming one of the development trends of minimally invasive surgery. The minimally invasive surgical robot generally comprises a main operating platform and a slave operating device, wherein the main operating platform is used for sending control commands to the slave operating device according to the operation of a doctor so as to control the slave operating device, and the slave operating device is used for responding the control commands sent by the main operating platform and performing corresponding surgical operation by using a surgical instrument.

In the operation process, surgical instruments can be directly contacted with the focus of a patient to cause pollution, and multiple disinfection and sterilization are usually required to realize reuse. The tool arm used for driving the surgical instrument to move also needs to be used repeatedly, but because the tool arm is large in size and contains a plurality of components (such as electronic devices, encoders, sensors and the like) which are not beneficial to disinfection and sterilization, in order to avoid the contaminated surgical instrument to pollute the tool arm, a sterile bag is usually adopted to cover the tool arm, and the tool arm and the surgical instrument are aseptically isolated. However, the tool arm generally forms an instrument channel for the surgical instrument to pass through, and the sterile bag is easy to accumulate in the instrument channel, which may cause the channel to be blocked, affect the installation and action of the surgical instrument, and in severe cases, even cause the surgical instrument to tear the sterile bag, resulting in the sterile barrier to fail.

SUMMERY OF THE UTILITY MODEL

In view of the deficiencies of the prior art, the utility model provides a surgical system and aseptic isolation assembly can avoid aseptic bag to block up the apparatus passageway, guarantees surgical instruments and normally installs and move, also can avoid causing aseptic barrier failure.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a sterile isolation assembly for a surgical system, the surgical system including a power mechanism configured to provide a driving force for a surgical instrument, the power mechanism including an instrument channel recessed in a side wall of a housing thereof, the sterile isolation assembly comprising:

the film body is configured to at least wrap the power mechanism, and comprises a first surface facing the power mechanism and a second surface positioned on the back of the first surface;

the fixing structure comprises an elastic clapboard and an elastic tensioning belt connected to the end part of the clapboard;

the septum is configured to resiliently snap into the instrument channel and compress the first portion of the membrane body against a surface of the instrument channel; the tension band is configured to be secured at a free end to a second surface of a second portion of the membrane body different from the first portion to tighten the membrane body.

As one embodiment, the power mechanism includes a plurality of power parts disposed at an upper end of the housing, and the tension belt includes a first tension belt, the first tension belt tensions the film body on the upper surface of the housing to separate two adjacent accommodating spaces, and each accommodating space is configured to have at least one power part therein.

In one embodiment, the number of the first tightening bands is plural, and the plural first tightening bands are provided at intervals in a longitudinal direction of the separator.

In one embodiment, the second portion of the membrane body includes two adjacent separation bags, and the two separation bags are respectively covered on the power parts at two different sides of the instrument channel.

In one embodiment, the second portion of the film body includes two adjacent separation bags, and the two separation bags are respectively covered on the housing on both sides of the instrument channel and the power part thereon.

As one embodiment, at least one first tensioning band is tensioned on the surface of the film between two of the separation bags;

and/or the second surface of at least one of the separation bags is tensioned with the first tensioning belt so as to separate the separation bag into two adjacent accommodating spaces.

As one embodiment, the housing includes side plates disposed on two sides of the instrument channel, and the power portion is disposed between the two side plates;

the partition bag comprises a first sub partition bag and a second sub partition bag which are connected, the first sub partition bag is configured to be arranged on the power portion in a covering mode, and the second sub partition bag is configured to be arranged on the side plate in a covering mode.

As one embodiment, the membrane body includes a sterile adaptor, each of the separation bags having the sterile adaptor disposed thereon, the sterile adaptor configured to drivingly connect to the corresponding power portion.

As one of the embodiments, the power part is configured to be movable relative to the housing in a feed motion to change a length of the protrusion of the housing.

As one of the embodiments, the power section includes a main body portion and a plurality of torque output discs rotatably provided on the main body portion.

As one of the embodiments, the tension band includes a second tension band tightening the second portion of the film body on the housing lower surface.

In one embodiment, the spacer includes notches at four corners thereof, and the power mechanism includes limiting portions at upper and lower ends of the housing thereof, and each of the limiting portions is configured to extend into the instrument channel and abut against a corresponding notch.

As one of the embodiments, the second portion of the film body includes a fixing portion, the fixing portion includes a bottom film layer and an upper film layer partially combined to the bottom film layer, and the tension band is detachably connected to the upper film layer.

In one embodiment, the membrane body includes a reinforcing strip disposed on the second surface of the second portion, and the tension band is detachably connected to the reinforcing strip.

Another object of the present invention is to provide an aseptic isolation assembly for surgical system, the surgical system includes the power unit configured to provide driving force for surgical instrument, the power unit includes the concave instrument channel of locating its casing lateral wall, aseptic isolation assembly includes:

the fixing structure comprises an elastic partition plate and a first tensioning belt connected to the upper end of the partition plate;

the partition is configured to resiliently retain the membrane body within the instrument channel and press the first portion of the membrane body against a surface of the instrument channel; the first tensioning band is configured to be fixed at a free end on a second surface of a second portion of the film body different from the first portion to tension the film body on the upper surface of the housing to separate two adjacent accommodating spaces.

It is another object of the present invention to provide a surgical system, which includes a surgical robot and the above-mentioned aseptic isolation assembly, wherein the surgical robot includes the power mechanism.

The utility model provides an aseptic isolation assembly adopts elastic baffle card to hold in the apparatus passageway to tighten up its film on every side through the tensioning band on the baffle, avoided the inside and outside aseptic film of apparatus passageway to pile up, guarantee surgical instruments normal installation and action, also can avoid causing aseptic barrier to become invalid.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on these drawings without inventive efforts.

Fig. 1 shows a schematic view of a surgical system according to the present invention;

fig. 2 is a schematic view of a fixing structure of an aseptic isolation assembly according to an embodiment of the present invention cooperating with a power mechanism;

fig. 3 is a schematic structural view of a fixing structure of an aseptic isolation assembly according to an embodiment of the present invention;

fig. 4 is a schematic view of a sterile barrier assembly according to an embodiment of the present invention;

fig. 5 is a top view of an in-use condition of an aseptic isolation assembly of an embodiment of the present invention;

FIG. 6 illustrates a front view of a sterile barrier assembly in accordance with an embodiment of the present invention;

fig. 7A is a partial schematic view showing a deployed state of a film body according to an embodiment of the present invention;

FIG. 7B is a partial schematic view of another embodiment of the present invention showing the deployed state of the membrane body;

FIG. 8 is a schematic view showing a state of use of the film body shown in FIG. 7A;

fig. 9 is a schematic view showing a use state of another film body according to an embodiment of the present invention;

figure 10 shows a schematic view of the fastening of the tension band according to an embodiment of the present invention;

figure 11 shows a schematic view of another fastening of the tension band according to an embodiment of the invention;

description of the reference symbols:

1-a main operating table; 2-a slave operating device; 10-a sterile barrier assembly; 11-a film body; 11 a-an accommodating space; 12-a fixed structure; 110-a separation bag; 111-a fixed part; 112-bottom film layer; 113-upper film layer; 114-reinforcing bars; 110 a-a first sub-separation pocket; 110 b-a second sub-separation bag; 121-a separator; 122-tension belt; 122 a-a first tensioning band; 122 b-a second tensioning belt; 20-a power mechanism; 21-instrument channel; 22-a housing; 23-a power section; 201-upright post; 202-a robotic arm; 203-stamp card; 204-a surgical instrument; 205-a support arm; 221-side plate; 222-a limiting part; 230-a body portion; 231-torque output disc; 1100-sterile adaptor; 1210-gap part.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The following detailed description is made with reference to the accompanying drawings.

As shown in fig. 1, the present embodiment provides a surgical robot, which includes a master console 1 and a slave operation device 2, wherein the master console 1 is used to send control commands to the slave operation device 2 according to the operation of a doctor to control the slave operation device 2, and the slave operation device 2 is used to respond to the control commands sent by the master console 1 and perform corresponding surgical operations. The slave manipulator 2 includes a column 201, a robot arm 202 suspended from the column 201, a power mechanism 20 provided on the robot arm 202, and a surgical instrument 204. The master console 1 may be integrated with the slave console 2 or may be two separate devices communicatively connected.

The surgical robot further comprises a poking card 203, a supporting arm 205 fixed on the actuating mechanism 20 and a poking card holding mechanism 31, wherein the poking card 203 is used for penetrating through an incision on a human body and is fixedly arranged in the incision area. The surgical instrument 204 may include, in series, an end effector, a linkage for coupling to the power mechanism 20, and a drive cartridge for passing a cannula and/or a stab card 203, the end effector being used to perform a surgical procedure, and/or to acquire in vivo images. The power mechanism 20 is configured to receive the surgical instrument 204 and provide a driving force for the surgical instrument 204, and an end effector of the surgical instrument 204 is inserted into the body through the poke card 203. A support arm 205 is fixed to the housing of the power mechanism 20 and provides a free end to which a card holding mechanism 31 can be fixed, the card holding mechanism 31 being adapted to hold a card 203, and a surgical instrument 204 can be inserted into the body through the rear of the card 203. The film body 11 of the surgical robot shown by a dotted line may be an integrally molded structure as a sterile film. That is, the film body 11 may cover the post 201, the robot arm 202, and the power mechanism 20 at the same time. Of course, in other embodiments, the film body 11 may be a split structure, and each portion of the film body 11 covers a portion of the structure or assembly.

Referring to fig. 2-4, the surgical robot and the sterile barrier assembly 10 are both part of a surgical system, the power mechanism 20 of the surgical robot includes an instrument channel 21 recessed in a side wall of a housing 22 of the surgical robot, a mechanical arm 202 is connected to another side wall of the housing 22, and a side wall connecting the mechanical arm 202 is adjacent to the side wall recessed in the instrument channel 21.

The sterile barrier assembly 10 includes a film body 11 and a fixing structure 12, wherein, as shown in fig. 4, the film body 11 is configured to cover at least the power mechanism 20 and correspondingly the instrument channel 21, which may also extend to cover the surface of the mechanical arm 202, a surface of the film body 11 facing the power mechanism 20 is a first surface, a surface opposite to the first surface is a second surface, the first surface is located in the non-sterilization area 10a, the second surface is located in the sterilization area 10b, and the film body 11 covers the power mechanism 20, so that the power mechanism 20 does not need to be sterilized after the operation is completed.

The fixation structure 12 comprises an elastic spacer 121 and an elastic tension band 122 connecting the spacer 121, the spacer 121 is configured to be elastically clamped in the instrument channel 21 and press the first portion 1101 of the membrane body 11 against the surface of the instrument channel 21, and the tension band 122 is configured to be fixed at a free end to the second surface of the second portion 1102 of the membrane body 11 to tighten the membrane body 11. The free end of the tension band 122 can be fixed to the connecting portion C of the second portion 1102 of the film body 11 by means of a snap, an adhesive tape, a magnetic attraction, etc., the second portion 1102 is different from the first portion 1101, and the film around the first portion 1101 can be referred to as the second portion 1102. It is understood that the tension belt 122 may be connected to the end portion of the partition plate 121 or near the end portion, or may be connected to the middle portion of the partition plate 121, which is not limited in this embodiment, and the following description will take the example where the tension belt 122 is connected to the end portion of the partition plate 121 as an example.

Referring to fig. 2 and 3, the partition 121 includes notches 1210 formed at four corners thereof, the upper and lower ends of the housing 22 of the power mechanism 20 are respectively provided with a protruding limiting portion 222, and each limiting portion 222 is configured to extend into the instrument channel 21 and abut against the corresponding notch 1210. After the partition board 121 is inserted into the instrument channel 21 from top to bottom in a curling manner, the winding external force is removed, the limiting parts 222 are clamped in the upper and lower notches 1210 of the partition board 121, the partition board 121 is tightened to form a C-shaped piece, and the limiting parts 222 limit the partition board 121 in the circumferential direction and the up and down direction, so that the first part 1101 is firmly abutted in the instrument channel 21 under the tightening force of the partition board 121.

Referring to fig. 2, in a single-hole surgical robot, links 2041 of multiple surgical instruments 204 are passed through the same paddle 203 such that their end effectors protrude into the body through an incision in the body. The power mechanism 20 includes a plurality of power units 23 disposed at an upper end of the housing 22, each power unit 23 is configured to move up and down relative to the housing 22 so as to change a length of the power unit extending out of the housing 22, each power unit 23 is mounted with a surgical instrument 204 to drive the surgical instrument 204 mounted thereon to perform a surgical operation, and can drive the surgical instrument 204 mounted thereon to independently move toward a proximal end and a distal end, fig. 2 shows the power mechanism 20 without the film body 11, the power mechanism 20 has 4 power units 23, 2 power units 20 are mounted with the surgical instruments 204, and the remaining 2 power units 20 are not mounted with the surgical instruments 204. The tension band 122 includes a first tension band 122a disposed at an upper end of the partition 121, the partition 121 presses the first portion 1101 of the film body 11 against the surface of the instrument channel 21, the first tension band 122a at the upper end of the partition 121 tensions the film body 11 against the upper surface of the housing 22, and the film body 11 is tightened by adjusting a working length of the first tension band 122a, so that two adjacent accommodating spaces 11a can be separated, each accommodating space being configured to have at least one power portion 23 therein.

For example, as shown in fig. 5, a first tensioning belt 122a may be led out from a middle portion of the upper end of the partition 121, and fixed to the film body 11 opposite to the side wall where the instrument channel 21 is located, so as to divide an upper portion of the film body 11 into left and right accommodating spaces, where the left and right accommodating spaces respectively cover the power mechanisms 20 on the left and right sides of the instrument channel 21, thereby providing a space for feeding up and down for each power mechanism 20, and during the process of stretching and retracting the power mechanisms 20 on the left and right sides, the first tensioning belt 122a may stretch adaptively, so as to ensure the tightening effect of the film body 11.

For another example, a first tensioning band 122a may be respectively led out from both sides of the middle portion of the upper end of the partition 121, and fixed to the film body 11 at both left and right sides of the instrument channel 21, so as to divide the upper portion of the film body 11 into two front and rear (i.e., the vertical direction in fig. 5) accommodating spaces, and during the feeding process of the front and rear power mechanisms 20, the first tensioning band 122a may be elastically extended and contracted, thereby ensuring the tightening effect of the film body 11.

The drawings of the present embodiment show a case where the partition 121 has three first tensioning strips 122a, as shown in fig. 5 and 6, two first tensioning strips 122a are respectively disposed at the middle part and at two sides near the middle part of the upper end of the partition 121, the three first tensioning strips 122a are spaced along the length direction of the partition 121, and two adjacent first tensioning strips 122a separate the film body 11 into an accommodating space 11a. In this way, the middle first tension band 122a separates the upper portion of the film body 11 into two left and right accommodating spaces, the first tension bands 122a on the two sides separate the accommodating spaces on the left and right sides into two upper and lower accommodating spaces, finally, the upper portion of the film body 11 is separated into 4 independent accommodating spaces corresponding to the 4 power portions 23, each power portion 23 is covered by the film body 11 in one independent accommodating space, and the corresponding first tension band 122a of the power portion 23 can be extended and retracted adaptively in the feeding process, so that the film tightening effect can be maintained in the feeding process of the power portion 23.

It can be understood that, in the present embodiment, the power mechanism 10 has 4 power portions 23, and each power portion 23 corresponds to one accommodating space, in other embodiments, the number of the power portions 23 in the power mechanism 10 may also vary according to the number of the surgical instruments 204, and each accommodating space may also be covered with more than one power portion 23, for example, 2 or more than 2 power portions 23 may be located in one accommodating space.

In addition, in other embodiments, the first tensioning band 122a may also be made of a material without elasticity, such as a flexible metal strip or a plastic strip, the first tensioning band 122a tensions the film body 11 on the upper surface of the housing 22 to separate two adjacent accommodating spaces 11a, each accommodating space may be configured to be provided with at least one power portion 23, and the first tensioning band 122a is located between the accommodating spaces 11a and may be adaptively deformed with a small amplitude as the power portion 23 is fed when necessary.

As shown in fig. 7A and fig. 8, as another possible embodiment, the second portion 1102 of the film body 11 includes two adjacent separation bags 110, a V-shaped or U-shaped cut V is cut in the middle of the folded film, the cut V is sealed by adhesion to form two separation bags 110 on two sides of the cut V, the two separation bags 110 are respectively covered on the power portions 23 on the left and right sides of the instrument channel 21, and the partition 121 compresses the excess film outside the instrument channel 21 into the instrument channel 21. This configuration of the film body 11 provides a feed space for the power section 23 on both the left and right sides of the instrument channel 21, while also reducing film build-up in the instrument channel 21. The first tension band 122a tightens the partition bag 110 to form an accommodation space covering the corresponding power part 23.

Optionally, at least one first tensioning band 122a is tensioned on the surface of the film between two separation bags 110, and/or a second surface of at least one separation bag 110 is tensioned with the first tensioning band 122a to separate the separation bag 110 into two adjacent accommodating spaces 11a. As shown in fig. 5 and 8, an arrangement of three first tensioning straps 122a is shown, wherein one first tensioning strap 122a is tensioned between two separation bags 110, the connecting portion of the two separation bags 110 is tightened on the housing 22, each separation bag 110 is drawn by one first tensioning strap 122a into two accommodating spaces, and each accommodating space is covered by one power portion 23.

Further, as shown in fig. 7B and 8, each partition bag 110 covers the power portion 23 of the instrument channel 21 and also covers the housing 22 on the side of the power portion 23, and finally, the left partition bag 110 covers the housing 22 on the left side of the instrument channel 21 and the power portion 23 above the left housing 22 at the same time, and the right partition bag 110 covers the housing 22 on the right side of the instrument channel 21 and the power portion 23 above the right housing 22 at the same time. The two separation bags 110 are respectively further sleeved on the shells 22 at the left side and the right side of the instrument channel 21, the upper side face covers of the separation bags 110 are arranged on the power parts 23, the upper side faces are the faces facing the power parts 23, even if no partition plate 121 is arranged, the thin films in the instrument channel 21 can be basically matched with the outline of the instrument channel 21, the thin films above the shells 22 can be basically matched with the outlines of the two groups of power parts 23 at the left side and the right side of the instrument channel 21, not only can lifting spaces be provided for the two groups of power parts 23 at the left side and the right side of the instrument channel 21, but also the redundant thin films originally positioned in the instrument channel 21 are omitted, and the thin films are further prevented from being accumulated in the instrument channel 21. The first tension band 122a tightens the upper side surface of the partition bag 110 to form an accommodation space covering the corresponding power unit 23.

The embodiment shown in the figures illustrates the case where the housing 22 includes side plates 221 disposed on both sides of the instrument channel 21, and all of the power section 23 is disposed between the two side plates 221, and the side plates 221 may serve as lift rails for the power section 23. On this basis, as shown in fig. 9, each partition bag 110 may be further fabricated to include a first sub-partition bag 110a and a second sub-partition bag 110b connected, the first sub-partition bag 110a and the second sub-partition bag 110b being adjacently disposed on an upper side of each partition bag 110, the first sub-partition bag 110a being closer to the instrument passage 21 than the second sub-partition bag 110b, the first sub-partition bag 110a being configured to be disposed to cover the power portion 23, and the second sub-partition bag 110b being configured to be disposed to cover the side plate 221.

In the process of the lifting of the power part 23, the second sub-separation bag 110b is always covered on the side plate 221, and the first sub-separation bag 110a is self-adaptively tightened under the elastic force of the first tightening band 122 a. In order to provide a sliding track of the power part 23, the side plate 221 is higher than the power part 23, and the second sub-partition pocket 110b has a depth greater than that of the first sub-partition pocket 110a.

It is understood that in other embodiments, the housing 22 may not have the side plate 221, and the application is not limited thereto.

In order not to break the sterile barrier during torque transmission, the membrane body 11 includes sterile adapters 1100, each separation bag 110 is provided with a sterile adapter 1100 (fig. 7A and 7B), each sterile adapter 1100 is configured to be drivingly connected to a corresponding power section 23 to transmit torque from the power section 23 to a corresponding surgical instrument 204, and each power section 23 includes a body portion 230 and a plurality of torque output discs 231 (fig. 2) rotatably disposed on the body portion 230. Accordingly, each sterile adaptor 1100 also has an adaptor disc 1100a (fig. 8) coupled to each torque output disc 231. In fig. 7A, when the two separation bags 110 are respectively covered on the power parts 23 at the left and right sides of the instrument channel 21 and not on the housing 22, the sterile adaptor 1100 is positioned at the top of the separation bag 110, and in the unfolded state, the sterile adaptor 1100 is arranged at both sides of the folding line of the incision V; in fig. 7B, when each separation bag 110 covers both the power unit 23 and the housing 22 on a single side of the instrument channel 21, the sterile adaptor 1100 is located on the upper side of the separation bag 110, and in the unfolded state, the sterile adaptor 1100 is located only on the upper side of the folding line of the incision V.

It will be appreciated that the sterile barrier assembly 10 described above is equally applicable to multi-aperture surgical robots, with the rod 2041 of each surgical instrument 204 passing through a different one of the poke cards 203 to extend its end effector into the body through an incision in the body. The power mechanism 20 drives only one surgical instrument 204 and each power section 23 of the power mechanism 20 drives only a single drive input pad coupled to the surgical instrument 204.

As shown in fig. 3, 6 and 9, the tension belt 122 includes a second tension belt 122b provided at the lower end of the partition 121, and the second tension belt 122b tightens the lower portion of the film body 11 against the lower surface of the case 22. Considering that the support arm 205 is connected to the lower end of the actuating mechanism 20, and the tension belt cannot be disposed on the support arm 205, the number of the second tension belts 122b can be less than that of the first tension belts 122a, and the second tension belts 122b are disposed only on the left and right sides of the instrument channel 21, in the embodiment shown in the drawings, one second tension belt 122b is disposed on each of the left and right sides of the instrument channel 21. Of course, the number of the second tensioning belts 122b can also be adjusted as desired. The film body 11 further includes another pocket 110c in which the support arm 205 is wrapped. The second tension band 122b may be made of the same material as the first tension band 122a, may be made of a different material, and may be made of an elastic material or a non-elastic material.

Referring to fig. 10, the second portion 1102 of the film body 11 includes a fixing portion 111, the fixing portion 111 is a double-layer film structure including a bottom film layer 112 and an upper film layer 113 partially bonded to the bottom film layer 112, for example, the upper film layer 113 is fixed to the bottom film layer 112 by a peripheral bonding region, and the tension band 122 is detachably connected to the upper film layer 113. Since the tension band 122 is not directly secured to the bottom film layer 112, the sterility barrier is not compromised even if the top film layer 113 is broken during use.

In another embodiment, as shown in FIG. 11, the membrane body 11 includes a reinforcing strip 114 disposed on the second surface of the second portion 1102, and the tension band 122 is removably coupled to the reinforcing strip 114. The direction of extension of the stiffening strip 114 is substantially perpendicular to the height direction of the force means 20 to match the edge profile of the force means 20. Connecting portion C locates on reinforcement strip 114, behind the free end of tensioning band 122 is fixed to connecting portion C, can disperse the stress of applying connecting portion C to more positions with the help of reinforcement strip 114 to avoid stress concentration and lead to aseptic barrier to become invalid, simultaneously, drive reinforcement strip 114 through tensioning band 122 and tighten up, can drive more films and draw in, thereby tighten up film main part 11 more effectively.

To sum up, the aseptic isolation subassembly that this application provided adopts elastic baffle card to hold in the apparatus passageway to tensioning belt through on the baffle tightens up its film on every side, has avoided the inside and outside aseptic film of apparatus passageway to pile up, guarantees surgical instruments normal installation and action, also can avoid causing aseptic barrier to lose efficacy. The film and the tightening mode around the instrument channel are designed, so that the film can adapt to the feeding of a power mechanism and the installation of surgical instruments, and the sterile isolation effect of the film cannot be influenced.

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

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. A sterile isolation assembly for a surgical system, the surgical system comprising a power mechanism (20) configured to provide a driving force for a surgical instrument, the power mechanism (20) comprising an instrument channel (21) recessed in a side wall of a housing (22) thereof; the sterile barrier assembly includes:

a film body (11) configured to cover at least the power mechanism (20), the film body (11) comprising a first surface facing the power mechanism (20) and a second surface located opposite to the first surface, the first surface being located in a non-sterile area and the second surface being located in a sterile area;

-a fixed structure (12) comprising an elastic diaphragm (121) and an elastic tensioning band (122) connecting said diaphragm (121);

the diaphragm (121) is configured to be resiliently retained within the instrument channel (21) and to press the first portion of the membrane body (11) against a surface of the instrument channel (21); the tension band (122) is configured to be fixed at a free end to a second surface of a second portion of the membrane body (11), different from the first portion, to tighten the membrane body (11).

2. The sterile barrier assembly according to claim 1, wherein said power mechanism (20) comprises a plurality of power portions (23) arranged at the upper end of its housing (22), said tensioning band (122) comprising a first tensioning band (122 a), said first tensioning band (122 a) tensioning said film body (11) against the upper surface of said housing (22) to divide two adjacent housing spaces (11 a), each housing space being configured to be provided with at least one of said power portions (23).

3. The aseptic isolation assembly of claim 2, wherein the first tensioning band (122 a) is a plurality of bands, the plurality of bands (122 a) being spaced apart along a length of the barrier (121).

4. Sterile barrier assembly according to claim 2, wherein said second portion of said membrane body (11) comprises two adjacent separation pockets (110), said two separation pockets (110) being respectively housed on said power portion (23) on two different sides of said instrument channel (21).

5. An aseptic isolation assembly according to claim 4, wherein two of said separation bags (110) are respectively housed on said housing (22) on two different sides of said instrument channel (21).

6. An aseptic isolation assembly as claimed in claim 4, wherein at least one of said first tensioning straps (122 a) tensions the surface of the film between two of said separation bags (110);

and/or the second surface of at least one of the separation bags (110) is tensioned with the first tensioning belt (122 a) to separate the separation bag (110) into two adjacent accommodating spaces (11 a).

7. The sterile barrier assembly according to claim 4, wherein said housing (22) includes side plates (221) disposed on either side of said instrument channel (21), said power section (23) being disposed between said side plates (221);

the partition pocket (110) includes a first sub-partition pocket (110 a) and a second sub-partition pocket (110 b) connected, the first sub-partition pocket (110 a) is configured to be covered on the power part (23), and the second sub-partition pocket (110 b) is configured to be covered on the side plate (221).

8. The sterile barrier assembly according to claim 4, wherein said membrane body (11) comprises a sterile adaptor (1100), each of said separation bags (110) being provided with said sterile adaptor (1100), said sterile adaptor (1100) being configured to be drivingly connected to the corresponding power portion (23).

9. The aseptic isolation assembly of claim 2, wherein the motive portion (23) is configured to be advanceable relative to the housing (22) to vary the length of protrusion from the housing (22).

10. The sterile barrier assembly according to claim 2, wherein the motive portion (23) comprises a main body portion (230) and a plurality of torque output discs (231) rotatably disposed on the main body portion (230).

11. The aseptic isolation assembly according to claim 2, wherein the tension band (122) comprises a second tension band (122 b), the second tension band (122 b) tightening the second portion of the membrane body (11) against the housing (22) lower surface.

12. The sterile barrier assembly according to claim 1, wherein the spacer (121) comprises notches (1210) at four corners thereof, and the power mechanism (20) comprises stoppers (222) at upper and lower ends of the housing (22), each stopper (222) being configured to extend into the instrument channel (21) and abut against the corresponding notch (1210).

13. An aseptic isolation assembly as claimed in any one of claims 1 to 12, wherein said second portion of said membrane body (11) comprises a fastening portion (111), said fastening portion (111) comprising a bottom membrane layer (112) and an upper membrane layer (113) partially bonded to said bottom membrane layer (112), said tension band (122) being removably attached to said upper membrane layer (113).

14. An aseptic isolation assembly as claimed in any one of claims 1 to 12, wherein said membrane body (11) comprises a reinforcing strip (114) provided to said second surface of said second portion, said tension band (122) being removably connected to said reinforcing strip (114).

15. A sterile isolation assembly for a surgical system, the surgical system including a power mechanism (20) configured to provide a driving force for a surgical instrument, the power mechanism (20) including an instrument channel (21) recessed in a side wall of a housing (22) thereof, the sterile isolation assembly comprising:

a film body (11) configured to at least wrap the power mechanism (20), the film body (11) comprising a first surface facing the power mechanism (20) and a second surface located opposite the first surface;

a fixing structure (12) comprising an elastic partition plate (121) and a first tension band (122 a) connected to the upper end of the partition plate (121);

the diaphragm (121) is configured to be resiliently retained within the instrument channel (21) and to press the first portion of the membrane body (11) against a surface of the instrument channel (21); the first tensioning band (122 a) is configured to be secured at a free end to a second surface of a second portion of the film body (11) different from the first portion, to tension the film body (11) against the upper surface of the housing (22) to divide two adjacent receiving spaces (11 a).

16. A surgical system comprising a surgical robot and a sterile barrier assembly according to any one of claims 1 to 15, said surgical robot comprising said power mechanism (20).