Connecting structures and surgical robot

1 . A surgical instrument, applicable to a surgical robot and configured to engage with an instrument drive through a sterile adapter, the sterile adapter having a top surface and a plurality of first engaging members disposed on the top surface, the surgical instrument comprising:

a base having a bottom surface attachable to the top surface; and

at least one fixing assembly movably disposed at the base and configured to fix the base to the sterile adapter, each of the at least one fixing assembly including a moveable component provided with a plurality of second engaging members operable to engage with the plurality of first engaging members, the moveable component being operable to move translationally relative to the base in a translation direction parallel to the bottom surface between a locked position where the plurality of second engaging members are engaged with the plurality of first engaging members and an unlocked position where the plurality of second engaging members are detached disengaged from the plurality of first engaging members.

2 . The surgical instrument according to claim 1 , wherein two sets of first engaging members are provided on the top surface of the sterile adapter, and the two sets of first engaging members are provided at two side edges of the sterile adapter opposite to each other, respectively;

wherein the surgical instrument includes two fixing assemblies provided at two side edges of the base corresponding to the two side edges of the sterile adapter, respectively, and each fixing assembly of the two fixing assemblies corresponds to a respective set of first engaging members; and

wherein a respective moveable component has a set of second engaging members movable together with the respective moveable component.

3 . The surgical instrument according to claim 2 , wherein each moveable component has at least two second engaging members arranged and spaced from each other in the translation direction.

4 . The surgical instrument according to claim 2 , wherein each fixing assembly of the two instrument fixing assemblies further includes:

a guide portion extending along a direction parallel to the two side edges of the base, wherein the moveable component is provided on the guide portion defining a movement path for the moveable component, and the moveable component is movable along the direction parallel to the two side edges of the base; and

a resilient component provided on the guide portion and connected with the moveable component, wherein a resilient force provided by the resilient component causes the moveable component to tend to move towards the locked position.

5 . The surgical instrument according to claim 4 , wherein each fixing assembly of the two instrument fixing assemblies further includes:

a first connecting seat provided on the base; and

a second connecting seat provided on the base and separated from the first connecting seat;

wherein the guide portion is arranged between the first connecting seat and the second connecting seat, the moveable component is movable between the first connecting seat and the second connecting seat.

6 . The surgical instrument according to claim 5 , wherein the guide portion includes a sliding rod at least partially extending into the moveable component, the sliding rod is connected to one or more of the first connecting seat and the second connecting seat, and the moveable component is moveable along the sliding rod.

7 . The surgical instrument according to claim 6 , wherein the moveable component includes a moveable component body having a first end close to the first connecting seat and a second end close to the second connecting seat, and the moveable component body defines a channel passing through the moveable component body from the first end to the second end; and

wherein the sliding rod runs through the channel and is limited by the guide portion.

8 . The surgical instrument according to claim 7 , wherein the resilient component is sleeved on the sliding rod and is arranged between the second end of the moveable component body and the second connecting seat, a distance between the first end and the first connecting seat is changeable; or

the resilient component is arranged between the first end of the moveable component body and the first connecting seat, to make the distance between the first end and the first connecting seat changeable.

9 . The surgical instrument according to claim 7 , wherein the surgical instrument further includes an unlocking assembly including a baffle and an operation button, the baffle is fixedly connected to the base, and at least one through hole is defined in the baffle;

wherein the operation button includes:

a button body having a side facing towards the baffle;

at least one limiting clasp connected to the button body, wherein one respective limiting clasp of the at least one limiting clasp includes a body portion and a hook portion formed on an end of the body portion, the body portion extends through a respective through hole of the at least one through hole, the operation button is moveable towards or away from the baffle, and the hook portion is configured to hook on an edge of the respective through hole to prevent the one respective limiting clasp from coming out of the respective through hole; and

an actuating portion formed on a bottom of the button body and protruding downwards the button body;

wherein an actuated portion protruding from the moveable component body is formed on the moveable component body; and

wherein in response to the button body getting close to the baffle, the actuating portion interferes with the actuated portion, and the moveable component body is moveable towards the unlocked position, and in response to the button body getting far away the baffle, the actuating portion detaches from the actuated portion, and the moveable component body is moveable towards the locked position.

10 . The surgical instrument according to claim 9 , wherein the actuating portion has an actuating surface, the actuated portion has an actuated surface, the actuating surface and the actuated surface are in sliding fitting, and both the actuating surface and the actuated surface are configured as inclined surfaces; or

the actuating portion is configured as a rolling part, the actuated portion has the actuated surface, the rolling part and the actuated surface are in rolling fitting, and the actuated surface is configured as an inclined surface.

11 . The surgical instrument according to claim 1 , wherein the plurality of second engaging members are moveable together with the moveable component.

12 . The surgical instrument according to claim 1 , wherein the at least one fixing assembly includes two moveable components spaced from each other in a first direction, and a respective moveable component of the two moveable components is provided with at least two second engaging members that are movable together with the respective moveable component and are arranged and spaced from one another in a second direction transvers to the first direction.

13 . The surgical instrument according to claim 12 , wherein the second direction is parallel to the translation direction.

14 . The surgical instrument according to claim 1 , wherein each of the at least one fixing assembly is disposed close to a side edge of the base, and the translation direction is parallel to an extension direction of the side edge.

15 . The surgical instrument according to claim 14 , further comprising an instrument actuator configured to receive a driving force from the instrument drive, wherein two fixing assemblies are provided at two opposing side edges of the base, and the instrument actuator is disposed between the two fixing assemblies.

16 . The surgical instrument according to claim 14 , wherein the operation button includes an actuating portion, the moveable component includes an actuated portion, and interference of the actuating portion and the actuated portion converts a movement of the operation button in the moving direction into a movement of the moveable component in the translation direction.

17 . The surgical instrument according to claim 1 , wherein the surgical instrument further includes an operation button moveable in a moving direction perpendicular to the translation direction, and the moveable component moves in the translation direction with a movement of the operation button in the moving direction.

18 . A surgical robot, comprising:

an instrument drive;

a sterile adapter having a top surface and a plurality of first engaging members disposed on the top surface; and

a surgical instrument operable to engage with the instrument drive through the sterile adapter, wherein the surgical instrument includes:

a base having a bottom surface attachable to the top surface; and

at least one fixing assembly movably disposed at the base and configured to fix the base to the sterile adapter, each of the at least one fixing assembly including a moveable component, the moveable component being provided with a plurality of second engaging members operable to engage with the plurality of first engaging members, the moveable component being operable to move translationally relative to the base in a translation direction parallel to the bottom surface between a locked position where the plurality of second engaging members are engaged with the plurality of first engaging members and an unlocked position where the plurality of second engaging members are disengaged from the plurality of first engaging members.

19 . The surgical instrument according to claim 11 , wherein the plurality of second engaging members are arranged and spaced from one another in the translation direction.

20 . A surgical instrument, applicable to a surgical robot and configured to engage with an instrument drive through a sterile adapter, the sterile adapter having a top surface and a plurality of first engaging members disposed on the top surface, the surgical instrument comprising:

a base having a bottom surface attachable to the top surface;

an instrument actuator disposed at the base and configured to receive a driving force from the instrument drive; and

at least one fixing assembly movably disposed at the base and configured to fix the base to the sterile adapter, each of the at least one fixing assembly including a moveable component provided with a plurality of second engaging members operable to engage with the plurality of first engaging members, the plurality of second engaging members being operable to move translationally relative to the base in a translation direction parallel to the bottom surface between a locked position where the plurality of second engaging members are engaged with the plurality of first engaging members and an unlocked position where the plurality of second engaging members are disengaged from the plurality of first engaging members.