Cannula sealing device, cannula assembly and minimally invasive surgical robot

Abstract

A cannula sealing device, a cannula assembly, and a minimally invasive surgical robot relate to a sealing device. The present invention solves the problem of wear of the sealing sheet and the instrument head of the existing sealing device. When the surgical instrument (8) is not inserted, the sealing sheet (65) is adsorbed on the steps of the stepped through hole; when the surgical instrument (8) is inserted, the surgical instrument (8) pushes the sealing sheet (65) away, and the sealing sheet (65) is adsorbed on the inner wall of the stepped through hole instead of on the steps, and a gap exists between the sealing sheet (65) and the instrument shaft. The present invention is used for minimally invasive surgery.

Description

[0001] This application is a divisional application of Chinese patent application number 202111422241.1, entitled "A cannula sealing device, cannula assembly and minimally invasive surgical robot", filed on November 26, 2021. Technical Field

[0002] The present invention relates to a cannula sealing device, a cannula assembly and a minimally invasive surgical robot, belonging to the technical field of medical devices. Background Art

[0003] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical instruments such as laparoscopes and thoracoscopes, as well as related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. However, the limitations of incision size make the operation significantly more difficult. Furthermore, the fatigue and tremors of the surgeon during prolonged procedures are amplified, which has become a key factor hindering the development of minimally invasive surgical techniques. With the development of robotics, a new technology in the field of minimally invasive medicine has emerged that overcomes these shortcomings while inheriting their advantages: minimally invasive surgical robotics.

[0004] During robotic-assisted minimally invasive surgery, a dedicated channel is typically created through a cannula. Surgeons use slender minimally invasive surgical instruments to enter this dedicated channel and perform surgical procedures within the human abdominal cavity. To increase the space between the abdominal wall and internal organs, the abdominal cavity is often inflated with carbon dioxide. This requires that the dedicated channel remain closed during both instrument insertion and removal to prevent carbon dioxide leakage. Therefore, a suitable sealing structure design for the cannula is essential.

[0005] Chinese patent CN200970256Y discloses a medical puncture cannula, comprising a cannula holder and a sleeve. The sleeve is connected to a hollow cannula, and the sleeve is provided with an air valve. The cannula holder has an axial through hole, and the cannula holder and the sleeve are sealed. A magnet is mounted on one side of the cannula holder near the head, and a magnetic sealing sheet is provided on the other side of the cannula holder. The magnetic sealing sheet seals the cannula holder and the sleeve. This prior art has the following drawbacks:

[0006] 1. In the above solution, the sealing sheet cannot always stably seal the opening between the cannula seat and the sleeve. This may be related to the speed at which the puncture needle is pulled out, the friction coefficient between the puncture needle and the sealing sheet, etc. In short, the reliability of this structure is not high, and sometimes the sealing problem may occur.

[0007] 2. Since the magnet is installed in a ring shape on the sleeve seat, it is equivalent to forming a ring magnetic field. Since minimally invasive surgical robots generally use an instrument box structure, the slender shaft has circuits for transmitting energy or signals inside. The ring magnetic field will cause certain interference to these circuits passing through it.

[0008] In addition, this structure relies on the puncture needle itself to seal the cannula seat and the sleeve during insertion, but during the use of the instrument box, it cannot rely on the instrument itself to seal it. Therefore, this structure cannot be applied to minimally invasive surgical robots, and there will be a problem of failure to seal when using the instrument box. Summary of the Invention

[0009] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide a cannula sealing device, a cannula assembly and a minimally invasive surgical robot.

[0010] The technical solution of the present invention is:

[0011] A cannula sealing device includes a cannula head, which also includes a sealing sheet. The cannula head is made of ferromagnetic material, the sealing sheet is a magnet structure, a stepped through hole is provided inside the cannula head, and the sealing sheet is a disc-shaped sheet with a diameter between the small hole diameter and the large hole diameter of the stepped through hole. When no surgical instrument is inserted, the sealing sheet is adsorbed on the steps of the stepped through hole.

[0012] A cannula assembly includes a cannula seat, a sleeve, a cannula head and a sealing sheet. The interior of the cannula seat is a hollow structure, the cannula head is made of ferromagnetic material, the cannula head, cannula seat and sleeve are connected in sequence from top to bottom, the sealing sheet is a magnet structure, a stepped through hole is provided inside the cannula head, the sealing sheet is a disc, and its diameter is between the small hole diameter and the large hole diameter of the stepped through hole. When no surgical instrument is inserted, the sealing sheet is adsorbed on the steps of the stepped through hole.

[0013] A minimally invasive surgical robot comprises a main console and a slave operating device, wherein the main console is electrically connected to the slave operating device, and the slave operating device comprises a base, a column, a passive arm, an operating arm, an instrument connecting part and a sleeve mounting bracket, wherein the column is mounted on the base, one end of the passive arm is rotatably connected to the column, and the other end of the passive arm, the operating arm and the instrument connecting part are rotatably connected in sequence from left to right, and a sleeve mounting bracket is provided at the lower end of the instrument connecting part, and the minimally invasive surgical robot further comprises a sleeve assembly as described in any one of claims 4 to 9, wherein the sleeve assembly is detachably mounted on the sleeve mounting bracket, and the surgical instrument passes through the sleeve assembly as needed to enter the human body for surgical operation.

[0014] Compared with the prior art, the present invention has at least the following effects:

[0015] 1. The present invention configures the sealing sheet as a magnetic structure, cleverly utilizing the existing ferromagnetic instrument tip. When the instrument box is pulled out, the instrument tip can pull the sealing sheet to move, thereby reliably sealing the cannula. Furthermore, since there is no annular magnetic field through which the slender shaft of the instrument box passes, there is no interference with the circuit inside the slender shaft of the instrument box.

[0016] 2. The present invention sets the outer ring of the sealing plate to a magnetic structure, and the inner ring to a non-magnetic metal material, which can further ensure the regularity of the movement trajectory of the sealing plate during movement, prevent the occurrence of disordered movement, and thus ensure the stability of the seal.

[0017] 3. The present invention provides a sealing seat made of rubber on the cannula head, and the diameter of the opening on the sealing seat is smaller than the diameter of the slender shaft of the instrument box, which can ensure the sealing of the instrument during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the structure of the minimally invasive surgical robot of the present invention;

[0019] Figure 2 yes Figure 1 A local enlarged view at point A;

[0020] Figure 3 is a schematic structural diagram of the casing assembly;

[0021] Figure 4 yes Figure 3 Cross-sectional view at BB;

[0022] Figure 5 This is a schematic diagram of the state where the surgical instrument 8 is inserted into the cannula assembly;

[0023] Figure 6 is a schematic diagram of the surgical instrument 8 in a state where the cannula assembly is pulled out;

[0024] Figure 7 Schematic diagram of the structure of the sealing sheet;

[0025] Figure 8 yes Figure 7 Cross-sectional view at CC;

[0026] Figure 9 yes Figure 8 A partial enlarged view at point D. DETAILED DESCRIPTION

[0027] Specific implementation method 1: Combination Figure 3-Figure 4 To describe this embodiment, the cannula sealing device of this embodiment includes a cannula head 63, and the cannula sealing device also includes a sealing sheet 65. The cannula head 63 is made of ferromagnetic material, and the sealing sheet 65 is a magnet structure. A stepped through hole is provided inside the cannula head 63, and the sealing sheet 65 is a disc-shaped piece, and its diameter is between the small hole diameter and the large hole diameter of the stepped through hole. When the surgical instrument 8 is not inserted, the sealing sheet 65 is adsorbed on the step of the stepped through hole (i.e., the first plane 631).

[0028] It is understandable that the magnetic structure of the sealing sheet 65 is preferably a hard magnet, such as neodymium iron boron magnet, etc.; the cannula head 63 is preferably a material that can be attracted by a magnet but is not easily magnetized. If it is easily magnetized, it will still generate a circular magnetic field as in the prior art, affecting the circuit in the slender shaft of the instrument box passing through it. Because the sealing sheet 65 and the first plane 631 are both rigid surfaces, it is difficult to ensure ultra-high flatness through manufacturing or machining, so poor sealing may occur. Due to the nature of the magnetic field, it is not necessary for the sealing sheet 65 to directly contact the first plane 631 to be adsorbed. Therefore, those skilled in the art can also easily think of laying corresponding gaskets on the first plane 631 to improve the sealing effect between the sealing sheet 65 and the first plane 631.

[0029] Specific implementation method 2: Combination Figure 7-Figure 8 To describe this embodiment, the sealing sheet 65 of this embodiment includes an annular area 651 and a middle area 652. The middle area 652 is embedded in the inner wall of the annular area 651, and the annular area 651 is an annular magnet, and the middle area 652 is a non-magnetic metal sheet. With this arrangement, the sealing sheet 65 is a composite structure, which can avoid excessive magnetic force between the instrument end 82 and the sealing sheet 65, causing uncontrollable movement of the sealing sheet 65. In addition, since the general instrument end 82 is also made of ferromagnetic material, this structure can also prevent the instrument end 82 from sticking to the sealing sheet 65 when pushing open the sealing sheet 65, causing uncontrollable effects. Other components and connection relationships are the same as those in the first specific embodiment.

[0030] Specific implementation method three: Combination Figure 3 To illustrate this embodiment, the cannula sealing device of this embodiment also includes a rubber sealing seat 64 provided on the cannula head 63. A circular hole is provided in the center of the sealing seat 64 for the surgical instrument 8 to pass through. The diameter of the circular hole is smaller than the diameter of the slender shaft 81 of the surgical instrument 8. This arrangement ensures that the cannula can also be effectively sealed during the use of the surgical instrument 8, and the structure is simple, durable, and has low manufacturing costs. Of course, the diameter of the hole cannot be much smaller than the diameter of the slender shaft 81, otherwise the instrument end 82 and the slender shaft 81 will not be able to be smoothly inserted into the hole. As for the specific diameter difference, it depends on the deformation of the rubber material used. Those skilled in the art can determine it through simple limited experiments and will not be repeated here. The other components and connection relationships are the same as those in the first or second specific embodiments.

[0031] Combine Figures 3 to 8 The working principle of the casing sealing device disclosed in the first to third embodiments is described below:

[0032] Before the surgical instrument 8 is inserted, the sealing sheet 65 is attracted to the step (i.e., the first plane 631) of the stepped through hole of the cannula head 63 by magnetic force, thereby sealing the cannula;

[0033] When the surgical instrument 8 is inserted, the surgical instrument 8 passes through the sealing seat 64 and then pushes open the sealing sheet 65. The sealing sheet 65 is then adsorbed on the inner wall of the stepped through hole (i.e., the second position surface 632). Since the through hole of the rubber sealing seat 64 tightly wraps the slender shaft 81 of the surgical instrument 8, the sealing state is also maintained.

[0034] When the surgical instrument 8 is pulled out, since the instrument tip 82 itself is made of ferromagnetic material, when it passes through the lower end of the sealing sheet 65 during the pulling-out process, the lower end of the sealing sheet 65 will be adsorbed on it, pulling the sealing sheet 65 closed, thereby causing the sealing sheet to return to the first plane 631 and seal the sleeve.

[0035] The sleeve sealing device of the present invention sets the sealing plate as a magnet structure, cleverly utilizing the existing instrument end made of ferromagnetic material so that when the instrument box is pulled out, the instrument end can pull the movement of the sealing plate, thereby greatly improving the reliability of the sealing process. In addition, since the magnetic field is located on one side of the slender shaft and the magnetic field strength is relatively weak, it will not interfere with the circuit inside the slender shaft of the instrument box.

[0036] The outer ring of the sealing plate of the present invention is set as a magnet structure, and the inner ring is set as a non-magnetic metal material, which can further ensure the regularity of the movement trajectory of the sealing plate during movement, prevent the occurrence of disordered movement, and thus ensure the stability of the seal.

[0037] The present invention provides a sealing seat made of rubber material on the sleeve head, and the diameter of the opening on the sealing seat is smaller than the diameter of the slender shaft of the instrument box, which can ensure the sealing performance of the instrument during use.

[0038] Specific implementation method four: Combination Figure 3 and Figure 4 To illustrate this embodiment, the cannula assembly of this embodiment includes a cannula seat 61, a sleeve 62, a cannula head 63 and a sealing sheet 65. The interior of the cannula seat 61 is a hollow structure, the cannula head 63 is made of ferromagnetic material, the cannula head 63, the cannula seat 61 and the sleeve 62 are connected in sequence from top to bottom, the sealing sheet 65 is a magnet structure, a stepped through hole is provided inside the cannula head 63, the sealing sheet 65 is a disc-shaped piece, and its diameter is between the small hole diameter and the large hole diameter of the stepped through hole. When the surgical instrument 8 is not inserted, the sealing sheet 65 is adsorbed on the steps of the stepped through hole.

[0039] The upper and lower end surfaces of the sleeve seat 61 are both provided with internal threads, and the sleeve 62 and the sleeve head 63 are respectively connected to the upper and lower end portions of the sleeve seat 61 through threaded structures.

[0040] The magnetic sealing sheet 65 is positioned on the step of the stepped through hole, namely the first flat surface 631 shown in the figure. Due to the magnetic force, the two can be tightly attached. The groove 611 is used to insert the cannula assembly 6 into the cannula mounting bracket 7. The air inlet 612 is used to connect other external components such as the air valve to facilitate operations such as deflation.

[0041] It is understood that the stepped through hole in the figure is merely an example, and other similar structures may be employed. For example, the first plane 631 may be arranged at a certain inclination angle relative to the horizontal line. This allows the sealing sheet 65 to rotate in a fixed direction when lifted (in the horizontal arrangement in the figure, although the sealing sheet 65 will be lifted and rotated, the rotation axis is not fixed. The structure in the figure is adopted for ease of processing and manufacturing). This also reduces the force required to lift the sealing sheet 65 and prevents damage to the instrument end 82. For another example, the second position surface 632 may be arranged non-perpendicular to the first plane 631, preferably at an angle less than 90°. This allows the sealing sheet 65 to be not perpendicular when the surgical instrument 8 is in normal use, but rather to be closer to or even in contact with the slender shaft 81 of the surgical instrument 8 at a certain inclination angle. In this way, when the surgical instrument 8 is withdrawn, the instrument end 82 can be closer to the sealing sheet 65, thereby better pulling the sealing sheet 65 back to its original position. This also reduces the magnetic force requirements of the sealing sheet 65. The weaker the magnetic force of the sealing sheet 65, the less interference it causes to the circuit inside the slender shaft 81. In other words, there is no need to use additional measures such as magnetic shielding for the circuit inside the slender shaft 81, thereby reducing production costs.

[0042] Specific implementation method five: Combination Figures 4 to 6 This embodiment also includes a sealing seat 64 and an O-ring 66. The O-ring 66 is provided at the connection between the cannula head 63 and the cannula seat 61. The sealing seat 64 is made of rubber and is snap-fitted onto the cannula head 63. This arrangement facilitates sealing. Other components and connections are the same as those in the first, second, third, or fourth embodiments.

[0043] Specific implementation method six: combination Figures 7 and 8 To illustrate this embodiment, the sealing sheet 65 of this embodiment includes an annular area 651 and a middle area 652. The middle area 652 is embedded in the inner wall of the annular area 651. The annular area 651 is an annular magnet, and the middle area 652 is a non-magnetic metal sheet.

[0044] The specific structure of the sealing sheet 65 is described below. Figure 7The sealing sheet 65 is a composite structure composed of two parts, including an outer annular area 651 and an inner middle area 652. The annular area 651 is a magnet structure, and the middle area 652 is made of a metal material that is a non-ferromagnetic material. Specifically, the annular area 651 can be made of a permanent magnet material such as a neodymium iron boron magnet or a ferrite magnet, but it is not suitable to use an aluminum nickel cobalt magnet or a samarium cobalt magnet because the sealing sheet 65 is located in the surgical area. Both of these materials contain heavy metals and do not meet the requirements of medical devices. The middle area 652 is made of an aluminum alloy that is easy to machine, lightweight, and wear-resistant. Other materials with similar properties, such as stainless steel, can also be used. It is easy to machine because a conical inner concave surface is machined into the middle area 652. It is light because it can reduce the weight of the sealing sheet 65, thereby reducing the magnetic force requirements and increasing the sealing reliability. It is wear-resistant because it will produce friction with the end 82 of the instrument. As for the connection between the annular area 651 and the middle area 652, conventional metal and magnet connection methods can be used, such as using structural adhesive or instant adhesive to bond the two together. Other components and connection relationships are the same as those of specific embodiments one, two, three, four or five.

[0045] Specific implementation method seven: combination Figure 8-Figure 9 To illustrate this embodiment, both sides of the central region 652 are machined to form a concave conical surface. This concave conical surface helps limit the position of the tip of the surgical instrument 8 during insertion, preventing it from sliding. This allows the sealing sheet 65 to better withstand the thrust of the surgical instrument 8 and smoothly open. Other components and connections are the same as those in Specific Embodiments 1, 2, 3, 4, 5, or 6.

[0046] Specific implementation method eight: combination Figure 1 To explain this embodiment, the conical surface has its apex located at the center of the sealing sheet 65, with an angle θ between 160° and 175°. This configuration allows the conical surface to better restrict the position of the tip of the instrument tip 82 compared to a conventional concave surface. The remaining components and connections are identical to those of the first, second, third, fourth, fifth, or sixth embodiments.

[0047] Specific implementation method nine: Combination Figure 1 In this embodiment, the angle θ at the apex of the conical surface is 170°. This allows the conical surface to better restrict the position of the tip of the instrument tip 82 compared to a conventional concave surface. The remaining components and connections are the same as those in Embodiments 1, 2, 3, 4, 5, or 6.

[0048] refer to Figure 5 and Figure 6Schematic diagram of the surgical instrument 8 during insertion and removal from the cannula. Because the instrument tip 82 is ferromagnetic, it can be attracted by the sealing sheet 65, thereby pulling the sealing sheet 65 back into position during removal, thereby sealing the stepped through-hole of the cannula head 63. Specifically, because both the sealing sheet 65 and the instrument tip 82 are rigid structures, and the direction of movement of the instrument tip 82 remains constant (vertically upward in the diagram), the actual traction effect and rotation of the sealing sheet 65 occur when the instrument tip 82 exceeds the lowest position of the sealing sheet 65. In other words, when the instrument tip 82 is attracted to the upper end surface of the sealing sheet 65, traction begins, and the sealing sheet 65 begins to rotate. Simultaneously, the point of contact between the instrument tip 82 and the sealing sheet 65 moves from the outer side to the inner side of the upper end surface of the sealing sheet 65. As the instrument tip 82 continues to move upward, and the point of contact with the sealing sheet 65 enters the middle region 652, the instrument tip 82 separates from the sealing sheet 65. Under the attraction of inertia and magnetic force, the sealing sheet 65 overcomes gravity and adheres to the first plane 631, thereby sealing the stepped through-hole of the cannula head 63. Of course, when the sealing sheet 65 is pulled to a certain position by the instrument end 82, it is the magnetic force that plays the greatest role. As can be seen, compared with the prior art that directly relies on magnetic attraction to reset, the present invention pulls the sealing sheet 65 to a certain position and then attracts and resets it. Obviously, the magnetic force required is smaller than that of the prior art. It is understandable that the magnetic force between the sealing sheet 65 and the instrument end 82 is smaller than the magnetic force between the sealing sheet 65 and the cannula head 63. Otherwise, when the instrument end 82 is inserted, the sealing sheet 65 will be driven and separated from the cannula head 63, resulting in uncontrollable movement within the cannula head 63.

[0049] Specific implementation method ten: Combination Figures 1 to 9 Describe this embodiment. A minimally invasive surgical robot in this embodiment includes a main console and a slave operating device. The main console is electrically connected to the slave operating device. The slave operating device includes a base 1, a column 2, a passive arm 3, an operating arm 4, an instrument connecting part 5 and a sleeve mounting bracket 7. The column 2 is installed on the base 1. One end of the passive arm 3 is rotatably connected to the column 2. The other end of the passive arm 3, the operating arm 4 and the instrument connecting part 5 are rotatably connected from left to right in sequence. A sleeve mounting bracket 7 is provided at the lower end of the instrument connecting part 5. The minimally invasive surgical robot also includes the sleeve assembly 6 described in any one of the above-mentioned specific embodiments four to nine. The sleeve assembly 6 is detachably mounted on the sleeve mounting bracket 7. The surgical instrument 8 passes through the sleeve assembly 6 as needed to enter the human body for surgical operation.

[0050] As previously mentioned, the minimally invasive surgical robot of the present invention comprises a surgeon's console (not shown) and slave operating devices. The surgeon's console serves as the robot's control center. The surgeon, seated at the console, controls the slave operating devices using two master hand and foot pedals, using their eyes, hands, and feet. The slave operating devices, the robot's executive components, comprise multiple instrument arms and a scope arm, are used to translate the surgeon's commands into surgical instrument movements.

[0051] refer to Figure 1 The slave operating device includes a slave operating device base 1, a column 2, a passive arm 3, an operating arm 4 and an instrument connecting part 5; in order to concisely express the core idea of ​​the present invention, only one robot arm is retained in the figure, that is, a general slave operating device has multiple passive arms 3, operating arms 4 and instrument connecting parts 5.

[0052] refer to Figure 2 The lower end of the instrument connection portion 5 is provided with a cannula mounting bracket 7 for mounting a cannula assembly 6. A dedicated channel is provided in the cannula assembly 6 for passing a surgical instrument 8. The cannula mounting bracket 7 is also provided with a button and a buckle, and the corresponding cannula assembly 6 is provided with a buckle groove. This structure realizes the disassembly and assembly of the cannula assembly 6.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A casing sealing device, comprising a casing head (63), characterized in that: The sleeve sealing device also includes a sealing sheet (65), the sleeve head (63) is made of ferromagnetic material, and the sealing sheet (65) is a magnet structure; a stepped through hole is provided inside the sleeve head (63), and the sealing sheet (65) is a disc-shaped sheet, and its diameter is between the small hole diameter and the large hole diameter of the stepped through hole; when the surgical instrument (8) is not inserted, the sealing sheet (65) is adsorbed on the step of the stepped through hole; when the surgical instrument (8) is inserted, the surgical instrument (8) pushes the sealing sheet (65) open, and the sealing sheet (65) changes from being on the step to being adsorbed on the inner wall of the stepped through hole; the sealing sheet (65) includes an annular area (651) and a middle area (652), the middle area (652) is embedded in the inner side wall of the annular area (651), and the annular area (651) is an annular magnet, and the middle area (652) is a non-magnetic metal sheet.

2. The casing sealing device according to claim 1, characterized in that: The stepped through hole comprises a first plane (631) that is in contact with the sealing sheet (65) when no surgical instrument (8) is inserted, and a second position plane (632) adjacent to the first plane (631) below the first plane (631); the second position plane (632) is not perpendicular to the first plane (631), and the included angle is less than 90°; the first plane (631) is inclined toward the second position plane (632) and / or the second position plane (632) is inclined toward the first plane (631).

3. The casing sealing device according to claim 1, characterized in that: The end surfaces on both sides of the middle area (652) are processed into a concave conical surface.

4. The casing sealing device according to claim 3, characterized in that: The apex of the conical surface is located at the center of the sealing sheet (65), and the angle at the apex is θ, which is between 160° and 175°.

5. The casing sealing device according to claim 4, characterized in that: The angle θ at the apex of the cone is 170°.

6. The casing sealing device according to any one of claims 1 to 5, characterized in that: The cannula sealing device also includes a rubber sealing seat (64) provided on the cannula head (63), wherein a circular hole is provided in the middle of the sealing seat (64) for the surgical instrument (8) to pass through, and the diameter of the hole is smaller than the diameter of the slender shaft (81) of the surgical instrument (8).

7. A sleeve assembly, characterized in that: The invention comprises a casing sealing device according to any one of claims 1 to 6, further comprising a casing seat (61) and a sleeve (62), wherein the interior of the casing seat (61) is a hollow structure, and the casing head (63), the casing seat (61) and the sleeve (62) are connected in sequence from top to bottom.

8. The bushing assembly according to claim 7, wherein: The sleeve assembly also includes a sealing seat (64) and an O-type sealing ring (66). The O-type sealing ring (66) is provided at the connection between the sleeve head (63) and the sleeve seat (61). The sealing seat (64) is made of rubber and is buckled onto the sleeve head (63).

9. A minimally invasive surgical robot, comprising a main console and a slave operating device, wherein the main console is electrically connected to the slave operating device, and the slave operating device comprises a base (1), a column (2), a passive arm (3), an operating arm (4), an instrument connecting portion (5) and a sleeve mounting bracket (7), wherein the column (2) is mounted on the base (1), one end of the passive arm (3) is rotatably connected to the column (2), and the other end of the passive arm (3), the operating arm (4) and the instrument connecting portion (5) are rotatably connected in sequence from left to right, and a sleeve mounting bracket (7) is provided at the lower end of the instrument connecting portion (5). Its characteristics are: The minimally invasive surgical robot further comprises a cannula assembly (6) as described in any one of claims 7 to 8, wherein the cannula assembly (6) is detachably mounted on the cannula mounting bracket (7), and the surgical instrument (8) passes through the cannula assembly (6) as needed to enter the human body for surgical operation.

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