Fixators, puncture components, and surgical robots

Abstract

A fixator, a puncture assembly, and a surgical robot. The fixator includes a main body, a first connecting portion, and a second connecting portion. The first connecting portion is connected to the main body; the second connecting portion is connected to the main body; the first connecting portion is configured to be detachably connected to a puncture instrument, and the second connecting portion is configured to be detachably connected to a surgical operating arm of a surgical robot. The puncture instrument can be connected to the surgical operating arm of a surgical robot using the fixator provided by at least one embodiment of the present disclosure, avoiding the need to directly connect the puncture instrument to the surgical operating arm, which would limit the type of puncture instrument and thus expand the range of puncture instruments available.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to a fixator, a puncture assembly, and a surgical robot. Background Art

[0002] Currently, laparoscopic surgeries can be performed using manually operated surgical robots. Doctors remotely control the robot's manipulator movements via a monitor and micromanipulation platform. Robotic surgeries minimize trauma to patients and accelerate postoperative healing. Furthermore, since there's no direct physical contact with the patient, the risk of infection during surgery is minimized. However, robotic surgeries typically require specialized laparoscopic trocars, which limit the selection of suitable trocars. Summary of the Invention

[0003] At least one embodiment of the present disclosure provides a fixture comprising a main body, a first connecting portion, and a second connecting portion. The first connecting portion is connected to the main body; the second connecting portion is connected to the main body; the first connecting portion is configured to be detachably connected to a puncture device, and the second connecting portion is configured to be detachably connected to a surgical operating arm of a surgical robot. The fixture provided by at least one embodiment of the present disclosure can be used to connect the puncture device to the surgical operating arm of the surgical robot, avoiding the need to directly connect the puncture device to the surgical operating arm, which would limit the type of puncture device and thus expand the range of puncture devices available.

[0004] For example, in the fixator provided by at least one embodiment of the present disclosure, the first connecting portion is located on the first side of the main body, the second connecting portion is located on the second side of the main body, and the second side of the main body is opposite to the first side of the main body in a first direction; or, both the first connecting portion and the second connecting portion are located on the first side of the main body.

[0005] For example, in the fixer provided in at least one embodiment of the present disclosure, the main body includes a main groove, which is recessed along the first direction toward the second side of the main body; the main groove has a bottom wall, a first side wall and a second side wall intersecting with the bottom wall; the first side wall has a first bearing surface away from the bottom wall and the second side wall has a second bearing surface away from the bottom wall.

[0006] For example, in the fixator provided in at least one embodiment of the present disclosure, the cross-section of the main groove along the first direction is U-shaped.

[0007] For example, in at least one embodiment of the present disclosure, the first connecting portion includes a first sub-connecting portion and a second sub-connecting portion. The first sub-connecting portion is connected to the main body and projects out of the main body as a whole along the first direction; the second sub-connecting portion is connected to the main body and projects out of the main body as a whole along the first direction, and is aligned with and spaced apart from the first sub-connecting portion.

[0008] For example, in the fixer provided in at least one embodiment of the present disclosure, the first sub-connection portion is connected to the first bearing surface and protrudes from the first bearing surface along the first direction; the second sub-connection portion is connected to the second bearing surface and protrudes from the second bearing surface along the first direction.

[0009] For example, in the fixator provided in at least one embodiment of the present disclosure, the first sub-connection portion includes a first columnar portion extending along the first direction; and the second sub-connection portion includes a second columnar portion extending along the first direction.

[0010] For example, in the fixer provided by at least one embodiment of the present disclosure, the first sub-connecting portion further includes a first bottom portion, the first bottom portion is located between the first columnar portion and the main body and is connected to the first columnar portion and the main body, the first bottom portion includes a first overlapping portion and a first non-overlapping portion, the orthographic projection of the first overlapping portion on a plane perpendicular to the first direction coincides with the orthographic projection of the first columnar portion on a plane perpendicular to the first direction, the orthographic projection of the first non-overlapping portion on a plane perpendicular to the first direction does not coincide with the orthographic projection of the first columnar portion on a plane perpendicular to the first direction and is located outside the orthographic projection of the first columnar portion, the first non-overlapping portion includes a portion away from the orthographic projection of the first columnar portion. The first sub-bearing surface of the main body; the second sub-connecting portion also includes a second bottom, the second bottom is located between the second columnar portion and the main body and is connected to the second columnar portion and the main body, the second bottom includes a second overlapping portion and a second non-overlapping portion, the orthographic projection of the second overlapping portion on a plane perpendicular to the first direction coincides with the orthographic projection of the second columnar portion on a plane perpendicular to the first direction, the orthographic projection of the second non-overlapping portion on a plane perpendicular to the first direction does not coincide with the orthographic projection of the second columnar portion on a plane perpendicular to the first direction and is located outside the orthographic projection of the second columnar portion, and the second non-overlapping portion includes a second sub-bearing surface away from the main body.

[0011] For example, in the fixer provided by at least one embodiment of the present disclosure, the first connecting portion includes: a first sub-connecting portion, a second sub-connecting portion and a split connecting portion. The first sub-connecting portion includes a first base column, which is connected to the main body and protrudes from the main body along the first direction as a whole and has a first sub-bearing surface away from the main body, and a first engaging member is provided on the first sub-bearing surface; the second sub-connecting portion includes a second base column, which is connected to the main body and protrudes from the main body along the first direction as a whole and has a second sub-bearing surface away from the main body, and a second engaging member is provided on the second sub-bearing surface; the split connecting portion is configured to be detachably connected to the first sub-connecting portion and the second sub-connecting portion, and includes a first split connecting member and a second split connecting member, wherein the first end of the first split connecting member is provided with a third engaging member that can be engaged with the first engaging member so that the first split connecting member is detachably connected to the first base column, and the first end of the second split connecting member is provided with a fourth engaging member that can be engaged with the second engaging member so that the second split connecting member is detachably connected to the second base column.

[0012] For example, in the fixator provided in at least one embodiment of the present disclosure, the split connection portion further includes a concave portion, which is connected to the second end of the first split connection member and the second end of the second split connection member; the second end of the first split connection member is opposite to the first end in the first direction, and the second end of the second split connection member is opposite to the first end in the first direction.

[0013] For example, in the fixer provided by at least one embodiment of the present disclosure, the first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; the main body includes a front end and a rear end opposite to each other in the third direction, and a first side end and a second side end opposite to each other in the second direction, the first bottom column and the second bottom column are located at the rear end of the main body and are respectively located at the first side end and the second side end of the main body; when the split connection part is connected to the first sub-connection part and the second sub-connection part, the planar shape of the cross-section of the concave part along the surface perpendicular to the first direction includes a groove that is recessed along the third direction toward a direction away from the main groove.

[0014] For example, in the fixer provided in at least one embodiment of the present disclosure, the first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; the first connecting portion is connected to the main body and protrudes from the main body along the first direction as a whole, and the first connecting portion is located at the front end of the main body in the third direction.

[0015] For example, in the fixator provided by at least one embodiment of the present disclosure, the first connecting portion includes a first opening passing through the first connecting portion along the third direction.

[0016] For example, in the fixator provided in at least one embodiment of the present disclosure, the main body further includes a rear end opposite to its front end in the third direction, and the first connecting portion has a connecting surface facing the rear end of the main body, and a protrusion is provided on the connecting surface.

[0017] For example, in the fixer provided in at least one embodiment of the present disclosure, the protrusion includes a first protrusion and a second protrusion, and the first protrusion and the second protrusion are respectively located on both sides of the first opening in the second direction.

[0018] For example, in the fixer provided in at least one embodiment of the present disclosure, the first connecting portion includes a plate body, which is connected to the main body and protrudes from the main body along the first direction as a whole; the main board surface of the plate body is basically perpendicular to the third direction, and the first opening penetrates the first plate body along the third direction.

[0019] For example, in the fixator provided in at least one embodiment of the present disclosure, the second connection portion includes: a third sub-connection portion and a fourth sub-connection portion. The third sub-connection portion includes a first mating connection end remote from the main body; the first mating connection end is provided with a first mating connection member, and the first mating connection member is configured to be detachably connected to the surgical operating arm of the surgical robot; the fourth sub-connection portion includes a second mating connection end remote from the main body; the second mating connection end is provided with a second mating connection member, and the second mating connection member is configured to be detachably connected to the surgical operating arm of the surgical robot.

[0020] For example, in the fixer provided in at least one embodiment of the present disclosure, the first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; when the first connecting part and the second connecting part are both located on the first side of the main body, the second connecting part includes a second opening that passes through the second connecting part along the third direction.

[0021] At least one embodiment of the present disclosure further provides a puncture assembly, which includes: a puncture tool and any one of the fixators provided in the embodiments of the present disclosure, wherein the fixator is detachably connected to the puncture tool.

[0022] For example, in the puncture assembly provided by at least one embodiment of the present disclosure, the first connecting portion is located on the first side of the main body, the second connecting portion is located on the second side of the main body, and the second side of the main body is opposite to the first side of the main body in the first direction, or, the first connecting portion and the second connecting portion are both located on the first side of the main body, and the main body includes a main groove, the main groove is recessed along the first direction toward the second side of the main body, the main groove has a bottom wall, a first side wall and a second side wall intersecting the bottom wall, the first side wall has a first bearing surface away from the bottom wall and the second side wall has a second bearing surface away from the bottom wall, the first bearing surface and the second bearing surface are configured to carry the puncture device, and the main groove is configured to accommodate at least part of the puncture device.

[0023] For example, in the puncture assembly provided in at least one embodiment of the present disclosure, the puncture device includes a main shell having an internal chamber and a channel tube connected to the internal chamber of the main shell, the channel tube is located on the first side of the main shell, the first bearing surface and the second bearing surface are configured to support the main shell, and the main groove is configured to accommodate at least a portion of the main shell.

[0024] For example, in the puncture assembly provided by at least one embodiment of the present disclosure, the first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the third direction, and the direction perpendicular to the first direction and the second direction is the third direction; the channel tube is located on the first side of the shell in the third direction and extends along the third direction; the main shell is basically axially symmetrical with respect to the axis of symmetry along the third direction, and the first side wall of the main groove and the second side wall of the main groove are basically axially symmetrical with respect to the axis of symmetry along the third direction.

[0025] For example, in the puncture assembly provided in at least one embodiment of the present disclosure, the first connecting portion is provided on the main housing and is configured to be detachably connected to the main housing.

[0026] For example, in the puncture assembly provided by at least one embodiment of the present disclosure, the first connecting part includes a first sub-connecting part and a second sub-connecting part, the first sub-connecting part is connected to the main body and protrudes from the main body as a whole along the first direction, the second sub-connecting part is connected to the main body and protrudes from the main body as a whole along the first direction, and is arranged side by side and at intervals with the first sub-connecting part, the main shell of the puncture device includes: a first suture hole and a second suture hole; the first sub-connecting part is configured to be installable in the first suture hole to be detachably connected to the main shell; the second sub-connecting part is configured to be installable in the second suture hole to be detachably connected to the main shell.

[0027] For example, in the puncture assembly provided in at least one embodiment of the present disclosure, the first connecting portion is detachably mounted on the first side of the main housing.

[0028] For example, in the puncture assembly provided in at least one embodiment of the present disclosure, the first connecting portion is detachably connected to the channel tube and is located at one end of the channel tube close to the main shell.

[0029] For example, in the puncture assembly provided in at least one embodiment of the present disclosure, the channel tube is located on a first side of the main housing, and the first connecting portion is detachably mounted on a second side of the main housing opposite to the first side.

[0030] For example, in the puncture assembly provided in at least one embodiment of the present disclosure, the main shell of the puncture device includes a fixing surface, which is located on a second side of the main shell opposite to its first side and is configured to be detachably connected to a puncture knife component that performs a puncture operation when the first connecting portion is not installed; the first connecting portion is configured to be installed on the second side of the main shell and to be detachably connected to the fixing surface.

[0031] For example, in the puncture assembly provided by at least one embodiment of the present disclosure, the first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; when the first connecting part includes a first opening passing through the first connecting part along the third direction, the fixed surface of the main shell of the puncture device includes an openable and closable sealing hole, and the openable and closable sealing hole is aligned with the tube mouth of the channel tube along the third direction, and the puncture knife component can pass through the first opening, the openable and closable sealing hole, the internal chamber of the main shell and the channel tube in sequence along the first direction.

[0032] For example, in the puncture assembly provided in at least one embodiment of the present disclosure, the first connecting part has a connecting surface facing the fixed surface, a protrusion is provided on the connecting surface, a fixing groove is provided on the fixing surface, and the fixing groove is used to fix the puncture knife component; the protrusion is configured to be detachably installed in the fixing groove to detachably fix the first connecting part to the fixing surface.

[0033] For example, in the puncture assembly provided by at least one embodiment of the present disclosure, the first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; when the first connecting part and the second connecting part are both located on the first side of the main body, and the first connecting part includes a second opening passing through the second connecting part along the third direction, the fixed surface of the main shell of the puncture device includes an openable and closable sealing hole, and the openable and closable sealing hole is aligned with the tube mouth of the channel tube along the third direction, and the puncture knife component can pass through the third opening, the openable and closable sealing hole, the internal chamber of the main shell and the channel tube in sequence along the first direction.

[0034] At least one embodiment of the present disclosure further provides a surgical robot, comprising: a surgical operating arm, and any one of the fixators provided in the embodiments of the present disclosure, wherein the fixator is detachably connected to the robotic arm.

[0035] For example, in the surgical robot provided by at least one embodiment of the present disclosure, the fixator is indirectly connected to the surgical operating arm, or the fixator is directly connected to the surgical operating arm.

[0036] For example, in the surgical robot provided in at least one embodiment of the present disclosure, the surgical robot includes a plurality of surgical operating arms, and the fixator is connected to one of the plurality of surgical operating arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0038] Figure 1A A schematic structural diagram of a fastener provided in one embodiment of the present disclosure;

[0039] Figure 1B for Figure 1A A schematic diagram of the fixture shown from another angle;

[0040] Figure 1C A schematic structural diagram of another fastener provided by an embodiment of the present disclosure;

[0041] Figure 1D for Figure 1C A schematic diagram of the fixture shown from another angle;

[0042] Figure 2A For the general Figure 1A A schematic diagram of the fastener shown in use;

[0043] Figure 2B for Figure 2A An enlarged schematic diagram of the local L in FIG;

[0044] Figure 3A An embodiment of the present disclosure provides a method for Figure 1A A schematic structural diagram of the puncture assembly of the fixator shown;

[0045] Figure 3B for Figure 3A A schematic diagram of the puncture assembly shown from another angle;

[0046] Figure 3C for Figure 3A A schematic diagram of a puncture device in the puncture assembly is shown;

[0047] Figure 3D To allow the puncture knife to enter Figure 3C Schematic diagram of the trocar in FIG.

[0048] Figure 4A A schematic diagram of a second connecting portion of a fastener provided in one embodiment of the present disclosure;

[0049] Figure 4B A schematic diagram of a connection end of a surgical robot connected to a fixator provided by an embodiment of the present disclosure;

[0050] Figure 5A A schematic diagram of a second connecting portion of another fastener provided by an embodiment of the present disclosure;

[0051] Figure 5B A schematic diagram of another connection end of a surgical robot connected to a fixator provided by an embodiment of the present disclosure;

[0052] Figure 5C A schematic diagram of another fastener provided by an embodiment of the present disclosure;

[0053] Figure 5D A schematic diagram of another connection end provided in one embodiment of the present disclosure and connected to a fixture provided in one embodiment of the present disclosure;

[0054] Figure 5E for Figure 5C The shown retainer is Figure 5DThe schematic diagram of the connection ends shown is shown;

[0055] Figure 6A A schematic structural diagram of another fastener provided by an embodiment of the present disclosure;

[0056] Figure 6B for Figure 6A A schematic structural diagram of the split connection portion of the fixator shown is shown when it is separated from the first sub-connection portion and the second sub-connection portion;

[0057] Figure 6C An embodiment of the present disclosure provides a method for Figure 6A A schematic structural diagram of the puncture assembly of the fixator shown;

[0058] Figure 7A A schematic structural diagram of another fastener provided by an embodiment of the present disclosure;

[0059] Figure 7B An embodiment of the present disclosure provides a method for Figure 7A A schematic structural diagram of the puncture assembly of the fixator shown;

[0060] Figure 8A A schematic structural diagram of another fastener provided by an embodiment of the present disclosure;

[0061] Figure 8B for Figure 8A A schematic diagram of the fixture shown from another angle;

[0062] Figure 8C An embodiment of the present disclosure provides a method for Figures 8A-8B A schematic structural diagram of the puncture assembly of the fixator shown;

[0063] Figure 9A A schematic structural diagram of another fastener provided by an embodiment of the present disclosure;

[0064] Figure 9B for Figure 9A A schematic diagram of the fixture shown from another angle;

[0065] Figure 9C for Figure 9A A schematic diagram of the fixture shown at another angle;

[0066] Figure 9D An embodiment of the present disclosure provides a method for Figures 9A-9C Schematic diagram of the structure of the puncture assembly of the fixator shown. DETAILED DESCRIPTION

[0067] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the invention belongs. The words "first", "second" and similar terms used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Inside", "outside", "upper", "lower" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0069] The drawings in this disclosure are not drawn strictly to scale, and the specific dimensions of each structure can be determined according to actual needs. The drawings described in this disclosure are only schematic diagrams of the structures.

[0070] When using a surgical robot to perform laparoscopic surgery on a patient, such as a laparoscopic or thoracoscopic procedure, a trocar connected to the robot's operating arm is used to perforate the patient's cavity wall. The trocar is then inserted into the cavity through the perforation to form a channel through which instruments such as a scalpel and laparoscope can enter the cavity for surgery. Currently, surgeries performed by surgical robots typically require the use of a dedicated trocar. This dedicated laparoscopic trocar has a specially designed connection structure that mates with the operating arm and is integrated with the other structures of the trocar. Therefore, the range of trocars available is limited.

[0071] At least one embodiment of the present disclosure provides a fixture comprising a main body, a first connecting portion, and a second connecting portion. The first connecting portion is connected to the main body; the second connecting portion is connected to the main body; the first connecting portion is configured to be detachably connected to a puncture device, and the second connecting portion is configured to be detachably connected to a surgical operating arm of a surgical robot. The fixture provided by at least one embodiment of the present disclosure can be used to connect the puncture device to the surgical operating arm of the surgical robot, avoiding the need to directly connect the puncture device to the surgical operating arm, which would limit the type of puncture device and thus expand the range of puncture devices available.

[0072] At least one embodiment of the present disclosure further provides a puncture assembly, which includes a puncture tool and any one of the fixators provided in the embodiments of the present disclosure, wherein the fixator is detachably connected to the puncture tool.

[0073] At least one embodiment of the present disclosure further provides a surgical robot, comprising: a surgical operating arm, and any one of the fixators provided in the embodiments of the present disclosure, wherein the fixator is detachably connected to the robotic arm.

[0074] For example, Figure 1A This is a schematic structural diagram of a fixer provided in one embodiment of the present disclosure. Figure 1A This is a schematic diagram of the structure of a fixer provided by an embodiment of the present disclosure. Figures 1A-1B As shown, the fixer 10 provided by at least one embodiment of the present disclosure includes a main body 1, a first connecting portion 21 and a second connecting portion 22. The first connecting portion 21 is connected to the main body 1; the second connecting portion 22 is connected to the main body 1. For example, Figure 1A In the illustrated embodiment, the first connection portion 21 is located on a first side of the main body 1; the second connection portion 22 is located on a second side of the main body 1, opposite the first side in the first direction D1. It should be noted that the first connection portion 21 and the second connection portion 22 do not necessarily need to be directly opposite each other in the first direction D1; they can be located on the first and second sides of the main body 1, respectively. The first connection portion 21 is configured to be detachably connected to the trocar, and the second connection portion 22 is configured to be detachably connected to the surgical operating arm of the surgical robot. Thus, the fixator 10 can be used to connect the puncture device to the surgical operating arm of the surgical robot, and the fixator 10 can be detachably connected to the puncture device and the surgical operating arm, and it can be removed from the puncture device and the surgical operating arm. Therefore, the design of the first connecting portion 21 and the second connecting portion 22 of the fixator 10 can achieve the match of the fixator 10 with the structures of multiple puncture devices respectively to achieve the fixation of multiple puncture devices on the surgical operating arm, avoiding the need to directly match the puncture device with the surgical operating arm to limit the type of puncture devices, thereby expanding the range of puncture device options.

[0075] For example, the first connecting portion 21, the second connecting portion 22 and the main body 1 are integrally formed to improve the stability of the holder during operation and simplify the manufacturing process. For example, the first connecting portion 21, the second connecting portion 22 and the main body 1 can be integrally formed by injection molding.

[0076] For example, the fixture 10 is axisymmetric with respect to a symmetry axis extending along the third direction D3.

[0077] For example, Figure 2A For the general Figure 1A The schematic diagram of the retainer in use is shown in FIG. Figure 2B for Figure 2A An enlarged schematic diagram of the local L in . Figures 2A-2B The surgical operating arm 5 of the surgical robot includes a front end 51 away from the patient during surgery and a rear end 52 close to the patient. When the fixator 10 is in use, the first connecting portion 21 is detachably connected to the main housing 201 of the puncture device, for example, by plugging, and the second connecting portion 22 is detachably connected to the connecting structure 3 of the front end 51 of the surgical operating arm 5 of the surgical robot, for example, by snapping. For example, the connecting structure 3 is connected to the sliding device 4 located at the front end of the surgical operating arm 5, and the rod of the scalpel or the laparoscope used to obtain image information in the chamber can be configured to slide along the track on the sliding device 4 to move toward the rear end of the surgical operating arm 5 and enter the puncture device, and then enter the chamber. The specific connection method of the first connecting portion 21 and the main housing 201 of the puncture device, and the specific connection method of the second connecting portion 22 and the connecting structure 3 of the front end 51 of the surgical operating arm 5 of the surgical robot will be described in detail later.

[0078] It should be noted that the connection between the second connection portion 22 and the surgical operating arm of the surgical robot includes both indirect and direct connections. For example, the surgical operating arm includes a front end away from the surgical object and a rear end closer to the surgical object during surgery. The second connection portion 22 of the fixator 10 is connected to the connection structure at the front end of the surgical operating arm, thereby achieving an indirect connection between the second connection portion 22 and the surgical operating arm of the surgical robot. For example, the surgical robot also includes an isolation cover bag (e.g., a plastic cover bag) that covers the surgical operating arm from the front end to the rear end to isolate it from the external environment, thereby isolating it from bacteria and other contaminants in the external environment, and the connection structure at the front end of the surgical operating arm is sealed to the isolation cover bag.

[0079] For example, Figures 1A-1B As shown, the main body 1 includes a main groove 11, which is recessed along a first direction D1 toward the second side of the main body 1. The main groove 11 has a bottom wall 110, a first side wall 111 intersecting the bottom wall 110, and a second side wall 112. The first side wall 111 has a first bearing surface 111A distal from the bottom wall 110, and the second side wall 112 has a second bearing surface 112A distal from the bottom wall 110. The first bearing surface 111A and the second bearing surface 112A are used to bear and support a puncture device. The main body 1 is used to bear and support the puncture device, which is positioned on the first bearing surface 111A and the second bearing surface 112A. The main groove 11 can accommodate a portion of the puncture device, thereby making the main body 1 more stable in bearing the puncture device and reducing its weight, saving material costs and contributing to the lightweighting of the device using the fixture 10.

[0080] For example, the first supporting surface 111A includes the upper surface of the first side wall 111 parallel to the bottom surface 110, and may also include a portion of the side surface of the first supporting surface 111A intersecting with its upper surface; for example, the second supporting surface 112A includes the upper surface of the second side wall 112 parallel to the bottom surface 110, and may also include a portion of the side surface of the first supporting surface 111A intersecting with its upper surface; this depends on the shape of the puncture device supported by the first side wall 111 and the second side wall 112, that is, the surfaces of the first side wall 111 and the second side wall 112 that contact the puncture device to support the puncture device are the first supporting surface and the second supporting surface, respectively.

[0081] For example, the first side wall 111 of the main groove 11 and the second side wall 112 of the main groove 11 are opposite to each other in the second direction D2; for example, the second direction D2 is perpendicular to the first direction D1; the direction perpendicular to the first direction D1 and the second direction D2 is the third direction D3.

[0082] For example, Figures 1A-1B As shown, the main groove 11 is recessed from the upper surface of the main body 1 toward the second side of the main body 1. For example, the main groove 11 penetrates the main body 1 along the third direction.

[0083] For example, Figures 1A-1B As shown, the cross-section of the main groove 11 along the first direction D1 is U-shaped, so that the parts of the side surfaces of the first side wall 111 and the second side wall 112 away from the bottom surface 110 serve as the first bearing surface and the second bearing surface for contacting the puncture device, and it is easy to manufacture.

[0084] For example, Figures 1A-1B As shown, the first connection portion 21 includes a first sub-connection portion 211 and a second sub-connection portion 212. The first sub-connection portion 211 is connected to the main body 1 and generally protrudes from the main body 1 along the first direction D1. The second sub-connection portion 212 is connected to the main body 1 and generally protrudes from the main body 1 along the first direction D1, juxtaposed with and spaced apart from the first sub-connection portion 211. The first sub-connection portion 211 and the second sub-connection portion 212 are used to detachably connect to a puncture device to secure the puncture device.

[0085] For example, the first sub-connecting portion 211 is connected to the first supporting surface 111A and protrudes from the first supporting surface 111A along the first direction D1; the second sub-connecting portion 212 is connected to the second supporting surface 112A and protrudes from the second supporting surface 112A along the first direction D1. That is, the first sub-connecting portion 211 is located on the upper surface of the first sidewall 111 and protrudes from the upper surface of the first sidewall 111 along the first direction D1; the second sub-connecting portion 212 is located on the upper surface of the second sidewall 112 and protrudes from the upper surface of the second sidewall 112 along the first direction D1.

[0086] For example, Figures 1A-1BAs shown, the first sub-connection portion 211 includes a first columnar portion 211A extending along the first direction D1; the second sub-connection portion 212 includes a second columnar portion 212A extending along the first direction D1. The first columnar portion 211A and the second columnar portion 212A are used to detachably connect to the puncture device to fix the puncture device.

[0087] For example, Figures 1A-1B As shown, the first sub-connecting portion 211 also includes a first bottom 211B, which is located between the first columnar portion 211A and the main body 1 and is connected to the first columnar portion 211A and the main body 1. The first bottom 211B includes a first overlapping portion and a first non-overlapping portion. The orthographic projection of the first overlapping portion on a plane perpendicular to the first direction D1 coincides with the orthographic projection of the first columnar portion 211A on a plane perpendicular to the first direction D1. The orthographic projection of the first non-overlapping portion on a plane perpendicular to the first direction D1 does not coincide with the orthographic projection of the first columnar portion 211A on a plane perpendicular to the first direction D1 and is located outside the orthographic projection of the first columnar portion 211A. The first non-overlapping portion includes a first sub-bearing surface 211 away from the main body 1. The second sub-connecting portion 212 also includes a second bottom portion 212B, which is located between the second columnar portion 212A and the main body 1 and connected to the second columnar portion 212A and the main body 1. The second bottom portion 212B includes a second overlapping portion and a second non-overlapping portion. The orthographic projection of the second overlapping portion on a plane perpendicular to the first direction D1 coincides with the orthographic projection of the second columnar portion 212A on a plane perpendicular to the first direction D1. The orthographic projection of the second non-overlapping portion on a plane perpendicular to the first direction D1 does not coincide with the orthographic projection of the second columnar portion 212A on a plane perpendicular to the first direction D1 and is located outside the orthographic projection of the second columnar portion 212A. The second non-overlapping portion includes a second sub-supporting surface 2120 that is distal to the main body 1. For example, both the first bottom portion 211B and the second bottom portion 212B are columnar. The first bottom portion 211B and the second bottom portion 212B can enhance the stability of the first sub-connecting portion 211 and the second sub-connecting portion 212 in supporting the puncture device. When the holder 10 is connected to the trocar, the first sub-bearing surface 2110 and the second sub-bearing surface 2120 are configured to assist in supporting the trocar, thereby improving the support strength and support stability of the first columnar portion 211A and the second columnar portion 212A.

[0088] For example, the material of the holder 10 includes plastics, acrylic materials, and the like, such as polyvinyl chloride (PVC), polyethylene (PE), polypropylene (PP), polystyrene (PS), acrylonitrile butadiene styrene copolymer (ABS), polycarbonate (PC), polytetrafluoroethylene (PTFE), etc. Of course, the material of the holder 10 is not limited to the types listed above.

[0089] At least one embodiment of the present disclosure further provides a puncture assembly, which includes a puncture tool and any one of the fixators provided in the embodiments of the present disclosure, wherein the fixator is detachably connected to the puncture tool.

[0090] For example, Figure 3A An embodiment of the present disclosure provides a method for Figure 1A The schematic structural diagram of the puncture assembly of the fixator is shown. Figure 3B for Figure 3A A schematic diagram of another angle of the puncture assembly shown. Figures 3A-3B As shown, the puncture assembly 100 provided by at least one embodiment of the present disclosure includes a puncture device 20 and Figure 3A In the shown fixator 10 , the first connecting portion 21 of the fixator 10 is detachably connected to the puncture device 20 , thereby achieving the fixation of the fixator 10 on the puncture device 20 .

[0091] For example, Figures 3A-3B As shown, for example, the puncture device 20 includes a main housing 201 having an internal chamber. The first bearing surface 111A and the second bearing surface 112A of the holder 10 are configured to support the puncture device 20, for example, the main housing 201. The main recess 11 is configured to accommodate at least a portion of the puncture device 20, for example, the main housing 201. Specifically, the first connecting portion 21 is disposed on the main housing 201 and is configured to be detachably connected to the main housing 201, thereby enabling the holder 10 to stably support the puncture device 20.

[0092] For example, the trocar 20 further includes a channel tube 202 communicating with the interior chamber of the main housing 201. The channel tube 202 is located on a first side of the main housing 201. The first bearing surface 111A and the second bearing surface 112A are configured to support the main housing 201, and the main recess 11 is configured to accommodate at least a portion of the main housing 201. For example, the channel tube 202 is integrally formed with the main housing 201.

[0093] Figure 3C for Figure 3A A schematic diagram of a puncture device in the puncture assembly shown, Figure 3D To allow the puncture knife to enter Figure 3C Schematic diagram of the trocar in combination with Figures 3A-3DWhen using a surgical robot to perform laparoscopic surgery on a subject, such as a patient, such as a laparoscopic or thoracoscopic procedure, a puncture device connected to the surgical robot's operating arm is used to perforate the patient's cavity wall. The puncture rod 203 of the puncture blade assembly, which performs the puncture operation, sequentially passes through the main housing 201 and the channel tube 202. The puncture end of the puncture rod 203 emerges from the end of the channel tube 202 distal from the main housing 201. The working end of the puncture rod 203 and the end of the channel tube 202 distal from the main housing 201 penetrate into the cavity of the subject, such as the patient, completing the perforation of the patient's cavity wall. The puncture rod 203 is then removed from the main housing 201 and the channel tube 202, while the channel tube 202 remains stable, forming a passage for subsequent surgical instruments to enter the cavity. A scalpel or a laparoscope for acquiring image information within the cavity can then be sequentially passed through the main housing 201 and the channel tube 202 into the cavity to perform surgery on the target tissue within the cavity.

[0094] For example, in the puncture assembly 100, the first sidewall 111 of the main recess 11 and the second sidewall 112 of the main recess 11 are opposed in a second direction D2, the second direction D2 being perpendicular to a third direction D3, and the direction perpendicular to the first and second directions D1 and D2 being the third direction D3. Designed in this manner, the main body 1 of the holder 10 provides relatively stable support for the main housing 201. For example, the channel tube 202 is located on a first side of the housing in the third direction D3 and extends along the third direction D3. The main housing 201 is substantially axisymmetric with respect to an axis of symmetry along the third direction D3, and the first sidewall 111 of the main recess 11 and the second sidewall 112 of the main recess 11 are substantially axisymmetric with respect to the axis of symmetry along the third direction D3. Of course, in some embodiments, the main housing 201 may not be axisymmetric, and the first sidewall 111 of the main recess 11 and the second sidewall 112 of the main recess 11 may also be asymmetric.

[0095] For example, Figures 3A-3B As shown, the main housing 201 of the puncture device 20 includes a first suture hole 201A and a second suture hole 201B. The first sub-connection portion 211 is configured to be installed in the first suture hole 201A to be removably connected to the main housing 201; the second sub-connection portion 212 is configured to be installed in the second suture hole 201B to be removably connected to the main housing 201, thereby securing the first connection portion 21 to the main housing 201. For example, the first columnar portion 211A is installed in the first suture hole 201A, and the second columnar portion 212A is installed in the second suture hole 201B.

[0096] The first suture hole 201A and the second suture hole 201B typically serve as suture tie rods during surgery, i.e., sutures for the patient's skin are inserted through the first suture hole 201A and the second suture hole 201B. The puncture assembly 100 provided in the disclosed embodiment utilizes the structure typically found on the puncture tool 20, namely, the first suture hole 201A and the second suture hole 201B are detachably connected to the first sub-connecting portion 211 and the second sub-connecting portion 212, respectively. This eliminates the need for additional design on the puncture tool 20 for connection to the fixator 10, facilitating the use of the fixator 10 and improving its applicability.

[0097] For example, the first sub-connection part 211 and the second sub-connection part 212 are respectively inserted into the first suture hole 201A and the second suture hole 201B. For example, the dimensions of the first sub-connection part 211 and the second sub-connection part 212 can be designed so that the first sub-connection part 211 and the second sub-connection part 212 match the first suture hole 201A and the second suture hole 201B respectively to achieve a secure insertion.

[0098] For example, the first suture hole 201A and the second suture hole 201B are located at one end of the main housing 201 close to the channel tube 201. Of course, the embodiment of the present disclosure is not limited to this.

[0099] For example, when the first columnar portion 211A is installed in the first suture hole 201A and the second columnar portion 212A is installed in the second suture hole 201B, the first sub-bearing surface 2110 and the second sub-bearing surface 2120 can be configured to respectively contact the bottom end of the main body 1 of the first suture hole 201A and the second suture hole 201B close to the fixer 10 to provide auxiliary support for the puncture device 20, thereby increasing the support strength and stability of the fixer 10 for the puncture device 20.

[0100] In addition, the first sub-connecting portion 211 and the second sub-connecting portion 212 of the fixator provided in the embodiment of the present disclosure are not limited to including the first columnar portion 211A and the second columnar portion 212A, and the first and second connecting structures provided on the puncture device 20 for connecting with the first sub-connecting portion 211 and the second sub-connecting portion 212 are not limited to the first suture hole 201A and the second suture hole 201B. For example, in some embodiments, the first and second connecting structures provided on the puncture device 20 for connecting with the first sub-connecting portion 211 and the second sub-connecting portion 212 may also be the first and second winding posts protruding from the main housing 201. The first and second winding posts generally serve as suture tie rods during surgery, i.e., the sutures applied to the patient's skin are wound around the first and second winding posts. In this case, accordingly, the first sub-connection part 211 and the second sub-connection part 212 of the fixer provided in the embodiment of the present disclosure may include a first sleeve and a second sleeve, and the first sleeve and the second sleeve are configured to be matchably sleeved on the first winding post and the second winding post respectively; or, the first sub-connection part 211 and the second sub-connection part 212 of the fixer may include a first upper clamping part and a second upper clamping part, and the first upper clamping part and the second upper clamping part are respectively clamped on the first winding post and the second winding post.

[0101] It should be noted that Figures 3A-3B What is shown is a schematic diagram of the puncture assembly 100 in which the fixator 10 and the puncture device 20 are assembled together. However, the puncture assembly provided by the embodiment of the present disclosure is not limited to the state in which the fixator 10 and the puncture device 20 are assembled together, and may also include a fixator 10 and a puncture device 20 separated from each other, and the two can be assembled before using the puncture assembly 100 for work.

[0102] Figure 4A This is a schematic diagram of a second connecting portion of a fixator provided in an embodiment of the present disclosure. Figure 4B A schematic diagram of a connection structure of a surgical robot connected to a fixator provided in an embodiment of the present disclosure. Figure 1B and Figure 4A For example, the second connection portion 22 includes a third sub-connection portion 221 and a fourth sub-connection portion 222. The third sub-connection portion 221 includes a first mating connection end away from the main body 1, and a first mating connection member 221A is provided on the first mating connection end, and the first mating connection member 221A is configured to be detachably connected to the surgical operating arm 5 of the surgical robot; the fourth sub-connection portion 222 includes a second mating connection end away from the main body 1, and a second mating connection member 222A is provided on the second mating connection end, and the second mating connection member 222A is configured to be detachably connected to the surgical operating arm 5 of the surgical robot. For example, in Figure 1B and Figure 4AIn the example shown, the first mating connector 221A includes a first lower clamping member P1 and a second lower clamping member P2, and the second mating connector 222A includes a third lower clamping member P3 and a fourth lower clamping member P4. Figure 4B , a schematic diagram of the connecting structure 3 at the front end of the surgical operating arm 5 of the surgical robot, the connecting structure 3 includes a first clamping wall 31A, a second clamping wall 31B and a first outer wall 33 opposite to the first clamping wall 31A and the second clamping wall 31B, and a first clamping groove 32 is defined between the first outer wall 33 and the first clamping wall 31A and the second clamping wall 31B; the connecting structure 3 also includes a third clamping wall, a fourth clamping wall, a second outer wall and a second clamping groove (not shown) that are symmetrical to the first clamping wall 31A, the second clamping wall 31B, the first outer wall 33 and the first clamping groove 32. The second lower clamping member P2 is an elastic member. The first lower clamping member P1 and the second lower clamping member P2 can be cooperatively installed in the first clamping groove 32. At this time, the second lower clamping member P2 is compressed toward the first lower clamping member P1 and is restrained. When disassembly, the elastic second lower clamping member P2 can be used to elastically return to allow the first lower clamping member P1 and the second lower clamping member P2 to be removed from the first clamping groove 32. Similarly, the fourth lower clamping member P4 is an elastic member. The third lower clamping member P3 and the fourth lower clamping member P4 can be cooperatively installed in the second clamping groove. At this time, the fourth lower clamping member P4 is compressed toward the third lower clamping member P3. When disassembly, the elastic fourth lower clamping member P4 can be used to elastically return to allow the third lower clamping member P3 and the fourth lower clamping member P4 to be removed from the second clamping groove. This achieves a detachable connection between the second connecting portion 22 and the surgical operating arm 5 of the surgical robot. For example, the connecting structure 3 is directly connected to the above-mentioned isolation cover bag (e.g., a plastic cover bag).

[0103] For example, the connection structure at the front end of the surgical operating arm of the Da Vinci surgical robot is Figure 4B The structure shown or similar Figure 4B The structure shown in the figure shows that the fixator provided by the embodiment of the present disclosure is suitable for connection with the surgical operating arm of the da Vinci surgical robot. Of course, it can also be applied to other types of surgical robots.

[0104] For example, Figure 1A and Figure 4A As shown, in some embodiments, the second connecting portion 22 may further include a peripheral connecting structure 220, which is connected to the main body 1. The peripheral connecting structure 220 may be cooperatively connected to the outer wall of the connecting structure 3 provided on the surgical operating arm to enhance the stability of the connection between the fixator 10 and the surgical operating arm.

[0105] For example, in another embodiment, the fixator provided by the present disclosure may also be as follows Figures 1C-1D shown. Figure 1C and Figure 1DThe fastener 10 shown is Figures 1A-1B The difference between the shown fixtures is that Figure 1C and Figure 1D In the shown fixture 10, the second connection portion 22 does not include the peripheral connection structure 220; in addition, the first matching connection member 221A and the second matching connection member 222A of the second connection portion 22 adopt Figure 6A The situation shown (described in detail below), of course, can also be used Figures 1A-1B The first mating connector and the second mating connector are shown. In the absence of contradiction, the technical features in the various embodiments of the present disclosure can be combined to obtain new embodiments. Figures 1C-1D Other features of the shown fixtures are the same as Figures 1A-1B For the same, please refer to Figures 1A-1B The description of the illustrated embodiment will not be repeated here.

[0106] Figure 5A This is a schematic diagram of a second connecting portion of another type of fastener provided by an embodiment of the present disclosure. Figure 5B A schematic diagram of another connection structure of a surgical robot connected to a fixator provided in an embodiment of the present disclosure. Figure 5A In the second connection part 22 shown, the first mating connector of the third sub-connection part 221 includes a fifth lower clamping part P5 located at the end of the third sub-connection part 221 away from the main body 1 and protruding toward the fourth sub-connection part 222, and the second mating connector of the fourth sub-connection part 222 includes a sixth lower clamping part P6 located at the end of the fourth sub-connection part 222 away from the main body 1 and protruding toward the third sub-connection part 221. For example, the fifth lower clamping part P5 and the sixth lower clamping part P6 are both bar-shaped. Figure 5B The connecting structure 3 includes a third snap-fitting slot 31 and a fourth snap-fitting slot (not shown), symmetrical to the first snap-fitting slot 31. The fifth lower snap-fitting member P5 can be fitted into the third snap-fitting slot 31. Similarly, the sixth lower snap-fitting member P6 can be fitted into the fourth snap-fitting slot. This allows for a removable connection between the second connecting portion 22 and the surgical manipulator arm 5 of the surgical robot. For example, the outer wall of the connecting structure 3 can be directly connected to the aforementioned isolation cover bag (e.g., a plastic cover bag).

[0107] Figure 5C A schematic diagram of another fastener provided by an embodiment of the present disclosure; Figure 5D This is a schematic diagram of another connection end provided in one embodiment of the present disclosure and connected to the fixator provided in one embodiment of the present disclosure, that is, a schematic diagram of another connection structure 3 provided on the surgical operating arm. Figure 5C The fastener 10 shown is Figures 1A-1BThe difference is that the second connection joint 22 includes a first connection groove 22C and a second connection groove 22D. For example, the first connection groove 22C and the second connection groove 22D extend in substantially the same direction, so that it is easier to match and connect with the connection structure 3 and is easier to manufacture. For example, both extend along the second direction. Of course, in other embodiments, the first connection groove 22C and the second connection groove 22D can also extend in other directions. Figure 5D As shown, the connecting structure 3 includes a first connecting plate 24A and a second connecting plate 34B. For example, the first connecting plate 24A and the second connecting plate 34B are strip-shaped. For example, the first connecting plate 24A and the second connecting plate 34B extend in substantially the same direction. The first connecting plate 24A and the second connecting plate 34B can be removably mounted in the first connecting groove 22C and the second connecting groove 22D, respectively, so that the second connecting portion 22 is removably connected to the connecting structure 3, thereby achieving a removable connection between the fixator 10 and the surgical operating arm.

[0108] like Figures 5C-5D As shown, the connection structure 3 also includes an auxiliary connection portion 22' located in the first connection groove 22C and the second connection groove 22D, away from the second connection portion 22. The auxiliary connection portion 22' includes a first sub-auxiliary connection portion 221' and a second sub-auxiliary connection portion 222'. The structures of the first sub-auxiliary connection portion 221' and the second sub-auxiliary connection portion 222' are respectively the same as the structures of the third sub-connection portion 221 and the fourth sub-connection portion 222 in the above embodiment. Reference may be made to the previous description of the structures of the third sub-connection portion 221 and the fourth sub-connection portion 222. The first sub-auxiliary connection portion 221' and the second sub-auxiliary connection portion 222' are connected to the connection structure on the da Vinci surgical robot (similar to the Figure 4B shown) connection, thereby Figure 5C The shown fixator 10 can also be used in the da Vinci surgical robot, which broadens the application scope of the fixator 10 provided in the embodiment of the present disclosure.

[0109] It should be noted that the specific structure and connection method of the second connecting portion and the connection structure located on the surgical operating arm are not limited to the listed methods, as long as the two can be detachably connected.

[0110] Figure 6A This is a schematic structural diagram of another fastener provided by an embodiment of the present disclosure. Figure 6B for Figure 6A The structural diagram of the split connection part of the fixer shown is when it is separated from the first sub-connection part and the second sub-connection part. Figures 6A-6BIn the illustrated holder 10, the first connecting portion 21 includes a first sub-connecting portion 211, a second sub-connecting portion 212, and a separate connecting portion 213. The first sub-connecting portion 211 includes a first base post 211C, which is connected to the main body 1 and generally protrudes from the main body 1 along the first direction D1. It also has a first sub-supporting surface 2110 distal from the main body 1. The first sub-supporting surface 2110 is provided with a first engaging member M1; for example, the first engaging member M1 is a first groove. For example, the first base post 211C is connected to the first supporting surface 111A. The second sub-connecting portion 212 includes a second base post 212C, which is connected to the main body 1 and generally protrudes from the main body 1 along the first direction D1. It also has a second sub-supporting surface 2120 distal from the main body 1. The second sub-supporting surface 2120 is provided with a second engaging member M2; for example, the second engaging member M2 is a second groove. For example, the second base post 212C is connected to the second supporting surface 112A. The split connection part 213 is configured to be detachably connected to the first sub-connection part 211 and the second sub-connection part 212, and includes a first split connection part 213A and a second split connection part 213B; the first end of the first split connection part 213A is provided with a third engaging part M3 that can be engaged with the first engaging part M1 so that the first split connection part 213A is detachably connected to the first base column 211C, and the first end of the second split connection part 213B is provided with a fourth engaging part M4 that can be engaged with the second engaging part M2 so that the second split connection part 213B is detachably connected to the second base column 212C.

[0111] For example, Figures 6A-6B As shown, the split connector further includes a concave portion 213C, which is connected to the second end of the first split connector 213A and the second end of the second split connector 213B. The second end of the first split connector 213A is opposite to the first end in the first direction D1, and the second end of the second split connector 213B is opposite to the first end in the first direction D1. The concave portion 213C can reinforce the first split connector 213A and the second split connector 213B.

[0112] For example, Figures 6A-6BAs shown, the main body 1 includes a front end and a rear end that are opposite to each other in the third direction D3, as well as a first side end and a second side end that are opposite to each other in the second direction D2. A first bottom column 211C and a second bottom column 212C are located at the rear end of the main body 1 and at the first side end and the second side end of the main body 1, respectively. When the split connecting portion 213 is connected to the first sub-connecting portion 211 and the second sub-connecting portion 212, the planar shape of the concave portion 213C along a plane perpendicular to the first direction D1 includes a groove R that is recessed along the third direction and away from the main groove 11. After the holder 10 is connected to the puncture device, the concave portion 213C has the groove R, so it can surround the main housing of the puncture device, providing better protection and support for the main housing of the puncture device.

[0113] about Figures 6A-6B For the shown fastener 10 , other features and technical effects not mentioned herein may refer to the description in the previous embodiments.

[0114] Figure 6C An embodiment of the present disclosure provides a method for Figure 6A The schematic diagram of the structure of the puncture assembly of the fixator is shown. Figure 6C As shown, taking the puncture device 20 including the first suture hole 201A and the second suture hole 201B as an example, when Figure 6A After the illustrated holder 10 is connected to the trocar 20, the first split connector 213A passes through the first suture hole 201A, whereby the third engaging member M3 at the first end of the first split connector 213A engages with the first engaging member M1. The second split connector 213B passes through the second suture hole 201B, whereby the fourth engaging member M4 at the first end of the second split connector 213B engages with the second engaging member M2. The concave portion 213C surrounds the main housing of the trocar, providing better protection and support for the main housing. The main body 1 supports and supports the main housing 201 of the trocar 20.

[0115] about Figure 6C For the puncture assembly 100 shown, other features and technical effects not mentioned, such as the support of the main body 1 to the main shell of the puncture device, etc., refer to the description in the previous embodiments.

[0116] Figure 7A This is a structural diagram of another type of fixer provided by an embodiment of the present disclosure. Figure 7A As shown, for example, the first side wall 111 of the main groove 11 is opposite to the second side wall 112 of the main groove 11 in the second direction D2, the second direction D2 is perpendicular to the first direction D1, and the direction perpendicular to the first direction D1 and the second direction D2 is the third direction D3; the first connecting portion 21 is connected to the main body 1 and protrudes from the main body 1 along the first direction D1 as a whole, and the first connecting portion 21 is located at the front end of the main body 1 in the third direction D3.

[0117] For example, Figure 7A The illustrated fixture 10 differs from the fixtures provided in the aforementioned embodiments in the following ways. The first connecting portion 21 includes a first opening O1 extending through the first connecting portion 21 along a third direction D3. The first opening O1 is used to connect the first connecting portion 21 to a trocar. For example, the first connecting portion 21 includes a first plate 21A, which is connected to the main body 1 and generally protrudes from the main body 1 along the first direction D1. The main surface of the first plate 21A is substantially perpendicular to the third direction D3, and the first opening O1 extends through the first plate 21A along the third direction D3.

[0118] For example, the first plate body 21A includes a first connection surface 21G facing the rear end of the main body, and the first connection surface 21G is used to contact the puncture device to be firmly connected to the puncture device.

[0119] Of course, the first connecting portion 21 may also include a snap-fit ​​structure, which includes an unclosed first opening. The snap-fit ​​structure is elastic and can be snap-fitted to the trocar through the unclosed first opening.

[0120] For example, the dimension of the first connecting portion 21 along the second direction D2 is substantially equal to the dimension of the main body 1 along the second direction D2 to enhance the stability of the holder 10 .

[0121] about Figure 7A For the shown fastener 10 , other features and technical effects not mentioned herein may refer to the description in the previous embodiments.

[0122] Figure 7B An embodiment of the present disclosure provides a method for Figure 7A The schematic diagram of the structure of the puncture assembly of the fixator is shown. Figure 7B As shown, the first connecting portion 21 is detachably mounted on the first side of the main housing 201 .

[0123] For example, the channel tube 202 is located on a first side of the main housing 201, and the first connecting portion 21 is detachably connected to the channel tube 202 and is located at one end of the channel tube 202 near the main housing 201. For example, the first connecting portion 21 is detachably sleeved on the channel tube 202 through the first opening O1. For example, the first connecting surface 21G contacts the main housing 201 of the puncture device and abuts against the end surface of the main housing 201 of the puncture device connected to the channel tube 202, so that the fixator 10 is more firmly connected to the puncture device. Alternatively, in other examples, the first connecting portion 21 can also be snap-fitted to the channel tube 202. As long as the first connecting portion 21 can be detachably connected to the channel tube 202, the disclosed embodiments do not limit the connection method between the two.

[0124] about Figure 7BFor the puncture assembly 100 shown, other features and technical effects not mentioned, such as the support of the main body 1 to the main shell of the puncture device, can refer to the description in the previous embodiment.

[0125] Figure 8A This is a structural diagram of another type of fixer provided by an embodiment of the present disclosure. Figure 8B for Figure 8A A schematic diagram of the fixture shown from another angle. Figures 8A-8B The shown retainer is Figure 7A The illustrated holder has the following differences: The body 1 of the holder 10 further comprises a rear end opposite to its front end in the third direction D3, and a first connecting portion 21 is located at the rear end of the body 1 in the third direction D3.

[0126] For example, Figures 8A-8B As shown, the first connecting portion 21 includes a second opening O2 extending along the third direction D3 through the first connecting portion 21. When the holder 10 provided in this embodiment is mounted on a trocar, the second opening O2 is used to allow surgical instruments (including the channel tube 202, a scalpel, an endoscope, etc.) on the trocar main housing to pass through the second opening O2, serving as a passage for the surgical instruments.

[0127] For example, the first connecting portion 21 includes a second plate 21B, which is connected to the main body 1 and generally protrudes from the main body 1 along the first direction D1. The main surface of the second plate 21B is substantially perpendicular to the third direction D3, and the second opening O2 extends through the second plate 21B along the third direction D3. Of course, the first connecting portion 21 may also not include the second plate 21B, as long as it includes the second opening O2.

[0128] For example, the first connecting portion 21 has a second connecting surface 21C facing the rear end of the main body 1 and a back surface 21D opposite the second connecting surface 21C. A connecting member for connecting to a trocar is provided on the second connecting surface 21C, such as a protrusion 21E1 / 21E2. The protrusion 21E1 / 21E2 is configured to mate with a corresponding connecting structure on the trocar to enhance the stability of the connection between the holder and the trocar.

[0129] For example, the protrusions 21E1 / 21E2 include a first protrusion 21E1 and a second protrusion 21E2, which are respectively located on either side of the second opening O2 in the second direction D2. The first protrusion 21E1 and the second protrusion 21E2 are both configured to engage with corresponding structures on the trocar to enhance the stability of the connection between the holder and the trocar.

[0130] Figure 8C An embodiment of the present disclosure provides a method for Figures 8A-8BThe schematic diagram of the structure of the puncture assembly of the fixator is shown. Figure 8C As shown, the channel tube 202 is located on a first side of the main housing 201 , and the first connecting portion 21 is detachably mounted on a second side of the main housing 201 opposite to the first side.

[0131] For example, combined with Figure 8C and Figures 3C-3D The main housing 201 of the puncture device 20 includes a fixing surface 205, which is located on a second side of the main housing 201 opposite to the first side thereof and is configured to be detachably connected to a puncture blade member for performing a puncture operation when the first connecting portion is not installed; the first connecting portion 21 is configured to be installed on the second side of the main housing 201 and detachably connected to the fixing surface 205. Figure 3D As shown, for example, the puncture knife component includes a puncture rod 203 and a handle 206 connected to the end of the puncture rod 203 opposite to the puncture end for puncture, and the end surface 206A of the handle 206 facing the puncture rod 203 is provided with a puncture knife connection structure. The fixing surface 205 is provided with a fixing groove 21F1 / 21F2. If it is not installed Figures 8A-8B In the illustrated holder 10, the fixing grooves 21F1 / 21F2 can be used to secure the lancet component. For example, the fixing grooves 21F1 / 21F2 are matingly connected to the lancet connection structure, thereby removably securing the end surface 206A of the handle 206 to the fixing surface 205. For example, the fixing grooves 21F1 / 21F2 can be snap-fitted to the lancet connection structure, which is a snap-fitting member protruding from the end surface 206A. The specific design can be determined based on actual needs.

[0132] For example, Figures 8A-8B As shown, the first connecting portion 21 has a connecting surface 21C facing the fixing surface 205. Protrusions 21E1 / 21E2 are provided on the connecting surface 21C. Protrusions 21E1 / 21E2 are configured to be removably mounted in fixing grooves 21F1 / 21F2 to removably secure the first connecting portion 21 to the fixing surface 205. This utilizes fixing groove 21C of the trocar 20 to securely connect the anchor 10 to the trocar 20. As described below, connecting the anchor 10 to the trocar 20 does not affect subsequent puncture and surgical procedures.

[0133] For example, Figures 3C-3DAs shown, the fixing groove 21F1 / 21F2 includes a first fixing groove 21F1 and a second fixing groove 21F2, and the first fixing groove 21F1 and the second fixing groove 21F2 are respectively located on both sides of the openable sealing hole H, for example, respectively located on both sides of the openable sealing hole H in the second direction D2; the protrusion 21E1 / 21E2 includes a first protrusion 21E1 and a second protrusion 21E2, and the first protrusion 21E1 and the second protrusion 21E2 are respectively located on both sides of the second opening O2, so that the first protrusion 21E1 and the second protrusion 21E2 are respectively matched with the first fixing groove 21F1 and the second fixing groove 21F2, thereby realizing a detachable connection between the fixator 10 and the puncture device 20, as shown in FIG. Figure 8C shown.

[0134] For example, Figures 3C-3D As shown, the fixing surface 205 of the main housing 201 of the trocar 20 includes an openable and closable sealing hole H, which is aligned with the tube opening of the channel tube 202 along the third direction D3, so that Figure 8C As shown, when Figures 8A-8B After the illustrated holder 10 is connected to the puncture device 20, the puncture rod 203 can be sequentially passed along the first direction D1 through the second opening O2, the retractable sealing hole H, the internal cavity of the main housing 201, and the channel tube 202. For example, the puncture rod 203 can be inserted into the main housing 201 and the channel tube 202 by holding the handle 206. The puncture end of the puncture rod 203 emerges from the end of the channel tube 202 away from the main housing 201. The working end of the puncture rod 203 and the end of the channel tube 202 away from the main housing 201 penetrate into the cavity of the surgical object, such as a patient, to complete the perforation of the patient's cavity wall. The puncture rod 203 is then removed from the main housing 201 and the channel tube 202, while the channel tube 202 remains stable, thus forming a passage for subsequent surgical instruments to enter the cavity. When the puncture rod 203 is passed through the second opening O2, the open-close sealing hole H, the internal cavity of the main shell 201, and the channel tube 202 in sequence along the first direction D1, the open-close sealing hole H opens; after the puncture rod 203 is pulled out of the main shell 201 and the channel tube 202, the open-close sealing hole H closes to maintain the air pressure in the cavity, which is used to maintain the cavity to provide sufficient space for surgery. For example, an elastic material or an openable blade is provided in the open-close sealing hole H. Subsequently, a scalpel 204 or a laparoscope 204 for acquiring image information in the cavity (in the case where different surgical instruments enter the cavity by passing through the puncture device, the reference numeral 204 represents different surgical instruments, for example, the reference numeral 204 can represent a scalpel or a laparoscope) can be passed through the second opening O2, the open-close sealing hole H, the internal cavity of the main shell 201, and the channel tube 202 in sequence to enter the cavity to perform surgery on the target tissue in the cavity.

[0135] about Figure 8CFor the puncture assembly 100 shown, other features and technical effects not mentioned, such as the support of the main body 1 to the main shell of the puncture device, etc., refer to the description in the previous embodiments.

[0136] Figure 9A This is a structural diagram of another type of fixer provided by an embodiment of the present disclosure. Figure 9B for Figure 9A A schematic diagram of the fixture from another angle is shown. Figure 9C for Figure 9A A schematic diagram of the fixture shown at another angle. Figures 9A-9C The fastener 10 shown is Figures 1A-1B The second connection portion of the shown fixture is different from that of the previous embodiments. Figures 9A-9C The first connecting portion 21 and the second connecting portion 22 of the fixing device 10 are both located on the first side of the main body 1. Figures 9A-9C In the embodiment shown, the entire extension direction of the first connection portion 21 is substantially parallel to the entire extension direction of the second connection portion 22. Of course, in other embodiments, the entire extension direction of the first connection portion 21 and the entire extension direction of the second connection portion 22 may have an angle therebetween, for example, the angle is 0 to 90 degrees. In these cases, it can be considered that the first connection portion 21 and the second connection portion 22 are both located on the first side of the main body 1. For example, Figures 9A-9C In the embodiment shown, the second connection portion 22 includes a sub-body 223, a third sub-connection portion 221 and a fourth sub-connection portion 222; the sub-body 223 is connected to the main body 1, and the third sub-connection portion 221 and the fourth sub-connection portion 222 are connected to the sub-body 223 and are located on the side of the sub-body 223 away from the main body 1, thereby facilitating the connection of the third sub-connection portion 221 and the fourth sub-connection portion 222 to the connection structure 3 at the front end of the surgical operating arm 5 of the surgical robot. The specific structure of the connection structure 3 can be any one of the above embodiments, or it can be a connection structure on the da Vinci surgical robot (similar to the connection structure on the da Vinci surgical robot). Figure 4B The connecting structure 3 shown in FIG. 3 may be designed to cooperate with the connecting structure 3 to form a third sub-connecting portion 221 and a fourth sub-connecting portion 222, such as a snap-fit ​​connection.

[0137] For example, Figures 9A-9C As shown, the second connecting portion 22 includes a third opening O3 extending through the second connecting portion 22 along the third direction D3. For example, the third opening O3 extends through the sub-body 223 along the third direction D3. When the holder 10 provided in this embodiment is mounted on a trocar, the third opening O3 is used to allow surgical instruments on the trocar main housing to pass through the third opening O3, serving as a passage for the surgical instruments. This serves a similar function to the second opening O2 described above.

[0138] The specific structures of the third sub-connecting portion 221 and the fourth sub-connecting portion 222 may be the same as those in the previous embodiment, and please refer to the previous description.

[0139] Figure 9D An embodiment of the present disclosure provides a method for Figures 9A-9C The schematic diagram of the structure of the puncture assembly of the fixator is shown. Figures 3C-3D The structure of the trocar is the same as that in the previous embodiment. Figure 9D In the puncture assembly 100 shown in FIG, the connection relationship between the first connecting portion 21 and the puncture device, the main body and the Figure 3A The same as in, please refer to the previous description in Figure 9D During the operation of the puncture assembly shown in FIG, the fixed surface of the main housing 201 of the puncture device includes an openable and closable sealing hole H (the openable and closable sealing hole H is as shown in FIG. Figure 3D As shown, in Figure 9D The opening and closing sealing hole is aligned with the opening of the channel tube along the third direction D3, thereby enabling the puncture rod 203 to be sequentially passed through the third opening O3 opening and closing sealing hole, the internal cavity of the main housing 201, and the channel tube 202 along the first direction D1. For example, the puncture rod 203 can be inserted into the main housing 201 and the channel tube 202 by holding the handle 206. The puncture end of the puncture rod 203 emerges from the end of the channel tube 202 away from the main housing 201. The working end of the puncture rod 203 and the end of the channel tube 202 away from the main housing 201 penetrate into the cavity of the surgical object, such as a patient, to complete the perforation of the patient's cavity wall. Then, after the puncture rod 203 is pulled out of the main housing 201 and the channel tube 202, the channel tube 202 remains in a stable position, thereby forming a channel for subsequent surgical instruments to enter the cavity. When the puncture rod 203 is passed through the third opening O3, the open-close sealing hole H, the internal cavity of the main shell 201 and the channel tube 202 in sequence along the first direction D1, the open-close sealing hole H is opened; after the puncture rod 203 is pulled out of the main shell 201 and the channel tube 202, the open-close sealing hole H is closed to maintain the air pressure in the cavity, and the cavity is maintained by the air pressure to provide sufficient space for surgery. For example, an elastic material or an openable blade is provided in the open-close sealing hole H. Subsequently, a scalpel 204 or a laparoscope 204 for acquiring image information in the cavity (in the case where different surgical instruments 204 enter the cavity by passing through the puncture device, the reference numeral 204 represents different surgical instruments, for example, the reference numeral 204 can represent surgical instruments such as a scalpel or a laparoscope) can be passed through the third opening O3, the open-close sealing hole H, the internal cavity of the main shell 201 and the channel tube 202 in sequence to enter the cavity to perform surgery on the target tissue in the cavity. Figure 9D The third opening O3 can also provide stable support for the surgical instrument 204.

[0140] At least one embodiment of the present disclosure further provides a surgical robot, comprising: a surgical operating arm, and any one of the fixators provided in the embodiments of the present disclosure, wherein the fixator is detachably connected to the robotic arm.

[0141] like Figure 2A As shown, the surgical operating arm 5 of the surgical robot includes a front end 51 away from the patient during surgery and a rear end 52 close to the patient. When the fixture is in use, the first connecting portion 21 is detachably connected to the main housing 201 of the puncture device, for example, by plugging, and the second connecting portion 22 is detachably connected to the connecting structure 3 of the front end 51 of the surgical operating arm 5 of the surgical robot, for example, by snapping. For example, the connecting structure 3 is connected to the sliding device 4 located at the front end of the surgical operating arm 5, and the rod of the scalpel or the laparoscope used to obtain image information in the chamber can be configured to slide along the track on the sliding device 4 to move toward the rear end of the surgical operating arm 5 and enter the puncture device, and then enter the chamber.

[0142] The connection between the fixator 10 and the surgical operating arm 5 of the surgical robot includes an indirect connection and a direct connection. For example, the surgical operating arm includes a front end away from the surgical object and a rear end close to the surgical object during the operation. The second connecting portion 22 of the fixator 10 is connected to the connecting structure at the front end of the surgical operating arm, thereby realizing an indirect connection between the second connecting portion 22 and the surgical operating arm of the surgical robot. For example, the surgical robot also includes an isolation cover bag (for example, a plastic cover bag) that covers the surgical operating arm from the front end to the rear end to isolate it from the external environment, thereby isolating bacteria and other contaminants from the external environment, and the connecting structure at the front end of the surgical operating arm is sealed with the isolation cover bag.

[0143] For example, a surgical robot includes multiple surgical manipulator arms, and the fixator 10 provided in an embodiment of the present disclosure is connected to one of the multiple surgical manipulator arms. For example, a surgical robot includes four surgical manipulator arms, and the fixator 10 provided in an embodiment of the present disclosure is connected to one of the four surgical manipulator arms.

[0144] Other structures of the surgical robot may refer to conventional technologies in the field, and the embodiments of the present disclosure are not limited to this.

[0145] The above description is merely an exemplary embodiment of the present invention and is not intended to limit the scope of protection of the present invention. The scope of protection of the present invention is determined by the appended claims.

Claims

1. A fastener comprising: main body; a first connecting portion connected to the main body; as well as a second connecting portion connected to the main body, wherein the first connecting portion is configured to be detachably connected to the puncture device, and the second connecting portion is configured to be detachably connected to the surgical operating arm of the surgical robot; The subject includes: a main groove recessed along a first direction toward the second side of the main body, wherein the main groove has a bottom wall, a first side wall intersecting the bottom wall, and a second side wall; The first side wall has a first bearing surface away from the bottom wall and the second side wall has a second bearing surface away from the bottom wall; The first connecting portion includes: a first sub-connecting portion connected to the main body and protruding from the main body along the first direction as a whole; a second sub-connection portion, connected to the main body and protruding from the main body along the first direction as a whole, arranged side by side with the first sub-connection portion and spaced apart from the first sub-connection portion; The first sub-connecting portion includes a first columnar portion extending along the first direction; The second sub-connecting portion includes a second columnar portion extending along the first direction; The first sub-connecting portion further includes a first bottom portion, the first bottom portion is located between the first columnar portion and the main body and is connected to the first columnar portion and the main body, the first bottom portion includes a first overlapping portion and a first non-overlapping portion, the orthographic projection of the first overlapping portion on a plane perpendicular to the first direction coincides with the orthographic projection of the first columnar portion on a plane perpendicular to the first direction, the orthographic projection of the first non-overlapping portion on a plane perpendicular to the first direction does not coincide with the orthographic projection of the first columnar portion on a plane perpendicular to the first direction and is located outside the orthographic projection of the first columnar portion, and the first non-overlapping portion includes a first sub-bearing surface away from the main body; The second sub-connecting portion also includes a second bottom, which is located between the second columnar portion and the main body and connected to the second columnar portion and the main body. The second bottom includes a second overlapping portion and a second non-overlapping portion. The orthographic projection of the second overlapping portion on a plane perpendicular to the first direction coincides with the orthographic projection of the second columnar portion on a plane perpendicular to the first direction. The orthographic projection of the second non-overlapping portion on a plane perpendicular to the first direction does not coincide with the orthographic projection of the second columnar portion on a plane perpendicular to the first direction and is located outside the orthographic projection of the second columnar portion. The second non-overlapping portion includes a second sub-bearing surface away from the main body.

2. The fastener according to claim 1, wherein: The first connection portion is located on a first side of the main body, the second connection portion is located on a second side of the main body, and the second side of the main body is opposite to the first side of the main body in a first direction; or The first connection portion and the second connection portion are both located on the first side of the main body.

3. The fastener according to claim 1, wherein: A cross section of the main groove along the first direction is U-shaped.

4. The fastener according to claim 1, wherein: The first sub-connecting portion is connected to the first bearing surface and protrudes from the first bearing surface along the first direction; The second sub-connecting portion is connected to the second supporting surface and protrudes from the second supporting surface along the first direction.

5. The fixator according to any one of claims 1 to 4, wherein: The second connecting portion includes: a third sub-connection portion, comprising a first mating connection end away from the main body, wherein the first mating connection end is provided with a first mating connector, and the first mating connector is configured to be detachably connected to a surgical operating arm of the surgical robot; and The fourth sub-connection portion includes a second mating connection end away from the main body, wherein the second mating connection end is provided with a second mating connection piece, and the second mating connection piece is configured to be detachably connected to the surgical operating arm of the surgical robot.

6. The fastener according to claim 3, wherein: The first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; In a case where both the first connection portion and the second connection portion are located on the first side of the main body, the second connection portion includes a second opening penetrating the second connection portion along the third direction.

7. A puncture assembly comprising: Trocar; as well as The fixator according to any one of claims 1 to 6, wherein the fixator is detachably connected to the puncture device.

8. The puncture assembly according to claim 7, wherein: In the case where the first connecting portion is located on the first side of the main body, the second connecting portion is located on the second side of the main body, and the second side of the main body is opposite to the first side of the main body in the first direction, or the first connecting portion and the second connecting portion are both located on the first side of the main body, and the main body includes a main groove, the main groove is recessed along the first direction toward the second side of the main body, the main groove has a bottom wall, a first side wall and a second side wall intersecting the bottom wall, the first side wall has a first bearing surface away from the bottom wall, and the second side wall has a second bearing surface away from the bottom wall, The first bearing surface and the second bearing surface are configured to bear the piercer, and the main groove is configured to accommodate at least a portion of the piercer.

9. The puncture assembly according to claim 8, wherein: The puncture device includes a main shell having an internal chamber and a channel tube connected to the internal chamber of the main shell, the channel tube is located on a first side of the main shell, the first bearing surface and the second bearing surface are configured to support the main shell, and the main groove is configured to accommodate at least a portion of the main shell.

10. The puncture assembly according to claim 9, wherein: The first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; The channel tube is located on a first side of the housing in a third direction and extends along the third direction; The main housing is substantially axisymmetric with respect to the axis of symmetry along the third direction, and the first side wall of the main groove and the second side wall of the main groove are substantially axisymmetric with respect to the axis of symmetry along the third direction.

11. The puncture assembly according to claim 9, wherein: The first connecting portion is disposed on the main housing and is configured to be detachably connected to the main housing.

12. The puncture assembly according to claim 11, wherein When the first connecting portion includes a first sub-connecting portion and a second sub-connecting portion, the first sub-connecting portion is connected to the main body and protrudes from the main body along the first direction as a whole, and the second sub-connecting portion is connected to the main body and protrudes from the main body along the first direction as a whole, and is arranged side by side with the first sub-connecting portion and spaced apart, The main housing of the trocar comprises: a first suture hole, wherein the first sub-connection portion is configured to be mountable in the first suture hole to be detachably connected to the main housing; A second suture hole, wherein the second sub-connection portion is configured to be mountable in the second suture hole to be detachably connected to the main housing.

13. The puncture assembly according to claim 9, wherein: The first connecting portion is detachably mounted on the first side of the main housing.

14. The puncture assembly according to claim 13, wherein: The first connecting portion is detachably connected to the channel tube and is located at one end of the channel tube close to the main shell.

15. The puncture assembly according to claim 9, wherein The passage tube is located at a first side of the main housing, and the first connecting portion is detachably mounted on a second side of the main housing opposite to the first side.

16. The puncture assembly according to claim 15, wherein: The main housing of the puncture device includes a fixing surface, which is located on a second side of the main housing opposite to the first side thereof and is configured to be detachably connected to a puncture blade member for performing a puncture operation when the first connecting portion is not installed; The first connecting portion is configured to be mounted on the second side of the main housing and detachably connected to the fixing surface.

17. The puncture assembly according to claim 16, wherein: The first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; When the first connecting portion includes a first opening that passes through the first connecting portion along the third direction, the fixed surface of the main shell of the puncture device includes an openable and closable sealing hole, and the openable and closable sealing hole is aligned with the tube mouth of the channel tube along the third direction. The puncture knife component can pass through the first opening, the openable and closable sealing hole, the internal chamber of the main shell and the channel tube in sequence along the third direction.

18. The puncture assembly according to claim 17, wherein: The first connecting portion has a connecting surface facing the fixing surface, the connecting surface is provided with a protrusion, the fixing surface is provided with a fixing groove, and the fixing groove is used to fix the puncture knife component; The protrusion is configured to be detachably mounted in the fixing groove to detachably fix the first connecting portion to the fixing surface.

19. The puncture assembly according to claim 9, wherein: The first side wall of the main groove is opposite to the second side wall of the main groove in a second direction, the second direction is perpendicular to the first direction, and the direction perpendicular to the first direction and the second direction is a third direction; In the case where both the first connection portion and the second connection portion are located on the first side of the main body, and the second connection portion includes a second opening penetrating the second connection portion along the third direction, The fixed surface of the main shell of the puncture device includes an openable and closable sealing hole, which is aligned with the tube mouth of the channel tube along the third direction. The puncture knife component can pass through the third opening, the openable and closable sealing hole, the internal chamber of the main shell and the channel tube in sequence along the third direction.

20. A surgical robot comprising: surgical operating arms; as well as The fixator according to any one of claims 1 to 6, wherein the fixator is detachably connected to the surgical operating arm.

21. The surgical robot according to claim 20, wherein: The fixator is indirectly connected to the surgical operating arm; or, The fixator is directly connected to the surgical operating arm.

22. The surgical robot according to claim 20, wherein: The surgical robot includes a plurality of surgical operating arms, and the fixator is connected to one of the plurality of surgical operating arms.

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