Piercing device, passive surgical instrument and surgical instrument module

Abstract

The present application relates to a kind of puncture device, passive surgical instrument and surgical instrument module, including device body, device body has at least one first instrument channel and at least one second instrument channel, first instrument channel is configured to be used for assembling active surgical instrument, second instrument channel is configured to be used for assembling passive surgical instrument.Facing complex surgery, the puncture device can be used in second instrument channel during surgery at least one manually controlled passive surgical instrument, passive surgical instrument can rely on second instrument channel to form relatively fixed position on puncture device, and be manually controlled by doctor, both can ensure that passive surgical instrument is assembled and does not form path mutual interference with original active surgical instrument, ensure surgical safety, and also can make the surgical operation of passive surgical instrument based on the manual control of doctor have considerable degree of flexibility, effectively assist the progress of surgery, improve surgical success rate, solve the complex problems faced by surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a puncture device, a passive surgical instrument, and a surgical instrument module. Background Technology

[0002] With the development of medical technology, single-port laparoscopic minimally invasive surgery is becoming increasingly widely used in laparoscopic surgery due to its advantages such as smaller incisions and faster recovery. Currently, single-port laparoscopic minimally invasive surgery typically requires 2-3 instruments and one endoscope, among other active surgical instruments, to work collaboratively within the operating space. These instruments are assembled using a trocar and actively controlled by a surgical robot. However, for more complex single-port laparoscopic minimally invasive surgeries, the active control capabilities of the surgical robot are somewhat insufficient, necessitating the use of passive surgical instruments manually operated by the surgeon. However, the large number of instruments used can easily lead to interference between different instruments, affecting the safety of the surgery. Summary of the Invention

[0003] Therefore, it is necessary to provide a puncture device, a passive surgical instrument, and a surgical instrument module to address the technical problem of insufficient surgical safety.

[0004] This invention provides a puncture device, the puncture device comprising:

[0005] The device body has at least one first instrument channel and at least one second instrument channel, the first instrument channel being configured for mounting active surgical instruments and the second instrument channel being configured for mounting passive surgical instruments.

[0006] In one embodiment, the first instrument channel has a first axis, and the active surgical instrument is axially mounted in the first instrument channel along the first axis.

[0007] And / or, the second instrument channel has a second axis, the passive surgical instrument is axially mounted within the second instrument channel along the second axis, and the passive surgical instrument is capable of deflection relative to the second axis within the second instrument channel.

[0008] In one embodiment, the first axis and the second axis are parallel to each other; or, the second axis has an angle of inclination relative to the first axis.

[0009] In one embodiment, the inner wall of the first instrument channel is a rigid inner wall, and the active surgical instrument is axially movable along the rigid inner wall of the first instrument channel; and / or,

[0010] At least a portion of the inner wall of the second instrument channel is a flexible inner wall, the passive surgical instrument is axially movable along the flexible inner wall of the second instrument channel, and the passive surgical instrument can deflect relative to the second axis through the flexible inner wall of the second instrument channel.

[0011] In one embodiment, the puncture device includes:

[0012] A first flexible sleeve is disposed within the first instrument channel; and / or,

[0013] A second flexible sleeve is disposed within the second instrument channel, and the inner wall of the second instrument channel is formed by the second flexible sleeve as the flexible inner wall of the second instrument channel.

[0014] In one embodiment, the second flexible sleeve is detachably assembled relative to the second instrument channel.

[0015] In one embodiment, the number of the second instrument channels is at least two, and the inner walls of the at least two second instrument channels have at least one rigid inner wall and at least one flexible inner wall.

[0016] In one embodiment, the device body includes:

[0017] The inner sleeve, wherein the first instrument channel and the second instrument channel are formed in the inner sleeve;

[0018] An outer sleeve is fitted outside the inner sleeve, and an air-suppressing channel is formed between the inner sleeve and the outer sleeve;

[0019] A valve, connected to the pneumoperitoneum passage, is used to control the opening and closing of the pneumoperitoneum passage.

[0020] The present invention also provides a passive surgical instrument suitable for assembly with the trocar, the passive surgical instrument comprising:

[0021] A main component, the main component being configured to pass through the second instrument channel;

[0022] The end component is detachably mounted at the distal end of the main component;

[0023] The gripping component is detachably mounted to the proximal end of the main body component.

[0024] In one embodiment, the main body component is a rigid structure; or, at least a portion of the main body component is a flexible structure.

[0025] In one embodiment, a first mounting base and a first mounting head are respectively provided at the proximal end of the main body component and the distal end of the holding component, the first mounting base and the first mounting head being detachably assembled; and / or,

[0026] The distal end of the main component and the proximal end of the end component are respectively provided with a second mounting base and a second mounting head, and the second mounting base and the second mounting head are detachably assembled.

[0027] The present invention also provides a surgical instrument module, comprising:

[0028] The puncture device;

[0029] An active surgical instrument is positioned within the first instrument channel of the trocar.

[0030] The passive surgical instrument is disposed within the second instrument channel of the trocar.

[0031] In the aforementioned trocar, passive surgical instrument, and surgical instrument module, for complex surgeries, the trocar can insert at least one manually controlled passive surgical instrument through the second instrument channel during the operation. The passive surgical instrument can form a relatively fixed position on the trocar by relying on the second instrument channel and can be manually controlled by the doctor. This ensures that the passive surgical instrument does not interfere with the original active surgical instrument in terms of path after assembly, thus ensuring surgical safety. Moreover, based on the doctor's manual control, the operation of the passive surgical instrument has a considerable degree of flexibility, effectively assisting the operation, improving the success rate of the operation, and solving complex surgical problems that cannot be solved automatically by surgical robots and require doctors to rely on surgical experience. Attached Figure Description

[0032] Figure 1 This is a three-dimensional schematic diagram of a puncture device provided in one embodiment of the present invention;

[0033] Figure 2 For example Figure 1 A schematic diagram of the explosion of the inner cannula of the puncture device shown;

[0034] Figure 3 For example Figure 1 A three-dimensional schematic diagram of the outer sheath of the puncture device shown;

[0035] Figure 4 For example Figure 1 A schematic diagram showing the distribution of the first and second instrument channels of the trocar.

[0036] Figure 5 For example Figure 1 A schematic cross-sectional view of the first and second instrument channels of the trocar shown.

[0037] Figure 6 For example Figure 1 The diagram shows the assembly structure of the puncture device in its usage state;

[0038] Figure 7 A cross-sectional schematic diagram of a puncture device provided in another embodiment of the present invention;

[0039] Figure 8 For example Figure 7 The diagram shows the assembly structure of the puncture device in its usage state;

[0040] Figure 9 A cross-sectional schematic diagram of a puncture device equipped with a second flexible cannula, provided for another embodiment of the present invention;

[0041] Figure 10 A schematic diagram of a trocar equipped with a passive surgical instrument, provided for one embodiment of the present invention;

[0042] Figure 11 A schematic diagram of a trocar equipped with another passive surgical instrument, according to an embodiment of the present invention;

[0043] Figure 12 A schematic diagram of a trocar equipped with yet another passive surgical instrument, according to an embodiment of the present invention;

[0044] Figure 13 This is a schematic diagram of the deflection motion of a passive surgical instrument in a trocar according to an embodiment of the present invention;

[0045] Figure 14 A schematic diagram of a passive surgical instrument with a flexible structure provided in one embodiment of the present invention;

[0046] Figure 15 An assembly as provided in one embodiment of the present invention is Figure 17 A schematic diagram of the trocar of a passive surgical instrument shown;

[0047] Figure 16 For example Figure 14 The diagram shows the assembly structure of a passive surgical instrument in its operational state.

[0048] Figure 17 A schematic diagram showing the distribution of the first and second instrument channels of a puncture device provided in another embodiment of the present invention;

[0049] Figure 18 For example Figure 17 The diagram shows a structural schematic of a passive surgical instrument assembly for a puncture device.

[0050] Figure 19This is an exploded view of a passive surgical instrument provided in one embodiment of the present invention;

[0051] Figure 20 For example Figure 19 A partial schematic diagram of the passive surgical instrument shown;

[0052] Figure 21 For example Figure 19 Another partial schematic diagram of the passive surgical instruments shown.

[0053] Icon labels:

[0054] 100. Device body; 200. Second flexible sheath; 300. Active surgical instrument; 400. Passive surgical instrument;

[0055] 110. First instrument channel; 120. Second instrument channel; 130. Inner cannula; 140. Outer cannula; 150. Valve;

[0056] 111. First axis; 121. Second axis;

[0057] 131. Pneumoperitoneum passage;

[0058] 410. Main body component; 420. End component; 430. Holding component;

[0059] 411. First assembly base; 412. First assembly head; 413. Second assembly base; 414. Second assembly head. Detailed Implementation

[0060] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0061] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0063] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0065] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0066] See Figures 1 to 6As shown, an embodiment of the present invention provides a puncture device, the puncture device including a device body 100, the device body 100 having at least one first instrument channel 110 and at least one second instrument channel 120, the first instrument channel 110 being configured for mounting an active surgical instrument 300, and the second instrument channel 120 being configured for mounting a passive surgical instrument 400. It should be noted that the active surgical instrument 300 is a surgical instrument that needs to be actively controlled by the surgical robot. The active surgical instrument 300 does not use a manual control method. Therefore, the active surgical instrument 300 is proactive in the surgical operation relative to the target object. In contrast, the passive surgical instrument 400 is a surgical instrument that does not use a surgical robot for active control. The passive surgical instrument 400 does not have a control structure that can be relatively controlled and assembled with the surgical robot. Therefore, the surgical robot cannot form a control assembly with the passive surgical instrument 400 and cannot actively control the passive surgical instrument 400 to perform surgical operations. The passive surgical instrument 400 is a surgical instrument specifically designed for manual control. Due to the special nature of its structure and the complexity of its structural design, the passive surgical instrument 400 can only be controlled manually. Therefore, it is a surgical instrument that requires passive control.

[0067] For example, the active surgical instrument 300 may include endoscopes that can be controlled and assembled with a surgical robot, while the passive surgical instrument 400 may include surgical forceps that cannot be controlled and assembled with a surgical robot and can only be operated manually. Those skilled in the art can select appropriate active surgical instruments 300 and passive surgical instruments 400 according to the type of surgery and the actual needs of the surgery, without limitation.

[0068] This trocar is designed to be integrated with a surgical robot. Specifically, it needs to be mounted on the surgical robot, and an active surgical instrument 300 is inserted into its first instrument channel 110. The surgical robot then controls the active surgical instrument 300 to perform the corresponding surgical procedure on the target patient. Compared to conventional trocars used with surgical robots, this trocar, in addition to the first instrument channel 110, also has a second instrument channel 120. The second instrument channel 120 is different from the first instrument channel 110. The first instrument channel 110 is for mounting the active surgical instrument 300, while the second instrument channel 120 is for mounting passive surgical instruments. Because the first and second instrument channels 110 are integrated on the trocar body, after being mounted on the surgical robot, the trocar can be used not only to insert active surgical instruments 300 that can be actively controlled by the surgical robot, but also to insert passive surgical instruments 400 that are manually controlled by the surgeon.

[0069] For example, when there are three first instrument channels 110, three active surgical instruments 300 can be conventionally assembled in the first instrument channel 110. The three active surgical instruments 300 can be an endoscope and two surgical instruments that actually perform the surgery. In the face of complex surgeries, the trocar can also use the second instrument channel 120 to insert at least one manually controlled passive surgical instrument 400 during the operation. The passive surgical instrument 400 can form a relatively fixed position on the trocar by relying on the second instrument channel 120 and can be manually controlled by the doctor. This can ensure that the passive surgical instrument 400 does not interfere with the original active surgical instruments 300 in terms of path after assembly, thus ensuring surgical safety. Moreover, based on the doctor's manual control, the operation of the passive surgical instrument 400 can have a considerable degree of flexibility, effectively assisting the operation of the surgery, improving the success rate of the surgery, and solving complex surgical problems that cannot be solved automatically by surgical robots and that require doctors to solve based on surgical experience, thereby achieving functional diversification. In addition, by assembling the active surgical instrument 300 and the passive surgical instrument 400 with the first instrument channel 110 and the second instrument channel 120 of the trocar, a true single-port surgery can be achieved and applied to the matching single-port surgical robot.

[0070] Furthermore, the second instrument channel 120 can ensure that the passive surgical instrument 400 is installed and disassembled relative to the trocar when in use and when not in use. The entire assembly and disassembly process can be carried out during the operation. This allows for timely and flexible selection of whether or not to use the passive surgical instrument 400 as needed for the operation, and also allows for temporary replacement of different types of passive surgical instruments 400. This will provide great flexibility and convenience to the surgical procedure.

[0071] The first instrument channel 110 and the second instrument channel 120 can form corresponding matching channel structures according to the instrument structures of the active surgical instrument 300 and the passive surgical instrument 400, such as a straight cylindrical shape or a curved cylindrical shape, as long as it can ensure that the active surgical instrument 300 passes through the first instrument channel 110 and the passive surgical instrument 400 passes through the second instrument channel 120, so that the active surgical instrument 300 and the passive surgical instrument 400 can perform their surgical functions. There is no limitation here. In one embodiment, the first instrument channel 110 can be a straight cylindrical shape. In this case, the first instrument channel 110 has a first axis 111, which is the central axis of the straight cylindrical shape. According to the direction of the first axis 111, the active surgical instrument 300 can be axially assembled in the first instrument channel 110 along the first axis 111.

[0072] Similarly, the second instrument channel 120 can also be cylindrical. In this case, the second instrument channel 120 has a second axis 121, which is the central axis of the cylindrical shape. Depending on the direction of the second axis 121, the passive surgical instrument 400 can also be axially mounted within the second instrument channel 120. However, based on the differences between the second instrument channel 120 and the first instrument channel 110, and the differences between the passive surgical instrument 400 and the active surgical instrument 300, after being mounted within the second instrument channel 120, the passive surgical instrument 400 can also deflect relative to the second axis 121 within the second instrument channel 120. Therefore, the surgeon can control the passive surgical instrument 400... During surgical procedures, the robot can not only control the passive surgical instrument 400 to move axially along the second instrument channel 120, but also control the passive surgical instrument 400 to deflect within the second instrument channel 120. This allows for flexible control of the passive surgical instrument 400 in complex surgical situations. This complex control method is not only the difference between the passive surgical instrument 400 and the active surgical instrument 300, but also the difference between the second instrument channel 120 and the first instrument channel 110. This can only be achieved through manual control. The active control based on the surgical robot is simply unable to form precise control in complex surgical situations. Forcibly using the surgical robot to actively control the active surgical instrument 300 to perform axial and deflection movements carries a high surgical risk.

[0073] See Figures 5 to 8As shown, the assembly position and orientation of the active surgical instrument 300 and the passive surgical instrument 400 in the trocar are based on the position and orientation of the respective first instrument channels 110 and second instrument channels 120. Therefore, in one embodiment, the first axis 111 and the second axis 121 can be parallel to each other, so that after the active surgical instrument 300 and the passive surgical instrument 400 are assembled in the trocar, they can remain parallel to each other. This can effectively ensure that the active surgical instrument 300 and the passive surgical instrument 400 do not interfere with each other and can each perform their respective surgical operations. Alternatively, the second axis 121 can also have an inclined angle relative to the first axis 111, which can be between 5° and 30°. For example, 5°, 10°, 15°, 20°, 25°, 30°, etc. When the second axis 121 has an angle of inclination relative to the first axis 111 instead of being parallel to each other, the active surgical instrument 300 and the passive surgical instrument 400 can also form a relative tilting relationship. By limiting the relative tilting degree between the active surgical instrument 300 and the passive surgical instrument 400 to a reasonable range, it is not only possible to ensure that the active surgical instrument 300 and the passive surgical instrument 400 do not interfere with each other, but also to provide more possibilities for the operation of the passive surgical instrument 400, so that the passive surgical instrument 400 can be inserted into the target area from more angles to perform complex surgical operations and solve complex surgical problems.

[0074] When the active surgical instrument 300 is assembled within the first instrument channel 110, it can be either movably assembled relative to the first instrument channel 110 or fixedly assembled relative to the first instrument channel 110. When the active surgical instrument 300 is movably assembled relative to the first instrument channel 110, the active surgical instrument 300 is also limited to axial movement along the first axis 111 of the first instrument channel 110. Therefore, the inner wall of the first instrument channel 110 can be a rigid inner wall. The rigid inner wall ensures the fixation of the first axis 111 within the first instrument channel 110, allowing the active surgical instrument 300 to perform stable axial movement along the rigid inner wall of the first instrument channel 110. The axial movement of the active surgical instrument 300 is based on the active control of the surgical robot. At this time, although the inner wall of the first instrument channel 110 is made into a rigid inner wall for the active surgical instrument 300 to pass through, if the surgical robot fails during the operation, in order to ensure the smooth progress of the operation, the active surgical instrument 300 can still be completely removed, and the first flexible sleeve can be installed in the first instrument channel 110 to urgently change the first instrument channel 110 into a channel structure that can pass through the passive surgical instrument 400, so that the doctor can manually complete the entire operation in an emergency.

[0075] When the passive surgical instrument 400 is assembled within the second instrument channel 120, it can move axially or deflect relative to the second instrument channel 120. At this time, the second instrument channel 120 differs from the first instrument channel 110 in that at least a portion of its inner wall is a flexible inner wall; that is, a portion or all of the inner wall of the second instrument channel 120 can be flexible. This flexible inner wall has a deformable effect, allowing the surgeon to manually control the passive surgical instrument 400 and move it towards the patient. When the active surgical instrument 400 is subjected to a force that causes it to deflect, the passive surgical instrument 400 applies the force to the flexible inner wall, causing the flexible inner wall to deform. Thus, while the passive surgical instrument 400 and the flexible inner wall remain in a sealed and fitted assembly state, the deflection movement of the passive surgical instrument 400 is completed. This enables the passive surgical instrument 400 to move axially along the flexible inner wall of the second instrument channel 120, and the passive surgical instrument 400 can also deflect relative to the second axis 121 through the flexible inner wall of the second instrument channel 120.

[0076] It should be noted that when the entire inner wall of the second instrument channel 120 is a flexible inner wall, the passive surgical instrument 400 can deflect in any direction, causing deformation of the corresponding flexible inner wall and allowing it to deflect. However, when only a portion of the inner wall of the second instrument channel 120 is a flexible inner wall, the deflection of the passive surgical instrument 400 is restricted by the location of the flexible inner wall. That is, the passive surgical instrument 400 can only deflect in a direction if there is a flexible inner wall in all directions. Those skilled in the art can select the location and size of the flexible inner wall to meet the deflection requirements of the passive surgical instrument 400, which is not limited here. The deflection range of the passive surgical instrument 400 can be between 0° and 20°, assisting surgical operations within a certain range. The deflection range is related to the radius of the flexible inner wall and the deformation of the material, which is not limited here.

[0077] See Figure 9As shown, the flexible inner wall of the second instrument channel 120 can be implemented in various structural forms. For example, the inner wall of the second instrument channel 120 itself can be set as a flexible inner wall. For instance, a portion of the trocar's structure can be flexible, and the second instrument channel 120 can be formed on the flexible structure of the trocar, thus constituting the flexible inner wall of the second instrument channel 120. Alternatively, an externally mounted second flexible sleeve 200 can be installed within the second instrument channel 120. In this case, the original inner wall of the second instrument channel 120 of the trocar can be a rigid structure, a flexible structure, or a combination of both. That is, the inner wall of the second instrument channel 120 is formed by the second flexible sleeve 200, regardless of the original structure of the inner wall of the second instrument channel 120 of the trocar.

[0078] The second flexible sleeve 200 can be made of flexible insulating materials such as silicone rubber or PTFE. In this case, the second flexible sleeve 200 not only improves the sealing effect of the original channel inner wall, but also allows the passive surgical instrument 400 to have a certain range of movement within the flexible channel, increasing the operability of the passive surgical instrument 400. In one embodiment, the second flexible sleeve 200 is detachably assembled with respect to the second instrument channel 120. Therefore, when a flexible inner wall is required when using the passive surgical instrument 400, the second flexible sleeve 200 can be assembled within the second instrument channel 120; if a flexible inner wall is not required, the second flexible sleeve 200 can be detached from the second instrument channel 120.

[0079] See Figures 10 to 16As shown, for example, when the inner wall of the second instrument channel 120 is originally a rigid structure, the inner wall of the second instrument channel 120 can be made flexible by assembling the second flexible sleeve 200. If the second flexible sleeve 200 is removed, the inner wall of the second instrument channel 120 can also be restored to a rigid structure, which is equivalent to a rigid inner wall. At this time, the second instrument channel 120 has the effect of switching between a flexible inner wall and a rigid inner wall according to the actual situation. The flexible inner wall and the rigid inner wall can be used to assemble different types of passive surgical instruments 400, such as passive surgical instruments 400 that can be used with endoscopes, laparoscopy, etc. Passive surgical instruments 400, such as manipulators, duckbill forceps, needle holders, and electric hooks, generally have a rigid structure. Therefore, they can be used in conjunction with a second instrument channel 120 that has a flexible inner wall. Alternatively, passive surgical instruments 400 can be surgical instruments with locally flexible joints. These passive surgical instruments 400 have movable flexible joints, so they can be used in conjunction with a second instrument channel 120 that has a rigid inner wall. Those skilled in the art can select the installation and removal of the second flexible sleeve 200 according to the type of passive surgical instrument 400 and actual usage requirements to meet different surgical needs.

[0080] Combination Figure 17 and Figure 18 As shown, in another embodiment, the number of second instrument channels 120 can be at least two. Taking two second instrument channels 120 as an example, the inner walls of the two second instrument channels 120 have one rigid inner wall and one flexible inner wall. In this case, those skilled in the art can choose to assemble the two passive surgical instruments 400 into the second instrument channel 120 with the flexible inner wall and the second instrument channel 120 with the rigid inner wall, respectively, according to the type of passive surgical instrument 400 and actual usage requirements, to meet different surgical needs. The actual number of second instrument channels 120 is not limited. Multiple second instrument channels 120 can ensure that they have at least one flexible inner wall and at least one rigid inner wall, so that the second instrument channels 120 can meet the assembly and use of different types of passive surgical instruments 400. Moreover, the flexible inner wall of the second instrument channel 120 can be indirectly constructed using the aforementioned second flexible sleeve 200, or it can be directly constructed using its own material; this is not limited here.

[0081] Continue to refer to Figure 2 and Figure 3As shown, the trocar can be constructed in various structural forms. In one embodiment, the device body 100 includes an inner sleeve 130, an outer sleeve 140, and a valve 150. The first instrument channel 110 and the second instrument channel 120 are formed in the inner sleeve 130. The outer sleeve 140 is fitted outside the inner sleeve 130, and a pneumoperitoneum channel 131 is formed between the inner sleeve 130 and the outer sleeve 140. The valve 150 is connected to the pneumoperitoneum channel 131 and is used to control the opening and closing of the pneumoperitoneum channel 131. In addition, the trocar can also be equipped with necessary sealing components, connecting components, etc. Those skilled in the art can construct the first instrument channel 110 and the second instrument channel 120 in the trocar according to actual needs, which is not limited here.

[0082] See Figures 19 to 21 As shown, the present invention also provides a passive surgical instrument 400, which is a surgical instrument suitable for assembly with the trocar. The passive surgical instrument 400 includes a main body component 410, a distal component 420, and a holding component 430. The passive surgical instrument 400 is characterized in that the main body component 410, the distal component 420, and the holding component 430 are detachable. Therefore, the main body component 410 can be configured to pass through the second instrument channel 120. For example, the proximal or distal end of the main body component 410 has a structure, size, and shape that is slightly smaller or approximately equivalent to the second instrument channel 120, so that the proximal or distal end of the main body component 410 can pass through the second instrument channel 120 and form a relative assembly with the second instrument channel 120. After the main body component 410 is assembled into the second instrument channel 120, the distal end component 420 is detachably assembled into the distal end of the main body component 410, and the holding component 430 is detachably assembled into the proximal end of the main body component 410, thus completing the overall assembly of the passive surgical instrument 400. If you want to remove the passive surgical instrument 400 from the second instrument channel 120, you only need to detach the main body component 410, the distal end component 420 and the holding component 430 relative to each other, and then take the main body component 410 out of the second instrument channel 120.

[0083] The main component 410 is typically a cylindrical structure that can be adapted to the cylindrical structure of the second instrument channel 120. For example, if the main component 410 is a rigid structure, it can be a rigid straight tube. Alternatively, at least a portion of the main component 410 can be a flexible structure. For example, if the main component 410 has a local flexible joint, the flexible joint can also be cylindrical in a straight state to meet the assembly requirements of the second instrument channel 120.

[0084] The detachable assembly between the main component 410, the end component 420, and the holding component 430 can adopt any structural form. For example, in one embodiment, a first mounting base 411 and a first mounting head 412 are respectively provided at the proximal end of the main component 410 and the distal end of the holding component 430. The first mounting base 411 and the first mounting head 412 are detachably assembled. A second mounting base 413 and a second mounting head 414 are respectively provided at the distal end of the main component 410 and the proximal end of the end component 420. The second mounting base 413 and the second mounting head 414 are detachably assembled. The first mounting base 411 and the first mounting head 412 can be assembled using snap-fit, magnetic, threaded, or adhesive methods to facilitate the installation of the sterile bag. Similarly, the second mounting base 413 and the second mounting head 414 can also be assembled using snap-fit, magnetic, threaded, or adhesive methods, without limitation.

[0085] This invention also provides a surgical instrument module, including the trocar, an active surgical instrument 300, and a passive surgical instrument 400. The active surgical instrument 300 is disposed within the first instrument channel 110 of the trocar, and the passive surgical instrument 400 is disposed within the second instrument channel 120 of the trocar. Since the specific structure, functional principles, technical effects, and characteristics of the trocar, active surgical instrument 300, and passive surgical instrument 400 have been described in detail above, they will not be repeated here. Any specific details regarding the trocar, active surgical instrument 300, and passive surgical instrument 400 can be found in the preceding description and will not be elaborated upon here.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A puncture device, characterized in that, The puncture device includes: The device body has at least one first instrument channel and at least one second instrument channel, the first instrument channel being configured for mounting an active surgical instrument, wherein the active surgical instrument is defined as being actively controlled by a surgical robot, and the second instrument channel being configured for mounting a passive surgical instrument, wherein the passive surgical instrument is defined as being controlled by a human. The passive surgical instrument includes a main body, an end part, and a gripping part. The main body is configured to pass through the second instrument channel. The end part is detachably mounted on the distal end of the main body, and the gripping part is detachably mounted on the proximal end of the main body for human gripping and control.

2. The puncture device according to claim 1, characterized in that, The first instrument channel has a first axis, and the active surgical instrument is axially mounted in the first instrument channel along the first axis; And / or, the second instrument channel has a second axis, the passive surgical instrument is axially mounted within the second instrument channel along the second axis, and the passive surgical instrument is capable of deflection relative to the second axis within the second instrument channel.

3. The puncture device according to claim 2, characterized in that, The first axis and the second axis are parallel to each other; or, the second axis has an angle of inclination relative to the first axis.

4. The puncture device according to claim 2, characterized in that, The inner wall of the first instrument channel is a rigid inner wall, and the active surgical instrument is axially movable along the rigid inner wall of the first instrument channel; and / or, At least a portion of the inner wall of the second instrument channel is a flexible inner wall, the passive surgical instrument is axially movable along the flexible inner wall of the second instrument channel, and the passive surgical instrument can deflect relative to the second axis through the flexible inner wall of the second instrument channel.

5. The puncture device according to claim 4, characterized in that, The puncture device includes: A first flexible sleeve is disposed within the first instrument channel; and / or, A second flexible sleeve is disposed within the second instrument channel, and the inner wall of the second instrument channel is formed by the second flexible sleeve as the flexible inner wall of the second instrument channel.

6. The puncture device according to claim 5, characterized in that, The second flexible sleeve is detachably assembled with respect to the second instrument channel.

7. The puncture device according to claim 1, characterized in that, The number of the second instrument channels is at least two, and the inner walls of the at least two second instrument channels have at least one rigid inner wall and at least one flexible inner wall.

8. The puncture device according to claim 1, characterized in that, The device body includes: The inner sleeve, wherein the first instrument channel and the second instrument channel are formed in the inner sleeve; An outer sleeve is fitted outside the inner sleeve, and an air-suppressing channel is formed between the inner sleeve and the outer sleeve; A valve, connected to the pneumoperitoneum passage, is used to control the opening and closing of the pneumoperitoneum passage.

9. A passive surgical instrument, characterized in that, Suitable for assembly with the puncture device as described in any one of claims 1-8.

10. The passive surgical instrument according to claim 9, characterized in that, The main component is a rigid structure; or, at least a portion of the main component is a flexible structure.

11. The passive surgical instrument according to claim 9, characterized in that, A first mounting base and a first mounting head are respectively provided at the proximal end of the main body component and the distal end of the holding component, wherein the first mounting base and the first mounting head are detachably assembled; and / or, The distal end of the main component and the proximal end of the end component are respectively provided with a second mounting base and a second mounting head, and the second mounting base and the second mounting head are detachably assembled.

12. A surgical instrument module, characterized in that, include: The puncture device as described in any one of claims 1-8; An active surgical instrument is positioned within the first instrument channel of the trocar. The passive surgical instrument as described in any one of claims 9-11 is disposed within the second instrument channel of the trocar.

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