Punch card sealing device and minimally invasive surgical robot

Abstract

The application discloses a punch card sealing device and a minimally invasive surgery robot, and the punch card sealing device comprises a channel assembly and a punch card sealing part which is detachably arranged on the channel assembly. The punch card sealing part comprises a sealing upper plate, a sealing lower plate which is fixedly connected with the sealing upper plate, and an instrument via hole which penetrates the sealing upper plate and the sealing lower plate. In the embodiment of the application, the punch card sealing part is composed of the sealing upper plate and the sealing lower plate, so that the punch card sealing device has the advantages of simple structure, small number of parts, low processing and manufacturing and assembly requirements, and the sealing performance between the sealing upper plate and the sealing lower plate is ensured by the upper sealing ring, and the sealing performance between the punch card sealing part and the channel assembly is ensured by the lower sealing ring. In the process of the minimally invasive surgery, air leakage can be prevented and the air pressure in the abdomen can be ensured when the pneumoperitoneum is applied.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a punch card sealing device and a minimally invasive surgery robot. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, in minimally invasive surgery, the difficulty of surgical operation is greatly increased due to the size limitation of minimally invasive instruments, and the fatigue, tremor and other actions of the surgeon during a long operation are magnified, which is a key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the field of minimally invasive medical treatment that can overcome the shortcomings and inherit the advantages of minimally invasive surgery technology has emerged.

[0003] In the process of robot-assisted minimally invasive surgery, a dedicated channel is usually established by a punch card, and the surgeon enters the dedicated channel with a long and slender minimally invasive surgical instrument to perform surgical operation tasks in the abdominal cavity of the human body. In order to increase the space between the abdominal wall and the internal organs, carbon dioxide gas is usually filled into the abdominal cavity, at which time the dedicated channel needs to be closed in the instrument insertion state and after the instrument is pulled out, so as not to leak carbon dioxide gas, and therefore a reasonable sealing structure design of the punch card is required.

[0004] In a Chinese invention patent with the application publication number CN109788971A, a trocar assembly for robot-assisted pressure-regulated laparoscopic surgery is disclosed, which includes an adapter assembly composed of an upper shell and a lower shell. The cover of the upper shell has a latch on both sides for fixing the adapter assembly to the trocar.

[0005] However, the above-mentioned trocar assembly for robot-assisted pressure-regulated laparoscopic surgery has at least the following technical defects:

[0006] 1. The number of parts of the adapter assembly is large, and the structure is complex. The upper and lower shells are buckled, which requires high processing and assembly.

[0007] 2. The latch is an integral component, which requires a large force to unlock, is inconvenient to use, and may deform after long-term use, causing a decrease in locking stability or even failure to lock;

[0008] 3. The duckbill seal is used to seal the instrument channel, but the seal between the seal and the upper shell may also leak, and the sealing effect is difficult to guarantee. SUMMARY

[0009] In view of the deficiencies of the prior art, the application provides a punch card sealing device and a minimally invasive surgical robot with simple structure and good sealing performance.

[0010] To achieve the above object, the application is implemented by the following technical solutions.

[0011] Firstly, the application provides a punch card sealing device, which comprises a channel assembly, a punch card sealing part detachably arranged on the channel assembly, and a locking assembly for connecting the punch card sealing part and the channel assembly.

[0012] The punch card sealing part comprises a sealing plate and an instrument through hole penetrating the sealing plate, the channel assembly is sleeved on the sealing plate, and a lower sealing ring is arranged between the sealing plate and the channel assembly and abuts against the inner circumferential surface of the sealing plate and the channel assembly.

[0013] Further limitation, the punch card sealing device, wherein the sealing plate comprises a sealing upper plate and a sealing lower plate fixedly connected with the sealing upper plate.

[0014] The channel assembly is sleeved on the sealing lower plate, and the lower sealing ring is located between the sealing lower plate and the channel assembly.

[0015] Further limitation, the punch card sealing device, wherein the sealing upper plate and the sealing lower plate are provided with an upper sealing ring abutting against the sealing upper plate and the sealing lower plate, respectively.

[0016] Further limitation, the punch card sealing device, wherein the sealing upper plate comprises:

[0017] an upper plate body;

[0018] a connecting protrusion fixedly arranged on the end face of the upper plate body away from the sealing lower plate;

[0019] The instrument through hole and the connecting protrusion are penetrated, and the punch card sealing part further comprises a sealing seat sleeved on the connecting protrusion and detachable.

[0020] Further limitation, the punch card sealing device, wherein the sealing upper plate comprises:

[0021] a positioning column fixedly arranged on the end face of the upper plate body close to the sealing lower plate, for connecting and positioning the sealing upper plate and the sealing lower plate;

[0022] The sealing lower plate is provided with a positioning hole matched with the positioning column.

[0023] Further limitation, the punch card sealing device, wherein the punch card sealing part further comprises:

[0024] an inflation interface fixedly arranged on the sealing plate and communicated with the instrument through-hole, for supplying gas to the instrument through-hole;

[0025] a valve body arranged on the inflation interface, for controlling the gas flow of the inflation interface.

[0026] Further, the punch card sealing device, wherein the punch card sealing part further comprises:

[0027] a ferromagnetic part arranged on the inner wall of the instrument through-hole;

[0028] a sealing sheet movably arranged in the instrument through-hole and capable of being attracted to the ferromagnetic part.

[0029] Further, the punch card sealing device, wherein the channel assembly comprises a transition sleeve for connecting the punch card sealing part, a clamping seat fixedly arranged on the transition sleeve and used for connecting the instrument motion platform, and a sleeve fixedly arranged on the transition sleeve and communicated with the transition sleeve.

[0030] the locking assembly comprises a locking button elastically rotatably arranged on the punch card sealing part, and a flange fixedly arranged on the transition sleeve.

[0031] The locking button can be buckled with the flange.

[0032] Further, the punch card sealing device, wherein two locking buttons are symmetrically arranged on the punch card sealing part.

[0033] Secondly, the application provides a minimally invasive surgery robot, characterized in that the punch card sealing device is used, and further comprising a doctor master console and a slave operating device, the slave operating device comprising a base and a tool holding arm movably arranged on the base and capable of multi-degree-of-freedom motion, the tool holding arm being provided with an instrument motion platform, and the punch card sealing device being arranged on the instrument motion platform.

[0034] The application has at least the following advantages:

[0035] 1. The sealing performance between the punch card sealing part and the channel assembly is ensured by the lower sealing ring, which can prevent gas leakage and ensure the air pressure in the abdomen during the inflation of the abdomen in the minimally invasive surgery process.

[0036] 2. The punch card sealing part is composed of a sealing upper plate and a sealing lower plate, which has simple structure, less parts, low processing and assembling requirements, and effectively ensures the sealing performance between the sealing upper plate and the sealing lower plate through the upper sealing ring.

[0037] 3. The locking button can be elastically rotated to cooperate with the flange edge to be buckled, so as to realize the connection of the card poking sealing part and the channel assembly, wherein the locking button is unlocked by pressing, and the unlocking force is smaller than the latch structure, and the locking and unlocking are simple. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The specific structure diagram of the minimally invasive surgery robot of the embodiment of the application is shown;

[0039] Figure 2 The specific structure diagram of the card poking sealing device of the embodiment of the application is shown;

[0040] Figure 3 The specific structure diagram of the card poking sealing device of the embodiment of the application is shown;

[0041] Figure 4 The enlarged structure diagram of the "locking assembly" part of the card poking sealing device of the embodiment of the application is shown;

[0042] Figure 5 The structure explosion diagram of the card poking sealing device of the embodiment of the application is shown;

[0043] Figure 6 The structure diagram of the "card poking sealing part 11" part of the card poking sealing device of the embodiment of the application is shown;

[0044] Figure 7 The structure explosion diagram of the "card poking sealing part 11" part of the card poking sealing device of the embodiment of the application is shown;

[0045] Figure 8 The structure explosion diagram of the "sealing upper plate 111" of the card poking sealing device of the embodiment of the application is shown;

[0046] Figure 9 The structure explosion diagram of the "locking button 114" of the card poking sealing device of the embodiment of the application is shown;

[0047] Figure 10 The structure diagram of the "abutting body 1144" part of the card poking sealing device of the embodiment of the application is shown;

[0048] Figure 11 The structure diagram of the "elastic ball top rod 117" of the card poking sealing device of the embodiment of the application is shown;

[0049] Figure 12 The sectional structure diagram of the "elastic ball top rod 117" of the card poking sealing device of the embodiment of the application is shown;

[0050] Figure 13 The structure diagram of the "abutting body 1144" of the card poking sealing device of the embodiment of the application is shown when the "locking assembly" is in the locking and unlocking states;

[0051] Figure 14 Structure diagram of the "locking assembly" in the unlocked state when the "abutting body 1144" of the punch card sealing device in the embodiment of the present application adopts a circular arc surface structure;

[0052] Figure 15 Structure diagram of the "lower sealing plate 112" of the punch card sealing device in the embodiment of the present application;

[0053] Figure 16 Structure diagram of the "lower sealing plate 112" of the punch card sealing device in the embodiment of the present application.

[0054] Reference signs

[0055] Punch card sealing device-10, punch card sealing part-11, sealing seat-110, upper sealing plate-111, upper plate body-1110, connecting protrusion-1111, first instrument through hole-1112, positioning column-1113, mounting hole-1114, ferromagnetic part-1115, limiting step-1116, limiting lug-1117, lower sealing plate-112, lower plate body-1120, inflation interface-1121, valve body-1122, positioning hole-1123, second instrument through hole-1124, first annular sealing groove-1125, connecting lug-1126, first shaft hole-1127, second annular sealing groove-1128, sealing sheet-113, locking button-114, button body-11, lifting column-40, rotating shaft-1141, second shaft hole-1142, buckling body-1143, abutting body-1144, unlocking plane-1144a, locking plane-1144b, transition arc surface-1144c, upper sealing ring-115, lower sealing ring-116, ball top rod-117, top rod body-1171, limiting sleeve-1172, unlocking ball-1173, stroke cavity-1174, return spring-1175, channel assembly-12, flange edge-120, transition sleeve-121, clamping seat-122, sleeve-123, instrument movement platform-20, instrument holding arm-30, lifting column-40, trolley handle-50, base-60. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0057] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in a "or" relationship.

[0058] The punch card sealing device and the minimally invasive surgical robot provided by the embodiments of the present application will be described in detail below in combination with the drawings, through specific embodiments and application scenarios.

[0059] As Figure 1 shown, the present application provides a minimally invasive surgical robot, which includes a doctor master console (not shown in the figure) and a slave operating device. The doctor master console is the control center of the minimally invasive surgical robot, and a surgeon sits at the doctor control platform to control the slave operating device with eyes, hands and feet through two master hands and foot pedals.

[0060] The slave operating device is the execution part of the minimally invasive surgical robot, which is used to convert the doctor's instructions into operation actions of surgical instruments. It includes a base 60, the base 60 is provided with a lifting column 40 and a trolley handle 50 away from the bottom side, the lifting column 40 is provided with a liftable instrument holding arm 30, the instrument holding arm 30 is provided with an instrument connecting part at the end away from the lifting column 40, and the instrument connecting part includes an instrument movement platform 20 and a punch card sealing device 10 arranged on the instrument movement platform 20.

[0061] It can be understood that the slave operating device includes a plurality of instrument holding arms 30 and a mirror holding arm, that is, the instrument holding arms 30 and the instrument connecting part of the general slave operating device are multiple, and Figure 1 only one instrument holding arm 30 is shown in the figure for the sake of simplicity of the specific technical features of the minimally invasive surgical robot.

[0062] As Figures 2 to 16 shown, the present application provides a punch card sealing device 10, which includes a channel assembly 12 and a punch card sealing part 11 detachably arranged on the channel assembly 12, and the punch card sealing part 11 is provided with a locking assembly for realizing the connection between the punch card sealing part 11 and the channel assembly 12.

[0063] The seal card sealing part 11 comprises a sealing plate, the sealing plate comprises a sealing upper plate 111 and a sealing lower plate 112 connected with the sealing upper plate 111, the sealing upper plate 111 comprises an upper plate body 1110, a connecting protrusion 1111 is arranged on the side end face of the upper plate body 1110 away from the sealing lower plate 112, a first instrument through hole 1112 penetrating through the upper plate body 1110 is arranged on the connecting protrusion 1111, the sealing lower plate 112 comprises a lower plate body 1120, a second instrument through hole 1124 communicating with the first instrument through hole 1112 is arranged on the lower plate body 1120, a first annular sealing groove 1125 surrounding the side opening of the second instrument through hole 1124 is arranged on the side end face of the lower plate body 1120 close to the sealing upper plate 111, and an upper sealing ring 115 capable of abutting against the side end face of the sealing upper plate 111 close to the sealing lower plate 112 is arranged in the first annular sealing groove 1125.

[0064] It can be understood that the sealing plate is composed of the sealing upper plate 111 and the sealing lower plate 112 for the purpose of reducing the processing difficulty. If the sealing plate is arranged as a whole, the first annular sealing groove 1125 and the upper sealing ring 115 do not need to be arranged, and the sealing performance can be ensured by the overall structure of the sealing plate itself. However, the manufacturing difficulty is greatly improved, thereby increasing the production manufacturing cost.

[0065] In the embodiment of the application, the above-mentioned seal card sealing device 10 is adopted, the seal card sealing part 11 of which is composed of the sealing upper plate 111 and the sealing lower plate 112, the structure is simple, the number of parts is small, the processing and assembly requirements are low, and the sealing performance between the sealing upper plate 111 and the sealing lower plate 112 can be ensured by the upper sealing ring 115. In the process of minimally invasive surgery, air leakage can be prevented and the air pressure in the abdomen can be ensured when the pneumoperitoneum is applied.

[0066] In a preferred embodiment, the sealing upper plate 111 and the sealing lower plate 112 are connected to form a whole by ultrasonic welding. It can be understood that the connection mode of the sealing upper plate 111 and the sealing lower plate 112 is not limited to the above-mentioned mode. For example, the two plates can be connected by bolts or fixed by adhesion. As long as the sealing performance between the upper sealing ring 115 and the sealing upper plate 111 and the sealing lower plate 112 can be ensured, the ultrasonic welding mode in the above-mentioned scheme is used to further improve the firmness and sealing performance between the sealing upper plate 111 and the sealing lower plate 112.

[0067] In a preferred embodiment, as Figure 9As shown, the upper plate body 1110 is disc-shaped, and four positioning columns 1113 are fixedly arranged on the end face of the upper plate body 1110 close to the sealing lower plate 112 in an annular array about the axis of the upper plate body 1110. Four positioning holes 1123 for plugging with the positioning columns 1113 are arranged on the end face of the lower plate body 1120 close to the sealing upper plate 111 in corresponding positions of the four positioning columns 1113. It can be understood that the plugging cooperation of the positioning columns 1113 and the positioning holes 1123 is to position the sealing upper plate 111 and the sealing lower plate 112 when the two are connected, so the four positioning columns 1113 can be uniformly arranged or non-uniformly arranged. Similarly, the number of the positioning columns 1113 is not limited to four, as long as the positioning columns 1113 can realize the positioning of the sealing upper plate 111 and the sealing lower plate 112, and the number of the positioning columns 1113 and the positioning holes 1123 is not limited.

[0068] In a preferred embodiment, as shown in Figure 5 As shown, the card seal part 11 further includes a sealing seat 110 sleeved on the connecting protrusion 1111 and a sealing sheet 113 movably arranged in the first instrument via hole 1112 or the second instrument via hole 1124. The sealing seat 110 and the connecting protrusion 1111 can be connected by threads, welding or other fixed connection methods. The inner wall of the first instrument via hole 1112 is provided with a limiting step 1116, and the limiting step 1116 is embedded with a ferromagnetic part 1115 close to the end face of the sealing lower plate 112. The sealing sheet 113 can be magnetically adsorbed with the ferromagnetic part 1115.

[0069] The sealing upper plate 111 and the sealing lower plate 112 are made of plastic material, and the sealing sheet 113 and the ferromagnetic part 1115 are made of ferromagnetic material and can be magnetically adsorbed. The specific working principle of the sealing sheet 113 and the ferromagnetic part 1115 can be referred to the corresponding structure in the prior patent application CN114098924A “cannula sealing device, cannula assembly and minimally invasive surgical robot”. It can be understood that the entire limiting step can also be made of ferromagnetic material.

[0070] It can be understood that the entire limiting step 1116 can be made of ferromagnetic material without using the cooperation of the sealing sheet 113 and the ferromagnetic part 1115, and the sealing sheet 113 can be magnetically adsorbed with the limiting step 1116 at this time.

[0071] In a preferred embodiment, as shown in Figure 15 , Figure 16As shown, the lower plate body 1120 is provided with an inflation interface 1121 communicating with the second instrument through-hole 1124, and the inflation interface 1121 is provided with a valve body 1122, wherein the inflation interface 1121 is used to inflate the patient's abdomen to form a pneumoperitoneum and continuously supplement gas during the operation to prevent the pneumoperitoneum from failing. Since a large gas flow is required during the pneumoperitoneum preparation stage before the operation, and a small gas flow is required during the operation, the inflation interface 1121 can be controlled to open and close by the valve body 1122 to adjust the gas flow of the inflation interface 1121.

[0072] It can be understood that the inflation interface 1121 can also be arranged on the upper plate body 1110 and communicate with the first instrument through-hole 1112, or directly arranged on the channel assembly 12, which is mainly used to inflate the patient's abdomen to form a pneumoperitoneum and continuously supplement gas during the operation to prevent the pneumoperitoneum from failing, as long as the above functions are met, the arrangement position is not limited.

[0073] In a preferred embodiment, as shown in Figure 5 The channel assembly 12 comprises a transition sleeve 121 for connecting the trocar sealing part 11, the transition sleeve 121 is fixedly provided with a clamping seat 122 for connecting the instrument motion platform 20, and the transition sleeve 121 is further provided with a sleeve 123 at the end away from the trocar sealing part 11.

[0074] The lower plate body 1120 is disc-shaped, as shown in Figure 2 , Figure 3 The transition sleeve 121 is sleeved on the lower plate body 1120, and the outer circular surface of the cooperation part of the lower plate body 1120 and the transition sleeve 121 is provided with a second annular sealing groove 1128, and the second annular sealing groove 1128 is provided with a lower sealing ring 116, and when the transition sleeve 121 is sleeved on the lower plate body 1120, the lower sealing ring 116 abuts against the inner circumferential surface of the transition sleeve 121.

[0075] In the embodiment of the application, the lower sealing ring 116 arranged between the transition sleeve 121 and the lower plate body 1120 ensures the sealing performance between the two, thereby further preventing gas leakage when the pneumoperitoneum is applied during the minimally invasive surgery to ensure the gas pressure in the abdomen.

[0076] It can be understood that the cooperation mode of the lower plate body 1120 and the transition sleeve 121 is not limited to the above, and when the size of the second instrument through-hole 1124 and the transition sleeve 121 allows, the lower plate body 1120 can also be sleeved on the transition sleeve 121, and at this time, the second annular sealing groove 1128 can be arranged on the inner wall of the second instrument through-hole 1124 or on the outer surface of the transition sleeve 121. The reason why the above structure is adopted in the embodiment is to cooperate with the locking assembly structure between the trocar sealing part 11 and the channel assembly 12.

[0077] The embodiment of the present application provides a locking assembly, such as Figure 8 As shown, two locking buttons 114 are symmetrically arranged on the card sealing part 11 and can be pressed and elastically rotated, a flange 120 is fixedly arranged on the side end face of the transition sleeve 121 close to the card sealing part 11, and the locking button 114 can be buckled with the flange 120 to realize the connection between the card sealing part 11 and the channel assembly 12.

[0078] The locking assembly comprises two groups of engaging ears 1126 symmetrically arranged on the lower plate body 1120, each group of engaging ears 1126 comprises two engaging ears 1126 fixedly arranged on the outer circumferential surface of the lower plate body 1120 and parallel to each other, the first shaft hole 1127 is vertically and penetratingly arranged on the corresponding two engaging ears 1126, the locking button 114 comprises a rotating shaft 1141 elastically arranged in the corresponding first shaft hole 1127, the button body 1140 is fixedly arranged on the rotating shaft 1141 and between the corresponding two engaging ears 1126, the second shaft hole 1142 is penetratingly arranged on the button body 1140, the rotating shaft 1141 is fixedly arranged in the second shaft hole 1142, the buckling body 1143 is arranged on the side end of the button body 1140 close to the channel assembly 12, the buckling body 1143 is hook-shaped and can abut against the flange 120 away from the side end face of the card sealing part 11 under the elastic rotation of the button body 1140 to realize the buckling with the channel assembly 12.

[0079] In the embodiment of the present application, the above-mentioned card sealing device 10 is adopted, the locking button 114 capable of elastically rotating is adopted to buckle with the flange 120, thereby realizing the connection between the card sealing part 11 and the channel assembly 12, wherein the locking button 114 is pressed to realize the unlocking, and the force is smaller than that of the latch structure, and the locking and unlocking are simple.

[0080] The locking assembly further comprises a ball top rod 117 for providing the rotating force for the locking button 114, as shown in Figure 11 , Figure 12 As shown, the ball top rod 117 comprises two mounting holes 1114 arranged on the outer circumferential surface of the upper plate body 1110 at the corresponding positions of the two locking buttons 114, the top rod body 1171 is embedded in the mounting hole 1114, the travel cavity 1174 is arranged in the top rod body 1171 and opens to the side away from the upper plate body 1110, the unlocking ball 1173 is slidingly arranged in the travel cavity 1174, the reset spring 1175 is arranged between the outer surface of the unlocking ball 1173 close to the upper plate body 1110 and the inner wall of the travel cavity 1174 close to the upper plate body 1110, the top rod body 1171 protrudes from the upper plate body 1110 and is screw-connected with the limiting sleeve 1172 at the side end away from the upper plate body 1110, wherein the reset spring 1175 is in a compressed state, and the limiting sleeve 1172 is used for limiting the unlocking ball 1173.

[0081] It can be understood that the stroke cavity 1174 can also be directly formed in the upper plate body 1110, but since the unlocking ball 1173 needs to be limited, if the stroke cavity 1174 is directly formed in the upper plate body 1110, the limiting sleeve 1172 cannot be directly installed, and a threaded protrusion or other connecting structure for installing the limiting sleeve 1172 needs to be additionally provided on the upper plate body 1110, thereby increasing the manufacturing cost of the upper plate body 1110, and the cooperation structure of the ejector rod body 1171 and the upper plate body 1110 can facilitate the installation and replacement of the ball ejector rod 117.

[0082] The button body 1140 is provided with an abutting body 1144 away from the side end of the channel assembly 12, and the abutting body 1144 is located on the side end of the button body 1140 close to the sealing upper plate 111 and can abut against the unlocking ball 1173 at the corresponding position.

[0083] As shown in Figure 13 When the buckling body 1143 is buckled with the flange edge 120, the card sealing part 11 is fixedly connected with the channel assembly 12, the abutting body 1144 abuts against the unlocking ball 1173, and the reset spring 1175 is in a compressed state. The unlocking ball 1173 is limited by the limiting part protrusion 1474 of the limiting sleeve 1172. When the button body 1140 is pressed to press the unlocking ball 1173 with the abutting body 1144, the unlocking ball 1173 moves towards the side close to the upper plate body 1110, and the reset spring 1175 is further compressed to accumulate elastic potential energy. The button body 1140 rotates to drive the buckling body 1143 to disengage from the flange edge 120, so that the card sealing part 11 and the channel assembly 12 are disengaged. When the button body 1140 is released, the unlocking ball 1173 is reset under the elastic force of the reset spring 1175, thereby pushing the button body 1140 to reset. Similarly, the buckling body 1143 and the flange edge 120 can be buckled only by pressing the button body 1140 as described above.

[0084] In the embodiment of the application, the unlocking ball 1173 abutting against and elastically sliding with the locking button 114 provides elastic potential energy for the locking button 114, the cooperation structure is stable, can maintain the stability of the elasticity in the long-term use process, effectively avoids the decline of the locking stability of the locking button 114, and has high reliability.

[0085] It can be understood that when the buckling body 1143 is buckled with the flange edge 120, the reset spring 1175 can also be provided with no elastic potential energy, and the above-mentioned purpose can also be achieved at this time, but the reset spring 1175 is pre-compressed to increase the pressing force for moving the unlocking ball 1173, prevent the buckling body 1143 and the flange edge 120 from being accidentally buckled, and improve the buckling strength and stability of the buckling body 1143 and the flange edge 120.

[0086] In a preferred embodiment, as shown in Figure 10 The abutting body 1144 includes a locking plane 1144b arranged on the side of the abutting body 1144 close to the sealing upper plate 111, a transition curved surface 1144c connected with the locking plane 1144b and located on the side of the locking plane 1144b close to the passage assembly 12, and an unlocking plane 1144a connected with the locking plane 1144b and located on the side of the locking plane 1144b away from the passage assembly 12, as shown in Figure 13 In the locked state, the locking plane 1144b is in abutment with the unlocking ball 1173, the line between the abutment point of the locking plane 1144b and the ball center of the unlocking ball 1173 is perpendicular to the locking plane 1144b, and the unlocking plane 1144a is deflected toward the side close to the button body 1140 relative to the locking plane 1144b. In the unlocked state, the unlocking plane 1144a is in abutment with the unlocking ball 1173. In a certain state of the unlocking process, the line between the abutment point of the unlocking plane 1144a and the ball center of the unlocking ball 1173 is perpendicular to the unlocking plane 1144a.

[0087] It can be understood that the certain state refers to a state at a certain moment when the unlocking plane 1144a is in abutment with the unlocking ball 1173 in the unlocking process. Since the button body 1140 is pressed and rotated, the abutment point of the unlocking plane 1144a and the unlocking ball 1173 is constantly changing. At a certain abutment point, for example, when the clamping body 1143 is just separated from the flange edge 120 or the movement of the unlocking ball 1173 is limited, the abutment point can satisfy the above-mentioned positional relationship between the unlocking plane 1144a and the unlocking ball 1173.

[0088] Of course, in a certain state of the unlocking process, the intersection line of the unlocking plane 1144a and the locking plane 1144b can be in abutment with the unlocking ball 1173.

[0089] In the embodiments of the present application, the above-mentioned card sealing device 10 is adopted. Through the cooperation of the unlocking plane 1144a and the locking plane 1144b, the abutment point of the abutting body 1144 and the unlocking ball 1173 can always be located at the intersection position of the outer circular surface of the unlocking ball 1173 away from the upper plate body 1110 and the movement axis of the unlocking ball 1173 when the button body 1140 is rotated, so that the direction of the force of the abutting body 1144 on the unlocking ball 1173 is always approximately the movement direction of the unlocking ball 1173 (i.e., the movement direction of the unlocking ball 1173 in the stroke cavity 1174), as shown in Figure 14If the structure is not used, for example, the abutting body 1144 and the matching part of the unlocking ball 1173 are provided as a circular arc surface, when unlocking, with the rotation of the button body 1140, the abutting position of the abutting body 1144 and the matching circular arc surface of the unlocking ball 1173 and the spherical surface of the unlocking ball 1173 changes, because the force direction of the unlocking ball 1173 is always the force point pointing to its own center, thereby causing the action direction of the abutting body 1144 on the unlocking ball 1173 and the movement direction of the unlocking ball 1173 to have an included angle, which will make the movement performance of the unlocking ball 1173 poor, and easily cause friction between the unlocking ball 1173 and the inner wall of the stroke cavity 1174, or cause friction between the top rod body 1171 and the inner wall of the mounting hole 1114, which is easy to damage after long-term use, resulting in the locking or unlocking failure of the locking button 114.

[0090] It can be understood that the angle between the unlocking plane 1144a and the locking plane 1144b is based on the composite of the rotation track of the abutting body 1144 and the corresponding movement track of the unlocking ball 1173, if the best matching mode of the abutting body 1144 and the unlocking ball 1173 is to be achieved, the rotation track of the abutting body 1144 and the corresponding movement track of the unlocking ball 1173 need to be completely compounded, which obtains a curve with varying curvature, and the curve is applied as the abutting surface of the abutting body 1144 and the unlocking ball 1173, so that the action direction of the abutting body 1144 on the unlocking ball 1173 is always the same as the movement direction of the unlocking ball 1173. In the embodiment, the matching mode of the unlocking plane 1144a and the locking plane 1144b is adopted in order to reduce the processing difficulty, reduce the design and processing cost, and ensure the good balance of cost and effect.

[0091] Of course, the structure of the abutting surface of the abutting body 1144 and the unlocking ball 1173 can be further adjusted based on the above, for example, the matching length of the unlocking plane 1144a and the locking plane 1144b and the unlocking ball 1173 can be reduced based on the relative position of the unlocking plane 1144a and the locking plane 1144b, and one or more planes can be sequentially connected on the side of the unlocking plane 1144a away from the locking plane 1144b, as long as the angle of the added plane can match the rotation track of the abutting body 1144 and the corresponding movement track of the unlocking ball 1173.

[0092] It can be understood that the ball top rod 117 is only used to provide a rotating elastic force for the locking button 114, and other structures can be used to achieve the above purpose in addition to the above scheme, for example, the unlocking ball 1173 can be replaced by a column, the reset spring 1175 can be replaced by other elastic materials, or the ball top rod 117 can be replaced by an elastic material as a whole, or a torsional spring can be provided between the rotating shaft 1141 and the first shaft hole 1127.

[0093] In a preferred embodiment, as shown in Figure 8 As shown in the figure, two limiting ears 1117 are symmetrically arranged on the outer circumferential surface of the upper plate body 1110 relative to the ball top rod 117, and the two limiting ears 1117 at the corresponding positions are parallel to each other and the distance between them matches the width of the button body 1140, that is, the button body 1140 is located between the two limiting ears 1117 at the corresponding positions, and the limiting ears 1117 can guide the rotation of the button body 1140, thereby further improving the rotation accuracy of the button body 1140.

[0094] It can be understood that when the sealing upper plate 111 is connected with the sealing lower plate 112, the limiting ear 1117 abuts against the corresponding engaging ear 1126, at this time, the two can be fixed by welding or other fixing methods, thereby further improving the connection reliability of the sealing upper plate 111 and the sealing lower plate 112.

[0095] In the embodiment of the present application, the above-mentioned minimally invasive surgical robot is used, and since the above-mentioned punch card sealing device 10 is used, the sealing property of the punch card sealing device 10 can be ensured when the pneumoperitoneum is applied in the minimally invasive surgical process, thereby avoiding gas leakage and ensuring the air pressure in the abdomen.

[0096] It should be noted that in this paper, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitation, the element defined by the sentence "including a…" does not exclude the presence of another identical element in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in a reverse order according to the functions involved, for example, the described method can be performed in an order different from the described order, and various steps can also be added, omitted or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0097] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, not limiting, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A postcard sealing device, characterized by, The application relates to a punch card sealing device, which comprises a channel assembly, a punch card sealing part detachably arranged on the channel assembly, and a locking assembly for realizing the connection between the punch card sealing part and the channel assembly. The punch card sealing part comprises a sealing plate and an instrument through hole penetrating through the sealing plate; the channel assembly is sleeved on the sealing plate; a lower sealing ring is arranged between the sealing plate and the channel assembly and abuts against the inner circumferential surface of the sealing plate and the channel assembly respectively; the sealing plate comprises a sealing upper plate and a sealing lower plate fixedly connected with the sealing upper plate; an upper sealing ring is arranged between the sealing upper plate and the sealing lower plate and abuts against the sealing upper plate and the sealing lower plate respectively; the sealing upper plate comprises an upper plate body. The locking assembly comprises a locking button elastically and rotatably arranged on the punch card sealing part; the locking assembly further comprises a ball top rod for providing rotation elastic force for the locking button; the ball top rod comprises a mounting hole arranged on the outer circumferential surface of the upper plate body at a corresponding position of the locking button; a top rod body is embedded in the mounting hole; a stroke cavity is arranged in the top rod body and opens towards the side away from the upper plate body; an unlocking ball is slidably arranged in the stroke cavity; a return spring is arranged between the outer surface of the side close to the upper plate body of the unlocking ball and the inner wall of the side close to the upper plate body of the stroke cavity; a limiting sleeve is threadedly connected with the top rod body and protrudes from the side away from the upper plate body of the top rod body.

2. The punch card sealing device according to claim 1, characterized in that The channel assembly is sleeved on the sealing lower plate; and the lower sealing ring is arranged between the sealing lower plate and the channel assembly.

3. The postcard sealing device of claim 1, wherein, The sealing upper plate further comprises: A connecting protrusion is fixedly arranged on the end face of the side away from the sealing lower plate of the upper plate body; The instrument through hole and the connecting protrusion penetrate through each other; and the punch card sealing part further comprises a sealing seat which is detachably sleeved on the connecting protrusion.

4. The poke card seal of claim 1, wherein, The sealing upper plate comprises: A positioning column is fixedly arranged on the end face of the side close to the sealing lower plate of the upper plate body and is used for the connecting positioning of the sealing upper plate and the sealing lower plate; The sealing lower plate is provided with a positioning hole which is matched with the positioning column and is inserted.

5. The postcard sealing device of claim 1, wherein, The punch card sealing part further comprises: An inflation interface is fixedly arranged on the sealing plate and is communicated with the instrument through hole and is used for gas input into the instrument through hole; A valve body is arranged on the inflation interface and is used for controlling the gas flow of the inflation interface.

6. The poke card seal of claim 1, wherein, The punch card sealing part further comprises: A ferromagnetic part is arranged on the inner wall of the instrument through hole; A sealing sheet is movably arranged in the instrument through hole and can be attracted to the ferromagnetic part.

7. The postcard sealing device of claim 1, wherein, The channel assembly comprises a transition sleeve used for connecting the punch card sealing part, a clamping seat fixedly arranged on the transition sleeve and used for connecting an instrument movement platform, and a sleeve fixedly arranged on the transition sleeve and communicated with the transition sleeve; The locking assembly comprises a flange edge fixedly arranged on the transition sleeve; The locking button can be buckled with the flange edge.

8. The poke card seal of claim 7, wherein, Two locking buttons are symmetrically arranged on the punch card sealing part.

9. A minimally invasive surgical robot, characterized by The punch card sealing device as claimed in any one of claims 1 to 8, further comprising a master console and a slave operating device, the slave operating device comprising a base and a tool holding arm disposed on the base and capable of multi-degree-of-freedom movement, a tool movement platform being disposed on the tool holding arm, and the punch card sealing device being disposed on the tool movement platform.

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