A surgical robotic instrument arm and a mounting structure for a trocar

Abstract

This invention relates to an installation structure for a surgical robot instrument arm and a trocar, comprising a trocar, an instrument arm, and a sterile isolation plate located between the trocar and the instrument arm. The trocar includes a sleeve portion and an installation portion, the installation portion being hollow to form a cavity. The front end of the instrument arm has an insertion portion that can be inserted into the cavity. The trocar and the instrument arm are detachably connected by a first locking mechanism, and the sterile isolation plate is detachably connected to the instrument arm by a second locking mechanism. This application enables rapid installation or removal of the trocar and the sterile isolation plate from the instrument arm. The connection structure of the trocar is safe and reliable, and the structure of this application is simple and easy to manufacture.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a mounting structure for an instrument arm and a puncture card for a surgical robot. Background Technology

[0002] In surgical robotic procedures, the surgeon issues commands via a master control unit to operate multiple slave surgical arms in a collaborative manner to complete the surgery at a designated site. During the surgical process, surgical instruments often extend into the patient's body using trocars inserted into the body. For example, in remotely operated surgical systems, trocars and surgical instruments can be mounted on the robotic arms of a patient-side trolley and remotely controlled via a surgeon's console. Trocars can have different configurations useful for various types of surgical procedures, and they need to be assembled and connected to the surgical arms.

[0003] Please refer to CN114098924A, which discloses a cannula adapter and a surgical robot. First, a sterile adapter is installed onto the cannula adapter and locked. Then, the cannula is installed onto the sterile adapter and locked. The cannula adapter includes an adapter body, grippers, elastic components, and movable parts. The grippers can be gripped and released by a single-handed handle, thus securing the sterile adapter and cannula. However, the cannula in this structure is not directly locked by the grippers, making it prone to accidental dislodgement after external impact. Furthermore, after repeated insertions and removals, the structure can develop a large mating gap, causing slight wobbling when connected, thus affecting surgical precision. Summary of the Invention

[0004] To address the aforementioned issues, the purpose of this application is to provide an installation structure for a surgical robot instrument arm and a puncture card, which enables rapid and stable connection of the puncture card, sterile isolation plate, and instrument arm.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an installation structure for a surgical robot instrument arm and a trocar, comprising a trocar, an instrument arm, and a sterile isolation plate located between the trocar and the instrument arm. The trocar includes a sleeve portion and an installation portion, the installation portion being hollow to form a cavity. The end of the instrument arm has an insertion portion capable of being inserted into the cavity. The trocar and the instrument arm are detachably connected by a first locking mechanism, and the sterile isolation plate is detachably connected to the instrument arm by a second locking mechanism.

[0006] In one embodiment, the end of the instrument arm includes a connecting end, and the insertion part is located on the front side of the connecting end; the middle of the sterile isolation plate also has a central hole through which the insertion part can pass; when the second locking mechanism is in the locked state, the sterile isolation plate covers the front part of the connecting end of the instrument arm and is fixedly connected to the connecting end, and part of the insertion part passes through the sterile isolation plate; when the first locking mechanism is in the locked state, part of the insertion part is inserted into the mounting part of the embossed card and is fixedly connected to it.

[0007] In one embodiment, the first locking mechanism includes at least one pair of first locking hooks pivotally connected to the mounting portion, at least one pair of first return springs disposed between the first locking hooks and the mounting portion, each of the first locking hooks having a first pressing portion exposed on the outer surface of the mounting portion for manual unlocking, and at least one pair of first latches provided on the insertion portion of the instrument arm. When the first locking mechanism is in a locked state, the hook portion of each of the first locking hooks extends into the cavity and hooks onto each of the first latches.

[0008] In one embodiment, the hook portion of the first locking hook further has a first guide surface that gradually slopes inward from back to front, and the front end of the insertion portion has a tapered guide portion whose outer diameter gradually decreases from back to front.

[0009] In one embodiment, the first locking hook is pivotally connected to the mounting portion via a first rotating shaft. The first pressing portion and the hook portion of the first locking hook are respectively located on both sides of the first rotating shaft. Each of the first return springs is located inside the first pressing portion. When the first locking mechanism is in the unlocked state, each of the first return springs is compressed, and at least one pair of first locking hooks opens outward.

[0010] In one embodiment, the second locking mechanism includes at least one pair of second locking hooks pivotally connected to the connecting end, and at least one pair of second return springs disposed between the second locking hooks and the connecting end. Each of the second locking hooks has a second pressing portion exposed on the outer surface of the instrument arm for manual unlocking. The sterile isolation plate has at least one pair of second latches on the side wall surrounding the connecting end. When the second locking mechanism is in the locked state, each of the second locking hooks hooks onto the second latch from the inside of the sterile isolation plate.

[0011] In one embodiment, the second locking hook is pivotally connected to the connecting end via a second rotating shaft. The second pressing part and the hook part of the second locking hook are both located on the same side of the second rotating shaft. The second return spring is located inside the second pressing part. When the second locking mechanism is in the unlocked state, each of the second return springs is compressed, and the hook parts of each of the second locking hooks retract inward within the connecting end.

[0012] In one embodiment, the second locking hook has a second guide surface that gradually extends outward from front to back.

[0013] In one embodiment, a portion of the sterile isolation plate is folded forward to form a folded edge around the central hole. The sterile bag to be fixed is placed between the sterile isolation plate and the mounting part of the puncture card, and is covered on the insertion part of the instrument arm.

[0014] In one embodiment, the mounting structure of the surgical robot arm and the trocar further includes a sealing mechanism detachably connected to the upper end of the cannula. The sealing mechanism has an inner hole communicating with the cannula and allowing the trocar to be inserted, a magnetic absorbing plate movably sealing the lower end face of the inner hole, and a magnet located on the outer circumference of the inner hole. The magnets are unevenly distributed in the circumferential direction, forming a magnetically dominant side and a magnetically non-dominant side on the magnetic absorbing plate. When the trocar is inserted into the sealing mechanism, the dominant side of the magnetic absorbing plate is tightly attracted to the lower end face of the inner hole, and the non-dominant side of the magnetic absorbing plate is away from the lower end face of the inner hole. When the trocar is removed from the sealing mechanism, both the dominant and non-dominant sides of the magnetic absorbing plate are tightly attracted to the lower end face of the inner hole.

[0015] In one embodiment, the magnets are distributed in a semi-circular shape on the outer circumference of the inner hole.

[0016] Compared with the prior art, this application provides a new surgical instrument assembly that enables the rapid installation or removal of the puncture card, sterile isolation plate, and instrument arm. The connection structure of the puncture card is safe and reliable. This application has the advantages of simple structure, easy processing, and stable connection. Attached Figure Description

[0017] Figure 1 A perspective view of a surgical instrument assembly according to an example embodiment provided in this application;

[0018] Figure 2 An exploded view of a surgical instrument assembly according to an example embodiment provided in this application;

[0019] Figure 3 A front view of a surgical instrument assembly according to an example embodiment provided in this application;

[0020] Figure 4 A schematic diagram showing the disassembled structure of a surgical instrument assembly according to an example embodiment provided in this application;

[0021] Figure 5 For the appendix Figure 4 Schematic cross-section view along the middle AA;

[0022] Figure 6 A side view of a surgical instrument assembly according to an example embodiment provided in this application;

[0023] Figure 7 For the appendix Figure 6 Schematic cross-section of the middle edge BB;

[0024] Figure 8 For the appendix Figure 3 Cross-sectional view along the center CC (first locking mechanism in locked state).

[0025] Figure 9 For the appendix Figure 3 Cross-sectional view along the center CC (first locking mechanism in the unlocked state).

[0026] Figure 10 A schematic diagram of a sealing mechanism according to an example embodiment provided in this application;

[0027] Figure 11 This is a schematic diagram illustrating the cooperation between a sealing mechanism and a punching needle in an exemplary embodiment provided in this application.

[0028] Wherein: 10, stamping card; 11, mounting part; 12, sleeve part; 13, first locking mechanism; 131, first locking hook; 132, first pressing part; 133, first spring; 134, first rotating shaft; 135, first guide surface; 14, cavity;

[0029] 20. Sterile isolation panel; 21. Body; 211. Storage cavity; 22. Central hole; 23. Second bayonet; 24. Locking strip; 25. Folded edge;

[0030] 30. Instrument arm; 31. Connecting end; 311. Groove; 32. Insertion part; 321. Guide part; 322. First bayonet; 33. Second locking mechanism; 331. Second locking hook; 332. Second pressing part; 333. Second spring; 334. Second rotating shaft; 335. Second guide surface; 34. Operating button;

[0031] 40. Sterile bags;

[0032] 51. Hall element; 52. Magnetic element;

[0033] 60. Sealing mechanism; 61. Inner sleeve; 62. Outer sleeve; 63. Inner hole; 64. Magnet; 65. Magnetic suction piece; 66. Silicone sheath cap; 67. Sealing ring; 70. Stamping needle. Detailed Implementation

[0034] To illustrate the technical content, structural features, achieved objectives, and effects of the invention in detail, the technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. In the following description, for illustrative purposes, numerous specific details are set forth to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may also be implemented without these specific details or in one or more equivalent arrangements. Furthermore, the various exemplary embodiments may differ, but are not necessarily exclusive. For example, the specific shape, structure, and characteristics of the exemplary embodiments may be used or implemented in another exemplary embodiment without departing from the inventive concept of the application.

[0035] In the following description, the terms "first," "second," etc., 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. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0036] Furthermore, in this application, spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side” (e.g., as in a “sidewall”) are used to describe the relationship between one element and another (other) element as shown in the accompanying drawings. Spatial relative terms are intended to include different orientations of the device in use, operation, and / or manufacture other than those depicted in the drawings. For example, if the device in the drawings is flipped, an element described as “below” or “under” another element or feature would then be positioned “above” said other element or feature. Thus, the exemplary term “below” can include both above and below orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0037] The horizontal direction mentioned below refers to a direction that is roughly horizontal, such as a direction whose angle with the horizontal plane is 0 or within a single-digit range. The same applies to the vertical direction, which is a direction that is roughly perpendicular to the horizontal plane.

[0038] The terms "front" and "back" mentioned below refer to relative positional relationships, where "front side" refers to the adjacent side. Figure 3 The left side in the horizontal direction, "rear side" refers to Figure 3 The right side in the horizontal direction.

[0039] See Figure 1-9 The illustration shows an example of a mounting structure for a surgical robot instrument arm and trocar, comprising a trocar 10, a sterile isolation plate 20, and an instrument arm 30. The sterile isolation plate 20 is detachably connected to the front of the instrument arm 30. A sterile bag 40 is then fixed to the front of the sterile isolation plate 20. Finally, the trocar 10 is mounted on and locked to the instrument arm 30. The sterile bag is clamped between the trocar and the sterile isolation plate, thus isolating the instrument arm 30 from the trocar and the surgical site.

[0040] See Figure 1-5 The puncture card 10 includes an mounting part 11 and a cannula part 12. The mounting part 11 is used to connect the instrument arm 30 and to clamp the sterile bag 40 with the sterile isolation plate 20. The interior of the mounting part 11 is hollow, forming a cavity 14, and the rear side of the mounting part is open to accommodate the insertion part 32 of the instrument arm 30. The cannula part 12 has a hollow tubular structure, and surgical instruments can be inserted into the patient's body through the puncture hole in the center of the cannula part 12 to perform surgical operations. After the mounting part 11 is assembled with the sterile isolation plate 20 and the instrument arm 30, the puncture card 10 can stably follow the movement of the instrument arm 30.

[0041] The mounting portion 11 of the embossed card is roughly square and mates with the instrument arm and the sterile isolation plate. A first locking mechanism 13 is provided on the mounting portion 11. (See attached image) Figure 5 , 7 8, 9. The first locking mechanism 13 includes a first locking hook 131 pivotally connected to the mounting portion 11 via a pair of first rotating shafts 134, and a pair of first return springs 133 disposed between the first locking hook 131 and the mounting portion 11. The first locking hook 131 has a hook portion that can extend into the cavity 14 and a first pressing portion 132 exposed on the outer surface of the mounting portion 11 for manual unlocking. In this embodiment, the first return spring 133 is a compression spring, and the first return spring 133 is disposed inside the first pressing portion 132. Since the hook portion of the first locking hook 131 and the first pressing portion 132 are located on both sides of the first rotating shaft 134, the first locking mechanism is normally in a locked state, at which time the hook portion of the first locking hook 131 is located in the cavity 14; when the first pressing portion 132 is pressed to unlock, the hook portion of the first locking hook 131 opens outward and leaves the cavity 14, the first return spring 133 is compressed, and the tamper 10 is separated from the instrument arm 30.

[0042] See Figure 2 ,4 5, 8, 9. The size of the aseptic isolation plate 20 is slightly larger than the outer diameter of the connecting end 31 of the instrument arm 30, and is adapted to the shape of the connecting end 31. The aseptic isolation plate 20 includes a disc-shaped body 21, with a central hole 22 in the center of the body 21 that is adapted to the outer diameter of the insertion part 32 of the instrument arm 30. The rear surface of the body 21 is recessed inward to form a receiving cavity 211 that is adapted to the outer diameter of the connecting end 31 of the instrument arm 30, and a pair of second latches 23 are provided on the circumferential sidewall of the body 21, with a retaining strip 24 protruding from the outer surface of the body 21 on the rear side of each second latch 23.

[0043] Part of the material on the sterile isolation plate 20 forms a folded edge 25 around the central hole 22. The sterile bag 40 to be fixed is placed between the sterile isolation plate 20 and the mounting part 11 of the tamper 10, and is covered on the insertion part 32 of the instrument arm 30.

[0044] See Figure 2 , 4 5-9, the instrument arm 30 has a connecting end 31 and an insertion part 32 located in front of the connecting end 31. An operating button 34 for fixed-point adjustment is provided at the rear of the instrument arm 30. The insertion part 32 can pass through the central hole 22 of the sterile isolation plate 20 and be inserted into the cavity 14 of the tamper 10. The size of the connecting end 31 is adapted to the inner wall size of the receiving cavity 211 of the sterile isolation plate 20, so that the sterile isolation plate can just cover the front of the connecting end. A pair of first latches 322 are provided on the insertion part 32. When the first locking mechanism 13 is in the locked state, the hooks of a pair of first locking hooks 131 extend into the cavity 14 and hook onto the pair of first latches 322.

[0045] A pair of second locking mechanisms 33 are respectively provided on one outer peripheral surface of the connecting end 31. The second locking mechanism 33 includes a second locking hook 331 pivotally connected to the connecting end 31 via a second rotating shaft 334, and a second return spring 333 disposed between the second locking hook 331 and the connecting end 31. The second locking hook 331 has a hook portion with an outward opening and a second pressing portion 332 exposed on the outer surface of the instrument arm for manual unlocking. In this embodiment, the hook portion and the second pressing portion 332 are located on the front side of the second rotating shaft 334, and the second return spring 333 is located on the inner side of the second pressing portion 332. A pair of grooves 311 are formed on the outer peripheral surface of the connecting end 31. The second locking hook 331 is partially housed in the grooves 311. When the second pressing portion 332 is pressed to unlock the second locking hook 331, the second return spring 333 is in a compressed state, and the front end of the second locking hook 331 can be recessed inward into the groove 311.

[0046] Under normal circumstances, the second locking mechanism 33 is in the locked state. When it is necessary to connect the sterile isolation plate 20 to the instrument arm 30, first press the second pressing part 332 so that the hook at the front end is inserted into the groove 311, push the sterile isolation plate 20 into the connecting end 31 from the front, and then release the second pressing part 332. Under the action of the second return spring 333, the hook is locked outward at the second latch 23 of the sterile isolation plate 20, and the locking strip 24 blocks the hook of the second locking hook 331 from the rear.

[0047] In a preferred embodiment, in order to enable convenient and smooth installation of the embossed card, sterile isolation plate and instrument arm, the first locking mechanism, the second locking mechanism and the insertion part of this application are respectively designed with guide structures.

[0048] See Figure 4 , 5 As shown, the tamper, sterile isolation plate, and instrument arm are installed horizontally. The front end of the insertion part 32 has a tapered guide part 321 with a gradually decreasing outer diameter. The tilt angle of the guide part is approximately 40°-50° with the horizontal direction, so the insertion part can be smoothly inserted into the cavity of the tamper. At the same time, since the insertion part 32 is approximately rectangular and includes a pair of vertical outer peripheral surfaces, and the cavity of the tamper is also rectangular, when the insertion part 32 extends into the cavity 14 and is locked by the locking mechanism, the tamper and the instrument arm will not rotate and become detached.

[0049] See Figure 5 , 8 As shown in Figure 9, the hook portion of the first locking hook 131 is located at the rear end. The rear end of the first locking hook 131 also has a first guide surface 135 that gradually slopes inward from back to front. When the insertion portion 32 of the instrument arm 30 is inserted forward into the cavity 14 of the tamper 10, it is not necessary to press the first pressing portion 132. Instead, the insertion portion 32 pushes open the pair of first locking hooks 131 and allows them to automatically slide into the first bayonet 322. Similarly, the hook portion of the second locking hook 331 opens upward, and the front end of the hook portion has a second guide surface 335 that gradually extends outward from front to back. When the sterile isolation plate is pushed into the connecting end 32 from the front, the body 21 of the sterile isolation plate can compress the second locking hook 331 inward by means of the second guide surface 335. It is not necessary to press the second pressing portion 332, so that the second locking hook 331 can smoothly slide into the second bayonet 23.

[0050] In summary, during installation, the sterile isolation plate 20 is first pushed into the front of the instrument arm 30, and the sterile bag 40 is placed. Then, the sterile isolation plate 20 and the instrument arm 30 are connected together to the embossed card 10, so that the insertion part 32 and the installation part 11 are locked by the first locking mechanism 13, and the sterile isolation plate 20 and the instrument arm 30 are locked by the second locking mechanism 33. In this way, the sterile isolation plate and the embossed card are respectively installed on the instrument arm. When it is necessary to separate the embossed card from the sterile isolation plate and the instrument arm, the first and second locking mechanisms need to be unlocked manually. In this embodiment, the first and second locking hooks are a pair, symmetrically arranged on two opposite surfaces. In other embodiments, the number of first and second locking hooks can be other than those specified.

[0051] See Figure 7 As shown, a Hall element 51 is embedded at the front end of the connecting end 31 of the instrument arm 30, and a magnetic element 52 is embedded at the rear end of the mounting part 11 of the stamp card 10. The Hall element 51 can detect whether the stamp card 10 is connected or disconnected from the instrument arm 30 and send a signal to the control system.

[0052] In addition, to prevent gas leakage from the patient's pneumoperitoneum during surgery, the surgical instrument assembly of this application also includes a sealing mechanism 60 detachably connected to the upper end of the cannula 12, see [link to application]. Figure 10 , 11 As shown. The sealing mechanism 60 includes an inner sleeve 61 threaded to the upper end of the sleeve portion 12 and an outer sleeve 62 sleeved outside the inner sleeve 61. The inner sleeve 61 has an inner hole 63 communicating with the sleeve portion 12 and allowing the insertion of a puncture needle 70 or surgical instruments. A magnet 64 is provided between the inner sleeve 61 and the outer sleeve 62, and a magnetic absorbing plate 65 is placed at the lower end face of the inner hole 63. The magnetic absorbing plate 65 moves and seals the lower end face of the inner hole under the action of magnetic force. The magnets 64 are distributed in a semi-circular shape on the outer periphery of the inner hole 63, which causes the magnetic force to be unevenly distributed in the circumferential direction, forming a magnetically dominant side and a magnetically non-dominant side on the magnetic absorbing plate. When the puncture needle 70 is inserted into the sealing mechanism, the non-dominant side of the magnetic stabilizing plate 65 leaves the lower end face of the inner hole, while the dominant side of the magnetic stabilizing plate 65 is tightly attracted to the lower end face of the inner hole, preventing the magnetic plate from falling off. When the puncture needle 70 leaves the sealing mechanism, both the dominant and non-dominant sides of the magnetic stabilizing plate 65 are tightly attracted to the lower end face of the inner hole, thereby preventing gas leakage or loss of gas.

[0053] Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications may be made to this application without departing from the spirit and scope of the invention. The scope of protection claimed by this application is defined by the appended claims, specification and their equivalents.

Claims

1. A mounting structure for a surgical robot instrument arm and a trocar, comprising a trocar, an instrument arm, and a sterile isolation plate located between the trocar and the instrument arm, characterized in that: The puncture card includes a sleeve portion and a mounting portion. The mounting portion is hollow, forming a cavity. The end of the instrument arm has an insertion portion that can be inserted into the cavity. The puncture card and the instrument arm are detachably connected by a first locking mechanism. The sterile isolation plate and the instrument arm are detachably connected by a second locking mechanism. The first locking mechanism is disposed on the puncture card, and the second locking mechanism is disposed on the instrument arm. The end of the instrument arm includes a connecting end, and the insertion portion is located in front of the connecting end. The sterile isolation plate also has a central hole in its middle for the insertion portion to pass through. When the first locking mechanism is locked, part of the insertion portion is inserted into and fixedly connected to the mounting portion of the puncture card. The first locking mechanism includes at least one pair of first locking hooks pivotally connected to the mounting portion, and a locking mechanism disposed between the first locking hooks and the mounting portion. At least one pair of first return springs are located between the mounting parts. Each of the first locking hooks has a first pressing part exposed on the outer surface of the mounting part for manual unlocking. At least one pair of first latches are provided on the insertion part of the instrument arm. When the first locking mechanism is in the locked state, the hook part of each of the first locking hooks extends into the cavity and hooks onto each of the first latches. The hook part of the first locking hook also has a first guide surface that gradually slopes inward from back to front. The front end of the insertion part has a tapered guide part whose outer diameter gradually decreases from back to front. The first locking hook is pivotally connected to the mounting part via a first rotating shaft. The first pressing part and the hook part of the first locking hook are located on opposite sides of the first rotating shaft. Each of the first return springs is located inside the first pressing part. When the first locking mechanism is in the unlocked state, each of the first return springs is compressed, and at least one pair of first locking hooks opens outward.

2. The mounting structure of the surgical robot instrument arm and the trocar according to claim 1, characterized in that: When the second locking mechanism is in the locked state, the sterile isolation plate covers the front of the connecting end of the instrument arm and is fixedly connected to the connecting end, and part of the insertion part passes through the sterile isolation plate.

3. The mounting structure of the surgical robot instrument arm and the trocar according to claim 1, characterized in that: The second locking mechanism includes at least one pair of second locking hooks pivotally connected to the connecting end, and at least one pair of second return springs disposed between the second locking hooks and the connecting end. Each of the second locking hooks has a second pressing part exposed on the outer surface of the instrument arm for manual unlocking. The sterile isolation plate has at least one pair of second latches on the side wall surrounding the connecting end. When the second locking mechanism is in the locked state, each of the second locking hooks hooks from the inside of the sterile isolation plate onto the respective second latch.

4. The mounting structure of the surgical robot instrument arm and the trocar according to claim 3, characterized in that: The second locking hook is pivotally connected to the connecting end via a second rotating shaft. The second pressing part and the hook part of the second locking hook are both located on the same side of the second rotating shaft. The second return spring is located inside the second pressing part. When the second locking mechanism is in the unlocked state, each of the second return springs is compressed, and the hook parts of each of the second locking hooks retract inward within the connecting end.

5. The mounting structure of the surgical robot instrument arm and the trocar according to claim 4, characterized in that: The second locking hook has a second guide surface that gradually extends outward from front to back.

6. The mounting structure of the surgical robot instrument arm and the trocar according to claim 1, characterized in that: The sterile isolation panel has a portion that is folded forward to form a folded edge that surrounds the central hole.

7. The mounting structure of the surgical robot instrument arm and the trocar according to claim 1, characterized in that: It also includes a sealing mechanism detachably connected to the upper end of the sleeve portion of the stamping card. The sealing mechanism has an inner hole communicating with the sleeve portion and allowing the stamping needle to be inserted, a magnetic absorbing plate movably sealing the lower end face of the inner hole, and a magnet located on the outer circumference of the inner hole. The magnets are unevenly distributed in the circumferential direction of the inner hole, so that the magnetic absorbing plate forms a magnetically dominant side and a magnetically non-dominant side. When the stamping needle is inserted into the sealing mechanism, the dominant side of the magnetic absorbing plate is tightly attracted to the lower end face of the inner hole, and the non-dominant side of the magnetic absorbing plate is away from the lower end face of the inner hole. When the stamping needle is removed from the sealing mechanism, both the dominant side and the non-dominant side of the magnetic absorbing plate are tightly attracted to the lower end face of the inner hole.

8. The mounting structure of the surgical robot instrument arm and the trocar according to claim 7, characterized in that: The magnets are distributed in a semi-circular shape on the outer circumference of the inner hole.

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