Piercing device and surgical robotic system

Abstract

The present application provides a kind of puncture ware and surgical robot system, the puncture ware includes: puncture pipe assembly and puncture closure;The puncture pipe assembly has the inner cavity through in axial direction, the inner cavity is used for surgical instrument to pass;The other end of the puncture closure is sharp end, for performing puncture;The other end of the puncture closure is connected with the puncture pipe assembly by first pivot, wherein the first pivot extends along the tangential direction of the puncture pipe assembly;The puncture closure is used to rotate around the first pivot, to close or expose the distal end of the inner cavity.Such as when puncture, puncture closure is configured to close in the distal end of puncture pipe assembly, to perform puncture with the sharp end of puncture closure, after completing puncture, puncture closure can expose the distal end of the inner cavity by rotating around the first pivot, for surgical instrument to pass.Postoperative, puncture closure can be reversed to the closed position around the first pivot, so that the whole puncture ware can be smoothly pulled out.

Description

Technical Field

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

[0002] Surgical robotic systems are designed to perform complex surgeries with minimally invasive techniques and precision. Before surgery, a pneumoperitoneum is typically created in the patient's abdominal cavity using a pneumoperitoneum machine. This increases the volume of the abdominal cavity and separates the abdominal wall from the tissues to be operated on, providing the necessary space for the surgical procedure. The trocar, as a key instrument for creating pneumoperitoneum and ensuring surgical instruments can reach the lesion, also plays a crucial role in the surgical robotic system.

[0003] However, the ends of existing puncture devices are generally rigid structures with fixed opening sizes. They require a puncture needle for puncture, and the puncture needle is only used during puncture. After puncture, the puncture needle is removed and the puncture device is inserted again, making the entire puncture process quite complicated and inconvenient. Summary of the Invention

[0004] The purpose of this invention is to provide a puncture device and surgical robot system to solve the problem of complex procedures in the use of existing puncture devices.

[0005] To solve the above-mentioned technical problems, the present invention provides a puncture device, which includes: a puncture tube assembly and a puncture closure member;

[0006] The puncture tube assembly has an axially extending inner cavity for the passage of surgical instruments.

[0007] One end of the puncture closure is a sharp end for performing puncture; the other end of the puncture closure is connected to the puncture tube assembly via a first rotating shaft, wherein the first rotating shaft extends tangentially along the puncture tube assembly; the puncture closure is used to rotate around the first rotating shaft to close or expose the distal end of the lumen.

[0008] Optionally, the puncture tube assembly includes an inner tube and an outer tube movably sleeved outside the inner tube; the puncture device further includes an expansion port assembly, the proximal end of which is connected to the inner tube; the outer tube is used to move axially to expose or enclose the expansion port assembly; wherein, when the outer tube moves towards the proximal end to a predetermined position, it drives the expansion port assembly to present a flared shape that expands towards the distal end.

[0009] Optionally, the expansion port assembly comprises a plurality of first port pieces arranged circumferentially, proximal ends of the first port pieces being connected to the inner tube via a second pivot axis extending tangentially along the inner tube, wherein the plurality of first port pieces are configured to rotate around the second pivot axis.

[0010] Optionally, the proximal end of the first port piece has a first step protruding radially outwardly along the inner tube, and the outer tube has a second step protruding radially inwardly along itself; when the outer tube moves proximally, the second step drives the first port piece to rotate around the second pivot axis in a direction away from the distal end, so that the plurality of first port pieces present a flared shape expanding towards the distal end.

[0011] Optionally, the puncture tube assembly further comprises an intermediate tube movably arranged between the outer tube and the inner tube, and the intermediate tube is configured to move axially under the drive of the outer tube; wherein the intermediate tube drives the plurality of first port pieces to present a flared shape expanding towards the distal end when the outer tube moves proximally to a predetermined position.

[0012] Optionally, the proximal end of the first port piece has a first step protruding radially outwardly along the inner tube, and the intermediate tube has a third step protruding radially inwardly along itself; when the intermediate tube moves proximally, the third step drives the first port piece to rotate around the second pivot axis in a direction away from the distal end, so that the plurality of first port pieces present a flared shape expanding towards the distal end.

[0013] Optionally, the expansion port assembly further comprises a plurality of second port pieces arranged circumferentially, proximal ends of the second port pieces being connected to the intermediate tube via a third pivot axis extending tangentially along the intermediate tube, wherein the plurality of second port pieces are configured to rotate around the third pivot axis.

[0014] Optionally, the proximal end of the second port piece has a fourth step protruding radially outwardly along the intermediate tube, and the outer tube has a second step protruding radially inwardly along itself; when the outer tube moves proximally, the second step drives the second port piece to rotate around the third pivot axis in a direction away from the distal end, so that the plurality of second port pieces present a flared shape expanding towards the distal end.

[0015] Optionally, the first port pieces and the second port pieces are arranged alternately in sequence circumferentially.

[0016] Optionally, the intermediate tube has an arc-shaped driving slot on the side wall, the outer tube has a pin hole on the side wall, and the puncture device further comprises a driving pin, one end of the driving pin is arranged in the pin hole, and the other end of the driving pin is movably arranged in the driving slot, and the outer tube is used for driving the intermediate tube to move in the axial direction and rotate in the circumferential direction through the driving pin and the driving slot.

[0017] Optionally, the other end of the puncture closure is connected with the distal end of the outer tube through the first rotating shaft.

[0018] Optionally, the distal end of the expansion port assembly is continuous in the circumferential direction and encloses a complete ring.

[0019] To solve the above technical problems, the application further provides a surgical robot system, which comprises a mechanical arm and the puncture device as described above, and the puncture device is arranged on the mechanical arm.

[0020] In summary, in the puncture device and the surgical robot system provided by the application, the puncture device comprises a puncture tube assembly and a puncture closure, the puncture tube assembly has an inner cavity that is through in the axial direction, and the inner cavity is used for passing the surgical instrument, one end of the puncture closure is a sharp end and is used for performing puncture, the other end of the puncture closure is connected with the puncture tube assembly through a first rotating shaft, the first rotating shaft extends along the tangential direction of the puncture tube assembly, and the puncture closure is used for rotating around the first rotating shaft to close or expose the distal end of the inner cavity.

[0021] In this way, when puncturing, the puncture closure is arranged to be closed at the distal end of the puncture tube assembly, the puncture is performed by the sharp end of the puncture closure, after the puncture is completed, the distal end of the inner cavity is exposed by rotating the puncture closure around the first rotating shaft, and the surgical instrument passes through the inner cavity. Further, after the surgery is completed and the surgical instrument is withdrawn, the puncture closure can be reversely rotated around the first rotating shaft to return to the closed position, so that the entire puncture device can be smoothly pulled out. BRIEF DESCRIPTION OF DRAWINGS

[0022] Those skilled in the art will understand that the provided drawings are for better understanding of the application and do not constitute any limitation on the scope of the application. Among them:

[0023] Figure 1 is a schematic diagram of an application scene of a surgical robot system of an embodiment of the application;

[0024] Figure 2 is a schematic diagram of a distal end of an embodiment of the application;

[0025] Figure 3 is a schematic diagram of a puncture device of an embodiment of the application, in which the puncture closure is in a closed position;

[0026] Figure 4 is a schematic view of a puncture device of an embodiment of the present application, wherein the puncture closure is in an open position;

[0027] Figure 5 is a schematic view of a puncture device of an embodiment of the present application, wherein the puncture closure is in an open position;

[0028] Figure 6 is a schematic view of a puncture device of an embodiment of the present application, wherein the puncture closure is in an open position;

[0029] Figure 7 is a schematic view of a puncture device of an embodiment of the present application, wherein the puncture device is in a position ready to be pulled out of a pneumoperitoneum model;

[0030] Figure 8 is a schematic view of an outer tube of an embodiment of the present application moving proximally to a predetermined position;

[0031] Figure 9 is a schematic view of a dilating port assembly cooperating with a surgical instrument of an embodiment of the present application;

[0032] Figure 10 is a schematic view of an outer tube, an inner tube and a first port sheet of an embodiment of the present application along an axial direction;

[0033] Figure 11 is a schematic view of an outer tube of an embodiment of the present application;

[0034] Figure 12 is a schematic view of an outer tube of an embodiment of the present application; Figure 11 is a schematic view of an outer tube of an embodiment of the present application;

[0035] Figure 13 is a schematic view of an intermediate tube and a dilating port assembly of an embodiment of the present application;

[0036] Figure 14 is a schematic view of an intermediate tube of an embodiment of the present application;

[0037] Figure 15 is a schematic view of an intermediate tube, a driving slot, a driving pin and a dilating port assembly of an embodiment of the present application;

[0038] Figure 16 is a schematic view of an outer tube of an embodiment of the present application moving distally to a storage position. DETAILED DESCRIPTION

[0039] In order to make the objects, advantages and features of the present application more clearly understood, the following will give further particular descriptions of the present application with reference to the drawings and specific embodiments. It should be noted that all the drawings are very simplified and not drawn in proportion, and are only used to facilitate and clarify the purpose of describing the embodiments of the present application. In addition, the structures shown in the drawings are often a part of the actual structures. In particular, the emphasis shown in each drawing is different, and sometimes different proportions are used.

[0040] As used in the present application, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. The term "or" is generally employed in its sense including "and / or" unless the content clearly dictates otherwise. The term "plurality" is generally employed in its sense including "at least one" unless the content clearly dictates otherwise. The term "at least two" is generally employed in its sense including "two or more" unless the content clearly dictates otherwise. In addition, the terms "first," "second," "third," etc. are used only to describe the objects and are not to be construed as indicating or implying relative importance or a specific number of the technical features indicated. Thus, the features defined with "first," "second," "third" can explicitly or implicitly include one or at least two of the features. "One end" and "the other end" and "proximal end" and "distal end" generally refer to two parts corresponding to each other, which include not only the end points. The terms "proximal end" and "distal end" are defined herein with respect to a puncture device having one end for intervention into a human body and a manipulation end extending out of the body. The term "proximal end" refers to the position of an element closer to the manipulation end of the puncture device extending out of the body, and the term "distal end" refers to the position of an element closer to the one end of the puncture device for intervention into the human body and thus farther away from the manipulation end of the puncture device. Alternatively, in the application scenario of manual or hand operation, the terms "proximal end" and "distal end" are defined herein with respect to an operator such as a surgeon or a clinician. The term "proximal end" refers to the position of an element closer to the operator, and the term "distal end" refers to the position of an element closer to the puncture device and thus farther away from the operator. In addition, as used in the present application, "mounting", "connecting", "connecting", "one element is provided in another element" should be understood broadly, and generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements can be direct or indirect through intermediate elements, and cannot be understood as indicating or implying the spatial positional relationship between the two elements, i.e. one element can be in any orientation inside, outside, above, below or one side of another element, unless the content is otherwise explicitly indicated. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, directional terms such as above, below, up, down, upward, downward, left, right, etc. are used with respect to the exemplary embodiments as they are shown in the drawings, upward or upward direction is toward the top of the corresponding drawing, and downward or downward direction is toward the bottom of the corresponding drawing.

[0041] The present application aims to provide a puncture device and a surgical robot system to solve the problem of complex use steps of the existing puncture device. The following is described with reference to the accompanying drawings.

[0042] Figure 1 An application scenario of a surgical robot system is shown, which includes a master-slave teleoperation surgical robot, i.e., the surgical robot system includes a master end 100 (i.e., a doctor end control device), a slave end 200 (i.e., a patient end control device), a master controller, and a support device 400 (e.g., a surgical bed) for supporting a surgical object for surgery. It should be noted that in some embodiments, the support device 400 can also be replaced by other surgical operation platforms, and the present application is not limited thereto.

[0043] The master end 100 is an operation end of the teleoperation surgical robot and includes a master operating hand 101 installed thereon. The master operating hand 101 is used to receive hand movement information of an operator as a movement control signal input of the entire system. Optionally, the master controller is also arranged on the master end 100. Preferably, the master end 100 further includes an imaging device 102, which can provide a stereoscopic image for the operator, and provide a surgical field image for the operator to perform surgical operation. The surgical field image includes the type, number, pose in the abdomen of surgical instruments, the morphology, arrangement, etc. of patient organ tissues and surrounding organ tissues and blood vessels.

[0044] Please refer to Figure 2 The slave end 200 is a specific execution platform of the teleoperation surgical robot, which includes a base 201 and a mechanical arm 210 and instruments arranged on the mechanical arm 210 installed thereon. Optionally, the instruments are mounted or connected to the end of the mechanical arm 210. Further, the instruments include a puncture device 1 for performing puncture, a surgical instrument 2 for specifically performing surgical operation, and an endoscope for auxiliary observation, etc. of different types.

[0045] The master controller is in communication connection with the master end 100 and the slave end 200, respectively, for controlling the movement of the mechanical arm 210 and the instruments according to the movement of the master operating hand 101. Specifically, the master controller includes a master-slave mapping module, which is used to obtain the end pose of the master operating hand 101, obtain the expected pose of the mechanical arm 210 and the instruments according to a predetermined master-slave mapping relationship, and further control the movement of the mechanical arm 210 with the instruments arranged thereon to the expected pose. Further, the master-slave mapping module is also used to receive instrument function operation instructions (such as related operation instructions of clamping, cutting, cutting, electrocoagulation, puncture, turning, shooting, etc.) to control the specific operation of the instruments.

[0046] Further, the medical robotic system also comprises an image cart 300. The image cart 300 is used to display the image of the surgical field in the cavity (i.e. in the body cavity of the patient) or other auxiliary display information, to provide auxiliary display for assisting the operator (e.g. the nurse) in real time.

[0047] Optionally, in some application scenarios of the surgery, the surgical robotic system also comprises a breathing machine and an anesthesia machine 500, and an instrument table 600 and other auxiliary components for use in surgery. Those skilled in the art can select and configure these auxiliary components according to the prior art, which will not be described here.

[0048] It should be noted that the surgical robotic system disclosed in the above exemplary embodiment is only a demonstration of an application scenario and is not a limitation on the application scenario of the surgical robotic system. The surgical robotic system is not limited to a master-slave teleoperation surgical robot, but can also be a single-end surgical robot system, in which the operator directly operates the surgical robot to perform surgery, and the present application is not limited thereto.

[0049] Please refer to Figures 3 to 7 The present embodiment provides a puncture device 1, which can be arranged on the mechanical arm 210 in some application scenarios, and is used to establish a puncture channel for the surgical instrument 2. Of course, the present embodiment does not limit the application scenario of the puncture device 1, and in some other application scenarios, the operator can also hold the puncture device 1 to perform puncture operation.

[0050] The puncture device 1 comprises a puncture tube assembly 11 and a puncture closure 12; the puncture tube assembly 11 has an inner cavity 10 extending through in the axial direction, which is used for the surgical instrument 2 to pass through; one end of the puncture closure 12 is a sharp end 121, which is used to perform puncture; the other end of the puncture closure 12 is connected with the puncture tube assembly 11 through a first rotation shaft A1, wherein the first rotation shaft A1 extends along the tangential direction of the puncture tube assembly 11; the puncture closure 12 is used to rotate around the first rotation shaft A1 to close or expose the distal end of the inner cavity 10 (the right lower end in Figure 3 and Figure 4 ).

[0051] Generally, as Figure 3 and Figure 4As shown, the cross section of the puncture tube assembly 11 is substantially circular, and in some embodiments, can also be a polygonal shape similar to a circle, an ellipse, etc. For the cross section of a smooth curve such as a circle or an ellipse, it can be understood that the tangential direction of the puncture tube assembly 11 refers to the tangential direction along the outer periphery of the puncture tube assembly 11 in a cross section perpendicular to the axis of the puncture tube assembly 11. For a polygonal shape, the tangential direction of the puncture tube assembly 11 refers to the direction along one side of the outer periphery of the puncture tube assembly 11 in a cross section perpendicular to the axis of the puncture tube assembly 11. In particular, the first rotation axis A1 extends in the tangential direction of the puncture tube assembly 11, and is not limited to coinciding with the outer periphery of the puncture tube assembly 11. In some embodiments, the first rotation axis A1 can also be parallel to the tangential direction and slightly offset from the outer periphery of the puncture tube assembly 11.

[0052] Please refer to Figure 5 which shows a human pneumoperitoneum model 4. In actual applications, the human pneumoperitoneum model 4 can be the abdomen of a patient or an abdominal prosthesis, which can be used in application scenarios such as surgical operation training or verification, and the present application does not limit it. In an alternative example, the puncture closure 12 is conical, and in the initial state, the puncture closure 12 is in the closed position, at which time the puncture closure 12 is coaxially arranged at the distal end of the puncture tube assembly 11, forming a closure to the distal end of the inner cavity 10. The apex of the conical shape is the sharp end 121, which can pierce the skin (or skin prosthesis), such as human dermal tissue and mesangium, and enter the inside of the human pneumoperitoneum model 4.

[0053] Further, please refer to Figure 6 In some embodiments, the surgical instrument 2 or endoscope can enter through the inner cavity 10 to push the puncture closure 12, at which time the puncture closure 12 rotates around the first rotation axis A1, the puncture closure 12 is in the open position, and the distal end of the inner cavity 10 is exposed, so that the surgical instrument 2 or endoscope can enter the inside of the human pneumoperitoneum model 4 to achieve surgical operation.

[0054] Further, please refer to Figure 7 In some embodiments, after the surgical instrument 2 or endoscope completes the surgical operation and withdraws from the human pneumoperitoneum model 4, the puncture device 1 needs to be removed from the human pneumoperitoneum model 4. When the puncture device 1 is pulled out towards the proximal end, because the puncture hole is generally in close contact with the puncture tube assembly 11, the puncture closure 12 is hindered by the skin (or skin prosthesis) around the puncture hole, thereby rotating around the first rotation axis A1 to recover to the closed position, which is aligned with the axial direction of the puncture tube assembly 11, at which time the puncture device 1 can be smoothly removed from the human pneumoperitoneum model 4.

[0055] Optionally, please refer toFigure 8 and Figure 9 The puncture tube assembly 11 comprises an inner tube 111 and an outer tube 112 movably sleeved outside the inner tube 111; the puncture device 1 further comprises an expansion port assembly 13, the proximal end of the expansion port assembly 13 being connected with the inner tube 111; the outer tube 112 is used to move in the axial direction to expose or cover the expansion port assembly 13; wherein when the outer tube 112 moves to a predetermined position towards the proximal end, the expansion port assembly 13 is driven to present a flared shape expanding towards the distal end. The inventor has found that when the end of the puncture tube assembly 11 (referring to the distal end used to extend into the human pneumoperitoneum model 4) is parallel to the axial direction of the puncture tube assembly 11 (i.e. the end of the puncture tube assembly 11 extends in the axial direction without angle change), the end of the puncture tube assembly 11 is easy to scratch the surface of the surgical instrument 2 and even cut the transmission wire of the surgical instrument 2. The expansion port assembly 13 presents a flared shape expanding towards the distal end, which can greatly reduce the influence and damage to the surgical instrument 2, reduce the scratching with the surgical instrument 2, facilitate the extraction of the surgical instrument 2 from the human pneumoperitoneum model 4, improve the surgical efficiency, reduce the damage risk of the surgical instrument 2 and the risk of foreign matter falling into the human pneumoperitoneum model 4.

[0056] Preferably, the other end of the puncture closure 12 is connected with the distal end of the outer tube 112 through the first rotation shaft A1. In the case that the puncture tube assembly 11 is provided with inner and outer tubes, the first rotation shaft A1 is preferably connected with the outer tube 112 to facilitate the opening and closing of the puncture closure 12. In particular, the first rotation shaft A1 is connected with the distal end of the outer tube 112, which is not limited to that the first rotation shaft A1 must coincide with the outer periphery of the distal end surface of the outer tube 112. In some embodiments, the first rotation shaft A1 can also be parallel to the tangential direction and slightly form a certain offset distance with the outer peripheral wall or the distal end surface of the outer tube 112, which can be understood and improved by those skilled in the art according to the prior art, and the present embodiment is not limited thereto.

[0057] Optionally, please refer to Figure 10 and refer to Figure 8 and Figure 9 The expansion port assembly 13 comprises a plurality of first port pieces 131 arranged in the circumferential direction, the proximal end of the first port piece 131 being connected with the inner tube 111 through a second rotation shaft A2, wherein the second rotation shaft A2 extends along the tangential direction of the inner tube 111; the plurality of first port pieces 131 are used to rotate around the second rotation shaft A2. The tangential direction of the inner tube 111 can be understood with reference to the tangential direction of the puncture tube assembly 11 described above, which will not be repeated here. Preferably, the second rotation shaft A2 is located on the outer periphery of the distal end of the inner tube 111, and the rotation of the first port piece 131 around the second rotation shaft A2 will cause the distal end portion of the first port piece 131 to move in the radial direction of the inner tube 111.

[0058] In one embodiment, the expansion port assembly 13 comprises a plurality of first port pieces 131 arranged circumferentially along the inner tube 111. It is appreciated that the plurality of first port pieces 131 are connected to the inner tube 111 via a plurality of second pivot axes A2, wherein the plurality of second pivot axes A2 are arranged circumferentially along the inner tube 111, and the plurality of second pivot axes A2 are arranged uniformly around the inner tube 111. In this configuration, when the plurality of first port pieces 131 are rotated in a distal outward direction around the second pivot axes A2, the distal ends of the plurality of first port pieces 131 are moved radially outward along the inner tube 111, and the plurality of first port pieces 131 are expanded in a flared shape.

[0059] Further, please refer to Figure 11 and Figure 12 , and refer to Figure 10 , the proximal end of the first port piece 131 has a first step 141 protruding radially outward along the inner tube 111, and the outer tube 112 has a second step 142 protruding radially inward along the outer tube 112. When the outer tube 112 is moved proximally, the second step 142 is abutted against the first step 141, and the first port piece 131 is rotated in a distal outward direction around the second pivot axis A2, and the plurality of first port pieces 131 are expanded in a flared shape. In an alternative embodiment, the second step 142 is arranged at the distal end of the outer tube 112, and the second pivot axis A2 is arranged at the distal end of the inner tube 111. In this configuration, the predetermined position of the outer tube 112 moved proximally is substantially the position where the distal end of the outer tube 112 is flush with the distal end of the inner tube 111, and the second step 142 is abutted against the first step 141.

[0060] Preferably, please refer to Figure 13 and Figure 14 ( Figure 13 and Figure 14 , the outer tube 112 is not shown. The outer tube 112 can be referred to Figure 9), the puncture tube assembly 11 further comprises an intermediate tube 113 movably arranged between the outer tube 112 and the inner tube 111, and the intermediate tube 113 is configured to move axially under the driving of the outer tube 112; wherein the intermediate tube 113 is configured to drive the plurality of first port pieces 131 of the expansion port assembly 13 to present a flared shape expanding towards the distal end when the intermediate tube 113 moves towards the proximal end to a predetermined position along with the outer tube 112. In some embodiments, the plurality of first port pieces 131 are directly driven by the outer tube 112. In other embodiments, the plurality of first port pieces 131 can be driven by the intermediate tube 113, and the intermediate tube 113 is driven by the outer tube 112, thereby forming an indirect driving. Optionally, in the embodiments in which the first port pieces 131 are indirectly driven by the intermediate tube 113, the intermediate tube 113 has a third step 144 protruding radially inwardly along the intermediate tube 113; when the intermediate tube 113 moves towards the proximal end, the third step 144 drives the first port pieces 131 to rotate around the second rotation axis A2 in a direction outwardly towards the distal end by abutting against the first step 141, so that the plurality of first port pieces 131 present a flared shape expanding towards the distal end. It can be understood that the outer tube 112 can not have the second step 142 at this time.

[0061] In some embodiments, the expansion port assembly 13 can only comprise the plurality of first port pieces 131, and in other embodiments, the expansion port assembly 13 can comprise both the first port pieces 131 and the second port pieces 132, wherein the first port pieces 131 are driven by the intermediate tube 113, and the second port pieces 132 are driven by the outer tube 112. Of course, in other embodiments, the expansion port assembly 13 can only comprise the plurality of second port pieces 132, which are driven by the outer tube 112.

[0062] Please refer to Figure 15 In an exemplary embodiment, the expansion port assembly 13 comprises the plurality of first port pieces 131 arranged circumferentially, and further comprises the plurality of second port pieces 132 arranged circumferentially, the proximal end of the second port pieces 132 is connected to the intermediate tube 113 through a third rotation axis (not shown), wherein the third rotation axis extends along the tangential direction of the intermediate tube 113; the plurality of second port pieces 132 are configured to rotate around the third rotation axis. The principle and manner of arrangement of the second port pieces 132 and the third rotation axis are substantially the same as those of the first port pieces 131 and the second rotation axis A2, and reference can be made to the above description of the first port pieces 131 and the second rotation axis A2, which will not be repeated here.

[0063] Preferably, the plurality of first port pieces 131 are circumferentially spaced around the axis of the inner tube 111, and the plurality of second port pieces 132 are also circumferentially spaced around the axis of the inner tube 111. Optionally, the first port pieces 131 and the second port pieces 132 are all trapezoidal, with the upper base at the proximal end and the lower base at the distal end. Preferably, the first port pieces 131 and the second port pieces 132 are arranged in sequence in the circumferential direction, and more preferably, adjacent first port pieces 131 and second port pieces 132 are arranged tangentially in the circumferential direction, without overlapping. Optionally, the first port pieces 131 are arranged radially inside the second port pieces 132. This arrangement allows the distal end of the expanded port assembly 13 to be continuous in the circumferential direction, forming a complete ring, so that some components of the surgical instrument 2 are not caught or damaged by the distal end of the puncture device 1. Further, since the distal end of the expanded port assembly 13 is continuous in the circumferential direction and forms a ring, if only a single layer of a plurality of port pieces is arranged, the adjacent port pieces are likely to interfere with each other during storage and expansion, causing jamming. However, by arranging the inner and outer port pieces (i.e., the outer second port pieces 132 and the inner first port pieces 131) in sequence in the circumferential direction, the problem of jamming caused by the interference between adjacent port pieces during storage and expansion is effectively avoided.

[0064] Optionally, the proximal end of the second port piece 132 has a fourth step 145 protruding radially outward from the intermediate tube 113. As shown in Figure 14 the outer tube 112 has a second step 142 protruding radially inward from itself; when the outer tube 112 moves towards the proximal end, the second step 142 drives the second port piece 132 to rotate around the third pivot in the direction of the distal end and outward, so that the plurality of second port pieces 132 assumes an expanded flared shape towards the distal end. The principles and methods of setting the fourth step 145 and the third step 144 are substantially the same as those of setting the first step 141 and the second step 142, which can be referred to the above description of the first step 141 and the second step 142, which will not be repeated here.

[0065] Please refer to Figure 14 and Figure 15 Optionally, the intermediate tube 113 has a receiving groove 151 for the fourth step 145 to pass through, and the fourth step 145 of the second port piece 132 preferably protrudes radially from the inside of the intermediate tube 113 to the outside of the intermediate tube 113 through the receiving groove 151, so that the outer tube 112 located outside the intermediate tube 113 can directly drive the second port piece 132 through the second step 142.

[0066] Further, please continue to refer to Figure 15 and refer to Figure 11, the side wall of the intermediate tube 113 has a driving slot 152 extending in an arc shape, the extending direction of the arc shape gradually approaches parallel to the axis on the distal end side, and the extending direction of the arc shape gradually approaches perpendicular to the axis on the proximal end side, preferably, the arc shape is convex outward toward the distal end side. The side wall of the outer tube 112 has a pin hole 153, and the puncture device 1 further comprises a driving pin 154, one end of the driving pin 154 is provided through the pin hole 153, and the other end is movably provided through the driving slot 152, and the outer tube 112 is used to drive the intermediate tube 113 to move axially and rotate circumferentially by abutting the driving pin 154 with the axial end of the driving slot 152. It can be understood that when the outer tube 112 moves axially, it first drives the driving pin 154 to move axially, and since the driving slot 152 has a certain axial length, the driving pin 154 will slide in the driving slot 152, and since the driving slot 152 is arc-shaped, the intermediate tube 113 will also rotate circumferentially under the driving of the driving pin 154 and the driving slot 152, until the driving pin 154 abuts the axial end of the driving slot 152 and reaches the limit, and the axial movement of the outer tube 112 will drive the intermediate tube 113 to move axially. It should be noted that when the driving pin 154 abuts the axial end of the driving slot 152 and reaches the limit, the position to which the intermediate tube 113 is rotated should keep the first port piece 131 and the second port piece 132 arranged alternately in the circumferential direction, preferably arranged tangentially in the circumferential direction without overlapping.

[0067] Therefore, when the outer tube 112 moves towards the proximal end to a predetermined position, on the one hand, the intermediate tube 113 will rotate relative to the outer tube, so that the first port piece 131 and the second port piece 132 rotate relatively, and the circumferential positions are staggered, on the other hand, the intermediate tube 113 will move towards the proximal end, and the outer tube 112 and the intermediate tube 113 expose most of the structure of the first port piece 131 and the second port piece 132, and the outer tube 112 drives the second port piece 132 through the second step 142, while the intermediate tube 113 can drive the first port piece 131 through the third step 144. Therefore, the first port piece 131 and the second port piece 132 are driven synchronously, so that the entire expansion port assembly 13 presents a flared shape expanding towards the distal end, as shown in Figure 8 and Figure 9 As can be known from the foregoing description, this step can be performed after the surgical instrument 2 is inserted into the human gas abdominal model 4, and preferably before the surgical instrument 2 is about to be withdrawn from the human gas abdominal model 4, so that when the surgical instrument 2 is withdrawn, it can be guided and protected by the flared expansion port assembly 13, and can be smoothly withdrawn.

[0068] Furthermore, as the outer tube 112 moves towards the distal end, its inner wall directly contacts the first port piece 131 and the second port piece 132, gradually enclosing and housing them. Understandably, when the outer tube 112 moves a certain distance towards the distal end, it will also cause the middle tube 113 to move towards the distal end, until finally the outer tube 112 moves to the storage position, such as... Figure 16 As shown, the first port piece 131 and the second port piece 132 are completely enclosed and housed within it, completing the housing of the entire expansion port assembly 13. Specifically, as the outer tube 112 moves distally, it causes the middle tube 113 to move distally as well, simultaneously causing the middle tube 113 to rotate circumferentially. Thus, the first port piece 131 and the second port piece 132 rotate relative to each other while being contracted, facilitating their housing and preventing jamming. This step can be performed after the surgical instrument 2 has been withdrawn into the lumen 10, preferably after the surgical instrument 2 has been withdrawn from the trocar 1. Only after the expansion port assembly 13 is housed can the puncture closure member 12 return to its closed position.

[0069] Based on the trocar 1 described above, this embodiment also provides a surgical robot system, which includes a robotic arm 210 and the trocar 1 described above, the trocar 1 being disposed on the robotic arm 210. Since the surgical robot system provided in this embodiment includes the trocar 1 as described above, it also possesses the beneficial effects brought about by the trocar 1. The structure and principle of other components of the surgical robot system can be referred to the prior art, and will not be described further in this embodiment.

[0070] In summary, in the trocar and surgical robot system provided by this invention, the trocar includes: a trocar assembly and a trocar closure; the trocar assembly has an axially extending inner cavity for surgical instruments to pass through; one end of the trocar closure is a sharp end for performing puncture; the other end of the trocar closure is connected to the trocar assembly via a first rotating shaft, wherein the first rotating shaft extends tangentially along the trocar assembly; the trocar closure is used to rotate around the first rotating shaft to close or expose the distal end of the inner cavity. With this configuration, during puncture, the trocar closure is positioned to close the distal end of the trocar assembly, and puncture is performed using the sharp end of the trocar closure. After puncture, the trocar closure can expose the distal end of the inner cavity by rotating around the first rotating shaft, allowing surgical instruments to pass through. Furthermore, after the surgery is completed and the surgical instruments are withdrawn, the trocar closure can rotate in the opposite direction around the first rotating shaft until it returns to the closed position, thereby allowing the entire trocar to be easily withdrawn.

[0071] It should be noted that the above-mentioned embodiments can be combined with each other. The above description is only a description of the preferred embodiments of the present application, and is not any limitation on the scope of the present application. Any modification made by those skilled in the art according to the above disclosure is within the protection scope of the claims.

Claims

1. A puncture device, characterized in that, include: Puncture tube assembly and puncture closure; The puncture tube assembly has an axially extending inner cavity for the passage of surgical instruments. One end of the puncture closure is a sharp end for performing puncture; the other end of the puncture closure is connected to the puncture tube assembly via a first rotating shaft, wherein the first rotating shaft extends tangentially along the puncture tube assembly; the puncture closure is used to rotate about the first rotating shaft to close or expose the distal end of the lumen. The puncture tube assembly includes an inner tube and an outer tube movably sleeved outside the inner tube; the puncture device also includes an expansion port assembly, the proximal end of which is connected to the inner tube; the outer tube is used to move axially to expose or enclose the expansion port assembly; wherein, when the outer tube moves proximally to a predetermined position, it drives the expansion port assembly to present a flared shape expanding distally to reduce friction with the surgical instrument; the distal end of the expansion port assembly is continuous circumferentially, forming a complete ring; The expansion port assembly includes a plurality of first port pieces and a plurality of second port pieces arranged circumferentially, the plurality of first port pieces and the plurality of second port pieces being arranged circumferentially at intervals around the axis of the inner tube, and the first port pieces and the second port pieces being arranged alternately in the circumferential direction; the first port pieces are arranged radially inside the second port pieces of the inner tube.

2. The puncture device according to claim 1, characterized in that, The proximal end of the first port piece is connected to the inner tube via a second pivot, wherein the second pivot extends tangentially to the inner tube; a plurality of the first port pieces are used to rotate about the second pivot.

3. The puncture device according to claim 2, characterized in that, The proximal end of the first port piece has a first step that protrudes outward along the radial direction of the inner tube, and the outer tube has a second step that protrudes inward along its own radial direction; when the outer tube moves toward the proximal end, the second step abuts against the first step, driving the first port piece to rotate around the second axis in the direction of the distal end outward, so that the plurality of first port pieces present an flared shape that expands toward the distal end.

4. The puncture device according to claim 2, characterized in that, The puncture tube assembly further includes an intermediate tube, which is movably disposed between the outer tube and the inner tube, and is used to move axially under the drive of the outer tube; wherein, when the intermediate tube moves towards the proximal end to a predetermined position with the outer tube, it drives a plurality of first port pieces to present a flared shape that expands towards the distal end.

5. The puncture device according to claim 4, characterized in that, The first port piece has a first step protruding outward along the radial direction of the inner tube at its proximal end, and the intermediate tube has a third step protruding inward along its own radial direction; when the intermediate tube moves toward the proximal end, the third step abuts against the first step, driving the first port piece to rotate around the second axis in the direction of the distal end outward, so that the plurality of first port pieces present an flared shape that expands toward the distal end.

6. The puncture device according to claim 4, characterized in that, The proximal end of the second port piece is connected to the intermediate tube via a third pivot, wherein the third pivot extends tangentially to the intermediate tube; a plurality of second port pieces are used to rotate about the third pivot.

7. The puncture device according to claim 6, characterized in that, The proximal end of the second port piece has a fourth step that protrudes outward along the radial direction of the intermediate tube, and the outer tube has a second step that protrudes inward along its own radial direction; when the outer tube moves toward the proximal end, the second step abuts against the fourth step, driving the second port piece to rotate around the third axis in the direction of the distal end outward, so that the plurality of second port pieces present an flared shape that expands toward the distal end.

8. The puncture device according to claim 4, characterized in that, The intermediate tube has an arc-shaped driving groove on its side wall, and the outer tube has a pin hole on its side wall. The puncture device also includes a driving pin, one end of which passes through the pin hole and the other end of which is movably passed through the driving groove. The outer tube is used to drive the intermediate tube to move axially and rotate circumferentially through the driving pin and the driving groove.

9. The puncture device according to claim 1, characterized in that, The other end of the puncture closure is connected to the distal end of the outer tube via the first pivot.

10. A surgical robot system, characterized in that, It includes a robotic arm and a puncture device according to any one of claims 1 to 9, wherein the puncture device is disposed on the robotic arm.

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