Trocar assembly for a surgical robot and surgical robot

Abstract

The application relates to a sleeve assembly for a surgical robot and the surgical robot. The sleeve assembly comprises a tube body and a sensing element. At least a part of the tube body is a variable diameter section. The inner diameter of the variable diameter section gradually increases from one end of the variable diameter section to the other end of the variable diameter section. The small-diameter end of the variable diameter section forms a distal end of the tube body. Among all the tube sections of the tube body, the inner diameter of the distal end of the tube body is the smallest. The sensing element is arranged on the outer side of the tube body. The sensing element is used for sensing the stress of the tube body. In this way, when a surgeon operates, the distal end of the surgical instrument is stressed, and the instrument rod of the surgical instrument only contacts the distal end of the tube body. At this time, the sensing element can sense the stress of the tube body, so that the surgeon can obtain the interaction force between the surgical instrument and the human tissue, thereby helping the surgeon to improve the surgical effect, reduce the possibility of tissue damage of the patient, and improve the problem that the surgical robot is prone to poor execution.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a cannula assembly for a surgical robot and the surgical robot itself. Background Technology

[0002] With the development of modern robotics technology and the rapid advancement of medical standards, surgical robots are increasingly being applied to minimally invasive surgery. Compared to traditional minimally invasive surgery, robot-assisted surgery significantly improves the precision and safety of procedures, greatly reduces patient pain, and shortens recovery time. However, current surgical robots lack tactile feedback. This lack of feedback can lead to tissue damage and malfunctions in specific tasks (such as suturing and intraoperative decisions). For example, surgeons may not be able to sense suture tension or pressure applied to organs and tissues, potentially resulting in suture breakage or tissue damage during surgery. Summary of the Invention

[0003] Therefore, it is necessary to provide a cannula assembly and a surgical robot for surgical robots to address the problem of malfunctions that are common in current surgical robots.

[0004] In a first aspect, this application provides a cannula assembly for a surgical robot, the surgical robot including surgical instruments. The cannula assembly includes:

[0005] The tube body has at least a portion of its segments being of varying diameters; the inner diameter of the varying diameter segments gradually increases from one end to the other, with the smaller diameter end of the varying diameter segments forming the distal end of the tube body; wherein, among all the segments of the tube body, the inner diameter of the distal end of the tube body is the smallest; the tube body is configured such that it is fitted onto the surgical instrument, and the contact point between the surgical instrument and the tube body is located at the distal end of the tube body.

[0006] A sensing element is disposed on the outside of the tube; the sensing element is used to sense the force on the tube.

[0007] The aforementioned cannula assembly for surgical robots incorporates a reducing section and sensing elements on the cannula body, with the smaller diameter end of the reducing section forming the distal end of the cannula body, and the inner diameter of the distal end of the cannula body being minimized. This ensures that during surgery, when force is applied to the end of the surgical instrument, the instrument shaft only contacts the distal end of the cannula body. At this time, the sensing elements can detect the force applied to the cannula body, allowing the surgeon to obtain the interaction force between the surgical instrument and human tissue. This helps improve surgical outcomes, reduce the possibility of tissue damage to the patient, and mitigate the problem of malfunctions common in surgical robots.

[0008] In one embodiment, a stiffness-reducing region is provided on the outer wall of the tube, and the sensing element is disposed in the stiffness-reducing region.

[0009] In one embodiment, the tube has a stationary reference point, and the sensing element is disposed on the side of the stationary reference point away from the proximal end of the tube.

[0010] In one embodiment, the outer wall of the tube is provided with a first groove, the first groove being located on the side of the stationary reference point away from the near end of the tube; the first groove forms the stiffness reduction zone, and the sensing element is disposed in the first groove.

[0011] In one embodiment, the sleeve assembly further includes a mounting base disposed at the proximal end of the tube body and located on the outer side wall of the tube body.

[0012] In one embodiment, the sleeve assembly further includes a circuit board electrically connected to the sensing element.

[0013] In one embodiment, the circuit board includes a first portion and a second portion that are electrically connected to each other;

[0014] The outer wall of the tube is provided with a first receiving groove, and the mounting base is provided with a second receiving groove. The first part is disposed in the first receiving groove, and the second part is disposed in the second receiving groove.

[0015] In one embodiment, the sleeve assembly further includes a first encapsulation layer covering the outside of the sensing element and the outside of the first portion of the circuit board.

[0016] In one embodiment, the cannula assembly further includes a sterile connector detachably connected to the mounting base.

[0017] In one embodiment, the aseptic connector includes a first assembly portion and an electrical connection portion interconnected with each other, the first assembly portion being detachably connected to the mounting base, and the electrical connection portion being electrically connected to a second portion of the circuit board.

[0018] In one embodiment, the second portion of the circuit board is provided with metal contacts;

[0019] The electrical connection part is provided with a first through hole, and a conductive pin is provided in the first through hole; the conductive pin is electrically connected to the metal contact.

[0020] In one embodiment, an encapsulation plate is provided at the opening of the second receiving groove, and the encapsulation plate is provided with a second through hole opposite to the metal contact;

[0021] The electrical connection part is located on the side of the first assembly part away from the assembly base, and the first assembly part is provided with a third through hole; the conductive needle is also inserted in the second through hole and the third through hole.

[0022] In one embodiment, the first assembly part includes a plate and a buckle disposed on the plate, the assembly base is provided with a slot that cooperates with the buckle; the third through hole is disposed on the plate.

[0023] In one embodiment, the sleeve assembly further includes a sealing valve located at the proximal end of the tube body and coaxially arranged with the tube body.

[0024] In a second aspect, this application provides a surgical robot, including surgical instruments and the cannula assembly described in the first aspect.

[0025] The aforementioned surgical robot incorporates a reducing section and sensing elements on the cannula assembly, with the smaller diameter end of the reducing section forming the distal end of the cannula, and the inner diameter of the distal end of the cannula being minimized. This ensures that during surgery, when force is applied to the end of the surgical instrument, the instrument's shaft only contacts the distal end of the cannula. The sensing elements can then detect the force applied to the cannula, allowing the surgeon to obtain the interaction force between the surgical instrument and the patient's tissue. This helps improve surgical outcomes, reduces the possibility of tissue damage, and mitigates the common problem of malfunctions in surgical robots. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of a sleeve assembly provided in an embodiment of this application;

[0028] Figure 2 for Figure 1 A schematic diagram of a portion of the bushing assembly shown;

[0029] Figure 3 for Figure 1 Exploded view of a portion of the casing assembly;

[0030] Figure 4 for Figure 1 The diagram shows a partial cross-sectional view of the cannula assembly and surgical instruments in their assembled state.

[0031] Figure 5 for Figure 1 A schematic diagram of the assembly base in the bushing assembly shown;

[0032] Figure 6 for Figure 5 Exploded view of the assembly shown;

[0033] Figure 7 for Figure 1 A schematic diagram of the aseptic connector in the cannula assembly shown;

[0034] Figure 8 for Figure 7 An exploded view of the aseptic connector shown.

[0035] Figure 9 A schematic diagram of the force analysis of a sleeve assembly provided in an embodiment of this application;

[0036] Figure 10 This is a schematic diagram of the structure of a surgical robot provided in one embodiment of this application;

[0037] Figure 11 for Figure 10 A partial cross-sectional schematic diagram of the surgical robot shown;

[0038] Figure 12 for Figure 10 The diagram shows the structure of the cannula assembly and surgical instruments in the surgical robot.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1-Surgical robot; 10-Cannula assembly; 11-Cannula body; 11a-Distal end; 11b-Proximal end; 111-Different diameter section; 112-Same diameter section; 113-Stiffness reduction zone; 114-First groove; 115-First receiving groove; 12-Sensing element; 13-Assembly base; 131-Second receiving groove; 132-Encapsulation board; 1321-Second through hole; 133-Slot; 134-Second groove; 14-Circuit board; 141 - Part 1; 142 - Part 2; 1421 - Metal contact; 151 - First encapsulation layer; 152 - Second encapsulation layer; 16 - Sterile connector; 161 - First assembly part; 1611 - Plate body; 1612 - Snap-fit; 1613 - Third through hole; 162 - Electrical connection part; 1621 - First through hole; 1622 - Conductive needle; 163 - Second assembly part; 17 - Sealing valve; 20 - Surgical instrument; 30 - Robotic arm. Detailed Implementation

[0041] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0042] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0047] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0048] Firstly, referring to Figures 1-4 and combined Figures 10-12 As shown, this application embodiment provides a cannula assembly 10 for a surgical robot 1, the surgical robot 1 including surgical instruments 20. The cannula assembly 10 includes a tube body 11 and a sensing element 12.

[0049] At least a portion of the tube body 11 is a reducing section 111. The inner diameter of the reducing section 111 gradually increases from one end to the other, with the smaller diameter end of the reducing section 111 forming the distal end 11a of the tube body 11. The distal end 11a has the smallest inner diameter among all the tube body 11 segments. This can also be understood as the smaller diameter end of the reducing section 111 having the smallest inner diameter among all the tube body 11 segments. The tube body 11 is configured to be fitted onto the surgical instrument 20, with the contact point between the surgical instrument 20 and the tube body 11 located at the distal end 11a of the tube body 11. It is understood that the tube body 11 may also include a section of the same diameter 112, which can be connected to the larger diameter end of the reducing section 111.

[0050] Furthermore, the sensing element 12 is disposed on the outside of the tube body 11, and the sensing element 12 is used to sense the force on the tube body 11. For example, the sensing element 12 may be a foil strain gauge, a semiconductor resistance strain gauge, a piezoelectric sensor, or a semiconductor pressure sensor, etc.

[0051] The aforementioned cannula assembly 10 for the surgical robot 1, by providing a reducing section 111 and a sensing element 12 on the tube body 11, and by making the smaller diameter end of the reducing section 111 the distal end 11a of the tube body 11, and by minimizing the inner diameter of the distal end 11a of the tube body 11, ensures that during surgery, when the surgical instrument 20 is subjected to force, the instrument rod of the surgical instrument 20 only contacts the distal end 11a of the tube body 11. At this time, the sensing element 12 can sense the force on the tube body 11, thereby facilitating the surgeon to obtain the interaction force between the surgical instrument 20 and the human tissue, thus helping the surgeon improve the surgical outcome, reduce the possibility of tissue damage to the patient, and improve the problem of malfunction in the surgical robot 1.

[0052] It should be noted that the sensing element 12 in this embodiment is used to sense the radial force on the surgical instrument 20, that is, the force perpendicular to the axis of the surgical instrument 20.

[0053] Understandably, the cross-sectional shape of the reducing section 111 can be a stepped tube 11, meaning that the inner diameter of the tube 11 changes in a stepped manner, decreasing segment by segment. In a preferred example, the cross-sectional shape of the reducing section 111 is conical, which simplifies the structure of the reducing section 111 and makes it easier to manufacture.

[0054] In one embodiment, a stiffness-reducing region 113 is provided on the outer wall of the tube 11, and the sensing element 12 is disposed in the stiffness-reducing region 113. In this way, by providing a stiffness-reducing region 113 on the tube 11 and disposing of the sensing element 12 in the stiffness-reducing region 113, when the surgical instrument 20 and the tube 11 come into force contact, due to the low stiffness of the stiffness-reducing region 113, the tube 11 can undergo a certain elastic deformation in the stiffness-reducing region 113, thereby facilitating the sensing element 12 to sense the force on the tube 11 and improving the sensing sensitivity of the sensing element 12.

[0055] In one example, the wall thickness of the tube 11 located in the stiffness reduction zone 113 is less than the wall thickness of the tube 11 located outside the stiffness reduction zone 113.

[0056] In one embodiment, the tube body 11 has a stationary reference point, and the sensing element 12 is disposed on the side of the stationary reference point away from the proximal end 11b of the tube body 11. It should be noted that the stationary reference point can be the telecentric point of the surgical robot 1, which is typically located at an opening in the human body (e.g., an abdominal wall opening). The telecentric point remains stationary while the robotic arm 30 of the surgical robot 1 moves the surgical instrument 20. Arranging the sensing element 12 below the telecentric point avoids interference from the force exerted by the abdominal wall on the cannula assembly 10 on the sensing element 12.

[0057] In one embodiment, reference Figure 2 and Figure 3 As shown, a first groove 114 is provided on the outer wall of the tube body 11. The first groove 114 is located on the side of the tube body 11 near the proximal end 11b, away from the stationary reference point. The first groove 114 forms a stiffness reduction region 113, and the sensing element 12 is disposed in the first groove 114. By providing the first groove 114, the stiffness of the area where the first groove 114 is located can be reduced; on the other hand, it is convenient to assemble the sensing element 12.

[0058] In one embodiment, reference Figure 1 , Figure 2 and Figure 5 As shown, the cannula assembly 10 also includes a mounting base 13, which is disposed at the proximal end 11b of the tube body 11 and located on the outer side wall of the tube body 11. By providing the mounting base 13, it is easy to assemble the cannula assembly 10 onto the robotic arm 30 of the surgical robot 1.

[0059] In one example, the mounting base 13 can be welded to the outer wall of the tube body 11.

[0060] In one embodiment, the sleeve assembly 10 further includes a circuit board 14 electrically connected to the sensing element 12. Thus, the sensing element 12 can transmit the sensed force signal to the circuit board 14.

[0061] In one example, circuit board 14 can be a flexible circuit board.

[0062] In one embodiment, the circuit board 14 includes a first portion 141 and a second portion 142 that are electrically connected to each other. A first receiving groove 115 is provided on the outer wall of the tube body 11, and a second receiving groove 131 is provided on the mounting base 13. The first portion 141 is disposed in the first receiving groove 115, and the second portion 142 is disposed in the second receiving groove 131. This effectively integrates the first portion 141 of the circuit board 14 with the tube body 11 and the second portion 142 of the circuit board 14 with the mounting base 13, thereby reducing the routing difficulty of the sensing element 12 and the structural dimensions of the sleeve assembly 10.

[0063] In one embodiment, reference Figure 3 As shown, the cannula assembly 10 also includes a first encapsulation layer 151, which covers the outer side of the sensing element 12 and the outer side of the first portion 141 of the circuit board 14. By setting the first encapsulation layer 151, it can be ensured that the sensing element 12 and the circuit board 14 will not be damaged during cleaning, disinfection and sterilization of the cannula assembly 10; on the other hand, it can ensure airtightness during the operation.

[0064] In one example, the material of the first encapsulation layer 151 may be a biocompatible material.

[0065] In one example, the first encapsulation layer 151 may be located in the first groove 114 and the first receiving groove 115. Furthermore, the outer surface of the first encapsulation layer 151 is flush with the outer surface of the tube body 11. This allows the outer surface of the tube body 11 to be flat, facilitating the insertion of the tube body 11 into the patient's body.

[0066] In one example, the mounting base 13 is provided with a second groove 134, and a portion of the structure of the second part 142 of the circuit board 14 can be located in the second groove 134. Furthermore, the second groove 134 communicates with the first groove 114 on the tube body 11, thereby facilitating the transition of the circuit board 14 from the tube body 11 to the mounting base 13.

[0067] In one example, the sleeve assembly 10 further includes a second encapsulation layer 152, which covers the surface of the second portion 142 of the circuit board 14. Specifically, the second encapsulation layer 152 and the first encapsulation layer 151 may be made of the same material, and further, the second encapsulation layer 152 and the first encapsulation layer 151 may be an integral structure.

[0068] In one embodiment, reference Figure 7 and Figure 8 As shown, the cannula assembly 10 also includes a sterile connector 16, which is detachably connected to the mounting base 13. By providing the sterile connector 16, sterile isolation between the cannula assembly 10 and the robotic arm 30 can be achieved. It is understood that one end of the sterile connector 16 is connected to the mounting base 13, and the other end is connected to the robotic arm 30.

[0069] In one embodiment, the aseptic connector 16 includes a first assembly portion 161 and an electrical connection portion 162 interconnected with each other. The first assembly portion 161 is detachably connected to the mounting base 13, and the electrical connection portion 162 is electrically connected to a second portion 142 of the circuit board 14. This effectively gives the aseptic connector 16 two functions: mechanical connection and aseptic isolation, and electrical connection. This results in a high degree of integration for the aseptic connector 16, which helps to reduce the structural size of the sleeve assembly 10.

[0070] In one embodiment, reference Figure 6 As shown, the second part 142 of the circuit board 14 is provided with metal contacts 1421. The electrical connection part 162 is provided with a first through hole 1621, and a conductive pin 1622 is provided in the first through hole 1621. The conductive pin 1622 is electrically connected to the metal contacts 1421. The above arrangement makes the electrical connection structure between the aseptic connector 16 and the circuit board 14 relatively simple and easy to assemble. Specifically, when assembling the aseptic connector 16, it is only necessary to make the conductive pin 1622 contact the metal contacts 1421 to achieve electrical connection between the aseptic connector 16 and the circuit board 14.

[0071] In one example, the conductive needle 1622 can be a retractable conductive needle or an elastic conductive needle. In this way, when the conductive needle 1622 comes into contact with the metal contact 1421, the conductive needle 1622 can be compressed (or deformed), ensuring the stability of the contact.

[0072] In one embodiment, an encapsulation plate 132 is provided at the opening of the second receiving groove 131, and the encapsulation plate 132 has a second through hole 1321 opposite to the metal contact 1421. An electrical connection portion 162 is provided on the side of the first assembly portion 161 opposite to the assembly base 13, and the first assembly portion 161 has a third through hole 1613. A conductive pin 1622 also passes through the second through hole 1321 and the third through hole 1613.

[0073] Thus, when assembling the aseptic connector 16, the conductive pin 1622 is inserted into the second through hole 1321, thereby achieving an electrical connection between the aseptic connector 16 and the circuit board 14. It can be understood that when connecting the aseptic connector 16 to the robotic arm 30, the end of the conductive pin 1622 furthest from the circuit board 14 can contact the conductive contacts on the robotic arm 30, achieving an electrical connection between the aseptic connector 16 and the robotic arm 30.

[0074] In one embodiment, the first assembly part 161 includes a plate 1611 and a buckle 1612 disposed on the plate 1611, and the assembly base 13 is provided with a groove 133 that mates with the buckle 1612. A third through hole 1613 is provided on the plate 1611. In this way, the structure of the first assembly part 161 can be simplified, reducing the structural complexity of the aseptic connector 16.

[0075] Furthermore, the sterile connector 16 also includes a second assembly part 163, which is disposed on the plate 1611 and surrounds the outer periphery of the plate 1611. The second assembly part 163 is used to connect with the robotic arm 30 of the surgical robot 1.

[0076] In one embodiment, the cannula assembly 10 further includes a sealing valve 17, which is located at the proximal end 11b of the tube body 11 and is coaxially arranged with the tube body 11. It is understood that when assembling the surgical instrument 20, the surgical instrument 20 extends into the tube body 11 through the sealing valve 17. The sealing valve 17 ensures a better sealing performance between the surgical instrument 20 and the cannula assembly 10.

[0077] It should be noted that, referring to Figure 9As shown in the figure, point O represents the hinge point of surgical instrument 20. The interaction force on surgical instrument 20 is F, the contact force between tube 11 and surgical instrument 20 is Fs, the weight of surgical instrument 20 is Fg, the length of surgical instrument 20 is L, the distance between the force contact point of sensing element 12 and tube 11 is Lt, the distance from the force contact point of tube 11 to the hinge point is Ls, and the distance from the center of gravity of surgical instrument 20 to the hinge point is Lg. By establishing the torque balance equation for point O, the following equation can be obtained:

[0078] F·L+F s ·L s +F g ·L g =0

[0079] Using the above equation, the interaction force F between the surgical instrument 20 and the patient's tissue can be obtained by detecting the contact force Fs between the tube body 11 and the surgical instrument 20. It is understood that the above-mentioned force detection method must ensure that the tube body 11 and the surgical instrument 20 only contact at the distal end 11a of the tube body 11, which is why the embodiment of this application provides a different diameter section 111 on the tube body 11.

[0080] Secondly, referring to Figure 10 , Figure 11 and Figure 12 and combined Figures 1-9 As shown, this application provides a surgical robot 1, including a surgical instrument 20 and a cannula assembly 10 as described in the first aspect, wherein the surgical instrument 20 is inserted into the tube body 11 of the cannula assembly 10.

[0081] Furthermore, the surgical robot 1 also includes a robotic arm 30, on which the cannula assembly 10 is mounted.

[0082] The surgical robot 1 described above incorporates a reducing section 111 and a sensing element 12 on the tube body 11 of the cannula assembly 10. The smaller diameter end of the reducing section 111 is positioned as the distal end 11a of the tube body 11, and the inner diameter of the distal end 11a is minimized. This ensures that during surgery, when the surgical instrument 20 is subjected to force, its shaft only contacts the distal end 11a of the tube body 11. The sensing element 12 can then detect the force on the tube body 11, allowing the surgeon to obtain the interaction force between the surgical instrument 20 and the human tissue. This helps improve surgical outcomes, reduces the possibility of tissue damage, and mitigates the problem of malfunctions common in surgical robot 1.

[0083] In the description of this specification, the references to terms such as "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0084] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A cannula assembly for a surgical robot, the surgical robot (1) comprising surgical instruments (20), characterized in that, The sleeve assembly (10) includes: The tube body (11) has at least a portion of its segments being unequal diameter segments (111); the inner diameter of the unequal diameter segment (111) gradually increases from one end to the other end, and the smaller diameter end of the unequal diameter segment (111) forms the distal end (11a) of the tube body (11); wherein, among all the segments of the tube body (11), the inner diameter of the distal end (11a) of the tube body (11) is the smallest; the tube body (11) is configured such that: the tube body (11) is used to be fitted onto the surgical instrument (20), and the contact point when the surgical instrument (20) contacts the tube body (11) is located at the distal end (11a) of the tube body (11), so that after the surgical instrument (20) is subjected to force at its end, the instrument rod of the surgical instrument (20) only contacts the distal end (11a) of the tube body (11); A sensing element (12) is disposed on the outside of the tube (11); the sensing element (12) is used to sense the force on the tube (11); a stiffness reduction zone (113) is provided on the outer wall of the tube (11), and the sensing element (12) is disposed in the stiffness reduction zone (113). The wall thickness of the tube (11) located in the stiffness reduction zone (113) is less than the wall thickness of the tube (11) located outside the stiffness reduction zone (113); wherein, when the surgical instrument (20) comes into force contact with the tube (11), the tube (11) undergoes elastic deformation in the stiffness reduction zone (113), and the sensing element (12) senses the force on the tube (11).

2. The cannula assembly for a surgical robot according to claim 1, characterized in that, The tube (11) has a stationary reference point, and the sensing element (12) is disposed on the side of the stationary reference point away from the proximal end (11b) of the tube (11).

3. The cannula assembly for a surgical robot according to claim 2, characterized in that, The outer wall of the tube (11) is provided with a first groove (114), the first groove (114) is located on the side of the stationary reference point away from the near end (11b) of the tube (11); the first groove (114) forms the stiffness reduction zone (113), and the sensing element (12) is disposed in the first groove (114).

4. The cannula assembly for a surgical robot according to any one of claims 1-3, characterized in that, The sleeve assembly (10) further includes a mounting base (13) disposed at the proximal end (11b) of the tube body (11) and located on the outer side wall of the tube body (11).

5. The cannula assembly for a surgical robot according to claim 4, characterized in that, The sleeve assembly (10) also includes a circuit board (14) which is electrically connected to the sensing element (12).

6. The cannula assembly for a surgical robot according to claim 5, characterized in that, The circuit board (14) includes a first part (141) and a second part (142) that are electrically connected to each other. The outer wall of the tube (11) is provided with a first receiving groove (115), and the mounting base (13) is provided with a second receiving groove (131). The first part (141) is disposed in the first receiving groove (115), and the second part (142) is disposed in the second receiving groove (131).

7. The cannula assembly for a surgical robot according to claim 6, characterized in that, The sleeve assembly (10) further includes a first encapsulation layer (151) which covers the outside of the sensing element (12) and the outside of the first portion (141) of the circuit board (14).

8. The cannula assembly for a surgical robot according to claim 6, characterized in that, The sleeve assembly (10) also includes a sterile connector (16) which is detachably connected to the mounting base (13).

9. The cannula assembly for a surgical robot according to claim 8, characterized in that, The sterile connector (16) includes a first assembly part (161) and an electrical connection part (162) connected to each other. The first assembly part (161) is detachably connected to the assembly base (13), and the electrical connection part (162) is electrically connected to the second part (142) of the circuit board (14).

10. The cannula assembly for a surgical robot according to claim 9, characterized in that, The second part (142) of the circuit board (14) is provided with metal contacts (1421). The electrical connection part (162) is provided with a first through hole (1621), and a conductive pin (1622) is provided in the first through hole (1621); the conductive pin (1622) is electrically connected to the metal contact (1421).

11. The cannula assembly for a surgical robot according to claim 10, characterized in that, The second receiving groove (131) is provided with a packaging plate (132) at the groove opening, and the packaging plate (132) is provided with a second through hole (1321) opposite to the metal contact (1421). The electrical connection part (162) is located on the side of the first assembly part (161) away from the assembly base (13), and the first assembly part (161) is provided with a third through hole (1613); the conductive needle (1622) is also inserted in the second through hole (1321) and the third through hole (1613).

12. The cannula assembly for a surgical robot according to claim 11, characterized in that, The first assembly part (161) includes a plate (1611) and a buckle (1612) disposed on the plate (1611). The assembly base (13) is provided with a slot (133) that cooperates with the buckle (1612). The third through hole (1613) is disposed on the plate (1611).

13. The cannula assembly for a surgical robot according to any one of claims 1-3, characterized in that, The sleeve assembly (10) also includes a sealing valve (17), which is located at the proximal end (11b) of the tube body (11) and is coaxial with the tube body (11).

14. A surgical robot, characterized in that, It includes surgical instruments (20) and cannula assembly (10) as claimed in any one of claims 1-13.

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