Piercing device and surgical robot

Abstract

The application belongs to the technical field of medical devices, and particularly discloses a puncture device and a surgical robot. The puncture device comprises a sleeve assembly, a sealer assembly and a puncture needle assembly. The sealer assembly is sealed to the sleeve assembly. The sealer assembly comprises a sealer upper cover, a sealer base body and a sealer release button. The sealer release button is clamped between the sealer upper cover and the sealer base body, and protrudes from the sealer base body. The puncture needle assembly comprises a puncture needle base body, a puncture needle tube and a puncture needle head which are sequentially connected. The lower surface of the puncture needle base body is abutted to the upper surface of the sealer upper cover. The upper end of the sealer release button is close to the puncture needle base body, and the lower end is detachably connected to the sleeve assembly. The puncture needle tube is sealed through the sealer base body from top to bottom, and the puncture needle head extends out of the sleeve assembly. The surgical robot comprises the puncture device. The puncture device can avoid the misoperation of the sealing element to damage the overall sealing effect of the puncture device.

Description

Technical Field

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

[0002] A trocar is a medical device used to create a passage for surgical instruments (or endoscopes) to enter and exit the abdominal wall while ensuring the abdominal cavity is sealed and isolated from the outside world, thereby facilitating laparoscopic surgery.

[0003] Existing trocars generally consist of three parts: a puncture needle assembly, a sealing assembly, and a puncture cannula assembly. Typically, these three parts are first assembled together. The puncture needle assembly is used to insert the puncture cannula assembly through the skin into the abdominal cavity, and an artificial pneumoperitoneum is established through the sealing assembly on the puncture cannula assembly. After the puncture needle assembly is removed, the sealing assembly and the puncture cannula assembly form a surgical channel. Surgical instruments or endoscopes are then inserted into the abdominal cavity through the sealing assembly and the puncture cannula assembly to perform laparoscopic surgery.

[0004] During surgery, such as when making an opening in the abdomen using a puncture needle, the user needs to hold the entire trocar body. At this time, the sealing assembly must not detach from the cannula. However, when using an existing trocar, there is a risk of accidentally opening the sealing element, thus compromising the overall seal. Furthermore, the frequent instrument changes during surgery lead to repeated insertions and withdrawals, and maintaining a good seal is crucial throughout this process.

[0005] Therefore, there is an urgent need to propose a puncture device and surgical robot to solve the aforementioned technical problems in the existing technology. Summary of the Invention

[0006] One object of the present invention is to provide a puncture device that can prevent accidental opening of the sealing element, thereby compromising the overall sealing effect of the puncture device.

[0007] Another objective of this invention is to provide a surgical robot that can ensure the sealed isolation of the abdominal cavity from the outside world during surgery.

[0008] To achieve this objective, the present invention adopts the following technical solution:

[0009] A puncture device, comprising:

[0010] Sleeve assembly;

[0011] A sealing assembly, which is sealingly connected to the sleeve assembly, the sealing assembly including a sealing cap, a sealing base, and a sealing release button, the sealing release button being sandwiched between the sealing cap and the sealing base, and protruding from the sealing base; and...

[0012] A puncture needle assembly includes a puncture needle base, a puncture needle tube, and a puncture needle tip connected in sequence. The lower surface of the puncture needle base abuts against the upper surface of the sealer cover. The upper end of the sealer release button is in close contact with the puncture needle base, and the lower end of the sealer release button is detachably connected to the cannula assembly. The inner wall of the sealer release button is in close contact with the outer wall of the puncture needle base. The puncture needle tube passes through the sealer base from top to bottom in a sealing manner, and the puncture needle tip extends out of the cannula assembly.

[0013] As a preferred technical solution for the aforementioned puncture device, the cannula assembly includes:

[0014] The sleeve base has a sealer release buckle at the lower end of the sealer release button, and the sealer assembly is connected or separated from the sleeve base through the sealer release buckle.

[0015] As a preferred embodiment of the aforementioned puncture device, the sealing assembly further includes:

[0016] The lower seal and the upper seal are provided. The seal base is cylindrical and shell-shaped. The lower seal, the seal release button, the upper seal and the seal cover are installed in the seal base from bottom to top.

[0017] As a preferred technical solution for the above-mentioned puncture device, the upper sealing element is in the shape of a cylindrical shell, and the lower edge structure of the inner wall of the upper sealing element protrudes upward to form an anti-overturning flange, and the lower edge structure of the upper cover of the sealing device abuts against the top of the anti-overturning flange.

[0018] As a preferred technical solution for the aforementioned puncture device, a U-shaped reinforcing groove is formed between the anti-rollover flange and the inner wall of the upper sealing member.

[0019] As a preferred technical solution for the above-mentioned puncture device, the anti-flip flange is provided with an annular plate, the annular plate is spaced apart from the inner wall of the upper sealing member, and abuts against the lower edge structure of the sealing cover in a circumferential manner.

[0020] As a preferred technical solution for the aforementioned puncture device, the puncture needle assembly further includes:

[0021] The puncture needle assembly includes a puncture needle cover and a puncture needle release button. The puncture needle release button is fixed between the puncture needle cover and the puncture needle base. The lower end of the puncture needle release button is provided with a puncture needle release buckle. The puncture needle assembly is connected to or separated from the sealer cover through the puncture needle release buckle.

[0022] As a preferred technical solution for the above-mentioned puncture device, the puncture needle release button includes:

[0023] The U-shaped connecting arm includes a first connecting arm and a second connecting arm;

[0024] The pressing surface is provided on the first connecting arm;

[0025] A connecting limiting part is disposed on the second connecting arm, the connecting limiting part being configured to connect the puncture needle cover and the puncture needle base; and...

[0026] The puncture needle release buckle is connected to the lower part of the pressing surface.

[0027] As a preferred embodiment of the aforementioned puncture device, the sealing assembly further includes:

[0028] A Luer connector passage is provided on the side wall of the sealer base;

[0029] A mounting base, vertically connected to the Luer connector passage, wherein the inner wall of the mounting base is provided with a first conical surface; and,

[0030] A Luer valve is rotatably mounted in the mounting base. The outer wall of the Luer valve is provided with a second conical surface. The first conical surface and the second conical surface have the same taper to form a conical seal. The taper is 0.5°-2°.

[0031] As a preferred technical solution for the above-mentioned puncture device, the taper is 1°.

[0032] To achieve the above-mentioned objectives, the present invention also provides a surgical robot, including the puncture device described in any of the above technical solutions.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] The trocar provided by this invention has a button whose upper end is tightly attached to the trocar needle base, preventing the seal release button from being triggered. This structurally achieves a "priority lock" function, preventing users from accidentally triggering the seal release button during surgery, thus damaging the overall seal of the trocar. The lower end of the seal release button is detachably connected to the cannula assembly, allowing the seal assembly to be used independently of the cannula assembly and the trocar needle assembly, facilitating easy disassembly and replacement as needed.

[0035] The surgical robot provided by the present invention includes the above-mentioned puncture device, and the surgical robot can ensure the sealing and isolation of the abdominal cavity from the outside world during the operation.

[0036] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the puncture device provided in a specific embodiment of the present invention;

[0038] Figure 2 This is an exploded view of the puncture device provided in a specific embodiment of the present invention;

[0039] Figure 3 This is a 3 / 4 sectional view of the puncture device provided in a specific embodiment of the present invention;

[0040] Figure 4 This is a cross-sectional view of the puncture device provided in a specific embodiment of the present invention from a certain perspective;

[0041] Figure 5 This is a cross-sectional view of the puncture device provided in a specific embodiment of the present invention from another perspective;

[0042] Figure 6 This is a schematic diagram of the sleeve assembly provided in a specific embodiment of the present invention;

[0043] Figure 7 This is a schematic diagram of the structure of the sealing assembly provided in a specific embodiment of the present invention;

[0044] Figure 8 This is an exploded view of the sealing assembly provided in a specific embodiment of the present invention;

[0045] Figure 9 This is a cross-sectional view of the sealing assembly provided in a specific embodiment of the present invention from a certain perspective;

[0046] Figure 10 This is a cross-sectional view of the sealing assembly provided in a specific embodiment of the present invention from another perspective;

[0047] Figure 11 This is a schematic diagram of the upper sealing element provided in a specific embodiment of the present invention;

[0048] Figure 12 This is a 3 / 4 sectional view of the upper sealing element provided in a specific embodiment of the present invention;

[0049] Figure 13 This is a cross-sectional view of the upper sealing element provided in a specific embodiment of the present invention;

[0050] Figure 14 This is a cross-sectional view of the puncture needle assembly provided in a specific embodiment of the present invention;

[0051] Figure 15 This is an exploded view of the puncture needle assembly provided in a specific embodiment of the present invention;

[0052] Figure 16 This is a schematic diagram of the structure of the puncture needle release button provided in a specific embodiment of the present invention;

[0053] Figure 17 This is a side view of the puncture needle release button provided in a specific embodiment of the present invention.

[0054] In the picture:

[0055] 110. Casing assembly; 111. Casing base; 112. Casing connector;

[0056] 120. Seal assembly; 121. Seal base; 122. Seal top cover; 1221. Lower edge structure; 1222. Snap-fit ​​groove; 123. Seal O-ring; 124. Luer connector passage; 1241. Mounting base; 1242. Luer valve; 125. Upper seal; 1251. Anti-rollover flange; 1252. U-shaped reinforcing groove; 126. Lower seal; 127. Seal release button; 1271. Seal release latch; 1272. Upper end;

[0057] 130. Puncture needle assembly; 131. Puncture needle base; 132. Puncture needle cover; 133. Puncture needle tube; 134. Puncture needle tip; 135. Puncture needle release button; 1351. U-shaped connecting arm; 1352. Pressing surface; 1353. Puncture needle release buckle; 1354. Connecting limit part. Detailed Implementation

[0058] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0059] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0063] 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.

[0064] This embodiment provides a trocar for creating a channel for surgical instruments (or endoscopes) to enter and exit the abdominal wall, while ensuring the abdominal cavity is sealed and isolated from the outside world, thereby facilitating laparoscopic surgery.

[0065] like Figures 1 to 5 As shown, the trocar includes a cannula assembly 110, a sealing assembly 120, and a trocar assembly 130. The cannula assembly 110 is mainly used for the insertion and exit of surgical instruments (or endoscopes, trocar assembly 130), and also provides an interface for connection with a surgical robot. The sealing assembly is mainly used to maintain the seal between the trocar and the outside when instruments, laparoscopes, or trocar assembly 130 are inserted or removed from the trocar. The trocar is mainly used to dilate the abdominal wall tissue that has been cut by the scalpel, guide the trocar through the abdominal wall, and establish a surgical channel.

[0066] Overall, the puncture needle assembly 130 is mounted on the sealer assembly 120, and the sealer assembly 120 is mounted on the cannula assembly 110. Specifically, as... Figure 3 and Figure 4 As shown, the sealing device assembly 120 is sealed and fitted onto the cannula assembly 110. The sealing device assembly 120 includes a sealing device cover 122, a sealing device base 121, and a sealing device release button 127. The sealing device release button 127 is sandwiched between the sealing device cover 122 and the sealing device base 121, and protrudes from the sealing device base 121. The puncture needle assembly 130 includes a puncture needle base 131, a puncture needle tube 133, and a puncture needle head 134 connected in sequence. The lower surface of the puncture needle base 131 abuts against the upper surface of the sealing device cover 122. The upper end 1272 of the sealing device release button 127 is in close contact with the puncture needle base 131, and the lower end of the sealing device release button 127 is detachably connected to the cannula assembly 110. The puncture needle tube 133 passes through the sealing device base 121 from top to bottom, and the puncture needle head 134 extends out of the cannula assembly 110.

[0067] In the fully assembled configuration of the aforementioned trocar, the upper end of the seal release button 127 is tightly abutted against the trocar needle base 131, preventing the seal release button 127 from being triggered. This design structurally achieves a "priority lock" function, preventing the user from accidentally triggering the seal release button 127 during abdominal wall puncture, thus disrupting the overall seal of the trocar. The lower end of the seal release button is detachably connected to the cannula assembly, allowing the seal assembly to be used independently of the cannula and trocar needle assemblies, facilitating easy disassembly and replacement as needed. Optionally, as... Figure 4 As shown, the upper end 1272 of the sealer release button 127 is in close contact with the puncture needle base 131 to achieve the function of accidental triggering.

[0068] Furthermore, such as Figure 4 and 6 As shown, the sleeve assembly 110 includes a sleeve base 111, and a sealer release buckle 1271 is provided at the lower end of the sealer release button 127. The sealer assembly 120 is connected to or separated from the sleeve base 111 through the sealer release buckle 1271. A seal is achieved between the sealer assembly 120 and the sleeve assembly 110 through a sealer O-ring 123. Optionally, an O-ring mounting groove is provided circumferentially on the outer wall of the sleeve base 111 for mounting the sealer O-ring 123.

[0069] Furthermore, the cannula assembly 110 also includes a cannula connector 112, which is fixed to the side wall of the cannula base 111. The shape of the cannula connector 112 is compatible with the robotic arm of the surgical robot to achieve positioning and clamping of the trocar during the operation. Optionally, the cannula base 111 and the cannula connector 112 are connected by welding or adhesive bonding. Further optionally, the cannula base 111 is a metal part, and the blank is made of metal tubing, manufactured by stamping forming processes such as deep drawing, flanging, bulging, and flaring.

[0070] In this embodiment, as Figures 7 to 10 As shown, the seal assembly 120 also includes a lower seal 126 and an upper seal 125. The seal base 121 is cylindrical in shape. The lower seal 126, the seal release button 127, the upper seal 125 and the seal cover 122 are installed in the seal base 121 from bottom to top.

[0071] During surgery, surgical instruments need to be changed, resulting in multiple insertions and removals from the trocar. Maintaining a tight seal between the trocar and the abdominal cavity is crucial during these processes. Therefore, the stability of the sealing structure is paramount. In existing technologies, when the trocar assembly 130 (or a surgical instrument or endoscope) is pulled upwards, the lower part of the seal that contacts the instrument can easily detach or flip upwards, affecting the sealing performance. To address this technical problem, in this embodiment, as... Figures 10 to 13 As shown, the upper sealing element 125 is cylindrical in shape. An anti-overturning flange 1251 is formed by an upward protrusion at the bottom of the inner wall of the upper sealing element 125. The lower edge structure 1221 of the upper cover 122 of the seal abuts against the top of the anti-overturning flange 1251, and the two abut against each other after assembly. By providing the anti-overturning flange 1251, the puncture needle assembly 130 (or surgical instrument, or endoscope) can be smoothly inserted downwards, and the upper sealing element 125 can be prevented from detaching upwards or overturning upwards when the puncture needle assembly 130 (or surgical instrument, or endoscope) is pulled upwards, thus preventing the sealing performance from being affected.

[0072] Furthermore, the flange 1251 is provided with an annular plate, which is spaced apart from the inner wall of the upper sealing member 125 and circumferentially abuts against the lower edge structure 1221 of the upper cover 122 of the sealer, which can prevent the upper sealing member 125 from flipping downward when the puncture needle assembly 130 (or surgical instrument, or endoscope) is inserted downward.

[0073] Furthermore, in existing technologies, trocars typically need to be compatible with surgical instruments of different diameter series; however, generally, the wider the compatibility with different diameter series, the more difficult it is to guarantee sealing performance. To solve this technical problem, such as... Figures 10 to 13 As shown, in this embodiment, a U-shaped reinforcing groove 1252 is formed between the anti-flip flange 1251 and the inner wall of the upper sealing member 125. The bottom of the U-shaped reinforcing groove 1252 is the bottom edge of the upper sealing member 125. The U-shaped reinforcing groove 1252 can withstand large deformations. Combined with the gap in the middle of the U-shaped reinforcing groove 1252, due to the good extensibility of gas and its certain supporting effect, the U-shaped structure can be prevented from breaking. This allows the sealing device assembly 120 to be adapted to a wider range of surgical instruments with larger diameters while ensuring sealing performance.

[0074] Furthermore, since the diameter of the surgical instrument is slightly smaller than that of the cannula base 111, the surgical instrument will move within the cannula base 111 during operation. Therefore, a flexible sealing structure is required to facilitate instrument movement while preventing damage to the sealing structure due to frequent movement. For this reason, both the upper sealing element 125 and the lower sealing element 126 in this embodiment are rubber components.

[0075] In this embodiment, as Figures 7 to 9As shown, the seal assembly 120 also includes a Luer connector passage 124, in which a Luer valve 1242 is provided. The Luer connector passage 124 is used for cleaning and ventilation, and the on / off state is achieved through the Luer valve 1242 in the Luer connector passage 124. However, the current structure of the prior art has unstable sealing or the Luer valve 1242 is not flexible in rotation.

[0076] To address the aforementioned technical problems in the prior art, the seal assembly 120 in this embodiment further includes a mounting base 1241. A Luer connector passage 124 is disposed on the side wall of the seal base 121, and the mounting base 1241 is vertically connected within the Luer connector passage 124. The inner wall of the mounting base 1241 has a first conical surface. A Luer valve 1242 is rotatably mounted in the mounting base 1241, and the outer wall of the Luer valve 1242 has a second conical surface. The first and second conical surfaces have the same taper to form a conical seal. This structure allows the Luer valve 1242 to achieve a good sealing effect while rotating flexibly. Optionally, the taper of the first and second conical surfaces ranges from 0.5° to 2°, for example, 0.5°, 1°, 1.5°, and 2°. Preferably, it is 1°. Optionally, the mounting base 1241 is a cylindrical shell shape and vertically connected to the Luer connector passage 124.

[0077] Furthermore, such as Figures 14 to 17 As shown, the puncture needle assembly 130 in this embodiment also includes a puncture needle cover 132 and a puncture needle release button 135. The puncture needle release button 135 is fixed between the puncture needle cover 132 and the puncture needle base 131. A puncture needle release latch 1353 is provided at the lower end of the puncture needle release button 1353. The puncture needle assembly 130 is connected to or separated from the sealing device cover 122 via the puncture needle release latch 1353. When the puncture device is fully assembled, if a surgical instrument or laparoscope is to be used, simply press the puncture needle release button 135 to disengage the puncture needle assembly 130 from the sealing device assembly 120, thereby removing the puncture needle assembly 130 upwards, and then inserting a surgical instrument or laparoscope matching the puncture device model. Specifically, as shown... Figure 7 As shown, the upper cover 122 of the sealer is provided with a snap-fit ​​groove 1222, which cooperates with the puncture needle release buckle 1353 to achieve connection and separation.

[0078] Specifically, such as Figure 16 and Figure 17As shown, the puncture needle release button 135 includes a U-shaped connecting arm 1351, a pressing surface 1352, a connecting limiting part 1354, and the aforementioned puncture needle release buckle 1353. The U-shaped connecting arm 1351 includes a first connecting arm and a second connecting arm. The pressing surface 1352 is provided on the first connecting arm, and the puncture needle release buckle 1353 is connected to the lower part of the pressing surface 1352. The second connecting arm is in close contact with the puncture needle base 131, and the connecting limiting part 1354 is provided on the second connecting arm. The connecting limiting part 1354 is configured to connect the puncture needle cover 132 and the puncture needle base 131. Optionally, the cross-section of the connecting limiting part 1354 is trapezoidal, so that two grooves are formed between the two sides of the trapezoidal structure and the second connecting arm, respectively. A boss protrudes upward from the lower part of the second connecting arm and the puncture needle base 131, and a downward boss is designed on the top of the puncture needle cover 132. The protrusions on the puncture needle base 131 and the puncture needle cover 132 are respectively located in the two grooves, tightly clamping the two grooves of the puncture needle release button. With this design, the puncture needle release button 135 can withstand deformation after being pressed, allowing the puncture needle release latch 1353 to disengage from the sealing assembly 120, thus releasing the puncture needle assembly 130. Optionally, the surface of the pressing surface 1352 is provided with anti-slip features, such as strip-shaped or mesh-like protrusions, to increase friction and achieve an anti-slip effect.

[0079] This embodiment also provides a surgical robot, including the aforementioned trocar. This surgical robot ensures the abdominal cavity is sealed and isolated from the external environment during surgery.

[0080] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A puncture device, characterized in that, include: Sleeve assembly (110); A sealing assembly (120) is sealed and fitted onto the sleeve assembly (110). The sealing assembly (120) includes a sealing cover (122), a sealing base (121), and a sealing release button (127). The sealing release button (127) is sandwiched between the sealing cover (122) and the sealing base (121), and the sealing release button (127) protrudes from the sealing base (121). The seal assembly (120) further includes a lower seal (126) and an upper seal (125). The lower seal (126), the seal release button (127), the upper seal (125), and the seal cover (122) are sequentially installed from bottom to top in the seal base (121). The lower edge of the inner wall of the upper seal (125) protrudes upward to form an anti-rollover flange (1251). The lower edge structure (1221) of the seal cover (122) abuts against the top of the anti-rollover flange (1251). A puncture needle assembly (130) includes a puncture needle base (131), a puncture needle tube (133), and a puncture needle tip (134) connected in sequence. The lower surface of the puncture needle base (131) abuts against the upper surface of the sealer cover (122). The upper end (1272) of the sealer release button (127) is in close contact with the puncture needle base (131). The lower end of the sealer release button (127) is detachably connected to the cannula assembly (110). The puncture needle tube (133) passes through the sealer base (121) from top to bottom, and the puncture needle tip (134) extends out of the cannula assembly (110).

2. The puncture device according to claim 1, characterized in that, The sleeve assembly (110) includes: The sleeve base (111) has a sealer release buckle (1271) at the lower end of the sealer release button (127), and the sealer assembly (120) is connected or separated from the sleeve base (111) through the sealer release buckle (1271).

3. The puncture device according to claim 1, characterized in that, The sealer base (121) is cylindrical shell-shaped.

4. The puncture device according to claim 3, characterized in that, The upper sealing element (125) is in the shape of a cylindrical shell.

5. The puncture device according to claim 4, characterized in that, A U-shaped reinforcing groove (1252) is formed between the anti-rollover flange (1251) and the inner wall of the upper sealing member (125).

6. The puncture device according to claim 4, characterized in that, The anti-rollover flange (1251) is provided with an annular plate, which is spaced apart from the inner wall of the upper sealing member (125) and circumferentially abuts against the lower edge structure (1221) of the sealer cover (122).

7. The puncture device according to claim 1, characterized in that, The puncture needle assembly (130) also includes: The puncture needle cover (132) and the puncture needle release button (135) are fixed between the puncture needle cover (132) and the puncture needle base (131). The lower end of the puncture needle release button (135) is provided with a puncture needle release buckle (1353). The puncture needle assembly (130) is connected or separated from the sealer cover (122) through the puncture needle release buckle (1353).

8. The puncture device according to claim 7, characterized in that, The puncture needle release button (135) includes: The U-shaped connecting arm (1351) includes a first connecting arm and a second connecting arm; The pressing surface (1352) is provided on the first connecting arm; A connecting limiting part (1354) is disposed on the second connecting arm, the connecting limiting part (1354) being configured to connect the puncture needle cap (132) and the puncture needle base (131); and, The puncture needle release buckle (1353) is connected to the lower part of the pressing surface (1352).

9. The puncture device according to claim 1, characterized in that, The seal assembly (120) also includes: Luer connector passage (124), the Luer connector passage (124) is disposed on the side wall of the sealer base (121); Mounting base (1241), which is vertically connected in the Luer connector passage (124), and whose inner wall is provided with a first conical surface; and, Luer valve (1242), which is rotatably mounted in the mounting base (1241), the outer wall of the Luer valve (1242) is provided with a second conical surface, the first conical surface and the second conical surface have the same taper to form a conical seal, the taper being 0.5°-2°.

10. The puncture device according to claim 9, characterized in that, The taper is 1°.

11. A surgical robot, characterized in that, The puncture device includes any one of claims 1-10.

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